Abstract: Methods of intra-row weeding of agricultural crops by a moving weeding machine, wherein the weeding machine is calibrated in 3D space and weeding occurs in three lines: within the recording line, the camera continuously takes images of the field of view, stored in the evaluation software; within the location line, evaluation software analyzes the location field and detects and localizes agricultural crop centers using a machine learning model trained to recognize crop centers; within the contact line, a zone is defined and the software evaluates the time and/or distance up to contact of the knives with the detected crop with respect to the current travel rate of the weeding machine; when the knives enter the defined zones around the contact points, the software commands to withdraw around the detected crop centers, and when the knives leave the defined zones around the contact points, the software commands to clamp the knives.