IP Library › Granted Patent US 12,490,691

Granted Patent B2

US 12,490,691 · App. 17/921,247 · Granted Dec 9, 2025

Method and system for remote or autonomous cutting a ligno trunk

Inventors: Markus Romar (Uppsala, SE); Olle Gelin (Alunda, SE); Mauritz Andersson (Uppsala, SE)

Assignee: AIRFORESTRY AB

A01G23/083 A01G23/003 A01G23/08 A01G23/095 B64D1/22 B64U20/80 B64U30/20 B64U10/16 B64U2101/30 B64U2101/40 B64U2101/60 B64U2201/10 B64U2201/104 B64U2201/20

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Quick Facts

Patent No.: US 12,490,691
App. No.: 17/921,247
Granted: Dec 9, 2025
Kind: B2

External Links

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Abstract

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

Claims (81)

1 . A system ( 10 ) for remote or autonomous cutting at least a portion of a tree trunk, said system ( 10 ) comprising:

at least one remotely or autonomously controlled Unmanned Aerial Vehicle ( 100 ), UAV,

at least one means for cutting at least a portion of a tree trunk attachable to or integrated with said at least one UAV,

at least one means for detecting at least a portion of a tree,

at least one means for detecting at least one tree parameter of at least a portion of a tree or at least one growing condition of at least a portion of a tree,

at least one base station ( 120 ) for communication with said at least one UAV,

at least one means configured for directing said at least one means for cutting at least a portion of a tree trunk through a selected cutting position or a certain point in time or with a certain speed through said tree trunk depending on the at least one detected tree parameter or the at least one detected growing condition of at least a portion of a tree,

wherein:

said at least one means for cutting is configured for transporting by said at least one UAV at least once to at least a portion of a tree trunk to be cut by said at least one means for cutting or is configured for transporting by said at least one UAV at least once away from a cut at least a portion of a tree trunk by said at least one means for cutting or is configured for attaching to said at least one UAV at least once during a cut of at least a portion of a tree trunk by said at least one means for cutting,

said cut is at least one selected cutting position,

said at least one means for cutting at least a portion of a tree trunk is providing at least one cut on said tree trunk for directly or indirectly separating a first portion of at least a portion of a tree trunk from a second portion of a tree trunk, at least said first portion of a tree trunk being configured to fall in a predetermined direction due to at least said at least one cut,

said cutting position is selected for minimizing a time for indirectly or directly separating a first portion of a tree trunk from a second portion for one or a plurality of trees or for minimizing the time for transporting said at least one means for cutting to or from at least a plurality of trees to be cut, and

said means for cutting is configured to cut said selected cutting position at a certain point in time depending on tree parameter(s) or growing conditions.

2 . The system according to claim 1 , wherein said tree trunk is configured due to said at least one cut to fall a certain point in time.

3 . The system according to claim 1 , wherein said at least one UAV is configured to force said first portion of said tree trunk to fall in said predetermined direction.

4 . The system according to claim 1 , wherein said means for cutting or said means for detecting at least a portion of a tree or at least one means for detecting at least one tree parameter of at least a portion of a tree or at least one growing condition of at least a portion of a tree or at least one means configured for selecting at least one cutting position is remotely or autonomously controlled.

5 . The system according to claim 1 , wherein said means for cutting is transported by said UAV to a predetermined distance from a tree trunk to be cut.

6 . The system according to claim 1 , wherein said means for cutting is transported by said UAV into contact with a tree trunk to be cut.

7 . The system according to claim 1 , wherein said means for cutting is transported by said UAV away from an attached position of a tree trunk.

8 . The system according to claim 1 , wherein said means for cutting is transported by said UAV away from a cut tree trunk, wherein said cut tree trunk is provided within a predetermined distance from said means for cutting.

9 . The system according to claim 1 , wherein said system further comprising at least one means for autonomously or remotely controlled debarking or delimbing at least a portion of a tree trunk.

10 . The system according to claim 1 , wherein said means for detecting at least a portion of a tree is detecting at least a portion of a tree trunk before, during or after transportation or before, during or after harvesting.

11 . The system according to claim 1 , further comprising at least one means for holding ( 105 ) directly or indirectly onto at least a portion of a tree trunk attachable to or integrated with said UAV.

12 . The system according to claim 11 , wherein said at least one means for holding ( 105 ) directly or indirectly onto at least a portion of a tree trunk is autonomously or remotely controlled.

13 . The system according to claim 1 , further comprising means configured for determining a certain point in time said at least a portion of a tree trunk should be harvested, transported, debarked, held, delimbed or cut.

14 . The system according to claim 1 , wherein said means for detecting said at least one tree parameter or at least one growing condition comprising a camera or using a database with digital information about said at least a portion of a tree or a tree within a predetermined distance from said at least a portion of a tree.

15 . The system according to claim 1 , wherein said UAV and said means configured for harvesting at least a portion of the tree is communicating with each other via one or more of Wifi, Bluetooth, radio communication, optical fibre or electrical wire.

16 . The system according to claim 1 , further comprising means configured for automatically locating a tree in a predetermined area or at a final destination or locating a final destination.

17 . The system according to claim 16 , wherein said means configured for automatically locating a tree in a predetermined area or a final destination comprising at least a Global Navigation Satellite System, GNSS or a digital transmitter configured for attaching to a tree and to communicate with the UAV.

18 . The system according to claim 1 , further comprising a synchronization unit for synchronizing the movement of at least two UAV for transportation or harvesting or cutting or holding or debarking or delimbing of said at least a portion of a tree.

19 . The system according to claim 1 , further comprising means for determining the number of UAV used together for transporting or harvesting or cutting or holding or debarking or delimbing depending on said at least one tree parameter or the distance between an original location of said at least a portion of a tree to and said final destination.

20 . The system according to claim 1 , further comprising means configured for directing said at least one remotely or autonomously controlled UAV with at least a portion of a tree trunk to a final destination a certain point in time where said final destination or said certain point in time is depending on at least one detected tree parameter or at least one detected growing condition of said transported portion of a tree or of a remaining portion of a tree or of at least one tree grown within a predetermined distance from said transported portion of a tree or at least one portion of a tree at said final destination.

21 . The system according to claim 1 , further comprising means configured for selecting at least a portion of a tree trunk for harvesting or transporting depending on at least one detected tree parameter or at least one detected growing condition of said harvested or transported portion of a tree trunk or of a remaining portion of a tree trunk or of at least one tree grown within a predetermined distance from said transported or harvested portion of a tree trunk.

22 . The system according to claim 1 , further comprising means configured for directing means for holding onto at least a portion of a tree trunk, wherein said holding of said tree trunk is directly or indirectly, to a particular position of said tree trunk depending on said at least one detected tree parameter or said at least one detected growing condition.

23 . The system according to claim 1 , further comprising:

a first means for cutting for providing a first cut at a first cutting position,

a second means for cutting for providing a second cut at a second cutting position, wherein a first portion of a tree trunk is configured to be removed from a second portion of a tree trunk by said first or second cut.

24 . The system according to claim 23 , wherein said first and second cut are provided simultaneously or at different points in time.

25 . The system according to claim 23 , wherein said first or second cut are partial cuts.

26 . The system according to claim 25 , wherein said first and said second partial cut are configured to jointly separating a tree trunk at a single position.

27 . The system according to claim 25 , wherein said first partial cut and said second partial cut are configured together with an external force to jointly separating a tree trunk at a single position.

28 . The system according to claim 1 , wherein said means for cutting is configured to move by itself on ground or move by itself up or down on a tree trunk.

29 . The system according to claim 1 , wherein said means for cutting is configured to move directly from one tree to another tree.

30 . A method for remotely or autonomously cutting at least a portion of a tree trunk, said method comprising the steps of:

controlling remotely or autonomously at least one Unmanned Aerial Vehicle, UAV, operating remotely or autonomously at least one means for cutting at least a portion of a tree trunk, detecting at least a portion of a tree of which the trunk is to be cut, detecting at least one tree parameter of said at least a portion of a tree or at least one growing condition of said at least a portion of a tree or detecting at least one tree parameter or at least one growing condition of at least one tree grown within a predetermined distance from said at least a portion of a tree,

directing said at least one means for cutting at least a portion of a tree trunk through a selected cutting position or a certain point in time or with a certain speed through said tree trunk depending on at least one detected tree parameter or at least one detected growing condition of said cut portion of a tree trunk or of a remaining portion of a tree trunk or of at least one tree grown within a predetermined distance from said cut portion of a tree or tree to be cut by said means for cutting,

transporting said means for cutting by said at last one UAV to said at least a portion of a tree trunk to be cut or away from said cut at least a portion of a tree trunk or attaching said means for cutting to said at least one UAV at least once during a cut of said at least a portion of a tree trunk, wherein said cut is one of said selected cutting positions, and

providing by said at least one means for cutting at least a portion of a tree trunk at least one cut on said tree trunk for separating a first portion of a tree trunk from a second portion of a tree trunk, at least said first portion of a tree trunk is configured to fall in a predetermined direction due to at least said at least one cut,

wherein:

said means for cutting is configured to cut said selected cutting position depending on tree parameter(s) or growing conditions,

said first portion of said tree trunk is configured due to said at least one cut to fall at a certain point in time, and

said means for cutting are configured to cut said selected cutting position a certain point in time depending on tree parameter(s) or growing conditions.

31 . The method according to claim 30 , wherein said means for cutting is remotely or autonomously controlled.

32 . The method according to claim 30 , wherein said at least one means for cutting said at least a portion of a tree trunk is attachable to or integrated with said UAV.

33 . The method according to claim 30 , further comprising at least one means for holding ( 105 ) directly or indirectly onto at least a portion of a tree trunk attachable to or integrated with said UAV.

34 . The method according to claim 33 , wherein said at least one means for holding ( 105 ) directly or indirectly onto at least a portion of a tree trunk is autonomously or remotely controlled.

35 . The method according to claim 30 , further comprising the step of determining a certain point in time when said at least a portion of a tree should be harvested, transported, cut, delimbed, or debarked.

36 . The method according to claim 30 , further comprising the step of determining the number of UAV used together for transporting or harvesting said at least a portion of a tree trunk depending on said at least one detected tree parameter or said at least one detected growing condition or a distance between an original position of said at least a portion of a tree and a final destination.

37 . The method according to claim 30 , further comprising the step of setting up a communication link between said UAV and said means configured for cutting said at least a portion of a tree trunk via one or more of WiFi, Bluetooth, radio communication, telecommunication, optical fibre or electrical wire.

38 . The method according to claim 30 , further comprising the step of identifying a first predetermined area within which a tree trunk is to be cut by means of a GNSS-system by means of at least one of a camera or at least one optical sensor.

39 . The method according to claim 30 , further comprising the step of synchronizing a movement of at least two UAV for transportation of said at least a portion of a tree trunk away from the original location of the tree to the final destination.

40 . The method according to claim 30 , wherein the detection of said at least one tree parameter or said at least one growing condition is performed by means of a camera or using a database with digital information of tree in a predetermined area or a tree at a final destination.

41 . The method according to claim 30 , further comprising the step of transporting said at least a portion of a tree trunk, by said at least one UAV, away from the original location of said at least a portion of a tree trunk to a final destination a certain point in time, where said final destination or said certain point in time is depending on said at least one detected tree parameter or said at least one detected growing condition of said at least a portion of a tree trunk or of a remaining portion of a tree trunk or of at least one tree grown within a predetermined distance from said at least a portion of a tree trunk or at least one tree trunk at a final destination.

42 . The method according to claim 30 , wherein a holding position of said at least a portion of a tree trunk is depending on at least one tree parameter of said at least a portion of a tree trunk or at least one growing condition of said at least a portion of a tree trunk or detecting at least one tree parameter or at least one growing condition of at least one tree grown within a predetermined distance from said at least a portion of a tree trunk or detecting at least one tree parameter and/or at least a growing condition of a another portion of a tree from which said tree trunk originates or at least one tree trunk at a final destination.

43 . The method according to claim 30 , further comprising the step of selecting said at least a portion of a tree for harvesting or transporting depending on at least one detected tree parameter or at least one detected growing condition of said harvested or transported portion of a tree or of a remaining portion of a tree or of at least one tree grown within a predetermined distance from said transported or harvested portion of a tree.

44 . The method according to claim 30 , further comprising the steps of:

providing a first cut at a first cutting position with a first means for cutting,

providing a second cut at a second cutting position with a second means for cutting,

removing a first portion of a tree trunk from a second portion of a tree trunk at said first or second cut.

45 . The method according to claim 44 , wherein said first and second cut are provided simultaneously or at different point in time.

46 . The method according to claim 44 , wherein said first or second cut are partial cuts.

47 . The method according to claim 44 , wherein said first and said second partial cut are jointly dividing a tree trunk at a single position.

48 . The method according to claim 44 , wherein said first partial cut and said second partial cut together with an external force jointly dividing a tree trunk at a single position.

49 . The method according to claim 44 , wherein said means for cutting is transported by said at last one UAV to a predetermined distance from said tree trunk to be cut.

50 . The method according to claim 44 , wherein said means for cutting is transported by said at last one UAV into contact with said tree trunk to be cut.

51 . The method according to claim 44 , wherein said means for cutting is transported by said at last one UAV away from a cut tree trunk, where said cut tree trunks is provided within a predetermined distance from said means for cutting.

52 . The method according to claim 44 , wherein said cutting position is selected for minimizing a time for separating a first portion of a tree trunk from a second portion for one or a plurality of trees or for minimizing the time for transporting said at least one means for cutting to or from at least a plurality of trees to be cut.

53 . The system according to claim 44 , wherein said UAV is configured to force said first portion of said tree trunk to fall in said predetermined direction.

54 . An Unmanned Aerial Vehicle, UAV, configured to be used in a system according to claim 1 .

55 . The UAV according to claim 54 , further comprising a synchronization unit for synchronizing the movement of at least two UAV.

56 . A means configured for transporting or harvesting at least a portion of a tree trunk configured to be used in a system according to claim 1 .

Assignments (1)

ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Oct 25, 2022

From: ROMAR, MARKUS; GELIN, OLLE; ANDERSSON, MAURITZ

To: AIRFORESTRY AB

Reel/Frame 061530/0019 →

Priority Claims (6)

SE 2050611-9 · May 27, 2020 · national

SE 2051335-4 · Nov 16, 2020 · national

SE 2051336-2 · Nov 16, 2020 · national

WO PCT/EP2021/063840 · May 25, 2021 · international

WO PCT/EP2021/063844 · May 25, 2021 · international

WO PCT/EP2021/063845 · May 25, 2021 · international

Continuity (1)

Related Publication 20230157225A1 · May 25, 2023

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