Patent ID: 6918239

Claim:
A process of relative positioning between an agricultural machine and crops on their planting rows, comprising the steps of arranging sensing means forwardly of a center 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; sensing the tree top by the sensing means 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 adjusting the rotor to define a trajectory of the rotor center with respect to said points; and repeating said steps for each of the trees in the planting row to be worked; and processing data obtained from said sensing means about said points of the tree top so as to provide an interpolation of the points of the tree top and to establish a curve to be followed by the rotor center with as less irregularities as possible.