Electric Drive Dump Truck

Abstract

In the present invention, the vehicle control device (50), the controller (100), the inverter control device (30) and the steering control device (32) constitute the control device, and the control device is based on the image obtained by the camera (15) information, when the vehicle body (1) is traveling outside the trolley line joint section (C), it performs control to apply a yaw moment to the vehicle body (1) in such a way as to follow the trolley line (3L, 3R) travel, in When traveling in the trolley line joint section (C), the control to apply the above-mentioned yaw moment is not performed. In addition, the obtained image information is converted into coordinate information, and based on the coordinate information, when the vehicle body (1) is traveling outside the trolley line joint section (C), the representative point of the vehicle body (1) and the position on the trolley line are calculated. (3L, 3R), and apply a yaw moment to the vehicle body (1) in such a way that the representative point approaches the target point. Thereby, even in the junction section of the trolley lines, the driver's operation load during the slip travel can be reduced, and stable slip travel can be performed.

Description

technical field [0001] The present invention relates to an electrically driven dump truck, and more particularly relates to an electrically driven dump truck traveling by receiving electric power from a trolley line. Background technique [0002] Among dump trucks driving in mines, there is known a series hybrid type dump truck in which an engine drives a generator, and electric power generated by the generator is supplied to motors of rear wheels to drive the rear wheels. Moreover, the electric structure can be used to realize the following trolley-type driving technology, that is, in the specified uphill section, the electric power supply by the engine-generator is not carried out, but the trolley line commonly seen in electric cars is installed, and the lift The sliding plate of the current collector installed on the main body of the vehicle can be raised and lowered so that it comes into contact with the trolley line and receives power to drive (hereinafter referred to a...

AI Technical Summary

Problems solved by technology

[0010] In the case where there is such a joint section, when the operator operates the driver's naked eye, the driver not only needs to simply perform the steering operation so that the center position of the slider does not deviate from the trolley line to a large extent in the lateral direction, but It is also necessary to carry out the steering operation so that the trolley line in contact with the skateboard transitions from the first trolley line to the second trolley line, thus imposing a large operational burden on the driver

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