Method and system for remote or autonomous tree harvesting
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.
1. A system ( 10 ) for remote and/or autonomous harvesting at least a portion of a tree trunk, said system ( 10 ) comprising:
a remotely and/or autonomously controlled means ( 110 ) configured for harvesting said at least a portion of a tree trunk,
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 trunk and being configured for transporting said harvested portion of said tree trunk away from the original location of the tree,
at least one means for detecting said tree to be harvested, and
a base station ( 120 ) for communication with said means configured for harvesting said at least a portion of a tree trunk and/or said UAV.
2. The system according to claim 1 , wherein said means configured for harvesting at least a portion of the tree trunk is configured for moving up and down along the trunk of the tree.
3. The system according to claim 1 , wherein said means configured for harvesting at least a portion of the tree trunk is also configured for moving on ground.
4. The system according to claim 1 , wherein said UAV and said means configured for harvesting at least a portion of the tree trunk is communicating with each other via one or more of Wifi, Bluetooth, radio communication, optical fibre and/or electrical wire.
5. The system according to claim 1 , wherein said means configured for harvesting at least a portion of the tree trunk is connectable to an underside of said UAV.
6. The system according to claim 1 , wherein said means configured for harvesting at least a portion of the tree trunk is transported on ground to the tree to be harvested.
7. The system according to claim 1 , wherein said UAV comprises a power unit for powering said UAV and said means configured for harvesting at a portion of said tree trunk.
8. The system according to claim 7 , wherein the power from said power unit in said UAV is delivered to said means configured for harvesting at least a portion of said tree trunk via at least one power cable.
9. The system according to claim 1 , wherein said UAV comprising a first power unit for powering said UAV and said means configured for harvesting at least a portion of the tree trunk comprising a second power unit for powering said means configured for harvesting at least a portion of the tree trunk.
10. The system according to claim 1 , wherein said means configured for harvesting at least a portion of the tree trunk is also configured for delimbing at least a portion of said tree.
11. The system according to claim 1 , wherein said means configured for harvesting at least a portion of the tree trunk is configured to be in direct communication with a remote operator and/or a remote base station ( 120 ) or indirect communication via said UAV with a remote operator and/or a base station ( 120 ).
12. The system according to claim 1 , further comprising means configured for automatically locating a tree in a predetermined area to be harvested.
13. The system according to claim 12 , wherein said means configured for automatically locating a tree in a predetermined area to be harvested comprising at least a Global Navigation Satellite System, GNSS or a digital transmitter configured to be attached to a tree and to communicate with the UAV.
14. The system according to claim 1 , further comprising a synchronization unit for synchronizing the movement of at least two UAV for transportation of at least a portion of a harvested tree.
15. An Unmanned Aerial Vehicle, UAV, configured to be used in a system according to claim 1 .
16. The UAV according to claim 15 , further comprising a synchronization unit for synchronizing the movement of at least two UAV.
17. A means configured for harvesting at least a portion of a tree trunk configured to be used in a system according to claim 1 .
18. A method for remotely and/or autonomously harvesting a portion of a tree trunk, said method comprising the steps of:
remotely and/or autonomously controlling a means configured for harvesting at least a portion of a tree trunk,
a remotely and/or autonomously controlling Unmanned Aerial Vehicle, UAV,
identifying a tree to be harvested,
remotely and/or autonomously operating said means configured for harvesting said at least a portion of said tree trunk,
remotely and/or autonomously operating at least one means for holding said at least a portion of said tree, where said at least one means for holding said at least a portion of said tree is attached to said UAV, and
transporting said harvested at least a portion of said tree trunk, by said UAV, away from the original location of the tree.
19. The method according to claim 18 , further comprising the step of:
moving said means configured for harvesting said at least a portion of said tree trunk up and/or down along the trunk of said tree.
20. The method according to claim 18 , further comprising the step of:
moving said means configured for harvesting said at least a portion of said tree trunk on ground in a direction to and/or from said tree to be harvested.
21. The method according to claim 18 , further comprising the step of:
powering said means configured for harvesting said at least a portion of said tree trunk from a power unit arranged in said UAV.
22. The method according to claim 18 , further comprising the step of:
powering said means configured for harvesting said at least a portion of said tree trunk from a power unit arranged in said means configured for harvesting said at least a portion of said tree trunk.
23. The method according to claim 18 , further comprising the step of:
setting up a communication link between said UAV and said means for harvesting said at least a portion of said tree trunk via one or more of WiFi, Bluetooth, radio communication, tele communication, optical fibre and/or electrical wire.
24. The method according to claim 18 , further comprising the step of:
delimbing at least a portion of said tree trunk to be harvested with said means for harvesting said at least a portion of said tree trunk.
25. The method according to claim 18 , further comprising the step of:
separating said UAV from said means configured for harvesting said at least a portion of said tree trunk or reconnecting said UAV to said means configured for harvesting at least a portion of said tree trunk.
26. The method according to claim 18 , further comprising the step of:
carrying said at least a portion of said tree trunk away from the original location of the tree by said UAV while said means configured for harvesting at least a portion of said tree trunk is attached to said portion of said tree trunk being carried.
27. The method according to claim 18 , further comprising the step of:
carrying said at least a portion of said tree trunk away from the original location of the tree by said UAV while said means configured for harvesting at least a portion of said tree trunk is secured to the tree yet to be harvested.
28. The method according to claim 18 , further comprising the step of:
setting up a direct remote communication between at least one operator and said means configured for harvesting said at least a portion of the tree trunk or an indirect remote communication via said UAV with said at least one operator and said means configured for harvesting said at least a portion of the tree trunk.
29. The method according to claim 18 , further comprising the step of:
setting up a direct autonomous communication between at least one base station and said means configured for harvesting at least a portion of the tree trunk or an indirect autonomous communication via said UAV with said at least one base station and said means configured for harvesting said at least a portion of the tree trunk.
30. The method according to claim 18 , further comprising the steps of:
identifying a first predetermined area within which a tree is to be harvested and/or a tree to be harvested by means of a GNSS-system by means of at least one of a camera and/or at least one optical sensor.
31. The method according to claim 18 , further comprising the step of:
synchronizing a movement of at least two UAV for transportation of at least a portion of a harvested tree trunk away from the original location of the tree.