ELECTRICALLY DRIVEN DUMP TRUCK

摘要

In the present invention, a vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device which executes the following control based on image information acquired by a camera 15: When the vehicle 1 is traveling outside a trolley wire linkage section C, the control device executes control to give a yaw moment to the vehicle 1 so that the vehicle 1 travels while tracing a trolley wire 3R/3L. When the vehicle 1 is traveling in the trolley wire linkage section C, the control device performs control not to execute the control to give the yaw moment. Further, the control device converts the acquired image information into coordinate information. Based on the coordinate information, when the vehicle 1 is traveling outside the trolley wire linkage section C, the control device calculates a representative point of the vehicle 1 and a target point situated on the trolley wire 3R/3L and gives a yaw moment to the vehicle 1 so that the representative point approaches the target point. This makes it possible to lighten the operating load on the driver during the trolley traveling and to realize stable trolley traveling even when there exists such a linkage section of trolley wires.

主权项

1. An electrically driven dump truck which travels on a ground including a first traveling section in which at least one first trolley wire (3R1, 3L1) is installed, a second traveling section in which at least one second trolley wire (3R2, 3L2) is installed, and a trolley wire linkage section (C) in which a terminating end part (3R1t, 3L1t) of the first trolley wire and a beginning end part (3R2b, 3L2b) of the second trolley wire extend in parallel, by use of electric power received from the first trolley wire and the second trolley wire by elevating a slider (4Ra, 4La) of a power collector (4R, 4L) provided on a vehicle (1) to be movable up and down and making the slider (4Ra, 4La) successively contact the first trolley wire and the second trolley wire, the electrically driven dump truck comprising:
a trolley wire detecting device (15) which is provided on the vehicle and detects the first trolley wire and the second trolley wire from below when the dump truck is traveling; and a control device which executes the following control based on information detected by the trolley wire detecting device: giving a yaw moment to the vehicle so that the vehicle travels while tracing the first trolley wire before the vehicle reaches the trolley wire linkage section; stopping the control to give the yaw moment when the vehicle is traveling in the trolley wire linkage section; and giving a yaw moment to the vehicle so that the vehicle travels while tracing the second trolley wire after the vehicle has passed through the trolley wire linkage section.