JP2022528677A - Definition system for defining the spray area for the sprayer - Google Patents

Abstract

The present application relates to a definition system (100) for defining spray areas (A1, A2, A3, A4) for a sprayer (102). The system includes a spray boom (104) of the sprayer, a sensor of the boom, and a control device (120) for controlling the boom. The boom nozzle tip (115) should be in contact with several contacts (P1, P2, P3, P4, P5, P6) on the surface to be sprayed (104) to define the boundary of the spray area. It is composed. The sensor acquires the position information of each contact. The control device defines the position of each contact point in the coordinate system of the boom based on the acquired position information, and forms a spray target area in the coordinate system using the defined position of the contact point. [Selection diagram] Fig. 1

Description

The present application generally relates to a definition system for defining a spray area for a sprayer.

Concrete is used to reinforce rock structures in quarries and tunnels, which are sprayed as a concrete layer by a mobile concrete sprayer.

The concrete sprayer has a movable, nested spray boom, which supports a concrete hose that allows wet concrete to flow into the boom nozzle head. The nozzle head with the nozzle tip is installed at the boom end, and the worker uses the boom movement mechanism and the nested structure to bring the nozzle tip to the desired position near the surface covered by the concrete layer. It is possible to drive and accurately direct the concrete spray to this surface.

One solution to make the spraying process more accurate and reduce the amount of sprayed concrete used is to use an additional scanner to recognize the surface shape of the area to be sprayed. The scanner creates an image of the surface of the spray area, based on which the worker can control the movement of the nozzle head and tip and orient the concrete spray based on the scanner image.

One object of the present invention is to solve the defects of known solutions and to present a definition system for rapidly defining a spray area, which requires the use of an expensive additional scanner. Non-property, more accurate spraying characteristics, considering gravity-based bending and use-based wear of the spray boom.

One object of the present invention, according to the independent claims, is to provide a definition system, a control device, a method, a computer program, and a computer-readable medium.

One embodiment of the present invention is a definition system for defining a spray area for a sprayer. The system includes a spray boom of a sprayer, a sensor of the boom, and a control device for controlling the boom. The nozzle tip of the boom is configured to contact several contacts on the surface to be sprayed to define the boundaries of the spray area. The sensor acquires the position information of each contact. The control device defines the position of each contact point in the boom coordinate system based on the acquired position information, and forms a spray target area in the coordinate system using the defined position of the contact point.

One embodiment of the present invention is a definition method for defining a spray region by the system, and is consistent with the embodiment of the conventional definition system. The method comprises contacting several contacts on the surface to be sprayed by the nozzle tip of the spray boom to define the boundaries of the spray area. The method also includes the step of acquiring the position information of each contact by the sensor of the boom. The method is also a step of defining the position of each contact in the boom coordinate system based on the position information acquired by the boom controller, using the defined position of the contact in the coordinate system. Includes defining steps to form the area to be sprayed on.

One embodiment of the present invention is a control device for defining a spray region. The control device includes a processor unit and a data transfer unit. When the boundary of the spraying region is defined on the spraying target surface, the data transfer unit receives the position information of each contact contacted by the nozzle tip of the spraying boom of the spraying machine. The processor unit defines the position of each contact in the coordinate system of the boom based on the received position information, and forms a spray target area in the coordinate system using the defined position of the contact.

One embodiment of the present invention is a definition method for defining a spraying region by a control device, and is consistent with the conventional embodiment of the control device. The method includes the step of receiving the position information of each contact contacted by the nozzle tip of the spray boom of the sprayer when the boundary of the spray area is defined on the spray target surface by the data transfer unit of the control device. .. The method is also a step of defining the position of each contact in the boom coordinate system based on the position information received by the processor of the controller, using the defined position of the contact to coordinate. Includes defining steps to form the sprayed area in the system.

One embodiment of the invention is a computer program comprising instructions that, when the program is executed by the controller, causes the controller to perform the steps of the conventional definition method, which is consistent with the embodiment of the conventional controller. be. The program is a code for receiving the position information of each contact with which the nozzle tip of the spray boom of the sprayer is in contact when the boundary of the spray area is defined on the spray target surface by the data transfer unit of the control device. include. The program is also a code for defining the position of each contact in the boom coordinate system based on the position information received by the processor part of the controller, using the defined position of the contact. Contains code to define and form the area to be sprayed in the coordinate system.

One embodiment of the present invention is a non-statutory tangible computer-readable medium comprising a computer program, which is consistent with embodiments of conventional computer programs.

Further embodiments of the present invention are set forth in the independent claims.

Typical embodiments are described in accordance with the accompanying drawings.

FIG. 1 shows the principle of a definition system for defining a spray area. FIG. 2 shows a flowchart of the definition and spraying method. FIG. 3a shows the calculated movement of the spray boom during the spray process. FIG. 3b shows the fit of the calculated operation during the spraying process. FIG. 4 shows a component of the control device.

FIG. 1 defines at least one spraying area A1, A2, A3, A4 for forming a supporting concrete layer on the roof (vault) structure of the wall surface 104 and the tunnel side surface 106, and the spraying machine. 102 indicates a definition system 100 for spraying definition areas A1, A2, A3, A4 with concrete.

At least one region A1, A2, A3, A4 includes, for example, one, two, three, four, or more regions.

The sprayer 102 is a mobile concrete sprayer used in the tunnel side surface 106, for example, in underground mining and tunnel construction. The sprayer 102 can also be sprayed with other materials such as water or cleaning agent to clean the surface 104 and can be operated outside the tunnel side 106 in another environment for the same purpose.

The system 100 is a component of the spraying machine 102, and includes a spraying boom 108 such as a nested spraying machine boom that is attached (installed) to the spraying machine 102 by the mounting mechanism 110, and raises and lowers the boom 108. Therefore, the boom can be swiveled (rotated) with respect to the mounting mechanism 110 by the moving mechanism 426.

The boom 108 comprises at least a nested boom structure 112, 113 and a nozzle head 114 for spraying concrete at the ends of the nested boom structure 113. The nozzle head 114, or actually the nozzle tip 115, contacts the contacts P1, P2, P3, P4, P5, P6 on the spray target surface 104 to define the boundaries of the regions A1, A2, A3, A4. Used for.

The contacts P1, P2, P3, P4, P5, P6 have at least three contacts P1, P2, P3, P4, P5, P6, for example, three, four, five, six, or more contacts. include.

The boom 108 also comprises several installed sensors 430 for acquiring location information used to control the boom 108. When the worker drives the boom 108, the worker of the boom 108 (not shown) drives the boom 108 so that the nozzle tip 115 contacts the surface 104 on the contacts P1, P2, P3, P4, P5, P6. At least, the sensor 430 is used to acquire the position information of the contacts P1, P2, P3, P4, P5, and P6.

The system 100 also includes a control device (control unit, control unit) 120 for controlling the movement and operation of the boom 108. The control device 120 is operated by a worker.

2 and 3a show the definition process of the regions A1, A2, A3, A4 and the spraying operation 350 of the boom 108 based on the definition regions A1, A2, A3, A4 during the spraying process.

In step 252, the control device 120 displays and holds a mounting point, i.e., a three-dimensional (3D) coordinate system 354 having an origin O located at the mounting mechanism 110 of the boom 108.

The coordinate system 354 arranges the nozzle tip 115 with respect to the mounting mechanism 110 together with the position information from the sensor 430, defines the spray target areas A1, A2, A3, and A4, calculates the required operation 350, and calculates the surface. It can be sprayed on the definition areas A1, A2, A3, and A4 on 104.

In step 256, when the sprayer 102 is stopped and the worker of the boom 108 is in a position to safely control the boom 108, the worker controls the control device 120 by the user interface of the remote control device 428. Manipulate and instruct the control device 120 to move the nozzle tip 115 near the first point P1 on the surface 104. The first point P1 is the first boundary (edge), in this embodiment, the front (right) edge of the regions A1, A2, A3, A4 on the surface 104 in the vertical direction when viewed from the worker. Is intended to indicate.

In step 258, the operator commands the control device 120 to move the boom 108 so that the nozzle tip 115 comes into contact with the first point P1 at the end of the nozzle head 114. Whenever the boom 108 is moving or the boom 108 is stationary, the sensor 430 provides position information, whereby the control device 120 can define the position of the nozzle tip 115.

In step 260, when the nozzle tip 115 comes into contact with the surface 104 on the first point P1, the control device 120 determines the position of the first point P1 with respect to the coordinate system 354 based on the position information from the sensor 430. L1 (x1, y1, z1) is provided, and the worker instructs the control device 120 to store this position L1 in its memory unit 434.

In step 262, after storing the position L1, the worker touches the control device 120 in a substantially horizontal direction with the nozzle tip 115 at the second point on the surface 104 without touching the surface 104 from the first point P1. Instruct to move to the vicinity of P2. The second point P2 is intended to indicate the second boundary, in this embodiment, the (left) edge immediately after the lead of regions A1, A2, A3, A4.

In step 264, the operator commands the control device 120 to move the boom 108 so that the nozzle tip 115 comes into contact with the second point P2.

In step 266, when the nozzle tip 115 comes into contact with the surface 104 on the second point P2, the control device 120 provides the position L2 (x2, y2, z2) of the second point P2 and the worker , The control device 120 is instructed to store this position in the memory unit 434. The horizontal lines P1-P2 between the first and second points P1 and P2 are the third boundary, in this embodiment, the horizontal lower edge with respect to the spray target areas A1, A2, A3, and A4, and at the same time, the area. Form length l1 of A1, A2, A3, A4.

In step 268, when the position L2 is memorized, the worker makes the nozzle tip 115 a third on the surface 104 in the control device 120 in a substantially vertical direction without touching the surface 104 from the second point P2. Command to move to the vicinity of the point P3. The third point P3 is intended to indicate the fourth boundary, the horizontal upper edge with respect to the region A1 in this embodiment, and at the same time, the width w1 of the region A1.

In step 270, the worker commands the control device 120 to move the boom 108 so that the nozzle tip 115 comes into contact with the third point P3.

In step 272, when the nozzle tip 115 comes into contact with the surface 104 on the third point P3, the control device 120 provides the position L3 (x3, y3, z3) of the third point P3 and the worker , The control device 120 is instructed to store this position in the memory unit 434. The horizon is parallel to the third boundary (horizontal lower edge), deviates from the third point P3, intersects at the first and second boundaries (front and rear edges), points IS1 and IS2, and is the fourth. Boundary, in this example, forms a horizontal upper edge with respect to region A1.

Instead, the worker 120 moves the nozzle tip 115 to the control device 120 in the other direction from the second point P2, and similarly occurs corresponding to the stored position L3'or L3'. The surface 104 on point P3'or P3' may be ordered to contact the fourth boundary and width w1 with respect to region A1 as described above in steps 268, 270, 272.

The purpose of the third point P3 (P3 ′, P3 ″) is to define the width w1 in the region A1. The positions L1, L2, L3 (L3', L3'') of at least three points P1, P2, P3 (P3', P3'') are sufficient for the controller 120 to be able to define the region A1. be.

In step 274, if the position L3 is stored and at least three points P1, P2, P3 in the region A1 are defined, the control device 120 will have the first front boundary upward from the first point P1. By defining its four boundaries so that it is a line perpendicular to the lines P1-P2 between the first and second points P1 and P2, the four-sided square or rectangular area A1 To form. The second rear boundary is a line starting upward from the second point P2 and perpendicular to lines P1-P2. The third lower boundary is the line P1-P2, and the fourth upper boundary is the line intersecting the first and second boundaries IS1 and IS2 as described above. The square or rectangular region A1 has a specific first surface region and depends on the distance between points P1, P2, P3. Its surface has a particular first angle on the XY plane that substantially coincides with the floor of the tunnel side 106 in the coordinate system 354. Finally, the worker orders the control device 120 to store the area information in the memory unit 434.

Alternatively, the regions A1, A2, A3, A4 can be defined as parallelograms, based on which the third point P3'' is the third of the parallelogram-shaped regions A1, A2, A3, A4. Define the corner of. The first point P1 and the second point P2 define the first and second corners of the parallelogram regions A1, A2, A3, A4, as well as the lines P1-P2 as the third boundary. do. The second boundary is the line between P2-P3'' and based on which the first boundary starts at the first point P1 and ends at the line P2-P3'' (second boundary). It is a parallel line. The fourth boundary is a line parallel to the third boundary (lines P1-P2) and deviating from the third point P3 ″. The fourth boundary intersects at points IS1 ″ and IS2 ″, which are the first and second boundaries. The parallelogram-shaped regions A1, A2, A3, A4 also have a particular first plane region and a particular first angle on the XY plane.

In step 276, after the formation of region A1 is complete, if the worker desires to define at least one or more square, rectangular, or parallelogram-shaped regions A2, A3, A4, the definition process Continuing in step 278, region A1 becomes partial region A1. Alternatively, if the definition of region A1 is sufficient, the process continues at step 290.

In step 278, after memorizing the position, the worker touches the nozzle tip 115 to the control device 120 in a substantially vertical direction without touching the surface 104 from the third point P3 (P3', P3''). Command to move to the vicinity of the fourth point P4 on 104. The fourth point P4 is intended to indicate a fifth boundary, in this embodiment a horizontal upper edge relative to the partial region A2 and a width w2 of the partial region A2.

As in the case of the third point P3, the position of the fourth point P4 may have a description other than the illustration.

In step 280, the worker commands the control device 120 to move the boom 108 so that the nozzle tip 115 comes into contact with the fourth point P4.

In step 282, if the nozzle tip 115 comes into contact with the surface 104 on the fourth point P4, the control device 120 provides the position L4 (x4, y4, z4) of the fourth point P4 and the worker , The control device 120 is instructed to store this position in the memory unit 434. The horizon is parallel to the fourth boundary, deviates from the fourth point P4, intersects at the first and second boundaries (front and rear edges) points IS3, IS4, and the fifth boundary, this implementation. In the example, a horizontal upper edge is formed with respect to the partial region A2 and the width w2.

In step 284, if the position L4 is stored and the fourth point P4 of the partial region A2 is defined, the control device 120, in this embodiment, defines the four boundaries thereof to form a square or a four-sided square. A rectangular partial region A2 is formed. The line starting upward from the first point P1 (perpendicular to line P1-P2) is the first front boundary and starting upward from the second point P2 (perpendicular to line P1-P2). The line is the second rear boundary, the line IS1-IS2 between the intersections IS1 and IS2 is the third lower boundary, and the line IS3-IS4 between the intersections IS3 and IS4 is the fourth. The upper boundary. The partial region A2 also has a specific second surface region, which depends on the distance between points IS1, IS2, P4 and may differ from the first surface region. The surface has a particular second angle on the XY plane and may differ from the first angle. Finally, the worker orders the control device 120 to store the area information in the memory unit 434.

In step 286, after the formation of the partial regions A2 is completed, if the worker desires to define more partial regions A3, A4, the following definition process for the partial regions A3, A4 is as described above accordingly. , Contact points P5, P6, provide positions L5, L6, and form partial regions A3, A4 to continue in step 278. Instead, once all the required subregions A1, A2, A3, A4 have been defined, the definition process continues at step 288.

In step 288, the control device 120 forms consistent regions (surfaces) A1, A2, A3, A4 from the defined partial regions A1, A2, A3, A4 by combining them in the coordinate system 354. ..

In step 290, the operator commands the controller 120 for a spray distance d that defines the distance between the surface of the forming regions A1, A2, A3, A4 and the nozzle tip 115. The spraying distance d causes a spraying operation 350 calculated by the control device 120, because the spraying emitted from the nozzle tip 115 has a conical shape, and based on this, the longer the spraying distance d, the more the spraying. The collision area becomes wider.

Based on the spraying distance d, the control device 120 determines the start and stop positions of the spraying process with respect to the nozzle tip 115 of the coordinate system 354 and the forming regions A1, A2, A3 based on the forming regions A1, A2, A3, and A4. , A4 (based on surface angle), defines the position of the nozzle tip 115 with respect to each region A1, A2, A3, A4. The positions with respect to the regions A1, A2, A3, and A4 are set so that the nozzle tip 115 is substantially perpendicular to the surface 104 of the regions A1, A2, A3, and A4.

Workers also instruct the controller 120 about the desired layer thickness to be obtained by adjusting the speed of the nozzle tip 115 and, if possible, the output of the concrete pump in the sprayer 102. .. The layer thickness may be 10 to 150 mm, for example, 30, 40, 50, 60, 70, 80, or 90 mm.

In step 292, the worker commands the controller 120 to start spraying concrete or other material, based on which the controller inputs a starting point and is calculated after starting the spraying. The boom 108 (nozzle tip 115) is driven toward the starting point.

In step 294, the control device 120 takes into account the surface shape of the regions A1, A2, A3, A4 and the commanded (received) spray distance d, so that the boom 108 is sprayed step by step. The spraying operation 350 performed by the structures 112, 113, 114 is calculated. The control device 120 calculates the operation 350 so that the collision region of the concrete spray is held inside the boundary of the formation regions A1, A2, A3, and A4.

By step-by-step calculation, the control device 120 commands the control device 120 during the spraying operation 350 to extend or shorten this operation 350 in the length direction of the areas A1, A2, A3, A4. , The spraying operation 350 can be recalculated (adapted). The conformance of the spraying operation 350 is shown more accurately with reference to FIG. 3b below.

In step 296, the control device 120 sprays the definition areas A1, A2, A3, A4 according to the calculated operation 350, and finally shuts off the spray when the boom 108 enters the defined stop position. Therefore, the sprayer 102 and the boom 108 are controlled.

When the operator orders the control device 120 to adjust the layer thickness of the material sprayed before or during spraying by adjusting the speed of the spraying operation 350 according to the desired layer thickness. There is.

FIG. 3b shows the above conformance of the spraying operation 350 during spraying. In this embodiment, the previous (left) regions A1, A2, A3, A4 and their spraying operation 350 are already in accordance with steps 252, 256, to 294, 296 of the definition process shown in the previous drawings. Defined and sprayed. Then, the next adjacent (right) regions A1', A2', A3', A4' and the spraying operation 350 of the boom 108 also follow steps 252, 256, to 288, 290 of the same definition process. Defined.

In this embodiment, the tunnel side surface 106 extends to the left in the arrow B direction. As a result of the definition of the right area A1', A2', A3', A4', the sprayed left area A1, A2, A3, A4 and the adjacent defined right area A1', A2', A3 ', A4' contact one side of the tunnel side 106, which has a specific distance C between them on the other side of the tunnel side 106, based on which the adjacent left and right sides. There is a narrow surface region (strip) C between the regions A1, A2, A3, A4, A1', A2', A3', and A4'.

According to the calculated spraying operation 350 and steps 292, 294, 296, after the concrete spraying is started, the worker controls the boom 108 by the control device 120, and during the spraying, the right area A1', A2', Recognizing how incomplete the definition of A3', A4', that is, the worker is between the left and right areas A1, A2, A3, A4, A1', A2', A3', A4'. Recognize the narrow surface strip C. According to the calculated spraying motion 350, this surface strip C may remain as a non-spraying region, but the operator can adapt the initially calculated spraying motion 350 if necessary.

The worker tells the control device 120 that during the individual spraying motions 350, the spraying motions 350b stretched according to the lowest first rotation of the spraying motions 350, 350b in the figure, as the right area A1', A2. It is possible to instruct the initial spraying operation 350a to be extended (stretched) in the directions of the lengths L1 and L2 of', A3', and A4'. Instead, the worker tells the control device 120 that the shortened spraying motion 350c is the initial spraying motion 350a in the direction of the lengths L1, L2 of the right area A1', A2', A3', A4'. Can be ordered to shorten.

After conforming, the control device 120 recalculates the next spraying motion 350, 350a according to the adapted spraying motions 350b, 350c, regardless of the stretching / shortening of the individual spraying motions 350, 350a, 350b, 350c. As long as the next (new) conformance command is received from the worker, it will continue according to the operation.

In this embodiment, if the surface strip C becomes narrower and the distance from the floor of the tunnel side 106 increases, the worker was previously adapted to the controller 120 during spraying as a shortened spraying motion 350c. The individual spraying operations 350, 350a should be ordered to be shortened. If it is necessary to avoid the areas A1, A2, A3, A4 on the left side from being unnecessarily double-sprayed, the individual spraying operations 350 are shortened continuously, but not all.

Instead, the control device 120 is feasible to return to the initially calculated spraying operations 350, 350a after adaptation and continue according to the operation.

As a matter of course, if the edges of adjacent regions A1, A2, A3, A4, A1', A2', A3', A4' overlap at least partially, the worker is different from this embodiment. The individual spraying operations 350, 350a, 350b can be shortened if necessary.

By conformance, the worker adapts the areas A1, A2, A3, A4, A1', A2', A3', A4' to any individual spraying operation 350, and thus the latest definition area A1'. , A2', A3', A4'can be adapted to previously sprayed areas A1, A2, A3, A4.

FIG. 4 shows a control device (control unit, control unit) 120 used to control the spray boom 104.

The control device 120 includes a processor unit 422 that executes an instruction to start a worker and / or a computer program and processes data in order to start an application. The processor unit 422 includes at least one processor, for example, one, two, three, or more processors.

The control device 120 also comprises a data transfer unit 424 that the control device 120 uses to transmit commands, requests, and data to other components of the system 100, such as the mobile mechanism 426 and the wireless remote control device 428. , The control device 120 is used to provide the operator with a user interface to control the boom 108. The data transfer unit 424 also receives commands, requests, and data from other components such as the mobile mechanism 426, the remote control device 428, and the sensor 430. Communication between the data transfer unit 424 and the components 426, 430 may be provided by wire cable connection or wirelessly, and between the data transfer unit 424 and the remote control device 428.

The control device 120 also includes a power supply unit 432. The power supply unit 432 includes a component for supplying power to the control device 120, for example, a component for connecting the control device 120 to the power supply system of the sprayer 102 or its own battery.

The control device 120 also includes a memory unit 434 for storing and holding data. The data can be instructions, computer programs, and data files. The memory unit 434 includes at least one memory, for example, one, two, three, or more memories.

The memory unit 434 has at least a data transfer application 436 for operating (controlling) the data transfer unit 424, a mobile application 438 for operating the moving mechanism 426 of the boom 108, and a sensor application 440 for operating the sensor 430. And stores the power supply application 442 for operating the power supply unit 432.

The memory unit 434 is also a component for operating the control device 120 described in the present specification and the drawings, at least when the memory unit is operated by the processor unit 424 in a computer, for example, the control device 120. Stores a computer program 444 (software, application) using at least one of 424, 426, 430, 432.

The computer program 444 may be stored, for example, in a compact disc (CD) or universal serial bus (USB) type storage device.

The invention has been described as described above in accordance with the typical embodiments described above and has shown some of its advantages. The invention is clearly not limited to these embodiments, but includes all possible embodiments within the scope of the following claims.

Claims (15)

A definition system (100) for defining a spray area (A1, A2, A3, A4) for a sprayer (102).
With the spray boom (104) of the sprayer,
With the boom sensor (430),
A control device (120) for controlling the boom is provided.
The boom nozzle tip (115) contacts several contacts (P1, P2, P3, P4, P5, P6) on the spray target surface (104) to define the boundaries of the region (258, 264, 270, 280)
The sensor acquires the position information (258, 264, 270, 280) of each of the contacts (P1, P2, P3, P4, P5, P6).
The control device defines the positions of the contacts (L1, L2, L3, L4, L5, L6) in the boom coordinate system (354) based on the acquired position information (260, 266, 272). , 282), and the defined position of the contact (L1, L2, L3, L4, L5, L6) is used to form the spray target region in the coordinate system (274, 288). The control device indicates the coordinate system (252) which is a three-dimensional coordinate system (250) having an origin (O) located at the attachment mechanism (110) of the boom, and based on the coordinate system, said the coordinate system. The system according to claim 1, wherein each contact is arranged with respect to the mounting mechanism. The control device receives (290) the spraying distance (d), which determines the first distance between the spraying target surface and the tip of the nozzle, from the worker of the boom, and based on this, the control. The system according to claim 1 or 2, wherein the apparatus considers the surface shape and spray distance of each forming region (A1, A2, A3, A4) when the spraying operation (350) is calculated. The control device defines (290) at least a start / stop position for concrete spraying in the coordinate system and a position of the nozzle tip (115) for each formation region (290). The system described in either. The control device performs a spraying operation on the nozzle tip by the boom structure (112, 113, 114) during concrete spraying based on the shape of the surface of the formed region in the coordinate system. The system according to any one of claims 1 to 4, which calculates (294) the (350). If the worker of the boom controls the boom during the spraying operation (250), the control device recalculates the spraying operation (294), and the control device controls the length of the region (l1, l2). ), The system according to claim 4, wherein this spraying operation is extended or shortened. The system according to claim 4, wherein the control device adjusts the speed of the spraying operation according to a desired layer thickness of the spraying material (296). The length (l1) of the region is defined by contacting the first and second contacts (P1, P2), based on which the second distance between these points is in length. , The width (w1) of the region is defined by contacting the third contact (P3), based on which the third contact and the first and second contacts (P2, P3). The system of any of claims 1-7, wherein the third distance from the line between is said width (w1) of the region. The region is defined as a first partial region (A1) and the width (w2) of the second partial region (A2) is defined by contacting a fourth contact (P4), based on which the first. The fourth distance between the contact point 4 and the first partial region is the width of the second partial region, and the length (l2) of the second partial region is the first partial region. 6. The system of claim 6, which matches the length of. The system according to claim 9, wherein the control device forms the region (288) by combining at least the first and second partial regions (A1, A2). A definition method for defining a spray region (A1, A2, A3, A4) by the system (100) according to any one of claims 1 to 10.
To define the boundaries of the region, the nozzle tip (115) of the spray boom (108) causes several contacts (P1, P2, P3, P4, P5, P6) on the surface (104) to be sprayed. ) To contact (258, 264, 270, 280) and
The step of acquiring (258, 264, 270, 280) the position information of each of the contacts (P1, P2, P3, P4, P5, P6) by the sensor (430) of the boom, and the control of the boom. The device (120) defines the positions (L1, L2, L3, L4, L5, L6) of the contact points in the boom coordinate system (354) based on the acquired position information (260, 266, 272). , 282), using the defined positions of the contacts (L1, L2, L3, L4, L5, L6) to form the spray target area in the coordinate system (274, 288). , Steps, and at least, how to define. A control device (120) for defining a spray area (A1, A2, A3, A4).
Processor section (422) and
A data transfer unit (424) and
In the data transfer unit, when the boundary of the region is defined on the spray target surface (104), the nozzle tip (115) of the spray boom (108) of the sprayer (102) comes into contact (258, 264, 270). , 280) Received the position information (258, 264, 270, 280) of each contact (P1, P2, P3, P4, P5, P6).
Based on the reception position information, the processor unit defines the positions of the contacts (L1, L2, L3, L4, L5, L6) in the boom coordinate system (354) (260, 266, 272, 282) and use (274, 288) the defined positions (L1, L2, L3, L4, L5, L6) of the contacts (P1, P2, P3, P4, P5, P6) to the coordinate system. A control device that forms the spray target area. A definition method for defining a spray region (A1, A2, A3, A4) by the control device (120) according to claim 12.
When the boundary of the region is defined by the data transfer unit (424) of the control device on the spray target surface (104), the nozzle tip (115) of the spray boom (108) of the sprayer (102) A step of receiving (258, 264, 270, 280) the position information of each contact (P1, P2, P3, P4, P5, P6) that has come into contact (258, 264, 270, 280).
The processor unit (422) of the control device defines the positions of the contacts (L1, L2, L3, L4, L5, L6) in the boom coordinate system (354) based on the reception position information. (260, 266, 272, 282) using the defined positions (L1, L2, L3, L4, L5, L6) of the contacts (P1, P2, P3, P4, P5, P6). A definition method comprising at least a step of forming the spray target region (274, 288) in the coordinate system. A computer program (444) comprising instructions that, when executed by the controller (120) of claim 12, causes the controller to perform at least the steps of the method of claim 13. A non-statutory computer-readable medium comprising the computer program (444) of claim 14.

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