SE2350418A1 - An apparatus, a method and a vehicle for ground preparation - Google Patents

Abstract

The disclosure relates to a forestry apparatus (1) for ground preparation before tree planting, the forestry apparatus (1) comprising a soil receptacle (10), movable relative to a ground surface (12) on which the forestry apparatus (1) is intended to operate. The soil receptacle (10) is configured to receive a volume of soil (14) in the soil receptacle (10) via a first end (16) of the soil receptacle (10) and configured to discharge the volume of soil (14) via a second end (18) of the soil receptacle (10). The forestry apparatus further comprises an actuating mechanism (20) mechanically connected to the soil receptacle (10) and configured to actuate movement of the soil receptacle (10). The soil receptacle (10) is movable by the actuating mechanism (20) to collect a volume of soil (14) and to discharge said volume of soil (14) to form an inverse mound of soil (24).The disclosure also relates to a method (2) for ground preparation and to a vehicle (3) comprising the forestry apparatus (1).

Description

1 AN APPARATUS, A METHOD AND A VEHICLE FOR GROUND PREPARATION TECHNICAL FIELD The present invention relates to an apparatus, a method and a vehicle for ground preparation before tree planting. ln particular it relates to forming an inverse mound of soil for tree planting in a selected location.

BACKGROUND lnverse mounding, or inverted mounding, is a known technique for creating suitable conditions for planting trees, in which a top layer of humus soil is turned over together with an underlying layer of mineral soil such that the mineral soil is left on top of the humus soil, forming an inverse mound of soil.

Existing techniques may rely on scarifiers mounted on forestry vehicles, which scarifiers may comprise one or more disc harrows to continuously turn over soil while the forestry vehicle carrying the scarifier is moving. Other techniques employ heavy excavators which turn over soil and create spot mounds in selected locations.

The known techniques cause significant intrusion and damage to plant and wildlife in areas selected for tree planting. They furthermore require trained operators and are not readily adapted for automation of ground preparation.

SUMMARY Therefore, an object of the disclosure is to provide an improved forestry apparatus and method for ground preparation before planting trees. The method and apparatus of the disclosure provides a light and versatile manner of creating an inverse mound of soil in a selected location, causing minimal disturbance to plant and wildlife in the process. There is also provided a vehicle which may comprise at least one such forestry apparatus.

According to a first aspect of the present disclosure, the object is achieved by a forestry apparatus according to claim 1.

Hence, there is provided a forestry apparatus for ground preparation before tree planting. The forestry apparatus comprises a soil receptacle movable relative to a ground surface on which the forestry apparatus is intended to operate. The soil receptacle is configured to receive a volume of soil via a first end of the soil receptacle and configured to discharge the volume of soil via a second end of the soil receptacle. The forestry apparatus 2 further comprises an actuating mechanism mechanically connected to the soil receptacle and configured to actuate movement of the soil receptacle.

The soil receptacle is movable by the actuating mechanism to penetrate the ground surface at a selected location and simultaneously co||ect a volume of soil via the first end of the soil receptacle. The soil receptacle is further movable by the actuating mechanism to discharge the volume of soil from the soil receptacle via the second end.

The soil receptacle is thus movable by the actuating mechanism to discharge the volume of soil from the soil receptacle via the second end such that an inverse mound of soil is formed.

The actuating mechanism may comprise a mechanical frame suitable for supporting and carrying forestry tools, such as the soil receptacle. The actuating mechanism further comprises actuators configured to actuate movement of any forestry tools connected to the actuating mechanism. The actuators may be powered by an external power source such as a hydraulic pressure source or a mechanical or electrical power take-off of a vehicle. A mechanical power take-off may be a rotating shaft of the vehicle. An electrical power take- off may be a connector to a battery or a fuel cell carried by the vehicle. The actuating mechanism may comprise hydraulic conduits, electric cables, or gears, etc., configured to be connected to the external power source in order to power the actuators to actuate movement of the forestry tools mechanically connected to the actuating mechanism.

The actuating mechanism may further comprise, or be connected to, a control unit. The control unit is configured to be communicatively connected to the actuators to control the actuators to actuate movement of any forestry tools. The control unit may be communicatively connected by cables to the actuators. Alternatively, the control unit may be wirelessly connected to the actuators. The control unit may be configured to receive instructions from an external controller, such as operator of the forestry apparatus via an operator interface, e.g. a hand-held device. The external controller may alternatively be a monitoring and control system which may receive sensor and measuring data from sensors of the forestry apparatus or of the vehicle comprising the forestry apparatus. The monitoring and control system may further comprise a navigational unit for GPS data. Such a monitoring and control system may enable automated operation of the forestry apparatus and/or of the vehicle comprising the forestry apparatus.

The soil receptacle is a forestry tool mechanically connected to the actuating mechanism. The soil receptacle may be a tubular implement adapted to penetrate the ground surface under actuation of the actuating mechanism. The first and second ends of the soil receptacle may be open ends of the tubular implement. Alternatively, the first and/or 3 second ends of the soil receptacle may comprise closure members which may be opened and closed by the actuating mechanism. A closure member may be used to contain the volume of soil in the soil receptacle to avoid spilling soil when the soil receptacle is moved.

As the soil receptacle is moved to penetrate the ground surface at the selected location, a volume of soil enters the soil receptacle via the first end. An upper layer of humus soil is first to enter the soil receptacle, followed by an underlying layer of mineral soil. The soil receptacle may thereafter be extracted from the ground and rotated such that the volume of soil is discharged, e.g. by gravity, via the second end of the soil receptacle. Thereby, the humus soil will be discharged first, followed by the mineral soil, which will be deposited on top of the humus soil, creating an inverse mound of soil.

The selected location at which the soil receptacle penetrates the ground may be determined by an operator of the forestry apparatus. Alternatively, the selected location may be selected automatically by mechanical probing or by analysis of the ground on which the forestry apparatus is intended to operate.

The first and second ends of the soil receptacle are preferably opposite ends of the soil receptacle. However, the first and second ends may conceivably be arranged as adjacent ends of the soil receptacle. Such first and second ends may comprise openings in adjacent wall portions of the soil receptacle.

Optionally, the forestry apparatus further comprises a ground engaging device mechanically connected to the actuating mechanism and configured to anchor the forestry apparatus relative to the ground surface.

The ground engaging device may comprise at least one gripping member that may penetrate the ground surface and mechanically engage the forestry apparatus with the ground and to anchor the forestry apparatus relative to the ground surface. When the forestry apparatus is anchored relative to the ground surface, a lighter forestry apparatus may be realized as compared to a non-anchored forestry apparatus which would have to rely on its mass to drive the soil receptacle into the ground without lifting itself relative to the ground surface.

Optionally, the ground engaging device further comprises a ground analyzing device configured to determine a property of the ground at the selected location.

The ground analyzing device may be any kind of equipment capable of determining a property of the ground, before penetrating the surface with the soil receptacle. As an example, the ground engaging device may comprise a mechanical probing member which is extended towards the ground surface to abut the ground surface using a low-force bias.

The probing member may be a gripping member. At least one gripping member of the 4 ground engaging device is configured to subsequently penetrate the ground surface to anchor the forestry apparatus relative to the ground surface. lf a further extension of the probing member is detected as the at least one gripping member seeks to penetrate the ground surface, it may be interpreted as the forestry apparatus |ifting itself relative to the ground surface instead of penetrating the ground surface with the gripping member. Extension of the probing member during ground penetration of the at least one gripping member may thus be indicative of the ground being too hard for ground preparation. The selected location of the ground may thus be considered unsuitable for ground preparation.

Optionally, the soil receptacle is configured to penetrate the ground surface at the selected location at a first angle relative to a normal to a ground plane, and wherein the ground engaging device is configured to penetrate the ground surface at the selected location in a second direction at a second angle relative to the normal to the ground plane.

Since the ground surface is naturally irregular, the ground plane is understood to be interpreted as a reference surface substantially parallel to the ground surface in the selected location. The first and second angles may be set individually. The first angle may be selected in the range of 0-80 degrees relative to the normal. The second angle may be selected in the range of 0-80 degrees relative to the normal. More preferably, the first angle is selected in the range of 45-80 degrees relative to normal and the second angle is selected in the range of 10-45 degrees relative to the normal. The first angle and the second angle may be selected such that the sum of the second angle and the first angle is in the range of 80-100 degrees. Most preferably, the first angle and the second angle may be selected such that the sum of the second angle and the first angle is in the range of 85-95 degrees. The first direction has a first component orthogonal to the normal, and the second direction has a second component orthogonal to the normal, wherein the first component is opposite to the second component. Advantageously, the soil receptacle may penetrate the ground surface such that the first direction is substantially orthogonal to the second direction of the ground engaging device.

Optionally, the forestry apparatus further comprises a pushing device, movable by the actuating mechanism and configured to engage the volume of soil via the first end of the soil receptacle and to discharge the volume of soil through the second end of the soil receptacle.

Accordingly, the pushing device may be configured to assist in discharging the volume of soil from the soil receptacle. The soil receptacle may be configured to be moved by the actuating mechanism such that the second end of the soil receptacle faces the ground surface. The first end of the soil receptacle may be configured to simultaneously face the pushing device such the actuating mechanism may move the pushing device to engage the volume of soil in the soil receptacle via the first end and to discharge the volume of soil via the second end.

Optionally, the pushing device is further configured to compact and shape an inverse mound of soil formed upon discharge of the volume of soil from the soil receptacle.

The pushing device may be configured to extend into the soil receptacle via the first end and out of the soil receptacle via the second end. The actuating mechanism may further be configured to move the pushing device into engagement with the inverse mound of soil and to exert a pressure on the inverse mound of soil to compact and shape it.

Optionally, the pushing device comprises a shaped contact member configured to compact and shape the inverse mound of soil formed upon discharge of the volume of soil from the soil receptacle.

The shaped contact member may have a concave shape configured to provide the inverse mound of soil with a convex shape in relation to the ground surface, i.e. a shape thar protrudes from the ground surface at which the inverse mound is located.

Optionally, the forestry apparatus is configured to be carried by a vehicle and the actuating mechanism is configured to be connectable to a power source of the vehicle.

The forestry apparatus may be mounted on a vehicle. The power source may be a hydraulic pressure source or a mechanical or an electric power take-off of the vehicle.

According to a second aspect of the disclosure, the object is achieved by a method according to claim 9.

Hence there is provided a method for ground preparation before tree planting, which method comprises selecting a location for ground preparation, penetrating a ground surface at the selected location by a soil receptacle and simultaneously collecting a volume of soil in the soil receptacle. The method also comprises extracting the soil receptacle from the ground surface and discharging the volume of soil from the soil receptacle to form an inverse mound of soil.

Selection of the location for ground preparation may be done by ocular inspection of the ground by an operator, by non-intrusive sensing means, such as ground radar or image analysis, or by mechanical sensing means, such as by probing.

Penetrating the ground surface by the soil receptacle may be performed by extending a rod, on which soil receptacle may be mounted, in a first direction at a first angle relative to the ground surface. As the soil receptacle penetrates the ground surface, a volume of soil will be received in the soil receptacle. 6 Extraction of the soil receptacle may be performed by lifting and/or rotating the soil receptacle relative to the ground surface. Extraction may be performed with or without the volume of soil in the soil receptacle. The volume of soil may be discharged before extracting the soil receptacle.

The volume of soil may be discharged by rotating the soil receptacle such that the volume of soil may fall, by gravity, out of an open end of the soil receptacle. Rotation of the soil receptacle ensures that a part of the volume of soil which was received first in the soil receptacle during penetration of the ground surface is discharged before a part of the volume of soil Which Was received later in the receptacle during penetration of the ground surface, thereby forming an inverse mound of soil. The volume of soil may be discharged from the soil receptacle in a cavity in the ground created by the extraction of the soil receptacle. Alternatively, the volume of soil may be discharged on the ground surface, in a location away from the cavity created by the extraction of the soil receptacle.

Optionally, the method further comprises, prior to penetrating the ground surface by the soil receptacle, determining a property of the ground by a ground analyzing device.

The property of the ground may be any property of relevance for ground preparation and/or tree planting. The property may relate to penetrability, or hardness, of the ground, moisture, dryness, soil composition, and/or a combination of properties.

Optionally, the property of the ground is penetrability of the ground.

A preferred property to determine may be penetrability of the ground, i.e. how resilient the ground is to mechanical ground penetration. Penetrability may for instance be determined by a ground probing radar (GPR) or by mechanical probing.

Optionally, the method further comprises aborting the method prior to penetrating the ground surface if the penetrability of the ground is determined to be unsuitable for ground preparation. lf penetrability of the ground is determined to be low, the selected location may be considered unsuitable for ground preparation and/or tree planting. The method is thereby aborted and restarted at a new location for ground preparation.

Optionally, the method further comprises anchoring the forestry apparatus relative to the ground surface by a ground engaging device.

The ground engaging device may comprise at least one gripping member that may penetrate the ground surface and mechanically engage the forestry apparatus with the ground and to anchor the forestry apparatus relative to the ground surface. When the forestry apparatus is anchored relative to the ground surface, a lighter forestry apparatus may be realized as compared to a non-anchored forestry apparatus which would have to 7 rely on its mass to drive the soil receptacle into the ground without lifting itself relative to the ground surface.

Optionally, the ground engaging device comprises the ground analyzing device. The ground analyzing device may be any kind of equipment capable of determining a property of the ground, before penetrating the surface by the soil receptacle. As an example, the ground engaging device may comprise a mechanical probing member which is extended towards the ground surface to abut the ground surface using a low-force bias. The probing member may be a gripping member. At least one gripping member of the ground engaging device is configured to subsequently penetrate the ground surface to anchor the forestry apparatus relative to the ground surface. lf a further extension of the probing member is detected as the at least one gripping member seeks to penetrate the ground surface, it may be interpreted as the forestry apparatus lifting itself relative to the ground surface instead of penetrating the ground surface with the gripping member. Extension of the probing member during ground penetration of the at least one gripping member may thus be indicative of the ground being too hard for ground preparation. The selected location of the ground may thus be considered unsuitable for ground preparation.

Optionally, the action of penetrating the ground surface by the soil receptacle is performed in a first direction at a first angle relative to a normal to a ground plane. The action of anchoring the forestry apparatus by the ground engaging device is performed in a second direction at a second angle relative to the normal to the ground plane.

The first and second angles may be set individually. The first angle may be selected in the range of 0-80 degrees relative to the normal. The second angle may be selected in the range of 0-80 degrees relative to the normal. More preferably, the first angle is selected in the range of 45-80 degrees relative to normal and the second angle is selected in the range of 10-45 degrees relative to the normal. The first angle and the second angle may be selected such that the sum of the second angle and the first angle is in the range of 80-100 degrees. Most preferably, the first angle and the second angle may be selected such that the sum of the second angle and the first angle is in the range of 85-95 degrees. The first direction has a first component orthogonal to the normal, and the second direction has a second component orthogonal to the normal, wherein the first component is opposite to the second component. Advantageously, the soil receptacle may penetrate the ground surface such that the first direction is substantially orthogonal to the second direction of the ground engaging device.

Optionally, the action of discharging the volume of soil from the soil receptacle is assisted by a pushing device. 8 ln some cases, the volume of soil may not be discharged from the soil receptacle by gravity alone, such as when the volume of soil is wet, and/or when the volume of soil comprises roots or other parts which may engage the soil receptacle and provide resistance against discharging of the volume of soil by gravity. The pushing device may then engage the volume of soil and push it out of the soil receptacle.

Optionally, the method further comprises compacting and shaping the inverse mound of soil by the pushing device.

The pushing device may extend into the soil receptacle via the first end and out of the soil receptacle via the second end. The actuating mechanism may further move the pushing device into engagement with the inverse mound of soil and exert a pressure on the inverse mound of soil to compact and shape it.

According to a third aspect of the present disclosure, the object is achieved by a vehicle according to claim 19.

Hence, there is provided a vehicle comprising at least one forestry apparatus according to any one of the embodiments of the first aspect of the disclosure.

Due to relatively light weight of the forestry apparatus according to the first aspect of the disclosure, the vehicle may comprise a plurality of such forestry apparatuses.

The above aspects, accompanying claims, and/or examples disclosed herein above and later below may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art.

Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

BRIEF DESCRIPTION OF THE DRAWINGS Further objects and advantages of, and features of the disclosure will be apparent from the following description of one or more embodiments, with reference to the appended drawings, where: Figs 1-3 to a first aspect of the disclosure.

Figs 4-5 comprised by the forestry apparatus of the first aspect of the disclosure.

Figs 6-7 Figs 1-3. show conceptual schematic views of a forestry apparatus according show a schematic view of a ground engaging device which may be show further conceptual schematic views of the forestry apparatus of 9 Figs 8-9 show flowcharts of methods according to a second aspect of the disclosure.

Fig. 10 shows a vehicle according to a third aspect of the disclosure.

Figs 11-21 show detailed examples of the first and second aspects of the disclosure.

DETAILED DESCRIPTION OF EXA|\/IPLE E|\/|BOD||\/IENTS OF THE INVENTION The present disclosure is developed in more detail below referring to the appended drawings which show examples of embodiments. The disclosure should not be viewed as limited to the described examples of embodiments. Like numbers refer to like elements throughout the description.

The terminology used herein is for the purpose of describing particular aspects of the disclosure only and is not intended to limit the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates othenNise. Unless othenNise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

Fig. 1 and Fig. 2 show a forestry apparatus 1 for ground preparation before tree planting. The forestry apparatus 1 comprises a soil receptacle 10, movable relative to a ground surface 12 on which the forestry apparatus 1 is intended to operate. The soil receptacle 10 is configured to receive a volume of soil 14 via a first end 16 of the soil receptacle 10 and configured to discharge the volume of soil 14 via a second end 18 of the soil receptacle. The forestry apparatus 1 also comprises an actuating mechanism 20, herein shown symbolically as a box with a dashed outline. The actuating mechanism 20 is mechanically connected to the soil receptacle 10 and configured to actuate movement of the soil receptacle 10. The soil receptacle 10 is movable by the actuating mechanism 20 to penetrate the ground surface 12 at a selected location 22 and to simultaneously collect a volume of soil 14 in the soil receptacle 10 via the first end 16 of the soil receptacle 10. The soil receptacle 10 is also movable by the actuating mechanism 20 to discharge the volume of soil 14 from the soil receptacle 10 via the second end 18, such that an inverse mound of soil 24 is formed.

The actuating mechanism 20 may comprise a mechanical frame 21, as illustrated in the example of Fig. 11 and Fig. 14, suitable for supporting, actuating and carrying forestry tools for ground preparation and/or tree planting, such as the soil receptacle 10. During operation, the frame 21 may be configured to be parallel with a plane P transversal to the ground surface 12. Any forestry tools mechanically connected to the frame 21 may, during operation, be configured to be actuated/moved in parallel with the plane P. The actuating mechanism 20 further comprises actuators 23 configured to actuate movement of any forestry tools connected to the actuating mechanism 20. The actuators 23 may be hydraulic, mechanical, or electric actuators, and may consequently be powered by an external power source (not shown) such as a hydraulic pressure source or a mechanical or electrical power take-off of a vehicle 3. A mechanical power take-off may be a rotating shaft of the vehicle 3. An electrical power take-off may be a connector to a battery or a fuel cell carried by the vehicle 3. The actuating mechanism 20 may comprise hydraulic conduits, electric cables, or gears, etc. (also not shown), configured to be connected to the external power source in order to power the actuators 23 to actuate movement of the forestry tools mechanically connected to the actuating mechanism 20. The actuators 23 may be powered by conventional mechanisms, which are not exemplified in detail in the present disclosure.

The actuating mechanism 20 may further comprise, or be connected to, a control unit 40. The control unit is only shown in Fig. 1 but may be understood to be present in any embodiments of the forestry apparatus 1. The control unit 40 is configured to be communicatively connected to the actuators 23 to control the actuators 23 to actuate movement of any forestry tools. The control unit 40 may be communicatively connected by cables (not shown) to the actuators 23. Alternatively, the control unit 40 may be wirelessly connected to the actuators 23. The control unit 40 may be configured to receive instructions from an external controller 42, such as operator of the forestry apparatus via an operator interface, e.g. a hand-held device. The external controller 42 may alternatively be a monitoring and control system which may receive sensor and measuring data from sensors of the forestry apparatus 1 or of the vehicle 3 comprising the forestry apparatus 1. The monitoring and control system may further comprise a navigational unit for GPS data. Such a monitoring and control system may enable automated operation of the forestry apparatus 1 and/or of the vehicle 3 comprising the forestry apparatus 1. The forestry apparatus 1 according to the first aspect of the disclosure is well-suited for autonomous operation, but is not disclosed herein in detail.

The soil receptacle 10 is a forestry tool mechanically connected to the actuating mechanism 20. The soil receptacle 10 may be a tubular implement adapted to penetrate the ground surface 12 under actuation of the actuating mechanism 20. The first end 16 and the second end 18 of the soil receptacle 10 may be open ends of such a tubular implement.

Alternatively, the first and/or second ends 16, 18 of the soil receptacle 10 may comprise 11 closure members (not shown) which may be opened and closed by the actuating mechanism 20. Closure members may be used to contain the volume of soil 14 in the soil receptacle 10 to avoid spilling soil when the soil receptacle 10 is moved by the actuating mechanism 20.

As the soil receptacle 10 is moved to penetrate the ground surface 12 at the selected location 22, as shown in Fig. 1, a volume of soil 14 enters the soil receptacle 10 via the first end 16. An upper layer of humus soil is first to enter the soil receptacle 10, followed by an underlying layer of mineral soil. The soil receptacle 10 may thereafter be extracted from the ground and rotated, as indicated by arrow A, such that the volume of soil 14 is discharged, e.g. by gravity, via the second end 18 of the soil receptacle 10 as shown by the arrow A2 in Fig. 2. Thereby, the humus soil will be discharged first, followed by the mineral soil, which will be deposited on top of the humus soil, creating an inverse mound of soil 24.

The selected location 22 at which the soil receptacle 10 penetrates the ground may be determined by an operator of the forestry apparatus. Alternatively, the selected location may be selected automatically by mechanical probing or by optical, acoustical or electromagnetic analysis of the ground on which the forestry apparatus 1 is intended to operate.

The first and second ends 16, 18 of the soil receptacle 10 are preferably opposite ends of the soil receptacle 10. However, the first and second ends 16, 18 may conceivably be arranged as adjacent ends of the soil receptacle 10. Such first and second ends 16, 18 may comprise openings in adjacent wall portions of the soil receptacle 10.

As illustrated in Fig. 3, the forestry apparatus 1 may comprise further forestry tools, such as a ground engaging device 26 mechanically connected to the actuating mechanism 20 and configured to anchor the forestry apparatus 1 relative to the ground surface 12. The ground engaging device may comprise at least one gripping member 27 that may penetrate the ground surface 12 and mechanically engage the forestry apparatus 1 with the ground and to anchor the forestry apparatus 1 relative to the ground surface 12. The gripping member 27 may for instance be a steel rod 27. When the forestry apparatus 1 is anchored relative to the ground surface 12, a lighter forestry apparatus 1 may be realized as compared to a non-anchored forestry apparatus which would have to rely on its mass to drive the soil receptacle 10 into the ground without simultaneously lifting itself relative to the ground surface 12.

The ground engaging device 26 may further comprise a ground analyzing device 28 configured to determine a property of the ground at the selected location 22. The ground analyzing device 28 may be any kind of equipment capable of determining a 12 property of the ground, before penetrating the surface with the soil receptacle 10. As an example, shown in Fig. 4 and Fig. 5, the ground engaging device 26 may comprise a ground analyzing device 28 in the form of a mechanical probing member 28 which is configured to be extended towards the ground surface to abut the ground surface under a low-force bias as shown in Fig. 4. The force is selected so as to avoid penetrating the ground surface 12 with the probing member 28. The probing member 28 may structurally be identical to a gripping member 27. At least one gripping member 27 of the ground engaging device is configured to subsequently penetrate the ground surface 12 to anchor the forestry apparatus 1 relative to the ground surface 12. A sensor (not shown) may be provided which may monitor the extension of the probing member 28. lf a further extension of the probing member 28 is detected when the at least one gripping member 27 seeks to penetrate the ground surface 12, it may be interpreted as the forestry apparatus 1 lifting itself relative to the ground surface 12 instead of penetrating the ground surface 12 with the gripping member 27. Extension of the probing member 28 during ground penetration of the at least one gripping member 27 may thus be indicative of the ground being too hard for ground preparation. The selected location 22 of the ground may thus be considered unsuitable for ground preparation.

Fig. 5 exemplifies a selected location 22 which may be considered suitable for ground preparation since two gripping members 27 have penetrated the ground surface 27 without causing any further extension of the probing member 28, as compared to the Fig. 4.

Fig. 3 further illustrates how the soil receptacle 10 is configured to penetrate the ground surface 12 at the selected location 22 in a first direction at a first angle oi relative to a normal N of a ground plane P, and wherein the ground engaging device 26 is configured to penetrate the ground surface 12 at the selected location 22 in a second direction at a second angle ß relative to the normal N of the ground plane P. The ground plane P is understood to be substantially parallel to the ground surface 12 in the selected location 22. The first and second angles oi, ß may be set individually. The first angle oi may be selected in the range of 0-80 degrees relative to the normal N. The second angle ß may be selected in the range of 0-80 degrees relative to the normal N. More preferably, the first angle oi is selected in the range of 45-80 degrees relative to normal N and the second angle ß is selected in the range of 10-45 degrees relative to the normal N. The first angle oi and the second angle ß may be selected such that the sum of the second angle ß and the first angle oi is in the range of 80-100 degrees. Most preferably, the first angle oi and the second angle ß may be selected such that the sum of the second angle ß and the first angle oi is in the 13 range of 85-95 degrees. The first direction has a first component orthogonal to the normal N, and the second direction has a second component orthogonal to the normal N, wherein the first component is opposite to the second component. Advantageously, the soil receptacle 10 may penetrate the ground surface 12 such that the first direction is substantially orthogonal to the second direction of the ground engaging device 26.

The forestry apparatus 1 may further comprise a pushing device 30 as shown in Fig. 6 and Fig. 7. The pushing device may be movable by the actuating mechanism 20 and be configured to engage the volume of soil 14 via the first end 16 of the soil receptacle 10 and to discharge the volume of soil 14 via the second end 18. The pushing device 30 may be configured to assist in discharging the volume of soil 14 from the soil receptacle 10. The soil receptacle 10 may be configured to be moved by the actuating mechanism 20 such that the second end 18 of the soil receptacle faces the ground surface 12 during discharge of the volume of soil 14. The first end 16 of the soil receptacle 10 may be configured to simultaneously face the pushing device 30 such the actuating mechanism 20 may move the pushing device 30 to engage the volume of soil 14 in the soil receptacle 10 via the first end 16 and to discharge the volume of soil 14 through the second end 18 of the soil receptacle 10, as indicated by arrow C in Fig. 6. As illustrated in Fig. 6, the actuating mechanism 20, e.g. the frame 21 of the actuating mechanism 20 (frame 21 not shown in Fig. 6), may be configured to be rotated in the direction of arrow B to further assist in discharging the volume of soil 14 from the soil receptacle 10 by achieving a more vertical alignment of the soil receptacle 10 with regard to the ground surface 12.

As shown in Fig. 7, the pushing device 30 may further be configured to compact and shape the inverse mound of soil 24. To this end, the pushing device 30 may be configured to extend into the soil receptacle 10 via the first end 16 and out of the soil receptacle via the second end 18 during discharge of the volume of soil 14. The actuating mechanism 20 may further be configured to move the pushing device 30 into engagement with the inverse mound of soil 24 and to exert a pressure on the inverse mound of soil 24 to compact and shape it.

The pushing device 30 may comprise a shaped contact member 32 configured to compact and shape the inverse mound of soil 24. The shaped contact member 32 may have a parabolic or concave shape configured to provide the inverse mound of soil 24 with a convex shape in relation to the ground surface 12, i.e. a shape that protrudes from the ground surface 12 at which the inverse mound 24 is located. 14 As mentioned hereinbefore, the forestry apparatus 1 may be configured to be carried by a vehicle 3 according to the third aspect of the disclosure, and as illustrated in Fig. 10. The actuating mechanism 20 may be configured to be connectable to a power source 34 of such a vehicle 3. Accordingly, the forestry apparatus 1 may be mounted on the vehicle 3. The power source 34 may be a hydraulic pressure source or a mechanical or an electric power take-off of the vehicle 3.

Fig. 8 shows a method 2 for ground preparation before tree planting according to a second aspect of the disclosure. The method 2 comprises: S1: selecting a location for ground preparation, S2: penetrating a ground surface 12 at the selected location 22 by a soil receptacle and simultaneously collecting a volume of soil 14 in the soil receptacle 10, S3: extracting the soil receptacle 10 from the ground surface 12, and S4: discharging the volume of soil 14 from the soil receptacle 10 to form an inverse mound of soil 24.

Selection S1 of the location for ground preparation may be done by ocular inspection of the ground by an operator, by non-intrusive sensing means, such as ground radar or image analysis, or by mechanical sensing means, such as by probing.

Penetrating S2 the ground surface by the soil receptacle 10 may be performed by extending a rod, on which soil receptacle 10 may be mounted, in a first direction at a first angle oi relative to the ground surface 12. As the soil receptacle 10 penetrates the ground surface 12, a volume of soil 14 will be received in the soil receptacle 10.

Extraction S3 of the soil receptacle 10 may be performed by lifting and/or rotating the soil receptacle 10 relative to the ground surface 12. Extraction may be performed with or without the volume of soil 14 in the soil receptacle 10. The volume of soil 14 may be discharged S4 before extracting S3 the soil receptacle 10.

The volume of soil 14 may be discharged S4 by rotating the soil receptacle 10 such that the volume of soil 14 may fall, by gravity, out of an open end, e.g. the second end 18, of the soil receptacle 10. Rotation of the soil receptacle 10 ensures that a part of the volume of soil 14 which part was received first in the soil receptacle 10 during penetration S2 of the ground surface 12 is discharged before a part of the volume of soil 14 which was received later in the soil receptacle 10 during penetration S2 of the ground surface 12, thereby forming an inverse mound of soil 24. The volume of soil 14 may be discharged S4 from the soil receptacle 10 in a cavity in the ground created by the extraction S3 of the soil receptacle 10 from the ground. Alternatively, the volume of soil 14 may be discharged on the ground surface 12, in a location away from the cavity created by the extraction S3 of the soil receptacle 10.

Fig. 9 shows variations of second aspect of the disclosure. Optional actions are depicted by boxes have dashed outlines. As shown in Fig. 9, the method 2 may further comprise, prior to penetrating S2 the ground surface 12 by the soil receptacle 10, determining S5 a property of the ground by a ground analyzing device 28. The property of the ground may be any property of relevance for ground preparation and/or tree planting. The property may relate to penetrability, or hardness of the ground, moisture, dryness, soil composition, and/or a combination of properties. Penetrability of the ground may for instance be determined by a ground probing radar (GPR) or by mechanical probing. lf penetrability of the ground is determined to be unsuitable for ground preparation, shown as Y (Unsuitable? Yes), the method 2 may comprise aborting S6 the method 2 prior to penetrating S2 the ground surface 12. lf the method 2 is aborted, a new location for ground preparation is selected, shown by the arrow leading back to the location selection S1 box. lf the ground is determined to be suitable for ground preparation shown as N (Unsuitable? No), the method may optionally comprise anchoring S7 the forestry apparatus 1 relative to the ground surface 12 by a ground engaging device 26. The ground engaging device 26 may comprise at least one gripping member 27 that may penetrate the ground surface 12 and mechanically engage the forestry apparatus 1 with the ground and to anchor the forestry apparatus 1 relative to the ground surface 12. When the forestry apparatus 1 is anchored relative to the ground surface 12, a lighter forestry apparatus 1 may be realized as compared to a non-anchored forestry apparatus 1 which would have to rely on its mass to drive the soil receptacle 10 into the ground without lifting itself relative to the ground surface 12.

The ground engaging device 26 may optionally comprise the ground analyzing device 28. The ground analyzing device 28 may be any kind of equipment capable of determining a property of the ground, before penetrating the surface by the soil receptacle 10. As an example, the ground engaging device 26 may comprise a mechanical probing member 28 which is extended towards the ground surface 12 to abut the ground surface 12 using a low-force bias. The probing member 28 may be structurally equivalent to a gripping member 27. At least one gripping member 27 of the ground engaging device 28 is configured to subsequently penetrate the ground surface 12 to anchor S7 the forestry apparatus 1 relative to the ground surface 12. lf a further extension of the probing member 28 is detected when the at least one gripping member 27 attempts to penetrate 16 the ground surface 12, the further extension may be interpreted as the forestry apparatus 1 lifting itself relative to the ground surface 12 instead of penetrating the ground surface 12 with the gripping member 27. Extension of the probing member 28 during ground penetration of the at least one gripping member 27 may thus be indicative of the ground being too hard for ground preparation. The selected location 22 of the ground may thus be considered unsuitable for ground preparation.

The action of penetrating S2 the ground surface 12 by the soil receptacle 10 may be performed in a first direction at a first angle oi relative to a normal N to a ground plane P (as shown in Fig. 3). The action of anchoring S7 the forestry apparatus 1 by the ground engaging device 26 may be performed in a second direction at a second angle ß relative to the normal N to the ground plane P. As disclosed hereinabove, the first and second angles oi, ß may be set individually. The first angle oi may be selected in the range of 0-80 degrees relative to the normal N. The second angle ß may be selected in the range of 0- 80 degrees relative to the normal N. More preferably, the first angle oi is selected in the range of 45-80 degrees relative to the normal N and the second angle ß is selected in the range of 10-45 degrees relative to the normal N. The first angle oi and the second angle ß may be selected such that the sum of the second angle ß and the first angle oi is in the range of 80-100 degrees. The first direction has a first component orthogonal to the normal N, and the second direction has a second component orthogonal to the normal N, wherein the first component is opposite to the second component. Most preferably, the first angle oi and the second angle ß may be selected such that the sum of the second angle ß and the first angle oi is in the range of 85-95 degrees. Advantageously, the soil receptacle 10 may penetrate the ground surface 12 in a direction substantially orthogonal to a direction of ground penetration of the ground engaging device 26.

Discharging S4 of the volume of soil 14 from the soil receptacle 10 may be assisted by a pushing device 30. ln some cases, it may not be possible to discharge the volume of soil 14 from the soil receptacle 10 by gravity alone, such as when the volume of soil 14 is wet, and/or when the volume of soil 14 comprises roots or other parts which may engage the soil receptacle 10 and provide resistance against discharging S4 of the volume of soil 14 by gravity. The pushing device 30 may then engage the volume of soil 14 and push it out of the soil receptacle 10.

The method 2 may further comprise compacting and shaping S8 the inverse mound of soil 24 by the pushing device 30. The pushing device 30 may thus extend into the soil receptacle 10 via the first end 16 and out of the soil receptacle 10 via the second end 18. The actuating mechanism 20 may further move the pushing device 30 into 17 engagement with the inverse mound of soil 24 and exert a pressure on the inverse mound of soil to compact and shape it. A compacted and shaped mound improves the conditions for a tree plant which may subsequently be planted in the mound. lt is to be understood that the method 2 may be performed by a forestry apparatus 1 according to the first aspect of the disclosure.

According to a third aspect of the disclosure, a vehicle 3 may comprise at least one forestry apparatus 1 according to the first aspect of the disclosure. Fig. 10 shows a vehicle 3 comprising two forestry apparatuses 1 which may be operated independently of each other within a work area of the vehicle. A forestry apparatus 1 mounted on an articulated limb 36 of the vehicle 3 may perform the method 2 while the vehicle 3 is moving.

An example of the forestry apparatus 1 performing the method 2 will in the following be disclosed, referring to Fig. 11 - Fig. 21.

Fig. 11 shows the forestry apparatus 1, where forestry tools such as the soil receptacle 10 and the ground engaging mechanism 26 are mechanically connected to the actuating mechanism 20. The actuating mechanism 20 comprises a frame 21 and actuators 23. The actuators 23 are configured to mechanically move and operate the forestry tools and are in the drawings exemplified by hydraulic cylinders 23, of which only one is provided with a reference number in Fig. 11. The exemplified actuators are powered by an external power source 34, such as a hydraulic pressure source, which may be comprised in the vehicle 3 (Fig.10).

When a location has been selected S1 for ground preparation (and tree planting), a property of the ground may be determined S5 by a ground analyzing device 28. ln the example, the property of the ground is penetrability of the ground. The ground analyzing device 28 may be comprised by the ground engaging device 26. A mechanical probing member 28 may be extended in the direction of arrow D, from the ground engaging device 26, to abut the ground surface 12. ln Fig. 12, the ground engaging device subsequently extends at least one gripping member 27 (exemplified as two gripping member 27) to penetrate S2 the ground surface 12 in the direction of arrow E. ln the given example, the probing member 28 does not extend further by more than a predetermined amount while the gripping member 27 penetrate the ground surface 12. Thereby, the selected location is determined to be suitable for ground preparation (and tree planting). By penetrating the ground surface 12 by the gripping members 27 of the ground engaging device 26, the forestry apparatus 1 18 becomes anchored S7 relative to the ground surface 12. Fig. 13 and Fig. 14 show the gripping members 27 having reached an anchoring depth below the ground surface 12.

Fig. 14 and Fig. 15 illustrate how the soil receptacle 10 penetrates S2 the ground surface 12 in the direction of arrow F in relation to the frame 21 and simultaneously collects a volume of soil 14 in the soil receptacle 10. Thereafter, the soil receptacle 10 is extracted from the ground, exemplified by rotating the entire actuating mechanism 20, i.e. with the soil receptacle 10 and the ground engaging device 26 as one body in the direction of arrow B, as shown in Fig. 15. ln the illustrated example, the soil receptacle 10 penetrates the ground surface 12 in a direction substantially orthogonal to an extension of the gripping members 27. Since the ground engaging device 26 rotates together with the soil receptacle 10, the gripping members 27 of the ground engaging device 26 may be used to keep the volume of soil 14 inside the soil receptacle 10 during rotation. ln Fig. 16, the soil receptacle is retracted in the direction of -F in relation to the frame 21, thereby brining the soil receptacle 10 into alignment with the pushing device 30. Rotation of the soil receptacle in the direction of arrow A, as shown in Fig. 17 causes the first end 16 of the soil receptacle to face the pushing device 30 and the second end 18 of the soil receptacle 10 to face the ground. The discharging S4 of the volume of soil 14 from the soil receptacle may thereafter be assisted by the pushing device 30 as shown in Fig. 18, by extension of the pushing device into the soil receptacle 10 via the first end 16, thereby creating and inverse mound of soil 24.

The pushing device 30 may subsequently continue to extend through the soil receptacle 10 and out via the second end 18 in the direction of arrow G in Fig. 19, to make contact with the inverse mound of soil. The shaped contact member 32 may then compact and shape the inverse mound of soil 24 as shown in Fig. 20. Retraction of the pushing device 30 completes the ground preparation, leaving a compacted, inverse mound of soil, which as a convex shape in relation to the ground surface 12, as shown in Fig. 21.

The forestry apparatus may further comprise a tree planting head (not shown). Before retraction of the pushing device 30, the tree planting head, holding a tree seedling, may be actuated by the actuation mechanism 20 to extend towards the shaped contact member 32. The shaped contact member 32 may comprise a hole such that the tree planting head may extend through the hole and into the inverse mound of soil 24. ln the inverse mound of soil 24, the tree planting head may release the tree seedling. Thereby, the tree seedling may be planted through the hole in shaped contact member 32 of the pushing device 30 at the end of the ground preparation sequence. 19 Alternatively, the tree planting head may plant the tree seedling in the inverse mound of soil 24 after retraction of the pushing device 30.

The tree planting head may further be connected to a seedling magazine containing tree seedlings which may be automatically fed to the tree planting head such that a new tree seedling is fed to the tree planting head for each inverse mound 24 that is created. The tree seedlings may be transported from the seedling magazine to the tree planting head via a tube or a hose. Alternatively, the tree seedlings may be dropped into the tree planting head. Preferably, ground preparation and tree planting is carried out while the vehicle 3 comprising the forestry apparatus 1 is moving. This may be accomplished by connecting the forestry apparatus 1 to the vehicle 3 via an articulated joint such that the forestry apparatus 1 may be held stationary relative to the ground while the vehicle 3 is moving.

Claims (1)

1.Claims A forestry apparatus (1) for ground preparation before tree planting, the forestry apparatus (1) comprising: - a soil receptacle (10), movable relative to a ground surface (12) on which the forestry apparatus (1) is intended to operate, the soil receptacle (10) being configured to receive a volume of soil (14) via a first end (16) of the soil receptacle (10) and configured to discharge the volume of soil (14) via a second end (18) of the soil receptacle (10), - an actuating mechanism (20) mechanically connected to the soil receptacle (10) and configured to actuate movement of the soil receptacle (10), and characterized in that the soil receptacle (10) is movable by the actuating mechanism (20) to penetrate the ground surface (12) at a selected location (22) and simultaneously collect a volume of soil (14) via the first end (16) of the soil receptacle (10), the soil receptacle (10) further being movable by the actuating mechanism (20) to discharge the volume of soil (14) from the soil receptacle (10) via the second end (18). The forestry apparatus (1) according to claim 1, further comprising a ground engaging device (26) mechanically connected to the actuating mechanism (20) and configured to anchor the forestry apparatus (1) relative to the ground surface (12). The forestry apparatus (1) according to claim 2, wherein the ground engaging device (26) further comprises a ground analyzing device (28) configured to determine a property of the ground at the selected location (22). The forestry apparatus (1) according to any one of claims 2-3, wherein the soil receptacle (10) is configured to penetrate the ground surface (12) at the selected location (22) in a first direction at a first angle (oi) relative to a normal to a ground plane, and wherein the ground engaging device (26) is configured to penetrate the ground surface (12) at the selected location (22) in a second direction at a second angle (ß) relative to the normal to the ground plane. The forestry apparatus (1) according to any one of the previous claims, further comprising a pushing device (30), movable by the actuating mechanism (20) and configured to engage the volume of soil (14) via the first end (16) of the soil receptacle(10) and to discharge the volume of soil (14) through the second end (18) of the soil receptacle (10). The forestry apparatus (1) according to claim 5, wherein the pushing device (30) is further configured to compact and shape an inverse mound of soil (24) formed upon discharge of the volume of soil (14) from the soil receptacle (10). The forestry apparatus (1) according to claim 5 or 6, wherein the pushing device (30) comprises a shaped contact member (32) configured to compact and shape the inverse mound of soil (24) formed upon discharge of the volume of soil (14) from the soil receptacle (10). The forestry apparatus (1) according to any one of the previous claims, the forestry apparatus (1) being configured to be carried by a vehicle (3) and wherein the actuating mechanism (20) is configured to be connectable to a power source (34) of the vehicle (s). A method (2) for ground preparation before tree planting comprising: - selecting (S1) a location for ground preparation, - penetrating (S2) a ground surface (12) at the selected location (22) by a soil receptacle (10) and simultaneously collecting a volume of soil (14) in the soil receptacle (10), - extracting (S3) the soil receptacle (10) from the ground surface (12), - discharging (S4) the volume of soil (14) from the soil receptacle (10) to form an inverse mound of soil (24). The method (2) according to claim 9, further comprising, prior to penetrating (S2) the ground surface (12) by the soil receptacle (10), determining (S5) a property of the ground by a ground analyzing device (28). The method (2) according to claim 10, wherein the property of the ground is penetrability of the ground. The method (2) according to claim 11, further comprising aborting (S6) the method (2) prior to penetrating (S2) the ground surface (12) if penetrability of the ground is determined to be unsuitable for ground preparation.The method (2) according to any one of claims 9-12, further comprising anchoring (S7) the forestry apparatus (1) relative to the ground surface (12) by a ground engaging device (26). The method (2) according to claim 13, wherein the ground engaging device (26) comprises the ground analyzing device (28). The method (2) according to any one of claims 13-14, wherein penetrating (S2) the ground surface (12) by the soil receptacle (10) is performed in a first direction at a first angle (oi) relative to a normal to a ground plane, and wherein anchoring (S7) the forestry apparatus (1) by the ground engaging device (26) is performed in a second direction at a second angle (ß) relative to the normal to the ground plane. The method (2) according to any one of claims 9-15, wherein discharging (S4) the volume of soil (14) from the soil receptacle (10) is assisted by a pushing device (30). The method (2) according to claim 16, further comprising compacting and shaping (S8) the inverse mound of soil (24) by the pushing device (30). The method (2) according to any one of claims 9-17, wherein the method (2) is performed by a forestry apparatus (1) according to any one of the claims 1- A vehicle (3) comprising at least one forestry apparatus (1) according to any one of claims 1-8.