| CPC A01M 7/0057 (2013.01) [A01C 23/047 (2013.01); A01G 25/092 (2013.01); A01M 7/0075 (2013.01); A01B 79/005 (2013.01)] | 12 Claims |
|
1. An agricultural sprayer, comprising:
a frame;
a boom assembly defining a central axis extending from a top end of the boom assembly to a bottom end of the boom assembly, the boom assembly including a center boom section adjustably coupled to the frame, the boom assembly further including a first wing boom section pivotably coupled to the center boom section and a second wing boom section pivotably coupled to the first wing boom section;
a plurality of nozzles supported on the boom assembly, the plurality of nozzles configured to dispense an agricultural fluid onto an underlying field;
a first actuator configured to adjust a fore/aft tilt angle of the boom assembly, the fore/aft tilt angle defined between the central axis of the boom assembly and a vertical direction;
a second actuator configured to pivot the second wing boom section relative to the first wing boom section such that the second wing boom section is moved between a folded position and an unfolded position;
a sensor configured to capture data associated with a position of the second wing boom section relative to the first wing boom section; and
a computing system communicatively coupled to the sensor, the computing system configured to:
receive an input associated with moving the second wing boom section from the unfolded position to the folded position;
control an operation of the second actuator such that the second wing boom section is pivoted from the unfolded position to the folded position;
determine an angle defined between the first and second wing boom sections or a height of a tip of the second wing boom section relative to a field surface based on the data captured by the sensor;
compare the determined angle or the determined height to a first threshold value as the second wing boom section is pivoted from the unfolded position to the folded position;
when the determined angle or the determined height falls below the first threshold value, control the operation of the first actuator such that the boom assembly is moved to a tilted position;
after moving the boom assembly to the tilted position, compare the determined angle or the determined height to a second threshold value as the second wing boom section continues to be pivoted from the unfolded position to the folded position, the second threshold value being less than the first threshold value; and
when the determined angle or the determined height falls below the second threshold value, control the operation of the first actuator such that the boom assembly is moved to a non-tilted position.
|