A method for remotely and/or autonomously harvesting a tree from air

A method for remotely and/or autonomously harvesting a tree from air, said method comprising the steps of:

• detecting by at least one sensor on a UAV (100) a tree to be harvested,
• positioning a harvesting tool (105) comprising delimbing means (114) carried by said UAV (100), by using information from said at least one sensor, at a predetermined distance H above a canopy of said tree to be harvested,
• releasing said harvesting tool (105) in a first mode from said UAV (100) from said predetermined distance H above said canopy of said tree to be harvested, and
• setting said harvesting tool (105) in a second mode when said harvesting tool (105) has the tree top (131) of said tree to be harvested within its tree receiving area (177),
• wherein:
• at least a portion of said harvesting tool (105) is below said tree top (131) of said tree to be harvested while said harvesting tool (105) has a certain speed >0 in a downward direction,
• said first and second mode differ with respect to said tree receiving area (177) of said delimbing means (114) in said harvesting tool (105), and
• said tree receiving area (177) refers to the area in between open and closed delimbing means (114).

A computer-implemented method for harvesting a tree from air, said method comprising the steps of:

• detecting with at least one sensor a tree to be harvested,
• positioning, via execution of at least one control unit (690), a harvesting tool (105) comprising delimbing means (114) carried by a UAV (100), by using information from said at least one sensor, at a predetermined distance above a canopy of said tree to be harvested,
• releasing, via execution of at least one control unit (690), said harvesting tool (105) in a first mode from said UAV (100) from said predetermined distance above said canopy of said tree to be harvested, and
• setting, via execution of at least one control unit (690), said harvesting tool (105) in a second mode when said harvesting tool (105) has the tree top (131) of said tree to be harvested within its tree receiving area (177),
• wherein:
• at least a portion of said harvesting tool (105) is below said tree top of said tree to be harvested while said harvesting tool (105) has a certain speed >0 in a downward direction,
• said first and second mode differ with respect to said tree receiving area (177) of said delimbing means (114) in said harvesting tool (105), and
• said tree receiving area (177) refers to the area in between open and closed delimbing means (114).