Controlling earthmoving machines

An earthmoving machine, the earthmoving machine comprising

• a movable carrier;
• at least one earthmoving tool that is movable in relation to the carrier;
• peripheral devices;
• actuating means for moving the earthmoving tool in relation to the carrier and means for controlling the peripheral devices;
• and
• at least one operating mode based control system for controlling the earthmoving machine, the operating mode based control system comprising:
• at least one controller for controlling at least one movement of an earthmoving tool attached to the earthmoving machine;
• at least one control unit;
• and
• at least one displaying means for displaying operating modes selectable by the at least one controller, wherein the at least one control unit is configured to perform operations comprising:
• receiving at least one selection from the at least one controller for selecting the operating mode,
• monitoring the at least one movement of the earthmoving machine, and
• based at least in part on the monitoring carrying out the at least one movement of the earthmoving tool, or interrupting by the at least one control unit the at least one movement of the earthmoving tool, the at least one controller being operable both attached and detached.

A method for controlling an earthmoving machine by controlling the earthmoving machine with an operating mode based control system comprising:

• at least one controller for controlling at least one movement of an earthmoving tool attached to the earthmoving machine;
• at least one control unit;
• sensing means for providing the control unit with position data of the earthmoving tool and a carrier of the earthmoving machine;
• and
• at least one displaying means for displaying at least one operating mode selectable by the at least one controller, the method further comprising:
• receiving selections from the at least one controller for selecting the operating mode;
• monitoring the at least one movement of the earthmoving machine regarding the operating mode selected;
• and
• based at least in part on the monitoring, carrying out the at least one movement of the earthmoving tool, or interrupting, by the at least one control unit, the at least one movement of the earthmoving tool, wherein the at least one controller is operable both attached and detached.