Patent ID: 9565847
Date: 2017-02-14
CPC Classifications: A01C,A01M

Claim:
1. A method for spraying a phytosanitary liquid on vegetation planted on a land by means of an agricultural spraying machine for cultivated land, wherein the method comprises: an initial step a), wherein, before the spraying, a user enters into a control unit a value of a minimum distance and a value of a maximum distance greater than the minimum distance, a prior step b) wherein, the machine travels over a surface of the land, at a first speed, according to a determined trajectory, in such a way that a boom sweeps the surface in its entirety, with the user manoeuvring, over the trajectory in its entirety, a manual control system of each mechanism for inclining and/or a manual control system of the mechanism for raising/lowering, in such a way that the distance between each sensor and the surface, if the surface is free of vegetation, or the vegetation planted on the land, if there is vegetation planted on the land, is between the maximum distance and the minimum distance, the control unit records in its memory, for sampled positions of the machine along the trajectory, on the one hand, the distance between each sensor and the land or the vegetation and, on the other hand, at least one data, relative to the inclination of each arm, a step of spraying c), after the step b), wherein, during the spraying, the machine travels over the surface, at a second speed greater than or equal to the first speed, according to the trajectory travelled during the prior step b) and for each sampled position in prior step b) and according to the data stored in the memory, the control unit controls, ahead of time, the mechanism for raising/lowering and each mechanism for inclining, in such a way that the distance between each sensor and the land or the vegetation is between the maximum distance and the minimum distance and wherein the agricultural machine comprises means for moving the machine over the surface of 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 between the surface of the land and this sensor, if the surface is free of vegetation, or between vegetation planted on the land and this sensor, if there is vegetation planted on the land, wherein the arm or the at least one of the arms of the boom is provided wherein the control unit is able to control each mechanism for inclining and the mechanism for raising/lowering depending on the information stored in the memory.