Tool, system and method for harvesting a tree from above from an unmanned aerial vehicle

Abstract

The present invention relates to tree harvesting tool (110) for delimbing and / or harvesting a tree (135) from above from an unmanned aerial vehicle (100). said tree harvesting tool (110) comprises an attachment device (125) comprising a support structure (126) and at least three ribs (127a, 127b, 127c, 127d, 127e, 127f) pivotably carried by said support structure (126). Said ribs (127a, 127b, 127c, 127d, 127e, 127f) are covered on the inside and / or outside with a flexible cover. A delimbing and cutting device (115) is connectable to said UAV (100) and comprises at least two mechanically adjustable delimbing means (114a,114b) carried by a frame (610). Said delimbing means (114a, 114b) is configured to slide outside of said attachment device (125). The invention also relates to a method and system for remotely and or autonomously at least delimbing a tree from above.

Description

TOOL, SYSTEM AND METHOD FOR HARVESTING A TREE FROM ABOVE FROM AN UNMANNED AERIAL VEHICLE Technical field

[0001] The present invention relates generally to harvesting of trees with the aid of an unmanned aerial vehicle (UAV) and in particular a method and apparatus for facilitating such harvesting. Background art

[0002] Traditional tree harvesting or tree felling has long been conducted by persons and equipment based on the ground. In earlier times, from the early twenties century and going back to the early nineteenth century, little consideration was given to the state of the forest or the ecosystem within the forest. Logging was done on a massive scale to keep up with the demand caused by the industrial revolution and the subsequent expansion of human life at the same time. Depending on the terrain, tree harvesting process usually begins with experienced tree fellers cutting down a stand of trees or by using heavy ground based manned harvesting machines. The above-described methods represent a high level of risk, either to the environment or to the people performing the work. Damage can also be done to the delicate ecology of the forest, known as the understory or underbrush, where smaller plants bind the soil together and provide a habitat to insects, birds, lichens and / or fungus among other things.

[0003] Most importantly, many locations are extremely difficult to reach by land, even with the use of heavy equipment such as bulldozers, and removal of trees from such locations are expensive. Sometimes it may be desirable to harvest a single tree amongst a stand of trees, so called tree thinning, without disturbing the surrounding trees.

[0004] One way of harvesting trees without disturbing the surrounding trees and / or the underbrush is to harvest trees from the air by using an aerial vehicle equipped with a harvesting tool. Such an aerial vehicle may be operated autonomously and / or remotely. A tree to be harvested must be detected by the aerial vehicle and thereafter the harvesting tool is arranged above said tree inorder to attach the harvesting tool so said tree. There is a need in the art for an attachment procedure and attachment device for the harvesting tool in order to reduce the time involved for attaching the tool to the tree. One especially wants to reduce the attachment time when the aerial vehicle is battery driven in order to save battery time and the attachment time may be especially prolonged in case of windy situations where the tool and / or the tree may oscillate which is a problem. Summary of invention

[0005] The present invention aims at obviating the aforementioned problem. A primary object of the present invention is to provide an improved harvesting tool for use when harvesting trees from air by an unmanned aerial vehicle.

[0006] Another object of the present invention is to provide an improved harvesting method from air with the aid of an unmanned aerial vehicle.

[0007] According to the invention at least the primary object is attained by means of the harvesting tool having the featured as defined in independent claim 1.

[0008] Preferred embodiments of the present invention are further defined in the dependent claims.

[0009] According to a first aspect of the present invention it is provided a tree harvesting tool for delimbing and / or harvesting a tree from above from an unmanned aerial vehicle. The tree harvesting tool comprises a tree top attachment device configured for attaching the tree harvesting tool to a top of a tree and a delimbing and cutting device configured for delimbing a tree and cutting a tree. The tree top attachment device comprises a support structure and at least three ribs pivotably carried by said support structure. A top end of said support structure is connectable to said UAV. A bottom end of said at least three ribs is configured to be mechanically adjustable from an unfolded position for receiving a top of a tree to a folded position for grasping the top of the tree. The ribs are covered on the inside and / or outside with a flexible cover, wherein said delimbing and cutting device is connectable to said UAV and comprises at least two mechanicallyadjustable delimbing means carried by a frame. The delimbing means together with said frame are defining a mechanically adjustable inner area, and the inner area is adapted to a folded position of said tree top attachment device for allowing said delimbing means to slide outside of said tree top attachment device.

[0010] The advantage of this embodiment is that a top of a tree can more easily be captured despite the movement of the top of the tree and / or the harvesting tool.

[0011] In various example embodiments of the present invention the delimbing means carried by a frame are defining together with said frame a mechanically adjustable inner area, said inner area is adapted to a folded position of said attachment device for allowing said delimbing means to slide outside said attachment device.

[0012] The advantage of these embodiments is that the delimbing means not only can be adapted for the diameter of the tree trunk which is to be delimed but also be adapted for the diameter of the attachment device with a predetermined sliding resistance.

[0013] In various example embodiments of the present invention the holding means carried by a frame are defining together with said frame a mechanically adjustable inner area, said inner area is adapted to a folded position of said attachment device for allowing said holding means to slide outside said attachment device.

[0014] The advantage of these embodiments is that the holding means not only can be adapted for the diameter of the tree trunk which is to hold but also be adapted for the diameter of the attachment device with a predetermined sliding resistance.

[0015] In various example embodiments of the present invention rolling means carried by said frame is configured to roll outside said attachment device.

[0016] The advantage of these embodiments is that the rolling means may be configured for setting the attachment device in folded or unfolded position.

[0017] In various example embodiments of the present invention wherein said ribs are pivotally forced to said unfolded position with spring means between said support structure and said ribs.

[0018] The advantage of these embodiments is that the attachment device is- normally in an unfolded position and a folded position needs to be actuated in some way in order to overcome the spring force of the spring means. The actuation may take place when the top of the tree is actually within the attachment device.

[0019] In various example embodiments of the present invention said bottom end is actuated between said open and closed position with a wire actuating on said ribs.

[0020] The advantage of these embodiments is that the folded unfolded state of the attachment device may be set irrespective of the position of the delimbing and cutting device.

[0021] In various example embodiment of the present invention said bottom end is actuated between said unfolded and folded position with a tubular construction sliding outside of said attachment device and thereby forcing said bottom end to said closed position and said delimbing and cutting device is configured to slide outside of said tubular construction.

[0022] The advantage of these embodiments is that with a simple tubular construction the attachment device may be set in folded or unfolded position with the help of the delimbing and cutting device.

[0023] In various example embodiments of the present invention said cover comprises a flexible body formed of a plurality of segments made of glass fibre, carbon fibre and / or polymeric material.

[0024] The advantage of these embodiments is that the attachment device may be made very lightweight.

[0025] In various example embodiments of the present invention said ribs join the support structure, which ends of said ribs are formed of reduced thickness producing self-hinge joints between the support structure and said ribs.

[0026] The advantage of these embodiments is simple and inexpensive construction.

[0027] In various example embodiments of the present invention a formation of said ribs in open position is frustoconical shaped.

[0028] The advantage of these embodiments is that the frustoconical shaped attachment device in unfolded position may assist in capturing the top of the tree.

[0029] In another aspect of the present invention it is provided system for remotely and / or autonomously delimbing and / or harvesting a tree from above with the aid of an unmanned aerial vehicle (UAV), said system comprising: a remotely and / or autonomously controlled UAV, at least one means for detecting a tree to be harvested, said system further comprising a remotely and / or autonomously controlled tree harvesting tool according to any one of the above mentioned embodiments and a base station configured for communicating with said UAV and / or said harvesting tool.

[0030] The advantage of this embodiment is that autonomous and / or remotely capturing of tree tops may be enhanced.

[0031] In yet another aspect of the present invention it is provided a method for remotely and or autonomously at least delimbing a tree from above with the aid of a harvesting tool comprising an attachment device and a delimbing and cutting device attached to an unmanned aerial vehicle (UAV), said method comprising: - detecting a tree to be harvested with at least one detecting means provided on said UAV, - arranging a harvesting tool above a tree to be harvested,- receiving a top of a tree with said attachment device in an unfolded position, said attachment device comprises a support structure and at least three ribs pivotably carried by said support structure, a top end of said support structure is connectable to said UAV, a bottom end of said at least three ribs is configured to be mechanically adjustable from an unfolded position for receiving a tree top to a folded position for grasping the top of the tree, said ribs are covered on the inside and / or outside with a flexible cover - grasping the top of the tree with said attachment device in a folded position, - sliding said delimbing and cutting device comprising at least two mechanically adjustable delimbing means carried by a frame, said delimbing means together with said frame are defining a mechanically adjustable inner area, wherein said inner area is adapted to a folded position of said attachment device for allowing said delimbing means to slide outside of said attachment device, - separating said delimbing and cutting device from said attachment device for allowing said delimbing and cutting device to delimb the tree to be harvested.

[0032] The advantage of this embodiment is that it provides for an improved autonomous and / or remotely delimbing method. Another advantage is that it provides for a more simple attachment of the delimbing tool from air when standing trees is to be delimbed by a tool attached to an UAV. Brief description of drawings

[0033] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

[0034] Fig.1-4 depict schematic pictures of different inventive remote and / or autonomous tree harvesting steps by using the inventive harvesting tool, and

[0035] Fig.5a depict a perspective view of a UAV with a harvesting tool in a first position,

[0036] Fig, 5b depicts a perspective view of a UAV with a harvesting tool in a second position,

[0037] Fig.6 depicts a side view of an example embodiment of a cutting and delimbing device,

[0038] Fig.7a depict a perspective view of an attachment device in unfolded position,

[0039] Fig.7b depict a side view and a section view of an attachment device in unfolded position,

[0040] Fig.8a depict a perspective view of an attachment device in folded position,

[0041] Fig.8b depict a side view and a section view of an attachment device in folded position,

[0042] Fig.9 depicts in detail a mechanism for keeping the attachment naturally device in unfolded position, and

[0043] Fig.10 depicts another example embodiment of an attachment device according to the present invention. Description of embodiments

[0044] The word harvesting used hereinabove and hereinbelow is a generic term for removing at least a portion from a tree, i.e., cutting a portion of the tree, cutting the full tree and / or removing the tree with at least a portion of its roots from the ground.

[0045] Figure 1-4 depict schematic pictures of different inventive remote and / or autonomous delimbing and / or harvesting steps of a tree by using an example embodiment of a harvesting tool 110 according to the present invention.

[0046] Said system 10 may comprise a remotely and / or autonomously controlled harvesting tool 110 for harvesting a tree 135a, 135b, 135c, 135d, a remotely and / or autonomously controlled Unmanned Aerial Vehicle 100, UAV. Said system further comprising at least one means for detecting said tree to be harvested, and a base station 120 for controlling said harvesting tool 110 and said UAV 100.

[0047] ln figure 1 said UAV 100 is carrying said remotely and / or autonomously controlled harvesting tool 110 on its way to harvest a tree 135a, 135b, 135c, 135d in a forest 130. The UAV 100 is remotely controlled by said base station 120 and / or autonomously controlled and optionally communicating with base station 120. The base station 120 may be a stationary unit or a mobile unit. The mobile unit may be hand held or a land driven unit.

[0048] ln figure 1-4, the UAV 100 can be considered as a forestry forwarder and said harvesting tool 110 can be considered to be a forestry harvester. An autonomously controlled harvesting tool is able to operate without being controlled directly by humans whereas a remotely controlled harvesting tool is able to be operated from a remote distance controlled directly by humans. ln various example embodiments said harvesting tool 110 and said UAV 100 are remotely controlled. ln various example embodiments said harvesting tool 110 and said UAV 100 are autonomously controlled. ln various example embodiments said harvesting tool 110 is remotely controlled and said UAV 100 is autonomously controlled. ln various example embodiments said harvesting tool 110 is autonomously controlled and said UAV 100 is remotely controlled.

[0049] The means for detecting a tree may be at least one of a camera or an optical sensor. The camera may be at least one of for example an IR-camera (Infrared-camera), NIR-camera (Near Infrared-camera), a VISNIR-camera (Visual Near Infrared-camera), a CCD camera (Charged Coupled Device-camera), a CMOS-camera (Complementary Metal Oxide Semiconductor-camera), a digital camera, a 3D camera e.g., stereo camera, time-of-flight camera or LiDAR. The optical sensor may at least one of a photodetector, pyrometer, proximity detector and / or an infrared sensor.

[0050] Said means for detecting a tree may be arranged on said UAV 100 and / or said harvesting tool 110.

[0051] The UAV 100 may have one or a plurality of propellers. ln figure 1-4 said UAV has 6 propellers arranged symmetrically around an origin. The base station 120 may, when remotely controlled, be operated by at least one human being, whereas, when autonomously controlled, be a base station 120 with programmed software algorithms used for supporting the autonomous UAV and / or the means configured for harvesting at least a portion of a tree. The base station 120 may be a stationary unit or a mobile unit. The mobile unit may be hand held movable on ground.

[0052] The harvesting tool may comprise means for holding the tree. The means for holding the tree may be at least one movable gripping arm. ln various example embodiments said means for holding may be one or a plurality of metal bars which may at least partially penetrate a tree trunk. ln various example embodiments said means for holding the tree may be a unit surrounding said tree trunk and being able to change its holding area and thereby compress around the tree trunk for securing purpose and decompress for releasing a tree trunk or entering a tree to be harvested.

[0053] ln various example embodiments said harvesting tool 110 is also configured for moving up and down along the trunk of the tree. The movement may be performed by at least one electrically driven wheel travelling on said tree trunk. ln various example embodiments at least one wheel may be electrically driven for enabling movement up and down said tree trunk and at least one other wheel is arranged for friction reduction during said movement. ln various example embodiments at least to wheels are configured to attach, secure and move said harvesting tool 110.

[0054] Said UAV 100 and said harvesting tool 110 may be communicating with each other via one or more of WiFi, Bluetooth, radio communication, telecommunication (3G, 4G, 5G), optical fibre and / or electrical wire. ln various example embodiments said control unit 120 and said UAV 100 and / or saidharvesting tool 110 may be communicating with each other via one or more of WiFi, Bluetooth, radio communication, telecommunication (3G, 4G, 5G). Depending on the distance and / or communication quality between the control unit and said UAV 100 and / or said harvesting tool 110 the communication may change from one type of communication to another. ln various example embodiments said harvesting tool is connectable to an underside of said UAV 100. ln various example embodiments said harvesting tool 110 may be released from said UAV 100 directly onto a tree to be harvested.

[0055] ln various example embodiments the UAV 100 may comprise a power unit for powering said UAV 100 and said harvesting tool 110. The power from said power unit in said UAV 100 may be delivered to said harvesting tool 110 via at least one power cable. The power unit may be an electric motor and / or an internal combustion engine. ln various example embodiments said UAV 100 may comprising at least a first power unit for powering said UAV 100 and said harvesting tool 110 may comprise at least a second power unit for powering said harvesting tool 110. The power unit in said UAV 100 may be electrical and / or an internal combustion engine. The power unit in said harvesting tool 110 may be electrical and / or an internal combustion engine.

[0056] The delimbing of the tree is to be performed from top to bottom of a standing tree. The delimbing may be performed by one or a plurality of cutting means, snapping means, and / or shearing means. The cutting means may be by cutting chains and / or by rotary cutting disks. The cutting may be performed by a straight movement along said trunk of said means configured for harvesting at least a portion of a tree and / or by a serpentine movement along the trunk by said means configured for harvesting at least a portion of a tree. ln various example embodiments said harvesting tool 110 is configured to be in direct communication with a remote operator and / or a remote base station 120 or indirect communication via said UAV 100 with a remote operator and / or a base station 120. The indirect communication, i.e., the UAV 100 as access point, with said harvesting tool 110 may be used if the same information is to be sent to both UAV 100 and said harvesting tool 110. The UAV 100 may be in various exampleembodiments work independently from a remote base station 120. The indirect communication may also be used if said UAV 100 is arranged in between said base station 120 and said means configured for harvesting at least a portion of a tree. ln various example embodiments said UAV 100 and / or said harvesting tool 110 may comprise means configured for automatically locating a tree and / or a predetermined area to be harvested. Said means configured for automatically locating a tree and / or said predetermined area to be harvested may comprise at least a Global Navigation Satellite System, GNSS. Said means configured for automatically locating a tree and / or a predetermined area to be harvested may comprise at least one camera or optical sensor. Said means configured for automatically locating a tree and / or a predetermined area to be harvested may comprise at least a camera in combination with Artificial intelligence or machine learning algorithms for speeding up the detection of a suitable area to arrange said means configured to cut a tree trunk.

[0057] Now returning to figure 1 where the UAV 100 is on its way to a tree 135a, 135b, 135c, 135d in forest 130 to be harvested. The tree 135a.135b, 135c, 135d may be preselected, i.e., selected prior to arrival to the tree 135a, 135b, 135c, 135d. Alternatively said tree 135a, 135b, 135c, 135d may be selected by the UAV 100 in combination with the base station 120 once the UAV 100 is at or near a position above said tree 135a, 135b, 135c, 135d. The selection may be performed by identifying a picture of the tree 135a, 135b, 135c, 135d from above with stored pictures in said base station 120 and by means of a selection algorithm select a tree for tree thinning purpose or other selection criteria. ln figure 1 the forest 130 comprises four trees 135a, 135b, 135c, 135d, all of which may have equal or different tree parameters such as length, age, species etc. The forest may of course have a larger or smaller number of trees than the depicted 4 as shown in figure 1-4. A tree 135a, 135b, 135c, 135d to be harvested may be determined by at least one of said detected tree parameters. ln various example embodiments the order of harvesting tree 135a, 135b, 135c, 135d may be selected out of minimizing a total harvesting time. ln various example embodiments a particular tree 135a, 135b, 135c, 135d may be selected because there is a demand of such tree parameters from a particular customer. ln various example embodiments aparticular tree 135a, 135b, 135c, 135d may be selected to be harvested due to a particular tree thinning strategy, e.g., smallest or largest tree 135a, 135b, 135c, 135d in a group of trees, diameter of said at least a portion of a tree, length of said at least a portion of a tree, tree species of said at least a portion of a tree and / or the weight of said at least a portion of a tree, dry content, twig-free, rootstock, density, rot, discolored, dead tree and / or insect infested. Tree parameters may be detected prior to arriving with the UAV 100 to the forest 130. This may be made manually and / or automatically.

[0058] ln figure 2 the selected tree 135b to be harvested has been captured to a top of the tree with the harvesting tool 110. As the attachment of the harvesting tool 110 to the top of the tree is performed from above and from air, the harvesting tool 110 and / or the top of the tree may not at all times be on the same position, i.e., the top of the tree may oscillate due to the wind and the tool may oscillate due to the wind and / or the movement of the UAV. In order to facilitate the attachment of the harvesting tool 110 to the top of the tree, said harvesting tool 110 comprises an attachment device 125. In figure 5a an example embodiment of a harvesting tool 110 is depicted having such an attachment device 125. The idea of the attachment device 125 is to increase the area in which the top of the tree is to be received by the harvesting tool 110 and at the same time not being in the way of the delimbing and cutting device 115 when delimbing and cutting the tree. In figure 5a the attachment device 125 is in its unfolded position meaning that a receiving area 188 of the attachment device 125 is large in order to facilitate an alignment and capturing of the top of the tree with the attachment device. Figure 7a, 7b, 8a, 8b illustrates in more detail the example embodiment of the attachment device 125. Figure 7a and 7b depicts different perspective views of the attachment device 125. The attachment device 125 comprises a support structure 126, a top end 128, a bottom end 129, an optional top plate 165, at least three ribs, which here is illustrated to be six ribs 127a, 127b, 127c, 127d, 127e, 127f and a movable tubular section 139. The movable tubular section 139 is in figure 7a and 7b in its top position allowing the ribs 127a, 127b, 127c, 127d, 127e, 127f to be in its unfolded position. In the unfolded position the receiving area 188 of the attachment device 125 is large. The ribs 127a, 127b, 127c, 127d, 127e, 127f may be covered on theoutside and / or the inside with a flexible cover made of glass fibre, carbon fibre and / or polymeric material. A bottom end 127a’’, 127b’’, 127c’’ 127d’’ 127e’’, 127f’’ of the ribs 127a, 127b, 127c, 127d, 127e, 127f may be provided with stop members 169. The stop members 169 may form a stop for the tubular section 126 when said attachment tool 125 is in folded position as depicted in figure 8a, 8b.

[0059] In figure 5b the attachment device 125 is in its folded position meaning that a receiving area 188 of the attachment device 125 is small in order to grasp a top of a tree to be harvested. As illustrated in figure 5b the delimbing and cutting device 115 has been forced the tubular section 139 of the attachment device 125 to a bottom position and thereby folding the ribs 127a, 127b, 127c, 127d, 127e, 127f. with the ribs 127a, 127b, 127c, 127d, 127e, 127f in folded position, the receiving area of the attachment device 125 is small. In folded position the receiving area 188 of the attachment device 125 may in various example embodiments be 7-15cm in diameter. In unfolded position the receiving area 188 may be 50-100cm in diameter. The tubular section 139 is made of lightweight material such as polymeric material, carbon fibre or aluminum. The optional top plate 165 connects the attachment device 125 to the UAV 100 via at least one wire 192. The optional top plate 165 may also connect to the delimbing and cutting device 115 via at least one wire 137. Said at least on wire 137 is attached to a winch 157. In figure 5b the winch is depicted to be provided on the delimbing and cutting device 115. In an alternative embodiment the winch may be provided on the optional top plate 165. In yet an alternative embodiment the winch may be provided on the UAV 100. The delimbing and cutting device 115 is configured for sliding outside of said attachment device 125. The delimbing and cutting device 115 may move up and down independently of the attachment device 125. The delimbing and cutting device 115 may force the receiving area 188 of attachment device 125 to go from one size to another depending on the position of said delimbing and cutting device 115 relative to said attachment device 125.

[0060] In figure 5b the delimbing and cutting device 115 is sliding outside of said tubular section 139. The delimbing and cutting device 115 may force the tubular section 139 to move from the top position where the attachment device is in itsunfolded position to a bottom position where said attachment device is in its folded position. The movement of the tubular section 139 by said delimbing and cutting device 115 may be performed by slightly gripping the tubular section on its outer surface by for instance the delimbing means, gripping means or rolling means. The tubular section will stop in the bottom position by the stop members 169. The stop members 169 will form, when the attachment device is in folded position, a stop for the tubular section 139 in such a way that a joint diameter of the stop members 169 will have an outer diameter which is larger than the inner diameter of the tubular section 139, this is illustrated in figure 8a and 8b. Instead of having the stop members 169 at the end of the ribs, a stop of the tubular section may be made by one or a plurality of wires between the top end 128 of the support structure 126 and the tubular section 139. The length of said wires will determine the stop position of the tubular section 139. Alternatively, one may provide a mechanical stop at a distance from the top end 128 on said support structure having a size which is larger than the inner diameter of the top portion of the tubular section 139.

[0061] Figure 9 illustrates in detail an example embodiment of the mechanical structure holding the ribs 127 naturally in unfolded position. In figure 9 a tension spring 166 is provided between a bracket 137 provided on the support structure 126 and a bracket 175 provided on the top end of the rib 127. The top end 127’ of the rib is pivotally hinged onto a support bracket 168 provided on said the bottom end of said support structure 126. Figure 9 also illustrates that an inner diameter of the tubular section 139 will force the rib 127 to a folded position by sliding on the outside of said rib 127.

[0062] Figure 10 depicts another example embodiment of an attachment device according to the present invention. The attachment device 125 comprises in this embodiment a plurality of ribs 127, three or more in number. A top end 127’ of the ribs 127 are pivotably carried by a support bracket 168. The ribs 127 in this embodiment are hollow. A bottom end 127’’ of two adjacent ribs 127 is connected together with at least one wire or string 155 that goes through the hollow ribs. The ribs 127 are held naturally in unfolded position by a spring mechanism, forinstance as depicted in figure 9, giving a large receiving area 188 of the attachment device as depicted in figure 10. In order to bring the attachment device 125 in folded position, where the receiving area 188 is small, the wires or strings 155 that are led via the hollow ribs 127 through a center hole 169 of said support bracket 168 are applied with a pulling force in a direction away from the support bracket as depicted with arrow F in figure 10.

[0063] Instead of forcing the ribs in unfolded position with spring means as depicted in figure 9 one may alternatively apply an external loop means at the outside and bottom end 127’’ of each of the ribs. A wire / string is tied to said loop and the other end of the wire / string is led through external loop means on the outside of the support bracket 168. In this way one has a first set of strings / wire for unfolding the ribs and another set of strings for folding the ribs.

[0064] ln figure 3 the delimbing and cutting device 115 has been moved a distance down from said attachment device 125. On its way down the delimbing and cutting device 115 also has delimbed the tree 135 leaving a bare tree trunk 137 without twigs and limbs. The powering of said harvesting tool 110 may be provided by said UAV 100 or by a power unit in said harvesting tool 110. ln case of power supplied from said UAV to said harvesting tool 110 said power may be delivered via one or a plurality of power cables arranged on between said UAV 100 and said harvesting tool 110. A power unit in said harvesting tool 110 may be one or a plurality of battery packs. ln various example embodiments a first battery pack maybe used for communication with the UAV 100 and / or a base station 120. A second battery pack may be used for moving said harvesting tool 110 up / down on a tree trunk.

[0065] ln figure 4 the tree 135 has been delimbed, the tree trunk has been cut in the vicinity of the ground and the tree is on its way to a location away from the original location. What is left of the original tree 135 at its original location is a pile of limbs 138 and a tree stump 179. ln the depicted example embodiment said delimbing and cutting device 115 and the attachment device are still arranged on said tree trunk when the tree is transported away from the original location of the tree. ln various example embodiments it is provided means configured for directingsaid remotely and / autonomously UAV 100 with said at least a portion of a tree to a final destination, where said final destination may depend on said detected tree parameters. ln various example embodiments a first type of tree species may be transported to a first final destination, whereas a second type of tree species may be transported to a second final destination.

[0066] Delimbing means may be arranged on a top portion and on a bottom portion of delimbing and cutting device 115. By arranging said delimbing means on both sides of said delimbing and cutting device 115 makes it possible to provide said means configured for harvesting at least a portion of a tree 110 from above on the tree or from root of said tree.

[0067] ln figure 6 it is depicted a schematic picture of an example embodiment of said delimbing and cutting device 115. Said delimbing and cutting device 115 may comprise holding means 105. The holding means 105 is in this example embodiment in the form of a first movable curved arm 107a and a second movable curved arm 107b provided on a frame 106. Said arms 107a, 107b can be set to any position between a fully open position and fully closed position in order to allow to embrace a tree trunk and also to grip and release the same. Said delimbing and cutting device 115 comprises in figure 6 a first movable curved fixing / delimbing arm 114a and a second movable curved fixing / delimbing arm 114b. Said first and second movable curved fixing / delimbing arms 114a, 114b may be set to any position between a fully open position and fully closed position on order to allow to embrace a tree trunk and also to fixing the same. Said fixing / delimbing arms may have a sharp edge on its top portion and / or its bottom portion for delimbing the tree as the means configured for harvesting at least a portion of the tree moves along the trunk of said tree. Said delimbing and cutting device 115 also comprises a cutter 116. The cutter 116 may be in the form of an electrically driven or internal combustion engine driven chain saw. The chain saw may be arranged movable in order to cut a tree while said delimbing and cutting device 115 is in a fixed position on said trunk of the tree.

[0068] The holding means 105 may be provided at a top portion of the delimbing and cutting device 115. Said holding means 105 may be attached at saiddelimbing and cutting device 115 with at least one wire 111 or at least one metal bar or other suitable attaching means. ln various example embodiments said holding means 105 may be mechanically separable from said delimbing and cutting means 115 meaning that the holding means 105 may attached at a fixed position at the tree while the delimbing and cutting device 115 may of its own motion move along the trunk of the tree with no mechanical attachment to the holding means 105. The delimbing and cutting device 115 may cut a portion of a tree and stay on the still not harvested portion of the tree while said UAV is moving away with the harvested portion to another location. Delimbing may take place by said delimbing and cutting device while said UAV is moving away said harvested portion of the tree. The UAV 100 may return to the same tree and remove yet another portion of it and said means configured for harvesting may stay on the not yet harvested portion or attach to the harvested portion or the UAV and move together with the UAV to another location. The holding means 105 and the delimbing and cutting device 115 may communicate with each other and / or independently of each other communicate with the UAV and / or the base station 120. A camera may be used, attached either on said UAV or said delimbing and cutting device 115. Said delimbing and cutting device 115 may have at least one electrically driven wheel 190 for allowing movement of said delimbing and cutting device 115 along a trunk of a tree. One or a plurality of supporting wheels 112 may be used for securing said delimbing and cutting device 115 onto said trunk of said tree and for reduce friction while moving along said trunk of said tree. Said supporting wheel(s) may be arranged on arms 688 which may be movable in order to secure said delimbing and cutting device 115 on said trunk of said tree. ln various example embodiments said delimbing and cutting device 115 may be made of two separable parts, a first part that is mainly configured for holding the tree and a second part, capable of moving up and down along the trunk of the tree, which can delimb and / or cut the tree.

[0069] The delimbing means 114a, 114b movably attached to a frame 610 are forming together with the frame a receiving area 600. This receiving area 600 may be adapted to the outer dimension of the attaching device 125 and thereby functioning as unfolding and folding mechanism for the ribs in said attachingdevice depending on the position of the delimbing knives 114a, 114b with respect to said attaching device 125. Winch motors 157 may be attached to a frame 106. The winch motors 157 rolls in or out the cord 137 connected to the attaching device 125. The holding means 107a, 107b movably attached to the frame 106 are forming together with the frame a receiving area 670. This receiving area 670 may be adapted to the outer dimension of the attaching device 125 and thereby functioning as unfolding and folding mechanism for the ribs in said attaching device 125 depending on the position of the holding means 107a, 107b with respect to said attaching device 125. Supporting wheels 112 may be attached to arms 688 which in turn is movably attached to frame 610. The distance between said rolling wheels 112 may be adapted to the outer dimension of the tubular section 139. By pressing the wheels to the outside of said tubular section said tubular section 139 may be brought up and down with respect to said attaching device 125 and thereby folding and unfolding the attaching device 125.

[0070] The system, method and / or tree harvesting tool 110 may be used for delimbing and / or harvesting a tree. The delimbing may occur at a first point in time and the harvesting may occur at a second point in time, where said second point in time is later than said first point in time. The delimbing may be performed with a first harvesting tool and the harvesting may be performed with a second harvesting tool. The delimbing and harvesting may in various example embodiments be performed with one and the same harvesting tool. The first and second harvesting tool may be carried by one and the same UAV or with different UAV.

Claims

CLAIMS 1. A tree harvesting tool (110) for delimbing and / or harvesting a tree (135) from above from an unmanned aerial vehicle (100), said tree harvesting tool (110) comprises an attachment device (125) configured for attaching to a top of a tree (135) and a delimbing and cutting device (115) configured for delimbing a tree (135) and cutting a tree (135), said attachment device (125) comprises a support structure (126), at least three ribs (127a, 127b, 127c, 127d, 127e, 127f) is with its top end (127a’, 127b’, 127c’, 127d’, 127e’, 127f’) pivotably carried by a bottom end (129) of said support structure (126), a top end (128) of said support structure (126) is connectable to said UAV (100), said top end (127a’, 127b’, 127c’, 127d’, 127e’, 127f’) of said at least three ribs ((127a, 127b, 127c, 127d, 127e, 127f) is configured to be mechanically adjustable from an unfolded position for receiving the top of the tree to a folded position for grasping the top of the tree, said ribs (127a, 127b, 127c, 127d, 127e, 127f) are covered on the inside and / or outside with a flexible cover, wherein said delimbing and cutting device (115) is connectable to said UAV (100), wherein said delimbing and cutting device 115 is configured to slide outside of said attachment device (125).

2. The tree harvesting tool (110) according to claim 1, wherein delimbing means (114a, 114b) carried by a frame (610) are defining together with said frame (610) a mechanically adjustable inner area (600, 670), said inner area (600, 670) is adapted to a folded position of said attachment device (125) for allowing said delimbing means (114a, 114b) to slide outside said attachment device (125).

3. The tree harvesting tool (110) according to claim 1, wherein holding means (107a, 107b) carried by a frame (610) are defining together with said frame (610) a mechanically adjustable inner area (600, 670), said inner area (600, 670) is adapted to a folded position of said attachment device (125) for allowing said holding means (107a, 107b) to slide outside said attachment device (125).

4. The tree harvesting tool (110) according to claim 1, wherein rolling means (112) carried by said frame (610) is configured to roll outside said attachment device (125).

5. The tree harvesting tool (110) according to claim 1, wherein said ribs (127a, 127b, 127c, 127d, 127e, 127f) are pivotally forced to said unfolded position with spring means (166) between said support structure (126) and said ribs (127a, 127b, 127c, 127d, 127e, 127f).

6. The tree harvesting tool (110) according to claim 2, wherein said bottom end (129) is actuated between said open and closed position with a wire actuating on said ribs (127a, 127b, 127c, 127d, 127e, 127f).

7. The tree harvesting tool (110) according to claim 2 or 3, wherein said bottom end (129) is actuated between said unfolded and folded position with a tubular construction (139) sliding outside of said attachment device (125) and thereby forcing said bottom end (129) to said closed position and said delimbing and cutting device (115) is configured to slide outside of said tubular construction (139).

8. The tree harvesting tool (110) according to any one of claim 1-4, wherein said cover comprises a flexible body formed of a plurality of segments made of glass fibre, carbon fibre and / or polymeric material.

9. The tree harvesting tool (110) according to claim 1, wherein said ribs (127a, 127b, 127c, 127d, 127e, 127f) join the support structure (126), which ends of said ribs are formed of reduced thickness producing self-hinge joints between the support structure and said ribs.

10. The tree harvesting tool (110) according to any one of the preceding claims, wherein a formation of said ribs (127a, 127b, 127c, 127d, 127e, 127f) in open position is frustoconical shaped.

11. A system for remotely and / or autonomously delimbing and / or harvesting a tree from above with the aid of an unmanned aerial vehicle (UAV) (100), said system comprising: - a remotely and / or autonomously controlled UAV (100), - at least one means for detecting a tree to be harvested, - said system further comprising a remotely and / or autonomously controlled tree harvesting tool (110) according to any one of claim 1- 11 and a base station configured for communicating with said UAV (100) and / or said harvesting tool (110).

12. A method for remotely and or autonomously at least delimbing a tree from above with the aid of a harvesting tool (110) comprising an attachment device (125) and a delimbing and cutting device (115) attached to an unmanned aerial vehicle (UAV) (100), said method comprising: - detecting a tree to be harvested with at least one detecting means provided on said UAV (100), - arranging a harvesting tool (110) above a tree to be harvested, - receiving a top of a tree with said attachment device (125) in an unfolded position, said attachment device (125) comprises a support structure (126) and at least three ribs (127a, 127b, 127c, 127d, 127e, 127f) are with its top end pivotably carried by said support structure (126), a top end of said support structure (126) is connectable to said UAV (100), said top end of said at least three ribs is configured to be mechanically adjustable from an unfolded position for receiving a tree top to a folded position for grasping the top of the tree, said ribs (127a, 127b, 127c, 127d, 127e, 127f) are covered on the inside and / or outside with a flexible cover - grasping the top of the tree with said attachment device (125) in a folded position,- sliding said delimbing and cutting device (115) comprising at least two mechanically adjustable delimbing means (114a, 114b) carried by a frame (610), said delimbing means (114a, 114b) together with said frame (610) are defining a mechanically adjustable inner area (600, 670), wherein said inner area (600, 670) is adapted to a folded position of said attachment device (125) for allowing said delimbing means (114a, 114b) to slide outside of said attachment device (125), - separating said delimbing and cutting device (115 from said attachment device (125) for allowing said delimbing and cutting device (115) to delimb the tree to be harvested.

13. The method according to claim 12, further comprising the step of cutting the tree trunk in the vicinity of the ground with the delimbing and cutting device (115).

14. The method according to any one of claim 12-13, further comprising the step of: actuating said ribs (127a, 127b, 127c, 127d, 127e, 127f) between said unfolded and folded position with a wire actuating on said ribs (127a, 127b, 127c, 127d, 127e, 127f).

15. The method according to any one of claim 12-14, further comprising the step of: actuating said ribs (127a, 127b, 127c, 127d, 127e, 127f) between said unfolded and folded position with a tubular construction (139) configured for sliding outside of said ribs (127a, 127b, 127c, 127d, 127e, 127f).

16. The method according to any one of claim 12-15, further comprising the step of: forcing said ribs (127a, 127b, 127c, 127d, 127e, 127f) between in said unfolded position with spring means provided between said ribs and said support structure (126).

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