Shut down of rotating irrigator if extension arm deviates from planned position

摘要

604012 Whilst the main boom assembly 14 of a center pivot 12 irrigator 14 is rotating the irrigator controller 42 determines the actual position of the end tower 26 of the main boom and determines the actual angular orientation ? of the extension arm 16 relative to the end tower. If the actual angular orientation ? deviates from a desired angular orientation that is stored in the controller memory by more than a threshold amount, the operation of the irrigator is shut down. The desired angular orientation is associated in the memory with the position of the end tower with respect to the boundaries of the field to be irrigated.