In the disclosed solution, a boom assembly (14) of a work machine (1) is controlled by tip control. In tip control, a control command is given to a tip of a boom assembly (14), converted into control commands for individual actuators of the boom assembly (14). In the disclosed solution, a variable related to a load and its position at the tip of the boom assembly (14) is defined, and the variable in question related to the load and its position at the tip of the boom assembly (14) is taken into account in the control command for the actuator.

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.

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.

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.

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 membrane for covering the cut end of a tree trunk to prevent the tree from creating a seal after it has been cut. The membrane is attachable to the cut end surface of the tree trunk and includes a hydrating layer comprising a hydrogel. The hydrogel, made up primarily of water, adheres to the cut end surface of the tree trunk to continue hydrating the tree, and prevents air from reaching the tree's exposed transport tissue. In some embodiments, the membrane includes a backing layer and a release layer on opposite sides of the hydrating layer.

A planting system (100) for arrangement on a vehicle (110) is provided and comprises at least one plant arm (130) comprising a plant head (140) configured to penetrate ground and a plant feeding device (120) configured to feed plant seedlings (125) to the plant arm by dropping the plant seedlings from the plant feeding device. The plant arm comprises at least one articulation (180) and is configured to receive plant seedlings (125) and to guide the plant seedlings to the plant head. The planting system is configured to operate the plant arm by penetrating the ground and release the plant seedlings from the plant head into the ground while the plant system (100) is in motion and the plant head has a fixed position relative the ground. The plant seedlings fall from the plant feeding device (120) to the plant head (140) while the plant arm (130) is in motion.

A tree section lowering assembly is provided. The tree section lowering assembly includes a support member having a first side, an opposing second side, a first end, and an opposing second end. A plurality of rung members extend from the first side of the support member. Each of the plurality of rung members has an outer surface configured to facilitate a frictional, sliding engagement with an interlaced rigging line. A reinforcement member extends from the second side of the support member and is configured to structurally support the support member. An upper line guide extends from a rung member at the located first end of the support member and a lower line guide extends from a different rung member located at the second end of the support member.

A tree section lowering assembly is provided. The tree section lowering assembly includes a support member having a first side, an opposing second side, a first end, and an opposing second end. A plurality of rung members extend from the first side of the support member. Each of the plurality of rung members has an outer surface configured to facilitate a frictional, sliding engagement with an interlaced rigging line. A reinforcement member extends from the second side of the support member and is configured to structurally support the support member. An upper line guide extends from a rung member at the located first end of the support member and a lower line guide extends from a different rung member located at the second end of the support member.

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.