Patent Description:
In the sector, there is a known need to identify and trace pieces of timber along a processing chain in order to associate the respective information to a specific piece of timber and to recall this information when necessary. Examples of such information include the cutting place and date for the tree that the piece of timber comes from, the wood species, quality assessments, defects, cutting patterns.

According to currently known methods, the trunk of a felled tree is usually marked manually with an identification code that allows it to be subsequent identified in the subsequent stages of transportation and initial processing. However, this is inconvenient for operators, who must mark the trunks one by one, and is also a potential source of errors. In fact, the code on the trunk could subsequently wear off over time or become illegible, or it could be made incorrectly or, in any case, in a way that would not allow the trunk to be clearly identified.

In this context, the technical purpose underlying the invention described herein is to provide a method for identifying trunks and segments of trunk that allows the above-mentioned drawbacks in the prior art to be overcome or at least offers an alternative solution to those already known.

The technical purpose and the aims stated above are substantially achieved by a method for providing a trunk with an identification code according to claim <NUM> and, in order to implement this method, by a processing head for a forestry machine according to claim <NUM>. Particular embodiments of the invention are defined in the corresponding dependent claims.

According to one aspect of the invention, information on the positions of branches and/or of knots on a trunk of a tree are used to determine an identification code of said trunk or of a segment obtained from said trunk.

Since each tree has its own growth history that also depends on the particular and specific conditions in which the tree developed, the set of positions in which the branches and knots are located on the trunk can be considered to be substantially univocal for each tree - at least to a certain extent - and, therefore, can be used as a trunk's "fingerprint". Therefore, determining these positions enables to have information for recognising the trunk a posteriori.

According to the method of the invention, the positions of the branches and/or of the knots on the trunk are detected during a processing of the tree in which the branches are cut from the trunk. This can be done simultaneously with a felling of the tree, or can be done on an already felled tree. This operation is preferably performed directly in a wood or in a forest where the tree for felling or already felled is located, before it is transported elsewhere. The information on the positions of the branches and/or of the knots is processed in order to determine an identification code that is based on said positions and refers to said tree trunk, which is to say it is specific for said trunk.

Such identification code, for instance, consists of the positions of the branches and knots in a cylindrical coordinate system centred on a longitudinal axis of the trunk. Alternatively, the identification code can be an image in electronic format in which the positions of the branches and of the knots are shown on a map of the trunk, or else the identification code can be obtained from a mathematical processing of the positions. Obviously, other methods of defining the identification code are possible. The identification code is stored in a database and can be compared against a code determined a posteriori for a specific trunk: when having an "unknown" trunk, an optical scan of the trunk can be performed to determine the positions of the branches and of the knots, the respective identification code can be determined on the basis of this information and the identification code obtained can be compared against those stored in the database to search for a corresponding identification code. This makes it possible to establish whether the specific unknown trunk corresponds to a known trunk that is present in the database.

The same method can also be applied to segments obtained from the trunk. (Here, "segment" means a portion of trunk obtained by cutting the trunk along cutting planes, preferably transversely or perpendicular to the longitudinal axis of the trunk itself. In Italian language, such a portion of the trunk is also known as a "toppo" or "ceppo".

Indeed, each segment includes part of the branches and knots of the trunk from which it was obtained and, therefore, a respective identification code can also be determined for the segment. If necessary, when having an unknown segment, by comparing its identification code obtained from the scan against the identification codes stored in the database, it is possible to establish whether the segment derives from a specific known trunk that is present in the database. The identification code of the segment is in fact a subset of the identification code of the trunk from which it was obtained.

The reliability of identifying the trunk or the segment also depends on the length of the trunk or segment: the greater its length, the greater the number of branches and knots present, meaning that the identification code for the trunk or the segment is more specific, as it is based on a greater amount of information than a corresponding trunk or segment of a shorter length. In particular, the identification code for a trunk is more specific than the identification code for a segment obtained from the same trunk.

The identification code can be considered substantially univocal.

The method of the invention is useful because it defines an identification code of the trunk that, in addition to being substantially univocal, is intrinsic to the trunk itself and therefore is not subject to damage or wearing off. Furthermore, this identification code, being already intrinsic to the trunk, does not require any intervention by an operator to be created or applied.

The information for determining the identification code of a trunk is acquired by a processing head intended to process a tree to cut the branches from it.

Specifically, the processing head is part of a forestry machine commonly known in the sector as a "harvester", which can be positioned near a tree for felling or near a tree that has already been felled: the processing head is configured to grasp the trunk of the tree, to cut the trunk and to cut branches from the trunk, thus obtaining, in a single step, a cut trunk (or segments of trunk) that is devoid of branches and is ready to be transported.

Machines of this type are already known per se. Some examples of prior-art machines are disclosed in patent applications <CIT>, <CIT>, <CIT>, <CIT>, <CIT>, and <CIT>. The present invention differs from those in that it also enables the positions of the branches and/or of the knots to be detected, in order to determine the identification code of the trunk.

This is useful because it allows the identification code to be assigned to the trunk automatically and in the same step as that in which the trunk of the tree just felled is processed, even during the felling of the tree. This entirely removes the need for any intervention by the operator and the risk of a cut trunk being carried away without having been assigned an identification code.

According to a particular embodiment, the processing head also allows the trunk to be cut into segments that have an optimised length for maximising the yield in terms of the quality of the products obtainable; in other words, it allows the truncation of the trunk to be optimised. This optimisation is calculated based on the information on the positions of the branches and/or of the knots that are detected by the processing head itself during the processing of the trunk. This is advantageous over the prior art, in which the trunk is cut into segments of a fixed and predetermined length without taking into account the specificities of each individual trunk from the perspective of its potential yield.

It should be noted that this other aspect is independent from the determination of the identification code described above. Therefore, it represents a method of using the processing head that is advantageous in itself, even when the trunk and the segments of trunk are not allocated any identification code.

Further features and the advantages of this invention will become more apparent from the following detailed description of one embodiment thereof, which is presented here for exemplifying and non-limiting purposes.

Reference will be made to the figures in the accompanying drawings, wherein:.

A forestry machine <NUM>, or harvester, comprising a processing head <NUM> according to the present invention is shown in <FIG> in an extremely simplified way.

The forestry machine <NUM> is a vehicle capable of moving even over uneven ground (such as the ground of a wood or a forest) in order to position itself near a tree to be felled or near a tree that has already been felled. The forestry machine <NUM> is provided with a mechanical arm <NUM>, which is supported by a framework <NUM> of the vehicle, and the processing head <NUM> is mounted on the mechanical arm <NUM>. The processing head <NUM> can be moved and rotated by the mechanical arm <NUM> and can be controlled by an operator on board the forestry machine <NUM> or by an automated system. In particular, the forestry machine <NUM> comprises a station <NUM> for an operator on board the vehicle. Specifically, the station <NUM> is inside a cabin <NUM>.

The forestry machine <NUM> differs from those currently known in terms of some aspects of the processing head <NUM>, as shown below. Already known characteristics of the forestry machine will not be further described in detail.

The processing head <NUM> is intended to process a tree <NUM> having a trunk <NUM> with a longitudinal direction <NUM>, branches <NUM> extending from the trunk <NUM> transversely to the longitudinal direction <NUM> and knots <NUM> extending into the trunk <NUM>. The processing head <NUM> is configured to grasp the trunk <NUM> of the tree <NUM>, to cut the trunk <NUM> and to cut the branches <NUM> from the trunk <NUM>, thus obtaining a cut trunk that is devoid of branches and ready to be transported. Optionally, the processing head <NUM> can split the trunk <NUM> into segments of trunk.

The processing head <NUM> comprises a frame <NUM> that has a seat <NUM> for receiving the trunk <NUM> of the tree <NUM> to be processed. Since the trunk <NUM> has a length that is much greater than the extension of the seat <NUM>, obviously only a portion of the trunk <NUM> is inside the seat <NUM> and the rest of the trunk <NUM> protrudes from opposite sides of the seat <NUM>.

In particular, the frame <NUM> comprises a main body <NUM>, having a box-like shape, and protruding arms <NUM> mounted on the main body <NUM>, from which the protruding arms <NUM> protrude from the side opposite the mechanical arm <NUM>. The protruding arms <NUM> are arranged in pairs (in the embodiment illustrated there are two pairs of protruding arms <NUM>), each pair being formed by two arms <NUM> opposite each other. The protruding arms <NUM> are pivoted to the main body <NUM> and, in each pair, they are movable towards and away from each other. The protruding arms <NUM> of each pair are offset relative to each other, in such a way that they cannot come into contact with each other during their reciprocal movement.

The seat <NUM> is an open seat and is a volume (ideally cylindrical, like the trunks <NUM> it receives) surrounded by a face <NUM> of the main body <NUM> and by the protruding arms <NUM>. The protruding arms <NUM> limit the lateral movements of the trunk <NUM> in the seat <NUM>: the arms <NUM> of each pair enclose a section of the trunk <NUM> between them and, in use, are positioned in contact with the lateral surface of the trunk <NUM>. The protruding arms <NUM> have a curved shape to approximately follow the - substantially cylindrical - lateral surface of the trunk <NUM> and, thanks to their reciprocal movement being possible, their distance can be varied according to the diameter of the trunk <NUM>.

The processing head <NUM> comprises a motorised device for moving the trunk <NUM> relative to the seat <NUM>. The motorised device is configured to advance the trunk <NUM> through the seat <NUM> along the longitudinal direction <NUM> of the trunk <NUM>. In particular, the motorised device comprises two arms <NUM> that are pivoted to the main body <NUM> and that are each provided with a roller <NUM> (in particular a roller that is toothed or with pointed protrusions) that is motorised or, in any case, can be made to rotate by an engine. The rollers <NUM> of the arms <NUM> face opposite parts of the seat <NUM>. When the trunk <NUM> is received in the seat <NUM>, the arms <NUM> are moved by actuators <NUM> so that the rollers <NUM> come into contact with the surface of the trunk <NUM> and are pressed against the lateral surface of the trunk <NUM>, thus clamping the trunk <NUM> between them. When the motors of the rollers <NUM> are operated, the two rollers <NUM> rotate in opposite directions of rotation and push the trunk <NUM> along the longitudinal direction <NUM>. A further motorised roller <NUM> can be mounted in the main body <NUM>, so as to protrude from the face <NUM> towards the seat <NUM>.

The processing head <NUM> comprises one or more blades <NUM> for cutting off the branches <NUM> from the trunk <NUM> as the trunk <NUM> advances through the seat <NUM>. Specifically, at least some blades <NUM> are on the protruding arms <NUM>, in particular each blade <NUM> extends lengthwise along an edge of the respective protruding arm <NUM>, the edge being that which is facing the seat <NUM>. The blades <NUM> have a curved shape - like the protruding arms <NUM> - to follow the cylindrical surface of the trunk <NUM> as much as possible. Other blades <NUM> are on the main body <NUM>, protruding from the top and/or the bottom of the face <NUM> that is facing the seat <NUM>.

As the trunk <NUM> moves in the longitudinal direction <NUM>, the branches <NUM> impact against the blades <NUM> and are cut off, thanks also to the fact that the motive device pushes the trunk <NUM> at great force and speed. This is shown schematically in <FIG>. In <FIG>, the cut branches <NUM> are shown as knots <NUM> on the surface of the trunk <NUM>. This is a simplification of the design, since short sections of the branches <NUM> could be present even after cutting.

The processing head <NUM> can also be provided with a cutting device <NUM> (in particular, a chainsaw) for cutting the trunk <NUM> perpendicularly or transversely to the longitudinal direction <NUM>. This cutting device <NUM> can be used for felling the tree <NUM>, thus separating the trunk <NUM> from a stump of the tree <NUM>, or for splitting the trunk <NUM> into segments of trunk.

All steps described up to now can be performed according to the prior art.

Unlike in the prior art, the processing head <NUM> according to the present invention comprises a detection system that is configured to detect positions of the branches <NUM> and/or of the knots <NUM> on the trunk <NUM> as the trunk <NUM> advances through the seat <NUM>. The detection system is managed by an electronic processor, which can be on the processing head <NUM> and/or on the forestry machine <NUM>.

In one embodiment, the detection system comprises one or more cameras <NUM> intended to capture images of the trunk <NUM>. The cameras <NUM> face towards the seat <NUM> and are positioned to capture images of the lateral surface of the trunk <NUM> while the latter is received - and moved longitudinally - in the seat <NUM>.

In particular, there are at least three cameras <NUM> so that, together, they are able to capture images of the entire circumference of the trunk <NUM>. In the embodiment illustrated, two cameras <NUM> are mounted on respective arms <NUM>, which are pivoted to the main body <NUM> and protrude therefrom in a similar way as the protruding arms <NUM>; a third camera <NUM> is positioned in a housing <NUM> made in the main body <NUM>, the housing <NUM> facing onto the face <NUM>.

The images captured by the cameras <NUM> are stored and processed by the electronic processor to determine the positions of the branches <NUM> and/or of the knots <NUM> on the trunk <NUM>. In other words, an optical scan of the trunk <NUM> is made using the cameras <NUM> while the trunk is being processed by the processing head <NUM>.

Relative to the longitudinal direction <NUM>, the cameras <NUM> are positioned in between a first pair of protruding arms <NUM> and a second pair of protruding arms <NUM>. Basically, relative to the advancement of the trunk <NUM> in the seat <NUM>, the cameras <NUM> are positioned downstream from a group of blades <NUM>. Consequently, the images captured by the cameras <NUM> are of the trunk <NUM> after the branches <NUM> have been cut off. This is advantageous because the risk of the cameras <NUM> being hit and damaged by the branches <NUM> is removed.

Nevertheless, the positions of the branches <NUM> can be detected in the images captured by the cameras <NUM>, since the cross-sections of the branches <NUM> cut off (as well as the knots <NUM>) can clearly be distinguished from the bark or the lateral surface of the trunk <NUM>.

In one embodiment, the detection system comprises an x-ray apparatus intended to x-ray the trunk <NUM>. The x-ray apparatus can be present in addition to or alternatively to the cameras <NUM>. In the embodiment illustrated, both the cameras <NUM> and the x-ray apparatus are present.

The x-ray apparatus comprises an x-ray emitter <NUM> and an x-ray receiver <NUM>. The x-ray emitter <NUM> and the x-ray receiver <NUM> are facing towards each other and face diametrically opposite parts of the seat <NUM> and of the trunk <NUM>. During use, a central axis of a cone of x-rays emitted by the emitter <NUM> towards the receiver <NUM> is substantially perpendicular to the longitudinal direction <NUM> of the trunk <NUM>, meaning that the trunk <NUM> is x-rayed as a succession of discoid slices as it advances in the seat <NUM>. The x-ray apparatus thus makes an x-ray scan of the trunk <NUM> while the latter is being processed by the processing head <NUM> and, overall, an x-ray of the entire trunk is obtained.

Likewise as described above for the cameras <NUM>, the x-ray images captured by the x-ray receiver <NUM> are stored and processed by the electronic processor to determine the positions of the branches <NUM> and/or of the knots <NUM> on the trunk <NUM>. The x-ray emitter <NUM> and the x-ray receiver <NUM> are positioned downstream from a group of blades <NUM> relative to the advancement of the trunk <NUM> in the seat <NUM>, and consequently the x-ray images captured are of the trunk <NUM> after the branches <NUM> have been cut off. Since the cross-sections of the branches <NUM> cut off and the knots <NUM> form discontinuities that absorb the x-rays differently from the rest of the wood of the trunk, they are detectable in the x-ray images and, therefore, the positions of the branches <NUM> and/or of the knots <NUM> can be determined.

In the embodiment illustrated, the x-ray emitter <NUM> is mounted on the main body <NUM>, in particular in the housing <NUM> facing the face <NUM>, whereas the x-ray receiver <NUM> is mounted on one of the arms <NUM> of the cameras <NUM>.

In order to protect the operator on board the vehicle from the x-rays emitted by the emitter <NUM>, the forestry machine <NUM> comprises at least one x-ray protective shield <NUM> that is placed in between the operator's station <NUM> and the processing head <NUM>. For example, this protective shield <NUM> is a plate structure that is made of a suitable material such as lead and/or lead glass. In the embodiment illustrated, the protective shield <NUM> is mounted on the wall of the cabin <NUM> that is facing towards the processing head <NUM> and comprises a lead (or other material) plate and a lead glass window to allow the operator to see the processing head <NUM> during the processing operations. Alternatively, the cabin <NUM> is made at least partly of an x-ray protective material and, therefore, the cabin <NUM> itself is a protective shield <NUM>.

In an alternative embodiment, the forestry machine <NUM> does not require an operator on board during the processing operations and, therefore, in particular, no x-ray protective shield is necessary.

In this alternative embodiment, the forestry machine <NUM> is controlled remotely (i.e. it can be controlled from a control station that is distinct and remote from the forestry machine <NUM>) or is configured to operate in an automated way.

For this purpose, the forestry machine <NUM> can comprise video cameras, position sensors, at least one wireless communication device, at least one electronic data processing unit, control unit and/or any other device useful for allowing the forestry machine <NUM> to perform the processing operations in an automated way or based on commands received from a remote control station.

The solutions described above allow the forestry machine <NUM> to be equipped with an x-ray apparatus without this entailing a risk for the health and safety of the operators. It should be noted that, if the detection system includes both the cameras <NUM> and the x-ray apparatus, the information obtained by these two detection devices can be combined and reciprocally validated to determine the positions of the branches <NUM> and/or of the knots <NUM>. This is useful for obtaining greater accuracy and greater reliability than when using a single detection device.

It should also be noted that the x-ray apparatus enables the detection of knots inside the trunk <NUM>, not only the detection of the knots <NUM> visible on the external surface of the trunk <NUM> as is the case of the cameras <NUM> and of the sensors <NUM> described below. Therefore, the x-ray apparatus - by itself or in combination with other detection devices - can provide highly complete information that can advantageously be used in the methods according to the present invention.

In one embodiment, the detection system comprises one or more sensors <NUM> configured to detect an impact between one of the blades <NUM> and a branch <NUM>.

For example, the sensor <NUM> detects the moment at which the blade <NUM> comes into contact with an obstacle and the sensor <NUM> is able to distinguish if the obstacle is a branch <NUM>, which can be overcome only by cutting the branch itself, or if it is a minor obstacle that is not a branch, such as a protrusion in the bark.

Since the advancement of the trunk <NUM> is controlled by the rollers <NUM> and can be measured, the readings of the sensors <NUM> can be converted into positions of the branches along the longitudinal axis <NUM>.

In one embodiment, the one or more sensors <NUM> are associated with the one or more blades <NUM>. Each sensor <NUM> is configured to detect if the blade <NUM> with which it is associated is cutting a branch <NUM> of the trunk <NUM>. In particular, each sensor <NUM> is a load cell that is configured to detect a force acting on the blade <NUM> with which it is associated. In practice, the sensor <NUM> is a force sensor or an extensometer. Therefore, a threshold value of the force detected by the sensor <NUM> can be set, above which the obstacle is considered a branch and below which the obstacle is not considered a branch for the purposes described here.

In another embodiment, the one or more sensors <NUM> are accelerometers or vibration sensors, which are configured to detect a deceleration and/or vibrations produced by the impact between the blade <NUM> and the branch <NUM>. As the trunk <NUM> advances longitudinally in the seat <NUM>, when a blade <NUM> impacts against a branch <NUM> the longitudinal advancement is disturbed, thus producing a momentary deceleration in the advancement motion and/or vibrations in the processing head <NUM>. The accelerometers or vibration sensors, which are mounted on the blades <NUM> or on the frame <NUM>, detect the decelerations and/or vibrations produced. Also in this case, threshold values can be set for the deceleration and intensity of the vibrations detected, in order to distinguish the decelerations and vibrations that are actually due to the impact with a branch from decelerations and vibrations that have much lower values and are due, for instance, to simple irregularities on the surface of the trunk.

The set of sensors <NUM> can comprise both sensors that are load cells and sensors that are accelerometers or vibration sensors.

The sensors <NUM> can be present in addition to or alternatively to the cameras <NUM> and/or x-ray apparatus. In the embodiment illustrated, the sensors <NUM>, the cameras <NUM> and the x-ray apparatus are present.

As mentioned above, the combined use of two or even three different detection devices is useful for obtaining greater accuracy and greater reliability in determining the positions of the branches <NUM> and/or of the knots <NUM>.

In the embodiment described here, the processing head <NUM> comprises a measuring device <NUM> for measuring the advancement of the trunk <NUM> through the seat <NUM>.

In particular, the measuring device <NUM> comprises an encoder. The measuring device <NUM>, housed in the main body <NUM>, is provided with a rotatable wheel <NUM> that is intended to come into contact with the surface of the trunk <NUM> and to be rotated by the longitudinally advancing trunk <NUM>. Measuring the angular displacement of the rotatable wheel <NUM> enables the calculation of how much the trunk <NUM> has moved longitudinally.

The measurements obtained by the measuring device <NUM> are intended to be processed with the detections of the detection system, in order to determine information on the positions of the branches <NUM> and/or of the knots <NUM>. Indeed, these measurements can be used to calculate the longitudinal distances between the branches <NUM> and/or the knots <NUM> detected.

However, it should be noted that the measuring device <NUM> may be absent and that the longitudinal distances between the branches <NUM> and/or the knots <NUM> detected could be calculated directly using the images obtained from the cameras <NUM> and/or the x-ray images obtained from the x-ray apparatus.

The detection system can also be configured to detect the local diameter of the trunk <NUM>. For example, the local diameter can be derived from the distance between the rollers <NUM>, since these are always in contact with the surface of the trunk <NUM> as it advances. Therefore, the local diameter can be measured using suitable sensors that enable the angle between the two arms <NUM> on which the rollers <NUM> are mounted to be determined. The local diameter values can be processed using the information on the positions of the branches <NUM> and/or of the knots <NUM> (and, in case, using the information derived from the encoder <NUM>) to obtain an even more precise representation of the distribution of the branches <NUM> and/or of the knots <NUM> in the trunk <NUM>.

The processing head <NUM> according to the present invention allows information on the positions of the branches <NUM> and/or of the knots <NUM> of a trunk <NUM> to be obtained during the processing by the head <NUM> itself, which is to say in the same processing step in which the branches <NUM> are cut from the trunk <NUM>. As already mentioned above, such information can concern only the branches <NUM> and/or the knots <NUM> on the surface of the trunk <NUM> or also the knots inside the trunk <NUM>, depending on the detection system with which the processing head <NUM> is equipped.

In one mode of use, such information can be used to decide how to split the trunk <NUM> into segments, so as to optimise the yield in terms of the quality of the products that can be obtained from the trunk <NUM>.

For example, a long section of trunk with few branches and few knots can advantageously be used to produce long, high-quality boards and, therefore, it is preferable for the segment to include such a long section for the maximum length possible. However, for a trunk with many branches, the chosen length of the segment can be shorter to take into account other needs, such as the most suitable weight and dimensions for the transportation and handling of the segment itself.

It must be borne in mind that, in a wooden product (such as a board obtained from the trunk), knots usually constitute defects, the more serious the greater the size of the knots themselves.

The information on where, in a section of trunk, the branches and their corresponding knots are located, as well as information on their dimensions (which can easily be obtained from the images captured by the cameras <NUM> and/or from the x-rays produced by the x-ray apparatus), therefore allow an estimate of the defects of the products obtainable from that section of trunk. Generally, quality is inversely proportional to defectiveness.

Information on the size of the knots, or at least a value proportional to the sum of the dimensions of the knots in a certain region, can also be obtained via the force or vibration sensors, as these quantities are proportional to the strain of the blades <NUM> against the branches <NUM> they are cutting and, therefore, are proportional to the size of the respective knots.

In light thereof, the information on the positions of the branches <NUM> and/or of the knots <NUM> is processed to determine at least one position on the trunk <NUM> in which to cut the trunk <NUM> perpendicularly or transversely to the longitudinal direction <NUM>, in order to split the trunk <NUM> into segments of trunk as desired on an optimisation basis. While the trunk <NUM> is still in the seat <NUM>, the cutting device <NUM> is operated to cut the trunk <NUM> in the determined cutting position (or in several determined cutting positions), thus obtaining one or more segments of trunk.

In the processing head <NUM> according to the present invention, the cutting device <NUM> is therefore intended to be operated based on information on the positions of the branches <NUM> and/or of the knots <NUM> that are detected by the detection system.

It should be noted that, thanks to the motorised device for moving the trunk (in particular using rollers <NUM>), the trunk <NUM> can be moved longitudinally in both directions and, therefore, can be suitably positioned so that the determined cutting position is in correspondence with the cutting device <NUM>.

The information on the positions of the branches <NUM> and/or of the knots <NUM> can be processed in real time by the electronic processor. The position in which to cut the trunk <NUM> can be optimised and chosen when the trunk is advancing and as the blades <NUM> are cutting the branches <NUM>. If an optimal cutting position is already beyond the cutting device <NUM>, the trunk <NUM> can be moved back, so as to cut where desired. Once a first segment has been cut, the remainder of the trunk <NUM> continues to move in the seat <NUM> and subsequent segments can be optimized in length and cut one after the other.

In another aspect of the present invention, the information on the positions of the branches <NUM> and/or of the knots <NUM> of the trunk <NUM> is intended to be processed to determine an identification code of the trunk <NUM>, which is to say to determine a "fingerprint" of the trunk <NUM> that is based on the positions of the branches and/or of the knots and that, since each tree has a history of development that is different from all other trees, is substantially univocal for that specific trunk <NUM>.

Therefore, the identification code allows the trunk <NUM> to be identified even after the tree has been processed by the processing head <NUM>.

Based on the same principle, it is possible to determine an identification code for a segment obtained from the trunk <NUM>.

Basically, the invention also relates to the use of the information on the positions of branches and/or of knots on a trunk of a tree for determining an identification code for said trunk or for a segment obtained from said trunk.

The information on the positions of the branches <NUM> and/or of the knots <NUM> on the trunk <NUM>, or in case the identification code already determined, is intended to be stored in a database together with other information relating to the trunk <NUM> or to the segment of trunk. For example, such other information may include the cutting place and date for the tree, the wood species, quality assessments, defects, cutting patterns.

The identification code obtained via the detection system of the processing head <NUM> is comparable against a code determined a posteriori for a specific trunk or for a specific segment of trunk, in order to establish whether the specific trunk or the specific segment of trunk corresponds to a trunk <NUM> processed by the processing head <NUM> or to a segment of the trunk <NUM>.

The code for the specific trunk can be determined a posteriori, for instance via an optical scanning apparatus, an x-ray apparatus, a tomographic apparatus, or another apparatus that allows the positions of the cut branches and/or of the knots on the specific trunk or segment of trunk to be determined.

Basically, the code determined a posteriori allows other information relating to the trunk to be searched and found in the database.

For example, a sawmill that receives a specific trunk can determine - a posteriori - the identification code and, using this, can find the information relating to the trunk in the database, including the region where the tree from which the trunk was obtained grew.

The sawmill then proceeds to cut the trunk into products, such as boards, whose quality it can assess. Thanks to this information, it is possible to search or establish a relationship between the quality of the products obtained from a trunk and the region where the trunk itself originated. For example, an assessment based on a certain number of trunks could show that the trees in a certain area provide higher-quality products than in other areas, or that the quality of the trees in a certain area make them particularly suitable for a specific type of product rather than for other types of product.

Therefore, the identification codes obtained via the detection system of the processing head <NUM> can also facilitate a subsequent processing of information that is useful for the forestry industry.

In one mode of use of the forestry machine <NUM> according to the present invention, a drone can be used to produce a first estimate of the shape of a tree to be processed. The drone, flying over a wood or in the wood, or potentially over trees already felled, takes photographic images of the trees; these images can be processed to obtain initial information on the shape of a tree and on the position of the branches in that tree, which is then processed by the processing head <NUM> of the forestry machine <NUM>. During the subsequent processing step, the initial information obtained from the images is combined with the information detected by the detection system of the processing head <NUM>. This is useful for further increasing precision and reliability in determining the positions of the branches <NUM> and/or of the knots <NUM> (and therefore in determining the identification code or for optimising the splitting of the trunk into segments).

To allow the information obtained from the images to be easily associated with the information detected by the processing head (in other words, to ensure that, during processing, the information relates to the same tree), both the drone and the forestry machine (or the processing head) are equipped with geographic location sensors (for example, GPS) that enable the detection of the geographic position of the tree photographed and of the tree processed.

Claim 1:
Processing head (<NUM>) for a forestry machine (<NUM>), the processing head (<NUM>) being intended to process a tree (<NUM>) having a trunk (<NUM>) with a longitudinal direction (<NUM>), branches (<NUM>) extending from the trunk (<NUM>) transversely to the longitudinal direction (<NUM>) and knots (<NUM>) extending into the trunk (<NUM>),
the processing head (<NUM>) comprising:
- a frame (<NUM>) having a seat (<NUM>) for receiving the trunk (<NUM>) of the tree (<NUM>) to be processed;
- a motorised device for moving the trunk (<NUM>) relative to the seat (<NUM>), the motorised device being configured to advance the trunk (<NUM>) through the seat (<NUM>) along the longitudinal direction (<NUM>) of the trunk (<NUM>);
- one or more blades (<NUM>) for cutting the branches (<NUM>) from the trunk (<NUM>) as the trunk (<NUM>) advances through the seat (<NUM>);
characterised in that the processing head (<NUM>) comprises a detection system that is configured to detect positions of the branches (<NUM>) and/or of the knots (<NUM>) on the trunk (<NUM>) during a processing of the tree (<NUM>) in which the branches (<NUM>) are cut from the trunk (<NUM>) as the trunk (<NUM>) advances through the seat (<NUM>), the detection system being managed by an electronic processor, whereby information on the positions of the branches (<NUM>) and/or of the knots (<NUM>) on the trunk (<NUM>) is obtained during the processing of the tree (<NUM>) by the processing head (<NUM>) itself and is processed by the electronic processor.