Method for controlling the opening of a work apparatus having pairwise arranged processing devices for viticulture, and work apparatus

Abstract

A method for controlling the opening of a pre-pruner for viticulture with rotating shearing disc sets arranged in pairs, wherein the pre-pruner is attached to a work vehicle and comprises at least one piece of holding equipment which reaches over a row of plants and on which at least one of the shearing disc sets is held. At least one shearing disc sets is arranged on each side of the row. At least one of the shearing disc sets can be moved in relation to the other shearing disc set of the pair or to the piece of holding equipment, or the piece of holding equipment comprising the shearing disc sets can be swiveled in relation to the longitudinal direction of the row, such that a clear opening is able to be established between the shearing disc sets and / or is able to be changed in terms of an opening width BÖ and / or an opening length LÖ by means of at least one actuator. The shearing disc sets are each moved between open and closed positions at firmly defined end positions. At least one image recording is generated by means of at least one electronic camera for at least one field of view. At least one image recording of at least one field of view located directly in front of the shearing disc sets in the direction of travel is generated and stored in an electronic image file on an ongoing basis or in regular intervals in relation to the travel time and / or travel distance of the pre-pruner. The image file(s) is / are checked in an image recognition device of a control device at least for the presence of linear structures in at least one image region of the image file. If a linear structure that qualifies as an obstacle is recognized, a control pulse is sent by the control device to the actuator for the purposes of triggering an opening movement that establishes or increases the opening between the shearing disc sets.

Description

[0001] Method for controlling the opening of a working device with paired processing devices for viticulture and working device

[0002] The invention relates to a method for controlling the opening of a working device with paired processing devices for viticulture, having the features of the preamble of claim 1, and to a working device therefor having the features of the preamble of claim 10.

[0003] In viticulture and horticulture, plants are planted in linear arrangements, known as rows. Aisles between the rows allow work vehicles such as tractors or implement carriers to drive along them, each carrying at least one implement. The implements allow various tasks to be performed. For this purpose, implements are often used that have a processing device on each side of the row, allowing both sides to be processed in a single pass. The distance between the implements varies depending on the type of processing device; however, obstacles in the row must always be avoided.

[0004] In viticulture, for example, pre-pruners are used as tools for winter pruning. The shoots that have grown over the summer and become twisted on the trellis wires must be cut and removed from the wire system. For this purpose, the pre-pruners are equipped with sets of rotating shearing discs. A holding device reaches across the row so that one set of shearing discs is positioned on each side of the row. Both sets of shearing discs together form a so-called basket. The shearing discs are set at a distance of, for example, 10 mm. They rotate in opposite directions so that material is drawn in. The basket is opened by the tractor driver by pressing a button directly in front of a post in the row, a so-called stake. After passing the stake, the driver releases the button and the basket closes again.This creates a residual area before and after the tine that has not been worked by the pre-cutter, known as an island. The size of the island depends on the operator's skill and driving speed. An inexperienced operator typically leaves a very large island. It takes considerable practice to open the pre-cutter precisely enough to leave only a minimal island. The smaller the island, the less manual rework is required in the row.

[0005] Constantly concentrating on the tines is extremely stressful and tiring for the operator. If the pre-pruner is used very early in the season, a significant number of leaves will still be in the system, making it difficult for the operator to see the tines. A low sun in the fall and winter can also limit the operator's visibility to such an extent that they can no longer see the tines with sufficient certainty.

[0006] If the driver overlooks a vine tine, the device drives into the tine. A pressure relief valve detects excess pressure on the locking cylinder and triggers an emergency opening. The tine is often damaged despite the emergency opening. The zinc coating on galvanized steel tines is damaged. Wood particles are eroded on wooden tines. Older wooden tines may break off under certain circumstances. Plastic tines become damaged and break. Concrete tines damage the shearing discs on the pre-cutter. DE 699 07 328 T2 shows and describes a working device for viticulture with processing devices arranged in pairs. At least one electronic camera is provided for automated operation. This should have so-called artificial vision to recognize plants in the image. Depending on the plants detected, the cutting devices should be adjusted from the outside in the direction of the main stem of the plant.Cutting in the space between plants following one after the other in the direction of processing or travel in a row, which also has stakes and trellis wires, is not disclosed.

[0007] The object of the invention is therefore to enable processing with a working device with paired processing devices for viticulture, whereby obstacles in a row such as sticks are automatically detected and the opening in front of the obstacle is automatically brought about or the opening width is automatically adjusted.

[0008] This object is achieved by a method having the features of claim 1 and a working device having the features of claim 10.

[0009] The invention is essentially based on the use of at least one camera covering a field of view in front of at least one pair of processing devices, and an electronic image analysis device with which simple geometric structures such as a stake can be easily and automatically recognized. The invention takes advantage of the fact that in viticulture and horticulture, plants are arranged in linear rows, so that only a linear path needs to be followed, and the fact that only straight, i.e., linear, plant stakes are used, which are easily identifiable within the naturally grown, thus chaotic, plant formation.

[0010] The method according to the invention ensures that the processing devices are moved outwards in good time before the stick or another foreign body, so that a collision of the processing devices with the obstacle is reliably avoided.

[0011] If the processing device is a so-called pre-pruner for viticulture, then the processing devices arranged on both sides of the row and in pairs form a so-called basket and the movement of the processing devices is referred to as basket opening or basket closing.

[0012] Both processing devices do not have to be identical, and not both need to be actively driven. For example, a combination of a rotating roller and a counter-holder plate is also possible. Several pairs of processing devices can also be combined into one implement. The only important thing is that at least one processing device is arranged on each side of the row during processing, and the distance between them can be adjusted sufficiently to avoid an obstacle.

[0013] A pivoting or rotating movement of the pair of processing devices is considered to have the same effect as increasing the internal clear distance between two processing devices for the purpose of avoiding an obstacle, whereby the pivoting or rotating axis is aligned vertically and in particular positioned approximately in the middle of the row. The pair of processing devices can, for example, be aligned at an angle to the longitudinal extent of the row during processing, so that one processing device is further forward and one further back. The existing opening width is then not fully usable in relation to the direction of travel of the work vehicle and the linear extent of the row of plants. If the pair is aligned at an angle of 45° to the row of plants, for example, the usable opening width in the direction of travel is only approximately Bo*cos(45°)=71%.If an obstacle appears, the previously inclined pair of processing devices is swiveled into a position that is perpendicular to the longitudinal direction of the plant row, so that the full opening width between them can then be used to pass the obstacle.

[0014] The field of view captured by a camera includes at least part of a line located in front of the processing equipment in the direction of travel. However, the processing equipment itself can also be located within the field of view.

[0015] A linear structure within the meaning of the present invention is preferably, but not necessarily, a straight structure. It can also be another uninterrupted structure that is distinguishable from the chaotic structures of natural plant shoots.

[0016] The linear structure can be detected by searching for, recognizing, and tracking it in the image area based on previously performed learning runs. An AI unit (artificial intelligence) can be implemented in the control system. The AI ​​unit is trained by human operators recognizing and marking linear structures in a large number of images from camera movements.

[0017] Preferably, during the so-called teaching of the AI ​​unit, the criterion of a qualified linear structure is learned, for which an action of the implement should only be triggered if it represents an obstacle for the implement. This includes all massive structures that extend up to the height of the working range of the implement to be used. However, this does not include linear structures that are non-critical because they cannot cause damage to the implement or the system. Such non-qualified linear structures can, for example, be branches that have grown very straight by chance or artificial parts such as plant protection covers arranged in the lower trunk area as browsing protection. Such non-critical linear structures are marked in the learning process as not qualified for triggering a signal for the implement.Thus, after completion of the teaching via the Kl unit, an automatic distinction can be made between linear structures qualified and non-qualified for signal triggering.

[0018] Indirect detection is also possible by identifying natural structures present in the image area, e.g., in plants, based on the coloration of the foliage, if an electronic color camera is used, compared to the uniform coloration of the artificial obstacle or other typical textures. The linear structure is indirectly determined by inversion, i.e., by filtering out all natural structures from the image. Conversely, the color and texture of the sticks can be used as criteria for selecting a qualified linear structure.

[0019] It is possible for the driver to manually trigger the closing of the processing device, which is necessary after opening, i.e., the return of the processing devices on both sides to their working position, after passing the tine. If this control command is inadvertently omitted, the row of plants will not be processed, but no damage will be caused.

[0020] However, according to a preferred embodiment of the method, it is also provided to automate the closing movement, for which various procedures are possible:

[0021] According to a first option, once a linear structure has been identified as a stick and thus qualified as an obstacle, it is tracked by continuing the analysis for linear structures in subsequent images taken in the field of vision in front of the processing equipment. By comparing it with the data obtained from previous images, the progressive change in position of the detected obstacle, such as a stick, can be tracked while the work vehicle is moving. As soon as the linear structure reaches a target mark or has completely left the image section, the closing movement can be initiated automatically. It is also possible for the control device to initially wait for a safety period after the linear structure has disappeared from the image area orthe reaching of a target mark has been registered and only then are the processing devices moved back to the working position.

[0022] A further advantage of the invention is that the actuators that move the processing devices apart or pivot them in pairs can be designed in a simple manner, for example, using a hydraulic or pneumatic cylinder, since only one open position and one closed position are required as fixed, defined end positions. Distance measurement is possible but not required. In a preferred embodiment, the control pulse for opening causes the processing devices to move completely from the closed position to the mechanically or otherwise limited open position.

[0023] According to a further preferred embodiment of the method according to the invention, the opening width, namely the clear width between the paired processing devices, and the opening length are taken into account. The opening length is the travel distance between an opening start point, at which the processing devices leave their working position and begin to move apart, and an opening end point, at which the processing devices have returned to their working position. By linking the opening width and length, the path of the processing devices around the stylus can be optimized, so that the so-called island, the unprocessed area, is minimized.

[0024] For the purposes of the invention, the "opening width" refers to the clear distance between the processing devices in an open position, whereby the distance is influenced solely by the relative movement of the processing devices to one another and may be predetermined by the machine design. The opening width can also be achieved, for example, when the work vehicle is stationary. If the overlap is added by taking into account the opening length of the work device mounted on a work vehicle, then for the purposes of the invention, an "opening width" is referred to as the distance between the processing devices at a given location along the route.

[0025] It is advantageous here if the closing impulse is given very early by taking the travel distance of the work vehicle into account, without having to wait for the processing equipment to reach its end position during opening. This sequence allows the work device to be opened only partially without requiring a travel measurement of the processing equipment and / or an actuator suitable for moving to intermediate positions. The travel distance can be determined, for example, by a travel sensor on the work vehicle or a GPS receiver. It is also possible to link the control device to an electronic speedometer on the work vehicle and to have a time measurement that begins with the start of the opening control impulse.

[0026] If the working device is provided with means for measuring the distance and for moving the processing devices into intermediate positions, the following further embodiments of the method according to the invention are possible:

[0027] Depending on the type of processing equipment used and the work to be performed, it may be possible, for example, to maintain or adjust the opening width achieved after detecting a stumbling block for subsequent, similar obstacles. This is useful, for example, when using so-called pre-cutters. After passing the stumbling block, the working opening width is set at which the two processing equipment, each with rotating disks in a horizontal plane, is positioned so close together that the two disk arrangements mesh.

[0028] A possible further variant of the process provides for a working opening width between the processing tools that is smaller than the width of the skewers plus a safety margin. This assumes that the skewers are positioned vertically in the row or at least do not have an inclination transverse to the longitudinal axis of the row.

[0029] It is also possible to calculate the inclination of the linear structure identified as a pole with respect to an image horizon or another reference plane, in particular its lateral inclination with respect to the longitudinal axis of the plant row. This can be used to detect a pole that is crooked laterally in the row and to calculate the required opening width, formed from a combination of a suitable opening width and a specific opening length, between the processing equipment in order to avoid a collision with the pole even if it is tilted. It is also possible to detect a case in which a pole is crooked in the longitudinal or row direction, namely tilting back against the direction of travel. In this case, the camera may detect that the upper section of the pole has already been passed. However, at the same time, the lower part may still protrude far enough to cause a collision with the processing equipment.Therefore, the closing impulse can be delayed if necessary using the tilt detection.

[0030] The electronic camera is preferably arranged on a cross member of the holding device or on the work vehicle in such a way that it is located on the inside of the row facing the work vehicle.

[0031] According to the invention, lateral mounting is preferred, in which the camera is positioned offset to the row in the work step and views the row immediately in front of the processing devices perpendicularly or obliquely from the side, since with a lateral arrangement a larger extent of the linear structure can be captured by image recognition than with a view from above. In order to ensure that linear structures that are qualified as obstacles can be reliably detected during image analysis, optical distortions are eliminated, particularly with a lateral arrangement of the camera, especially when the camera is only a short distance from the row of plants. However, lenses with a short focal length, which cause the distortions, must be used in order to be able to capture a sufficiently large image area given the short distance between the camera and the plants.

[0032] Distortion correction is preferably carried out computationally on the recorded electronic image file before it is evaluated for structure recognition. For this purpose, the recorded image is concavely compressed from the side edges and, if necessary, also from the top and / or bottom edge of the image. The compression factor can be adjusted in a calibration process while the camera is aimed at a stud located in the field of view. For this purpose, the orientation of the camera is first fixed during calibration and then the electronic image recorded via it is displayed to the operator before or during image analysis. The horizontal and, if necessary, vertical compression can be varied by the operator until the stud is visible in the image as a linear, in particular rectilinear structure and is recognized as such by the image analysis algorithm implemented in the control device.Automated calibration is also possible by having the operator position the implement so that a stud is in the camera's field of view.

[0033] To distinguish between the pegs, which are perpendicular or at an acute angle to the soil surface, and the trellis wires, which often run in the rows and parallel to the soil, it can also be provided to determine the width of detected linear structures and thus distinguish between pegs and wires. This distinction can also be learned during teaching when using a KL unit by selecting and marking the appropriate images.

[0034] Another distinguishing criterion is the inclination. If the detected inclination angle of the linear structure relative to the ground surface is more than approximately 45°, it is a stumbling block, whereas linear structures that are approximately horizontal in the image section can be identified as wires or tensioning devices associated with the wires.

[0035] In addition to the stalks, which are always linear structures that extend to the ground, other image patterns of obstacles can be learned so that these are also recognized by the image recognition system and a control pulse is triggered to open the implement. Such obstacles include, for example, the tensioning devices for the trellis wires provided at the end of the row.

[0036] The invention is explained in more detail below with reference to the drawings. The figures show in detail:

[0037] Fig. 1 a working vehicle between two rows of a vineyard in a schematic view from above;

[0038] Fig. 2 a block diagram of a control device

[0039] Fig. 3 a camera shot;

[0040] Fig. 4 is a block diagram of a control device according to a second embodiment;

[0041] Fig. 5 the movement of the processing devices in the area of ​​a needle, in a schematic view from above;

[0042] Fig. 6 is a schematic representation of the opening width and opening length of the processing devices, in a schematic view from above; and

[0043] Fig. 7 the movement of the processing devices in the area of ​​a stick according to an alternative embodiment, in a schematic view from above.

[0044] Figure 1 schematically shows two rows 1, 1' of a vineyard with a work aisle 2 between them. A plurality of vines 3 are arranged in a linear arrangement, each forming a row 1, 1'. Several stakes 5 are located therein. At the end of the row, there is another, diagonally positioned stake 4, via which the pre-tension is applied to the wire trellises extending between the stakes 5.

[0045] A pre-cutter forms a working device 10 that is firmly connected to a tractor as a working vehicle 20. The working device 10 comprises a holding device 11 with a crossbeam that extends over row 1. Two rotating disc sets of the pre-cutter form a pair of processing devices 12, 13, a so-called basket. These are connected to the crossbeam and provided with adjusting means so that they can each deflect outward, transverse to the direction of travel F, away from row 1.

[0046] The illustration of the implement 10 on the left in Figure 1 shows it entering row 1. The processing devices 12, 13 are positioned close together or interlocking. A camera 14 captures a field of view 15 directly in front of the processing devices 12, 13 and electronically evaluates this image in an image evaluation device that is part of a control system. The orientation of the field of view 15 of the camera 14 is perpendicular to the direction of travel F.

[0047] In the illustration of the implement 10 in the center of Figure 1, a vine 3 has just been passed and a following tine 5 has been detected. Therefore, an opening pulse was emitted by the control device. The two processing devices 12, 13 are now positioned at a distance from each other that tine 5 can pass between them.

[0048] Fig. 2 shows a schematic representation of the connection between the working device 10 and the control device 40. This device comprises an image correction device 41, with which, in particular, the field of view recorded by the camera 14 and stored in an image file can be compressed or expanded in at least one dimension. The image thus corrected is checked for the presence of linear structures in an image recognition device 42. If such a structure is detected, at least one actuator 16 is actuated via a switching unit 43 to move the two processing devices 12, 13 apart.

[0049] Fig. 3 shows the content of an electronic image file 30. The image area 31 has been corrected by horizontal and vertical compression zones 33, 34, 35, 36 so that, for example, an image horizon 37 runs straight. This also allows a pin 5 to be recognized as a straight linear structure, which is identified here with a marking 32 as a linear structure recognized by the image recognition device 42. Since the linear structure extends from the ground into the working area of ​​the implement, it is classified as an obstacle, so that an opening movement must be triggered upon detection of such a structure.

[0050] Fig. 4 shows, in a further block diagram, the connection of the work device 10 to a control device 40' according to a second embodiment. In addition to the image correction device 41, the image recognition device 42, and the switching unit 43, this device comprises a speed sensor 44 and a timer 45, so that a distance traveled by the work vehicle and the work device 10 connected to it can be determined by linking time and speed.

[0051] Fig. 5 shows, in an enlarged partial view of Figure 1, the path of the pair of processing devices 12, 13 around the stick 5, wherein the path in its optimized form is shown in each case by a dash-dotted line.

[0052] Fig. 6 is a schematic representation of the movement of the processing devices 12, 13 shown in Fig. 5. From a working position or a closed position of the processing devices 12, 13 at a point 6.1, as seen in the direction of travel F, an opening takes place behind the stick 5 up to an opening position with an opening width BÖ at point 6.2 and from there back into the working position at a point 6.3 in front of the stick 5. Until the return to the working position, the opening therefore existed between the points 6.1, 6.3 over an opening length LÖ.

[0053] While the dash-dotted lines represent the actual distance between the processing devices 12, 13, the dotted lines mark the possible maximum distance between the processing devices 12, 13 until a mechanically or otherwise limited, maximum opening with an opening width Bömax is reached. In the schematic diagram in Fig. 6, the control pulse for opening was issued at point 6.1. While the processing devices 12, 13 were still moving into their maximum possible opening position, the switching pulse for closing was already given at point 6.2, i.e. at approximately half of the intended opening length LÖ. As a result, the opening width BÖ at point 6.2 was only approximately 60% of the maximum possible width Bömax. Consequently, the unprocessed surface area around the pin 5, which is shown in Fig.6 is visible as a diamond, is significantly smaller than it would be if the maximum possible opening position Bömax had been reached according to the dotted lines.

[0054] This type of control pulse superposition is made possible by the fact that the necessary opening length LÖ is either stored as a parameter in the control device or that the distance between the processing devices 12, 13 and the stitch in the row direction is determined by the image recognition device and the necessary opening length LÖ is calculated from this, for example as twice the measured distance between the detected stitch 5 and the processing devices 12, 13.

[0055] Figure 7 shows how an opening width is created in a pair of processing devices 12, 13 in order to be able to pass a stick 5 as an obstacle. The processing devices 12, 13 are held on a holding device which is positioned obliquely with respect to the direction of travel F along line 1. As a result, the processing device 13 is located in front of the processing device 12 on the other side of line 1 in the direction of travel F. Viewed in the direction of travel F, there is no opening between the processing devices 12, 13, although they are aligned with a constant distance from one another in the direction of their holding device 11'. Shortly before reaching the obstacle, the entire arrangement of holding device 11' and processing devices 12, 13 is pivoted such that the holding device 11' is positioned transversely to the direction of travel F or the longitudinal direction of line 1.Now the constant distance between the processing devices 12, 13 can be used as the opening width and the stick 5 can be passed.

[0056] Reference symbol:

[0057] 1 , 1' line

[0058] 2 work steps

[0059] 3 vines

[0060] 4, 5 sticks

[0061] 10 Work equipment

[0062] 11 ; 11' holding device

[0063] 12, 13 processing facilities

[0064] 14 electronic camera

[0065] 15 Field of view

[0066] 16 Actuator

[0067] 20 work vehicles

[0068] F Direction of travel

[0069] 30 electronic image files

[0070] 31 Image area

[0071] 32 Marking

[0072] 33, 34, 35, 36 horizontal and vertical compression zones

[0073] 37 Image horizon

[0074] 40; 40' control device

[0075] 41 Image correction device

[0076] 42 Image recognition device

[0077] 43 Switching unit

[0078] 44 speed sensor

[0079] 45 timers

[0080] 46 Camera

Claims

Patent claims:

1. Method for opening control of a work device (10) with paired processing devices (12, 13) for viticulture, wherein: the work device (10) is attached to a work vehicle (20) and comprises at least one holding device (11; 11') which spans a row (1, 1') of plants and on which at least one of the processing devices (12, 13) is held; at least one processing device (12, 13) is arranged on each side of the row (1; 1'), at least one of the processing devices (12, 13) is movable relative to the other processing device (12, 13) or relative to the holding device (11) via at least one actuator (16), or the holding device (11') with the processing devices (12, 13) relative to the longitudinal direction of the row (1;1 ') is pivotable so that a clear opening between the processing devices (12, 13) can be produced and / or can be changed in an opening width BÖ and / or in an opening length LÖ,; - and wherein at least one image is generated for at least one viewing area (15) by means of at least one electronic camera (14), characterized in that - that for at least one viewing area (15) located in front of the processing equipment (12, 13) at least one image is continuously or at regular intervals in relation to the travel time and / or distance of the work vehicle (10) and stored in an electronic image file (30), - that the image file(s) in an image recognition device (42) of a control device (40; 40') at least to the extent that linear Structures (32) in at least one image area (31) of the image file (30) are checked; - that, upon detection of a linear structure (32) qualified as an obstacle, a control pulse is sent via the control device (40; 40') to the actuator (16) to trigger an opening movement that creates or enlarges the opening between the processing devices (12, 13). Method according to claim 1, characterized in that, after the control pulse is sent, the position of the linear structure (32) is tracked by means of continuous evaluation of further image files (30) subsequently acquired by the viewing area (15). Method according to claim 1 or 2, characterized in that the control device (40; 40') sends a control pulse to the actuator (16) to trigger a closing movement that reduces the opening width BÖ between the processing devices (12, 13) when the linear structure (32) disappears from the image area (31) or reaches a target mark defined in the image area (31).A method according to any one of the preceding claims, characterized in that the control device calculates a lateral inclination of the linear structure (32) with respect to an image horizon or another reference plane, and that the opening width required for the processing devices (12, 13) during the opening movement is calculated from the lateral inclination. A method according to any one of claims 1 to 4, characterized in that the image area (31) stored in the image file is electronically compressed or stretched in at least one dimension in an image correction device (41) of the control device (40; 40') before being fed to the image recognition device (42).

19. A method according to any one of claims 1 to 5, characterized in that the processing devices (12, 13) are movable from an open position to a closed position and vice versa. A method according to any one of claims 1 to 6, characterized in that the distance between the processing devices (12, 13) is variable between an open position and a closed position. A method according to any one of the preceding claims, characterized in that, to change the size of the opening between the processing devices (12, 13), the clear opening width BÖ between the processing devices (12, 13), measured transversely to the longitudinal extent of the row (1, 1'), is changed by changing the distance between the processing devices (12, 13).Method according to claim 8, characterized in that, in a moving work vehicle, to change the size of the opening between the processing devices (12, 13), in addition to the opening width BÖ, the opening length LÖ measured in the longitudinal extent of the line (1 , 1') is changed by giving a control impulse to trigger a closing movement following a control impulse to trigger an opening movement, even before the opening position is fully reached.Working device (10) for viticulture for attachment to a work vehicle (20), comprising at least: at least one pair of processing devices (12, 13) which are held on a holding device (11 ; 11 ') which is designed to span a row (1 , 1 ') of plants, wherein at least one processing device (12, 13) is arranged on each side of the row (1 ; 1 '), an actuator (16) by means of which at least one of the processing devices (12, 13) is moved relative to the other. 20 processing device (12, 13) or is movable relative to the holding device (11) or the holding device (1 T) with the processing devices (12, 13) is pivotable relative to the longitudinal direction of the row (1 ; T) so that a clear opening between the processing devices can be produced and / or can be changed in an opening width BÖ and / or in an opening length LÖ, - an electronic camera (14) for generating at least one electronic image file (30) from an image recording of at least one viewing area (15), - a control device (40; 40'); characterized in that the viewing area is directed towards an area in front of the working device (10) in the direction of travel; that an image recognition device (42) is provided as part of a control device (40; 40') and is designed to check the electronic image file(s) with the image acquisition for the presence of linear structures (32) qualified as obstacles in at least one image area (31) of the image file (30); that the control device (40; 40') is designed to send a control pulse to the actuator (16) upon detection of a linear structure (32) in the image recognition device (42) to trigger an opening movement that creates or enlarges the opening between the processing devices (12, 13).Working device (10) according to claim 10, characterized in that the working device is a pre-cutter and the processing devices (12, 13) are shear disc sets with rotatingly driven shear discs, which are held on a holding device (11; 1T) which is designed to reach over the line (1; T). Working device (10) according to claim 10 or 11, characterized in that a displacement sensor or a GPS receiver is used to measure the. 21 The working device (10) is arranged on the working vehicle (20) and / or is connected to the control unit (40; 40') for data transmission. The working device (10) according to one of claims 10 to 12 is characterized in that the control unit (40; 40') is connected to an electronic speed measuring device. The working device (10) according to one of claims 10 to 13 is characterized in that the camera (14) is directed vertically or obliquely from the side onto an area in the line (1; 1') directly in front of the processing devices (12, 13). The working device (10) according to one of claims 10 to 14 is characterized in that the control unit (40; 40') has an image correction device (41) upstream of the image recognition device (42) for eliminating optical distortions.

Images