Multi-axis controlled self-climbing tree trimmer

A method of trimming or finishing a tree, said method comprising:

• providing a tree trimmer apparatus, the tree trimmer apparatus comprising a rigid frame moveable between an open configuration and a closed configuration and a plurality of climbing carriages distributed circumferentially about a central passageway of the rigid frame, each climbing carriage having at least one driven roller inwardly movable towards the central passageway by an associated actuator,
• mounting the tree trimmer apparatus to the tree by receiving the tree trunk within the rigid frame in the open configuration, moving the rigid frame to the closed configuration while the tree trunk extends through the central passageway of the rigid frame and moving the at least one driven roller of one or more climbing carriages of the plurality so that the at least one driven roller of each of the plurality of climbing carriages engages an outer surface of the trunk;
• climbing the tree trunk with the tree trimmer apparatus by driving the at least one driven roller of each of the plurality of climbing carriages;
• aligning and centering the tree trimmer apparatus relative a longitudinal axis of the tree trunk by coordinating movement of the at least one driven roller of one or more climbing carriages of the plurality and/or coordinated actuation of the associated actuators of the plurality of climbing carriages, the coordinated movement and actuation being effected by a processor of a control system having programmable instructions recorded thereon;
• and
• trimming and/or finishing the outer surface of the trunk using one or more cutting tools of a trimming portion of the tree trimming apparatus according to a desired pattern by coordinating a combined movement along a z-axis, y-axis and a Theta-axis, the z-axis extending along a height direction, the y-axis extending along a depth of cut direction of the one or more cutting tools of the tree trimming apparatus and the Theta-axis extending perpendicular to the longitudinal axis of the tree trunk, wherein the combined movement is coordinated by the processor of the control system based on the desired pattern, the desired pattern being input by a user into the control system or selected from one or more patterns pre-recorded thereon.