Disclosed herein is a forestry monitoring system comprising an unmanned aerial vehicle. UAV (30) and a computing device (35). The UAV comprises an electrical energy storage (31). an electric motor (32) powered by the electrical energy storage, a propulsion arrangement (33) driven by the electric motor and configured to aerially manoeuvre the UAV and an imaging arrangement (34) configured to collect information about a forestry site, the forestry site having one or more forestry machines performing forestry operations therein. The computing device is configured to obtain the collected information from the UAV, process the collected information to determine monitoring information for the forestry site, and determine a path decision for at least one of the one or more forestry machines based on the determined monitoring information of the forestry site.

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

An auxiliary beam for an energy wood grapple comprises a first jaw that is functionally pivoted in connection with a support leg and rotatably movable with an actuator arranged in the auxiliary beam. Together with the support leg, the first jaw is arranged to form, in a transverse direction relative to an elongated frame of the auxiliary beam, an openable and closable grapple for material handling of elongated energy wood with the grapple parallel to the elongated frame of the auxiliary beam.

The method for controlling a forwarder comprises storing in a control unit of the forwarder one or more predetermined paths of a head of an articulated boom of the forwarder or a grapple suspended from the head; enabling an automatic transfer of the head or the grapple along one of the paths. The enabling is carried out manually by an operator with the help of a control device; setting off the automatic transfer with the help of a predetermined motion or sequence of motions carried out manually. The method further comprises automatically transferring the head or the grapple under control of the control unit, from a current position of the head or the grapple representing a starting position of the path, along the path, and to an end of the path; stopping the head or the grapple at the end of the path; and automatically disabling the automatic transfer of the head or the grapple after reaching the stopping position.

In the method a forwarder is applied, including one or more sensors adapted to sense one or more log pile attributes that concern and identify a pile of logs as a whole, each log pile attribute representing a property of the log pile, the forwarder further collecting the logs in each sensed log pile. In the method a forest harvester is applied, adapted to harvest trees to produce logs that are deposited in log piles, including one or more sensors adapted to sense one or more log pile attributes that concern and identify a pile of logs as a whole, the forest harvester storing and/or processing the sensed one or more log pile attributes, and/or sending them to a remote location, and/or sending them to one or more forwarders. The method including comparing the sensed one or more log pile attributes to identify the log pile. The arrangement includes the forest harvester and the forwarder.

A forestry apparatus includes a lifting linkage supported from a main frame. The lifting linkage includes a boom. At least one lifting linkage actuator adjusts the height of the boom. A grapple is suspended from the boom and includes first and second grapple tongs and a grapple actuator configured to move the grapple tongs in a closing motion from an open position toward a closed position. At least one position sensor is configured to detect positions of first and second grapple tong tips relative to the main frame or relative to the ground surface. A controller receives the at least one position signal and automatically controls the at least one lifting linkage actuator to coordinate the positions of the grapple tong tips relative to the main frame or relative to the ground surface with the closing motion of the grapple tongs.

A log grapple machine comprises a frame supporting a boom. The boom is controllable by a boom actuator. The log grapple machine further comprises a support member having a first end coupled to the boom and a second end coupled to a grapple box. The support member supports the grapple box. The log grapple machine further comprises a primary grapple tong coupled to the grapple box and movable between an open position and a closed position. The log grapple machine further comprises an accumulation arm coupled to the grapple box and movable between an open position and a closed position.

A log grapple machine comprises a frame supporting a boom. The boom is controllable by a boom actuator. The log grapple machine further comprises a support member having a first end coupled to the boom and a second end coupled to a grapple box. The support member supports the grapple box. The log grapple machine further comprises a primary grapple tong coupled to the grapple box and movable between an open position and a closed position. The log grapple machine further comprises an accumulation arm coupled to the grapple box and movable between an open position and a closed position.

The present invention relates to an articulated tracked vehicle comprising a front and a rear vehicle unit connected by means of a rigid load-carrying frame. The load-carrying frame is pivotally attached to the front vehicle unit about a substantially vertical front steering link and pivotally attached to the rear vehicle unit about a substantially vertical rear steering link. The vehicle further comprises control means arranged to steer the front vehicle unit relative to the load-carrying frame about the front vertical steering link and to steer the rear vehicle unit relative to the load-carrying frame about the rear vertical steering link, wherein the control means is arranged such that the front and rear vehicle units are individually steerable relative to the load-carrying frame about their respective vertical steering links.

The disclosure relates to a forestry system (1). The forestry system comprises a harvester (10) comprising an electrical energy generator, and a plurality of self-driving shuttles (20a-f) for transporting logs harvested by the harvester. Each shuttle comprises an electrical energy storage and at least one electrical motor powered by the electrical energy storage. The electrical energy storage of said shuttle is configured to be coupled to the electrical energy generator and charged thereby. The harvester is configured to load a harvested log onto a coupled shuttle and charge the electrical energy storage of said coupled shuttle using electrical energy from the electrical energy generator.