SHOOT BINDER AND METHOD FOR STRAIGHTENING AND TYING SHOOTS OF PLANTS ARRANGED IN A LINEAR ROW

Abstract

A shoot binder for straightening and tying shoots of plants arranged in a linear row. A piece of holding equipment is attached to a work vehicle and can reach over the row. A straightening system straightens plant shoots protruding from the row, with at least part of the straightening system arranged on both sides of the row. A twine guiding device from which at least one twine element is unwound in order to restrain the shoots of the plants in a foliage wall on each side of the row. A connecting device performs a connecting operation for connecting the twine elements guided on both sides of the row.

Claims

1. A shoot binder to straighten and tie shoots of plants arranged in a linear row, the shoot binder comprising: a piece of holding equipment attachable to a work vehicle, which can reach over the row; a straightening system for straightening plant shoots protruding from the row with at least part of the straightening system arranged on both sides of the row; a twine guiding device from which at least one twine element is unwound to restrain the shoots of the plants in a foliage wall on each side of the row; a connecting device to carry out a connecting operation for connecting the twine elements guided on both sides of the row; and a control unit to identify suitable connection positions in the row located in front of the work vehicle in a direction of travel and, at the identified connection positions, operate the connecting device such that an automatic connecting operation of the twine elements is carried out, and/or store a program with a sequence of connection positions for the respective row, start the program on the basis of at least one reference mark identifiable in the row and operate the connecting device when the respective connection position is reached.

2. The shoot binder according to claim 1, wherein the control unit comprises or is connected to at least one recognition device comprising at least one sensor for recognizing at least one gap in a section of the foliage wall located in front of the shoot binder.

3. The shoot binder according to claim 2, wherein the recognition device is arranged in front of the connecting device as viewed in the direction of travel.

4. The shoot binder according to claim 1, wherein the recognition device is provided and designed to recognize an obstacle to the connecting device present in the row and to prevent a connecting operation near the obstacle.

5. The shoot binder according to claim 2, wherein the sensor is an image sensor and wherein the recognition device comprises at least one image recognition device for recognizing a gap in the row by means of the image data recorded by the image sensor.

6. The shoot binder according to claim 1, wherein the sensor is arranged on a first side of the row and wherein on a second side of the row, opposite the sensor, an opaque element is arranged in the detection range of the sensor.

7. The shoot binder according to claim 1, wherein the control unit comprises a memory unit in which suitable connection positions and/or obstacle positions in the row are stored.

8. The shoot binder according to claim 7, wherein the control unit comprises an operator interface via which at least one reference mark for determining a first connection position and at least one distance value or several coordinates are stored in the control unit to define further subsequent connection positions.

9. The shoot binder according to claim 8, wherein the shoot binder has or is connected to at least one position sensor or a displacement sensor connected to the control unit, and wherein the control unit is designed to carry out an ongoing comparison of the location of the shoot binder in the row determined by the position sensor or the displacement sensor with the connection positions and/or obstacle positions stored in the memory unit and, when a connection position is reached, to trigger a connecting operation and to prevent any connecting operation when an obstacle position is reached.

10. A method for straightening and tying shoots of plants arranged in a linear row using a shoot binder, which comprises a straightening system for straightening the shoots and a connecting device for connecting two twine elements and is attached to a work vehicle, the method comprising: driving the work vehicle with the shoot binder along the row while inserting and/or guiding at least one twine element on both sides of the plants arranged in the row; connecting the twine elements via fasteners at several connection positions; identifying suitable connection positions in the row located in the direction of travel in front of the work vehicle while the work vehicle is in motion and immediately connecting the twine elements at the identified connection positions; and connecting the twine elements in each case when connection positions are reached, which are predetermined in a sequence of connection positions for the respective row.

11. The method according to claim 10, wherein a suitable connection position is identified by a control unit comprising or connected to at least one recognition device, which comprises at least one sensor for recognizing at least one gap in a foliage wall in a section of the row located in front of the shoot binder.

12. The method according to claim 11, wherein the sensor is arranged in front of the connecting device as viewed in the direction of travel or its detection range is oriented towards it.

13. The method according to claim 12, wherein via recognition device, an obstacle to the connecting device present in the row is recognized and the connecting device is locked until after the obstacle has been passed.

14. The method according to claim 10, wherein the sensor is an image sensor and wherein the recognition device comprises at least one image recognition device for recognizing a gap in the row by the image data recorded by the image sensor.

15. The method according to claim 10, wherein the sensor is arranged on a first side of the row and wherein on a second side of the row, opposite the sensor, an opaque element is arranged in the detection range of the sensor.

16. The method according to claim 10, wherein the sequence of connection positions in the control unit is automatically calculated before and/or during the travel of the working vehicle along the row, wherein the following is previously stored by an operator in the control unit: at least one reference mark specifying a first connection position in the row; or at least one distance value measured relative to the reference mark for the beginning and length of a recurring sequence of connection positions or several coordinates to specify further subsequent connection positions.

17. The method according to claim 16, wherein a stickel standing in the row is chosen as the reference mark for the beginning of a recurring sequence of similar connection positions, wherein the field of view in front of the shoot binder is recorded on an ongoing basis by an electronic camera, wherein that the electronic image data are checked for the presence of a linear structure corresponding to a stickel in an image recognition device, and wherein, via the control device, when a linear structure is detected, the connection positions are readjusted on the basis of the position of the respective stickel detected in the row.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus, are not limitive of the present invention, and wherein:

[0055] FIG. 1 is a perspective view of a state-of-the-art shoot binder;

[0056] FIG. 2 is a rear view of the shoot binder according to FIG. 1;

[0057] FIG. 3 is a shoot binder on a work vehicle in schematic representation;

[0058] FIG. 4 shows a work vehicle between two rows of a vineyard in a schematic view from above;

[0059] FIGS. 5 and 6 each show the work vehicle in a row as shown in FIG. 4;

[0060] FIG. 7 is a block diagram of a control device; and

[0061] FIG. 8 is a camera shot.

DETAILED DESCRIPTION

[0062] FIG. 1 shows a shoot binder 1 in a perspective view from the front, wherein the shoot binder 1 has a two-part straightening system 3 for straightening shoots of tree and/or row crops. The straightening system 3 has endless, circumferential belts, which are aligned upwards from the front bottom to the rear top when viewed in the direction of travel. Furthermore, the shoot binder 1 includes a connecting device 4. In addition, the shoot binder 1 has a base element 9 with which it can be arranged on a lift mast 10 of a work vehicle. The U-shape of the base element 9 allows for the entire arrangement with straightening and connecting systems to be guided above a row, wherein a part of the straightening system 3 and the connecting device 4 are arranged on each side of the row.

[0063] The shoot binder 1 is shown in detail in FIG. 2 in a perspective rear view. The connecting device 4 is provided and designed to carry out a connecting operation for connecting twine elements 2 by means of fasteners such as staples. It essentially comprises: a first connecting arm 11 with a first twine element guide 15 and with an automatic connector 13, and a second lever arm 12 with a second twine element guide 16 and with a counterpart 14 to the automatic connector 13,

[0064] The twine elements 2 are guided via the twine element guides 15, 16 in such a way that they run close to each other and are directly located within the area of action of the automatic connector 13 and the counterpart 14. The counterpart 14 is shaped in such a way that a fastener can be inserted via the automatic connector 13 in such a way that the twine elements 2 can be connected to each other. The automatic connector 13, on the other hand, contains the fasteners and is designed to eject the fasteners in order to connect the twine elements 2 in combination with the counterpart 14.

[0065] The connecting arms 11, 12 can be moved in the width direction B, namely they can be rotated around a respective axis of rotation, so that the connecting arms 11, 12 are rotatably disposed on the straightening system 3. A 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 on the one hand hinged with the straightening system 3 and on the other hand hinged with the respective connecting arm 11, 12. When the respective actuator 17, 18 is actuated, its length is changed, and thus also the distance between its two pivot locations, so that the respective connecting arm 11, 12 is rotated around its respective axis of rotation.

[0066] FIG. 3 shows the shoot binder 1 again in a schematic representation. Thus, FIG. 3 shows the recognition device 5 having a sensor 7 and the control unit 40, wherein the recognition device 5 is preferably arranged in the longitudinal direction x in front of the connecting device 4 and in particular in front of its automatic connector 13. In general, the longitudinal direction x can be understood as the direction of travel of a work vehicle 20 to which the shoot binder 1 is attached. The connection of the shoot binder 1 to the work vehicle 20 is established via a lift mast 10, through which the shoot binder 1 can be adjusted in height relative to the ground. A container 19 is provided, which contains a supply of twine elements 2.

[0067] The control unit 40 is in communication with the recognition device 5 at least by signaling, wherein the data of the sensor 7 can be transmitted to the control unit 40. The data obtained from the sensor 7 is then further processed in the control unit 40 in such a way that a triggering of the connecting operation is initiated when a corresponding gap has been detected. In order to control or trigger the connecting operation, the control unit 40 is at least in contact with the first actuator 17 and the second actuator 18 by signaling in order to bring about a change in the length of the actuators 17, 18.

[0068] On the basis of the following FIGS. 4 to 6, a preferred embodiment of the method according to the invention is explained in more detail.

[0069] FIG. 4 schematically shows from above two rows 51, 51′ of a vineyard 50 with an intermediate operation 52. A large number of vines 53 are in linear arrangements, each forming a row 51, 51′. In each row 51, 51′ there are vertically oriented stakes, so-called stickels 55. At the beginning and end of each row there is another inclined stickel 54, over which the preload is applied to the wire trellises stretched between the stickels 55.

[0070] The work vehicle 20 with the shoot binder 1 travels in the direction of travel F, which is equal to the longitudinal direction x of the row, in the single operation 52 and processes the row 51 to the left of the vehicle 20. By means of the straightening systems 3 of the shoot binder 1, shoots protruding from the row 51 are led inwards from both sides. From the outside, a twine element 2 is pulled through the shoot binder 1 on both sides of the row 51 simultaneously, so that the shoots, when they spring out again after the shoot binder 1 is passed, are held back by the twine elements 2. Connecting the twine elements 2 running on both sides of the row 51 at the connection positions 60 ensures that the twine elements 2 are kept close to each other and thus close to the vines 3 and the wire trellises of the row 51.

[0071] FIG. 5 shows the same row 51 as in FIG. 4, and the work vehicle 20 is also in the same position. With the dash-dotted lines, the direction of travel F is divided into several sections with different lengths A.

[0072] After an initial section with the distance A.sub.0 between the inclined stickel 54 at the beginning and the first vertical stickel 55, several similar sections begin, each of which extends between two adjacent stickels 55 and each of which has a distance A.sub.1 from each other. These distances A.sub.1 were established when straightening the rows 51, 51′. 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.

[0073] At the beginning of the route F, the two twine elements 2 are attached to the initial stickel 54. The initial stickel 54 serves as a reference mark for the start of the program.

[0074] At the initial stickel 54, a first base connection of the twine elements 2 is established at a base connection position 61 by means of the shoot binder 1. Shortly in front of the first vertical stickel 5, a connection is established at a pre-stickel connection position 62 and behind it at a post-stickel connection position 63. In the illustrated embodiment of the method, an intermediate stickel connection position 64 is also provided, in which a gap between the vines 53 is used.

[0075] After that, the same pattern of connections begins again at the connection positions 62 . . . 64. By means of operator input of the distances A.sub.0 and A.sub.1, the control system is able to determine the positions for the recurring connections 62 . . . 64 automatically, temporarily store them in a memory unit and execute them at the intended location in the row 51.

[0076] For this purpose, for example, the pre- and post-stickel connection positions 62, 63 are set at the same distance from the stickel 55 on opposite sides of it. The distance to the stickel 55 is stored as a parameter in the memory unit of the control device, so that the connection positions 62, 63 are automatically calculated. The distance value can be changed by operator intervention.

[0077] The operator can also set the number of intermediate stickel connection positions 64. In the embodiment shown in FIG. 5, an intermediate stickel connection position 64 is specified in the middle between two neighboring stickels 55.

[0078] Once this sequence of connection positions 61 . . . 64 is programmed and stored in the memory unit of the control device, an automated procedure can be carried out by means of the single operation 52 when the work vehicle 20 passes through between the rows 51, by which single operation the connection positions 61 . . . 64 are automatically approached and a connection is established between the two twine elements 2 at the designated locations.

[0079] The programmed pattern of the connections is shown in FIG. 6, wherein the illustration of the upper row 51 is otherwise unchanged from the representation in FIGS. 4 and 5. The direction of travel F along the row 51 is defined here as an x-coordinate.

[0080] At a starting location x.sub.0, a start signal is emitted by the operator or by a sensor on the shoot binder to initiate the sequence and automatically process the sequence of connection positions during the passage of the work vehicle 20 with the shoot binder 1 by means of the single operation 52: For x.sub.1, the start connection position is 61. For x.sub.21 and x.sub.22, the connections are made at the pre- and post-stickel connection positions 62, 63. The intermediate stickel connection position 64 is at x.sub.23.

[0081] After that, the sequence of the connection positions 62, 63, 64 is repeated again and again and finally ends at that of an end-of-row position that corresponds to the start connection position 61 but is not drawn here. Similar connections occur at connection positions with the coordinates x.sub.31, x.sub.32, x.sub.33 or x.sub.41, x.sub.42, x.sub.43, etc., each of which is offset by the distance L from the corresponding connection position in the preceding sequence.

[0082] For the intermediate stickel connection position 64, the gap recognition described above can also be used. In this case, the pre-programmed positions x.sub.23, x.sub.33, x.sub.43 for the intermediate stickel connection position 64 only serve as a trigger location for gap recognition, i.e., automatic gap recognition is activated from this location on and then automatically triggers a connection at the next detected gap.

[0083] FIG. 7 shows in a schematic diagram the link between the work apparatus 10 and the control device 40. This comprises an image correction unit 41 with which, in particular, a compression or stretching of the field of view captured by the camera 46 and stored in an image file can be carried out in at least one dimension. The image thus corrected is checked for the presence of linear structures in an image recognition device 42. If this is detected, the actuators are actuated via a switching unit 43 in order to move the automatic connector 13 and the counterpart 14 toward each other and to carry out the connection of the twine elements. This control unit 40 also includes a speed sensor 44 and a timer 45, so that the distance between the work vehicle 20 and the associated shoot binder 1 can be determined by linking time and speed.

[0084] FIG. 8 renders the contents of an electronic image file 30 taken by the camera 46. The image range 31 has been corrected by horizontal and vertical compression zones 33, 34, 35, 36 in such a way that, for example, the image horizon 37 runs straight. As a result, a stickel 5 can be recognized as a linear structure, which is marked here with a marking 32 as a linear structure detected by the image recognition device 42.

[0085] The position of the detected stickel is used to readjust the sequence of connection positions stored in advance as a program in the control device:

[0086] The sequence of connection positions is conveniently related to the vertical stickel 55 (see FIG. 5), as already described above. This means that with the stickel 55 as the reference mark, the pre-stickel connection position 62 and the post-stickel connection position 63 are defined and starting from this with half the distance A.sub.1, also the intermediate stickel connection position 64. If the work vehicle 20 with the shoot binder 1 now drives along the row 51, the field of view in front of it is electronically recorded and analyzed. It is true that the X-coordinates for each connection position have already been calculated in advance, as shown in FIG. 6. With the stickel detected by image recognition, a check can be triggered in the control device to determine the extent to which the theoretically predetermined coordinates of the next stickel correspond to the actually detected position, wherein the X-coordinate extending in the direction of travel F is generally sufficient for the position. If the difference between the predetermined position and the detected position is greater than a specified tolerance value, the control device recalculates all subsequent connection positions on the basis of the difference value. Thus, a continuous adaptation of the theoretically predetermined sequence of connection positions to the real conditions in the actually processed row in the vineyard takes place. It makes sense to create a storage space in the control device for each processed row and to replace the theoretically determined positions in it with the actually recognized positions. In addition, individual manual connections triggered by the operator can be registered and are available for later runs.

[0087] In the same way that approximately perpendicular stickels 55 can be used as reference marks to initiate readjustment via image recognition, the image recognition described above can also be used to detect obstacles in order to define obstacle positions and to block the connecting operation in the area where the obstacles are positioned. The obstacles can be, for example, overturned, bent or inclined stickels.

[0088] The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are to be included within the scope of the following claims.