Blade control system and construction machine
A blade control system of the present invention includes an angle obtaining part, an open ratio setting part and a lift cylinder controlling part. The angle obtaining part is configured to obtain an angle of a lift frame with respect to a designed surface. The open ratio setting part is configured to set an open ratio based on the angle. The lift cylinder controlling part is configured to open a proportional control valve at the open ratio for elevating the blade when a distance between the designed surface and an edge of a blade is determined to be less than or equal to a threshold.
1. A blade control system, comprising:
a lift frame vertically pivotably attached to a vehicle body;
a blade supported by a tip of the lift frame;
a lift cylinder configured to vertically pivot the lift frame;
a proportional control valve connected to the lift cylinder;
an angle obtaining part configured to obtain an angle of the lift frame with respect to a designed surface in a side view of the vehicle body, the designed surface formed as a three-dimensionally designed landform indicating a target contour of an object for dozing;
an open ratio setting part configured to set an open ratio of the proportional control valve based on the angle;
a distance calculating part configured to calculate a distance between the designed surface and a cutting edge of the blade;
a determining part configured to determine whether or not the distance between the designed surface and the cutting edge of the blade is less than or equal to a threshold;
a lift cylinder controlling part configured to open the proportional control valve at the open ratio set by the open ratio setting part for elevating the blade when the determining part determines that the distance between the designed surface and the cutting edge of the blade is less than or equal to the threshold:,
a speed obtaining part configured to obtain a speed of the cutting edge of the blade approaching the designed surface in a direction perpendicular to the designed surface; and
a threshold setting part configured to increase the threshold in proportion to magnitude of the speed.
2. The blade control system according to claim 1 , wherein
the open ratio setting part is configured to increase the open ratio of the proportional control valve in proportion to magnitude of the angle of the lift frame with respect to the designed surface.
3. The blade control system according to claim 2 , wherein
the open ratio setting part is configured to fix the open ratio of the proportional control valve to be a maximum value when the angle of the lift frame with respect to the designed surface is greater than or equal to a predetermined value.
4. The blade control system according to claim 1 , further comprising:
a blade load obtaining part configured to obtain a load acting on the blade; and
a storage part configured to store a target load preliminarily set, wherein
the lift cylinder controlling part is configured to control the open ratio of the proportional control valve for allowing the load to get closer to the target load when the determining part determines that the distance between the designed surface and the cutting edge of the blade is greater than the threshold.
5. The blade control system according to claim 1 , wherein
the threshold setting part is configured to fix the threshold to be a maximum value when the speed is greater than or equal to a predetermined value.
6. The blade control system according to claim 1 , wherein
the lift cylinder controlling part is configured to prevent elevation of the blade when the lift frame is positioned higher than a predetermined position.
7. A construction machine, comprising:
a vehicle body; and
the blade control system according to claim 1 .
8. The construction machine according to claim 7 , further comprising:
a drive unit including a pair of tracks attached to the vehicle body.