# US 2014/0195091 A1 · Electrically driven dump truck > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195091 A1 - Document ID: US20140195091A1 - Status: Published application - Kind: A1 - Application number: 14/240,226 - Filed: 2012-05-10 - Published: 2014-07-10 - Earliest claimed: 2011-09-27 - Assignees: Hitachi Construction Machinery Co., Ltd. - Inventors: Shinjiro Saito - Web page: https://patentgrep.com/patent/US20140195091A1 ## CPC - B60L 9/00: Electric propulsion with power supply external to the vehicle (electric propulsion for monorail vehicles, suspension vehicles or rack railways B60L13/00; in combination with batteries or fuel cells within the vehicle B60L50/53) - B60L 5/04: using rollers or sliding shoes in contact with trolley wire (B60L5/40 takes precedence) - B60L 5/08: Structure of the sliding shoes or their carrying means - B60L 5/36: with means for collecting current simultaneously from more than one conductor, e.g. from more than one phase - B60L 9/22: polyphase motors - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60L 50/40: using propulsion power supplied by capacitors - B60L 50/61: by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles - B60M 7/00: Power lines or rails specially adapted for electrically-propelled vehicles of special types, e.g. suspension tramway, ropeway, underground railway - B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)} - B60L 2200/26: Rail vehicles - B60L 2200/36: Vehicles designed to transport cargo, e.g. trucks - B60L 2210/30: AC to DC converters - B60L 2210/40: DC to AC converters - B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel - B60L 2240/12: Speed - B60L 2240/24: Steering angle - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2240/441: Speed - B60L 2240/443: Torque - B60L 2240/461: Speed - Y02T 10/62: Hybrid vehicles - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60M: POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES (control of points and safety arrangements along railway lines B61L; construction of rails and points in general E01B) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract In the present invention, a control device 200 which is formed of a vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 executes control to give a yaw moment to a vehicle 1 so that the vehicle 1 travels while tracing a first trolley wire 3R1/3L1 in a first traveling section before the vehicle 1 reaches a trolley wire linkage section C and the vehicle 1 travels while tracing a second trolley wire 3R2/3L2 in a second traveling section after the vehicle 1 passed through the trolley wire linkage section. In the trolley wire linkage section, a prescribed path is set from a representative point to a second target point and the control device 200 executes control to give a yaw moment to the vehicle 1 so that the vehicle 1 travels along the prescribed path and eventually tracing the second trolley wire 3R2/3L2. This makes it possible to lighten the operating load on the driver during the trolley traveling and to realize stable trolley traveling even when there exists such a linkage section of trolley wires. ## Claims ### Claim 1 An electrically driven dump truck which travels on a ground including a first traveling section in which at least one first trolley wire (3R1, 3L1) is installed, a second traveling section in which at least one second trolley wire (3R2, 3L2) is installed, and a trolley wire linkage section (C) in which a terminating end part (3R1t, 3L1t) of the first trolley wire and a beginning end part (3R2b, 3L2b) of the second trolley wire extend in parallel, by use of electric power received from the first trolley wire and the second trolley wire by elevating a slider (4Ra, 4La) of a power collector (4R, 4L) provided on a vehicle (1) to be movable up and down and making the slider (4Ra, 4La) successively contact the first trolley wire and the second trolley wire, the electrically driven dump truck comprising: a trolley wire detecting device (15) which is provided on the vehicle and detects the first trolley wire and the second trolley wire from below when the dump truck is traveling; and a control device (200) which executes first control to give a yaw moment to the vehicle based on relative position information on the electrically driven dump truck and the trolley wire detected by the trolley wire detecting device so that the vehicle travels while tracing the first trolley wire and the second trolley wire in the first traveling section and the second traveling section before and after the trolley wire linkage section, wherein when the vehicle is traveling in the trolley wire linkage section, the control device executes second control to give a yaw moment to the vehicle so that the vehicle travels while tracing a prescribed path extending from the first trolley wire to the second trolley wire. ### Claim 2 (depends on 1) The electrically driven dump truck according to claim 1, wherein: the control device in the first control calculates at least one representative point of the vehicle and at least one first target point situated on the first/second trolley wire based on the relative position information on the electrically driven dump truck and the first/second trolley wire and executes control to give a yaw moment to the vehicle so that the representative point approaches the first target point, and the control device in the second control calculates at least one representative point of the vehicle and at least one second target point situated on the second trolley wire based on the relative position information on the electrically driven dump truck and the first/second trolley wire, sets a fluctuating point that shifts from the representative point to the second target point, and executes control to give a yaw moment to the vehicle so that the representative point approaches the fluctuating point. ### Claim 3 (depends on 1) The electrically driven dump truck according to claim 1, further comprising right and left electric motors (6R, 6L) for traveling, wherein the control device executes both the control to give a yaw moment to the vehicle and traveling speed control by controlling the right and left electric motors. ### Claim 4 (depends on 1) The electrically driven dump truck according to claim 1, further comprising right and left electric motors (6R, 6L) for traveling and a steering device (40), wherein: the control device includes a vehicle control device (50), a controller (100), an inverter control device (30) and a steering control device (32), and the vehicle control device calculates a yaw moment correction value, for the control to give a yaw moment to the vehicle so that the vehicle travels while tracing the trolley wire, based on the information detected by the trolley wire detecting device, and the controller controls at least the right and left electric motors or the steering device by using the inverter control device and/or the steering control device based on the yaw moment correction value. ### Claim 5 (depends on 1) The electrically driven dump truck according to claim 1, wherein the trolley wire detecting device includes: a camera (15) which is provided on the vehicle and continuously captures images of the trolley wire when the dump truck is traveling; and an illuminating device (51) which is provided on the vehicle and illuminates the trolley wire. ### Claim 6 (depends on 2) The electrically driven dump truck according to claim 2, further comprising right and left electric motors (6R, 6L) for traveling, wherein the control device executes both the control to give a yaw moment to the vehicle and traveling speed control by controlling the right and left electric motors. ### Claim 7 (depends on 2) The electrically driven dump truck according to claim 2, further comprising right and left electric motors (6R, 6L) for traveling and a steering device (40), wherein: the control device includes a vehicle control device (50), a controller (100), an inverter control device (30) and a steering control device (32), and the vehicle control device calculates a yaw moment correction value, for the control to give a yaw moment to the vehicle so that the vehicle travels while tracing the trolley wire, based on the information detected by the trolley wire detecting device, and the controller controls at least the right and left electric motors or the steering device by using the inverter control device and/or the steering control device based on the yaw moment correction value. ### Claim 8 (depends on 2) The electrically driven dump truck according to claim 2, wherein the trolley wire detecting device includes: a camera (15) which is provided on the vehicle and continuously captures images of the trolley wire when the dump truck is traveling; and an illuminating device (51) which is provided on the vehicle and illuminates the trolley wire. ### Claim 9 (depends on 3) The electrically driven dump truck according to claim 3, wherein the trolley wire detecting device includes: a camera (15) which is provided on the vehicle and continuously captures images of the trolley wire when the dump truck is traveling; and an illuminating device (51) which is provided on the vehicle and illuminates the trolley wire. ### Claim 10 (depends on 4) The electrically driven dump truck according to claim 4, wherein the trolley wire detecting device includes: a camera (15) which is provided on the vehicle and continuously captures images of the trolley wire when the dump truck is traveling; and an illuminating device (51) which is provided on the vehicle and illuminates the trolley wire. ### Claim 11 (depends on 5) The electrically driven dump truck according to claim 5, wherein the trolley wire detecting device includes: a camera (15) which is provided on the vehicle and continuously captures images of the trolley wire when the dump truck is traveling; and an illuminating device (51) which is provided on the vehicle and illuminates the trolley wire. ### Claim 12 (depends on 6) The electrically driven dump truck according to claim 6, wherein the trolley wire detecting device includes: a camera (15) which is provided on the vehicle and continuously captures images of the trolley wire when the dump truck is traveling; and an illuminating device (51) which is provided on the vehicle and illuminates the trolley wire.