Controlling an excavation operation based on load sensing

Abstract

Automation and/or operator assistance in an excavation operation to obtain a design surface that makes use of resistance data indicative of a resistance exerted on an end effector of the excavator when it engages material to be moved. Control commands for maneuvering the end effector are mapped to movement commands for the end effector according to a first and a second conversion rule. Digging under the first conversion rule causes the end effector to move according to a target path derived from the design surface, whereas digging under the second conversion rule causes the end effector to move as a function of the resistance data and a digging efficiency criterion, which allows to move the end effector independently from the target path. The automation and/or operator assistance automatically transitions from the first conversion rule to the second conversion rule as a function of the resistance data.