JP7542553B2 - Definition system for defining a spray area for a spray machine - Google Patents

Description

This application relates generally to a definition system for defining a spray area for a spray machine.

Concrete is used to reinforce rock structures in quarries and tunnels, and is sprayed onto these structures as layers of concrete using mobile concrete sprayers.

A concrete sprayer has a movable, telescoping spray boom that supports a concrete hose that directs wet concrete into the boom's nozzle head. A nozzle head with a nozzle tip is mounted at the end of the boom, and using the boom's movement mechanism and telescoping structure, an operator can drive the nozzle tip to a desired position adjacent the surface to be covered by the concrete layer and precisely direct the concrete spray onto the surface.

One solution to make the spraying process more accurate and reduce the amount of shotcrete 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 area to be sprayed, 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 overcome the drawbacks of known solutions and to present a definition system for quickly defining the spray area, which does not require the use of expensive additional scanners, achieves more accurate spray characteristics and takes into account gravity-based bending and use-based wear of the spray boom.

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

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

One embodiment of the present invention is a method for defining a spray area by the system, which corresponds to an embodiment of a conventional definition system. The method includes a step of contacting several contact points on the surface to be sprayed with a nozzle tip of the spray boom to define a boundary of the spray area. The method also includes a step of acquiring position information of each contact point by a sensor of the boom. The method also includes a step of defining a position of each contact point in a coordinate system of the boom based on the acquired position information by a control device of the boom, and using the defined positions of the contact points to form and define the spray area in the coordinate system.

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

One embodiment of the present invention is a method for defining a spray area by a control device, which corresponds to a conventional control device embodiment. The method includes a step of receiving, by a data transfer unit of the control device, position information of each contact point contacted by a nozzle tip of a spray boom of a spray machine when a boundary of the spray area is defined on a surface to be sprayed. The method also includes a step of defining, by a processor unit of the control device, a position of each contact point in a coordinate system of the boom based on the received position information, and using the defined positions of the contact points to form and define the spray area in the coordinate system.

One embodiment of the present invention is a computer program that includes instructions that, when executed by a controller, cause the controller to perform steps of a conventional definition method consistent with a conventional controller embodiment. The program includes code for receiving, by a data transfer portion of the controller, positional information of each contact point contacted by a nozzle tip of a spray boom of a spray machine when a boundary of a spray area is defined on a surface to be sprayed. The program also includes code for defining, by a processor portion of the controller, a position of each contact point in a coordinate system of the boom based on the received positional information, and using the defined positions of the contact points to form and define the spray area in the coordinate system.

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

Further embodiments of the invention are defined in the independent claims.

Exemplary embodiments are described with reference to the accompanying drawings.

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

Figure 1 shows a definition system 100 for defining at least one spray area A1, A2, A3, A4 and spraying the defined areas A1, A2, A3, A4 with concrete by a sprayer 102 to form a supporting concrete layer on a wall surface 104 and a roof (vault) structure of a tunnel side 106, etc.

At least one of the regions A1, A2, A3, A4 may include, for example, one, two, three, four, or more regions.

The sprayer 102 is a mobile concrete sprayer used within a tunnel side 106, for example in underground mining and tunneling. The sprayer 102 can also spray other materials, such as water or cleaning agents, to clean the surface 104, and can be operated outside the tunnel side 106 in other environments for the same purpose.

The system 100 includes a spray boom 108, such as a telescoping spray boom, which is a component of the spray machine 102 and is attached (mounted) to the spray machine 102 by an attachment mechanism 110, and the boom 108 can be raised and lowered and pivoted (rotated) relative to the attachment mechanism 110 by its movement mechanism 426.

The boom 108 comprises at least telescoping boom structures 112, 113 and a nozzle head 114 that causes the concrete to be sprayed at the end of the telescoping boom structure 113. The nozzle head 114, or indeed the nozzle tip 115, is used to contact contact points P1, P2, P3, P4, P5, P6 on the surface to be sprayed 104 to define the boundaries of the areas A1, A2, A3, A4.

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

The boom 108 also includes several installed sensors 430 to obtain position information used to control the boom 108. An operator (not shown) of the boom 108 uses the sensors 430 to obtain position information of at least the contacts P1, P2, P3, P4, P5, and P6 when the operator drives the boom 108 so that its nozzle tip 115 contacts the surface 104 on the contacts P1, P2, P3, P4, P5, and P6.

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

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

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

The coordinate system 354, together with the position information from the sensor 430, positions the nozzle tip 115 relative to the attachment mechanism 110, defines the areas to be sprayed A1, A2, A3, A4, and calculates the required movements 350 to spray the defined areas A1, A2, A3, A4 on the surface 104.

In step 256, when the sprayer 102 is stopped and the operator of the boom 108 is in a position to safely control the boom 108, the operator operates the controller 120 via the user interface of the remote control device 428 to command the controller 120 to move the nozzle tip 115 to the vicinity of a first point P1 on the surface 104. The first point P1 is intended to indicate a first boundary (edge), in this embodiment, the front (right) edge of the areas A1, A2, A3, and A4 on the surface 104 in the vertical direction as seen by the operator.

In step 258, the operator commands the controller 120 to move the boom 108 so that the nozzle tip 115 contacts a first point P1 at the end of the nozzle head 114. During the movement of the boom 108, and whenever the boom 108 is stationary, the sensor 430 provides position information that allows the controller 120 to define the position of the nozzle tip 115.

In step 260, when the nozzle tip 115 contacts the surface 104 at the first point P1, the control device 120 provides the position L1 (x1, y1, z1) of the first point P1 with respect to the coordinate system 354 based on the position information from the sensor 430, and the operator commands the control device 120 to store this position L1 in its memory unit 434.

In step 262, after storing position L1, the operator commands the control device 120 to move the nozzle tip 115 in a generally horizontal direction from the first point P1 to near a second point P2 on the surface 104 without contacting the surface 104. The second point P2 is intended to indicate a second boundary, in this embodiment, the (left) edge immediately after the lead of the areas A1, A2, A3, and A4.

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

In step 266, when the nozzle tip 115 contacts 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 operator commands the control device 120 to store this position in the memory unit 434. The horizontal line P1-P2 between the first and second points P1, P2 forms a third boundary, in this embodiment the horizontal lower edge for the spray target areas A1, A2, A3, A4, and at the same time the length l1 of the areas A1, A2, A3, A4.

In step 268, when position L2 has been stored, the operator commands the controller 120 to move the nozzle tip 115 in a substantially vertical direction from the second point P2 to the vicinity of a third point P3 on the surface 104 without contacting the surface 104. The third point P3 is intended to indicate a fourth boundary, in this embodiment the horizontal upper edge for the area A1, and at the same time the width w1 of the area A1.

In step 270, the operator commands the control device 120 to move the boom 108 so that the nozzle tip 115 contacts the third point P3.

In step 272, when the nozzle tip 115 contacts the surface 104 on the third point P3, the controller 120 provides the position L3 (x3, y3, z3) of the third point P3, and the operator commands the controller 120 to store this position in the memory unit 434. A horizontal line is parallel to the third boundary (horizontal lower edge), leaves the third point P3, and intersects with the first and second boundaries (front and rear edges) at points IS1, IS2 to form a fourth boundary, in this example the horizontal upper edge for area A1.

Alternatively, the operator 120 may instruct the controller 120 to move the nozzle tip 115 in the other direction from the second point P2 to contact the surface 104 at a third point P3' or P3" that also occurs corresponding to the stored position L3' or L3", and a fourth boundary and width w1 for the area A1, as described above in steps 268, 270, and 272.

The purpose of the third point P3 (P3', P3") is to define a width w1 in the area A1. The positions L1, L2, L3 (L3', L3") of at least three points P1, P2, P3 (P3', P3") are sufficient to allow the control device 120 to define the area A1.

In step 274, the position L3 is stored, and if at least three points P1, P2, P3 of the area A1 have been defined, the control device 120 forms a four-cornered square or rectangular shaped area A1 by defining its four boundaries such that the first front boundary is a line starting upward from the first point P1 and perpendicular to the line P1-P2 between the first and second points P1, P2. The second rear boundary is a line starting upward from the second point P2 and perpendicular to the line P1-P2. The third lower boundary is the line P1-P2, and the fourth upper boundary is a line intersecting the first and second boundaries at points IS1, IS2 as described above. The square or rectangular shaped area A1 has a specific first surface area, which depends on the distance between points P1, P2, P3. The surface has a specific first angle on the XY plane that approximately coincides with the floor surface of the tunnel side surface 106 in the coordinate system 354. Finally, the operator commands the control device 120 to store the area information in the memory unit 434.

Alternatively, the areas A1, A2, A3, A4 can be defined as parallelograms, on the basis of which the third point P3'' defines the third corner of the parallelogram-shaped areas A1, A2, A3, A4. The first point P1 and the second point P2 define the first and second corners of the parallelogram-shaped areas A1, A2, A3, A4, and at the same time the line P1-P2 as the third boundary. The second boundary is the line between P2-P3'', on the basis of which the first boundary is a line starting from the first point P1 and parallel to the line P2-P3'' (second boundary). The fourth boundary is a line parallel to the third boundary (line P1-P2) and deviates from the third point P3''. The fourth boundary intersects with the first and second boundaries at points IS1'', IS2''. The parallelogram-shaped regions A1, A2, A3, and A4 also have a specific first planar region and a specific first angle on the XY plane.

In step 276, after the formation of area A1 is completed, if the operator desires to define at least one or more square, rectangular, or parallelogram shaped areas A2, A3, A4, the definition process continues in step 278, where area A1 becomes a subarea A1. Alternatively, if the definition of area A1 is sufficient, the process continues in step 290.

In step 278, after storing the position, the operator commands the controller 120 to move the nozzle tip 115 in a substantially vertical direction from the third point P3 (P3', P3") to the vicinity of a fourth point P4 on the surface 104 without contacting the surface 104. The fourth point P4 is intended to indicate a fifth boundary, in this embodiment the horizontal upper edge for the sub-area A2 and the width w2 of the sub-area A2.

The position of the fourth point P4 may be described in a manner other than as shown, as in the case of the third point P3.

In step 280, the operator commands the control device 120 to move the boom 108 so that the nozzle tip 115 contacts the fourth point P4.

In step 282, when the nozzle tip 115 contacts the surface 104 on the fourth point P4, the controller 120 provides the position L4 (x4, y4, z4) of the fourth point P4, and the operator commands the controller 120 to store this position in the memory unit 434. A horizontal line is parallel to the fourth boundary, leaves the fourth point P4, and intersects with the first and second boundaries (front and rear edges) at points IS3, IS4 to form a fifth boundary, in this example the horizontal upper edge for the subarea A2 and width w2.

In step 284, the position L4 is stored, and when the fourth point P4 of the partial area A2 is defined, the control device 120 forms the partial area A2 in the shape of a square or rectangle with four corners by defining its four boundaries in this embodiment. The line starting upward from the first point P1 (perpendicular to the line P1-P2) is the first front boundary, the line starting upward from the second point P2 (perpendicular to the line P1-P2) is the second rear boundary, the line IS1-IS2 between the intersection points IS1 and IS2 is the third lower boundary, and the line IS3-IS4 between the intersection points IS3 and IS4 is the fourth upper boundary. The partial area A2 also has a specific second surface area, which may differ from the first surface area depending on the distance between the points IS1, IS2, and P4. The surface has a specific second angle on the XY plane, which may differ from the first angle. Finally, the worker commands the control device 120 to store the area information in the memory unit 434.

In step 286, after completing the formation of sub-area A2, if the operator wishes to define more sub-areas A3, A4, the definition process for the following sub-areas A3, A4 continues in step 278 by contacting points P5, P6 and providing positions L5, L6 to form sub-areas A3, A4 accordingly as described above. Alternatively, once all required sub-areas A1, A2, A3, A4 have been defined, the definition process continues to step 288.

In step 288, the control device 120 forms consistent areas (surfaces) A1, A2, A3, A4 from the defined subareas 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, which defines the distance between the surfaces of the formation areas A1, A2, A3, A4 and the nozzle tip 115. The spray distance d results in a spray action 350 that the controller 120 calculates, because the spray issuing from the nozzle tip 115 has a conical shape, and based on that, the longer the spray distance d, the wider the impact area of the spray.

Based on the spray distance d, the controller 120 defines the start and stop positions of the spray process for the nozzle tip 115 in the coordinate system 354 based on the formation areas A1, A2, A3, A4, and the position of the nozzle tip 115 for each of the formation areas A1, A2, A3, A4 (based on the surface angle). The position for each of the formation areas A1, A2, A3, A4 is set such that the nozzle tip 115 is approximately perpendicular to the surface 104 of the areas A1, A2, A3, A4.

The operator also commands the control device 120 as to the desired layer thickness to be obtained by adjusting the speed of the nozzle tip 115 and possibly the output of the concrete pump in the sprayer 102. The layer thickness may be, for example, 30, 40, 50, 60, 70, 80 or 90 mm, such as 10-150 mm.

In step 292, the operator commands the control device 120 to start spraying concrete or other material, and based on that, the control device inputs a start point and begins driving the boom 108 (nozzle tip 115) toward the calculated start point after spraying begins.

In step 294, the control device 120 calculates the spraying movements 350 to be performed by the structures 112, 113, 114 of the boom 108 during the spraying step by step, taking into account the surface shape of the areas A1, A2, A3, A4 and the commanded (received) spraying distance d. The control device 120 calculates the movements 350 in such a way that the impact area of the concrete spray is kept within the boundaries of the formation areas A1, A2, A3, A4.

The step-by-step calculation allows the control device 120 to recalculate (adapt) the spraying operation 350 if the operator commands the control device 120 to extend or shorten this operation 350 along the length of the areas A1, A2, A3, A4 during the spraying operation 350. The adaptation of the spraying operation 350 is shown more precisely with reference to FIG. 3b below.

In step 296, the controller 120 controls the sprayer 102 and the boom 108 to spray the defined areas A1, A2, A3, A4 according to the calculated motion 350, and finally cut off spraying when the boom 108 enters the defined stop position.

The operator may instruct the controller 120 to adjust the layer thickness of the sprayed material before or during spraying by adjusting the speed of the spraying operation 350 according to the desired layer thickness.

Figure 3b illustrates the above adaptation of the spraying action 350 during spraying. In this example, the previous (left) area A1, A2, A3, A4 and its spraying action 350 have already been defined and sprayed according to steps 252, 256, ..., 294, 296 of the definition process shown in the previous figures. Then, the next adjacent (right) area A1', A2', A3', A4' and the spraying action 350 of the boom 108 have also been defined according to steps 252, 256, ..., 288, 290 of the same definition process.

In this embodiment, the tunnel side 106 extends to the left in the direction of the arrow B. As a result of the definition of the right side areas A1', A2', A3', A4', the sprayed left side areas A1, A2, A3, A4 and the adjacent defined right side areas A1', A2', A3', A4' contact one side of the tunnel side 106 and have a certain distance C between them on another side of the tunnel side 106, based on which there is a narrow surface area (strip) C between the adjacent left and right areas A1, A2, A3, A4, A1', A2', A3', A4'.

After starting to spray concrete according to the calculated spraying movement 350 and steps 292, 294, 296, the operator controls the boom 108 by the control device 120 and recognizes how incompletely the definition of the right area A1', A2', A3', A4' is during spraying, i.e. the operator recognizes a narrow surface strip C between the left and right areas A1, A2, A3, A4, A1', A2', A3', A4'. According to the calculated spraying movement 350, this surface strip C may remain as a non-sprayed area, but the operator can adapt the initially calculated spraying movement 350 if necessary.

The operator can instruct the control device 120 to extend (extend) the initial spraying action 350a in the direction of the length L1, L2 of the right area A1', A2', A3', A4' as an extended spraying action 350b during each spraying action 350 according to the lowest first rotation of the spraying action 350, 350b in the figure. Alternatively, the operator can instruct the control device 120 to shorten the initial spraying action 350a in the direction of the length L1, L2 of the right area A1', A2', A3', A4' as a shortened spraying action 350c.

After adaptation, regardless of the lengthening or shortening of the individual spraying operations 350, 350a, 350b, 350c, the control device 120 recalculates the next spraying operation 350, 350a according to the adapted spraying operation 350b, 350c and continues to follow that operation as long as a next (new) adaptation command is received from the operator.

In this example, if the surface strip C narrows and the distance from the floor of the tunnel side 106 increases, the operator should command the control device 120 to shorten the individual spraying movements 350, 350a previously adapted during spraying as shortened spraying movements 350c. The individual spraying movements 350 are shortened in succession, but not necessarily all, if necessary to avoid unnecessary double spraying of the left-hand areas A1, A2, A3, A4.

Instead, the control device 120 can be executed to return to the originally calculated spraying action 350, 350a after adaptation and continue according to that action.

Of course, if the edges of adjacent areas A1, A2, A3, A4, A1', A2', A3', A4' at least partially overlap, unlike this embodiment, the operator can shorten the individual spraying operations 350, 350a, 350b if necessary.

The adaptation allows the operator to adapt the areas A1, A2, A3, A4, A1', A2', A3', A4' during every individual spraying operation 350 and thus spraying to adapt the latest defined areas A1', A2', A3', A4' to the previously sprayed areas A1, A2, A3, A4.

Figure 4 shows the control device (control unit) 120 used to control the spray boom 104.

The control device 120 includes a processor unit 422 that executes instructions of human operators and/or computer programs to initiate applications and processes data. The processor unit 422 includes at least one processor, e.g., one, two, three, or more processors.

The control device 120 also includes a data transfer section 424 that the control device 120 uses to transmit commands, requests, and data to other components of the system 100, such as the moving mechanism 426 and the wireless remote control device 428, providing a user interface for an operator to use the control device 120 and control the boom 108. The data transfer section 424 also receives commands, requests, and data from other components, such as the moving mechanism 426, the remote control device 428, and the sensor 430. Communication between the data transfer section 424 and the components 426, 430 can be provided by wired cable connection or wirelessly, and between the data transfer section 424 and the remote control device 428 wirelessly.

The control device 120 also includes a power supply section 432. The power supply section 432 includes components for powering the control device 120, for example, components for connecting the control device 120 to a power supply system of the spray machine 102 or to its own battery.

The control device 120 also includes a memory unit 434 for storing and retaining data. The data may 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 stores at least a data transfer application 436 for operating (controlling) the data transfer unit 424, a movement application 438 for operating the movement mechanism 426 of the boom 108, a sensor application 440 for operating the sensor 430, and a power supply application 442 for operating the power supply unit 432.

The memory unit 434 also stores a computer program 444 (software, application) that, when the memory unit is operated by the processor unit 424 in a computer, e.g., the control unit 120, uses at least one of the components 424, 426, 430, 432 to perform the operations of the control unit 120 described in the above specification and drawings.

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

The present invention has been described above with reference to the exemplary embodiments described above, and some advantages thereof have been shown. The present invention is obviously not limited to these embodiments, but encompasses 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 spray machine (102), comprising:
A spray boom (1 08 ) of the spray machine;
A sensor (430) on the spray boom;
A control device (120) for controlling the spray boom,
The sensor is configured to acquire position information (258, 264, 270, 280).
a nozzle tip (115) of the spray boom is configured to contact (258, 264, 270, 280) several contact points (P1, P2, P3, P4, P5, P6) to define a boundary of the spray area on the surface to be sprayed (104), and the sensor is configured to obtain position information of the nozzle tip at each contact point (P1, P2, P3, P4, P5, P6);
The control device is configured to define (260, 266, 272, 282 ) a position (L1, L2, L3, L4, L5, L6) of each of the contact points in a coordinate system (354) of the spray boom based on the acquired position information, such that the defined positions (L1, L2, L3, L4, L5, L6 ) of the contact points are used to define (274, 288) the spray area in the coordinate system. 2. The definition system of claim 1, wherein the controller indicates (252) the coordinate system, the coordinate system being a three-dimensional coordinate system (250) having an origin (O) located at an attachment mechanism (110) of the spray boom, based on which each of the tangents of the coordinate system is positioned relative to the attachment mechanism. The control device receives (290) a spraying distance (d) from an operator at the spray boom, which determines a first distance between the surface to be sprayed and the nozzle tip, based on which the control device takes into account the surface shape and the spraying distance of each spraying area (A1, A2, A3, A4) when calculating the spraying operation (350). The control device defines (290) at least start and stop positions for concrete spraying in the coordinate system and the position of the nozzle tip (115) for each spray area. The system of any one of claims 1 to 4, wherein the control device calculates (294) a spraying action (350) to be performed by the spray boom structure (112, 113, 114) during concrete spraying relative to the nozzle tip based on the shape of the surface of the spray area in the coordinate system. 4. The definition system of claim 3, wherein the control device recalculates (294) the spraying movement if the spray boom operator controls the spray boom during the spraying movement (250), and the control device extends or shortens this spraying movement in the direction of the length (l1, l2) of the spraying area. The system of claim 3 , wherein the controller adjusts (296) a speed of the spraying action according to a desired layer thickness of sprayed material. A definition system as described in any one of claims 1 to 7, wherein the length (l1) of the spray area is defined by touching a first and second tangent point (P1, P2), based on which a second distance between these points is the length, and the width (w1) of the spray area is defined by touching a third tangent point (P3), based on which a third distance between the third tangent point and a line between the first and second tangent points (P2, P3) is the width (w1) of the spray area. The definition system of claim 6, wherein the spray area is a first partial area (A1), the width (w2) of a second partial area (A2) is defined by contacting a fourth contact point (P4), based on which a fourth distance between the fourth contact point and the first partial area is the width of the second partial area, and a length ( l2 ) of the second partial area corresponds to the length of the first partial area. The system of claim 9, wherein the control device is adapted to combine (288) at least the first and second partial areas (A1, A2) to form the spray area. A method for defining a spray area (A1, A2, A3, A4) for a spray machine (102) by a definition system (100) according to any one of claims 1 to 10, comprising the steps of:
contacting (258, 264, 270, 280) several contact points (P1, P2, P3, P4, P5, P6) with a nozzle tip (115) of a spray boom (108) to define a boundary of said spray area on the surface (104) to be sprayed;
The method includes at least the steps of: acquiring (258, 264, 270, 280) position information of the nozzle tip at each contact point (P1, P2, P3, P4, P5, P6) by a sensor (430) of the spray boom; and defining (260, 266, 272, 282) positions of each contact point (L1, L2, L3, L4, L5, L6) in a coordinate system (354) of the spray boom based on the acquired position information by a control device (120) of the spray boom, wherein the defined positions (L1, L2, L3, L4, L5, L6) of the contact points are used to form (274, 288) the spray area in the coordinate system. A control device (120) for defining spray areas (A1, A2, A3, A4),
A processor unit (422);
A data transfer unit (424),
The data transfer unit is configured to receive (258, 264, 270, 280) position information.
the position information being position information of each contact point (P1, P2, P3, P4, P5, P6) from a sensor (430) of a spray boom (108) of a spray machine (102), the contact points (P1, P2, P3, P4, P5, P6) being contact points (P1, P2, P3, P4, P5, P6) that a nozzle tip (115) of the spray boom comes into contact with (258, 264, 270, 280) when the boundary of the spray area is defined on a target surface (104);
the processor unit is configured to define (260, 266, 272, 282) a position (L1, L2, L3, L4, L5, L6) of each of the contacts in a coordinate system (354) of the spray boom based on the received position information, such that the defined positions (L1, L2, L3, L4, L5, L6 ) of the contacts are used to define (274, 288) the spray area in the coordinate system. A method for defining spray areas (A1, A2, A3, A4) by a control device (120) according to claim 12, comprising the steps of:
receiving (258, 264, 270, 280) position information of each contact point (P1, P2, P3, P4, P5, P6) from a sensor (430) of a spray boom (108) of the spray machine (102) by a data transfer unit (424), the contact points (P1, P2, P3, P4, P5, P6) being contact points (P1, P2, P3, P4, P5, P6) that are in contact (258, 264, 270, 280) with a nozzle tip (115) of the spray boom when the boundary of the spray area is defined on the surface to be sprayed ( 104);
The method includes at least a step of defining (260, 266, 272, 282) the positions (L1, L2, L3, L4, L5, L6) of each of the contact points in a coordinate system (354) of the spray boom based on the received position information by the processor unit (422), and forming (274, 288) the spray area in the coordinate system using the defined positions (L1, L2, L3, L4, L5, L6) of the contact points. A computer program (444) comprising instructions that, when executed by a control device (120) having a processor unit (422) and a data transfer unit (424) , cause the control device to perform at least the steps of the method according to claim 13. A tangible computer readable medium having stored thereon the computer program (444) of claim 14.

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