A method for controlling operation of a wood-handling device in a work machine. The wood-handling device is attached through a rotation device to an end of a set of booms of the work machine to create a desired orientation of the wood-handling device for the operation. The orientation of the wood-handling device using the rotation device is tied on the basis of the operation to be performed using the set of booms. The orientation of the wood-handling device is tied to the position of the end of the set of booms. The position of the end of the set of booms is defined while performing the operation, on the basis of the position of the end of the set of booms. The wood-handling device is oriented using the rotation device, according to the said tie.

A timber-working device comprises a frame having a feed axis and a drive system configured to feed at least one stem along the feed axis. The drive system comprises a first drive arm pivotally attached to the frame on a first side of the feed axis, having a first rotary drive having a first wheel. A second drive arm is also pivotally attached to the frame on a second side of the feed axis, having a second rotary drive having a second wheel. The drive system also comprises a third rotary drive having a third wheel, and a fourth rotary drive having a fourth wheel, mounted on the frame on the first and second sides of the feed axis respectively. At least one processor controls operation of the rotary drives, such that in a first mode the speed of the respective wheels of the rotary drives on the same side of the feed axis is substantially the same, and in a second mode the speed of the respective wheels of at least two rotary drives on opposing sides is substantially the same.

A timber-working device comprises a frame having a feed axis and a drive system configured to feed at least one stem along the feed axis. The drive system comprises a first drive arm pivotally attached to the frame on a first side of the feed axis, having a first rotary drive having a first wheel. A second drive arm is also pivotally attached to the frame on a second side of the feed axis, having a second rotary drive having a second wheel. The drive system also comprises a third rotary drive having a third wheel, and a fourth rotary drive having a fourth wheel, mounted on the frame on the first and second sides of the feed axis respectively. At least one processor controls operation of the rotary drives, such that in a first mode the speed of the respective wheels of the rotary drives on the same side of the feed axis is substantially the same, and in a second mode the speed of the respective wheels of at least two rotary drives on opposing sides is substantially the same.

A machine for debranching living trees can move up and down the tree autonomously via a drive mechanism and has an upper cutting unit including three blades and below it a lower cutting unit including two blades. The in total five blades are arranged so that they cover the full girth of the tree. The two blades in the lower cutting unit are horizontally offset so that their end portions can overlap. To move the machine along the tree trunk there are two belt drives which press against the tree and are both driven by a single hydraulic motor. The upper cutting unit with its three blades can move horizontally as a whole, so that when the machine is moved and encounters thicker or slightly bent parts of the tree trunk it can give way in order to prevent the bark from being damaged by the blades.

An improved harvester head assembly is provided. The harvester head includes a housing which is rotatable between a horizontal orientation and a vertical orientation. The harvester head further includes feeding system with a central feed roller and a pair of outer feed rollers that are moveable relative to the housing. The harvester head also includes top and bottom saws. A pair of delimbing knives are pivotable relative to the housing. A manifold and valve assembly is disposed in the housing and includes a plurality of solenoid valves which are configured to channel hydraulic fluid to motors and actuators to power and/or move a plurality of the components. The manifold and valve assembly includes a manifold with a rectangular shape and which is oriented with its long dimension extending in a longitudinal direction. The solenoid valves are spaced from one another in the longitudinal direction.

An improved harvester head assembly is provided. The harvester head includes a housing which is rotatable between a horizontal orientation and a vertical orientation. The harvester head further includes feeding system with a central feed roller and a pair of outer feed rollers that are moveable relative to the housing. The harvester head also includes top and bottom saws. A pair of delimbing knives are pivotable relative to the housing. A manifold and valve assembly is disposed in the housing and includes a plurality of solenoid valves which are configured to channel hydraulic fluid to motors and actuators to power and/or move a plurality of the components. The manifold and valve assembly includes a manifold with a rectangular shape and which is oriented with its long dimension extending in a longitudinal direction. The solenoid valves are spaced from one another in the longitudinal direction.

The present disclosure relates to a tree harvesting machine (120) having a crane arm (118), wherein the crane arm (118) comprises a tree harvesting head (100; 200) arranged at a free end of the crane arm (118). The tree harvesting head (100) comprises a saw (104) and at least two feed wheels (102). The tree harvesting head (100) further comprises an electric motor (106a) arranged to drive the saw (104), and at least one electric motor (106b) arranged to drive the feed wheels (102). The present disclosure also relates to associated tree harvesting monitoring systems, tree harvesting heads, methods and computer programs.

The present disclosure relates to a tree harvesting machine (120) having a crane arm (118), wherein the crane arm (118) comprises a tree harvesting head (100; 200) arranged at a free end of the crane arm (118). The tree harvesting head (100) comprises a saw (104) and at least two feed wheels (102). The tree harvesting head (100) further comprises an electric motor (106a) arranged to drive the saw (104), and at least one electric motor (106b) arranged to drive the feed wheels (102). The present disclosure also relates to associated tree harvesting monitoring systems, tree harvesting heads, methods and computer programs.

A forestry harvester for delimbing a tree with an angular upper cutter and side cutters while advancing the tree by feed rollers, wherein when the feeding of the tree is stopped due to being incapable of cutting the limbs off, the angle-shaped upper cutter and the side cutters are moved relative to the tree with rotation of the feed rollers stopped to cut off the limbs of the tree therewith.

The forestry harvester comprises a feed unit (1 or 100) including a pair of left-hand and right-hand clamp arms (8, 9 or 108, 109) and feed means (20 or 120), a chain saw box (22a) having a power chain saw (22), a delimbing unit (2) including an angle-shaped upper cutter (52) and a pair of cutter arms (26, 26) each having a side cutter (25), guide mechanism for guiding the delimbing unit for forward and rearward movement of the delimbing unit relative to the feed unit, and a hydraulic cylinder (47) actuated to move the delimbing unit (2) toward and away from the feed unit (1 or 100).

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.