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.

The invention relates to a system for remote and/or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and/or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and/or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and/or said at least one detected growing condition.

A method for controlling a boom assembly, the boom assembly being adapted for use on a forestry vehicle, the boom assembly comprising at least two booms, which are movably connected to each other and the vehicle, the boom assembly being controlled by hydraulic power, further comprising an extension boom, which comprises a free end of the boom assembly and a boom tip, the extension boom being linearly movable, the boom assembly comprising a position sensor to measure the position of the extension boom, a control unit, adapted to transfer operator commands to control the boom assembly, adapted to receive and calculate the position data from the extension boom, wherein, when the operator issues a command to bring the boom tip closer to the vehicle, in case the extension boom is positioned beyond a predetermined extension limit, the control unit will solely first control the extension boom.

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.

A method and a control system for controlling a boom of a forest work machine by tip control. In the method and the control system, a coordinate system of the forest work machine, a coordinate system of a work environment of the forest work machine and dependence between said coordinate systems are determined. As a response to a control command for controlling a tip of the boom of the forest work machine in motion to a target position or for keeping it in the target position in the coordinate system of the work environment, the attitude and/or state of motion of boom parts of the boom in the coordinate system of the forest work machine is determined and said control command of the tip of the boom of the forest work machine in motion is converted at least into at least one control measure of at least one actuator of the boom based on the determined attitude and/or the state of motion of the boom parts of the boom and on the dependence between the coordinate systems.

A system is provided for remote and/or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and/or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and/or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and/or said at least one detected growing condition.

The present invention relates to a system for remote and/or autonomous cutting at least a portion of a harvested tree trunk, at least a portion of a tree trunk to be harvested, at least a portion of a tree trunk during harvesting or at least a portion of a tree trunk during transporting, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, means (116) for cutting at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree (135), means for detecting at least one tree parameter of at least a portion of a tree (135) and/or at least one growing condition of at least a portion of a tree (tree), a base station (120) for communication with said UAV (100), and means configured for selecting at least one cutting position on at least a portion of a tree trunk depending on the at least one detected tree parameter and/or the at least one detected growing condition of at least a portion of a tree (135).

A heel includes a grapple attachment portion, an arm attachment portion non movably connected to the grapple attachment portion, a rack attachment portion non movably connected to the arm attachment portion such that the arm attachment portion is disposed between the grapple attachment portion and the rack attachment portion, and at least one rack removably attached to the rack attachment portion. A work machine includes the heel, a main body, a boom pivotably connected to the main body, and an arm pivotably connected to the boom. The heel is connected to a free end of the arm.

A telescopic crane arm including a boom with a bearing area for a boom extension, a boom extension movable out of and into the bearing area of the boom by travel movements so that a tip of the boom extension protrudes more or less far from the boom. The boom extension has a body at least partially in the form of a hollow profile, and a supply line is configured to simultaneously transmit both electrical energy and data signals. The supply line runs from the boom via the hollow profile of the boom extension to or at least in the vicinity of the tip of the boom extension, and is mounted and configured such that the supply line follows the travel movements. A mechanical tensioning device holds the supply line under mechanical tensile stress during the travel movements.

A power swivel system for an articulated machine can include a core having a rotational axis and configured to permit electrical conduit passage. A first portion couples to and rotates with the cabin, including a first slip ring assembly for electrical power distribution and manifolds for hydraulic power coupling. A second portion rotatably disposed about the core rotates with the boom apparatus, can include a second slip ring assembly for electrical power and a first jug for hydraulic power distribution. A third portion remains stationary within the front chassis, providing both hydraulic and electrical power distribution. The first portion and the second portion rotate independently of each other and the third portion, enabling the cabin and boom apparatus to operate independently while maintaining continuous power transmission throughout the articulated machine.