Crawler-type traveling body

Abstract

To provide a crawler-type traveling body that can effectively cool a heat sink without a device for actively feeding to the heat sink.SOLUTION: A crawler-type traveling body configured to travel by a crawler includes: a housing adapted to contain a heating element therein; a heat sink including a fin that protrudes to the outside the housing via an opening in a side plate of the housing and disposed in contact with the heating body; and a cover arranged at the side plate of the housing to cover the fin. The cover has a first suction hole formed in a front surface in a direction of travel of the crawler-type traveling body, and air flowing from the first suction hole to the inside of the cover during travel of the crawler-type traveling body is guided to the fin.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a track-type vehicle. [Background technology]

[0002] A configuration is already known in which a box-shaped housing has a space for storing electronic circuit devices, etc., to which a heat sink is attached to cool the electronic circuit devices, etc. stored in the housing, and the heat sink is cooled by passing air through the attached heat sink, thereby further promoting the cooling of the electronic circuit devices, etc.

[0003] For example, Patent Document 1 discloses an example of a configuration for cooling electronic circuit devices and the like using such a heat sink, in which a duct space extending in the vertical direction is provided in a housing that houses the electronic circuit devices and the like, a heat sink is attached so that it protrudes into the duct space, and a fan blows air from the bottom to the top of the duct space to cool the heat sink portion that protrudes into the duct space. Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional technology has a problem in that, because it is a stationary device, it requires a device for actively blowing air onto the heat sink.

[0005] The present invention has been made in consideration of the above, and aims to provide a track-type vehicle that can efficiently cool a heat sink without any equipment for actively sending heat to the heat sink. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the present invention provides a track-type vehicle that travels on tracks, comprising: a housing that houses a heating element; a heat sink that has fins that protrude outside the housing through an opening in a side plate of the housing and abut against the heating element; and a cover that is attached to the side plate of the housing and covers the fins, wherein the cover has a first air intake hole formed on a surface that is forward in the direction of travel of the track-type vehicle, and is configured so that air that flows into the cover from the first air intake hole while the track-type vehicle is traveling is guided to the fins. [Effects of the Invention]

[0007] According to the present invention, the heat sink can be cooled efficiently without any equipment for actively sending heat to the heat sink. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an external perspective view showing an example of the overall configuration of a traveling device according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of the traveling device according to the embodiment. [Figure 3] FIG. 3 is an external perspective view showing an example of a state in which left and right covers of the traveling device according to the embodiment are attached. [Figure 4] FIG. 4 is an external perspective view showing an example of a state in which the left and right covers of the traveling device according to the embodiment are removed. [Figure 5] FIG. 5 is a diagram illustrating an example of the configuration of a heat sink of the traveling device according to the embodiment. [Figure 6] FIG. 6 is a diagram illustrating a state in which the heat sink of the traveling device according to the embodiment is attached via a rubber packing. [Figure 7] FIG. 7 is a cross-sectional view of the heat sink, the heating element, the fan, and the cover attached to the main body of the traveling device according to the embodiment, as viewed from the direction of travel. [Figure 8] FIG. 8 is a flowchart showing an example of the flow of operation of the traveling device according to the embodiment. [Figure 9] FIG. 9 is a cross-sectional view of the heat sink, the heating element, the fan, and the cover attached to the main body of the traveling device according to the first modification, as viewed from the traveling direction. [Figure 10] FIG. 10 is an external perspective view showing an example of a state in which the left and right covers of the traveling device according to the second modification are removed. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of a track-type vehicle according to the present invention will be described in detail with reference to the drawings. Furthermore, the present invention is not limited to the following embodiments, and the components in the following embodiments include those that can be easily conceived by a person skilled in the art, those that are substantially the same, and those that are within the scope of what is called equivalents. Furthermore, various omissions, substitutions, modifications, and combinations of the components can be made without departing from the spirit of the following embodiments.

[0010] (Overall configuration of the running gear) Fig. 1 is an external perspective view showing an example of the overall configuration of a traveling device according to an embodiment. The overall configuration of the traveling device 1 according to this embodiment will be described with reference to Fig. 1. In this embodiment, the Y direction refers to the width direction of the traveling device 1. The X direction refers to the traveling direction of the traveling device 1, and the Z direction refers to the height direction of the traveling device 1.

[0011] The traveling device 1 (track-type traveling device) shown in FIG. 1 is a self-propelled robot used for inspection, security, patrol, etc. As shown in FIG. 1, the traveling device 1 is capable of traveling in one direction (X direction). As shown in FIG. 1, the traveling device 1 includes a main body 10, crawler sections 11a and 11b, covers 201a and 201b, a status indicator lamp 15, bumpers 16 and 17, and distance measurement sensors 112 and 113.

[0012] The main body 10 is a main body device that houses, in a rectangular parallelepiped housing, a controller that controls the driving of the traveling device 1, a battery (not shown) that supplies power to drive the track sections 11a and 11b (tracks), etc. The main body 10 is equipped with a power button 12, a start button 13, an emergency stop button 14a, and an emergency stop button 14b (see FIG. 3 described later).

[0013] The power button 12 is a button that a person near the traveling device 1 presses to turn the power of the traveling device 1 on or off. The start button 13 is a button that a person near the traveling device 1 presses to start up the two track units 11a, 11b. The emergency stop button 14a is installed on the front of the main body 10 and is a button that a person near the traveling device 1 presses to stop the traveling device 1 while it is running. The emergency stop button 14b is installed on the rear side of the main body 10 and is a button that a person near the traveling device 1 presses to stop the traveling device 1 while it is running.

[0014] The crawler belt sections 11a and 11b are units that serve as drive members for the traveling device 1. The crawler belt sections 11a and 11b are crawler-type drive members that use metal or rubber belts. The crawler belt sections 11a and 11b are installed with the main body 10 sandwiched between them so that the traveling device 1 can travel. The crawler belt section 11a is the left crawler belt section when facing the traveling direction of the traveling device 1, and the crawler belt section 11b is the right crawler belt section when facing the traveling direction.

[0015] Track-type drive members such as track sections 11a and 11b have a larger contact area than tires, etc., of an automobile, and can therefore travel stably, even in environments with poor footing, for example. Furthermore, while traveling on tires requires a turning space to perform a turning motion, the traveling device 1 equipped with track sections 11a and 11b can perform so-called "pivot turning," allowing for smooth turning even in a limited space. Here, "pivot turning" refers to turning in place around the center of the traveling body by rotating the left and right track sections in opposite directions at a constant speed. This type of turning method is also called a spin turn.

[0016] The number of crawler belt sections is not limited to two, i.e., crawler belt sections 11a and 11b, and may be three or more. For example, the traveling device 1 may be installed in a state in which the traveling device 1 can travel, such as by arranging three crawler belt sections in three parallel rows. Furthermore, the traveling device 1 may have, for example, four crawler belt sections arranged in the front, rear, left and right directions like automobile tires.

[0017] Furthermore, the crawler belt sections 11a, 11b have a triangular shape. This allows the ground contact area to be increased within the limited front-to-rear size, for example, when there are restrictions on the front-to-rear size. This allows for improved stability during running, as described above. On the other hand, so-called tank-type tracks, in which the upper side (driving wheel side) is longer than the lower side (rolling wheel side), have a smaller overall ground contact area and become unstable when there are restrictions on the front-to-rear size. In this way, the crawler belt sections 11a, 11b are effective in improving the running performance of a relatively small running device 1.

[0018] The covers 201a and 201b are cover members for covering the left and right side surfaces of the main body 10. The covers 201a and 201b house fans 211a and 211b, heat sinks 212a and 212b, harnesses, cables, and the like, which will be described later. That is, the covers 201a and 201b cover the fans 211a and 211b and heat sinks 212a and 212b, which will be described later. The cover 201a is the left cover when facing the traveling direction of the traveling device 1, and the cover 201b is the right cover when facing the traveling direction. By arranging the covers 201a and 201b in this manner, it is possible to form a path for guiding air that flows in from the front air intake holes (front air intake holes 202a and 202b, which will be described later) when the traveling device 1 is traveling to the heat sinks 212a and 212b, as will be described later. Furthermore, by providing the covers 201a and 201b, harnesses, cables, etc. can be stored inside, and direct exposure of the main body 10 to sunlight, etc. can be prevented.

[0019] The covers 201a and 201b will be referred to simply as "cover 201" when referring to any cover or when referring to them collectively.

[0020] The status indicator lamp 15 is a lamp component for notifying the status of the traveling device 1. For example, when the status of the traveling device 1 changes, such as when the remaining battery power is low, the status indicator lamp 15 lights up to notify people around the traveling device 1 of the change in status. The status indicator lamp 15 also lights up when there is a risk of an abnormality occurring, such as when the presence of an obstacle that obstructs the traveling device 1 from traveling is detected.

[0021] 1 shows an example in which the traveling device 1 is provided with one status indicator lamp 15, but the number of status indicator lamps 15 may be two or more. Furthermore, as a means for notifying the status of the traveling device 1, not only the status indicator lamp 15 but also a warning sound emitted from a speaker may be used to notify the status of the traveling device 1.

[0022] The bumper 16 is provided on the front side of the main body 10 and is a member that protects the main body 10 and the crawler belt portions 11a, 11b, etc. of the traveling device 1. The bumper 17 is provided on the rear side of the main body 10 and is a member that protects the main body 10 and the crawler belt portions 11a, 11b, etc. of the traveling device 1.

[0023] The distance measurement sensor 112 is a distance measurement sensor for detecting the horizontal direction provided on the top surface of the main body 10. The distance measurement sensor 112 is a 2D-LiDAR (Light Detection And Ranging) type sensor that performs optical detection and two-dimensional distance measurement, and is, for example, a MEMS (Micro Electro Mechanical Systems) type sensor or a rotating mirror type sensor.

[0024] The distance measurement sensor 112 measures the distance to an object and the direction in which the object is located based on the measurement result of the time it takes for the laser light to be irradiated onto the object, reflected by the object, and received back. The distance measurement sensor 112 measures a range of, for example, 270 degrees, centered on the forward X direction. The traveling device 1 uses the distance measurement sensor 112 to measure the distance to objects over a wide range in the horizontal direction, and uses this as obstacle information.

[0025] The distance measurement sensor 113 is a distance measurement sensor for detecting oblique directions, installed, for example, above the status display lamp 15, and has a detection direction at a depression angle of, for example, 30 degrees. The installation position of the distance measurement sensor 113 is considered so that it can detect the road surface up to just before the bumper 16 on the front of the traveling device 1. The distance measurement sensor 113 is a 3D-LiDAR type three-dimensional distance measurement sensor that can measure distances in three dimensions. The distance measurement sensor 113 is, for example, a MEMS type or a rotating mirror type sensor.

[0026] The 3D-LiDAR used is, for example, a non-repetitive scanning type that can measure a range of a 70.4-degree cone as seen from the center of the sensor detection surface, and can measure distances up to 90 m. The non-repetitive scanning type scans like drawing a flower while gradually shifting the phase in the horizontal and vertical directions, and is characterized by the fact that the point cloud coverage rate within the measurement range increases over time. The distance sensor 113 is mounted at an angle below horizontal so that it faces diagonally downward at a predetermined inclination angle with respect to the horizontal road surface.

[0027] The distance measurement sensor 113 irradiates laser light onto an object such as a road obstacle, and measures the distance to the object and the direction in which the object is located based on the measurement results of the time it takes for the light to be reflected by the object and received, and obtains the measurement results as data.

[0028] (Hardware configuration of the running gear) 2 is a diagram showing an example of the hardware configuration of the traveling device according to the embodiment, with reference to which the hardware configuration of the traveling device 1 according to the present embodiment will be described.

[0029] As shown in FIG. 2, the traveling device 1 includes a CPU (Central Processing Unit) 101 (control device), a memory 102, an auxiliary memory device 103, a camera 111, a ranging sensor 112, a ranging sensor 113, a satellite positioning system 114, an IMU (Inertial Measurement Unit) 115, a temperature sensor 116, a battery 121, motor drivers 122a, 122b, brake drivers 123a, 123b, fan motor drivers 124a, 124b, traveling motors 132a, 132b, braking motors 133a, 133b, a power supply SW 141, a start SW 142, an emergency stop SW 143, and fans 211a, 211b.

[0030] The CPU 101 is a computing device that performs overall control of the traveling device 1. Specifically, the CPU 101 controls the driving of the fans 211a and 211b and the speed of the traveling device 1 in accordance with the temperature detected by the temperature sensor 116. The CPU 101 operates according to a program stored in the memory 102.

[0031] The memory 102 is a volatile storage device that functions as a work area for executing programs, etc., by the CPU 101. The auxiliary storage device 103 is a non-volatile storage device that stores the driving program executed by the CPU 101, various data, etc.

[0032] The running program executed by the running device 1 is provided as a file in an installable or executable format recorded on a computer-readable recording medium such as a CD-ROM (Compact Disc Read Only Memory), a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disc).

[0033] The running program executed by the running device 1 may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The running program executed by the running device 1 may also be provided or distributed via a network such as the Internet. The running program executed by the running device 1 may also be provided by being pre-installed in a ROM or the like.

[0034] The camera 111 is an imaging device such as a spherical camera, a stereo camera, or an infrared camera. The distance measurement sensor 112 is a 2D-LiDAR sensor for horizontal direction detection, as described above. The distance measurement sensor 113 is a 3D-LiDAR sensor for diagonal direction detection, as described above.

[0035] The satellite positioning system 114 is a system that receives positioning signals from satellites and measures the position of the traveling device 1 on the Earth based on the positioning signals. The satellite positioning system 114 uses, for example, an RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System). In position estimation using RTK-GNSS, when a high-precision positioning solution (fix solution) is obtained in RTK-GNSS positioning, an accuracy of several centimeters can be obtained. The satellite positioning system 114 is equipped with two antennas for receiving GNSS. When there is a discrepancy of more than a certain distance between the position information obtained by the two antennas, the satellite positioning system 114 determines that the reliability (accuracy) of the position information has decreased.

[0036] The IMU 115 is an inertial measurement unit equipped with a three-axis acceleration sensor, a rotational angular velocity sensor, etc. The traveling device 1 detects the amount of tilt of the main body 10 using the measurement data of the IMU 115, and corrects the difference in elevation with respect to the traveling road surface measured by the distance measurement sensor 113 based on the amount of tilt of the traveling device 1.

[0037] It is preferable that the IMU 115 is provided near the distance measurement sensor 113. When the distance measurement sensor 113 is provided on the main body 10 via an arm, it is preferable that the IMU 115 is provided on the arm. The IMU 115 may also serve as an IMU for self-position estimation that estimates the attitude of the traveling device 1. This can solve the problem of changes in the height position detected by the distance measurement sensor 113 due to the main body 10 swaying back and forth when traveling on uneven ground.

[0038] The temperature sensor 116 is provided inside the main body 10 and is a sensor that detects the temperature inside the main body 10.

[0039] The battery 121 is a battery that supplies power to various devices that the traveling device 1 includes.

[0040] The motor drivers 122a and 122b are drive circuits for driving the travel motors 132a and 132b provided on the two crawler belt portions 11a and 11b, respectively.

[0041] The brake drivers 123a and 123b are drive circuits for driving brake motors 133a and 133b provided on the two crawler belt portions 11a and 11b, respectively.

[0042] The fan motor drivers 124a and 124b are drive circuits for driving the two fans 211a and 211b, respectively. When referring to any of the fan motor drivers 124a and 124b or when referring collectively to the fan motor drivers, the fan motor drivers 124a and 124b will be simply referred to as the "fan motor driver 124."

[0043] The power switch 141 is a switch that turns on or off the power of the traveling device 1. The power switch 141 operates in conjunction with pressing the above-mentioned power button 12 (see FIG. 1).

[0044] The start switch 142 is a switch that starts the two crawler belt sections 11a and 11b, and is operated in conjunction with pressing the start button 13 (see FIG. 1) described above.

[0045] The emergency stop SW 143 is a switch that stops the operation of the two crawler units 11a and 11b in an emergency. The emergency stop SW 143 operates in conjunction with pressing the above-mentioned emergency stop button 14a (see FIG. 1) and emergency stop button 14b (see FIG. 3, which will be described later).

[0046] Motor drivers 122a and 122b, brake drivers 123a and 123b, and fan motor drivers 124a and 124b receive commands from CPU 101 and control drive motors 132a and 132b, brake motors 133a and 133b, and fans 211a and 211b, respectively.

[0047] The fans 211a and 211b are axial fans for sending air to the heat sinks 212a and 212b, which will be described later. The fan 211a is the fan on the left side when facing the traveling direction of the traveling device 1, and the fan 211b is the fan on the right side when facing the traveling direction. When referring to any of the fans 211a and 211b or when referring to them collectively, they will be simply referred to as the "fan 211." The heat sink 212a is the heat sink on the left side when facing the traveling direction of the traveling device 1, and the heat sink 212b is the heat sink on the right side when facing the traveling direction. When referring to any of the heat sinks 212a and 212b or when referring to them collectively, they will be simply referred to as the "heat sink 212."

[0048] The hardware configuration of the traveling device 1 shown in FIG. 2 is an example, and the traveling device 1 may be provided with other components.

[0049] (Configuration of the running gear body and cover) FIG. 3 is an external perspective view showing an example of a state in which the left and right covers of the traveling device according to the embodiment are attached. FIG. 4 is an external perspective view showing an example of a state in which the left and right covers of the traveling device according to the embodiment are removed. FIG. 5 is a diagram showing an example of the configuration of a heat sink of the traveling device according to the embodiment. FIG. 6 is a diagram explaining a state in which the heat sink of the traveling device according to the embodiment is attached via a rubber packing. FIG. 7 is a cross-sectional view of the heat sink, heating element, fan, and cover attached to the main body of the traveling device according to the embodiment, as seen from the direction of travel. The configurations of the main body 10 and covers 201a, 201b of the traveling device 1 according to this embodiment will be described with reference to FIGS. 3 to 7.

[0050] As shown in FIG. 3, the main body 10 is provided with the emergency stop button 14b, which is installed on the rear side in the traveling direction of the traveling device 1, as described above. Furthermore, covers 201a and 201b are attached to the left and right side surfaces of the main body 10, respectively. Furthermore, as shown in FIG. 4, a fan 211a, a heat sink 212a, and a fixing member 213a are attached to the left side surface of the main body 10. Similarly, a fan 211b, a heat sink 212b (not shown), and a fixing member 213b (not shown) are attached to the right side surface of the main body 10. Note that the fixing members 213a and 213b will be referred to simply as "fixing members 213" when referring to any fixing member or when referring to them collectively.

[0051] As shown in FIG. 3, the cover 201b has a front air intake hole 202b, an exhaust hole 203b, and a fan air intake hole 204b formed therein.

[0052] 3, the front air intake hole 202b is a hole formed on the side surface of the cover 201b on the front side in the traveling direction of the traveling device 1. By forming the front air intake hole 202b, air flows into the cover 201b through the front air intake hole 202b when the traveling device 1 travels.

[0053] As shown in FIG. 3, the exhaust hole 203b is a hole formed in the upper side surface of the cover 201b. The formation of the exhaust hole 203b allows air that flows into the cover 201b from the front air intake hole 202b to pass through the fins of the heat sink 212b to which the fan 211b is fixed, and the air can be exhausted to the outside. In other words, the cover 201b is configured so that air that flows into the cover 201b from the front air intake hole 202b while the traveling device 1 is traveling is guided to the fins of the heat sink 212b. In other words, an air path is formed inside the cover 201b from the front air intake hole 202b to the fins of the heat sink 212b.

[0054] 3, fan intake hole 204b is a hole formed in a surface of cover 201b parallel to the side surface of main body 10, and is formed at the portion where the intake surface of fan 211b abuts against cover 201b. By forming fan intake hole 204b, it is possible to take in air from the outside to be sent to heat sink 212b by the rotation of fan 211b.

[0055] 3, a storage area 220 for storing harnesses, cables, and the like used in the traveling device 1 is formed in the interior area of ​​the cover 201b, behind the area occupied by the fan 211b and the heat sink 212b. That is, in the interior area of ​​the cover 201b, an area forward of the area occupied by the fan 211b and the heat sink 212b does not store harnesses, cables, and the like, so that the air flowing in from the front air intake hole 202b can reach the heat sink 212b without being hindered in its movement.

[0056] Cover 201a is formed with front air intake hole 202a, exhaust hole 203a, and fan air intake hole 204a (not shown). Front air intake hole 202a, exhaust hole 203a, and fan air intake hole 204a have the same configurations and functions as front air intake hole 202b, exhaust hole 203b, and fan air intake hole 204b described above. A storage area similar to storage area 220 described above is formed in the interior area of ​​cover 201a. Front air intake holes 202a and 202b are referred to simply as "front air intake hole 202" (first air intake hole) when referring to any of the front air intake holes or when referring collectively. Exhaust holes 203a and 203b are referred to simply as "exhaust hole 203" when referring to any of the exhaust holes or when referring collectively. Furthermore, when referring to any of the fan intake holes 204a and 204b or when referring to them collectively, they will be simply referred to as "fan intake hole 204" (second intake hole).

[0057] As shown in Fig. 4, fixing member 213 is a member that is installed along the direction of travel on the upper edge of the side of main body 10. As shown in Fig. 7, fixing member 213 and the upper side portion of cover 201 are fixed to main body 10 by screwing.

[0058] 4 and 7, heat sink 212 is a member that is attached to the side surface of main body 10 and dissipates heat by exchanging heat with air sent in from fan 211. Heat sink 212 has a heat sink fin portion 2121 and a heat sink plate portion 2122, as shown in FIGS.

[0059] As shown in FIG. 7 , the heat sink plate 2122 is fixed to the inside of the side plate of the main body 10 so that its plate surface is parallel to the side plate. As shown in FIGS. 6 and 7 , the heat sink plate 2122 is fixed to the inside of the side plate of the main body 10 with screws 217 via a rubber packing 215. The surface of the heat sink plate 2122 opposite to the surface fixed to the inside of the side plate of the main body 10 abuts against the heating element 218. This allows the heating element 218 to be cooled by heat exchange in the heat sink 212 including the heat sink plate 2122. As shown in FIG. 6 , the rubber packing 215 is a flat rubber member and has an opening in the center through which the heat sink fin 2121 passes. In this way, the heat sink 212 (heat sink plate 2122) is fixed to the inside of the main body 10 via the rubber packing 215, thereby providing a waterproof function that prevents water from entering the interior of the main body 10.

[0060] 6 and 7, a heating element 218 is fixed by screws 216 in contact with the surface of the heat sink plate portion 2122 facing the inside of the main body 10. The heating element 218 is, for example, a controller or the like that is mounted in the main body 10 and incorporates the above-mentioned CPU 101, memory 102, auxiliary storage device 103, etc. This allows the heat generated by the heating element 218 to be efficiently transferred to the heat sink 212 (heat sink plate portion 2122).

[0061] 5 and 6, the heat sink fins 2121 are multiple fins that protrude from the surface of the heat sink plate 2122 facing the outside of the housing of the main body 10 through an opening in a side plate of the main body 10 to the outside of the housing of the main body 10. That is, the heat sink fins 2121 protrude from the heat sink plate 2122 and reach the inside of the cover 201 as shown in FIG. 7. This allows air taken in through the fan intake holes 204 to reach the heat sink fins 2121 inside the cover 201, enabling heat exchange between the air and the heat sink 212.

[0062] As described above, the fan 211 is an axial flow fan for sending air to the heat sink 212. As shown in FIGS. 5 to 7 , the fan 211 is attached to the tip of the heat sink fin section 2121 by a screwed hexagonal support 214 extending outward from the heat sink plate section 2122, and is driven to rotate to send air directly to the heat sink fin section 2121 through the fan intake holes 204. That is, the fan 211 draws air in a direction perpendicular to the side plate of the main body 10 and sends it to the heat sink fin section 2121. This promotes heat exchange between the air and the heat sink 212. The air sent to the heat sink 212 by the fan 211 passes through the heat sink 212, rises, and is exhausted through the exhaust holes 203. The fan 211 is installed stacked on the heat sink 212 in a direction perpendicular to the side surface of the main body 10, so there is no need to secure space above or below the heat sink 212 for installing the fan 211. In addition, the fan 211 generates an air flow in a direction perpendicular to the side of the main body 10 and sends the air to the heat sink 212 through the fan intake hole 204, so that even when the traveling device 1 moves laterally (Y direction in Figure 1), the air hitting the side of the main body 10 can be used to cool the heat generating element 218.

[0063] 7, the width of the cover 201 in the left-right direction is set so that the intake surface of the fan 211 abuts against the inner surface (the surface parallel to the side surface of the main body 10) of the cover 201. This makes it possible to minimize the width of the cover 201 and prevent the size of the traveling device 1 from increasing.

[0064] The configuration of the fan 211 and the heat sink 212 in the cover 201 as described above promotes heat exchange between the air taken in from the fan intake hole 204 and the air sent in by the fan 211 and the heat sink 212, and the heat sink 212 can efficiently cool the heat generating element 218. Furthermore, by providing the configuration of the cover 201, the fan 211, and the heat sink 212 on the left and right side panels of the main body 10, the traveling device 1 can more efficiently cool the heat generating element 218. Note that the configuration of the cover 201, the fan 211, and the heat sink 212 does not necessarily have to be provided on the left and right sides of the main body 10, and may be provided on either one side.

[0065] 7, a temperature sensor 219 is installed inside the main body 10 to detect the internal temperature, specifically the temperature (internal temperature) in the vicinity of the heating element 218. The temperature sensor 219 corresponds to the above-mentioned temperature sensor 116. If the heating element 218 is a controller incorporating the above-mentioned CPU 101, memory 102, auxiliary storage device 103, etc., it is also possible to use CPU temperature data instead of the temperature sensor 219.

[0066] The main body 10 may be equipped with a cooling water source (not shown), so that if the heating element 218 overheats, the cooling water can be poured onto the heat sink 212 to cool it down.

[0067] (Flow of operation of the running gear) Fig. 8 is a flowchart showing an example of the operation of the traveling device according to the embodiment. The flow of the operation of the traveling device 1 according to the present embodiment will be described with reference to Fig. 8. It should be noted that in the initial state of the operation, the fan 211 is in a stopped state.

[0068] <Step S11> If the traveling device 1 has started to travel or is currently traveling (step S11: Yes), the process proceeds to step S12. When the traveling device 1 has started to travel or is currently traveling, air flows into the cover 201 through the front air intake holes 202 and reaches the heat sink 212, where heat exchange occurs.

[0069] <Step S12> CPU 101 determines whether the internal temperature of main body 10 detected by temperature sensor 219 is equal to or higher than a predetermined first temperature. If the internal temperature is equal to or higher than the first temperature (step S12: Yes), the process proceeds to step S13, and if the internal temperature is lower than the first temperature (step S12: No), the operation ends. The above-mentioned first temperature corresponds to the "first reference temperature" of the present invention.

[0070] <Step S13> CPU 101 starts rotating fan 211 via fan motor driver 124. As a result, heat is exchanged in heat sink 212 with air that has flowed into cover 201 from front air intake hole 202 and air that is sent in by the rotation of fan 211. Then, the process proceeds to step S14.

[0071] <Step S14> CPU 101 further determines whether the internal temperature of main body 10 detected by temperature sensor 219 is equal to or higher than a predetermined second temperature (>first temperature). If the internal temperature is equal to or higher than the second temperature (step S14: Yes), the process proceeds to step S15, and if the internal temperature is lower than the second temperature (step S14: No), the operation ends.

[0072] <Step S15> CPU 101 increases the rotational output of fan 211 via fan motor driver 124. This increases the amount of air sent in by the rotation of fan 211, and increases the amount of heat exchanged in heat sink 212, thereby improving the cooling effect of heat-generating element 218. Then, the process proceeds to step S16.

[0073] <Step S16> CPU 101 further determines whether the internal temperature of main body 10 detected by temperature sensor 219 is equal to or higher than a predetermined third temperature (>second temperature). If the internal temperature is equal to or higher than the third temperature (step S16: Yes), the process proceeds to step S17, and if the internal temperature is lower than the third temperature (step S16: No), the operation ends. The above-mentioned third temperature corresponds to the "second reference temperature" of the present invention.

[0074] <Step S17> The CPU 101 increases the rotational output of the travel motors 132a and 132b via the motor drivers 122a and 122b, thereby accelerating the travel device 1. This increases the amount of air sent in from the front air intake vents 202, increasing the amount of heat exchanged in the heat sink 212, further improving the cooling effect of the heat generating element 218. Then, the operation ends.

[0075] The above-described processing of steps S11 to S17 is repeatedly executed.

[0076] As described above, in the traveling device 1 according to this embodiment, the housing of the main body 10 incorporates the heating element 218, the heat sink 212 has a heat sink fin portion 2121 that protrudes outside the housing of the main body 10 through an opening in a side panel of the main body 10 and abuts against the heating element 218, the cover 201 is attached to the side panel of the main body 10 and covers the heat sink fin portion 2121, and the cover 201 has a front air intake hole 202 formed on the front surface in the traveling direction of the traveling device 1, and is configured so that air that flows into the cover 201 from the front air intake hole 202 while the traveling device 1 is traveling is guided to the heat sink fin portion 2121. This allows the heat sink 212 to be efficiently cooled even without a device that actively sends air to the heat sink 212. Furthermore, the heat sink 212 can be efficiently cooled even if there is insufficient vertical space inside.

[0077] (Variation 1) The traveling device 1 according to the first modified example of this embodiment will be described, focusing on the differences from the traveling device 1 according to the above-described embodiment.

[0078] 9 is a cross-sectional view seen from the traveling direction of the heat sink, heating element, fan, and cover attached to the main body of the traveling device according to Modification 1. The configuration of the traveling device 1 according to this modification will be described with reference to FIG.

[0079] As shown in FIG. 9, the traveling device 1 according to this modified example includes a cover 221 instead of the above-described cover 201. The cover 221 is formed with the above-described front air intake vents 202, exhaust vents 203, and fan air intake vents 204, and also has a recess 222 formed in the plate portion corresponding to the fan air intake vent 204, recessed toward the side surface of the main body 10, as shown in FIG. 9. Therefore, the intake surface of the fan 211 is configured to abut against the bottom surface of the recess 222 in which the fan air intake vent 204 is formed. Even with this configuration, the recess 222 functions as a duct that serves as an air passage, and air can be sent to the heat sink 212 via the fan air intake vent 204 by the rotation of the fan 211.

[0080] (Variation 2) The traveling device 1 according to the second modification of this embodiment will be described, focusing on the differences from the traveling device 1 according to the above-described embodiment.

[0081] 10 is an external perspective view showing an example of a state in which left and right covers are removed from a traveling device according to Modification 2. The configuration of the traveling device 1 according to this modification will be described with reference to FIG.

[0082] As shown in FIG. 10, on the left side surface of the main body 10, in addition to a fan 211a, a heat sink 212a, and a fixing member 213a, a partition side plate 223a (first partition plate) and a partition bottom plate 224a (second partition plate) are attached.

[0083] The partition side plate 223a is a plate member fixed to the left side surface of the main body 10 behind the heat sink 212a so that the plate surface intersects (for example, perpendicular to) the traveling direction of the traveling device 1. By providing this partition side plate 223a, the flow of air flowing in from the front air intake hole 202a is blocked, but the air flowing in by the fan 211a can be more efficiently directed against the fins of the heat sink 212a.

[0084] The partition bottom plate 224a is a plate member fixed to the left side of the main body 10 below the heat sink 212a so that the plate surface is parallel to the traveling direction of the traveling device 1.

[0085] With this configuration, the partition bottom plate 224a can reduce the leakage of air flowing in from the front air intake hole 202a from below, and the partition side plate 223a prevents the air that has passed through the heat sink 212a from flowing backward, allowing it to be efficiently exhausted from the exhaust hole 203a, thereby improving the cooling effect of the heat sink 212a on the heat generating element 218.

[0086] Although the configuration of the left side of the main body 10 has been described in FIG. 10, the configuration of the right side is the same.

[0087] In the above-described embodiment and each modified example, when at least one of the functions of the traveling device 1 is realized by executing a program, the program is provided in advance in a ROM or the like. In the above-described embodiment and each modified example, the program executed by the traveling device 1 may be provided by recording it in an installable or executable file format on a computer-readable recording medium such as a CD-ROM (Compact Disc Read Only Memory), a flexible disk (FD), a CD-R (Compact Disk-Recordable), or a DVD (Digital Versatile Disc). In the above-described embodiment and each modified example, the program executed by the traveling device 1 may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. In the above-described embodiment and each modified example, the program executed by the traveling device 1 may be provided or distributed via a network such as the Internet. In the above-described embodiment and each modified example, the program executed by the traveling device 1 has a modular configuration including at least one of the above-described functional units. In actual hardware, the CPU reads and executes the program from the above-described storage device, loading and generating the above-described functional units into a main storage device.

[0088] The aspects of the present invention are as follows. <1> A track-type vehicle that travels by tracks, a housing containing a heating element; a heat sink having fins protruding to the outside of the housing through an opening in a side plate of the housing and in contact with the heat generating element; a cover that is attached to the side plate of the housing and covers the fins; Equipped with The cover is a track-type vehicle having a first air intake hole formed on a surface on the front side in the direction of travel of the track-type vehicle, and configured so that air that flows into the cover from the first air intake hole while the track-type vehicle is traveling is guided to the fin. <2> The above-mentioned further comprises an axial flow fan that is installed at the tip of the fin and draws air in a direction perpendicular to the side plate of the housing and sends it to the fin. <1> 2. The track-type vehicle according to claim 1. <3> The heat sink and the cover are respectively attached to the left and right side plates of the housing. <1> or <2> 2. The track-type vehicle according to claim 1. <4> The cover has an exhaust hole formed on the upper side thereof, The air that flows into the cover through the first intake hole passes through the fins and is then exhausted to the outside through the exhaust hole. <1> ~ <3> 10. The track-type vehicle according to claim 9, wherein the track-type vehicle is a track-type vehicle having a width of 100 mm or less. <5> an intake surface of the axial flow fan abuts against an inner surface of the cover; The cover has a second intake hole formed in a portion where the intake surface abuts. <2> 2. The track-type vehicle according to claim 1. <6> The air path is formed from the first air intake hole of the cover to the fin. <1> ~ <5> 10. The track-type vehicle according to claim 9, wherein the track-type vehicle is a track-type vehicle having a width of 100 mm or less. <7> a temperature sensor installed inside the housing to detect the temperature inside the housing; a control device that controls the drive of the axial flow fan and the speed of the track-type traveling body in accordance with the temperature detected by the temperature sensor; The said further comprising <2> or <5> 2. The track-type vehicle according to claim 1. <8> the control device starts driving the axial flow fan when the temperature detected by the temperature sensor while the crawler-type traveling body is traveling becomes equal to or higher than a predetermined first reference temperature. <7> 2. The track-type vehicle according to claim 1. <9> The control device accelerates the track-type traveling body when the temperature detected by the temperature sensor while the track-type traveling body is traveling becomes equal to or higher than a second reference temperature that is higher than the first reference temperature. <8> 2. The track-type vehicle according to claim 1. <10> a first partition plate disposed inside the cover and fixed to a side plate of the housing on the rear side of the heat sink such that a plate surface thereof intersects with a direction of travel of the track-type traveling body; a second partition plate disposed inside the cover below the heat sink and fixed to the side plate of the housing such that the plate surface is parallel to the traveling direction of the track-type traveling body; The said further comprising <1> ~ <9> 10. The track-type vehicle according to claim 9, wherein the track-type vehicle is a track-type vehicle having a width of 100 mm or less. [Explanation of symbols]

[0089] 1 Running gear 10 Main Unit 11a, 11b Track section 12 Power button 13 Start button 14a, 14b Emergency stop button 15 Status indicator lamp 16, 17 Bumper 101 CPU 102 memory 103 Auxiliary storage device 111 Camera 112, 113 Distance measurement sensor 114 Satellite Positioning System 115 IMU 116 Temperature Sensor 121 Battery 122a, 122b motor drivers 123a, 123b Brake driver 124, 124a, 124b Fan motor drivers 132a, 132b driving motor 133a, 133b Brake motor 141 Power SW 142 Startup SW 143 Emergency stop SW 201, 201a, 201b Cover 202, 202a, 202b Front intake vents 203, 203a, 203b Exhaust holes 204, 204a, 204b Fan intake holes 211, 211a, 211b Fan 212, 212a, 212b heat sink 213, 213a, 213b fixing members 214 Hexagonal Pillar 215 Rubber packing 216, 217 Screws 218 Heating element 219 Temperature Sensor 220 storage area 221 Cover 222 recess 223a Partition side panel 224a Partition bottom plate 2121 Heat sink fin part 2122 Heat sink plate [Prior art documents] [Patent documents]

[0090] [Patent Document 1] Patent No. 7064998

Claims

1. A track-type vehicle that travels by tracks, a housing containing a heating element; a heat sink having fins protruding to the outside of the housing through an opening in a side plate of the housing and in contact with the heat generating element; a cover that is attached to the side plate of the housing and covers the fins; Equipped with The cover has a first air intake hole formed on a surface on the front side in the traveling direction of the track-type vehicle, and the air that flows into the cover from the first air intake hole while the track-type vehicle is traveling is guided to the fin.

2. 2. The track-type vehicle according to claim 1, further comprising an axial flow fan installed at the tip of the fin, for sucking air in a direction perpendicular to the side plate of the housing and sending the air to the fin.

3. 3. The track-type vehicle according to claim 1, wherein the heat sink and the cover are respectively attached to left and right side plates of the housing.

4. The cover has an exhaust hole formed on the upper side thereof, 3. The crawler-type vehicle according to claim 1, wherein air that has flowed into the cover through the first air intake hole passes through the fins and is then exhausted to the outside through the exhaust hole.

5. an intake surface of the axial flow fan abuts against an inner surface of the cover; 3. The crawler-type vehicle according to claim 2, wherein the cover has a second intake hole formed in a portion where the intake surface abuts.

6. 3. The crawler-type vehicle according to claim 1, wherein an air path is formed from the first air intake hole of the cover to the fin.

7. a temperature sensor installed inside the housing to detect the temperature inside the housing; a control device that controls the drive of the axial flow fan and the speed of the track-type traveling body in accordance with the temperature detected by the temperature sensor; 6. The track-type vehicle according to claim 2 or 5, further comprising:

8. 8. The track-type vehicle according to claim 7, wherein the control device starts driving the axial fan when the temperature detected by the temperature sensor while the track-type vehicle is traveling becomes equal to or higher than a predetermined first reference temperature.

9. 9. The track-type vehicle according to claim 8, wherein the control device accelerates the track-type vehicle when the temperature detected by the temperature sensor while the track-type vehicle is traveling becomes equal to or higher than a second reference temperature that is higher than the first reference temperature.

10. a first partition plate disposed inside the cover and fixed to a side plate of the housing on the rear side of the heat sink such that a plate surface thereof intersects with a traveling direction of the track-type traveling body; a second partition plate disposed inside the cover below the heat sink and fixed to the side plate of the housing such that the plate surface is parallel to the traveling direction of the track-type traveling body; 3. The track-type vehicle according to claim 1 or 2, further comprising:

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