Patent Publication Number: US-2022211023-A1

Title: System and method for actuating a boom assembly of an agricultural sprayer

Description:
FIELD OF THE INVENTION 
     The present subject matter relates generally to agricultural sprayers, and more particularly, to systems and methods for actuating a boom assembly of an agricultural sprayer to adjust an orientation of one or more boom sections of the boom assembly relative to a ground surface over which the boom assembly is being traversed. 
     BACKGROUND OF THE INVENTION 
     Agricultural sprayers apply an agricultural substance (e.g., a pesticide, a fungicide, and/or the like) onto crops and/or a ground surface as the sprayer is traveling across a field. To facilitate such travel, sprayers are configured as self-propelled vehicles or implements towed behind an agricultural tractor or other suitable work vehicle. A typical sprayer includes an outwardly-extending boom assembly having a plurality of boom sections supporting a plurality of spaced apart nozzles. Each nozzle is configured to dispense or otherwise spray the agricultural substance onto underlying crops and/or weeds. Typically, the nozzles are fixed to the boom assembly such that a spray angle of the nozzles relative to the underlying crops and/or weeds is constant. The boom assembly is disposed in a “floating” arrangement during the spraying operation, wherein hydraulic actuators extend the boom sections to cover wide swaths of the field. For transport, the boom assembly is folded by the hydraulic actuators to reduce the width of the sprayer. Typically, the hydraulic actuators fold the boom assembly horizontally to keep the folding height as low as possible for transport clearance. 
     It is generally desirable that the various boom sections of a boom assembly of a sprayer remain at a desired vertical distance or height above a given field reference position, such as the ground surface or a crop canopy, while in the floating arrangement to facilitate uniform distribution of the dispensed agricultural substance across the field. Currently, to facilitate adjustments of the vertical height of the boom assembly, a central boom section of the boom assembly is mounted to the adjacent frame or chassis of the sprayer via a linkage assembly having one or more lifting actuators configured to raise and lower the entire boom assembly vertically relative to the ground surface. However, as the width of the boom assembly is increased to cover wider swaths of field, it is more difficult to keep the boom assembly at the desired vertical distance across its entire width, particularly when trying to account for localized variations in the ground contour or canopy height across the width of the boom assembly, and to provide proper spray coverage with the fixed spray nozzles. 
     Accordingly, an improved system and related method for actuating a boom assembly of an agricultural sprayer to allow for adjustments in the orientation of one or more boom sections of the boom assembly relative to a field reference position would be welcomed in the technology. 
     BRIEF DESCRIPTION OF THE INVENTION 
     Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention. 
     In one embodiment, the present subject matter is directed to a system for actuating a boom assembly of an agricultural sprayer, the system including a frame, a boom assembly supported relative to the frame, a linkage assembly configured to couple the boom assembly to the frame, and a controller. The linkage assembly includes a support arm, a lift actuator, and a tilt actuator. The support arm is pivotably coupled between the frame and the boom assembly. The lift actuator is pivotably coupled between the frame and the support arm and is configured to raise and lower the boom assembly in a vertical direction. The tilt actuator is pivotably coupled between the frame and the boom assembly and is configured to adjust a tilt angle of the boom assembly relative to the vertical direction. The controller is configured to selectively actuate the tilt actuator to adjust the tilt angle of the boom assembly to an operational tilt angle. 
     In another embodiment, the present subject matter is directed to a method for actuating a boom assembly of an agricultural sprayer. The boom assembly is configured to be coupled to a frame of the agricultural sprayer via a linkage assembly. The linkage assembly includes a tilt actuator configured to adjust a tilt angle of the boom assembly relative to the vertical direction. The method includes controlling, with a computing device, the operation of the tilt actuator to adjust an orientation of the boom assembly relative to the vertical direction to a substantially non-vertical orientation. The method further includes receiving, with the computing device, an input indicative of a change in a vertical position of one or more sections of the boom assembly relative to a field reference position. Additionally, the method includes actuating, with the computing device, the one or more sections of the boom assembly to adjust the vertical position of the one or more sections of the boom assembly relative to the field reference position based on the received input. 
     In a further embodiment, the present subject matter is directed to another method for actuating a boom assembly of an agricultural sprayer. The boom assembly is coupled to a frame of the agricultural sprayer via a linkage assembly, the linkage assembly having a tilt actuator configured to adjust a tilt angle of the boom assembly relative to the vertical direction. The method includes controlling, with a computing device, an operation of fold actuators of the boom assembly to perform a folding operation during which the boom assembly is moved from one of a working position or a transport position to the other of the working position or the transport position. Additionally, the method includes controlling, with the computing device, an operation of the tilt actuator to adjust the tilt angle of the boom assembly to vary a vertical height of the boom assembly during the performance of the folding operation or after the boom assembly has reached the other of the working position or the transport position. 
     These and other features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which: 
         FIG. 1  illustrates a perspective view of one embodiment of an agricultural sprayer in accordance with aspects of the present subject matter; 
         FIG. 2  illustrates a side view of an sprayer in accordance with aspects of the present subject matter; particularly illustrating a transport position of the sprayer; 
         FIG. 3  illustrates a front view of a boom assembly of an agricultural sprayer in accordance with aspects of the present subject matter; 
         FIG. 4  illustrates a side view of one embodiment of a system for actuating a boom assembly of an agricultural sprayer, particularly illustrating the boom assembly at a vertical or folding tilt angle in accordance with aspects of the present subject matter; 
         FIG. 5  illustrates another side view of the system shown in  FIG. 4 , particularly illustrating the boom assembly at a non-vertical or operational tilt angle in accordance with aspects of the present subject matter; 
         FIG. 6  illustrates a partial, front view of the boom assembly shown in  FIG. 5 , particularly illustrating the boom assembly after the orientation of one or more boom sections of the assembly has been adjusted relative to the ground surface to account for variations in the contour of the ground surface across the width of the boom assembly in accordance with aspects of the present subject matter; 
         FIG. 7  illustrates a schematic view of one embodiment of a system for actuating a boom assembly of an agricultural sprayer in accordance with aspects of the present subject matter; 
         FIG. 8  illustrates a flow diagram of one embodiment of a method for actuating a boom assembly of an agricultural sprayer in accordance with aspects of the present subject matter; and 
         FIG. 9  illustrates a flow diagram of another embodiment of a method for actuating a boom assembly of an agricultural sprayer in accordance with aspects of the present subject matter. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents. 
     In general, the present subject matter is directed to systems and methods for actuating a boom assembly of an agricultural sprayer. Specifically, in several embodiments, the disclosed system may allow for a boom assembly to be tilted (e.g., about a horizontal axis) to adjust the orientation of the boom assembly from a substantially vertical orientation (e.g., at which the boom assembly defines a substantially zero tilt angle relative to a vertical reference plane) to a non-vertical orientation (e.g., at which the boom assembly defines a substantially non-zero tilt angle relative to the vertical reference plane). By allowing the boom assembly to be actuated or tilted in a manner that adjusts the vertical orientation of the boom assembly relative to the ground surface over which the boom assembly is being traversed, individual actuators of the boom assembly may be used to independently adjust the vertical positioning of one or more boom sections of the assembly relative to a given field reference position (e.g., such as the ground surface or a crop canopy) to account for localized variations in the ground contour or canopy height and/or to allow the spray angle of the spray nozzles to be adjusted to improve spray coverage of the field. 
     In several embodiments, the disclosed system may include a boom assembly having a plurality of boom sections, such as a central boom section and one or more auxiliary boom sections coupled to each side of the central boom section. For instance, in one embodiment, the boom assembly may include first and second inner boom sections pivotably coupled to the opposed sides of the central boom section, first and second middle boom sections pivotably coupled to the first and second inner boom sections, respectively, and first and second outer boom sections pivotably coupled to the first and second middle boom sections, respectively. A plurality of spray nozzles may be mounted to one or more of the boom sections. In addition, an actuator (e.g. fold cylinder) may be coupled between each pair of adjacent boom sections to allow the outboard boom section of each pair to be pivoted or folded relative to the adjacent inboard boom section of each pair. In general, the fold actuators may be used to fold the boom sections relative to one another along a lateral direction of the boom assembly to reduce the width of the boom assembly for transport. However, in accordance with aspects of the present subject matter, the fold actuators may also be utilized in operative association with the disclosed system to adjust the orientation of the boom sections relative to the surface across which the agricultural sprayer is moving to obtain a more uniform vertical distance between the boom assembly and an associated field reference position (e.g., the ground surface or crop canopy) across the entire width of the boom assembly during the performance of an agricultural spraying operation. 
     To allow for such adjustments in the vertical distance between the boom assembly and the field reference position, the disclosed system may, in several embodiments, include both one or more lift actuators (e.g., a lift cylinder(s)) and one or more separate tilt actuators (e.g., a tilt cylinder(s)), For example, the lift and tilt actuators may each be pivotably coupled between the boom assembly and an adjacent frame or chassis of the agricultural sprayer. In such an embodiment, when it is desired to adjust the vertical distance between the entire boom assembly and the ground surface, the operation of the lift actuator may be controlled to raise or lower the entire boom assembly relative to the ground surface. Additionally, the operation of the tilt actuator may be controlled to adjust the tilt angle of the entire boom assembly relative to the vertical direction (e.g., relative to a vertical reference plane), which also adjusts a spray angle of the nozzles relative to the field reference position. In doing so, when it is desired to adjust the orientation of one or more boom sections of the boom assembly relative to the field reference position, the fold actuators associated with such boom section(s) may be actuated to adjust the vertical distance between the boom section(s) and the field reference position. Specifically, by adjusting the orientation of the boom assembly from a vertical orientation to a tilted or non-vertical orientation, retraction/extension of each fold actuator results in actuation of the associated boom section relative to its adjacent boom section along a travel path that has a vertical component, thereby allowing the vertical positioning of such boom section to be adjusted. 
     In particular embodiments of the present subject matter, a controller of the disclosed system may be configured to control the operation of the fold and lift actuators in order to adjust the orientation of one or more of the boom sections of the boom assembly relative to the ground surface. In some embodiments, the controller may be configured to control the operation of the actuators based on an input received from an operator, such as an input requesting that the orientation of one or more of the boom sections and/the or spray angle of the associated spray nozzles be adjusted to maintain the positioning of such boom section(s) relative to the field reference position. Additionally, or alternatively, in some embodiments, one or more sensors may be installed on and/or relative to the boom assembly to measure the distance between one or more of the boom sections of the boom assembly and the field reference position. In such embodiments, the controller may be configured to monitor the measurements provided by the one or more sensors and control the operation of the actuators based on the feedback from the sensors in order to automatically adjust the orientation of the entire boom assembly and/or one or more individual boom sections of the boom assembly to the desired orientation(s). 
     Referring now to  FIGS. 1 and 2 , differing views of one embodiment of an agricultural sprayer  10  is illustrated in accordance with aspects of the present subject matter. Specifically,  FIG. 1  illustrates a perspective view of the sprayer  10  with its boom assembly in a working or unfolded position and  FIG. 2  illustrates a side view of the sprayer with its boom assembly in a transport or folded position. In the illustrated embodiment, the agricultural sprayer  10  is configured as a self-propelled agricultural sprayer. However, in alternative embodiments, the agricultural sprayer  10  may be configured as any other suitable type of agricultural sprayer  10  configured to perform agricultural spraying operations, such as a tractor or other vehicle configured to haul a spraying implement. 
     As shown in  FIG. 1 , the agricultural sprayer  10  may include a chassis or frame  12  configured to support or couple to a plurality of components. For example, a pair of steerable front wheels  14  (one is shown) and a pair of driven rear wheels  16  (one is shown) may be coupled to the frame  12 . The wheels  14 ,  16  may be configured to support the agricultural sprayer  10  relative to the ground and move the agricultural sprayer  10  in a direction of travel (e.g., as indicated by arrow  18  in FIG.  1 ) across a field. In this regard, the agricultural sprayer  10  may include an engine (not shown) and a transmission (not shown) configured to transmit power from the engine to the wheels  14 ,  16 . However, it should be appreciated that, in further embodiments, the front wheels  14  of the agricultural sprayer  10  may be driven in addition to or in lieu of the rear wheels  16 . The frame  12  may also support an operator&#39;s cab  24  that houses various control or input devices (e.g., levers, pedals, control panels, buttons, and/or the like) for permitting an operator to control the operation of the work vehicle  10 . For instance, as shown in  FIG. 1 , the agricultural sprayer  10  may include a control panel  22  for displaying message windows and/or alerts to the operator and/or for allowing the operator to interface with the vehicle&#39;s controller. In one embodiment, the control panel  22  may include buttons, knobs and/or any other suitable input devices that allow the operator to provide user inputs to the controller. 
     Furthermore, the frame  12  may also support a tank  26  and a frame or boom assembly  28  mounted on the frame  12 . The tank  26  is generally configured to store or hold an agricultural substance, such as a pesticide, a fungicide, a rodenticide, a fertilizer, a nutrient, and/or the like. As is generally understood, a plurality of nozzles  62  ( FIGS. 3-4 ) mounted on the boom assembly  28  may be configured to dispense the agricultural substance stored in the tank  26  onto the underlying plants and/or soil. 
     As shown in  FIGS. 1 and 2 , the boom assembly  28  of the agricultural sprayer  10  may generally be movable between a working or unfolded position ( FIG. 1 ) and a transport or folded position ( FIG. 2 ). In the working position, various sections of the boom assembly  28  are fully extended such that the boom assembly  28  extends over as wide a swath of a field as possible. In the transport position, the various sections of the boom assembly  28  are fully retracted to reduce the width of the sprayer  10  for travel. As will be described below, the boom assembly  28  may include a plurality of fold actuators coupled between adjacent boom sections of the boom assembly  28  for moving the boom assembly  28  between the working and transport positions. 
     Referring now to  FIG. 3 , a front view of one embodiment of the boom assembly  28  of the agricultural sprayer  10  is illustrated in accordance with aspects of the present subject matter. As shown, in one embodiment, the boom assembly  28  includes a central boom section  30 , inner right and left boom sections  32 ,  34  pivotably coupled to the central boom section  30 , right and left middle boom sections  36 ,  38  pivotably coupled to the respective right and left inner boom sections  32 ,  34 , and right and left outer boom sections  40 ,  42  pivotably coupled to the respective right and left middle boom sections  36 ,  38 . For example, each of the inner boom sections  32 ,  34  is pivotably coupled to the central boom section  30  at pivot joints  44 . Similarly, the middle boom sections  36 ,  38  are pivotally coupled to the respective inner boom sections  32 ,  34  at pivot joints  46  while the outer boom sections  40 ,  42  are pivotably coupled to the respective middle boom sections  36 ,  38  at pivot joints  48 . As is generally understood, pivot joints  44 ,  46 ,  48  may be configured to allow relative pivotal motion between adjacent boom sections of the boom assembly  28 . For example, the pivot joints  44 ,  46 ,  48  may allow for articulation of the various boom sections between a fully extended or working position (e.g., as shown in  FIG. 3 ), in which the boom sections are unfolded along a lateral direction  50  of the boom assembly  28  to allow for the performance of an agricultural spraying operation, and a transport position ( FIG. 2 ), in which the boom sections are folded inwardly to reduce the overall width of the boom assembly  28  along the lateral direction  50 . It should be appreciated that, although the boom assembly  28  is shown in  FIG. 3  as including a central boom section and three individual boom sections coupled to each side of the central boom sections, the boom assembly  28  may generally have any suitable number of boom sections. 
     Additionally, as shown in  FIG. 1 , the boom assembly  28  may include inner fold actuators  52  coupled between the inner boom sections  32 ,  34  and the central boom section  30  to enable pivoting or folding between the fully-extended and transport positions. For example, by retracting/extending the inner fold actuators  52 , the inner boom sections  32 ,  34  may be pivoted or folded relative to the central boom section  30  about a pivot axis  44 A defined by the pivot joints  44 . Moreover, the boom assembly  28  may also include middle fold actuators  54  coupled between each inner boom section  32 ,  34  and its adjacent middle boom section  36 ,  38  and outer fold actuators  56  coupled between each middle boom section  36 ,  38  and its adjacent outer boom section  40 ,  42 . As such, by retracting/extending the middle and outer fold actuators  54 ,  56 , each middle and outer boom section  36 ,  38 ,  40 ,  42  may be pivoted or folded relative to its respective inwardly adjacent boom section  32 ,  34 ,  36 ,  38  about a respective pivot axis  46 A,  48 A. When moving to the transport position, the boom assembly  28  and fold actuators  52 ,  54 ,  56  are typically oriented such that the pivot axes  44 A,  46 A,  48 A are parallel to the vertical direction  58  and, thus, the various boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  are configured to be folded horizontally (e.g., parallel to the lateral direction  50 ) about the pivot axes  44 A,  46 A,  48 A to keep the folding height of the boom assembly  28  as low as possible for transport. 
     Moreover, as shown in  FIG. 3 , the boom assembly  28  may be positioned above or otherwise be spaced apart from a field reference position, such as a ground surface (as shown by line  60 ) of a field along the vertical direction  58 , it should be appreciated that, in other embodiments, the field reference position may correspond to any other suitable reference position within the field, such as the crop canopy or any other portion of the field that may serve as a reference with respect to which the boom assembly  28  is oriented. As will be described below, the position and/or orientation of the entire boom assembly  28  may be adjusted relative to the ground surface  60 . For example, the boom assembly  28  may be moved up and/or down to adjust the distance between the boom assembly  28  and the ground surface  60  along the vertical direction  58 . Additionally, as will be described below, the vertical positioning of the various individual boom sections of the boom assembly  28  may also be adjusted relative to the ground surface  60 . For example, in accordance with aspects of the present subject matter, a tilt angle of the boom assembly  28  may be adjusted relative to the vertical direction  58  such that the fold actuators  52 ,  54 ,  56  may be used to individually adjust the vertical position and/or orientation of each respective boom section  32 ,  34 ,  36 ,  38 ,  40 ,  42 , e.g., during operation of the agricultural sprayer  10 . Further, as will be described below, a spray angle of the spray nozzles  62  may be adjusted relative to the ground surface  60  to improve spray coverage. For example, in accordance with aspects of the present subject matter, the tilt angle of the boom assembly  28  may be adjusted relative to the vertical direction  58  such that the spray angle of the spray nozzles  62  is correspondingly adjusted. Moreover, as will be described below, a vertical height of the boom assembly  28  may be adjusted, e.g., after the boom assembly  28  has been moved into one of its transport or working positions or while the boom assembly  28  is being moved into its transport or working position. For example, in accordance with aspects of the present subject matter, the tilt angle of the boom assembly  28  may be adjusted relative to the vertical direction  58  such that the vertical height of the boom assembly  28  may be increased or decreased to improve the ground clearance or reduce the vertical profile of the agricultural sprayer  10 , e.g., for transport. 
     Further, in several embodiments, the agricultural sprayer  10  may include one or more sensors  68  configured to capture data indicative of an orientation or position of the boom assembly  28  relative to the ground surface  60 . In several embodiments, the sensor(s)  68  may be installed or otherwise positioned on the boom assembly  28 . For example, as shown in  FIG. 3 , a sensor  68  may be positioned on each boom section  30 ,  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28 . As such, each sensor  68  may have a field of view (e.g., as indicated by dashed lines  70  in  FIG. 3 ) directed toward a location underneath and/or in front of the boom assembly  28  relative to the direction of travel  18 . In this regard, each sensor  68  may be able to capture data indicative of the profile or contour of the ground surface  60  within its field of view  70 . In one embodiment, the captured data may be indicative of a distance between the associated sensor  68  and the ground surface  60  (e.g., as indicated by arrow  72  in  FIG. 3 ), with such distance(s) generally being associated with the distance between the respective boom section and the ground surface  60 . However, in alternative embodiments, the sensor(s)  68  may be positioned at any other suitable location(s) on and/or coupled to any other suitable component(s) of the agricultural sprayer  10 . Furthermore, it should be appreciated that the agricultural sprayer  10  may include any suitable number of sensors  68  and should not be construed as being limited to the number of sensors  68  shown in  FIG. 3 . 
     It should be appreciated that the sensor(s)  68  may generally correspond to any suitable sensing device(s). In several embodiments, the sensor(s)  68  may be configured to emit one or more output signals for reflection off of the ground surface  60  and receive or sense the return signal(s). For example, in one embodiment, each sensor  68  may correspond to a radio detection and ranging (RADAR) sensor configured to emit one or more radio signals for reflection off of the ground surface  60 . However, in alternative embodiments, the sensor(s)  68  may correspond to an ultrasonic sensor(s) or any other suitable type of sensor(s). 
     Referring now to  FIGS. 3-5 , one embodiment of a system  100  for actuating a boom assembly is illustrated in accordance with aspects of the present subject matter. Specifically,  FIGS. 3 and 4  illustrate side views of various components of the system  100 , particularly illustrating the boom assembly  28  of the system  100  at both a substantially vertical orientation ( FIG. 4 ) and a substantially non-vertical orientation ( FIG. 5 ), Additionally,  FIG. 6  illustrates a perspective view of a portion of the boom assembly  28  described herein, particularly illustrating an example embodiment of a manner in which boom sections of the boom assembly  28  can be actuated in accordance with aspects of the present subject matter to account for a varying ground contour. In general, the system  100  will be described herein with reference to the agricultural sprayer  10  and related boom assembly  28  described above with reference to  FIGS. 1 and 2 . However, it should be appreciated by those of ordinary skill in the art that the disclosed system  100  may generally be used with agricultural sprayers having any other suitable sprayer configuration and/or boom assemblies having any other suitable boom configuration. 
     As shown in  FIGS. 3 and 4 , the system  100  may include a linkage assembly  102  configured to couple the boom assembly  28  to the frame  12  of the agricultural sprayer  10 , e.g., via a mount  104  rigidly coupled to the frame  12 . In several embodiments, the linkage assembly  102  includes one or more support arms  106 , one or more lift actuators  108 , and one or more tilt actuators  110 . As will be described below, the support arm(s)  106 , lift actuator(s)  108 , and tilt actuator(s)  110  may be coupled between the boom assembly  28  and the frame  12  to allow the position and/or orientation of the boom assembly  28  to be adjusted relative to the around surface  60  ( FIG. 3 ). In the illustrated embodiment, the support arm  106  is generally shown as being an upper link of the linkage assembly  102  and the tilt actuator  110  is shown as being a lower link of the linkage assembly  102 . However, it should be appreciated by one skilled in the art that the support arm  106  and tilt actuator  110  may instead be arranged in any other suitable configuration that allows the disclosed system  10  to function as described herein. 
     In the illustrated embodiment, each support arm  106  is pivotably coupled between the mount  104  and the central frame section  30  of the boom assembly  28 . More particularly, each support arm  106  has a fixed length defined between a first end  106 A of the support arm  106  and a second end  106 B of the support arm  106 . The first end  106 A of the support arm  106  is pivotably coupled to the mount  104 , e.g., via a first pivot joint  112 A, and the second end  106 B of the support arm  106  is pivotably coupled to the central frame section  30  of the boom assembly  28 , e.g., via a second pivot joint  112 B. The support arm(s)  106 , together with the lift actuator(s)  108 , may be configured to support the weight of the boom assembly  28  relative to the frame  12 . 
     As shown in  FIGS. 3 and 4 , the lift actuator  108  is pivotably coupled between a support arm  106  and the mount  104 . The lift actuator(s) may be configured to have a selectively variable length. For example, in one embodiment, the lift actuator(s)  108  may be configured as a fluid-driven actuator(s), such a hydraulic or pneumatic cylinder(s). However, in alternative embodiments, the lift actuator(s)  108  may be configured as any other suitable type of actuator(s), such as electric linear actuator(s). As such, the lift actuator(s)  108  may be configured to extend or retract to pivot the respective support arm(s)  106  about the second pivot joint  112 B such that the boom assembly  28  as a whole is raised or lowered along the vertical direction  58  relative to the chassis  12 . Thus, the distance between the boom assembly  28  and the ground surface  60  may generally be varied by actuating the lift actuator(s)  108 . 
     Further, as shown in  FIGS. 3 and 4 , the tilt actuator  110  is pivotably coupled between the mount  104  and the central frame section  30  of the boom assembly  28 . Similar to the lift actuator(s)  108 , the tilt actuator(s)  110  may also be configured to have a selectively variable length. For example, in one embodiment, the tilt actuators)  110  may be configured as a fluid-driven actuator(s), such a hydraulic or pneumatic cylinder(s). However, in alternative embodiments, the tilt actuator(s)  110  may be configured as any other suitable type of actuator(s), such as electric linear actuator(s). Regardless, the tilt actuator(s)  110  may be configured to extend or retract to pivot or tilt the boom assembly  28  as a whole about a tilt axis  114  ( FIG. 3 ) to adjust or change a corresponding tilt angle  116  of the boom assembly  28 . The tilt axis  114  may be at least partially defined by the first pivot joint(s)  112 A coupling the first end(s)  106 A of the support arm(s)  106  to the mount  104 , in some embodiments, the tilt axis  114  may be parallel to an axle of the agricultural sprayer  10  (e.g., an axle extending between rear wheels  16  perpendicular to the direction of travel  18 ) and parallel to the lateral direction  50 . The tilt angle  116  of the boom assembly  28  may generally be defined between a central reference plane  30 A extending between opposed top and bottom ends  30 B,  30 C of the central frame section  30  and a vertical reference plane  58 A extending in the vertical direction  58 . 
     Additionally, as shown in  FIGS. 3 and 4 , each spray nozzle  62  may be fixedly coupled to the boom assembly  28  (e.g., the central frame section  30 ) at a given orientation relative to the boom assembly  28 . In one embodiment, the tilt actuator(s)  110  may be configured to extend or retract to pivot or tilt the boom assembly  28  to adjust or change a corresponding spray angle  64  of each spray nozzle  62 . The spray angle  64  of the spray nozzle  62  may generally be defined between a spray axis  62 A, the spray axis  62 A extending in the general direction of the spray of fluid from the spray nozzle  62 , and the ground surface  60 . 
     As particularly shown in  FIGS. 3 and 4 , by extending/retracting the tilt actuator(s)  110 , the tilt angle  116  of the boom assembly  28  may be adjusted such that the boom assembly  28  is actuated between a substantially vertical orientation (e.g., as shown in  FIG. 4 ) and a substantially non-vertical orientation e.g., as shown in  FIG. 5 ). Specifically, as shown in  FIG. 4 , when in its substantially vertical orientation, the boom assembly  28  may define a substantially vertical operational tilt angle  116 A that is equal or substantially equal to zero, such as a tilt angle  116 A that is greater than or equal to zero degrees and less than 5 degrees, or greater than or equal to zero degrees and less than 2.5 degrees and/or any other subranges defined therebetween. Such a substantially vertical orientation is generally desirable for the boom assembly  28  when folding the boom sections inwardly to allow for the sprayer  10  to be operated within its transport mode. For instance, at the substantially vertical orientation, the various pivot axes  44 A,  46 A,  48 A are oriented substantially parallel to the vertical direction  58 , thereby allowing the boom sections to be folded inwardly relative to one another substantially horizontally (e.g., parallel to the lateral direction  50  of the boom assembly  28 ), thereby minimizing the vertical profile of the boom assembly  28  in the transport position. Additionally, when the boom assembly  28  is in its substantially vertical orientation, the spray nozzle  62  may be generally oriented perpendicularly to the ground surface  60 , such as at a spray angle  64  that is substantially equal to 90 degrees. 
     In contrast, as shown in  FIG. 5 , when in its substantially non-vertical orientation, the boom assembly  28  may define a substantially non-vertical operational tilt angle  116 B, such as a tilt angle  116 B ranging from 5 degrees to about 90 degrees or from 5 degrees to about 75 degrees or from about 15 degrees to about 60 degrees or from about 30 degrees to about 60 degrees and/or any other subranges defined therebetween. As will be described below, such a substantially non-vertical orientation may allow the fold actuators of the boom assembly  28  to be used to individually adjust the vertical position of the various boom sections relative to the ground surface. For instance, at the substantially non-vertical orientation, the various pivot axes  44 A,  46 A,  48 A are oriented relative to the vertical direction  58  at an angle generally corresponding to the non-vertical operational tilt angle  116 B, thereby allowing the boom sections to be actuated via the fold actuators  52 ,  54 ,  56  in a direction having a vertical component of movement. Additionally, when the boom assembly  28  is in its non-vertical orientation, the spray nozzle  62  may be generally oriented non-perpendicularly relative to the ground surface  60 , such as at a spray angle  64  that is substantially less than or greater than 90 degrees. As will be described below, adjustment of the spray angle  64  of the spray nozzle  62  via control of the tilt angle  116  of the boom assembly  28  may be used to improve spray coverage of the ground surface  60 . 
     During operation of the agricultural sprayer  10 , it is typically desirable for the various boom sections of the boom assembly  28  to be maintained at a given vertical distance from the ground surface  60  such that the boom assembly  28  is generally level relative to the ground surface  60  across the entire width of the boom assembly  28 . In general, as the distance between the boom assembly  28  and ground surface  60  increases, the ground surface  60  that the spray nozzle  62  may cover with spray increases, as well as drift. Thus, the distance  72  may be chosen based on the desired coverage of the spray nozzle  62 . In general, the boom assembly  28  may be raised or lowered by the lift actuator(s)  108  to adjust the vertical distance between the boom assembly  28  and the ground surface  60  to the desired distance. However, in some instances, as the boom assembly  28  traverses a field, the ground surface  60  may not be level such that one or more sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  are closer or farther away from the ground surface  60  than desired. In such instances, control of the operation of the lift actuator  108 , alone, will be insufficient to maintain the desired spacing between the various boom sections and the ground surface  60 . 
     For instance, referring specifically to  FIG. 6 , an example is illustrated in which the ground surface  60  over which a portion of the boom assembly  28  extends is not level. For purposes of discussion, only the left side sections  34 ,  38 ,  42  of the boom assembly  28  are shown. However, it should be understood that the same or similar control actions as those described herein with reference to the left side sections  34 ,  38 ,  42  may also be taken for the right side sections  32 ,  36 ,  40  of the boom assembly  28 . 
     As shown in  FIG. 6 , the ground surface  60  has a varying vertical profile or contour across the width of the left-side portion of the boom assembly  28 . Specifically, in the illustrated embodiment, the vertical profile or contour varies across first, second, and third ground sections  60 A,  60 B,  60 C of the ground surface  60 , with the central boom section  30  and inner boom section  34  extending over the first ground section  60 A, the middle boom section  38  extending over the second ground section  60 B, and the outer wing section  42  extending over the third ground section  60 C. As shown in  FIG. 6 , the first ground section  60 A is generally flat, with the second and third ground sections  60 B,  60 C being angled upwardly relative first ground section  60 A with progressively increasing slopes. In such an instance, without adjusting the orientation of the boom assembly  28  in the manner described herein, the vertical spacing or clearance between the boom assembly  28  and ground surface  60  would generally decrease as the boom assembly  28  extends outwardly from the central boom section  30  to the outer boom section  42 . 
     However, in accordance with aspects of the present subject matter, the orientation or tilt angle  116  of the boom assembly  28  may be varied to allow relative vertical positioning of the individual boom sections to be adjusted to accommodate such a varying ground contour. Specifically, in several embodiments, during the performance of an agricultural spraying operation, the boom assembly  28  may be actuated or tilted to its substantially non-zero operational tilt angle  116 E to allow the fold actuators  52 ,  54 ,  56  to be used to adjust the vertical positioning of the various boom sections. For example, in the illustrated embodiment, when the ground sections shown in  FIG. 6  are encountered by the boom assembly  28 , the middle boom section  38  may be pivoted slightly upwardly and laterally relative to the inner boom section  34  via operation of the middle fold actuator  54  to account for the upward slope of the second ground section  60 B. Similarly, the outer boom section  42  may be pivoted upwardly and laterally relative to the middle boom section  38  via operation of the outer fold actuator  56  to account for the increased slope of the third ground section  60 C. By controlling the operation of such fold actuators  54 ,  56  while the boom assembly  28  is oriented at its substantially non-zero operational tilt angle  116 B, the various boom sections  30   34 ,  38 ,  42  may be maintained substantially equidistant from the ground surface  60  so that the boom assembly  28  is substantially level relative to the ground surface  60  across the entire width of the boom assembly  28 . Additionally, it should be understood that, while not described above, the inner fold actuator  52  may also be actuated when necessary to adjust the vertical position of the inner boom section  34  relative to the ground surface  60 . Additionally it should be appreciated that, depending on the contour of the ground surface  60 , one or more of the boom sections  34 ,  38 ,  42  of the boom assembly  28  may instead be pivoted downwardly via operation of their respective fold actuators  52 ,  54 ,  56  to adjust the distance between the such boom section(s) and the ground surface  60 . 
     Additionally, during operation of the agricultural sprayer  10 , it may be desirable to control the spray angle  64  to improve the spray coverage of the spray nozzles  62 . For example, the spray angle  64  may be adjustable to compensate for the ground speed of the agricultural sprayer  10 , wind effects, and/or terrain type to reduce drift or overspray. In such instances, the tilt angle  116  of the boom assembly  28  may be varied to allow relative adjustments of the spray angle  64  to accommodate such control of the spray angle  64 . Specifically, in several embodiments, during the performance of an agricultural spraying operation, the tilt actuator(s)  110  of the boom assembly  28  may be actuated to adjust the spray angle  64  of the spray nozzles  62 . 
     Further, for folding of the boom assembly  28  into the transport position, it is desirable to reduce the lateral and vertical dimensions as much as possible to improve transport clearance. For example, it may be desirable to adjust the transport height (as shown by arrow  72 A in  FIG. 2 ) between the boom assembly  28  and the ground surface  60  when the boom assembly  28  is in its transport position. In such instance, the tilt actuator(s)  110  may be controllable to change the tilt angle  116  of the boom assembly  28  to increase or decrease the transport height  72 A. For instance, in the embodiment shown in  FIG. 2  in which the boom assembly  28  folds inwardly towards the central frame  12  of the sprayer  10  generally horizontally, the tilt actuator(s)  110  may be controlled configured to adjust the transport height  72 A, such as by ensuring proper ground clearance, when the boom assembly is at its transport position. Alternatively, the boom assembly  28  may, instead, be configured to fold inwardly towards the central boom section  30  vertically. For instance, the boom assembly  28  may be configured such that the pivot axes defined between adjacent boom sections are normally oriented horizontally (as opposed to vertically) such that the boom sections fold upwardly or vertically into the transport position. In such instance, the tilt actuator(s)  110  may be controllable to reduce the transport height  72 A of the agricultural sprayer  10  for transport, such as by tilting the folded boom assembly  28  downwardly from its vertical orientation to a more horizontal orientation. It should be appreciated that the tilt actuator(s) H  0  may be controllable to change the tilt angle  116  of the boom assembly  28  not only after the boom assembly  28  has been folded into its transport position, but may also be controllable during actuation of the fold cylinders  52 ,  54 ,  56  between the transport and working positions. It should further be appreciated that the one or more sensor(s)  68  may be configured to measure the transport height  72 A while the boom assembly  28  is in the transport position and the distance between the boom assembly  28  and the ground surface  60  while the boom assembly  28  is in the working position. Alternatively, the agricultural sprayer  10  may include one or more additional sensor(s) configured to measure the transport height  72 A. 
     Referring now to  FIG. 7 , a schematic view of one embodiment of the system  100  described herein is illustrated in accordance with aspects of the present subject matter. As shown in  FIG. 7 , the system  100  includes many of the various machine components described above, such as the fold actuators  52 ,  54 ,  56 , the lift actuator(s)  108 , and the tilt actuator(s)  110 . In addition, the system  100  further includes a controller  170  configured to electronically control the operation of one or more components of the agricultural sprayer  10 . In general, the controller  170  may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the controller  170  may include one or more processor(s)  172  and associated memory device(s)  174  configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s)  174  of the controller  170  may generally comprise memory element(s) including, but not limited to, a computer readable medium e.g., random access memory (RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory device(s)  174  may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s)  172 , configure the controller  170  to perform various computer-implemented functions, such as one or more aspects of the method  200  described below with reference to  FIG. 8 . In addition, the controller  170  may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like. 
     It should be appreciated that the controller  170  may correspond to an existing controller of the agricultural sprayer  10  or the controller  170  may correspond to a separate processing device. For instance, in one embodiment, the controller  170  may form all or part of a separate plug-in module that may be installed in operative association with the agricultural sprayer  10  to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the agricultural sprayer  10 . 
     In accordance with aspects of the present subject matter, the controller  170  may be configured to control one or more operational parameters of the agricultural sprayer  10  based on the orientation or position of the boom assembly  28  relative to the ground surface  60 . Specifically, as shown in  FIG. 7 , the controller  170  may be communicatively coupled to suitable control valves  176  for regulating the supply of working fluid to each fold actuator  52 ,  54 ,  56  of the boom assembly  28  via a wired or wireless connection (e.g., as indicated by dashed line  178 ) and suitable control valves  180 ,  184  for regulating the supply of working fluid to each of the lift and tilt actuators  108 ,  110  of the linkage assembly  102  via respective wired or wireless connections (e.g., as indicated by respective dashed lines  182 ,  186 ) to allow control signals to be transmitted from the controller  170  to the control valves  176 ,  180 ,  184 . In such instance, the control valves  176 ,  180 ,  184  may be fluidly connected to the actuators  52 ,  54 ,  56 ,  108 ,  110  through respective hydraulic lines (e.g., as indicated by lines  188 ,  190 ,  192 ). As such, the controller  170  may be configured to transmit control signals to the control valves  176 ,  180 ,  184  instructing the control valve(s)  176 ,  180 ,  184  to control the supply of working fluid to the respective actuator(s)  52 ,  54 ,  56 ,  108 ,  110  to adjust the position of one or one or more sections  30 ,  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28 . For example, in several embodiments, the control signals may instruct the control valve(s)  176 ,  180 ,  184  to control the supply of working fluid to the actuators  52 ,  54 ,  56 ,  108 ,  110  to adjust the orientation or position of the boom assembly  28  relative to the ground surface  60  such that the boom assembly  28  remains level relative to the ground surface  60  (i.e., such that the various boom sections  30 ,  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  are equally distant from the ground surface  60 ). 
     In some embodiments, the controller  170  may be configured to control the lift and tilt actuators  108 ,  110 , e.g., upon initiation of the performance of an agricultural spraying operation, to properly orient/position the boom assembly  28  relative to the ground surface  60 . For example, in one embodiment, the controller  170  may initially control the operation of the lift actuator(s)  108  to adjust the vertical distance  72  between the boom assembly  28  and the around surface  60  to within a desired vertical distance range (if needed). In addition, the controller  170  may control the operation of the tilt actuator(s)  110  to adjust the tilt angle  116  of the boom assembly  28  to a desired tilt angle. For instance, in one embodiment, the controller  170  may adjust the tilt angle  116  of the boom assembly  28  from the substantially zero operational tilt angle  116 A ( FIG. 4 ) to the substantially non-zero operational tilt angle  116 B ( FIG. 5 ), e.g., at the initiation of an agricultural spraying operation. In such an embodiment, as described above, the various pivot axes  44 A,  46 A,  48 A of the boom assembly  28  may be tilted relative to the vertical direction  58 , e.g., at the initiation of the agricultural spraying operation such that the fold actuators  52 ,  54 ,  56  may be subsequently used, as needed or as desired, to actuate the respective boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  at least partially in the vertical direction  58  to level the boom assembly  28  relative to the ground surface  60  as the sprayer  10  is traversed across the ground surface  60 . Additionally, in some embodiments, the controller  170  may adjust the tilt angle  116  of the boom assembly  28  to correspondingly adjust the spray angle  64  of the spray nozzles  62  to a desired angle to improve the spray coverage of the spray nozzles  62 . 
     In one embodiment, the controller  170  may be configured to control the operation of the fold actuators  52 ,  54 ,  56  to adjust the vertical positioning of one or more of the boom sections while the boom assembly  28  is tilted relative to the vertical direction  58  based on inputs received from the operator of the agricultural sprayer  10 . For example, the operator may monitor the relative orientation of the boom assembly  28  to the ground surface  60 , such as by visually monitoring the vertical positioning of the various boom sections of the boom assembly  28  from the operator&#39;s cab  24  or by monitoring the measurements from one or more of the sensor(s)  68  via a display provided in the operator&#39;s cab  24 . If the operator determines that the one or more sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  are not properly positioned relative to the ground surface  30  (e.g., when it appears from a visual assessment or based on sensor data that one or more of the boom section are spaced from the ground surface  30  by a vertical distance that falls outside a predetermined vertical distance range), the operator may provide an input to the controller  170  (e.g., via the control panel  22  communicatively coupled to the controller  170  through a wired or wireless connection as indicated by dashed line  184 ) indicating that the vertical positioning of such boom section(s) needs to be adjusted. The controller  170  may then be configured to initiate control of the operation of the corresponding fold actuator(s)  52 ,  54 ,  56  to adjust the orientation or vertical position of the boom section(s)  32 ,  34 ,  36 ,  38 ,  40 ,  42  relative to the ground surface  60 . 
     In addition to operator-initiated control (or as an alternative thereto), the controller  170  may be configured to automatically level the boom assembly  28  relative to the ground surface  60  based on one or more inputs received from the sensor(s)  68  of the agricultural sprayer  10 . For example, the controller  170  may be in communication with one or more of the sensor(s)  68  described above such that the controller  170  is configured to receive measurements or sensor data provided by the sensor(s)  68 . Specifically, as shown in  FIG. 7 , the controller  170  may be communicatively coupled to the sensor(s)  68  via a wired or wireless connection (e.g., indicated by dashed line  182 ) to allow data indicative of the profile or contour of the ground surface  60  to be transmitted from the sensor(s)  68  to the controller  170 . In this regard, the controller  170  may be configured to process the sensor data received from the sensor(s)  68  to monitor the vertical positioning of one or more of the boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  relative to the ground surface  60 . For instance, based on the sensor data, the controller  170  may continuously or periodically determine or estimate the vertical position of each boom section relative to the ground surface as the agricultural sprayer  10  moves across a field. In such instance, if the controller  170  detects a change in the relative vertical positioning of one or more of the boom sections that results in such boom section(s) being positioned outside of a desired vertical position range for the boom assembly  28  (e.g., a predetermined height range), the controller  170  may automatically initiate control of the operation of the fold actuators  52 ,  54 ,  56  to adjust the vertical positioning of the out-of-range boom section(s) so as to maintain a desired levelness of the boom assembly  28  relative to the ground surface  60  across the width of the assembly  28  as the sprayer  10  encounters varying surface profiles. 
     As indicated above, in several embodiments, the sensor(s)  68  may be configured to detect a parameter indicative of the relative vertical positioning of the boom sections. For instance, in one embodiment, the sensor(s)  68  may be configured to detect the vertical height or distance  72  between each respective boom section and the ground surface  60 . In such an embodiment, the controller  170  may be configured to continuously or periodically monitor the vertical height or distance  72  for each boom section and compare such monitored distance  72  to a desired vertical distance range set for the boom sections. If the monitored distance  72  for a given boom section falls within the desired vertical distance range, the controller  170  may determine that such boom section is appropriately positioned relative to the ground surface  60  and, thus, no adjustments to its relative vertical positioning are required. However, if the monitored distance  72  for a given boom section falls outside the desired vertical distance range, it may be determined that the relative vertical positioning of such boom section(s) requires adjustments. In such instance, the controller  170  may, for example, control the operation of the corresponding fold actuator  52 ,  54 ,  56  to adjust the vertical positioning of the boom section(s) until the monitored distance  72  is once again with the desired vertical distance range. 
     It should be appreciated that, in some embodiments, the controller  170  may be configured to control the lift actuator(s)  108  upon a determination that adjustment of the relative vertical positioning of the boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  via actuation of the fold actuators  52 ,  54 ,  56  is insufficient to properly level the boom assembly  28 . Specifically, in one embodiment, the controller  170  may be configured to raise or lower the boom assembly  28  to adjust the overall height of the boom assembly  28  relative to the ground surface  60  when it is determined that the measured distance  72  for one or more of the boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  falls outside the desired vertical distance range by a value equal to or greater than a predetermined threshold amount. For instance, depending on the tilt angle  116  of the boom assembly  28 , each fold actuator  52 ,  54 ,  56  may only be able to adjust the vertical positioning of its respective boom section  32 ,  34 ,  36 ,  38 ,  40 ,  42  a given distance to account for a change in orientation between the boom section  32 ,  34 ,  36 ,  38 ,  40 ,  42  and the ground surface  60 . In such instance, the threshold amount may be selected based on the capability of each fold actuator  52 ,  54 ,  56  to adjust the vertical positioning of its respective boom section  32 ,  34 ,  36 ,  38 ,  40 ,  42 , with the threshold amount generally increasing with increased in the tilt angle  116  of the boom assembly  28 . For instance, a look-up table may be stored within the controller  170  that sets the threshold amount for each fold actuator  52 ,  54 ,  56  as a function of the current tilt angle  116  of the boom assembly  28 . 
     Additionally, in another embodiment, the controller  170  may be configured to control the tilt actuators ( 110 ) to adjust the vertical height of the boom assembly  28 . For example, in one embodiment, the controller  170  may control the operation of the fold actuators  52 ,  54 ,  56  to fold the various boom sections into the transport position. The controller  170  may additionally control the tilt actuator(s)  110  to change the tilt angle  116  of the boom assembly  28  to increase or decrease the transport height  72 A. For instance, in the embodiment shown in  FIG. 2  in which the boom assembly  28  folds inwardly towards the central frame  12  of the sprayer  10  generally horizontally, the controller  170  may control the tilt actuator(s)  110  to increase the transport height  72 A, to ensure proper ground clearance. Alternatively, in an embodiment where the boom assembly  28  is configured to such that the various boom sections fold upwardly or vertically into the transport position, the controller  170  may control the tilt actuator(s)  110  to reduce the vertical height of the agricultural sprayer  10  once the boom assembly  28  is in the transport position, such as by tilting the folded boom assembly  28  downwardly from its vertical orientation to a more horizontal orientation. However, it should be appreciated that the controller  170  may instead control the tilt actuator(s)  110  during the performance of the folding operation in which the boom assembly  28  is being moved from its working position to its transport position (or vice versa) to adjust the vertical height of the agricultural sprayer  10 . 
     Referring now to  FIG. 8 , a flow diagram of one embodiment of a method  200  for actuating a boom assembly of an agricultural sprayer is illustrated in accordance with aspects of the present subject matter. In general, the method  200  will be described herein with reference to the agricultural sprayer  10  and system  100  described above with reference to  FIGS. 1-7 . However, it should be appreciated by those of ordinary skill in the art that the disclosed method  200  may generally be implemented with any agricultural spraying machine/assembly having any suitable machine/assembly configuration and/or any system having any suitable system configuration. In addition, although  FIG. 8  depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure. 
     As shown in  FIG. 8 , at ( 202 ), the method  200  may include controlling, with a computing device, the operation of the tilt actuator to adjust an orientation of the boom assembly relative to the vertical direction to a substantially non-vertical orientation. For instance, as described above, the tilt angle  116  of the boom assembly  28  may be adjusted to the operational tilt angle  116 B by controlling the operation of the tilt actuators)  110 . 
     Additionally, at ( 204 ), the method  200  may include receiving, with the computing device, an input indicative of a change in a vertical position of one or more sections of the boom assembly relative to a ground surface. For instance, as indicated above, an input or signal may either be an input generated by an operator&#39;s interaction with a user interface (e.g., control panel  22 ) indicating that one or more of the boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  is not at the desired vertical distance from the ground surface  60  or an input from the sensor(s)  68  corresponding to a change in the vertical distance of one or more boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  relative to the ground surface  60 . 
     Moreover, at ( 206 ), the method may include actuating, with the computing device, the one or more sections of the boom assembly to adjust the vertical position of the one or more sections of the boom assembly relative to the ground based on the received input. Specifically, as indicated above, one or more of the fold actuators  52 ,  54 ,  56  may be actuated to adjust the orientation between a respective boom section  32 ,  34 ,  36 ,  38 ,  40 ,  42  of the boom assembly  28  and the ground surface  28  to move the respective boom section  32 ,  34 ,  36 ,  38 ,  40 ,  42  to the desired vertical distance from the ground surface  28  based on the input received from the operator or sensor(s)  68 . 
     Referring now to  FIG. 9 , a flow diagram of another embodiment of a method  300  for actuating a boom assembly of an agricultural sprayer is illustrated in accordance with aspects of the present subject matter. In general, the method  300  will be described herein with reference to the agricultural sprayer  10  and system  100  described above with reference to  FIGS. 1-7 . However, it should be appreciated by those of ordinary skill in the art that the disclosed method  300  may generally be implemented with any agricultural spraying machine/assembly having any suitable machine/assembly configuration and/or any system having any suitable system configuration. In addition, although  FIG. 9  depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure. 
     As shown in  FIG. 9 , at ( 302 ), the method  300  may include controlling, with a computing device, an operation of fold actuators of the boom assembly to perform a folding operation during which the boom assembly is moved from one of a working position or a transport position to the other of the working position or the transport position. For instance, as described above, the fold actuators  52 ,  54 ,  56  may be actuated to fold the boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  from the working position inwardly towards the central boom section  30  into the transport position. The boom sections  32 ,  34 ,  36 ,  38 ,  40 ,  42  may pivot about pivot axes  44 A,  46 A,  48 A that may be substantially horizontal or vertical when the boom assembly  28  is at the vertical operational tilt angle  116 A. 
     Moreover, at ( 304 ), the method may include controlling, with the computing device, an operation of the tilt actuator to adjust the tilt angle of the boom assembly to vary a vertical height of the boom assembly  28  during the performance of the folding operation or after the boom assembly has reached the other of the working position or the transport position. For instance, as described above, while the boom assembly  28  is in or being moved into the transport position, the tilt angle  116  of the boom assembly  28  may be adjusted by controlling the operation of the tilt actuator(s)  110  to vary the vertical transport height  72 A of the boom assembly  28 . 
     It is to be understood that the steps of the methods  200 ,  300  are performed by the controller  170  upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-stale memory, e.g., flash memory, or other storage media, known in the art. Thus, any of the functionality performed by the controller  170  described herein, such as the methods  200 ,  300 , is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller  170  loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller  170 , the controller  170  may perform any of the functionality of the controller  170  described herein, including any steps of the methods  200 ,  300  described herein. 
     The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computes central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer&#39;s central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer&#39;s central processing unit or by a controller. 
     This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.