Patent ID: 11946222
Assignee: VOLVO CONSTRUCTION EQUIPMENT AB
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 8:
9. A method for controlling a working machine, the working machine comprising a frame structure comprising a front frame structure connected to a front rotational axis of the working machine, a rear frame structure connected to a rear rotational axis of the working machine, wherein the front and rear frame structures are connected to each other at pivot joint allowing a mutual rotation around a laterally extending pivot axis, the working machine further comprising a lift arm comprising an inner end portion pivotably connected to the front frame portion at a position between the front and rear rotational axes, and an outer end portion connected to an implement at a position in front of the front rotational axis as seen in the longitudinal direction of the working machine, the method comprising the steps of:
determining that the working machine is entering a pile of material for loading of the implement;
controlling the implement to be arranged in a vertically lower end position;
moving the inner end portion of the lift arm from a first position to a second, vertically higher position by controlling a rotation around the laterally extending pivot axis;
determining that the implement has entered the pile of material;
moving the inner end portion of the lift arm from the second position towards the first position; and
moving the implement from the vertically lower end position towards a vertical upper end position.