Patent ID: 10480155

Abstract:
An excavator comprises a machine chassis, boom, stick, and implement. The boom, stick, and implement collectively define a variable implement angle θBucket(t) indicative of a current position of the implement relative to horizontal as a function of time t. The implement comprises teeth extending a tooth height h from an internal leading edge JI to an external leading edge JE. The teeth are spaced along JI and define an active raking ratio r. Controllers are programmed to execute an implement teeth grading offset determination process that comprises determining a variable implement offset angle θDelta(t) at least partially based on a difference between an original target design angle θTgt(t) and the variable implement angle θBucket(t), determining an implement offset IO based on h, r, and θDelta(t), and determining a new target design elevation ElvTgt,New(t) based on IO and an original target design elevation ElvTgt,Orig(t).