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1. 发明申请

WO2021239920A1 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS CUTTING A LIGNO TRUNK 审中-公开
公开(公告)号：WO2021239920A1
公开(公告)日：2021-12-02
申请号：PCT/EP2021/064295
申请日：2021-05-27
申请人： AIRFORESTRY AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/08 , B64C39/00 , B64C39/02
摘要： 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.

2. 发明申请

WO2023085998A1 A PAYLOAD AND A UAV CARRYING SAID PAYLOAD, A HARVESTING TOOL AND A METHOD 审中-公开
公开(公告)号：WO2023085998A1
公开(公告)日：2023-05-19
申请号：PCT/SE2022/051042
申请日：2022-11-09
申请人： AIRFORESTRY AB
发明人： GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： B64D1/00 , A01G23/091 , A01G23/095 , B64C39/02 , B64D1/22
摘要： 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.

3. 发明申请

WO2022100895A1 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS TREE HARVESTING AND/OR TRANSPORTATION 审中-公开
公开(公告)号：WO2022100895A1
公开(公告)日：2022-05-19
申请号：PCT/EP2021/063845
申请日：2021-05-25
申请人： AIRFORESTRY AB
发明人： GELIN, Olle , ANDERSSON, Mauritz , ROMAR, Markus
IPC分类号： A01G23/02
摘要： The present invention relates to a system (10) for remote and/ or autonomous selecting a tree to be harvested and/or to be transported, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) and /or harvesting said at least a portion of a tree trunk, means for detecting a tree trunk to be transported and/or harvested, means for detecting at least one of the group of tree parameters: diameter of a tree trunk, length of tree trunk, tree species of said tree and/or weight of said tree trunk, a base station (120) for communication with said means configured for holding (105) and/or harvesting said tree trunk and said UAV (100), and means configured for selecting at least a portion of a tree to be harvested and/or transported depending on at least one of said detected tree parameters.

4. 发明申请

WO2022100894A1 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS TREE TRANSPORTATION 审中-公开
公开(公告)号：WO2022100894A1
公开(公告)日：2022-05-19
申请号：PCT/EP2021/063844
申请日：2021-05-25
申请人： AIRFORESTRY AB
发明人： GELIN, Olle , ANDERSSON, Mauritz , ROMAR, Markus
IPC分类号： A01G23/02
摘要： 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, UAV, comprising, at least one means for holding (105) at least a portion of a tree trunk, said system comprising at least one means for detecting at least a portion of a tree trunk to be transported, and means for detecting at least one of the group of tree trunk parameters: diameter of a tree trunk, length of a tree trunk, tree species and/or the weight of a tree trunk, a base station (120) for communication with said means configured for transporting at least a portion of a tree trunk and/or said UAV and means configured for directing said remotely and/autonomously UAV with said at least a portion of a tree trunk to a final destination where said final destination is depending on said detected tree trunk parameters.

5. 发明申请

WO2021239924A2 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS CUTTING A TREE TRUNK 审中-公开
公开(公告)号：WO2021239924A2
公开(公告)日：2021-12-02
申请号：PCT/EP2021/064300
申请日：2021-05-27
申请人： AIRFORESTRY AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/02 , A01G23/08 , B64C39/00 , B64C39/02 , B64C2201/027 , B64C2201/108 , B64C2201/127 , B64C2201/128 , B64C2201/141 , B64C2201/146 , B64C39/024 , B64D1/22
摘要： 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).

6. 发明申请

WO2021239922A1 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS LIGNO HARVESTING AND/OR TRANSPORTATION 审中-公开
公开(公告)号：WO2021239922A1
公开(公告)日：2021-12-02
申请号：PCT/EP2021/064298
申请日：2021-05-27
申请人： AIRFORESTRY AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/02
摘要： The present invention relates to a system (10) for remote and/or autonomous selecting a tree to be harvested and/or to be transported, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) and /or harvesting said at least a portion of a tree, means for detecting said a tree to be transported and/or harvested, means for detecting at least one of the group of tree parameters: diameter of said tree, length of said tree, tree species of said tree and/or the weight of said tree, a base station (120) for communication with said means configured for holding (105) and/or harvesting said tree and said UAV (100), and means configured for selecting at least a portion of a tree to be harvested and/or transported depending on at least one of said detected tree parameters.

7. 发明公开

EP4156904A1 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS TREE HARVESTING 审中-公开
公开(公告)号：EP4156904A1
公开(公告)日：2023-04-05
申请号：EP21730163.9
申请日：2021-05-27
申请人： AirForestry AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/02

8. 发明公开

EP4156903A2 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS TREE TRANSPORTATION 审中-公开
公开(公告)号：EP4156903A2
公开(公告)日：2023-04-05
申请号：EP21730162.1
申请日：2021-05-27
申请人： AirForestry AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/02

9. 发明申请

WO2021239926A1 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS TREE HARVESTING 审中-公开
公开(公告)号：WO2021239926A1
公开(公告)日：2021-12-02
申请号：PCT/EP2021/064302
申请日：2021-05-27
申请人： AIRFORESTRY AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/02
摘要： 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.

10. 发明申请

WO2021239925A2 METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS TREE TRANSPORTATION 审中-公开
公开(公告)号：WO2021239925A2
公开(公告)日：2021-12-02
申请号：PCT/EP2021/064301
申请日：2021-05-27
申请人： AIRFORESTRY AB
发明人： ROMAR, Markus , GELIN, Olle , ANDERSSON, Mauritz
IPC分类号： A01G23/02 , A01G23/003 , A01G23/083 , A01G23/095
摘要： 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.

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