Method, apparatus, and system for operation of a timber-working device configured to perform at least one operation having an associated hazard zone. At least one signal from at least one orientation sensor associated with the timber-working head may indicate whether a predetermined location is within the hazard zone based on the orientation of the timber-working head. Operation of the timber-working head can be controlled based on the signal.

A grappling and severing head for gripping and severing a tree stem, having a grapple assembly and a severing assembly. Grapple arms are attached to a grapple body and extend forward beyond a front face of the grapple body. A severing assembly body is attached to the grapple body and is moveable between a retracted position and an extended position. A severing device is attached to the severing assembly body and is moveable between a stowed position and a range of deployed positions. When the severing device is in the stowed position and the severing assembly body is in the retracted position, the severing device and the severing assembly body lie substantially behind the front face of the grapple. body and/or behind the gripping face of at least one of the grapple arms.

A grappling and severing head for gripping and severing a tree stem, having a grapple assembly and a severing assembly. Grapple arms are attached to a grapple body and extend forward beyond a front face of the grapple body. A severing assembly body is attached to the grapple body and is moveable between a retracted position and an extended position. A severing device is attached to the severing assembly body and is moveable between a stowed position and a range of deployed positions. When the severing device is in the stowed position and the severing assembly body is in the retracted position, the severing device and the severing assembly body lie substantially behind the front face of the grapple. body and/or behind the gripping face of at least one of the grapple arms.

A vegetation clearing implement features at least one blade arranged for conveyance over an area of land in a forward working direction. Each blade features a respective serrated cutting edge positioned at a leading side of the blade. The serrated cutting edge lies along an oblique axis that resides at an oblique angle to the forward working direction. The serrated cutting edge features alternating crests and troughs situated along the oblique axis, and each trough has a concave curvature between a pair of adjacent crests. A slope of the concave curvature at its leading end is more parallel to the forward working direction than its trailing end. This provides a gradual increase in the aggression of cut as the equipment moves through the vegetative material to provide for smooth, efficient travel of the implement during a vegetation clearing operation.

A vegetation clearing implement features at least one blade arranged for conveyance over an area of land in a forward working direction. Each blade features a respective serrated cutting edge positioned at a leading side of the blade. The serrated cutting edge lies along an oblique axis that resides at an oblique angle to the forward working direction. The serrated cutting edge features alternating crests and troughs situated along the oblique axis, and each trough has a concave curvature between a pair of adjacent crests. A slope of the concave curvature at its leading end is more parallel to the forward working direction than its trailing end. This provides a gradual increase in the aggression of cut as the equipment moves through the vegetative material to provide for smooth, efficient travel of the implement during a vegetation clearing operation.

A cross-link assembly for a dangling worktool may include a frame configured to connect to a grapple, the frame having spaced apart arms; a pin movably engaged with the spaced apart arms, the pin having an abutment portion; and a lock member movably engaged with the frame. The lock member may be configured to engage with the abutment portion and have a lock portion configured to engage with a lock element provided on the grapple.

A cross-link assembly for a dangling worktool may include a frame configured to connect to a grapple, the frame having spaced apart arms; a pin movably engaged with the spaced apart arms, the pin having an abutment portion; and a lock member movably engaged with the frame. The lock member may be configured to engage with the abutment portion and have a lock portion configured to engage with a lock element provided on the grapple.

The invention relates to a method in a forest machine. In the method the surroundings of the forest machine are observed using one or more sensors. The observations are assembled to form a database of the surroundings, and the database is utilized in the operation of the forest machine. In the method observations of a limited area are used. In addition, a database is formed in real time in the forest machine. Further, a view is formed from the database of selected observations, from which a track in the surroundings is recognized. The forest machine is then oriented in the direction of the track, once the forest machine's direction of travel relative to the recognized track has been recognized. The invention also relates to a system in a forest machine.

The present invention relates to a method for preparing for harvesting of forest using an un-manned vehicle (100) configured to move under the canopy in a forest region, the method comprising: for each of at least one object (110) within the forest region: —obtaining, using at least one sensor (120) of the un-manned vehicle (100), information associated with the object (110); —assigning an object identity (ID) to the object (110) based on the obtained sensor information, using processing circuitry (210) comprised in or accessible to the un-manned vehicle (100); and10 —associating a marker (130) with the object (110) and the obtained sensor information or the object identity (ID) assigned to the object (110). The invention also relates to an un-manned vehicle, a harvesting system and a non-transitory computer-readable storage medium.

The present invention relates to a method for preparing for harvesting of forest using an un-manned vehicle (100) configured to move under the canopy in a forest region, the method comprising: for each of at least one object (110) within the forest region: —obtaining, using at least one sensor (120) of the un-manned vehicle (100), information associated with the object (110); —assigning an object identity (ID) to the object (110) based on the obtained sensor information, using processing circuitry (210) comprised in or accessible to the un-manned vehicle (100); and10 —associating a marker (130) with the object (110) and the obtained sensor information or the object identity (ID) assigned to the object (110). The invention also relates to an un-manned vehicle, a harvesting system and a non-transitory computer-readable storage medium.