A machine for soil tillage to be arranged on a towing vehicle, wherein when the towing vehicle is travelling in a travel direction an area of soil can be tilled with a soil tillage tool in an intermediate space between at least two obstacles, wherein the machine has a control device with which the soil tillage tool is pivotable into and out of the intermediate space and/or is movable in a transverse direction towards or away from the machine into the intermediate space, wherein the control device comprises an adjusting device which causes the soil tillage tool to pivot in and out and/or to move in the transverse direction by an adjustment amount after detection of an obstacle.

An agricultural machine for arrangement on a vehicle, wherein during movement of the machine in the travel direction an area of soil at least between plants arranged parallel to the travel direction in row crops can be tilled by the machine, wherein the machine comprises a soil tillage tool, which is pivotable back, counter to the travel direction, about an axis of rotation running in a height direction of the machine out of a transverse direction arranged perpendicular to the travel direction and perpendicular to the height direction and/or is movable towards the machine in the transverse direction, an obstacle sensor by which obstacles can be detected, and comprises a control device, wherein when an obstacle is detected the control device can pivot the soil tillage tool back out of the transverse direction counter to the travel direction and/or move it in the transverse direction towards the machine.

A detection device for metal stakes in a wire-trained plant-crop hedge having at least one detector configured to generate a detection signal when it passes next to a metal stake of the hedge wherein the metal stake detector has a first and a second metal detector arranged for generating respectively a first and a second measurement signal when they pass next to one of the metal stakes of the hedge. The first and second metal detectors are mechanically secured to each other in movement and arranged for being spaced vertically relative to each other. The detection device has an electronic management unit for the detection signals, configured for, upon detection of a temporal offset between the maximum variation levels of the first and second measurement signals, generating a signal indicating an inclined state of the metal stake.

A detection device for metal stakes in a wire-trained plant-crop hedge having at least one detector configured to generate a detection signal when it passes next to a metal stake of the hedge wherein the metal stake detector has a first and a second metal detector arranged for generating respectively a first and a second measurement signal when they pass next to one of the metal stakes of the hedge. The first and second metal detectors are mechanically secured to each other in movement and arranged for being spaced vertically relative to each other. The detection device has an electronic management unit for the detection signals, configured for, upon detection of a temporal offset between the maximum variation levels of the first and second measurement signals, generating a signal indicating an inclined state of the metal stake.