Method, apparatus and system for harvesting a tree from air

Abstract

The present invention relates to a method and apparatus for remotely and / or autonomously harvesting a standing tree from air by means of a remotely and / or autonomously controlled harvesting tool attached underneath a remotely and / or autonomously controlled unmanned aerial vehicle, UAV The method comprising the steps of detecting a tree to be harvested by at least one sensor having a field of view in at least a downward direction provided on said UAV and switching the detection of the tree to be harvested from said at least one sensor attached to said UAV to a sensor attached to said harvesting tool having a field of view in at least a downward direction when said harvesting tool and / or said UAV is closer than a predetermined distance to said tree to be harvested.

Description

METHOD, APPARATUS AND SYSTEM FOR HARVESTING A TREE FROM AIRTechnical field of the Invention

[0001] The present invention relates in general to a method and system for tree harvesting. In particular, it relates to a method and system for harvesting a tree by using an Unmanned Aerial Vehicle, UAV and a harvesting tool attached to said UAV.Background of the Invention

[0002] Traditional tree harvesting or tree falling has long been conducted by persons and equipment based on the ground. In earlier times, from the early twentieth century and going back to the early nineteenth century, little consideration was given to the state of the forest or to the eco-system 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 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.

[0003] The above-described methods represent a high level of risk, either to the environment or 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

[0004] provide a habitat to insects, birds, lichens, and fungus among other things.

[0005] 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 is 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.

[0006] 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 in order to attach the harvesting tool to said tree.

[0007] There is a need in the art for an improved tree detection when harvesting standing trees from air.Object of the Invention

[0008] The present invention aims at obviating the aforementioned problem. A primary object of the present invention is to provide an improved remotely and / or autonomously harvesting system and method.Summary of the Invention

[0009] According to the invention at least the primary object is attained by means of a system and method as defined in the independent claims. Preferred embodiments of the present invention are further defined in the dependent claims.

[0010] According to a first aspect of the present invention there is provided a system for remotely and / or autonomously harvesting a standing tree from air, said system comprising: a remotely and / or autonomously controlled Unmanned Aerial vehicle, UAV, said UAV comprising at least one first detection means for detecting a tree to be harvested; a harvesting tool attached to an underside of said UAV, said harvesting tool comprising an attachment device configured to be mechanically adjustable between an unfolded position for receiving a top of a tree and a folding position for grasping and / or holding a top of a tree, said harvesting tool further comprising a delimbing and cutting tool configured for delimbing a tree and configured for cutting a tree, at least one cord attached between said UAV and said delimbing and cutting tool or attached between said attachment device and said delimbing and cutting tool; a winch system, attached to said UAV and / or said delimbing and cutting tool and / or said attachment device, configured for spooling in and / or out said at least one cord and thereby decreasing or increasing the distance between said UAV and said delimbing and cutting tool; a base station configured for communicating with said UAV and / or said harvesting tool; said attachment device further comprising at least a second detection means having a field of view in at least a downward direction and wherein the first detection means and the second detection means are configured to switch the detection of the tree to be harvested from the at least one first detection means attached to said UAV to the second detection means attached to said harvesting tool when said harvesting tool and / or said UAV is closer than a predetermined distance to said tree to be harvested.

[0011] The advantage of this embodiment is that the detection of a top of the tree can be visualized irrespective of the position of the attachment device and the UAV with respect to the tree to be harvested.

[0012] In various example embodiments of the present invention said second detection means on said attachment device is provided on a fixed position relative to the UAV. In various example embodiments said second detection means has a field of view fully or partially within said unfolded position of said attachment device.

[0013] The advantage of these embodiments is that the attachment device may not be an obstacle for visualizing the top of the tree.

[0014] In various example embodiments of the present invention said delimbing and cutting tool comprises at least a third detection means having a field of view in at least a horizontal direction, wherein said delimbing and cutting tool is configured to slide on an outside of said attachment device from a first position above or at said attachment device to a second position below said attachment device.

[0015] The advantage of these embodiments is that information below canopy of trees in the vicinity of the tree currently being harvested may be collected during harvesting. Such information may be used for determining which future trees to be harvested.

[0016] In various example embodiments of the present invention two or more third detection means are used for creating 360-degree all-round vision.

[0017] The advantage of these embodiments is that full information about trees in the vicinity of the currently harvested tree may be collected.

[0018] In various example embodiments of the present invention said delimbing and cutting tool is configured to delimb the tree by gravity. Alternatively said delimbing may be performed by sawing or milling.

[0019] The advantage of these embodiments is that delimbing may be performed while the cutting tool is lowered to the ground.

[0020] In various example embodiments of the present invention said cord is at least one of a group of: steel wire, steel band or artificial fibre thread.

[0021] The advantage of these embodiments in that various means may be used to vary the distance between the UAV and the harvesting tool.

[0022] The advantage of these embodiments is that the UAV during flight is more stable than the harvesting tool, which tool is hanging in one or a plurality of tethers from the UAV, and thereby also possibly may more easily provides for a higher resolution image of the canopies of the trees.

[0023] In another aspect of the present invention, there is provided method for remotely and / or autonomously harvesting a standing tree from air by means of a remotely and / or autonomously controlled harvesting tool attached underneath a remotely and / or autonomously controlled unmanned aerial vehicle, UAV, said method comprising the steps of:

[0024] detecting a tree to be harvested by at least one first detection means having a field of view in at least a downward direction provided on said UAV;

[0025] switching the detection of the tree to be harvested from said at least one first detection means attached to said UAV to a second detection means attached to said harvesting tool having a field of view in at least a downward direction when said harvesting tool and / or said UAV is closer than a predetermined distance to said tree to be harvested.

[0026] The advantage of this embodiments is that the top of the tree may be visualized independently of the position of the UAV and / or harvesting tool.

[0027] In various example embodiments said method further comprises the step of: detecting trees in the vicinity of the tree to be harvested during delimbing and / or cutting with at least one third detection means having a field of view at least in a horizontal direction provided on a delimbing and cutting tool.

[0028] The advantage of these embodiments is that information about trees in the vicinity of the tree currently being harvested may be collected in order to determine if any one of said trees should or should not be harvested.

[0029] In various example embodiments said method further comprises the steps of: securing at least a portion of said harvesting tool to said cut and delimbed tree; transporting said cut tree away from its original location.

[0030] The advantage of these embodiments is that harvested trees may be transported away from the original location.

[0031] In another aspect of the present invention, there is provided a harvesting tool configured for hanging under an Unmanned Aerial Vehicle, UAV, wherein the UAV comprises at least one first detection means and is configured for harvesting a standing tree from air, said harvesting tool comprising:an attachment device configured to be mechanically adjustable between an unfolded position for receiving a top of a tree and a folding position for grasping and / or holding a top of a tree, a delimbing and cutting tool configured for delimbing a tree and configured for cutting a tree, at least one cord attached between said UAV and said delimbing and cutting tool or attached between said attachment device and said delimbing and cutting tool, a winch system, attached to said UAV and / or said delimbing and cutting tool and / or said attachment device, configured for spooling in and / or out said at least one cord and thereby decreasing or increasing the distance between said UAV and said delimbing and cutting tool, said attachment device further comprising at least a second detection means having a field of view directed at least in a downward direction, and wherein the first detection means and the second detection means are configured to switch the detection of the tree to be harvested from the at least one first detection means attached to said UAV to the second detection means attached to said harvesting tool when said harvesting tool and / or said UAV is closer than a predetermined distance to said tree to be harvested.

[0032] The advantage of this embodiment is that the detection of a top of the tree can be visualized irrespective of the position of the attachment device and the UAV with respect to the tree to be harvested.

[0033] In various example embodiments of said harvesting tool said delimbing and cutting tool comprises at least a third detection means having a field of view at least in a horizontal direction, wherein said delimbing and cutting tool is configured to slide on an outside of said attachment device from at least a first position above or at said attachment device to at least a second position below said attachment device.

[0034] The advantage of these embodiments is that information below canopy of trees in the vicinity of the tree currently being harvested may be collected during harvesting. Such information may be used for determining which future trees to be harvested.

[0035] In various example embodiments of the present invention said second detection means on said attachment device is provided on a fixed position relative to the UAV.

[0036] The advantage of these embodiments is that the attachment device may not be an obstacle for visualizing the top of the tree.

[0037] In another aspect of the present invention, there is provided a computer program comprising program code means for performing the method as mentioned above.

[0038] In yet another aspect of the present invention there is provided a computer-implemented method for remotely and / or autonomously harvesting a standing tree from air, said method comprising the steps of: detecting a tree to be harvested by at least one first detection means provided on said UAV; switching the detection of the tree to be harvested from said at least one first detection means attached to said UAV to a second detection means attached to said harvesting tool when said harvesting tool and / or said UAV is closer than a predetermined distance to said tree to be harvested.

[0039] Further advantages with and features of the invention will be apparent from the following detailed description of preferred embodiments.Brief description of the drawings

[0040] A more complete understanding of the abovementioned and other features and advantages of the present invention will be apparent from the following detailed description of preferred embodiments in conjunction with the appended drawings, wherein:Fig. 1-4 depict schematic pictures of different inventive remote and / or autonomous tree harvesting steps by using the inventive harvesting tool, andFig. 5a depict a perspective view of a UAV with a harvesting tool in a first position,Fig, 5b depicts a perspective view of a UAV with a harvesting tool in a second position,Fig. 6 depicts a side view of an example embodiment of a cutting and delimbing device,Fig. 7a depict a perspective view of an attachment device in unfolded position,Fig. 7b depict a side view and a section view of an attachment device in unfolded position,Fig. 8a depict a perspective view of an attachment device in folded position,Fig. 8b depict a side view and a section view of an attachment device in folded position,Fig. 9 depicts in detail a mechanism for keeping the attachment naturally device in unfolded position, andFig. 10 depicts another example embodiment of an attachment device according to the present invention.Fig. 11 illustrates a block diagram of an example machine upon which any one or more of the techniques (e.g., methodologies) discussed herein may perform.Detailed description of preferred embodiments of the invention

[0041] The word 'harvesting' used hereinabove and hereinbelow is a generic term for removing at least a portion from a tree, i.e., delimbing a tree, 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.

[0042] Figure 1-4 depict schematic pictures of different inventive remote and / or autonomous harvesting steps of a tree by using an example embodiment of a harvesting tool 110 according to the present invention.

[0043] 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 comprises 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. The means for detecting the tree to be harvested may be provided on said UAV 100 and said harvesting tool 110.

[0044] In 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 handheld or a land driven unit.

[0045] In 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. In various example embodiments said harvesting tool 110 and said UAV 100 are remotely controlled. In various example embodiments said harvesting tool 110 and said UAV 100 are autonomously controlled. In various example embodiments said harvesting tool 110 is remotely controlled and said UAV 100 is autonomously controlled. In various example embodiments said harvesting tool 110 is autonomously controlled and said UAV 100 is remotely controlled.

[0046] 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 infraredsensor. Said means for detecting a tree may be arranged on said UAV 100 and / or said harvesting tool 110.

[0047] The UAV 100 may have one or a plurality of propellers. In 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 handheld movable on ground. The stationary or mobile unit may be at or near the tree to be harvested or far away from the tree to be harvested. In various example embodiments the stationary or mobile unit may be in one country and the tree to be harvested in another country. The communication between the base station and UAV may for instance be with satellite internet such as starlink.

[0048] The harvesting tool 110 may comprise means for holding the tree. The means for holding the tree may be at least one movable gripping arm. In 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. In 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.

[0049] In 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. In various example embodiments at least one wheel may be electrically, hydraulically, and / or pneumatically driven for enabling movement up and down said tree trunk and at least one other wheel is arranged for friction reduction during said movement. In various example embodiments at least to wheels are configured to attach, secure and move said harvesting tool 110.

[0050] 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, XG), optical fibre and / or electrical wire. In various example embodiments said control unit 120 and said UAV 100 and / or said harvesting 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.In various example embodiments said harvesting tool is connectable to an underside of said UAV 100. In various example embodiments said harvesting tool 110 may be released from said UAV 100 directly onto a tree to be harvested.

[0051] In 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. In various example embodiments said UAV 100 may comprise 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.

[0052] 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. In 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 example embodiments 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. In 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. A tree may also be localized by Simultaneous Localization and Mapping, SLAM.

[0053] 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 for selecting a tree for tree thinning purpose or other selection criteria. In 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. In various example embodiments the order of harvesting tree 135a, 135b, 135c, 135d may be selected out of minimizing a total harvesting time. In 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. In various example embodiments a particular 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.

[0054] 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. Figure 5a depicts an example embodiment of a harvesting tool 110 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. When the UAV 100 is travelling to a tree to be harvested the attachment device 125 may be provided in a folded position. In the folded position the attachment device 125 reduces the field of view of a camera provided on the UAV as little as possible. Moreover, in a folded position the air resistance of the harvesting tool is less than if said attachment device is in unfolded position meaning thatthere is less energy consumed of the attachment device is transported in folded position compared to unfolded position. In windy conditions it may also be advantageous of transporting the attachment device in folded position as an unfolded attachment device may influence the stability of the drone.

[0055] In figure 2a the attachment device 125 is still in folded position and the detection of the tree to be harvested is being made by at least one first detection means 550 provided on the UAV 100.

[0056] In figure 2b the attachment device is in unfolded position at a predetermined distance above the top of the tree. At a predetermined distance above the top of the tree the first detection means 550 provided on the UAV 100 will have its field of view hindered by the attachment device 125 in an unfolded position. Therefore, the detection of the top of the tree may be switched from the first detection means 550 provided on said UAV 100 to a second detection means 750 provided in said attachment device 125. The predetermined distance depends on various parameters as the size of the drone, the distance between the drone and the harvesting tool and the size of the attachment device in folded and unfolded position respectively. The transportation of the harvesting tool 110 to the tree to be harvested may be made with the harvesting tool 110 as close to the UAV as possible. With a little distance between the harvesting tool 110 and the UAV 100 the pendulum amplitude and / or the pendulum effect of the harvesting tool will be kept at a minimum. However, since the harvesting tool is close to the UAV and the first detection means 550 is close to the harvesting tool the shadow effect of the field of view if said first detection means 550 by said attachment device 125 when in unfolded position will be relatively large. In such scenario there is a great risk that the camera provided on the drone will not be able to detect the top of the tree to be received by said attachment device 125. Therefore, the detection of the top of the tree is switched from the first detection means 550 on said UAV 100 to the second detection means 750 on said attachment device 125.

[0057] In figure 2c the selected tree 135b to be harvested has been captured to a top of the tree with the attachment device 125 in unfolded position. 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 in 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 said attachment device 125. When the top of a tree is arranged inside said attachment device 125, said attachment device 125 may be set to a folded position in order to secure the top of the tree to said harvesting tool 110.

[0058] 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 130. At a bottom end or inside of the tubular section a means of detection 750 may be provided. In various example embodiments said means for detection 750 may also be provided on the support structure 126. The means of detection 750 has essentially a field of view in a downward direction. The movable tubular section 130 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 the outside 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 forced the tubular section 130 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 50-150 cm in diameter. The tubular section 130 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 cord or wire 156. Said at least one wire 156 is attached to a winch 157. In figure 5b thewinch 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 130. The delimbing and cutting device 115 may force the tubular section 130 to move from the top position where the attachment device is in its unfolded position to a bottom position where said attachment device is in its folded position. The movement of the tubular section 130 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 130 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 130, 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 130. The length of said wires will determine the stop position of the tubular section 130. 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 130.

[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 167 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 130 will force the rib 127 to a folded position by sliding on the outside of said rib 127. Figure 9 also illustrates two alternate position of the second detection means 750. In figure 9 the second detection means 750 may be provided on the inside of the tubular section 130 and / or the bottom end of the support structure 126.

[0062] Figure 10 depicts another example embodiment of an attachment device 125 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, for instance 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 centre hole 169 of said support bracket 168 are applied with a pulling force in a direction away from the support bracket 168, i.e. upwards in figure 10. The second detection means 750 is illustrated to have a field of view 760 in a downward direction.

[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] In 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 136 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. In 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. In 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. At least one third detection means 350 may be provided on the delimbing and cutting device 115. The third detection means 350 having a field of view essentially in a horizontal direction. The one or plurality of detections means may have a 360-degree all-round vision. The third detection means 350 is configured to collect information about trees in the vicinity of the tree which is delimed / cut. The collected information of trees in the vicinity of the tree which is currently delimed and / or cut may be used as input for determining which tree(s) to be harvested next. For instance, information about a tree to be harvested collected from above a canopy of the tree may be changed due to new information about the treewhen information is collected below the canopy of said tree. For instance, a bird nest in a tree which was not seen from above can change the status of the tree from to be harvested to not to be harvested. Other aspects which may determine if a tree should be saved or harvested may be illness, defects, damages.

[0065] In 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. In 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. In various example embodiments there is provided means configured for directing said 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. In 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] In 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. The third detection means 350 may be provided on the 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 bearranged 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 said delimbing and cutting device 115 with at least one wire 111 or at least one metal bar or other suitable attaching means. In 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 188 which may be movable in order to secure said delimbing and cutting device 115 on said trunk of said tree. In 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 attaching device 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 withthe 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 188 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 130. By pressing the wheels to the outside of said tubular section said tubular section 130 may be brought up and down with respect to said attaching device 125 and thereby folding and unfolding the attaching device 125.

[0070] FIG. 11 illustrates a block diagram of an example machine 1600 upon which any one or more of the techniques (e.g., methodologies) discussed herein may perform. Examples, as described herein, may include, or may operate by, logic or a number of components, or mechanisms in the machine 1600. Circuitry (e.g., processing circuitry) is a collection of circuits implemented in tangible entities of the machine 1600 that include hardware (e.g., simple circuits, gates, logic, etc.). Circuitry membership may be flexible over time. Circuitries include members that may, alone or in combination, perform specified operations when operating. In an example, hardware of the circuitry may be immutably designed to carry out a specific operation (e.g., hardwired). In an example, the hardware of the circuitry may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.) including a machine readable medium physically modified (e.g., magnetically, electrically, moveable placement of invariant massed particles, etc.) to encode instructions of the specific operation. In connecting the physical components, the underlying electrical properties of a hardware constituent are changed, for example, from an insulator to a conductor or vice versa. The instructions enable embedded hardware (e.g., the execution units or a loading mechanism) to create members of the circuitry in hardware via the variable connections to carry out portions of the specific operation when in operation. Accordingly, in an example, the machine-readable medium elements are part of the circuitry or are communicatively coupled to the other components of the circuitry when the device is operating. In an example, any of the physical components may be used in more than one member of more than one circuitry. For example, under operation, execution units may be used in a first circuit of a first circuitry at one point in time and reused by a second circuit in the first circuitry, or by a third circuit in a second circuitry at a different time. Additional examples of these components with respect to the machine 1600 follow.

[0071] In alternative embodiments, the machine 1600 may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, the machine 1600may operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example, the machine 1600 may act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment. The machine 1600 may be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a mobile telephone, a web appliance, a network router, switch or bridge, or any machine capable of executing instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term "machine" shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations.

[0072] The machine (e.g., computer system) 1600 may include a hardware processor 1602 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), a main memory 1604, a static memory (e.g., memory or storage for firmware, microcode, a basic-input-output (BIOS), unified extensible firmware interface (UEFI), etc.) 1606, and mass storage 1608 (e.g., hard drive, tape drive, flash storage, or other block devices) some or all of which may communicate with each other via an interlink (e.g., bus) 1630. The machine 1600 may further include a display unit 1610, an alphanumeric input device 1612 (e.g., a keyboard), and a user interface (Ul) navigation device 1614 (e.g., a mouse). In an example, the display unit 1610, input device 1612 and Ul navigation device 1614 may be a touch screen display. The machine 1600 may additionally include a storage device (e.g., drive unit) 1608, a signal generation device 1618 (e.g., a speaker), a network interface device 1620, and one or more sensors 1616, such as a global positioning system (GPS) sensor, compass, accelerometer, gyro, optical sensors or other sensors. The machine 1600 may include an output controller 1628, such as a serial (e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.).

[0073] Registers of the processor 1602, the main memory 1604, the static memory 1606, or the mass storage 1608 may be, or include, a machine readable medium 1622 on which is stored one or more sets of data structures or instructions 1624 (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein. The instructions 1624 may also reside, completely or at least partially, within any of registers of the processor 1602, the main memory 1604, the static memory 1606, or the mass storage 1608 during execution thereof by the machine 1600. In an example, one or any combination of the hardware processor 1602, the main memory1604, the static memory 1606, or the mass storage 1608 may constitute the machine-readable media 1622. While the machine readable medium 1622 is illustrated as a single medium, the term "machine readable medium" may include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) configured to store the one or more instructions 1624.

[0074] The term "machine readable medium" may include any medium that is capable of storing, encoding, or carrying instructions for execution by the machine 1600 and that cause the machine 1600 to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding or carrying data structures used by or associated with such instructions. Nonlimiting machine-readable medium examples may include solid-state memories, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon-based signals, sound signals, etc.). In an example, a non-transitory machine-readable medium comprises a machine- readable medium with a plurality of particles having invariant (e.g., rest) mass, and thus are compositions of matter. Accordingly, non-transitory machine-readable media are machine readable media that do not include transitory propagating signals. Specific examples of non- transitory machine-readable media may include: non-volatile memory, such as semiconductor memory devices (e.g., Electrically Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM)) and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

[0075] The instructions 1624 may be further transmitted or received over a communications network 1626 using a transmission medium via the network interface device 1620 utilizing any one of a number of transfer protocols (e.g., frame relay, internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), hypertext transfer protocol (HTTP), etc.). Example communication networks may include a local area network (LAN), a wide area network (WAN), a packet data network (e.g., the Internet), mobile telephone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, and wireless data networks (e.g., Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards known as Wi-Fi(R), IEEE 802.16 family of standards known as WiMax(R)), IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, among others. In an example, the network interface device 1620 may include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect to the communications network 1626. In an example, the network interface device 1620 may include a plurality of antennas to wirelessly communicate using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or multiple-input single-output (MISO) techniques.The term "transmission medium" shall be taken to include any intangible medium that is capable of storing, encoding or carrying instructions for execution by the machine 1600, and includes digital or analog communications signals or other intangible medium to facilitate communication of such software. A transmission medium is a machine-readable medium.Feasible modifications of the Invention

[0076] The invention is not limited only to the embodiments described above and shown in the drawings, which primarily have an illustrative and exemplifying purpose. This patent application is intended to cover all adjustments and variants of the preferred embodiments described herein, thus the present invention is defined by the wording of the appended claims and the equivalents thereof. Thus, the equipment may be modified in all kinds of ways within the scope of the appended claims.

[0077] Throughout this specification and the claims which follows, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or steps or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps.

Claims

Claims1. A system (10) for remotely and / or autonomously harvesting a standing tree from air, said system (10) comprising: a remotely and / or autonomously controlled Unmanned Aerial vehicle (100), UAV, said UAV (100) comprising at least one first detection means (550) for detecting a tree to be harvested, a harvesting tool (110) attached to an underside of said UAV, said harvesting tool comprising an attachment device (125) configured to be mechanically adjustable between an unfolded position for receiving a top of a tree (135) and a folding position for grasping and / or holding a top of a tree, said harvesting tool further comprising a delimbing and cutting tool (115) configured for delimbing a tree (135) and configured for cutting a tree (135), at least one cord (156) attached between said UAV (100) and said delimbing and cutting tool (115) or attached between said attachment device (125) and said delimbing and cutting tool (115), a winch system (157), attached to said UAV (100) and / or said delimbing and cutting tool (115) and / or said attachment device (125), configured for spooling in and / or out said at least one cord (156) and thereby decreasing or increasing the distance between said UAV (100) and said delimbing and cutting tool (115), a base station (120) configured for communicating with said UAV (100) and / or said harvesting tool (110), said attachment device (125) further comprising at least a second detection means (750) having a field of view in at least a downward direction, wherein the first detection means (550) and the second detection means (750) are configured to switch the detection of the tree to be harvested from the at least one first detection means (550) attached to said UAV (100) to the second detection means (750) attached to said harvesting tool (115) when said harvesting tool (115) and / or said UAV (100) is closer than a predetermined distance to said tree to be harvested.

2. The system (10) according to claim 1, wherein said second detection means (750) on said attachment device (125) is provided on a fixed position relative to the UAV (100).

3. The system (10) according to claim 1 or 2, wherein said delimbing and cutting tool (115) comprises at least a third detection means (350) having a field of view in at least a horizontal direction, wherein said delimbing and cutting tool (115) is configured to slide on an outside of saidattachment device (125) from a first position above or at said attachment device (125) to a second position below said attachment device (125).

4. The system (10) according to claim 3, wherein two or more third detection means (350) are used for creating 360-degree all-round vision.

5. The system (10) according to any one of the preceding claims, wherein said delimbing and cutting tool (115) is configured to delimb the tree by gravity.

6. The system (10) according to any one of the preceding claims, wherein delimbing means (518a, 518b) provided on said delimbing and cutting tool (115) is at least one of the group of: a knife, a chain saw or a saw blade.

7. The system (10) according to any one of the preceding claims, wherein said cord (156) is at least one of a group of: steel wire, steel band or artificial fibre thread.

8. A method for remotely and / or autonomously harvesting a standing tree from air by means of a remotely and / or autonomously controlled harvesting tool attached underneath a remotely and / or autonomously controlled unmanned aerial vehicle, UAV, said method comprising the steps of: detecting a tree to be harvested by at least one first detection means (550) having a field of view in at least a downward direction provided on said UAV; switching the detection of the tree to be harvested from said at least one first detection means (550) attached to said UAV (100) to a second detection means (750) attached to said harvesting tool (110) having a field of view in at least a downward direction when said harvesting tool (110) and / or said UAV (100) is closer than a predetermined distance to said tree to be harvested.

9. The method according to claim 8, further comprising the step of: detecting trees in the vicinity of the tree to be harvested during delimbing and / or cutting with at least one third detection means (350) having a field of view at least in a horizontal direction provided on a delimbing and cutting tool (115).

10. The method according to claim 8 or 9, further comprising the steps of: securing at least a portion of said harvesting tool (110) to said cut and delimbed tree; transporting said cut tree away from its original location.

11. A harvesting tool (110) configured for hanging under an Unmanned Aerial Vehicle (100), UAV, wherein said UAV (100) comprising at least one first detection means (550) for detecting a tree to be harvested and configured for harvesting a standing tree from air, said harvesting tool (110) comprising: an attachment device (125) configured to be mechanically adjustable between an unfolded position for receiving a top of a tree (135) and a folding position for grasping and / or holding a top of a tree, a delimbing and cutting tool (115) configured for delimbing a tree (135) and configured for cutting a tree (135), at least one cord (156) attached between said UAV (100) and said delimbing and cutting tool (115) or attached between said attachment device (125) and said delimbing and cutting tool (115), a winch system (157), attached to said UAV (100) and / or said delimbing and cutting tool (115) and / or said attachment device (125), configured for spooling in and / or out said at least one cord (156) and thereby decreasing or increasing the distance between said UAV (100) and said delimbing and cutting tool (115), said attachment device (125) further comprising at least a second detection means (750) having a field of view directed at least in a downward direction, wherein the first detection means (550) and the second detection means (750) are configured to switch the detection of the tree to be harvested from the at least one first detection means (550) attached to said UAV (100) to the second detection means (750) attached to said harvesting tool (115) when said harvesting tool (115) and / or said UAV (100) is closer than a predetermined distance to said tree to be harvested.

12. The harvesting tool (110) according to claim 11, wherein said delimbing and cutting tool (115) comprises at least a third detection means (350) having a field of view at least in a horizontal direction, wherein said delimbing and cutting tool (115) is configured to slide on an outside of said attachment device (125) from at least a first position above or at said attachment device (125) to at least a second position below said attachment device (125).

13. The harvesting tool (110) according to claim 11 or 12, wherein said second detection means (750) on said attachment device (125) is provided on a fixed position relative to the UAV (100).

14. The harvesting tool (110) according to any one of claim 11-13, wherein said delimbing and cutting tool (115) is configured to delimb the tree by gravity.

15. A computer program comprising program code means for performing a method according to any one of claim 8-10.

16. The method according to any one of claim 8-10, wherein one or more of the recited steps are implemented via at least one control unit containing one or more computer processors.

17. A computer-implemented method for remotely and / or autonomously harvesting a standing tree from air, said method comprising the steps of: detecting a tree to be harvested by at least one first detection means (550) provided on said UAV; switching the detection of the tree to be harvested from said at least one first detection means (550) attached to said UAV (100) to a second detection means (750) attached to said harvesting tool (115) when said harvesting tool (115) and / or said UAV (100) is closer than a predetermined distance to said tree to be harvested.

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