# US 11,993,407 B2 · Method and system for remote or autonomous ligno transportation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,407 B2 - Document ID: US11993407B2 - Status: Granted - Kind: B2 - Application number: 17/920,184 - Filed: 2021-05-27 - Published: 2023-05-25 - Granted: 2024-05-28 - Earliest claimed: 2020-05-27 - Assignees: Airforestry AB - Applicants: Airforestry AB - Inventors: Markus Romar; Olle Gelin; Mauritz Andersson - Web page: https://patentgrep.com/patent/US11993407B2 ## CPC - A01G 23/02: Transplanting, uprooting, felling or delimbing trees (delimbing standing trees A01G3/00) - B64U 10/16: with five or more distinct rotor axes, e.g. octocopters - A01G 23/003: {Collecting felled trees} - A01G 23/083: Feller-delimbers - A01G 23/095: Delimbers (A01G23/083 takes precedence) - B64U 2101/40: for agriculture or forestry operations - A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract The invention relates to a system (10) for remote and/or autonomous transporting at least a portion of a tree, said system (10) comprising an unmanned aerial vehicle (100), UAV, comprising, at least one means (105) for holding said at least a portion of a tree, said system comprising at least one means for detecting said at least a portion of a tree to be transported, and means for detecting at least one of the group of tree parameters: diameter of a tree, length of a tree, tree species and/or the weight of a tree, a base station (120) for communication with said means configured for transporting said at least a portion of a tree and/or said UAV (100) and means configured for directing said remotely and/autonomously UAV (100) with said at least a portion of a tree to a final destination where said final destination is depending on said detected tree parameters. ## Claims ### Claim 1 A system for remote and/or autonomous transporting at least a portion of a ligno trunk, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (UAV), comprising at least one means for holding at least a portion of a ligno trunk and being configured for transporting said portion of the ligno trunk away from the original location thereof, means for detecting said portion of the ligno trunk to be transported, means for detecting at least one ligno parameter of said portion of the ligno trunk and/or at least one growing condition of said portion of the ligno trunk, a base station for communication with said UAV, and means configured for directing said remotely and/or autonomously controlled UAV with said portion of the ligno trunk to a final destination a certain point in time where said final destination and/or said certain point in time is depending on at least one detected ligno parameter and/or at least one detected growing condition of said transported portion of the ligno trunk and/or of a remaining portion of a ligno from which said transported portion of the ligno trunk was removed and/or of at least one ligno grown within a predetermined distance from said transported portion of the ligno trunk. ### Claim 2 (depends on 1) The system according to claim 1, further comprising a remotely and/or autonomously means configured for harvesting said portion of the ligno trunk, and at least one means for detecting a ligno from which said portion of the ligno trunk is to be harvested. ### Claim 3 (depends on 1) The system according to claim 1, wherein said means for detecting said at least one ligno parameter and/or at least one growing condition comprising a camera and/or using a database with digital information about ligno. ### Claim 4 (depends on 1) The system according to claim 1, wherein said UAV and said means configured for harvesting said portion of the ligno trunk are communicating with each other via one or more of Wifi, Bluetooth, radio communication, optical fibre, or electrical wire. ### Claim 5 (depends on 1) The system according to claim 1, further comprising a synchronization unit for synchronizing the movement of at least two UAV for transportation of said portion of the ligno trunk. ### Claim 6 (depends on 1) The system according to claim 1, further comprising means for determining the number of UAV to be used together for transporting depending on at least one ligno parameter and/or the distance between an original location of said portion of the ligno trunk and said final destination. ### Claim 7 (depends on 1) The system according to claim 1, further comprising means configured for selecting said portion of the ligno trunk to be harvested and/or transported depending on at least one detected ligno parameter and/or at least one detected growing condition of said harvested and/or transported portion of the ligno trunk and/or of a remaining portion of a ligno from which said portion of the ligno trunk was removed and/or of at least one ligno grown within a predetermined distance from said transported and/or harvested portion of the ligno trunk. ### Claim 8 (depends on 1) The system according to claim 1, further comprising means configured for automatically locating a ligno in a predetermined area. ### Claim 9 (depends on 8) The system according to claim 8, wherein said means configured for automatically locating a ligno in a predetermined area comprising at least a Global Navigation Satellite System (GNSS) or a digital transmitter configured to be attached to a ligno and to communicate with the UAV. ### Claim 10 A method for remotely and/or autonomously transporting at least a portion of a ligno trunk, said method comprising the steps of: remotely and/or autonomously controlling Unmanned Aerial Vehicle (UAV), identifying said at least a portion of a ligno trunk to be transported, remotely and/or autonomously operating at least one means for holding said at least a portion of the ligno trunk, where said at least one means for holding said portion of the ligno trunk is attached to said UAV, detecting at least one ligno parameter of said portion of the ligno trunk and/or at least one growing condition of said portion of the ligno trunk and/or detecting at least one ligno parameter and/or at least one growing condition of at least one ligno grown within a predetermined distance from said portion of the ligno trunk and/or detecting at least one ligno parameter and/or at least a growing condition of a remaining portion of a ligno from which said portion of the ligno trunk was removed, and transporting said portion of the ligno trunk, by said UAV, away from the original location of said portion of the ligno trunk to a final destination a certain point in time, where said final destination and/or said certain point in time is depending on said at least one detected ligno parameter and/or said at least one detected growing condition of said portion of the ligno trunk and/or of a remaining portion of a ligno from which said portion of the ligno trunk was removed and/or of at least one ligno grown within a predetermined distance from said portion of the ligno trunk. ### Claim 11 (depends on 10) The method according to claim 10, further comprising the step of remotely and/or autonomously controlling a means configured for harvesting said portion of the ligno trunk. ### Claim 12 (depends on 10) The method according to claim 10, further comprising the step of determining the number of UAV to be used together for transporting said portion of the ligno trunk depending on said at least one detected ligno parameter and/or said at least one detected growing condition and/or the distance between the original position of said portion of the ligno trunk and said final destination. ### Claim 13 (depends on 10) The method according to claim 10, further comprising the step of setting up a communication link between said UAV and said means configured for harvesting said portion of the ligno trunk via one or more of Win, Bluetooth, radio communication, tele communication, optical fibre, or electrical wire. ### Claim 14 (depends on 10) The method according to claim 10, further comprising the step of identifying a first predetermined area within which the ligno trunk is to be harvested by means of a GNSS-system by means of at least one of a camera and/or at least one optical sensor. ### Claim 15 (depends on 10) The method according to claim 10, further comprising the step of synchronizing a movement of at least two UAV for transportation of said portion of the ligno trunk away from the original location and to the final destination. ### Claim 16 (depends on 10) The method according to claim 10, wherein the detection of said at least one ligno parameter and/or said at least one growing condition is performed by means of a camera and/or using a database with digital information of ligno in a predetermined area. ### Claim 17 (depends on 10) The method according to claim 10, further comprising the step of selecting said portion of the ligno trunk to be harvested and/or transported depending on at least one detected ligno parameter and/or at least one detected growing condition of said harvested and/or transported portion of the ligno trunk and/or of a remaining portion of a ligno from which said portion of the ligno trunk was removed and/or of at least one ligno grown within a predetermined distance from said transported and/or harvested portion of the ligno trunk.