A machine operates in conjunction with an aircraft, such as a helicopter, for harvesting or removing trees. The device can be powered by the aircraft, by electrical or hydraulic connection with the aircraft, or it may have an independent, self-contained power source. The device includes jaws for grasping a tree, and a saw for cutting the tree. The weight of the device is borne by a strong and flexible cord suspended from the aircraft. Various motors enable the position of the device to be remotely controlled, so as to grasp and remove tree trunks. The invention is especially useful for removing trees from areas which are difficult to reach by land.

The present invention relates to a system (10) for remote and/or autonomous selecting a tree to be harvested and/or to be transported, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) and/or harvesting said at least a portion of a tree, means for detecting said a tree to be transported and/or harvested, means for detecting at least one of the group of tree parameters: diameter of said tree, length of said tree, tree species of said tree and/or the weight of said tree, a base station (120) for communication with said means configured for holding (105) and/or harvesting said tree and said UAV (100), and means configured for selecting at least a portion of a tree to be harvested and/or transported depending on at least one of said detected tree parameters.

The present invention relates to a system (10) for remote and/or autonomous selecting a tree to be harvested and/or to be transported, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) and/or harvesting said at least a portion of a tree, means for detecting said a tree to be transported and/or harvested, means for detecting at least one of the group of tree parameters: diameter of said tree, length of said tree, tree species of said tree and/or the weight of said tree, a base station (120) for communication with said means configured for holding (105) and/or harvesting said tree and said UAV (100), and means configured for selecting at least a portion of a tree to be harvested and/or transported depending on at least one of said detected tree parameters.

A timber-working head and method of operation are provided. The head has a frame to which first and second arms are pivotally connected. Respective linear drive actuators pivot the respective arms relative to the frame to open and close them. At least one processor controls application of pressure by the linear drive actuators such that the arms grasp timber to be processed by the head. The position of the linear actuators is used to determine whether the timber is offset from a feed axis of the frame beyond a predetermined distance, and the application of pressure by one of the linear actuators to reduce the offset to be within the predetermined distance.

A working machine according to one aspect of the present disclosure comprises an operating device, a working tool, a driving device, a braking device, a detection device, and a change device. The detection device detects a mode of an operation performed on the operating device. The change device changes a brake control to be performed by the braking device according to the mode detected by the detection device.

A working machine according to one aspect of the present disclosure comprises an operating device, a working tool, a driving device, a braking device, a detection device, and a change device. The detection device detects a mode of an operation performed on the operating device. The change device changes a brake control to be performed by the braking device according to the mode detected by the detection device.

A tree harvester includes a body and a harvesting system coupled to the body. The tree harvester further includes a control system coupled to the body. The control system is configured to receive data from the harvesting system regarding a characteristic of a harvested tree and control operation of the harvesting system based on the data. The harvesting system is configured to remove an intermediate portion of the harvested tree below a tree crown and graft the tree crown to a tree stump.

A tree harvester includes a body and a harvesting system coupled to the body. The tree harvester further includes a control system coupled to the body. The control system is configured to receive data from the harvesting system regarding a characteristic of a harvested tree and control operation of the harvesting system based on the data. The harvesting system is configured to remove an intermediate portion of the harvested tree below a tree crown and graft the tree crown to a tree stump.

A method and system for controlling a power-transmission device in a forest machine having a harvester head includes measuring a selected property of at least two trees with aid of observation means on a basis of electromagnetic radiation at a distance from the trees being measured to create measurement data. The power-transmission device is controlled by software on the basis of the measurement data to change a state of the power-transmission device to optimize energy required to perform an operation of an operating device. The operating device uses the energy transmitted by the power-transmission device (after the change in state of the power-transmission device) so that operation of the operating device creates a change in the attitude, location, or state of the harvester head.

A method and system for controlling a power-transmission device in a forest machine having a harvester head includes measuring a selected property of at least two trees with aid of observation means on a basis of electromagnetic radiation at a distance from the trees being measured to create measurement data. The power-transmission device is controlled by software on the basis of the measurement data to change a state of the power-transmission device to optimize energy required to perform an operation of an operating device. The operating device uses the energy transmitted by the power-transmission device (after the change in state of the power-transmission device) so that operation of the operating device creates a change in the attitude, location, or state of the harvester head.