SE2051335A1

SE2051335A1 - Method and system for remote or autonomous ligno transportation

Info

Publication number: SE2051335A1
Application number: SE2051335A
Authority: SE
Inventors: Markus Romar; Mauritz Andersson; Olle Gelin
Original assignee: Airforestry Ab
Priority date: 2020-05-27
Filing date: 2020-11-16
Publication date: 2021-11-28
Also published as: SE544809C2; WO2021239704A1; SE544184C2; SE2050611A1; SE2051336A1; SE544874C2

Abstract

The invention relates to a system (10) for remote and/or autonomous transporting at least a portion of a ligno, said system (10) comprising an UAV, comprising, at least one means for holding (105) said at least a portion of a ligno, said system comprising at least one means for detecting said at least a portion of a ligno to be transported, and means for detecting at least one of the group of ligno parameters: diameter of a ligno, length of a ligno, ligno species and/or the weight of a ligno, a base station (120) for communication with said means configured for transporting said at least a portion of a ligno and/or said UAV and means configured for directing said remotely and/autonomously UAV with said at least a portion of a ligno to a final destination where said final destination is depending on said detected ligno parameters.

Description

METHOD AND SYSTEM FOR REMOTE OR AUTONOMOUS LIGNO TRANSPORTATION Technical field of the lnvention The present invention relates in general to the field of ligno harvesting and in particular tomethods and systems for remote and/or autonomous ligno transportation by means of at least one Unmanned Aerial Vehicle, UAV.

Background of the lnvention Traditional ligno harvesting or ligno falling has long been conducted by persons and equipmentbased on the ground. ln earlier times, from the early twentieth century and going back to theearly 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 demandcaused by the industrial revolution and the subsequent expansion of human life at the time.Depending on the terrain, ligno harvesting process usually begins with experienced ligno fellerscutting down a stand of ligno parameter or by using heavy ground based manned harvestingmachines.

The above-described methods represent a high level of risk, either to the environment or thepeople 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 provide a habitat to insects, birds, lichens, and fungus among other things.

Most importantly, many locations are extremely difficult to reach by land, even with the use ofheavy equipment such as bulldozers, and removal of ligno from such locations is expensive.Sometimes it may be desirable to harvest a single ligno amongst a stand of ligno, so called lignothinning, without disturbing the surrounding ligno. ln US 6,263,932 it is disclosed an aerial ligno harvesting apparatus. A first body of said apparatus issuspended from helicopter and a second body is suspended by cables from the first body. Theapparatus is capable of delimbing and cutting the ligno and thereafter transporting the harvestedligno to another location.

The problem with the ligno harvesting apparatus in US 6,263,932 is that it is very expensive, slow,noisy and complicated to use. Another problem with US 6, 263,932 is that it is rather labor intense and inefficient.

Ob'|ect of the lnvention The present invention aims at obviating the aforementioned problem. A primary object ofthe present invention is to provide an improved system for transportation of ligno.Another object of the present invention is to provide an improved method for transportation of ligno.

Summary of the |nvention According to the invention at least the primary object is attained by means of the systemhaving the features defined in the independent claims.Preferred embodiments of the present invention are further defined in the dependentclaims.According to a first aspect of the present invention it is provided a system 10 for remoteand/or autonomous transporting at least a portion of a ligno, said system 10 comprising:a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV,comprising at least one means for holding (105) at least a portion of a ligno andbeing configured for transporting at least a portion of a ligno away from theoriginal location of said at least a portion of a ligno,means for detecting said at least a portion of a ligno to be transported,means for detecting at least one ligno parameter of at least a portion of a lignoand/or at least one growing condition of at least a portion of a ligno,a base station (120) for communication with said UAV,means configured for directing said remotely and/or autonomously controlledUAV with said at least a portion of a ligno to a final destination a certain point intime where said final destination and/or said certain point in time is dependingon at least one detected ligno parameter and/or at least one detected growingcondition of said transported portion of a ligno and/or of a remaining portion of aligno and/or of at least one ligno grown within a predetermined distance fromsaid transported portion of a ligno.An advantage of this embodiment is that the transportation of at least a portionof a ligno can be made from a remote location.Another advantage of the present invention is that it may have none or at least very littleimpact on the nature.Still another advantage of the present invention is that transportation of at least a portionof a ligno may be faster and more efficient compared to prior art since different kinds of portions of ligno are directed to different locations depending on at least one ligno feature, which means that a sorting is already made prior to arriving at a final destination depending on said at least oneligno feature. This may result in a more efficient transportation chain to a customer.

Yet another advantage is that the present invention provides for an integrated solution forunmanned transportation of at least a portion of a ligno. ln various example embodiments the present invention further comprising a remotelyand/or autonomously means (110) configured for harvesting said at least a portion of a ligno,wherein said system comprising at least one means for detecting a ligno to be harvested.

An advantage of these embodiments is that a desired portion of a ligno, i.e., fulfillingdesired ligno features, may be detected and harvested and later on transported to apredetermined final destination. ln various example embodiments of the present invention said means configured fordirecting said remotely and/autonomously UAV with said at least a portion of a ligno to a finaldestination depending on said detected ligno features is also configured for determining a certainpoint in time said at least a portion of a ligno should be arrived at said final destination.

An advantage of these embodiments is that not only a final destination may be chosendepending on the actual ligno features but also the certain point in time said at least a portion ofa ligno should arrive at said final destination. The certain point in time may be depending on atleast one ligno feature. ln various example embodiments of the present invention said means for detecting said atleast one of the group of said ligno features comprising a camera and/or using a database withdigital information about ligno.

An advantage of these embodiments is that ligno features may be detected on the flyand/or being detected prior to transporting/harvesting and stored digitally together with aposition of the ligno. ln various example embodiments a digital marker may be attached to theligno configured to communicate with the UAV and transmitting information about at least oneligno feature. ln various example embodiments of the present invention said UAV and said meansconfigured for harvesting at least a portion of the ligno is communicating with each other via oneor more of WiFi, Bluetooth, radio communication, optical fibre and/or electrical wire.

An advantage of these embodiments is that the means configured for harvesting the lignoand said UAV can be physically separated from each other.

Another advantage of these embodiments is that said means and said UAV may becontrolled individually independently of each other. Another advantage is that only the harvested portion of ligno may be transported away from the original position of the ligno, i.e., less transportation weight compared to also transporting the means configured for harvesting theligno together with the harvested portion of the ligno. ln various example embodiment of the present invention it may comprise means configuredfor automatically locating a predetermined ligno or a ligno in a predetermined area to beharvested.

An advantage of these embodiments is that the ligno localization may be performed fullyautomatic without the help of an operator. Such means may include one or more of a GNSSand/or a camera and/or optical sensor. Such means may also include machine learning/artificialintelligence in order to recognise a suitable ligno and/or a suitable position of a ligno to attachsaid means configured for cutting the ligno trunk. ln various example embodiments of the present invention it may comprise asynchronization unit for synchronizing the movement of at least two UAV for transportation of atleast a portion of a ligno.

An advantage of these embodiments is that a plurality of UAV may be used in synchronismwith each other for transporting heavy ligno/trunks or portions thereof and that it is moreefficient, less expensive and easier to use. The synchronisation unit may either be arranged in oneof the UAV being a master UAV for the other slave UAV or in a remote-control unit forsynchronising all UAV at a remote distance. ln various example embodiments of the present invention it further comprises means fordetermining the number of UAV to be used together for transporting depending on said at leastone ligno feature and/or the distance between an original location of said at least a portion of aligno to and said final destination.

An advantage of this embodiment in that the load capacity of the UAV may be optimized,i.e., not using overly large UAV and/or excessive number of UAV. Another advantage of thisembodiment is that the size of UAV may be reduced resulting in an increased maneuverability,less power consumption and/or usability. ln various example embodiments of the present invention further comprising meansconfigured for selecting at least a portion of a ligno to be harvested and/or transporteddepending on at least one detected ligno parameter and/or at least one detected growingcondition of said harvested and/or transported portion of a ligno and/or of a remaining portion ofa ligno and/or of at least one ligno grown within a predetermined distance from said transportedand/or harvested portion of a ligno.

An advantage of this embodiment is that the selection of a portion of a ligno to be harvested and/or transported can be made from a remote location.

Another advantage of the present invention is that it may have none or at least very little impact on the nature. ln another aspect of the present invention it is provided method for remotely and/orautonomously transporting at least a portion of a ligno, said method comprising the steps of: remotely and/or autonomously controlling Unmanned Aerial Vehicle, UAV,identifying said at least a portion of a ligno to be transported, remotely and/or autonomously operating at least one means for holding said atleast a portion of a ligno, where said at least one means for holding said at least aportion of a ligno is attached to said UAV, detecting at least one ligno parameter of said at least a portion of a ligno and/orat least one growing condition of said at least a portion of a ligno and/ordetecting at least one ligno parameter and/or at least one growing condition of atleast one ligno grown within a predetermined distance from said at least aportion of a ligno, and/or detecting at least one ligno parameter and/or at leastone growing of a remaining portion of a ligno, transporting said at least a portion of a ligno, by said UAV, away from the originallocation of said at least a portion of a ligno to a final destination a certain point intime, where said final destination and/or said certain point in time is dependingon said at least one detected ligno parameter and/or said at least one detectedgrowing condition of said at least a portion of a ligno and/or of a remainingportion of a ligno and/or of at least one ligno grown within a predetermined distance from said at least a portion of a ligno.

Further advantages with and features of the invention will be apparent from the following detailed description of preferred embodiments.

Brief description of the drawings A more complete understanding of the abovementioned and other features and advantagesof the present invention will be apparent from the following detailed description of preferredembodiments in conjunction with the appended drawings, wherein: Fig. 1-5, 7-12 depict schematic pictures of different inventive remote and/or autonomous harvesting steps by using a system according to the present invention, and Fig. 6 depicts an example embodiment of a unit comprising a remotely and/orautonomously controlled means configured for harvesting at least a portion of a ligno and at least one means for gripping said ligno trunk Detailed description of preferred embodiments of the invention The word ligno used hereinabove and hereinbelow is a generic term for any tree(s) and/or any bush(es).

The word harvesting used hereinabove and hereinbelow is a generic term for removing at least aportion from a ligno, i.e., cutting a portion of the ligno, cutting the full ligno and/or removing the ligno with at least a portion of its roots from the ground.

Figure 1-5, 7-12 depict schematic pictures of different inventive remote and/or autonomousharvesting and/or transporting steps of at least a portion of a ligno by using an exampleembodiment of a system 10 according to the present invention. Said system may comprise aremotely and/or autonomously controlled means configured for harvesting and/or transporting atleast a portion of a ligno 110, a remotely and/or autonomously controlled Unmanned AerialVehicle 100, UAV, comprising, at least one means for holding 105 said ligno trunk and beingconfigured for transporting said harvested portion of said ligno to another location, wherein saidsystem comprising at least one means for detecting said ligno to be harvested and/or transported,and a base station 120 for controlling said means configured for harvesting and/or transporting atleast a portion of a ligno and said UAV. Said system further comprising means for detecting atleast one ligno parameter of at least a portion of a ligno and/or at least one growing condition ofat least a portion of a ligno. Said system further comprising means configured for directing saidremotely and/autonomously UAV with said at least a portion of a ligno to a final destinationwhere said final destination is depending on at least one detected ligno parameter and/or at leastone detected growing condition of said transported portion of a ligno and/ of at least one ligno grown within a predetermined distance from said transported portion of a ligno. ln figure 1 said UAV 100 is carrying said remotely and/or autonomously controlled meansconfigured for harvesting at least a portion of a ligno 110 on its way to harvest a ligno 135 in aforest 130. The UAV is remotely controlled by said base station 120 and/or autonomouslycontrolled and optionally communicating with base station 120. The base station 120 may be a stationary unit or a mobile unit. ln figure 1-4, 7, 9, 10 the UAV 100 can be considered as a forestry forwarder and said meansconfigured for harvesting at least a portion of a ligno 110 can be considered to be a forestry harvester. n an autonomously controlled means configured for harvesting at least a portion of a ligno saidmeans is able to operate without being controlled directly by humans whereas in a remotelycontrolled means configured for harvesting at least a portion of a ligno said means is able to beoperated from a remote distance controlled directly by humans. ln various example embodimentsaid means configured for harvesting at least a portion of a ligno and said UAV are remotelycontrolled. ln various example embodiment said means configured for harvesting at least aportion of a ligno and said UAV are autonomously controlled. ln various example embodimentssaid means configured for harvesting at least a portion of a ligno is remotely controlled and saidUAV is autonomously controlled. ln various example embodiments said means configured forharvesting at least a portion of a ligno is autonomously controlled and said UAV is remotely controlled.

Said means for detecting a ligno may be at least one of a camera or an optical sensor. The cameramay be at least one of for example ara iR-carïiera (irifrareitl-carilera), Niiäæarilera (Near infrared-carneral, a VlSriiR-carnera (Visual Near iriirared-carneral, a CCD carilera (Ciearged Coupled [Device-carraera), a CMOS-carraera (Cornpiefrieretaryf Meta! Oxide Semicoraductor-carnerai, a digital carnera,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 infrared sensor.

Said means for detecting a ligno may be arranged on said UAV and/or said means configured for harvesting at least a portion of a ligno.

Said means for detecting at least one ligno parameter may be the same means as being used fordetecting a ligno and/or an additional means. The additional means may be at least one of acamera or an optical sensor. The camera may be at least one of far example an ER--carriera(lnlrarecl--caiïieraL liiR-»carnera lNear Erefr'are device, a radar device, a vibration device. The optical sensor may at least one of a photodetector, pyrometer, proximity detector and/or an infrared sensor. A 3D picture may see through foliageand/or branches. A mean value of multiple 3D images may result in mm precision images. 3Dpictures may reveal lots of information about branches, ligno trunk and/or ligno species. 3Dimages may be taken from an air born vehicle such as an UAV. The spectral camera may be usedfor measuring vegetation index (NDVI), i.e., a measure of the photosynthesis in a particular area.Heat sensitive cameras may be used for measuring the temperature of the surface of the lignotrunk which in turn may be a measure of the health of the ligno, an insect infestation ligno has ahigher surface temperature than a non-infested ligno. Ultrasonic measurement and/or radar maybe used for determining the inner form of the ligno, i.e., rotten or hollow inner structure and/orthe inner moisture content of the ligno. Computer tomography and/or magnetic resonance imaging can give information about a portion of a ligno down to a ligno cell level.

Said means for detecting at least one ligno parameter may be a camera or optical sensor incombination with Artificial Intelligence Al. Al may be used for training a model for recognizing oneor a plurality of said ligno parameters. Ligno parameters may be recognized visually and/or bymeasurement and/or by at least on physical sample. Measurement may be made by opticalinspection at a distance from the ligno and/or by physical measurement, for instance integratedin said means for gripping/holding 105 said ligno trunk. Said means for detecting at least one lignoparameter may be a laser scanner attached to said UAV and/or said means for holding said lignotrunk and/or said means for harvesting said at least a portion of a ligno. By laser scanning theligno trunk the ligno species may be determined and other surface conditions of the ligno trunksuch as the presence of any moss and/or any damage. Detected ligno parameters may becompared with stored ligno parameters in a data base for categorization and/or future choice and/or prioritization.

The final destination of said at least a portion of the ligno may be determined by as least one ofsaid detected ligno parameters and/or at least one detected growing condition. Ligno parametercan be considered to be intrinsic features and growing condition can be considered to be extrinsic features.

Ligno parameters may for instance be a diameter of said at least a portion of a ligno (top diameter, base diameter, mean diameter, median diameter), length of said at least a portion of aligno, ligno species of said at least a portion of a ligno and/or the weight of said at least a portionof a ligno, dry content, age of ligno, number of annual rings, distance between annual rings, color of annual rings, width of annual rings, amount of leaves, amount of fir needle, color, chemical composition of the ligno, twig-free, deformation(s), cracks (dry cracks (partial or all trough), endcrack, ring crack), rootstock, density, rot, discolored, dead ligno, insect infested, microorganisminfested, weather damage (storm, wind, fire, drought), machine damage (root, ligno trunk),amount of fruits, seeds, berries, nuts, cones, flowers on the ligno, form of root, root structure,root depth, root volume etc. The color of the ligno may be an indicator of ligno species. The colormay be the color of the outer surface of the ligno trunk or the color of a cut area. The form of theligno may be determined by a 3D camera. Form may comprise total volume of ligno, leaves or firneedles, deformations, shape deviations etc. Ligno parameters may also comprise materialproperties of the ligno such as moisture content (%), tensile strength (MPa), flexural strength(MPa), compressive strength (MPa), shear strength (MPa), impact strength (KJ/mz), hardness(Brinell, Vickers, Rockwell), elasticity module (MPa), thermal conductivity (W/m°C), heat capacity(J/kg°C), Calorific value (MJ/kg), etc. ln various example embodiments said ligno parameters may be detected manually by human orremote and/or autonomous by a separate unit prior to harvesting. Ligno parameters may bestored digitally together with GPS position. ln various example embodiments a digital marker maybe arranged physically on ligno prior to cutting the ligno or when the ligno is laying on ground.The digital marker may have stored information about at least one ligno parameter. The input ofligno parameters may be made manually prior to harvesting. The digital marker may beconfigured to communicate with said UAV. The communication may be performed by Bluetooth,wifi, radio communication and/or telecommunication (3G, 4G, 5G). A physical sample fordetecting ligno parameters such as density, rot and/or dry content may be made manually priorto harvesting and/or automatically by a sample detection means added to the means for holdingthe ligno trunk and/or the means configured for harvesting at least a portion of a ligno. Suchsample detection means may be a suitable tool for removing a predetermined amount of theligno to be analysed. The removal of said predetermined amount to be analysed may be made bydrilling, sawing or cutting. The analyzation of said predetermined amount of the ligno may bemade while the UAV is at or near the ligno or said predetermined amount of ligno may be broughtto an analyzation station at a distance from the ligno. A selection of where to remove saidpredetermined amount of the ligno may be made by using said camera. Suspected rotten orinsect infested area may be detected by the camera and thereafter a sample of such area may beremoved and analyzed. Different portions of a single ligno and different ligno may be catagorizeddifferently depending on the outcome of the analyzation, i.e., depending on the ligno parameters a specific portion of a ligno may fall into one or a plurality of different categories. lf a specific portion of a ligno may fall in a plurality of different categories a selection may be based on the value or the current demand in the market.

Growing conditions may for instance be #ligno per unit area, growth potential.

Growing condition may also be biotic environmental factors (interaction of organism of the samespecies and/or interaction of organisms of other species) such as mount of dead ligno/woodwithin a predetermined area, interaction and/or competition of other species, gas and fragrancefrom plants, temperature of other plants etc. Fungal infestation and insect infestation may bespread over a large area. lt may be advantageous to harvest non infested ligno within apredetermined time after having detected an infested ligno in a predetermined area. Fungal andinsects may spread over several km. Competition for water, nutrition, and sun hours may bewithin a distance of 0-50m. Advantageous interaction/competition situation may be madethrough sorting out plants in predetermined positions in order to get optimal conditions for the remaining ones.

Growing conditions may also be abiotic environmental factors climate (temperature, precipitationetc), topography, ground temperature, geology, hydrology, vegetation, soil, earth deposit, soildepth, surface blockage, minerals, ground carbon contents, ground nitrogen content, groundcarbon nitrogen ratio, PH value, bas kat ions, amount of trace elements, physical or chemicalerosion, environmental condition, wind etc. Abiotic environmental factors may also be the type ofland such as forest land, arable land, agricultural land, natural pasture, mountain impediment, protected area, power line area, military area, built up land etc.

At least one ligno parameter and/or growing condition may be used as a factor for determiningthe usage, demand, storage, quality of the at least a portion of ligno. This in turn may be used for determining the final destination of a particular portion of a ligno.

Gas sensors may be used to detect water quality (carbon oxide content, methane content, oxygen content etc.).

The UAV may have one or a plurality of propellers. ln figure 1-5 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 softwarealgorithms used for supporting the autonomous UAV and/or the means configured for harvesting at least a portion of a ligno. The base station 120 may be a stationary unit or a mobile unit.

Said means for holding the said ligno 105 may be at least one movable gripping arm. ln variousexample embodiments said means for holding said ligno 105 may be one or a plurality of metalbars which may at least partially penetrate a ligno trunk. ln various example embodiments saidmeans for holding said ligno 105 may be a unit surrounding said ligno trunk and being able tochange its holding area and thereby compress around the ligno trunk for securing purpose anddecompress for releasing a ligno trunk or entering a ligno to be harvested. Said means for holding said ligno 105 may comprise said sample detection means. ln various example embodiments said means configured for harvesting at least a portion of theligno may be arranged with means for attaching itself to said ligno trunk. ln various exampleembodiments said means configured for harvesting at least a portion of a ligno is also configuredfor moving up and down along the trunk of the ligno. The movement may be performed by atleast one electrically driven wheel travelling on said ligno trunk. ln various example embodimentsat least one wheel may be electrically driven for enabling movement up and down said ligno trunkand at least one other wheel is arranged for friction reduction during said movement. ln variousexample embodiments at least to wheels are configured to attach, secure and move said means configured to harvesting at least a portion of a ligno. ln various example embodiments said means configured for harvesting at least a portion of theligno is also configured for moving on ground. The movement can be made via a plurality of wheels or legs and/or as a tracked vehicle.

Said UAV 100 and said means configured for harvesting at least a portion of the ligno may becommunicating with each other via one or more of WiFi, Bluetooth, radio communication,telecommunication (3G, 4G, 5G), optical fibre and/or electrical wire. ln various exampleembodiments said control unit and said UAV and/or said means configured for harvesting at leasta portion of the ligno 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 and/or said means configured for harvesting at least a portion of a ligno the communication may change from one type of communication to another. ln various example embodiments said means configured for harvesting at least a portion of theligno is connectable to an underside of said UAV 100. ln various example embodiments saidmeans configured for harvesting at least a portion of the ligno may be released from said UAVdirectly onto a ligno to be harvested or on the ground at or near the ligno to be harvested. lnvarious example embodiments said means configured for harvesting at least a portion of the lignomay be provided at a distance from said ligno to be harvested from a land vehicle. The meansconfigured for harvesting at least a portion of the ligno may of its own motion move from theposition on ground to the desired ligno to be harvested. Communication between said UAV andsaid means configured for harvesting at least a portion of a ligno may at any desired time result isa pick-up of said means configured for harvesting at least a portion of a ligno by said UAV. Thepickup of said means configured for harvesting at least a portion of a ligno by said UAV 100 maybe made on ground if there is enough space or on a trunk of a ligno. ln various example embodiments the UAV 100 may comprise a power unit for powering said UAV100 and said means configured for harvesting at least a portion of said ligno 110. The power fromsaid power unit in said UAV 100 may be delivered to said means configured for harvesting at leasta portion of a ligno 110 via at least one power cable. The power unit may be an electric motor and/or an internal combustion engine. ln various example embodiments said UAV 100 may comprising at least a first power unit forpowering said UAV 100 and said means configured for harvesting at least a portion of a ligno 110may comprise at least a second power unit for powering said means configured for harvesting atleast a portion of a ligno 110. The power unit in said UAV 100 may be electrical and/or an internalcombustion engine. The power unit in said means configured for harvesting at least a portion of a ligno 110 may be electrical and/or an internal combustion engine. ln various example embodiments said means configured for harvesting at least a portion of a ligno110 is also configured for delimbing a ligno. The delimbing may be performed from top to bottomif said means configured for harvesting at least a portion of the ligno is initially arranged on saidligno to be harvested from above. ln various example embodiments said delimbing may beperformed from bottom to the top if said means configured for harvesting at least a portion of a ligno is moved by its own motion from ground to the ligno to be harvested or attached to a lower section of the ligno to be harvested from the UAV. The delimbing may be performed by one or aplurality of cutting means, snapping means, and/or shearing means. The cutting means may be bycutting chains and/or by rotary cutting disks. The cutting may be performed by a straightmovement along said trunk of said means configured for harvesting at least a portion of a lignoand/or by a serpentine movement along the trunk by said means configured for harvesting at least a portion of a ligno. ln various example embodiments said means configured for harvesting at least a portion of a ligno110 is configured to be in direct communication with a remote operator and/or a remote basestation 120 or indirect communication via said UAV 100 with a remote operator and/or a basestation 120. The indirect communication, i.e., the UAV 100 as access point, with said meansconfigured for harvesting at least a portion of a ligno 110 may be used if the same information isto be sent to both UAV 100 and said means configured for harvesting at least a portion of a ligno110. The UAV 100 may be in various example embodiments work independently from a remotebase station 120. The indirect communication may also be used if said UAV 100 is arranged inbetween said base station 120 and said means configured for harvesting at least a portion of a ligno 110. ln various example embodiments said UAV and/or said means configured for harvesting at least aportion of a ligno may comprise means configured for automatically locating a ligno and/or apredetermined area to be harvested. Said means configured for automatically locating a lignoand/or said predetermined area to be harvested may comprise at least a Global NavigationSatellite System, GNSS. Said means configured for automatically locating a ligno and/or apredetermined area to be harvested may comprise at least one camera or optical sensor. Saidmeans configured for automatically locating a ligno and/or a predetermined area to be harvestedmay comprise at least a camera in combination with Artificial intelligence or machine learningalgorithms for speeding up the detection of a suitable area to arrange said means configured to cut a ligno trunk.

Now returning to figure 1 where the UAV 100 is on its way to a ligno 135 in forest 130 to beharvested. The ligno 135 may be preselected, i.e., selected prior to arrival to the ligno 135.Alternatively said ligno 135 may be selected by the UAV 100 in combination with the base station120 once the UAV 100 is at or near a position above said ligno 135. The selection may be performed by identifying a picture of the ligno 135 from above with stored pictures in said control station 120 and by means of a selection algorithm select a ligno for ligno thinning purpose or other selection criteria. ln figure 1 the forest 130 comprises four ligno 135a, 135b, 135c, 135d, all of which may haveequal or different ligno parameters. The forest may of course have a larger or smaller amount ofligno than the depicted 4 as shown in figure 1-4. A ligno to be harvested may be determined by atleast one of said detected ligno parameters. ln various example embodiments the order ofharvesting ligno 135a, 135b, 135c, 135d may be selected out of minimizing a total harvestingtime. ln various example embodiments a particular ligno may be selected because there is ademand of such ligno parameters from a particular customer. ln various example embodiments aparticular ligno may be selected to be harvested due to a particular ligno thinning strategy, e.g.,smallest or largest ligno in a group of ligno, diameter of said at least a portion of a ligno, length ofsaid at least a portion of a ligno, ligno species of said at least a portion of a ligno and/or theweight of said at least a portion of a ligno, dry content, twig-free, rootstock, density, rot,discolored, dead ligno and/or insect infested. Ligno parameters may be detected prior to arrivingwith the UAV 100 to the forest 130. This may be made manually and/or automatically. Manualdetection may be made by human being registering at least one ligno parameter in a digital database. Automatic ligno parameter may be made by a separate UAV and/or a land-based vehicle.Detection may be non-destructive and/or destructive. Non-destructive methods may be made byvisual inspection by a human being or by registering the ligno by a suitable optical means such asa camera. Destructive detection may be made by removing a predetermined amount of a lignoand analyzing it on site or at a remote site. A ligno to be harvested may be selected depending onits distance to the final destination, e.g., choosing ligno with a particular set of ligno parametersas close to the final destination as possible. A ligno to be harvested may be selected in order tomaximize the value of the total amount of harvested ligno in a particular time frame. A ligno to beharvested may be selected in order to maximize the value of the remaining ligno in the forest. Adecision of how much of a particular ligno to be harvested may be made depending on at least one ligno parameter. ln various example embodiments the selection of already harvested portions laying on groundmay be made depending on at least one ligno parameter. ln various example embodiments acorrect size of UAV may be made depending on at least one ligno parameter of said at least aportion of ligno laying on the ground. ln various example embodiments a correct choice ofnumber of UAV for transportation may be made depending on at least one ligno parameter of said at least a portion of ligno laying on the ground. ln various example embodiments the system further comprising means configured fordetermining a certain point in time said at least a portion of a ligno should be harvested and/ortransported. A ligno 135a having a first set of ligno parameters may be selected to be harvested and/or transported prior to a ligno 135c having a second set of ligno parameters. ln figure 2 the selected ligno 135 has been attached on its top portion by at least one means forgripping 105 said ligno trunk. A gripping position on said ligno 135 may be selected depending onthe expected lift weight of the harvested portion of said ligno. lf the full ligno is to be harvested agreater diameter of said trunk of the ligno is to be chosen as a gripping position compared to if just a portion of the ligno is to be harvested. ln figure 3 the autonomously controlled means configured for harvesting at least a portion of aligno 110 has been moved a distance down from said at least one means for gripping 105 saidligno trunk. On its way down said means configured for harvesting at least a portion of a ligno 110also has delimbed the ligno 135 leaving a bare ligno trunk 137 without twigs and limbs. Thepowering of said means configured for harvesting at least a portion of a ligno 110 may beprovided by said UAV 100 or by a power unit in said means configured for harvesting at least aportion of a ligno 110. ln case of power supplied from said UAV to said means configured forharvesting at least a portion of a ligno 110 said power may be delivered via one or a plurality ofpower cables arranged on between said UAV 100 and said means configured for harvesting atleast a portion of a ligno 110. A power unit in said means for cutting a ligno trunk 110 may be oneor a plurality of battery packs. ln various example embodiments a first battery pack maybe usedfor communication with the UAV 100 and/or a base station 120. A second battery pack may beused for moving said means for harvesting at least a portion of a ligno 110 up/down on a ligno trunk and/or for moving said means for harvesting at least a portion of said ligno 110 on ground. ln figure 4 the ligno 135 has been delimbed, harvested and on its way to a location away from theoriginal location of the ligno. What is left of the original ligno 135 at its original location is a pile oflimbs 138 and a ligno stump 139. ln the depicted example embodiment said means configured forharvesting at least a portion of a ligno 110 is still arranged on said ligno trunk when the ligno istransported away from the original location of the ligno. ln various example embodiments it isprovided means configured for directing said remotely and/autonomously UAV 100 with said atleast a portion of a ligno to a final destination where said final destination is depending on said detected ligno parameters. ln various example embodiments a first type of ligno species may be transported to a first final destination whereas a second type of ligno species may be transportedto a second final destination. Figure 5 illustrates 3 different final destinations A, B and Crespectively. Final destination A may have a first set of ligno parameters, final destination B mayhave a second set of ligno parameters and final destination C may have a third set of lignoparameters. Said first, second and third set of ligno parameters may be different. Lignoparameters may for instance be a diameter of said at least a portion of a ligno, length of said atleast a portion of a ligno, ligno species of said at least a portion of a ligno and/or the weight ofsaid at least a portion of a ligno, dry content, twig-free, rootstock, density, rot, discolored, deadligno, insect infested. At least one of said final destinations A, B or C may be an intermediatestorage on ground. At least one of said final destinations A, B or C may be a mobile storage, for instance a timber truck. ln various example embodiments said final destination A, B or C may as in figure 5 be close toeach other. ln various example embodiments said final destination A, B or C may be remote toeach other. ln various example embodiments more or less final destinations than 3 as depicted in figure 5 may be present. ln various example embodiments the final destination A may be for timber having a length withina predetermined interval. The final destination B may be for timber having a predeterminedweight per unit of timber. The final destination C may be for rotten ligno, discolored ligno, dead ligno and/or insect infested ligno. ln various example embodiments the final destination A may be allocated with timber having afirst set of ligno parameters and a requirement to be filled with timber prior to a final destinationB which may have the same ligno parameters but will be filled with timber later in the lignoharvesting process. lt may be that the final destination A is close to a road or at a timber truck,whereas final destination B may be an intermediate storage closer to the harvesting area compared to final destination A and far away from any available road. ln various example embodiments the first final destination A may be for timber to be used aspulp. The second final destination B may be for building material, such as plank. The third finaldestination C may be for biomass material.

Depending on the location of said first second and third final destination, A, B and C respectively,and the location of the ligno to be harvested an optimization may be performed prior to harvesting in order to minimize the time required to harvest and transport a given number of ligno in various categories. A forest having numerous ligno, such optimization may result inharvesting a first set of ligno parameters first and a second set of ligno parameters later in timefor a first harvesting area whereas in a second harvesting area a third set of ligno parameters,different to said first and second may be chosen to be harvested first. The optimization may bedepending on the density of ligno per unit area, the topography of the nature where the ligno arelocated, the type of ligno present in a predetermined area and/or the purpose of the harvesting technique, sorting out or complete disforestation.

A plurality of portions of ligno may be transported simultaneously by at least one UAV. The choiceof portions of ligno to be transported may depend on the distance between the portions of lignoand/or the distance between the plurality of portions of ligno to be transported and the finaldestination. The choice of portions of ligno to be transported may also depend on the total remaining battery power and/or remaining fuel of the UAV(s).

Said means configured for directing said remotely and/autonomously UAV with said at least aportion of a ligno to a final destination depending on said detected ligno parameters may also beconfigured for determining a certain point in time said at least a portion of a ligno should bearrived at said final destination. Not only the destination may be determined depending on one ora plurality of ligno parameters, also the certain point in time a particular at least a portion of aligno should arrive at a predetermined location may depending on one or a plurality of lignoparameters. ln a first example embodiment a particular ligno parameter is to be picked up by atimber truck and transported away days or weeks from a particular harvesting time. This may be atrigger factor for either just harvesting the particular ligno and let them lay on the ground orsimply postpone the actual harvesting said days or weeks until said pickup by timber truck is totake place. ln a second example embodiment timber at a particular final destination A, B, or Cmay be sorted so that a particular set of ligno parameters arrives first, time A, at a particular finaldestination, i.e., furthest down in a pile of timer. A second set of ligno parameters arrives later,time B and will be arranged on the middle of the pile of timber. A third set of ligno parametersarrives latest, time C, and will be arranged on a top portion of the pile of timber. Having sorteddifferent sets of ligno parameters at one and the same location may make transport logistics more effective in picking up the correct type of timber.

The predetermined distance of at least one ligno grown from said transported portion of a lignomay depend on topography and/or invasive species. An insect infested and/or fungal infested tree in a predetermined area may result in harvesting relatively far away from the infested tree, i.e., large predetermined distance up to several hundred of meters, whereas in a healthy environmentsaid predetermined distance may be less than 50 meters and in some cases may be less than 20 metefS.

The system may further comprising means for determining the number of UAV to be usedtogether for transporting at least one potion of a ligno depending on said at least one lignoparameter and/or the distance between an original location of said at least a portion of a ligno toand said final destination. Long and/or heavy portions of ligno and/or a transport of a plurality ofportions of ligno may require more than one UAV for transporting said portion of the ligno fromits original location to its final destination. At least one ligno parameters may be used to allocatethe correct number of UAV to be used in synchronism for transporting said portions of ligno. Theplurality of UAV may either attach to the portion of ligno to be transported or attach to anotherUAV for synchronously transporting said portion of ligno away from its original location to its finaldestination. The attachment of one UAV to another UAV may be made directly via a connectionarrangement or via a wire or bar in between said two UAV. A plurality of UAV may also benecessary if the distance between the original location and the final destination is very long. lf thedistance between the original location and the final destination is long an intermediate storagelocation in between said original location and the final destination may be necessary for later pickup and transport to the final destination. By using a plurality of UAV in synchronism may beadvantageous since smaller UAVs may be used which is easier to handle and easier to use in adense forest. Synchronization of a plurality of UAV for working together in transporting at least aportion of a ligno may be made through a base station and/or a master UAV. When it isdetermined that more than one UAV is needed, one of said UAV may be assigned a master roleand the other UAV a servant role. The master role may be assigned to the UAV first approachingthe portion of ligno to be transported or to a specific type of UAV. Alternatively, the plurality ofUAV are attached together for transport and the base station assigned one of them as a masterand the other as servant UAV. Each and every UAV may communicate with each other and to thebase station. ln yet an alternative embodiment the base station is the synchronization unit, i.e., allUAV are assigned as servant UAV and follow one and the same instructions sent out from said base station. ln various example embodiments single UAV transportation may be prioritized before plurality ofUAV transportation. This may be the case in an early stage of harvesting when the forest is still dense and there are lots of UAV available. ln various example embodiments a particular type of UAV, size and/or capacity may be useddepending on at least on ligno parameter. ln various example embodiments ligno parameters sentto said base station may a||ocate a particular type of UAV out of a UAV fleet which may make the transportation as effective as possible.

Ligno parameters may be detected by non-destructive evaluation, such as camera or opticalsensors. Ligno parameters may also be detected by removing physical sample from the ligno andanalyzing said sample. The removal may be in form of cutting drilling or sawing andpredetermined amount of the ligno at a predetermined position. The analyzing may take placedirectly in the UAV or means attached to said UAV. Alternatively said analyzing may be made at a remote location from the ligno. |nstead of as in figure 4 delimbing and cutting the full ligno, said ligno may be harvested insections starting from above and going down the trunk of the ligno. When a section of the lignohas been harvested, said means configured for harvesting at least a portion of a ligno 110 may beleft on the still uncut portion, the stump, of the ligno while the UAV is transporting away the harvested portion from the original location of the ligno.

Delimbing means may be arranged on a top portion and on a bottom portion of said meansconfigured for harvesting at least a portion of a ligno 110. By arranging said delimbing means onboth sides of said means configured for harvesting at least a portion of a ligno 110 makes itpossible to provide said means configured for harvesting at least a portion of a ligno 110 fromabove on the ligno or from root of said ligno. The delimbing means is provided at the frontposition with respect of the direction of movement of said means configured for harvesting at least a portion of a ligno 110. ln various example embodiments said means configured for harvesting at least a portion of a ligno110 may be provided by said UAV directly on a portion of the ligno to be harvested where there are no limbs. ln various example embodiments said means configured for harvesting at least a portion of a ligno 110 may be dropped on the ground at or near the ligno to be harvested. ln figure 6 it is depicted a schematic picture of an example embodiment of said means configured for harvesting at least a portion of a ligno 110 and said means for holding said ligno 105. Said holding means 105 may be provided at a distance from said UAV 100, for instance via one or aplurality of wires 111a. The holding means 105 is in this example embodiment in the form of afirst movable curved arm 107a and a second movable curved arm 107b. Said arms (107a, 107b)can be set to any position between a fully open position and fully closed position in order to allowto embrace a ligno trunk and also to grip and release the same. Said means configured forharvesting at least a portion of a ligno 110 comprises in figure 6 a first movable curvedfixing/delimbing arm 114a and a second movable curved fixing/delimbing arm 114b. Said first andsecond movable curved fixing/delimbing arms (114a, 114b) may be set to any position between afully open position and fully closed position on order to allow to embrace a ligno trunk and also tofixing the same. Said fixing/delimbing arms may have a sharp edge on its top portion and/or itsbottom portion for delimbing the ligno as the means configured for harvesting at least a portionof the ligno moves along the trunk of said ligno. Said means configured for harvesting at least aportion of a ligno 110 also comprises a cutter 116. The cutter may be in the form of an electricallydriven or internal combustion engine driven chain saw. The chain saw may be arranged movablein said means 110 in order to cut a ligno while said means is in a fixed position on said trunk of the ligno.

The delimbing means 114a, 114b may be optional. The holding means 105 may be provided at adistance from said means configured for harvesting at least a portion of a ligno 110. Said holdingmeans 105 may be attached at said means configured for harvesting at least a portion of a ligno110 with at least one wire 111b or at least one metal bar or other suitable attaching means. lnvarious example embodiments said holding means 105 may be mechanically separable from saidmeans configured for harvesting at least a portion of a ligno 110 meaning that the holding meansmay attached at a fixed position at the ligno while the means configured for harvesting at least aportion of the ligno may of its own motion move along the trunk of the ligno with no mechanicalattachment to the holding means 105. The means for harvesting at least a portion of a ligno maycut a portion of a ligno and stay on the still not harvested portion of the ligno while said UAV ismoving away with the harvested portion to another location. Delimbing may take place by saidmeans configured for harvesting at least a portion of a ligno 110 while said UAV is moving awaysaid harvested portion of the ligno. The UAV may return to the same ligno and remove yetanother portion of it and said means configured for harvesting may stay on the not yet harvestedportion or attach to the harvested portion or the UAV and move together with the UAV toanother location. The holding means 105 and the means configured for harvesting at least aportion of a ligno 110 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 may be used for means configured for harvesting at least a portion of a ligno110, in order to simplify attachment of said UAV with said means configured for harvesting atleast a portion of a ligno 110. The attachment of said UAV and said means configured forharvesting at least a portion of a ligno 110 may be a fully automatic process. Said meansconfigured for harvesting at least a portion of a ligno 110 may have at least one electrically drivenwheel 190 for allowing movement of said means configured for harvesting at least a portion of aligno 110 along a trunk of a ligno. One or a plurality of supporting wheels 112 may be used forsecuring said means configured for harvesting at least a portion of a ligno 110 onto said trunk ofsaid ligno and for reduce friction while moving along said trunk of said ligno. Said supportingwheel(s) may be arranged on arms 188 which may be movable in order to secure said means configured for harvesting at least a portion of a ligno 110 on said trunk of said ligno. ln various example embodiments said means configured for harvesting at least a portion of a ligno110 may be made of two separable parts, a first part that is mainly configured for holding theligno and a second part, capable of moving up and down along the trunk of the ligno, which can delimb and/or cut the ligno. ln various example embodiments said means configured for harvesting at least a portion of a ligno110 may be provided at or near the ligno to be harvested either by the UAV or by a land vehicle.Said means configured for harvesting at least a portion of a ligno 110 may of its own motion movetowards a predetermined ligno to be harvested and arrange itself at a predetermined position onthe trunk. An UAV may before said ligno is cut be arranged at a top position of said ligno and gripthe trunk of the ligno on a position safe to lift the portion to be cut. Said means configured forharvesting at least a portion of a ligno 110 cuts the ligno and the UAV moves the harvested lignoaway from the original location of the ligno. The harvested ligno has all of its limbs left on theligno. Said means configured for harvesting at least a portion of a ligno 110 may follow the harvested ligno from the original location of the ligno or stay at the ligno stump. ln various example embodiments said means configured for harvesting at least a portion of a ligno110 may be provided at or near the ligno to be harvested either by the UAV or by a land vehicle.Said means configured for harvesting at least a portion of a ligno 110 may of its own motion movetowards a predetermined ligno to be harvested and arrange itself at a predetermined position onthe trunk. An UAV may, before said ligno is cut, be arranged at a top position of said ligno andhold/grip the trunk of the ligno on a position safe to lift the portion to be cut. Said means configured for harvesting at least a portion of a ligno 110 first moves upwards the trunk of the ligno in order to delimb the same. Thereafter said means configured for harvesting at least aportion of a ligno 110 moves to a predetermined position and cuts the ligno. The UAV moves theharvested ligno from the original location of the ligno. The harvested ligno is delimbed. Saidmeans configured for harvesting at least a portion of a ligno 110 may follow the harvested ligno from the original location of the ligno or stay at the ligno stump.

The system may comprise a plurality of UAV and a plurality of means configured for harvesting at least a portion of a ligno all of which may work together for efficiently harvesting ligno in a forest.

A plurality of UAV may work together synchronously for transporting a harvested portion of aligno or a plurality of harvested ligno. This may be arranged so that a first UAV is a master UAVand at least a second UAV is a slave UAV. The master UAV may grip the ligno to be harvested at apredetermined position on its trunk. Said at least one slave UAV may be attached to said masterUAV via wires. Said at least one slave UAV may be arranged at an elevated position with respectto the master UAV. A synchronisation unit makes sure the master UAV and the at least one slaveUAV works in synchronisation with respect to movement and distance to each other. Thesynchronisation unit may be arranged in the master UAV or arranged in the control unit controlling said master UAV and said at least one slave UAV. |nstead of a single UAV gripping said portion of the ligno to harvest a plurality of UAVs may grip the same ligno to be harvested. ln various example embodiments of the present invention said UAV is designed to be capable offlying as to control position, velocity, orientation and rotational speed and via a rigid connectionimpart its motion to the means for cutting/delimbing said ligno. ln this embodiment the UAV controls the movement of the means for cutting/delimbing said ligno. ln various example embodiments of the present invention the UAV may be used to reduce loadon said cutting means 116 during cutting. This may be performed by first holding a predeterminedportion of the ligno by said holding means 105 and thereafter apply a lift force by said UAV whilecutting the ligno by the means for harvesting at least a portion of the ligno 110. This may beadvantageous since a reduced load on the cutting means 116 from the weight of the ligno mayincrease the efficiency of the cutting procedure and/or require less power compared to cutting a ligno with the full load onto said cutting means 116.

Figure 7 depicts an UAV 100 with means for harvesting 110 or cutting at least a portion of a ligno.ln figure 7 a ligno 135m is only cut with means for cutting 116. ln various example embodimentsthe cut ligno may be with or without delimbing. The decision which ligno to cut may depend onseveral factors. lt may depend on ligno parameters and/or growing conditions for ligno 135kand/or 135l. Those ligno may have a specific quality which may have been detected by lignoparameters and/or growing condition, which specific quality one wants to improve. Theimprovement may be achieved by cutting ligno 135m with means for cutting 116. With ligno 135removed the economical growth value and/or growth potential of ligno 135k and/or 135l may beincreased. Ligno 135k and/or 135l may have an increased growth potential after ligno 135m has been removed just because ligno 135m was too close to ligno 135k and/or 135l. ln another example embodiment ligno 135m is cut because ligno 135m has at least one lignoparameter and/or growing condition which may be inferior, for instance ligno 135 may be stormdamaged and is cut for fertilizing and/or give more sunlight, water and nutrition to the remaininglignos 135k and/or 135l. ln the depicted example embodiment in figure 7 the ligno is cut withoutbeing taken care of. lt may be economically advantageous to fertilize remining trees with trees oflow value. Cutting trees without taking care of them may also depend on nature conservationgoals or to fulfil environmental certification where some trees must be left on ground for favouring other living species.

Figure 8 depicts tree ligno, whereof one 135n is not harvested while the other two has been cutdown and cut in portions. The three ligno may have different ligno parameters and/or growingconditions, which may have determined which of the ligno to be cut down and how the ligno iscut in portions. Ligno 135o, 135p, 135q and remaining ligno 135r are portions of a first harvestedligno. Ligno 135s, 135t, 135u and remaining ligno 135v are portions of a second harvested ligno.The different portions of said first and second harvested ligno may have different lignoparameters, i.e., different portions of a single ligno may have varying ligno parameters. Said firstand second harvested ligno may have been harvested by a UAV and/or by a land going harvestingequipment. lf said first and second harvested ligno has been harvested by an UAV, it may beadvantageous to leave said first and second harvested ligno on the ground as an intermediatestorage location for later transportation to another location when it is more logisticallyadvantageous. The reason for not transporting away a ligno from its original location immediatelyafter having cut it down may depend on limited storage capacity at a nearby forest road.Harvesting can either be made with UAV and/or land based harvesting machines. Ligno parameters may be detected during harvesting by means attached to the UAV and/or the land based harvesting machine. For instance, when ligno 135p is harvested it may give indirectinformation about weight and other ligno parameters of ligno 1350 and/or ligno 135q. Lignoparameters of for instance a top scrap portion of a ligno may determine if the remaining portionof the ligno should be transported when harvested or be cut and stored at its original location fortransportation at later point in time. Annual rings in 135r may be detected with a camera and give information about ligno parameters for the other portions 1350, 135p, 135q. ln various example embodiments ligno parameters and/or growing condition for ligno 135n maygive indication of the quality of ligno 1350, 135p, 135q, 135s, 135t, 135u. Ligno parametersand/or growing condition from ligno 135n may determine the priority of harvesting and/or the order of transportation and/or the final destination for ligno 1350, 135p, 135q, 135s, 135t, 135u. ln various example embodiments information about ligno parameter and/or growing conditionfor ligno 1350, 135p, 135q, 135s, 135t, 135u may be stored digitally during harvesting. Suchdigitally stored information may not be visible on the harvested portions 1350, 135p, 135q, 135s,135t, 135u, but may be stored together with coordinates in three dimensions. The digitally storedinformation may determine which quality the different portion may have and when, in time, saiddifferent portion shall be transported. ln various example embodiments harvesting andtransportation may be made at different times due to ground condition, wet, snow etc or other temporary weather conditions.

Information about ligno parameters and/or growing condition which is detected during harvestingmay be performed by a land based machine and/or a UAV, may be used for determining the number of UAV needed for lifting the ligno portions 1350, 135p, 135q, 135s, 135t, 135u.

Figure 9 depicts transportation of ligno with at least one UAV to different storage locations 201a,201b. Storage location 201a has a first ligno quality (first set of ligno parameters and/or growingconditions) and storage location 201b has a second ligno quality ( second set of ligno parametersand/or growing conditions). A weight of a specific portion of a tree may be estimated based oninformation about a ligno average diameter length and volume.

UAV 100a may have harvested ligno in pile 135i at location 201a. Ligno in pile 135i at location201b may have lower weight than ligno in pile 135w. Ligo in pile 135w may require two UAV, 110b, 110c, for transportation of each individual ligno due to its weight.

UAV 100b has a first means 105 for holding the ligno 135] and said UAV 100c has a second means105 for holding the same ligno 135j. As indicated in figure 9, attachment point for holding means105 for UAV 100b is different than attachment point for holding means 105 for UAV 100c. Basedon ligno parameters and/or growing condition a location for storage of different portions of lignois determined. Different number of UAV may be necessary for lifting different ligno depending onligno weight, max lifting capacity for UAV may determine the number of UAV necessary for transportation.

Two or more UAV 100b, 100c may, as depicted in figure 10, use a common means for holding 105the ligno 135x and transporting said ligno 135x in synchronism to a final destination. Using a common means for holding the ligno may increase the load capacity.

Figure 11 depicts ligno of different quality stored at a common destination. Ligno 135e and ligno135f have different ligno parameters, in this case diameter, volume and weight is different,meaning that ligno 135e has a lower value than ligno 135f. ln figure 11ligno 135e is on top ofligno 135f, meaning that ligno 135e was arrived earlier to the common destination than ligno135e. Ligno parameters has in this case determined that higher value ligno 135f has arrived earlierto the common destination than the lower value ligno 135e. Although a common destination isused for different value ligno and no marking has been made further transportation of thedifferent ligno types 135e, 135f may be easily separated due to its evident difference in size andshape. The common destination may not only be tagged with longitude and latitude but also itsspatial location, height, in the pile. Transportation from the common destination may be made indifferent time slots so that different transportation means may select the correct ligno for furthertransportation. Storing different types of ligno spatially differently at a common destination maybe advantageous logistically due to the fact that different quality of ligno may have different final destinations.

Figure 12 depicts that different classes of quality of ligno may be transported to the same locationbut at different points in time during a day. Ligno 135h of a first mix of ligno parameters and/orgrowing condition is transported to common destination 201 at a first time 202b. ligno 135h ispicked up for further transportation before ligno of a second mix of ligno parameters and/orgrowing condition arrives at said common destination 201. Ligno 135g arrives at time 202a, which is later than 202b. Using a common destination may be necessary when space is limited.

P30589 26 A certain point in time may be a specific time, a specific time range, between time A and time B,after time B or before time A. A certain point in time may be before or after a specific occasion orthat specific requirements are fulfilled. lt can also mean that specific ligno, based on lignoparameters and/or growing condition may be transported, cut, harvested and/or left at a finaldestination when specific requirements are fulfilled. lt may also mean that specific command,functions or the like is activated and when such commands or functions are activated,transportation, cutting, harvesting and/or drop of ligno at a final destination is started based onligno parameters and/or growing condition in a specific order. lt may also mean when specificrequirements are fulfilled transportation is always or never started for a specific ligno parameterand/or growing condition. Ligno may mean at least a portion of a tree, bush, or other wood-likespecies such as bamboo. A ligno may be cut with or without delimbing.

A certain point in time may be the moment when directing a UAV to a predetermined destinationfor harvesting, transportation and/or cutting and/or delivery of ligno at a predetermined location.Harvesting, transportation, cutting and/or leaving functions as a trigger for setting a speed and/oracceleration of a UAV with or without load in a predetermined direction to a predetermineddestination. A certain point in time may be when a predetermined capacity per hour is reached,e.g., a predetermined harvested amount per hour is reached, a predetermined amount of lignoper hour is transported and/or a predetermined amount of ligno per hour is cut. Said capacityand/or speed may be controlled or optimized based on weather condition, detected lignoparameter, detected growing condition, transporting distance, power consumption and/or logistic prerequisites.

A certain point in time may be, for both selection of a ligno and selection of a final destination, at which time different portions of a ligno is to be transported, harvested, cut and/or delivered.

A certain point in time may be a targeted point in time and/or an estimated/predicted (based onsimulations) point in time. A targeted point in time may mean that transportation, harvesting,cutting and/or delivering is intended to happen a certain point in time. An estimated/predictedpoint in time may mean that transportation, harvesting, cutting and/or delivering is expected to happen a certain point in time.

A final destination may be a place or position where the ligno is expected to be delivered. The final destination may be a position in air where the ligno is dropped from the UAV to the ground.

P30589 27 ln various example embodiments a separate land vehicle may be used with means for harvestingat least a portion of said ligno while the UAV is lifting the ligno. This may be advantageous sincethere is no load on the cutting means from the weight of the ligno which may increase theefficiency of the cutting procedure and/or require less power compared to cutting a ligno with the full load of the portion to be cut on said cutting means. ln various example embodiments the UAV is configured with aerodynamic means, comprisingrotors, fans, wings, or equivalent combination, interacting with the air so as to be capable to precisely control the UAV position, velocity, orientation and/or angular velocity. ln various example embodiments said UAV and said means configured for harvesting at least aportion of a ligno may be separated from each other end reconnected with each other. One or aplurality of cameras or other suitable position sensors may be used for the reconnection procedure. ln various example embodiments a plurality of UAV is used for transporting a plurality of ligno.

The means configured for harvesting at least a portion of a ligno may optionally be capable for moving on ground. The movement may be with legs, wheels or other suitable moving means. ln various example embodiments of the present invention a digital transmitter may be attachedto a ligno for communication with a control unit and/or at least one UAV and/or at least onemeans for harvesting at least a portion of a ligno. Said digital transmitter may not only send outthe position of said ligno it is attached to but also send out information about distance toneighbour ligno, the terrain, the diameter of the ligno, the final destination of a non-harvestedligno and/or other quality parameters of the ligno such as type and/or curved trunk. The digitaltransmitter may be attached to the ligno by a UAV, land vehicle, robot or by a human. The digitaltransmitter function may also be implemented as a pure software digital recognition function by unique parameters of the ligno such as ligno rings, limb pattern or ligno bark.

The digital transmitter may be used to determine which ligno to be harvested, where to move theharvested ligno in order to simplify transportation logistics. A digital transmitter may be used to move ligno/timber of different quality to different locations by said UAV. A digital marking may beused to determine which UAV and/or means for harvesting at least a portion of a ligno trunk to be used. The digital information may be used for using one or a plurality of UAV depending on the size of the ligno to be harvested. The digital marking may be used for ligno thinning. The digitalmarking may be used in combination with a remote harvesting planning and/or ligno thinningprocess prior to the actual harvesting. With digital marking a map of ligno in a predeterminedarea may be used for guiding the UAV to the correct ligno to be harvested. The digital markingmay also determine in which order the ligno shall be harvested in order to reduce the harvestingtime. The digital marking may be used to estimate a future harvesting time. The digital markingmay be used to determine which type of ligno there are in a particular area, the distance betweenligno in a particular area, the topography of the land where ligno are to be harvested, the heightof the ligno, the quality of the ligno, the form of the ligno, the diameter of the ligno. The digitalmarking may determine prior to harvesting of the ligno shall be cut in portions. The digital marking may be used to mark the different portion of the harvested ligno weight. ln various example embodiments of the present invention the quality of a harvested ligno may bepredicted by studying at least one intrinsic parameter i.e., tree parameter and/or at least one extrinsic parameter i.e., growing condition. ln various example embodiments of the present invention detected spectral properties and/orspatial structures of a portion of a ligno may be used as input for detecting ligno parametersand/or growing conditions of at least a portion of said ligno. Spectral properties and spatial structures may be detected on a microscopic and/or macroscopic level. ln various example embodiments of the present invention detected spectral properties and/orspatial structures of a ligno's surrounding environment within a pre-determined distance may beused as input for detecting ligno parameters and/or growing conditions of a portion of a ligno.Spectral properties and spatial structures may be detected on a microscopic and/or macroscopic level.

Shape of leaves or fir needles may be used as a ligno parameter.

Spectral properties and/or spatial structures may be from a cut surface of a ligno, a ligno trunk, aligno branch, ligno leaves/fir needles and/or a ligno leaves/fir needles. lt may also be the spectralproperties and/or spatial structures of vegetation, species and/or the ground within a pre-determined distance from said ligno. Spectral and/or spatial properties may be evaluated on pixel level. ln various example embodiments of the present invention the spatial structure of a tree may beused as an intrinsic parameter of a tree for predicting its quality. Various sensors may be used fordetermining temperature and/or humidity which in turn may be used for predicting the quality of the tree.

The length of a tree may be the cut portion laying on ground waiting for transportation. Thelength may be the total length above sea level. The length may be the total length above ground.

The length may be the length of a particular tree in comparison with at least one other tree. ln various example embodiments a ligno parameter may vary within a single ligno (tree, bush). Aligno parameter may also vary between ligno of the same species. A ligno parameter may alsovary between ligno of different species. A ligno parameter may be the temperature of the ligno.The temperature of the ligno may be an indication about the health and thereby the quality of the ligno.

A ligno parameter may for instance be a chest heigh diameter of the ligno trunk or a branch.

A ligno parameter may be various types of ligno deformations A ligno parameter may be the number of branches and its location on a ligno. A ligno parametermay be the shape of the branches. A ligno parameter may be the number of dry branches or a dry branch.

A ligno parameter may be defects generated by weather, e.g., storm, fire, torrential rain, dryperiods etc. ln various example embodiments a particular type of tree may not be harvested within a predetermined time period after a rainy season such as birch.

A ligno parameter may be a ligno gene or a set of genes. Ligno genes may be detected in a lab.

Ligno genes may also be present together with the position of the ligno when sowing the ligno.

A ligno parameter may be the number of leaves or fir needles. The number of leaves or fir needlesmay be estimated by detecting a spectral density per unit area.A growing condition may be hydrology of a predetermined area. Hydrology may be presence of running water and/or soil moisture.

A growing condition may be climate and/or meteorological variables such as wind, humidity, airpressure, radiation etc. A growing condition may be the weather during a particular season, adepth of snow, average wind speed, sensitivity to storm damage. The temperature during aparticular time period may be a determining factor to harvest or not and/or if special equipment is needed.

Abiotic factors such as soil quality may be a growing condition and a determining factor for lignoparameter. Abiotic factors in combination with a detection of annual rings, the shape of the tree,surroudning vegitation may give a good indicator of the quality of a ligno. Visual inspection of aligno in combinaiton with historical weather data may give a strong indication of the quality /value of a ligno.

A final destination of a ligno may not only be determined in longitude and latitude but also inheight above ground level or sea level. The height and/or spatial position in relation to otherportions of trees, ground or other objects variable may be useful if different types of lignoparameters is to be stored on the same location but being transported to yet another location atdifferent times. The final destination may be a fixed position, a vehicle, but also a position inrelation to another object, portion of the landscape and/or a predetermined area or volume. Theknowledge about the spatial location of a particular ligno parameter in a pile of ligno trunks may be logistically advantageous.

A growing condition and/or a ligno parameter may determine the final quality of wood such as flat bend, edge bend and/or skew.ln various example embodiments a ligno may be cut in several portions and said portions may belaid on ground. One of the smallest portions may be transported first and based on at least one of its tree parameters the weight of the remaining portions may be estimated.

Cutting a portion of a tree or a number of full trees may be performed for increasing the value of the remaining portion of the forest.

Feasible modifications of the |nvention 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 equivalentsthereof. Thus, the equipment may be modified in all kinds of ways within the scope of theappended claims. ln various example embodiments it is provided a system (10) for remote and/or autonomous harvesting at least a portion of a tree, said system (10) comprising: a first remotely and/or autonomously controlled Unmanned Aerial Vehicle (100),UAV, comprising, at least one means for holding (105) said harvested portion ofsaid tree and being configured for transporting said harvested portion of said treeaway from the original location of the tree, and a second remotely and/or autonomously controlled Unmanned Aerial Vehicle(100), UAV, comprising, at least one means for harvesting at least a portion of atree, at least one means for detecting said tree to be harvested a base station (120) for communication with said first and/or second UAV.

Said means for detecting said tree to be harvested may be arranged on said firstUAV, said second UAV and/or a third UAV and/or a remotely and/orautonomously controlled land-based vehicle. Said third UAV and/or saidautonomously controlled land-based vehicle may be in direct communicationwith said base station and/or indirect communication with said base station.|ndirect communication may be via said first and/or said second UAV. ln various example embodiments it is provided a system (10) for remote and/orautonomous selecting at least a portion of a ligno to be cut, said system (10) comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV,comprising, at least one means for cutting said at least a portion of a ligno, means for detecting said at least a portion of a ligno to be cut, means for detecting at least one ligno parameter of at least a portion of a lignoand/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 a portion of a ligno to be cut depending onat least one detected ligno parameter and/or at least one detected growingcondition of said cut ligno and/or of a remaining portion of a ligno and/or of at least one ligno grown within a predetermined distance from said cut ligno.

Harvesting may mean feilšng of ligno and preparing them for transport away from itsoriginal location. Harvestšng rnay include both tniririšlwg and ciearfeliing operations.

For instance, the disclosed system may also transport already harvested ligno or portions ofligno laying on ground. A plurality of UAV may be used for removing a plurality of ligno laying onground to a final destination. A plurality of UAV working together in synchronism may take one ora plurality of ligno or portions of ligno at the same time. The selection of ligno to be transportedmay be made depending on the total weight of the ligno or portions of ligno to be transported.The plurality of UAV may have a maximum load capacity and maximum range capacity. Ligno orportions of ligno may be selected depending on their location, weight, time and the current stateof the UAV, i.e., remaining charge and/or fuel. ln various example embodiments of the present invention at least a portion of a ligno isremoved and left on ground. Said portion can be anything from a branch, a top section to a fullligno. Full ligno may be removed without being taken care of, a so-called scrap ligno. A scrap lignomay have a relatively low value in comparison with other surrounding trees and/or for letting theremaining ligno in a particular area to obtain the best possible growing conditions.

Throughout this specification and the claims which follows, unless the context requiresotherwise, the word "comprise", and variations such as "comprises" or "comprising", will beunderstood to imply the inclusion of a stated integer or steps or group of integers or steps but notthe exclusion of any other integer or step or group of integers or steps. Ligno is the generic term for any bush or tree.

Claims

1. 1. A system (10) for remote and/or autonomous transporting at least a portion of a ligno, said system (10) comprising: a. a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV,comprising at least one means for holding (105) at least a portion of a ligno andbeing configured for transporting at least a portion of a ligno away from theoriginal location of said at least a portion of a ligno, b. means for detecting said at least a portion of a ligno to be transported, c. means for detecting at least one ligno parameter of at least a portion of a lignoand/or at least one growing condition of at least a portion of a ligno, d. a base station (120) for communication with said UAV, e. means configured for directing said remotely and/or autonomously controlledUAV with said at least a portion of a ligno to a final destination a certain point intime where said final destination and/or said certain point in time is dependingon at least one detected ligno parameter and/or at least one detected growingcondition of said transported portion of a ligno and/or of a remaining portion of aligno and/or of at least one ligno grown within a predetermined distance from said transported portion of a ligno.

2. The system according to claim 1, further comprising a remotely and/or autonomouslymeans (110) configured for harvesting said at least a portion of a ligno, wherein said system comprising at least one means for detecting a ligno to be harvested.

3. The system according to any one of claim 1-2, wherein said means for detecting said atleast one ligno parameter and/or at least one growing condition comprising a camera and/or using a database with digital information about ligno.

4. The system according to any one of claim 2-3, wherein said UAV and said meansconfigured for harvesting at least a portion of the ligno is communicating with each othervia one or more of Wifi, Bluetooth, radio communication, optical fibre and/or electrical wire.

5. The system according to any one of claim 1-4, further comprising means configured for automatically locating a ligno in a predetermined area.

6. The system according to claim 5, wherein said means configured for automaticallylocating a ligno in a predetermined area comprising at least a Global Navigation SatelliteSystem, GNSS or a digital transmitter configured to be attached to a ligno and to communicate with the UAV.

7. The system according to any one of the preceding claims, further comprising asynchronization unit for synchronizing the movement of at least two UAV for transportation of said at least a portion of a ligno.

8. The system according to any one of the preceding claims, further comprising means fordetermining the number of UAV to be used together for transporting depending on atleast one ligno parameter and/or the distance between an original location of said at least a portion of a ligno to and said final destination.

9. The system according to any one of the preceding claims, further comprising meansconfigured for selecting at least a portion of a ligno to be harvested and/or transporteddepending on at least one detected ligno parameter and/or at least one detected growingcondition of said harvested and/or transported portion of a ligno and/or of a remainingportion of a ligno and/or of at least one ligno grown within a predetermined distance from said transported and/or harvested portion of a ligno.

10. A method for remotely and/or autonomously transporting at least a portion of a ligno,said method comprising the steps of: a. remotely and/or autonomously controlling Unmanned Aerial Vehicle, UAV, b. identifying said at least a portion of a ligno to be transported, c. remotely and/or autonomously operating at least one means for holding said atleast a portion of a ligno, where said at least one means for holding said at least aportion of a ligno is attached to said UAV, d. detecting at least one ligno parameter of said at least a portion of a ligno and/orat least one growing condition of said at least a portion of a ligno and/ordetecting at least one ligno parameter and/or at least one growing condition of atleast one ligno grown within a predetermined distance from said at least aportion of a ligno and/or detecting at least one ligno parameter and/or at least a growing condition of a remaining portion of a ligno, e. transporting said at least a portion of a ligno, by said UAV, away from the originallocation of said at least a portion of a ligno to a final destination a certain point intime, where said final destination and/or said certain point in time is dependingon said at least one detected ligno parameter and/or said at least one detectedgrowing condition of said at least a portion of a ligno and/or of a remainingportion of a ligno and/or of at least one ligno grown within a predetermined distance from said at least a portion of a ligno.

11. The method according to claim 10, further comprising the step of remotely and/orautonomously controlling a means configured for harvesting said at least a portion of a ligno.

12. The method according to any one of claim 10-11, further comprising the step ofdetermining the number of UAV to be used together for transporting said at least aportion of a ligno depending on said at least one detected ligno parameter and/or said atleast one detected growing condition and/or the distance between the original position of said at least a portion of a ligno to and said final destination.

13. The method according to any one of claim 10-12, further comprising the step of setting upa communication link between said UAV and said means configured for harvesting said atleast a portion of a ligno via one or more of WiFi, Bluetooth, radio communication, tele communication, optical fibre and/or electrical wire.

14. The method according to any one of claim 10-13, further comprising the step ofidentifying a first predetermined area within which a ligno is to be harvested and/or aligno 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.

15. The method according to any one of claims 10-14, further comprising the step ofsynchronizing a movement of at least two UAV for transportation of said at least a portion of a ligno away from the original location of the ligno to the final destination.

16. The method according to any one of claim 10-15, wherein the detection of said at least one ligno parameter and/or said at least one growing condition is performed by means of a camera and/or using a database with digital information of ligno in a predetermined area.

17. The method according to any one of claim 10-16, further comprising the step of selecting5 said at least a portion of a ligno to be harvested and/or transported depending on at leastone detected ligno parameter and/or at least one detected growing condition of saidharvested and/or transported portion of a ligno and/or of a remaining portion of a lignoand/or of at least one ligno grown within a predetermined distance from said transported and/or harvested portion of a ligno.

18. An Unmanned Aerial Vehicle, UAV, configured to be used in a system according to anyone of claim 1-9.

19. The UAV according to claim 18, further comprising a synchronization unit for15 synchronizing the movement of at least two UAV.

20. A means configured for transporting at least a portion of a ligno configured to be used in a system according to any one of claim 1-9.