Vehicle comprising a working equipment, and a working equipment, and a method in relation thereto

Abstract

A vehicle () comprising a working equipment () equipped with a movable loading arrangement () comprising a first attachment member (), said vehicle further comprises a sensor system () configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data () representing an area at least partly surrounding the vehicle (). The sensor system () is configured to detect and track positions of the first attachment member () and a mating second attachment member () of the object () to load in said image data representation, and, the detected and tracked positions of the first and second attachment members () are used to generate a first set of operation instructions for the loading arrangement () of the working equipment that decreases the distance between said first and second attachment members such that said attachment members () come into position to engage to each other. The control unitis configured to verify that said attachment members () are engaged based on the detected and tracked positions from the sensor system (), and in response to verifying that said attachment members () are engaged, enable activation of an object loading mode in which the control system generates a second set of operation instructions for the working equipment to move the loading arrangement () so that the object to load is loaded on the vehicle.