Electrically driven dump truck

Abstract

A vehicle control device, a controller, an inverter control deviceand a steering control deviceconstitute a control device that executes control to give a yaw moment to a vehicleso as to make the vehicletravel while meandering around the center of trolley wiresR andL based on image information acquired by a camera. The control device converts an image acquired by the camerainto coordinate information, calculates at least one representative point of the vehicleand at least one target point situated on the trolley wireR/L based on the coordinate information, sets a fluctuating point which fluctuates with reference to the target point, and executes control to give a yaw moment to the vehicleso that the representative point approaches the fluctuating point. With this configuration, uneven wear of the sliders can be prevented and the operating load on the driver during the trolley traveling can be lightened considerably.