Abstract: A method of relative positioning between agricultural machines and crops on their planting rows having the steps which are performed in real time and during a harvest work and include determining a positioning of each tree top on a trees row, a machine rotor column position, and simultaneously a traveling speed of an agricultural machine, sending tree positioning and machine speed data to a data processor, processing the data and controlling servo mechanisms that actuate actuators which, in turn, place one rotor column with stripping rods in accordance with a determined tree top position and format.

Abstract: For relative positioning between an agricultural machine and crops on their planting rows a sensor is arranged forwardly of a sensor of a rotor of an agricultural machine and at a distance which is at least equal to or greater than a top radius of trees to be worked with the radius being measured in a planting row direction, the tree top by the sensor to determine a rearward point, a forward point, a center point and a farthest transverse point from the center point of a tree top, and the rotor is adjusted to define a trajectory of the rotor center with respect to the points, whereupon the steps are repeated for each of the trees in the planting row to be worked.

Abstract: For relative positioning between an agricultural machine and crops on their planting rows arranging a sensor is arranged forwardly of a sensor of a rotor of an agricultural machine and at a distance which is at least equal to or greater than a top radius of trees to be worked with the radius being measured in a planting row direction, the tree top by the sensor to determine a rearward point, a forward point, a center point and a farthest transverse point from the center point of a tree top, and the rotor is adjusted to define a trajectory of the rotor center with respect to the points, whereupon the steps are repeated for each of the trees in the planting row to be worked.

Abstract: A method of relative positioning between agricultural machines and crops on their planting rows having the steps which are performed in real time and during a harvest work and include determining a positioning of each tree top on a trees row, a machine rotor column position, and simultaneously a traveling speed of an agricultural machine, sending tree positioning and machine speed data to a data processor, processing the data and controlling servo mechanisms that actuate actuators which, in turn, place one rotor column with stripping rods in accordance with a determined tree top position and format.