US 12,490,690 B2Granted

Method and system for remote or autonomous holding a tree trunk

AssigneeAirforestry AB

InventorsMarkus Romar, Olle Gelin, Mauritz Andersson

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Abstract

The invention relates to a system for remote and/or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and/or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and/or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and/or said at least one detected growing condition.

Claims27

Dependent claims

A system (10) for at least one of remote or autonomous holding at least one of:

at least a portion of a harvested tree trunk, at least a portion of a tree trunk selected for harvesting, at least a portion of a tree trunk during harvesting, or at least a portion of a tree trunk at least one of before, during or after transporting said at least a portion of a tree trunk, said system (10) comprising:
at least one of a remotely or an autonomously controlled Unmanned Aerial Vehicle (100), UAV,
at least one means for holding (105) at least one of directly or indirectly onto at least a portion of a tree trunk attachable to or integrated with said UAV,
at least one means for detecting at least a portion of a tree,
at least one means for detecting at least one of at least one tree parameter of at least a portion of a tree or at least one growing condition of at least a portion of a tree,
at least one base station (120) for communication with said UAV,
at least one means configured for directing said at least one means for holding onto at least a portion of a tree trunk, where said holding is directly or indirectly onto at least a portion of a tree trunk, to a particular position of at least a portion of a tree trunk depending on at least one of said at least one detected tree parameter and/or said at least one detected growing condition of a tree, and
at least one means configured for directing at least a portion of a tree trunk to a particular position, where said particular position is directly or indirectly onto said at least one means for holding, depending on said at least one of said at least one detected tree parameter or said at least one detected growing condition of a tree, wherein at least one of:
said at least one means for holding is configured to be transported by said at least one UAV to said at least a portion of a tree trunk to be held by said at least one means for holding or is transported by said at least one UAV away from said at least a portion of a tree trunk held by said means for holding, or said at least one means for holding is attached to said at least one UAV at least once when holding during transporting or harvesting said tree trunk.

6 more elements

A method for remotely or autonomously holding during, before, or after harvesting at least a portion of a tree trunk or holding at least a portion of a tree trunk during, before, or after transporting said at least a portion of a tree trunk, said method comprising the steps of:

controlling remotely or autonomously at least one Unmanned Aerial Vehicle, UAV,
identifying said at least a portion of a tree trunk for holding thereof,
operating at least one means for directly or indirectly holding said at least a portion of a tree trunk, where said at least one means for directly or indirectly holding said at least a portion of a tree trunk is integrated with or attachable to said at least one UAV, and
detecting at least one tree parameter of at least one of:
said at least a portion of a tree trunk, at least one growing condition of said at least a portion of a tree trunk, at least one tree parameter, at least one growing condition of at least one tree grown within a predetermined distance from said at least a portion of a tree trunk, at least one tree parameter, at least a growing condition of a another portion of a tree from which said tree trunk originates, wherein a direct or indirect holding position of said at least a portion of a tree trunk is depending on at least one of:
at least one tree parameter of said at least a portion of a tree trunk, at least one growing condition of said at least a portion of a tree trunk, at least one tree parameter, at least one growing condition of at least one tree grown within a predetermined distance from said at least a portion of a tree trunk, on at least one tree parameter, at least a growing condition of a another portion of a tree from which said tree trunk originates, wherein said means for holding is attached to said at least one UAV at least once when holding during transporting or harvesting said tree trunk.

3 more elements

Dependencies are inferred from the claim text.