公开(公告)号：US20230166875A1

公开(公告)日：2023-06-01

申请号：US17920895

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： Markus ROMAR ,  Olle GELIN ,  Mauritz ANDERSSON

IPC: B64U10/16 ,  A01G23/00 ,  A01G23/083 ,  A01G23/095

CPC classification number: B64U10/16 ,  A01G23/003 ,  A01G23/083 ,  A01G23/095 ,  B64U2101/40

Abstract: The invention relates to a system for remote and/or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and/or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and/or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and/or said at least one detected growing condition.

公开(公告)号：US12195212B2

公开(公告)日：2025-01-14

申请号：US18177463

申请日：2023-03-02

Applicant: AirForestry AB

Inventor： Johan Nordkvist

IPC: B64U20/87 ,  A01G23/095 ,  B64U101/40 ,  B66C13/06

Abstract: The present invention relates to an unmanned aerial tree harvesting system comprising a remotely and/or autonomously controlled UAV, an autonomously and/or remotely controlled tree harvesting tool configured for holding and/or delimbing and/or cutting at least a portion of a tree trunk attached underneath the UAV via at least one cord, a means configured for detecting rotational motion and/or pendulum motion of the tree harvesting tool, means attached to the UAV configured for detecting trees from above, at least one remotely and/or autonomously controlled forcing means, attached to the tree harvesting tool, configured for at least damping detected pendulum motion of the tree harvesting tool.

公开(公告)号：US20230165199A1

公开(公告)日：2023-06-01

申请号：US17921232

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： Markus ROMAR ,  Olle GELIN ,  Mauritz ANDERSSON

IPC: A01G23/08 ,  B64U30/20

CPC classification number: A01G23/08 ,  B64U30/20 ,  B64U2101/40

Abstract: The present invention relates to a system for remote and/or autonomous cutting at least a portion of a harvested tree trunk, at least a portion of a tree trunk to be harvested, at least a portion of a tree trunk during harvesting or at least a portion of a tree trunk during transporting, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, means (116) for cutting at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree (135), means for detecting at least one tree parameter of at least a portion of a tree (135) and/or at least one growing condition of at least a portion of a tree (tree), a base station (120) for communication with said UAV (100), and means configured for selecting at least one cutting position on at least a portion of a tree trunk depending on the at least one detected tree parameter and/or the at least one detected growing condition of at least a portion of a tree (135).

公开(公告)号：US20250143236A1

公开(公告)日：2025-05-08

申请号：US18834148

申请日：2023-01-31

Applicant: AIRFORESTRY AB

Inventor： Mauritz ANDERSSON ,  Olle GELIN

IPC: A01G23/083 ,  B64D1/22 ,  B64U10/16 ,  B64U20/80 ,  B64U101/40 ,  B64U101/67

Abstract: The present invention relates to a method for remotely and/or autonomously harvesting a tree from air. The method comprises detecting by at least one sensor on a UAV (100) a tree to be harvested, positioning a harvesting tool (105) comprising delimbing means (114) carried by the UAV (100), by using information from the at least one sensor, at a predetermined distance above a canopy of the tree to be harvested, releasing the harvesting tool (105) in a first mode from the UAV (100) from the predetermined distance above the canopy of the tree to be harvested, setting the harvesting tool (105) in a second mode when the harvesting tool (105) has the tree top (131) within its tree receiving area (177). At least a portion of the harvesting tool (105) is below the tree top (131) of the tree to be harvested while the harvesting tool (105) has a certain speed >0 in a downward direction. The first and second mode differ with respect to the tree receiving area (177) of the delimbing means (114) in the harvesting tool (105). The tree receiving area (177) refers to the area in between open and closed delimbing means (114).

公开(公告)号：US20230278732A1

公开(公告)日：2023-09-07

申请号：US18177463

申请日：2023-03-02

Applicant: AirForestry AB

Inventor： Johan Nordkvist

IPC: B64U20/87 ,  A01G23/095

CPC classification number: B64U20/87 ,  A01G23/0955 ,  B64U2101/40

Abstract: The present invention relates to an unmanned aerial tree harvesting system comprising a remotely and/or autonomously controlled UAV, an autonomously and/or remotely controlled tree harvesting tool configured for holding and/or delimbing and/or cutting at least a portion of a tree trunk attached underneath the UAV via at least one cord, a means configured for detecting rotational motion and/or pendulum motion of the tree harvesting tool, means attached to the UAV configured for detecting trees from above, at least one remotely and/or autonomously controlled forcing means, attached to the tree harvesting tool, configured for at least damping detected pendulum motion of the tree harvesting tool.

公开(公告)号：US20230200312A1

公开(公告)日：2023-06-29

申请号：US17921529

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： Markus ROMAR ,  Olle GELIN ,  Mauritz ANDERSSON

IPC: A01G23/083 ,  A01G23/00 ,  B64U10/16 ,  B64D1/22

CPC classification number: A01G23/083 ,  A01G23/003 ,  B64D1/22 ,  B64U10/16 ,  B64U2101/40

Abstract: The invention relates to a system (10) for remote and/or autonomous harvesting at least a portion of a tree, said system (10) comprising: a remotely and/or autonomously controlled means (110) configured for harvesting said at least a portion of a tree, a remotely and/ or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) said harvested portion of said tree and being configured for transporting said harvested portion of said tree away from the original location of the tree, wherein said system comprising at least one means for detecting said tree to be harvested, and a base station (120) for communication with said means configured for harvesting at least a portion of a tree and/or said UAV. The invention also relates to a method for remotely and/or autonomously harvesting a tree.

公开(公告)号：US12284949B2

公开(公告)日：2025-04-29

申请号：US17921529

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： Markus Romar ,  Olle Gelin ,  Mauritz Andersson

IPC: A01G23/083 ,  A01G23/00 ,  B64C39/02 ,  B64D1/22 ,  B64U10/16 ,  B64U101/40

Abstract: The invention relates to a system (10) for remote and/or autonomous harvesting at least a portion of a tree, said system (10) comprising: a remotely and/or autonomously controlled means (110) configured for harvesting said at least a portion of a tree, a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) said harvested portion of said tree and being configured for transporting said harvested portion of said tree away from the original location of the tree, wherein said system comprising at least one means for detecting said tree to be harvested, and a base station (120) for communication with said means configured for harvesting at least a portion of a tree and/or said UAV. The invention also relates to a method for remotely and/or autonomously harvesting a tree.

公开(公告)号：US20240415078A1

公开(公告)日：2024-12-19

申请号：US18705041

申请日：2022-11-09

Applicant: AIRFORESTRY AB

Inventor： Olle GELIN ,  Mauritz ANDERSSON

IPC: A01G23/083 ,  B64D1/22 ,  B64U10/13 ,  B64U101/40

Abstract: A device (4200) for an Unmanned Aerial Vehicle, UAV (100), said device (4200) comprising a first pivot point (4212) and a second pivot point (4214) being spaced apart from each other, said first pivot point (4212) is connectable a UAV (100) and said second pivot point (4214) is connectable the UAV (100), said device (4200) is configured to be tilted/rotated around said first pivot point (4212) by adjusting a length of a second cord (4204) and/or tilted/rotated around said second pivot point (4214) by adjusting a length of a first cord (4202), wherein said device (4200) has a first winch motor (4292) and a second winch motor (4294), said first and second winch motors (4292, 4294) are configured for adjusting the length of said first and second cords (4202, 4204) respectively. Also provided is a harvesting tool (105, 110) comprising a base structure (650), said base structure having attached to it at least one cutting means for delimbing a tree (114a, 114b), at least one means for communicating with a UAV and/or a remote base station, at least one cutting means for cutting a tree trunk (116), at least one attaching means to be attachable to the UAV (660), at least one holding means for holding a tree trunk (105,107a, 107b, 114a, 114b). Also provided is a method for controlling the relative rotation between a UAV and a device, where the device is attached to said UAV via at least two cords, said method comprising the steps of: a. determining a reference rotational position of said device relative to said UAV, b. detecting an angular rotation R in a horizontal plane of said device relative to said reference position, c. compensating said angular rotation in said horizontal plane of said device by rotating said UAV in said horizontal plane in the same direction and by the same angular rotation R as said device for prohibiting twisting of said cords.

公开(公告)号：US11993407B2

公开(公告)日：2024-05-28

申请号：US17920184

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： Markus Romar ,  Olle Gelin ,  Mauritz Andersson

IPC: A01G23/00 ,  A01G23/083 ,  A01G23/095 ,  B64U10/16 ,  B64U101/40

CPC classification number: B64U10/16 ,  A01G23/003 ,  A01G23/083 ,  A01G23/095 ,  B64U2101/40

Abstract: The invention relates to a system (10) for remote and/or autonomous transporting at least a portion of a tree, said system (10) comprising an unmanned aerial vehicle (100), UAV, comprising, at least one means (105) for holding said at least a portion of a tree, said system comprising at least one means for detecting said at least a portion of a tree to be transported, and means for detecting at least one of the group of tree parameters: diameter of a tree, length of a tree, tree species and/or the weight of a tree, a base station (120) for communication with said means configured for transporting said at least a portion of a tree and/or said UAV (100) and 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 is depending on said detected tree parameters.

公开(公告)号：US20230159190A1

公开(公告)日：2023-05-25

申请号：US17920184

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： Markus ROMAR ,  Olle GELIN ,  Mauritz ANDERSSON

IPC: B64U10/16 ,  A01G23/00 ,  A01G23/083 ,  A01G23/095

CPC classification number: B64U10/16 ,  A01G23/003 ,  A01G23/083 ,  A01G23/095 ,  B64U2101/40

Abstract: The invention relates to a system (10) for remote and/or autonomous transporting at least a portion of a tree, said system (10) comprising an unmanned aerial vehicle (100), UAV, comprising, at least one means (105) for holding said at least a portion of a tree, said system comprising at least one means for detecting said at least a portion of a tree to be transported, and means for detecting at least one of the group of tree parameters: diameter of a tree, length of a tree, tree species and/or the weight of a tree, a base station (120) for communication with said means configured for transporting said at least a portion of a tree and/or said UAV (100) and 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 is depending on said detected tree parameters.