Electrically driven dump truck

摘要

A vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device that executes control to give a yaw moment to a vehicle 1 so as to make the vehicle 1 travel while meandering around the center of trolley wires 3R and 3L based on image information acquired by a camera 15. The control device converts an image acquired by the camera 15 into coordinate information, calculates at least one representative point of the vehicle 1 and at least one target point situated on the trolley wire 3R/3L based on the coordinate information, sets a fluctuating point which fluctuates with reference to the target point, and executes control to give a yaw moment to the vehicle 1 so that the representative point approaches the fluctuating point. With this configuration, uneven wear of the sliders can be prevented and the operating load on the driver during the trolley traveling can be lightened considerably.

主权项

1. An electrically driven dump truck which elevates a slider (4Ra, 4La) of a power collector (4R, 4L) provided on a vehicle (1) to be movable up and down, places the slider in contact with a trolley wire installed along a lane, and travels by use of electric power received from the trolley wire, comprising:
right and left electric motors (6R, 6L) for traveling; a steering device (40); a trolley wire detecting device (15) which is provided on the vehicle and detects the trolley wire from below when the electrically driven dump truck is traveling; and a control device (200) which executes control to give a yaw moment to the vehicle so as to make the vehicle travel while meandering around the trolley wire based on relative position information on the electrically driven dump truck and the trolley wire detected by the trolley wire detecting device, wherein: the control device calculates at least one representative point of the vehicle and at least one target point situated on the trolley wire based on the relative position information on the electrically driven dump truck and the trolley wire detected by the trolley wire detecting device, sets a fluctuating point which fluctuates with reference to the target point, and executes control to give a yaw moment to the vehicle in such a manner that the representative point approaches the fluctuating point, the control device includes a vehicle control device (50), a controller (100), an inverter control device (30) and a steering control device (32), the vehicle control device calculates a yaw moment correction value for giving the yaw moment to the vehicle in such a manner that the representative point approaches the fluctuating point, and the controller controls at least either the right and left electric motors or the steering device by use of the inverter control device and the steering control device based on the yaw moment correction value for giving the yaw moment to the vehicle so as to make the vehicle travel while meandering around the trolley wire.