A WORKING VEHICLE INCLUDING A CRANE

A working vehicle (2) including a crane (4) with at least one extendible boom (6) and/or at least one articulation joint (8)， the crane comprises a crane tip tool (10) arranged at a distal crane tip end (12)， and attached to the crane via a controllable tool joint (14)， the movements of the boom(s) and/or the articulation joint(s) of the crane and of the crane tip tool are controlled by control signals (16) generated by a crane control unit (18) in dependence of operator inputs (20) received by at least one manoeuvre member (22).The crane (4) is configured to be operated in a normal mode of operation and in a tip tool mode of operation， and that the crane control unit (18) is configured to control the mode of operation of the crane in dependence of a of a mode control signal (19). The working vehicle comprises a sensor system (21) capable of detecting when the tip tool is in a mode change position wherein it should be controlled in a tip tool mode， and the sensor system (21) is configured to generate a mode change indication signal (23) when the tip tool (10) is in said mode change position， and wherein said mode control signal (19) is generated in dependence of said mode change indication signal (23). In the normal mode， crane movements are controlled in relation to a coordinate system having a base (28) of the crane as its origin. In the tip tool mode， crane movements are controlled in relation to a coordinate system having said tool joint (14) as its origin， and in the tip tool mode the tip tool (10) is controlled in response of an operator input (20) via one of said manoeuvre members (22). A working vehicle (2) including a crane (4) with at least one extendible boom (6) and/or at least one articulation joint (8)， the crane comprises a crane tip tool (10) arranged at a distal crane tip end (12)， and attached to the crane via a controllable tool joint (14)， the movements of the boom(s) and/or the articulation joint(s) of the crane and of the crane tip tool are controlled by control signals (16) generated by a crane control unit (18) in dependence of operator inputs (20) received by at least one manoeuvre member (22).The crane (4) is configured to be operated in a normal mode of operation and in a tip tool mode of operation， and that the crane control unit (18) is configured to control the mode of operation of the crane in dependence of a of a mode control signal (19). The working vehicle comprises a sensor system (21) capable of detecting when the tip tool is in a mode change position wherein it should be controlled in a tip tool mode， and the sensor system (21) is configured to generate a mode change indication signal (23) when the tip tool (10) is in said mode change position， and wherein said mode control signal (19) is generated in dependence of said mode change indication signal (23). In the normal mode， crane movements are controlled in relation to a coordinate system having a base (28) of the crane as its origin. In the tip tool mode， crane movements are controlled in relation to a coordinate system having said tool joint (14) as its origin， and in the tip tool mode the tip tool (10) is controlled in response of an operator input (20) via one of said manoeuvre members (22).