Method, apparatus and system for delimbing a tree from air

A system for remotely and/or autonomously delimbing a tree from air, said system comprising:

• a remotely and/or autonomously controlled Unmanned Aerial vehicle, UAV,
• a harvesting tool comprising a frame structure with at least one movably delimbing means configured for delimbing at least a portion of a tree,
• a cord attached between said UAV and said harvesting tool,
• a winch system, attached to said UAV and/or said harvesting tool, configured for spooling in and/or out said cord and thereby decreasing or increasing the distance between said UAV and said harvesting tool,
• a base station configured for communicating with said UAV and/or said harvesting tool (105, 110),
• a sensor attached to said UAV and/or said harvesting tool for detecting a tree, and
• an attachment point for said cord provided on a support structure,
• wherein said support structure is slidably, tiltably or rotatably arranged on an upper portion of said frame structure, said support structure is configured to be slided, tilted or rotated between at least a first position where said attachment point is provided in a position above a tree receiving area of the harvesting tool and a second position where said attachment point is away from said position above the tree receiving area of the harvesting tool,
• wherein the tree receiving area refers to an area in between open or closed delimbing means and said frame structure.

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

• detecting a tree to be delimbed by a sensor provided on a remotely and/or autonomously controlled Unmanned Aerial vehicle, UAV;
• providing a remotely and/or autonomously controlled harvesting tool attached underneath said UAV via a cord, said harvesting tool comprising a tree receiving area configured for being set in an open position when above a top of the tree to be delimbed and configured for being set in a closed position when said harvesting tool is below said top of the tree to be delimbed, wherein the tree receiving area refers to an area in between open or closed delimbing means and a frame structure of said harvesting tool;
• providing a winch system to said UAV and/or said harvesting tool, configured for spooling in and/or out said cord attached between said UAV and said harvesting tool for decreasing or increasing the distance between said UAV and said harvesting tool;
• and
• moving a support structure, provided on said harvesting tool, comprising an attachment point for said cord, between at least a first and second position depending on the relative position between the top of a tree to be delimbed and said harvesting tool and/or depending on a vertical speed of the harvesting tool.

A harvesting tool configured for hanging under an Unmanned Aerial Vehicle, UAV, and configured for at least delimbing a standing tree from air, said harvesting tool comprising:

• a frame structure having an upper portion;
• at least one delimbing means movably arranged to said frame structure and adjustable by means of at least one actuator means;
• a control system connected to said at least one actuator means to control the same;
• and
• a support structure attached to said upper portion of said frame structure, said support structure comprising an attachment point for a cord, where said cord is attachable between said harvesting tool and an Unmanned Aerial Vehicle, (UAV),
• wherein said support structure is rotatably, slidably or tiltably arranged relative to said frame structure between at least a first and second position,
• wherein said first position of said support structure is configured for providing said attachment point in a position above a tree receiving area defined as an area in between open or closed delimbing means and said frame structure, and
• wherein said second position of said support structure is configured for providing said attachment point away from said position above said tree receiving area.