| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an electrically driven dump truck which reduces a driver's operational burden during trolley running and can perform stable trolley running even in a connection section of trolley lines. <P>SOLUTION: A vehicle control device 50, a controller 100, an inverter control device 30, and a steering control device 32 constitute a control device, which performs the control of imparting a yaw moment to a vehicle body 1 to make the vehicle body 1 run following the trolley lines 3L, 3R when running on sections other than the connection section C of the trolley lines based on image information obtained by a camera 15 and does not perform the control of imparting the yaw moment when running on the connection section C of the trolley lines. In addition, the obtained image information is converted to coordinate information, a representative point of the vehicle body 1 and a target point located on the trolley lines 3L, 3R are calculated from the coordinate information when the vehicle body 1 is running on the sections other than the connection section C of the trolley lines, and the yaw moment is imparted to the vehicle body 1 to make the representative point approach the target point. <P>COPYRIGHT: (C)2013,JPO&INPIT |
