Leaf binder and method for erecting and tying shoots of plants arranged in a linear row

Description

[0001] The present application relates to a leaf stapler for erecting and tying shoots of plants arranged in a linear row, having the features of the preamble of claim 1, and to a method for erecting and tying shoots of plants arranged in a linear row, having the features of the preamble of claim 8.

[0002] Such leaf binders are well known from the state of the art from relevant manufacturers. Basically, a leaf binder is designed to organize elements of a tree and / or row crop, for example, a vine in a viticultural crop, by uprighting and securing the shoots to a trellis. Vines produce shoots with leaves, and grapes also grow on these shoots. Due to their own weight, the shoots have a certain lateral inclination as they grow, i.e., perpendicular to the longitudinal extension of the tree and / or row crop, the so-called row. As a result, the grapes could then be located below the leaves and be shaded, which can delay the ripening of the grapes. However, the shoots to be uprighted do not yet bear any grapes.

[0003] To minimize this delay, the shoots and, accordingly, the foliage are erected and positioned or secured by inserting string elements using the leaf stapler. The string elements should be connected to one another at intervals to ensure the upright shoots are well positioned. The string elements are connected by inserting a connecting element, such as a staple, using a connecting device on the leaf stapler. When connecting, i.e., stapling, knotting, or clamping the string elements, care should be taken to ensure that no joining process takes place at certain points, such as at the height of a stake or when the foliage is dense, so that the leaf stapler and the vines are not damaged.

[0004] It is known from FR 2 927 225 A1 that the connecting process for connecting the string elements is triggered manually by the driver. However, because the driver already has to concentrate heavily on driving itself, i.e. the speed and position of the vehicle relative to the row of plants, and is also busy adjusting the height of the leaf stapler, the driver's reaction time when triggering the connecting process can be further impaired. This can lead to a connecting process being triggered in an undesired location. This can cause damage to the leaf stapler and / or the tree and / or row crop. The same applies to the also described option of triggering the connecting process at a time depending on the tractor speed.

[0005] ES 2795500A1 discloses a device that can detect obstacles using optical detection devices. The implement is controlled accordingly to avoid the obstacle, thus leading to targeted action on the row crops. The detection device is designed to detect plant parts that should be removed. The vine is modeled taking obstacles into account, and the implements are controlled accordingly. A leaf stapler function is not described.

[0006] It is therefore the object of the present invention to improve a leaf stapler in such a way that the joining process is carried out automatically, but only at a suitable location in the row.

[0007] Furthermore, it is an object of the present invention to provide a method for erecting and tying shoots of plants arranged in a linear row by means of a leaf stapler, i.e. for carrying out the automatic connecting process.

[0008] The underlying problems are solved by a leaf binder having the features of claim 1 and by a method having the features of the independent claim 8.

[0009] The core idea of ​​the present invention is to provide a leaf stapler for processing plants arranged in a linear row, in particular for erecting and tying shoots of tree and / or row crops that form a leaf wall, namely by introducing and / or guiding at least two cord elements on different sides of the leaf wall using the leaf stapler. The plant shoots are repositioned and held in the new position by the cord elements. Therefore, the leaf stapler comprises, in a known manner, an erecting system for erecting the shoots. In addition, a connecting device is provided on the leaf stapler, which is intended and designed to carry out a connecting process for connecting the cord elements, in particular by means of connecting elements. With the aid of a suitably designed control device, the leaf stapler can carry out the connecting process automatically.

[0010] A connecting process can be a clamping process, meaning that the cord elements are connected using clamping elements. Such clamps or clamping elements are well known in the art.

[0011] It's important to note that a distinction must be made between a wire stapler and a feed-in stapler. With feed-in staplers, a piece of string, such as yarn made of various materials, is used as the string element. With wire staplers, the string element is a wire movably installed in the tree and / or row crop, which are connected by the wire stapler.

[0012] According to the invention, the connecting process for connecting the cord elements is carried out automatically, i.e., the connecting process is triggered without any intervention by the driver. The leaf stapler is therefore preferably designed such that the leaf stapler automatically triggers a connecting process at a suitable time and / or location.

[0013] It is also conceivable that the connection process can be triggered both automatically and manually, i.e. that the connection process can be triggered independently of the driver on the one hand and can be triggered manually by the driver on the other hand, should this prove useful.

[0014] By triggering and executing the tying process entirely or predominantly automatically, the driver can concentrate on vehicle movement and the correct height adjustment of the leaf stapler to the plant row. Furthermore, incorrect stapling is avoided, reducing downtime caused by faulty stapling, thus enabling an overall increase in productivity.

[0015] According to a preferred embodiment, the connecting process can be triggered or carried out at regular intervals. This depends on the condition of the foliage and the arrangement of the plants in the row.

[0016] If the foliage is not particularly dense, for example at the beginning of the growing season, the connection process can be triggered at a predefined interval, for example every 10 meters, preferably with a tolerance range of +2 meters / -2 meters.

[0017] If the canopy is already very dense, the bonding process is triggered specifically, either in an area with the lowest possible canopy density or in a gap in the canopy. Other conditions are also conceivable, such as a further shortened distance of less than 10 meters, or triggering the bonding process after each stump, or similar.

[0018] According to the invention, a detection device is provided which is designed and configured to detect a gap in the canopy of the tree and / or row crop. The leaf stapler comprises a control unit which, upon detection of the gap, is designed and configured to actuate the connecting device such that a connecting process is triggered at the level of the gap. The detection device can be arranged on the leaf stapler or on a vehicle on which the leaf stapler is arranged and to which the leaf stapler is connected.

[0019] The detection device has a sensor which is designed and provided to detect the gap. More preferably, the sensor is designed and provided to detect the obstacle. The term “gap” can be defined depending on the nature of the foliage density. A gap can, for example, be defined as no obstacle, such as leaves, a stick or the like, being detected in a detection area of ​​the detection device. A gap can also be understood as having as little foliage as possible in the detection area; this is particularly useful when foliage is dense. A gap can have a limited extent in the vertical and / or longitudinal direction, for example 10 cm to 40 cm. It is irrelevant how deep the gap is across the row, since a gap is only detected if there is no obstacle.It is conceivable that the vertical dimension differs from the longitudinal dimension and therefore has a different value range. Alternatively, it is conceivable that the vertical dimension corresponds to the longitudinal dimension and therefore has the same value range.

[0020] The detection device can be designed and configured to detect obstacles in order to prevent a connection process at the height of the obstacles. This means that, in the optimal case, the detection device can detect a gap and an obstacle simultaneously.

[0021] It may also be conceivable, preferably, for obstacles whose position is permanently installed in the crop to be measured so that their coordinates are known. For example, such obstacles may be stakes, other boundaries, or the like. The positions of the obstacles may be stored in a database, with the detection device being able to access this database and accordingly not triggering a connection process if such an obstacle is in an area of ​​the leaf stapler. This area may be subject to tolerances. The positions of these obstacles may be determined, for example, by means of GPS, DGPS, RTK surveying, by entering reference points, by means of geometric data by the driver, or the like.

[0022] According to a preferred embodiment, the sensor is selected from the group comprising an ultrasonic sensor, a radar sensor, a camera system, a reflex light switch, a ToF sensor (Time Of Flight Sensor), or any combination thereof. These sensors are suitable for distance measurement, although any other sensor that can be used for distance measurement is also conceivable. A distance measurement can be used to detect whether or not an object is present in the respective detection range of the detection device or sensor, or how densely the objects are present in the detection range.

[0023] Particularly preferably, the sensor is a camera system for generating an electronic, digital image file. For this purpose, an evaluation unit for evaluating the data from the camera system is preferably provided. Furthermore, the detection range of the sensor preferably runs transversely to the line, i.e., essentially at a 90° angle to it. It is also conceivable for the detection range to be arranged at an angle to the line other than 90°, so that an advance of the sensor signal is possible and thus the area in front of the vehicle in the direction of travel is detected.

[0024] Alternatively, the sensor is an ultrasonic sensor. Obstacles and gaps are reliably detected using the ultrasonic sensor.

[0025] It is fundamentally conceivable that the sensor's functionality could be disrupted by the nearest row of trees and / or row crops, or that insufficient criteria for detecting a gap are present. According to a preferred embodiment, the detection device can therefore comprise an opaque element, with the sensor being arranged on a first side of the canopy and the opaque element being arranged on a second side of the canopy, opposite the sensor.

[0026] The opaque element makes it possible to mask the disturbing adjacent line for the sensor. The opaque element can also serve as a reference for the sensor and for sensor calibration.

[0027] The opaque element can be a flat element, meaning that its extension in two dimensions is significantly larger than in the third. Preferably, the width and length of the flat element are greater than its height. Regarding the size and placement of the opaque element, it is important that the sensor's main detection area is covered by the opaque element.

[0028] According to another particularly preferred embodiment, the detection device, in particular the sensor, can be arranged ahead of the connecting device in the direction of movement of the leaf stapler. This is intended to detect the gap in advance, so that the connection can be made precisely at the previously detected position.

[0029] Leading ahead is therefore to be understood as meaning that the detection device is arranged at a first distance in the direction of movement in front of the connecting device, or, due to the positioning of the detection device, i.e., at an angle to it, is ahead of the connecting device. Leading ahead is advantageous in that the connecting process does not have to be initiated at the moment a suitable location for triggering the connection process is detected. This cannot be guaranteed due to delays in the system. With leading ahead, however, the system can react accordingly and trigger the connection process precisely.

[0030] A further core idea of ​​the invention is to provide a method for erecting and tying shoots of plants arranged in a linear row by means of a leaf stapler, in particular for erecting and tying shoots of tree and / or row culture, wherein the leaf stapler comprises an erecting system for erecting the shoots and a connecting device, wherein the connecting device is automatically triggered in the method.

[0031] Automatic triggering can be initiated in various ways: According to a first embodiment of a method for performing an automatic connecting process of a leaf stapler, the connecting positions are determined by an image-recognition system that identifies gaps in the canopy and connects the twine elements on both sides in these gaps using knots, staples, or other means. Suitable gaps exist, for example, at the transition between stakes and neighboring plants or between two neighboring plants, i.e., in particular, between two vines. This method variant is particularly suitable for plant arrangements that, due to local conditions, are not arranged in a regular sequence of stakes and plants with uniform spacing between them.

[0032] According to a second embodiment, in modern plant cultures, which are usually cultivated with regular spacing between adjacent stakes and regular spacing between vines, a specific pattern of connection processes is automatically repeated. Such a pattern can be stored in a control program (software) implemented in the control device.

[0033] Once the driver has identified a first fixed point in the line, such as the first tack, and the leaf stapler or work vehicle is at the same height, the driver initiates the first tack process. Subsequent tack processes are then automatically initiated at predetermined intervals by continuously measuring the path of the work vehicle from the specified fixed point, in particular by a distance sensor on the work vehicle and / or a GPS system. Once distances defined in the program sequence or positions defined by coordinates have been reached, further connecting processes are automatically initiated, e.g. in the middle between adjacent tacks and shortly before and shortly after a tack.

[0034] To continually calibrate the program sequence during processing, it is useful to send a correction signal when a mark on the work vehicle or leaf stapler is at the height of the tack. The driver can trigger this correction signal manually.

[0035] Preferably, an image recognition system optimized for the detection of linear structures such as a tack is used. This automatically detects the tacks in the row, and depending on the position of the automatically detected tack, the connection of the cord elements is executed, or the previously defined connection sequence is automatically adjusted based on the position of the detected tack.

[0036] This is achieved by using a camera that covers a field of view in front of the leaf stapler and an electronic image analysis system that allows simple geometric structures such as a vine spike to be easily and automatically identified. This takes advantage of the fact that in viticulture and horticulture, the plants are arranged linearly in the rows, so only a linear path needs to be followed, and the fact that only straight, i.e., linear spikes are used, which are easily identifiable within the naturally grown, thus chaotic, plant formation.

[0037] The advantageous further development of the method ensures that the leaf stapler makes a connection in good time before or after the tack, so that a collision with the tack or any other obstacle is safely avoided.

[0038] The field of view captured by a camera includes at least a portion of a row located in the direction of travel in front of the two leaf stapler assemblies, one of which is positioned on each side of the row during processing to connect the two string elements. However, one or both assemblies can also be located within the field of view themselves.

[0039] A linear structure within the meaning of the present invention is preferably, but not necessarily, a rectilinear structure. It can also be another structure that is distinguishable from the chaotic structures of natural plant shoots.

[0040] The recognition of the linear structure can be achieved by searching for, recognizing, and tracking it in the image area based on previously performed learning runs.

[0041] 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 or other typical textures, and indirectly determining the linear structure by inversion, i.e. by filtering out all natural structures from the image.

[0042] According to a first option, the linear structure identified as a tack is tracked by continuing the analysis for linear structures in subsequent images taken from the field of view in front of the processing equipment. By comparing the data with the data obtained from previous images, the progressive change in position of the tack 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 frame, the connection can be triggered or the program sequence during tacking can be automatically adjusted to the tack identified as a fixed point.

[0043] It is also possible to calculate the inclination of the linear structure identified as a thorn in relation to an image horizon or another reference plane, in particular its lateral inclination in relation to the longitudinal axis of the plant row. This can be used to detect a thorn that is crooked laterally in the row and to calculate the necessary distances between the tacking points before and after the thorn in order to avoid a collision with the thorn, even if it is tilted. It is also possible to detect a case in which a thorn is crooked in the longitudinal or row direction, i.e. tilts back against the direction of travel. In this case, the camera may detect that the upper section of the thorn has already been passed. However, the lower part may still protrude far enough to cause a collision with the equipment on the leaf thorn trimmer. Therefore, the inclination detection can be used to delay the impulse for the connection if necessary.

[0044] The electronic camera is preferably arranged on a cross member of the holding device, which extends over the line.

[0045] Furthermore, according to the invention, a lateral attachment is preferred, in which the camera is positioned offset from the row in the work process and looks vertically or obliquely from the side onto the row immediately in front of the processing devices, since with a lateral arrangement a larger extent of the linear structure can be detected by image recognition than with a view from above. In order to ensure that sticks can be reliably recognized as linear structures 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. In order to be able to capture a sufficiently large image area at the given short distance, lenses with a short focal length, which cause the distortions, must be used.

[0046] Distortion correction is preferably carried out computationally on the recorded electronic image file before it is evaluated for structure recognition. To do this, 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 during a calibration process while the camera is aimed at a peg located in the field of view. To do this, 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 peg is visible in the image as a linear 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.

[0047] In order to distinguish between the stakes that are aligned perpendicularly or at an acute angle to the soil surface and the trellis wires that often run in the rows and parallel to the soil, it can be provided to determine the width of detected linear structures and thus distinguish between stakes and wires.

[0048] 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 defined as a dowel, whereas linear structures that are approximately horizontal in the image section can be identified as wires or tensioning devices associated with the wires.

[0049] In addition to the poles, 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 device and a control pulse for the connection is triggered. Such obstacles include, for example, the tensioning devices for the trellis wires.

[0050] In addition to the inline detection of suitable connection positions, which are detected and / or readjusted by sensors as the work vehicle passes through the row, georeferenced information can also be retrieved from databases stored in the control system's memory unit or on an external storage medium that can be accessed online via a data connection. In addition to connection and obstacle positions, this information can also include additional information on the properties of the plants present in the respective row, for example, to automatically increase or decrease the number of connection points depending on the plant's age or location.

[0051] The invention is explained in more detail below with reference to the exemplary embodiments illustrated in the drawings. The figures show in detail: Fig. 1 a perspective view of a leaf stapler from the prior art; Fig. 2 a rear view of the leaf stapler according to Fig. 1 ; Fig. 3 a leaf stapler on a working vehicle in a schematic representation; Fig. 4 the working vehicle between two rows of a vineyard in a schematic view from above; Fig. 5, 6 each the working vehicle on a row according to the view in Figure 4 ; Fig. 7 a block diagram of a control device; and Fig. 8 a camera recording.

[0052] In the Figure 11 shows a leaf stapler 1 in a perspective view from the front, wherein the leaf stapler 1 has a two-part erecting system 3 for erecting shoots of tree and / or row crops. The erecting system 3 has endless, circumferential belts which, viewed in the direction of travel, are aligned so as to rise from the bottom front to the top rear. The leaf stapler 1 further comprises a connecting device 4. In addition, the leaf stapler 1 has a base element 9 with which it can be arranged on a lifting mast 10 of a work vehicle. The U-shape of the base element 9 enables the entire arrangement with erecting and connecting systems to be guided above a row, wherein one part of the erecting system 3 and the connecting device 4 are arranged on each side of the row.

[0053] The leaf binder 1 is in Figure 2shown in detail in a perspective rear view. The connecting device 4 is intended and designed to perform a connecting process for connecting cord elements 2 using connecting elements such as clamps. It essentially comprises: a first connecting arm 11 with a first cord element guide 15 and with a connecting device 13, a second lever arm 12 with a second cord element guide 16 and with a counterpart 14 to the connecting device 13,

[0054] The cord elements 2 are guided via the cord element guides 15, 16 such that they run close to one another and are located directly within the effective range of the automatic connecting device 13 and the counterpart 14. The counterpart 14 is shaped such that a connecting element can be inserted via the automatic connecting device 13 so that the cord elements 2 can be connected to one another. The automatic connecting device 13, on the other hand, contains the connecting elements and is designed to eject the connecting elements in order to connect the cord elements 2 in combination with the counterpart 14.

[0055] The connecting arms 11, 12 are movable in the width direction B, namely they are rotatable about a respective axis of rotation, so that the connecting arms 11, 12 are rotatably arranged on the erection system 3. Movement of the connecting arms 11, 12 is achieved by means of a first actuator 17 and a second actuator 18, wherein the actuators 17, 18 are connected in an articulated manner to the erection system 3 on the one hand and in an articulated manner to the respective connecting arm 11, 12 on the other. Upon actuation of the respective actuator 17, 18, its length is changed, and consequently also the distance between its two pivot points, so that the respective connecting arm 11, 12 is rotated about its respective axis of rotation.

[0056] In the Figure 3 The leaf binder 1 is shown again in a schematic representation. Figure 3The detection device 5 with a sensor 7 and the control unit 40 are shown, wherein the detection device 5 is preferably arranged in front of the connecting device 4, and in particular in front of its automatic connection device 13, as viewed in the longitudinal direction x. In general, the longitudinal direction x can be understood as the direction of movement of a work vehicle 20 to which the leaf stapler 1 is attached. The leaf stapler 1 is connected to the work vehicle 20 via a lifting mast 10, by means of which the leaf stapler 1 can be adjusted in height relative to the ground. A container 19 is provided, which contains a supply of cord elements 2.

[0057] The control unit 40 is connected to the detection device 5, at least by signaling, whereby the data from the sensor 7 can be transmitted to the control unit 40. The data received from the sensor 7 is then further processed in the control unit 40 such that the connection process is initiated when a corresponding gap is detected. To control or initiate the connection process, the control unit 40 is connected, at least by signaling, to the first actuator 17 and the second actuator 18 in order to cause a change in the length of the actuators 17, 18.

[0058] Based on the following Figures 4 to 6 A preferred embodiment of the method according to the invention is explained in more detail.

[0059] In Figure 4Two rows 51, 51' of a vineyard 50 are shown schematically from above, with a work aisle 52 between them. A plurality of vines 53 are arranged in linear arrangements, each forming a row 51, 51'. In each row 51, 51' there are vertically aligned posts, so-called stakes 55. At the beginning and end of each row there is another, diagonally positioned stake 54, via which the pre-tension is applied to the wire trellises stretched between the stakes 55.

[0060] The working vehicle 20 with the leaf stapler 1 travels in the direction of travel F, which is identical to the longitudinal direction x of the row, in the working aisle 52 and processes row 51 to the left of the vehicle 20. By means of the erecting systems 3 of the leaf stapler 1, shoots protruding from row 51 are guided inwards from both sides. From the outside, a cord element 2 is pulled simultaneously on both sides of row 51 by the leaf stapler 1, so that the shoots, when they spring back after passing the leaf stapler 1, are held back by the cord elements 2. By connecting the cord elements 2 running on both sides of row 51 at the connecting positions 60, the cord elements 2 are held close to one another and thus close to the vines 3 and the wire trellises of row 51.

[0061] In Figure 5 is the same line 51 as in Fig. 4, and the work vehicle 20 is also located at the same position. The dotted lines divide the route F into several sections of different lengths A.

[0062] After an initial section with a distance A0 between the inclined stud 54 at the beginning and the first vertical stud 55, several similar sections begin, each extending between two adjacent studs 55 and spaced A1 apart. These distances A1 were determined when the rows 51, 51' were constructed. They are therefore known or measurable and remain unchangeable. These known distances are used to create a connection sequence with several connection positions 60 for the respective row 51, 51' as a program, which is stored in the control device.

[0063] At the beginning of the travel path F, the two cord elements 2 are attached to the starting pin 54. The starting pin 54 serves as a reference mark for the start of the program.

[0064] At the initial stake 54, a first base connection of the cord elements 2 is established at a base connection position 61 using the leaf stapler 1. Shortly before the first vertical stake 5, a connection is made at a pre-stake connection position 62 and behind it at a post-stake connection position 63. In the illustrated embodiment of the method, an intermediate stake connection position 64 is also provided, in which a gap between the vines 53 is utilized.

[0065] The same pattern of connections then begins again at connection positions 62 to 64. By inputting the distances A0 and A1, the control system is enabled to automatically calculate the positions for the recurring connections 62 to 64, temporarily store them in a memory unit, and execute them at the designated location in line 51.

[0066] For this purpose, for example, the pre- and post-stitch connection positions 62, 63 are each set at the same distance from the stitch 55 on opposite sides. The distance to the stitch 55 is stored as a parameter in the memory unit of the control device, so that the connection positions 62, 63 are calculated automatically. The distance value can be changed by operator intervention.

[0067] The operator can also specify the number of inter-stitch connection positions 64. In the Figure 5In the embodiment shown, an inter-pin connection position 64 is defined in the middle between two adjacent pins 55.

[0068] Once this sequence of connection positions 61 ... 64 has been programmed and stored in the memory unit of the control device, an automated process can be carried out when the work vehicle 20 passes through the work step 52 between the rows 51, by which the connection positions 61 .. 64 are automatically approached and a connection is established between the two cord elements 2 at the designated locations.

[0069] The programmed pattern of connections is in Figure 6 reproduced, whereby the illustration of the upper line 51 remains unchanged from the illustration in the Figures 4 and 5 The course of the route F along line 51 is defined here as the x-coordinate.

[0070] At a starting point x 0 , a start signal is issued by the operator or by a sensor on the leaf stapler to initiate the sequence and automatically process the sequence of connection positions during the passage of the work vehicle 20 with the leaf stapler 1 through the work step 52: At x 1, the starting connection position is 61. At x 21 and x 22, the connections are made at the pre- and post-stitch connection positions 62, 63. The intermediate stitch connection position 64 is at x 23.

[0071] Thereafter, the sequence of connection positions 62, 63, 64 repeats itself over and over again, finally ending at a line-end position corresponding to the starting connection position 61, but not shown here. Similar connections occur at connection positions with the coordinates x 31 , x 32 , x 33 or x 41 , x 42 , x 43 , etc., each offset by the distance L from the corresponding connection position in the preceding sequence.

[0072] For the inter-pin connection position 64, the gap detection described above can also be used. In this case, the preprogrammed positions x 23 , x 33 , and x 43 for the inter-pin connection position 64 serve only as trigger points for gap detection. This means that automatic gap detection is activated from this point onwards and then automatically triggers a connection at the next detected gap.

[0073] Fig. 7shows a schematic representation of the connection of the working device 10 to the control device 40. This comprises an image correction unit 41, with which, in particular, the field of view recorded by the camera 46 and saved in an image file can be compressed or expanded in at least one dimension. The image corrected in this way is checked for the presence of linear structures in an image recognition device 42. If such a structure is detected, the actuators are actuated via a switching unit 43 in order to move the connecting device 13 and the counterpart 14 towards each other and to connect the cord elements. This control device 40 also comprises a speed sensor 44 and a timer 45, so that a distance traveled by the working vehicle 20 and the leaf stapler 1 connected to it can be determined by linking time and speed.

[0074] Fig. 8reproduces the content of an electronic image file 30 captured by the camera 46. 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 allows a pin 5 to be recognized as a linear structure, which is identified here with a marking 32 as a linear structure recognized by the image recognition device 42.

[0075] The position of the detected pin is used to readjust the sequence of connection positions stored in advance as a program in the control device: The sequence of connection positions is expediently limited to the vertical pins 55 (see Figure 5), as already described above. This means that with the tack 55 as a reference mark, the pre-tack connection position 62 and the post-tack connection position 63 are determined and, starting from this, with half the distance A 1, also the intermediate-tack connection position 64. When the work vehicle 20 with the leaf stapler 1 travels along the row 51, the field of view in front of it is electronically recorded and analyzed. Although the X-coordinates for each connection position have already been calculated in advance, as shown in Figure 6shown. With the pin identified by image recognition, a check can be triggered in the control system to determine the extent to which the theoretically predetermined coordinates of the next pin correspond to the actually detected position. In general, the X-coordinate extending in the direction of travel F is sufficient for this position. If the difference between the predetermined and the detected position is greater than a specified tolerance value, the control system recalculates all subsequent connection positions based on the difference value. This ensures that the theoretically predetermined sequence of connection positions is continuously adapted to the actual conditions in the specific row being worked in the vineyard. It is advisable to create a memory location in the control system for each worked row and to replace the theoretically determined positions therein with the actually detected positions.In addition, individual manual connections triggered by the operator can be registered and are available for later runs.

[0076] In the same way that approximately vertically aligned pins 55 can be used as reference marks to initiate readjustment via image recognition, obstacles can also be detected using the described image recognition to define obstacle positions and block the connection process in the area of ​​the obstacle positions. These obstacles can be, for example, overturned, bent, or tilted pins. List of reference symbols

[0077] 1 Leaf stapler 2 Cord element 3 Erecting system 4 Connecting device 5 Detection device 7 Sensor 9 Base element 10 Lifting mast 11 First connecting arm 12 Second connecting arm 13 Automatic connecting device 14 Counterpart 15 First cord element guide 16 Second cord element guide 17 First actuator 18 Second actuator 19 Container 20 Vehicle 40Control unit 41Image correction unit 42Image recognition unit 43Switching unit 44Speed ​​sensor 45Timer 46Camera 30electronic image file 31image area 32marking 33, 34, 35, 36horizontal and vertical compression zones 37image horizon 50Vineyard 51, 51'Row 52Working step 53Vines 54Starting stake 55Stake 60Connection positions 61Start connection position 62Pre-stickel connection position 63Post-stickel connection position 64Intermediate-stickel connection position FDriving direction HHeight direction BWidth direction LLongitudinal direction A 0 , A 1 Distances x 0 , x 1 , x 21 , x 22 , x 23 , x 31 , x 32 , x 33 , x 41 , x 42 , x 43 , x 51 x-coordinates

Claims

1. Shoot binder (1) for straightening and tying shoots of plants arranged in a linear row (51, 51'), at least comprising: - a holding device (11), which can be attached to a working vehicle (20) and can reach over the row (51, 51'); - a straightening system (3) for straightening plant shoots protruding from the row (51, 51'), wherein on both side of the row (51, 51') there is arranged at least part of the straightening system (3); - a twine guiding device, from which at least one respective twine element (2) can be unwound on each side of the row (51, 51') for restraining the shoots of the plants in a canopy; - a connecting device (4), which is intended and designed to carry out a connecting operation for connecting the twine elements (2) guided on both sides of the row (51, 51'), - wherein the shoot binder (1) comprises a control unit (40), which is intended and designed - to identify suitable connection positions (61, 62, 63, 64) in the row (51, 51') that are located in front of the work vehicle (20) in the direction of travel (F) and to actuate the connecting device (4) at the identified connection positions (61, ..., 64) in such a way that an automatic connecting operation for the twine elements (2) is executed and / or and / or - to store a program with a sequence of connection positions (61, ..., 64) for the respective row (51, 51'), to start the program on the basis of at least one reference mark identifiable in the row (51, 51') and to actuate the connecting device (4) when the respective connection position (61, ..., 64) is reached, characterized in that the control unit (40) comprises or is connected to at least one detection device (5), wherein the detection device (5) comprises: - at least one sensor (7) for detecting at least one gap in a section of the canopy located in front of the shoot binder and / or - is intended and designed to detect an obstacle in the way of the connecting device (4) in the row (51, 51') and to prevent a connecting operation near the obstacle.

2. Shoot binder (1) according to Claim 1, characterized in that the detection device (5) is arranged in front of the connecting device (4) as viewed in the direction of travel (F).

3. Shoot binder (1) according to Claim 1 or 2, characterized in that the sensor is an image sensor and in that the detection device (5) comprises at least one image detection device (43) for detecting a gap in the row (51; 51') by means of the image data recorded by the image sensor.

4. Shoot binder (1) according to at least one of the preceding Claims 1 to 3, characterized in that the sensor (7) is arranged on a first side of the row (51, 51') and an opaque element is arranged in the detection range of the sensor (7) on a second side of the row, opposite the sensor (7).

5. Shoot binder (1) according to one of the preceding claims, characterized in that the control unit (40) comprises a memory device in which suitable connection positions (61, ..., 64) and / or obstacle positions in the row (51; 51') are stored.

6. Shoot binder (1) according to Claim 5, characterized in that the control unit (40) comprises an operator interface via which at least one reference mark for determining a first connection position (61) and at least one distance value (A0, A1) or several coordinates (x0... x51) for determining further subsequent connection positions (62, 63, 64) can be stored in the control unit (40).

7. Shoot binder (1) according to Claim 6, characterized - in that the shoot binder (1) has or is connected to at least one position sensor or a displacement sensor which is connected to the control unit (40) and - in that the control unit (40) is designed to carry out an ongoing comparison of the position of the shoot binder (1) in the row (51, 51') determined by the position sensor or the displacement sensor with the connection positions (61, ..., 64) and / or obstacle positions stored in the memory device and to trigger a connecting operation when a connection position (61, ..., 64) is reached and prevent any connecting operation when an obstacle position is reached.

8. Method for straightening and tying shoots of plants arranged in a linear row (51, 51'), using a shoot binder (1), which comprises a straightening system (3) for straightening the shoots and a connecting device (4) for connecting two twine elements (2) and is attached to a work vehicle (20), wherein the method comprises at least the following steps: a) driving the work vehicle (20) with the shoot binder (1) along the row (51; 51') and at the same time inserting and / or guiding at least one twine element (2) on both sides of the plants arranged in the row (51; 51'); b) connecting the twine elements (2) by means of connecting elements at several connection positions (61, ..., 64); wherein suitable connection positions (61, 62, 63, 64) in the row (51, 51') that are located in front of the work vehicle (20) in the direction of travel (F) are identified, while the work vehicle is driving along and the twine elements (2) are directly being connected at the identified connection positions (61, ..., 64) and / or the twine elements (2) are connected in each case when connection positions (61, ..., 64) which are predetermined in a sequence of connection positions (61, ..., 64) for the respective row (51, 51')are reached, characterized in that at least one suitable connection position (61, 62, 63, 64) is identified by means of a control unit (40), which comprises or is or connected to at least one detection device (5), wherein: - the detection device (5) comprises at least one sensor (7) for detecting at least one gap in a canopy in a section of the row (51, 51') located in front of the shoot binder (1) and / or - an obstacle in the way of the connecting device (4) in the row (51, 51') is detected by means of the detection device (5) and the connecting device (4) is disabled until the obstacle has been passed.

9. Method according to Claim 8, characterized in that the sensor (7) is arranged in front of the connecting device (4) as viewed in the direction of travel (F) or its detection range is directed towards it.

10. Method according to Claim 8 or 9, characterized in that the sensor is an image sensor and in that the detection device (5) comprises at least one image detection device (42) for detecting a gap in the row (51, 51') by means of the image data recorded by the image sensor.

11. Method according to at least one of Claims 8 to 10, characterized in that the sensor (7) is arranged on a first side of the row (51, 51') and an opaque element is arranged in the detection range of the sensor (7) on a second side of the row, opposite the sensor (7).

12. Method according to at least one of Claims 8 to 11, characterized in that the sequence of connection positions (61,..., 64) is automatically calculated in the control unit (40) before and / or while the work vehicle (20) is driving along the row (51, 51'), wherein the following is previously stored in the control unit (40) by an operator: - at least one reference mark for determining a first connection position (61) in the row (51); - at least one distance value (A0, A1), measured relative to the reference mark, for the beginning and length of a recurring sequence of connection positions (62, 63, 64) or several coordinates (x0... x51) for determining further subsequent connection positions (62, 63, 64).

13. Method according to Claim 12, characterized in that - a stake (55) standing in the row (51) is chosen as the reference mark for the beginning of a recurring sequence of similar connection positions (62, 63, 64), - in that the field of view in front of the shoot binder (1) is recorded on an ongoing basis by means of an electronic camera and the electronic image data are checked in an image detection device (42) for the presence of a linear structure corresponding to a stake (55), and - in that, when a linear structure is detected, the connection positions (62, 63, 64) are readjusted in the control device (40) on the basis of the position of the respective stake (55) detected in the row (51; 51').