Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine

Agricultural machine (1) for spraying a phytosanitary liquid on cultivated land, comprising

• means for moving the machine over the surface of the land,
• a spray boom for spraying the phytosanitary liquid, comprising at least one arm,
• for the arm or for at least one of the arms of the boom, a mechanism for inclining the arm in relation to a frame of the agricultural machine,
• a mechanism for raising/lowering the boom according to a first axis fixed in relation to the frame of the machine and vertical, and even substantially vertical when the machine is on a planar horizontal surface or in relation to a second axis of the same direction as the earth's gravity field,
• a manual control system for controlling each mechanism for inclining and for controlling the mechanism for raising/lowering,
• a receiver able to communicate with a global positioning system and
• a control unit,
• the arm or at least one of the arms of the boom being provided with at least one sensor, each sensor measuring a distance (d) between the surface of the land and this sensor or, where applicable, between vegetation planted in the land and this sensor,
• wherein the arm or at least one of the arms of the boom is provided
• with a measuring element for measuring a data relative to the inclination, in a plane perpendicular to the forward direction, of a longitudinal axis of the arm and
• wherein the control unit is
• connected to each sensor, to the receiver and to the measuring element,
• provided with a memory for storing information provided by each sensor, by the receiver and by each measuring element and
• able to control each mechanism for inclining and the mechanism for raising/lowering (30) depending on the information stored in the memory.