Arrangement for controlling a work machine

An apparatus arranged to initiate loading of material to a bucket of a work machine from a stack of material, the apparatus being arranged to:

• a) select a control profile to be used as a basic control profile including indications for positions of at least one of the bucket and the boom of the work machine as a function of a distance traveled by the work machine with reference to a reference location;
• b) obtain information of a distance traveled by the work machine while loading material to the bucket;
• c) examine at least one condition regarding the work machine during loading;
• d) determine, on the basis of the examined condition, whether another position than that indicated by the selected control profile is to be used for at least one of the bucket and the boom;
• and
• e) select said another position, if step e) indicated that another position than that indicated by the selected control profile is to be used for at least one of the bucket and the boom.

A computer program product, stored on a non-transitory memory medium, comprising computer program code for carrying out steps for loading material to a bucket of a work machine from a stack of material, wherein the computer program code which, when executed by a processor, causes an apparatus to:

• a) select a control profile to be used as a basic control profile including indications for positions of at least one of the bucket and the boom of the work machine as a function of a distance traveled by the work machine with reference to a reference location;
• b) obtain information of a distance traveled by the work machine while loading material to the bucket;
• c) examine at least one condition regarding the work machine during loading;
• d) determine, on the basis of the examined condition, whether another position than that indicated by the selected control profile is to be used for at least one of the bucket and the boom;
• and
• e) select said another position, if step e) indicated that another position than that indicated by the selected control profile is to be used for at least one of the bucket and the boom.

A work machine having a bucket attached with a boom for loading material to the bucket from a stack of material, the work machine comprising:

• a control profile arranged as a basic control profile including indications for positions of at least one of the bucket and the boom of the work machine as a function of a distance traveled by the work machine with reference to a reference location;
• equipment for obtaining information of a distance traveled by the work machine while loading material to the bucket;
• condition monitoring equipment for monitoring at least one condition regarding the work machine;
• and
• a control unit arranged to examine at least one condition regarding the work machine during loading;
• determine, on the basis of the examined condition, whether another position than indicated by the selected control profile is to be used for at least one of the bucket and the boom;
• and select said another position, if it was determined that another position than that indicated by the selected control profile is to be used for at least one of the bucket and the boom.