In the present invention, a vehicle control apparatus (50), a controller (100), an inverter control apparatus (30), and a steering control apparatus (32) constitute a control apparatus for executing control in which a yaw moment is applied to a vehicle body (1) such that the vehicle body (1) weaves with trolley lines (3L, 3R) as the center thereof on the basis of image information obtained from a camera (15). This control apparatus also executes control in which the image obtained by the camera (15) is converted into coordinates information, at least one representative point of the vehicle body (1) and at least one target point positioned on the trolley lines (3L, 3R) are calculated on the basis of the coordinates information, a fluctuation point that fluctuates with the target point as the reference point thereof is set, and a yaw moment is applied to the vehicle body (1) such that the representative point comes near the fluctuation point. With this apparatus, a slider can be prevented from incurring unbalanced wear, and the burden to be incurred upon the operation of a driver upon trolley driving can be alleviated.


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    Title :

    Electrically driven dump truck


    Contributors:

    Publication date :

    2015-06-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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