US 12,279,564 B2
Method for preparing for harvesting of forest using an unmanned vehicle and un-manned vehicle and system using said method
Levi Farrand, Uppsala (SE); Erik Österberg, Uppsala (SE); and William Johnsson, Uppsala (SE)
Assigned to DEEP FORESTRY AB, Uppsala (SE)
Appl. No. 17/615,040
Filed by DEEP FORESTRY AB, Uppsala (SE)
PCT Filed Jun. 22, 2020, PCT No. PCT/SE2020/050645
§ 371(c)(1), (2) Date Nov. 29, 2021,
PCT Pub. No. WO2020/263163, PCT Pub. Date Dec. 30, 2020.
Claims priority of application No. 1950817-5 (SE), filed on Jun. 28, 2019.
Prior Publication US 2022/0225584 A1, Jul. 21, 2022
Int. Cl. A01G 23/08 (2006.01); B64U 10/13 (2023.01); B64U 101/28 (2023.01); B64U 101/30 (2023.01); B64U 101/40 (2023.01); G05D 1/00 (2024.01); G06V 20/10 (2022.01); G06V 20/17 (2022.01)
CPC A01G 23/08 (2013.01) [G05D 1/0044 (2013.01); G05D 1/0234 (2013.01); G05D 1/0274 (2013.01); G06V 20/17 (2022.01); G06V 20/188 (2022.01); B64U 10/13 (2023.01); B64U 2101/28 (2023.01); B64U 2101/30 (2023.01); B64U 2101/40 (2023.01); B64U 2201/10 (2023.01)] 21 Claims
OG exemplary drawing
 
1. A method for preparing for harvesting of forest, the method comprising:
for each of at least one tree within a forest region, where the tree has not been felled:
obtaining, using at least one sensor of an un-manned vehicle moving under the canopy in a forest region, information associated with the tree;
assigning an object identity (ID) to the tree based on the obtained sensor information, using processing circuitry comprised in or accessible to the un-manned vehicle;
associating a marker with the tree and the obtained sensor information or the object identity (ID) assigned to the tree, wherein the associating comprises marking at least one identified place on the trunk of the tree;
obtaining a harvesting decision, using the processing circuitry, based on the obtained sensor information or the object identity (ID) assigned to the tree;
associating the marker also with the harvesting decision;
recognizing the marker, using at least one sensor of a harvester;
obtaining the harvesting decision for the tree associated with the recognized marker; and
performing a harvesting action based on the harvesting decision related to the tree, wherein the harvesting action comprises cutting the trunk of the tree at the at least one identified place.