| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an electric drive dump truck in which the operational burden on a driver can be reduced during trolley travel. <P>SOLUTION: A vehicle control device 50, a controller 100, an inverter controller 30, and a steering controller 32 configure a control apparatus that controls the vehicle body 1 so as to travel while following the trolley lines 3L, 3R by giving a yaw moment to the vehicle body 1 based on the image information acquired by means of a camera 15. Furthermore, the control apparatus converts an image acquired by means of the camera 15 into the coordinate information, calculates at least one representative point of the vehicle body 1 and at least one target point located on the trolley lines 3L, 3R based on the coordinate information, and controls the vehicle body 1 so that the representative point approaches the target point by giving a yaw moment thereto. <P>COPYRIGHT: (C)2013,JPO&INPIT |
