Control system, control device, control method, and control program

Abstract

To provide a control system for enabling energy saving.SOLUTION: A control system controls autonomous traveling of an autonomous transport device Ma to which power is supplied from a power generation unit 9 for generating power by receiving sunlight, in order to accommodate an article requiring cold storage in a transport chamber 20 and transport the article by the autonomous traveling. A processor included in the control system executes: acquiring incident information on incidence of the sunlight onto the autonomous transport device Ma; and adjusting a traveling attitude of the autonomous transport device Ma during the autonomous traveling to a control attitude Ac in which, with respect to a light-receiving surface 92 directed according to the incident information in a sun direction Ds for receiving the sunlight in the power generation unit, the transport chamber 20 is located in a reverse direction Dr to the sun direction Ds.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a technique for controlling autonomous travel of an autonomous transport device. [Background technology]

[0002] The technology disclosed in Patent Document 1 searches for a future route with a high amount of sunlight irradiation for a vehicle equipped with a solar cell as a power generation unit that generates electricity from sunlight.

[0003] On the other hand, the technology disclosed in Patent Document 2 determines a future route for an autonomous transport device that transports items that require refrigeration, along which the temperature of the transport environment will decrease, based on the results of a simulation of sunlight incidence. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2000-353295 A

[0005] [Patent Document 2] JP 2022-38136 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the technology disclosed in Patent Document 1 is used in an autonomous transport device equipped with a solar power generation unit for transporting items that require refrigeration, the temperature of the transport environment will rise on the future route. Conversely, when the technology disclosed in Patent Document 2 is used in an autonomous transport device equipped with a solar power generation unit for transporting items that require refrigeration, the amount of sunlight irradiation will decrease on the future route.

[0007] These problems are caused by a trade-off between the power generation efficiency of the power generation unit and the efficiency of keeping goods cold. Therefore, there is a need for a technological breakthrough that can resolve the trade-off from the perspective of energy conservation.

[0008] An object of the present disclosure is to provide a control system that conserves energy. Another object of the present disclosure is to provide a control device that conserves energy. Yet another object of the present disclosure is to provide a control method that conserves energy. Yet another object of the present disclosure is to provide a control program that conserves energy. [Means for solving the problem]

[0009] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0010] A first aspect of the present disclosure is A control system for controlling autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) that requires refrigeration in a transport chamber (20) and transport the item by autonomous travel, comprising: The processor Acquiring incidence information (Is) regarding incidence of sunlight on the autonomous transport device; The autonomous transport device is configured to adjust the traveling posture of the autonomous transport device during autonomous traveling to a control posture (Ac) that positions the transport chamber in the opposite direction (Dr) to the sun direction (Ds) with respect to the light receiving surface (92) that is oriented in accordance with incident information toward the sun direction (Ds) to receive sunlight in the power generation unit.

[0011] A second aspect of the present disclosure is A control device having a processor (12), configured to be mountable on an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives solar light and generates power in order to store an item (Gc) that requires refrigeration in a transport chamber (20) and transport the item by autonomous travel, and that controls the autonomous travel of the autonomous transport device, The processor Acquiring incidence information (Is) regarding incidence of sunlight on the autonomous transport device; The autonomous transport device is configured to adjust the traveling posture of the autonomous transport device during autonomous traveling to a control posture (Ac) that positions the transport chamber in the opposite direction (Dr) to the sun direction (Ds) with respect to the light receiving surface (92) that is oriented in accordance with incident information toward the sun direction (Ds) to receive sunlight in the power generation unit.

[0012] A third aspect of the present disclosure is A control method executed by a processor (12) for controlling autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) requiring refrigeration in a transport chamber (20) and transport the item by autonomous travel, comprising: Acquiring incidence information (Is) regarding incidence of sunlight on the autonomous transport device; This includes adjusting the traveling posture of the autonomous transport device during autonomous traveling to a control posture (Ac) that positions the transport chamber in a direction opposite to the sun direction (Dr) with respect to a light receiving surface (92) that is oriented in accordance with incident information toward the sun direction (Ds) for receiving sunlight in the power generation unit.

[0013] A fourth aspect of the present disclosure is A control program stored in a storage medium (10) including instructions to be executed by a processor (12) controls autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) requiring refrigeration in a transport chamber (20) and transport the item by autonomous travel, Acquiring incidence information (Is) regarding incidence of sunlight on the autonomous transport device; The control attitude (Ac) is a control attitude (Ac) that positions the transport chamber in the opposite direction (Dr) to the sun direction (Ds) relative to the light receiving surface (92) that is oriented in accordance with incident information toward the sun direction (Ds) in order to receive sunlight in the power generation unit.

[0014] According to the first to fourth aspects, in order to store an item requiring refrigeration in a transport chamber and transport it by autonomous travel, the autonomous transport device is controlled to be supplied with power from a power generation unit that receives sunlight and generates power. In the first to fourth aspects, incident information regarding the incidence of sunlight on the autonomous transport device is acquired, and the traveling posture of the autonomous transport device during autonomous travel is adjusted according to the incident information. Specifically, the traveling posture is adjusted to a control posture that positions the transport chamber in the opposite direction to the sun direction with respect to the light receiving surface of the power generation unit that is oriented in the sun direction to receive sunlight according to the incident information. According to this, it is possible to ensure power generation efficiency in the power generation unit whose light receiving surface faces the sun direction, while ensuring the cooling efficiency of the item in the transport chamber that is oriented in the opposite direction to the sun direction with respect to the light receiving surface, thereby saving energy. [Brief description of the drawings]

[0015] [Figure 1] FIG. 2 is a block diagram showing the physical configuration of the control system according to the first embodiment. [Diagram 2] 1 is a perspective view showing a physical configuration of an autonomous driving device to which a first embodiment is applied. [Diagram 3] 1 is a block diagram showing a functional configuration of an autonomous driving device to which a first embodiment is applied. [Figure 4] FIG. 2 is a block diagram showing a functional configuration of the control system according to the first embodiment. [Diagram 5] 4 is a flowchart showing a control flow according to the first embodiment. [Figure 6] FIG. 4 is a schematic diagram for explaining a control attitude according to the first embodiment. [Figure 7] FIG. 4 is a schematic diagram for explaining a control attitude according to the first embodiment. [Figure 8] 1 is a graph for explaining cold insulation efficiency according to the first embodiment. [Figure 9] 1 is a graph for explaining cold insulation efficiency according to the first embodiment. [Figure 10] 10 is a flowchart showing a control flow according to a second embodiment. [Figure 11] 13 is a flowchart showing a control flow according to a third embodiment. [Figure 12] 13 is a flowchart showing a control flow according to a third embodiment. [Figure 13] 13 is a graph for explaining the determination of an optimum route according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. Note that in each embodiment, corresponding components are given the same reference numerals, and duplicated descriptions may be omitted. Furthermore, when only a portion of the configuration is described in each embodiment, the configuration of another embodiment previously described may be applied to the other portions of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments may be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0017] The control system 1 of the first embodiment shown in Fig. 1 controls the autonomous travel of an autonomous transport device Ma that stores an object Gc in a transport chamber 20 and transports it by autonomous travel as shown in Figs. 2 and 3. The autonomous transport device Ma is constructed so as to be capable of autonomous travel in any direction along a horizontal plane.

[0018] The autonomous transport device Ma transports items Gc that require refrigeration. The items Gc that require refrigeration may be at least one type of food, such as refrigerated items, frozen items, and items stored at room temperature. The items Gc that require refrigeration may be at least one type of items other than food, such as medicines, feed, solvents, solutions, miscellaneous items, building materials, and electronic devices. Such items Gc that require refrigeration may be loaded into the transport chamber 20 in a state where they are packed or wrapped in at least one type of items, such as cardboard boxes, polystyrene foam cases, plastic cases, and plastic films. The autonomous transport device Ma may transport items Gc that do not require refrigeration, as long as it is constructed to be able to transport items Gc that require refrigeration.

[0019] The autonomous transport device Ma may be a delivery vehicle or a delivery robot that autonomously travels on a travel path (i.e., a road) on an external route as a travel area, or on a travel path inside and outside a building in a smart city as a travel area, to deliver luggage as the item Gc. The autonomous transport device Ma may be a transport vehicle or a transport robot that autonomously travels on a travel path inside and outside a warehouse in a logistics facility as a travel area to transport luggage as the item Gc. The autonomous transport device Ma may be a food delivery robot that autonomously travels on a travel path in a restaurant or a hospital as a travel area to deliver food and drink as the item Gc. The autonomous transport device Ma may be a disaster support robot that autonomously travels while searching for a travel path that can be traveled in a disaster area as a travel area, to transport goods as the item Gc. The autonomous transport device Ma may of course be a device other than these. Furthermore, any type of autonomous transport device Ma may receive remote travel support or travel control from an external center.

[0020] The autonomous transport device Ma includes a body 2, a drive system 3, a battery 4, a sensor system 5, a communication system 6, a map database 7, and an information presentation system 8. The body 2 is formed hollow, for example, from a metal. The body 2 holds other components of the autonomous transport device Ma inside or across from the inside to the outside.

[0021] The body 2 forms a transport chamber 20 for accommodating therein the goods Gc to be loaded from the outside onto the autonomous transport device Ma as the transport target. The transport chamber 20 may be configured to exhibit a cold storage performance for the goods Gc by being surrounded in a box shape by walls made of a heat insulating material, for example, as the internal space of a refrigerated container. The transport chamber 20 may be configured to be capable of keeping the goods Gc cold at or below a set temperature by a cooling function of a cooling unit 21 (see the two-dot chain line in FIG. 3) mounted on the body 2. Here, the cooling unit 21 may be an air conditioning unit that adjusts the air conditioning temperature of the transport chamber 20, or may be a refrigeration unit that refrigerates (or freezes) the goods Gc in the transport chamber 20.

[0022] The drive system 3 includes wheels 30 and an electric actuator 34. A plurality of wheels 30 are supported by the body 2. Each wheel 30 is configured to be independently rotatable. Of the plurality of wheels 30, a pair of drive wheels 300, one on each side of the body 2, are driven independently by individual electric actuators 34. In particular, in this embodiment, the running state of the autonomous transport device Ma is switched between straight running and turning running according to the difference in rotational speed between the drive wheels 300 (i.e., the difference in the number of rotations per unit time).

[0023] Specifically, in a range where the rotational speed difference between the two left and right drive wheels 300 is zero or can be assumed to be zero, the autonomous transport device Ma is driven straight ahead. On the other hand, in a range where the rotational speed difference between the left and right drive wheels 300 increases, the turning radius of the autonomous transport device Ma when it is turned decreases according to the increase in the rotational speed difference. Here, the turning radius means the distance between the vertical center line of the body 2 and the turning center of the turning drive in a plan view, so the turning drive in which the turning radius is substantially reduced to zero is a point turning drive. Note that the multiple wheels 30 may include at least one driven wheel that rotates following the driving wheel 300.

[0024] At least one battery 4 shown in FIG. 3 is mounted on the body 2. The battery 4 is mainly composed of a storage battery such as a lithium ion battery. The battery 4 stores output power from the power generation unit 9 as power to be supplied to the electrical equipment in the body 2 by discharging. The battery 4 may store power to be supplied to the electrical equipment in the body 2 by discharging by charging from an external source. The battery 4 may store regenerated power from the electric actuator 34. The battery 4 is connected to the electric actuator 34, the sensor system 5, the communication system 6, the map database 7, the information presentation system 8, and the power generation unit 9, which are the destinations of the power supply, via a wire harness so as to be able to supply power. The battery 4 may also be connected to the cooling unit 21 when mounted on the body 2 so as to be able to supply power via a wire harness.

[0025] A pair of electric actuators 34 are supported by the body 2. Each electric actuator 34, one on each side of the body 2, is mainly composed of a pair of an electric motor 340 and a motor driver 341. In each electric actuator 34, the electric motor 340 drives and rotates the corresponding drive wheel 300 independently. In each electric actuator 34, the motor driver 341 adjusts the current applied to the electric motor 340 of the same pair in accordance with a current command value from the control system 1, thereby controlling the output of drive torque to the corresponding drive wheel 300 in accordance with the current command value. Each electric actuator 34 may be provided with a brake unit that applies braking to the corresponding drive wheel 300 while it is rotating.

[0026] 2 and 3 acquires sensing information usable by the control system 1 by sensing the external and internal worlds of the autonomous transport device Ma. To that end, components of the sensor system 5 are mounted at multiple locations on the body 2. Specifically, the sensor system 5 includes an external sensor 50 and an internal sensor 51.

[0027] The external sensor 50 acquires external information as sensing information from the external world that is the surrounding environment of the autonomous transport device Ma. The external sensor 50 acquires the external information by detecting an object that exists in the external world of the autonomous transport device Ma. The external sensor 50 of the object detection type is at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, an ambient light sensor, an impact sensor, and the like.

[0028] The internal sensor 51 shown in FIG. 3 acquires internal information as sensing information from the internal world, which is the internal environment of the autonomous transport device Ma. The internal sensor 51 may be a physical quantity detection type that acquires internal information by detecting a specific motion physical quantity in the internal world of the autonomous transport device Ma. The physical quantity detection type internal sensor 51 is at least one type of sensor, such as a speed sensor, an acceleration sensor, or an inertial sensor. The internal sensor 51 may be an indoor detection type that acquires internal information by detecting the inside of the transport chamber 20, which is the internal world of the autonomous transport device Ma. The indoor detection type internal sensor 51 is at least one type of sensor, such as a temperature sensor, a weight sensor, a pressure sensor, a camera, or an RFID (Radio Frequency Identifier) ​​reader.

[0029] The communication system 6 transmits and receives communication information usable by the control system 1 through wireless communication with the outside world of the autonomous transport device Ma. The communication system 6 may be of a positioning type that acquires communication information by receiving a positioning signal from an artificial satellite of a Global Navigation Satellite System (GNSS) that exists in the outside world of the autonomous transport device Ma. The positioning type communication system 6 is, for example, a GNSS receiver.

[0030] The communication system 6 may be of a V2X type that transmits and receives communication information with a V2X system that exists in the external world of the autonomous transport device Ma. The V2X type communication system 6 is, for example, at least one of a Dedicated Short Range Communications (DSRC) communication device and a Cellular V2X (C-V2X) communication device. The communication system 6 may be of a terminal communication type that transmits and receives communication information with a mobile terminal that exists in the external world of the autonomous transport device Ma. The terminal communication type communication system 6 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, and the like.

[0031] The map database 7 stores map information that can be used by the control system 1. The map database 7 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map database 7 may be a database of a locator that estimates the self-position of the autonomous transport device Ma. The map database 7 may be a database of a planning unit that plans the travel of the autonomous transport device Ma. The map database 7 may be a combination of multiple types of these databases.

[0032] The map database 7 acquires and stores the latest map information, for example, through communication with an external center. Here, the map information is digitized in two dimensions or three dimensions as information representing the travel area of ​​the autonomous transport device Ma. In particular, as the three-dimensional map data, digital data of a high-precision map may be adopted. Here, the map information may be acquired as data downloaded to the map database 7 via the communication system 6 from an infrastructure database in an infrastructure system such as an external center. In particular, the map information may be acquired by associating the travel area with a plurality of three-dimensional voxels (i.e., three-dimensional grids) obtained by virtually dividing the travel area into a three-dimensional array, or by associating the travel area with a plurality of two-dimensional grids obtained by virtually dividing the travel area into two-dimensional tiles, each of which is associated with an individual spatial ID.

[0033] The map information stored in the map database 7 may include roadway information representing at least one of the following: position coordinates, size, shape, road surface condition, etc., of the roadway. The map information may include stationary object information representing at least one of the following: position coordinates, size, shape, etc., of buildings, structures, and plants facing the roadway. The map information may include road marking information representing at least one of the following: position coordinates, size, shape, etc., of signs, division lines, and traffic lights attached to the road as the roadway.

[0034] The information presentation system 8 presents notification information to people around the autonomous transport device Ma. The information presentation system 8 may present the notification information by stimulating the vision of the people around. The visual stimulation type information presentation system 8 is at least one of a monitor unit, a light-emitting unit, etc. The information presentation system 8 may present the notification information by stimulating the hearing of the people around. The auditory stimulation type information presentation system 8 is at least one of a speaker, a buzzer, a vibration unit, etc.

[0035] As shown in FIGS. 2 and 3, the power generation unit 9 includes a solar panel 90. The solar panel 90 is, for example, a silicon-based, compound-based, organic-based, or quantum dot-based panel that can convert received solar energy into electricity and output it. The solar panel 90 forms a light-receiving surface 92 for receiving sunlight. The solar panel 90 outputs electricity that is temporarily stored in the battery 4 by generating electricity in response to the reception of sunlight on the light-receiving surface 92. As a result, the output power from the solar panel 90 is used at least to accommodate the article Gc that requires refrigeration in the transport chamber 20 and transport it by autonomous driving.

[0036] Particularly in this embodiment, the solar panel 90 is supported so as to be drivable relative to the body 2. As a result, at least the elevation angle of the azimuth angle in the horizontal plane and the elevation angle in the vertical plane, which are attitude angles of the solar panel 90 on the autonomous transport device Ma, can be adjusted by an attitude adjustment unit 91 mounted on the power generation unit 9.

[0037] The control system 1 shown in Fig. 1 controls the autonomous travel of the autonomous transport device Ma along a planned future route while recognizing the outside world and its own position. To this end, the control system 1 is composed of at least one dedicated computer including a computer mounted on a body 2. The dedicated computer constituting the control system 1 is connected to an electric actuator 34, a battery 4, a sensor system 5, a communication system 6, a map database 7, an information presentation system 8, and a power generation unit 9 via at least one of a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line, for example. The dedicated computer constituting the control system 1 may be connected to a cooling unit 21 when mounted on the body 2 via at least one of a LAN line, a wire harness, and an internal bus, for example.

[0038] The dedicated computer constituting the control system 1 may be a planning ECU (Electronic Control Unit) that plans a future route as a travel plan for the autonomous transport device Ma. The dedicated computer constituting the control system 1 may be an actuator ECU that controls the electric actuator 34 of the autonomous transport device Ma. The dedicated computer constituting the control system 1 may be a power supply ECU that controls the battery 4 of the autonomous transport device Ma. The dedicated computer constituting the control system 1 may be a sensing ECU that controls the sensor system 5 of the autonomous transport device Ma.

[0039] The dedicated computer constituting the control system 1 may be a locator ECU that estimates the self-position of the autonomous transport device Ma based on a map database 7. The dedicated computer constituting the control system 1 may be an information presentation ECU that controls an information presentation system 8 of the autonomous transport device Ma. The dedicated computer constituting the control system 1 may be a power generation ECU that controls a power generation unit 9 of the autonomous transport device Ma. The dedicated computer constituting the control system 1 may be a computer outside the body 2 that constitutes, for example, an external center or a mobile terminal capable of communicating via a communication system 6.

[0040] The dedicated computer constituting the control system 1 has at least one memory 10 and one processor 12. The memory 10 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. The processor 12 includes at least one type of core, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a DFP (Data Flow Processor), or a GSP (Graph Streaming Processor).

[0041] In the control system 1, the processor 12 executes a plurality of instructions included in a control program stored in the memory 10 in order to control the autonomous traveling of the autonomous transport device Ma. In this way, the control system 1 constructs a plurality of function blocks for controlling the autonomous traveling of the autonomous transport device Ma. The plurality of function blocks constructed in the control system 1 include a monitoring block 100 and a control block 110, as shown in FIG.

[0042] A control method in which the control system 1 controls the autonomous traveling of the autonomous transport device Ma by cooperation of these blocks 100 and 110 is executed according to the control flow shown in Fig. 5. The control flow of the first embodiment is executed repeatedly when the autonomous transport device Ma starts to transport an article Gc by autonomous traveling after the device is started, until the device Ma arrives at the destination of the future route. Note that each "S" in the control flow means each step executed by multiple commands included in the control program.

[0043] In S10, the monitoring block 100 acquires incidence information Is regarding the incidence of sunlight on the autonomous transport device Ma. At this time, the incidence information Is includes a sun direction Ds (see FIGS. 6 and 7) as a three-dimensional direction in which the sun exists as seen from the autonomous transport device Ma. Here, the sun direction Ds is defined by both an azimuth angle in a horizontal plane and an elevation angle in a vertical plane at a controlled travel point that is the latest control target among travel points in a future route planned for the autonomous transport device Ma.

[0044] The incident information Is acquired in S10 may include at least one of the following in addition to the sun direction Ds: the altitude or position of the sun, the illuminance or amount of sunlight, weather information, and shade information on a future route. As described above, the incident information Is including at least the sun direction Ds may be acquired based on at least one of the necessary types: sensing information of the ambient light sensor as the external sensor 50, weather information which is communication information of the communication system 6, positioning information which is communication information of the communication system 6, map information of the map database 7, and self-position information of the locator ECU. However, for a controlled driving point in an environmental state where a negative determination is made in S20 described later, acquisition of the sun direction Ds as the incident information Is may be skipped.

[0045] In the control flow, S20 is executed following completion of execution of S10. In S20, the monitoring block 100 determines whether the environmental state in the outside world of the autonomous transport device Ma is in a sunshine state in which sunlight is incident on the device Ma. At this time, the determination of the sunshine state is based on the incident information Is acquired in S10.

[0046] When a positive determination is made in S20 in the control flow, S30 is executed. In S30, the control block 110 plans the traveling posture of the autonomous transport device Ma in the autonomous traveling. At this time, the traveling posture of the autonomous transport device Ma is planned to be an optimized control posture Ac for the controlled traveling point that is the latest control target among the traveling points in the future route planned for the autonomous transport device Ma.

[0047] 6 and 7, the control attitude Ac in S30 is defined as a traveling attitude in which the transfer chamber 20 is positioned in the opposite direction Dr from the sun direction Ds with respect to the light receiving surface 92 of the solar panel 90 of the power generation unit 9 that is oriented toward the sun direction Ds to receive sunlight. Therefore, in the control attitude Ac for which adjustment at the latest controlled traveling point is planned, it is preferable that at least a part of the transfer chamber 20 is positioned within a shadow cast in the opposite direction Dr by the solar panel 90 whose light receiving surface 92 is oriented toward the sun direction Ds in accordance with the incident information Is acquired in S20.

[0048] In the planning of the traveling posture in S30, the attitude angle of the autonomous transport device Ma on the traveling path may be controlled by each electric actuator 34 in a horizontal plane to adjust the light receiving surface 92 to a control attitude Ac in which the light receiving surface 92 faces the sun direction Ds and the transport chamber 20 is positioned in the reverse direction Dr. In the planning of the traveling posture, the attitude angle of the solar panel 90 in the autonomous transport device Ma may be controlled by the attitude adjustment unit 91 in at least the vertical plane among the horizontal plane and the vertical plane to adjust the light receiving surface 92 to a control attitude Ac in which the light receiving surface 92 faces the sun direction Ds and the transport chamber 20 is positioned in the reverse direction Dr. In the planning of the traveling posture, both the adjustment of the attitude angle of the autonomous transport device Ma on the traveling path and the adjustment of the attitude angle of the solar panel 90 in the autonomous transport device Ma may be assumed.

[0049] In the planning stage of S30, the control attitude Ac, which can be said to be a control target of the traveling attitude, is set based on the correlation between the power generation efficiency Eg of the solar panel 90 in the power generation unit 9 and the cooling efficiency Ek of the goods Gc in the transport chamber 20 so as to control these efficiencies. Therefore, the control attitude Ac is set as a control target that maximizes the energy efficiency Ee correlated with the efficiencies Eg and Ek according to the following equation 1 using weights ωg and ωk for each of the efficiencies Eg and Ek. For this purpose, in S30, at least one of the reference attitude Ab in which the light receiving surface 92 is perpendicular to the sun direction Ds as shown in FIG. 6 and the inclined attitude As in which the light receiving surface 92 is inclined with respect to the sun direction Ds as shown in FIG. 7 is assumed as a candidate for the control attitude Ac.

number

[0050] In S30, the power generation efficiency Eg is acquired as a power generation performance index by a relative ratio of the power generation power of the solar panel 90 in each attitude Ab, As to the power generation power in the reference attitude Ab. At this time, the power generation efficiency Eg in each attitude Ab, As is acquired based on power generation related parameters including at least the sun direction Ds, for example, the sun direction Ds, the altitude or position of the sun, the illuminance or incidence of sunlight, shade information on the future route, the temperature of the solar panel 90, and the power generation performance of the power generation unit 9. Therefore, when acquiring the power generation efficiency Eg, it is preferable to grasp the power generation related parameters based on at least one of the necessary types, for example, the incidence information Is acquired in S10 and the state detection information of the power generation unit 9.

[0051] In S30, the cooling efficiency Ek is obtained as a cooling performance index by a relative ratio of the temperature rise time, which is defined as the rise time per unit temperature rise of the article Gc in each posture Ab, As, to the temperature rise time in the reference posture Ab as a reference. At this time, the cooling efficiency Ek may be obtained by predicting the temperature rise time in each posture Ab, As according to the cooling temperature Tc before loading, as shown in Figures 8 and 9, for the cooling temperature of the article Gc cooled before loading in the transport chamber 20. The cooling efficiency Ek may be obtained by predicting the temperature rise time in each posture Ab, As according to the cooling performance of the cooling unit 21, as shown in Figure 9, for the cooling temperature of the article Gc that can be cooled during autonomous traveling in the transport chamber 20 when the cooling unit 21 is installed. In addition, in order to make it easier to understand the explanation regarding the temperature rise time, Figures 8 and 9 show a schematic diagram of the correlation between time and the cold storage temperature starting from immediately after the loading of the item Gc, but in reality, it is better to take into account the change in the cold storage temperature over time according to the control posture Ac according to the previous control flow in predicting the temperature rise time (see Figure 12 of the third embodiment described later).

[0052] In S30, the cold insulation efficiency Ek in each posture Ab, As is obtained based on cold insulation related parameters including at least the direction Ds or Dr, for example, the sun direction Ds or the opposite direction Dr, information on the shadow cast by the solar panel 90, the outside environmental temperature, the initial temperature of the goods Gc at the time of loading, the initial temperature inside the transport chamber 20 at the time of loading, the cooling performance in the transport chamber 20, and information on the shade on the future route. Therefore, when obtaining the cold insulation efficiency Ek, the cold insulation related parameters may be grasped based on at least one of the necessary types, for example, the incident information Is obtained in S10, the temperature information of the temperature sensor as the internal sensor 51, and the cooling condition information of the goods Gc before loading.

[0053] In S30, the energy efficiency Ee based on each of the efficiencies Eg and Ek is obtained for each of the postures Ab and As that are candidates for the control posture Ac. At this time, the weights ωg and ωk for each of the efficiencies Eg and Ek in Equation 1 that gives the energy efficiency Ee as described above are set on a rule basis using, for example, a simulation model, a function, a map, or a table.

[0054] Specifically, in S30, the weight ωg of the power generation efficiency Eg may be adjusted to be greater than the weight ωk of the cold storage efficiency Ek when a condition is met, such as the stored power in the battery 4 dropping below a threshold or below, and the opposite relationship may be adjusted when the condition is not met. In S30, the weight ωg of the power generation efficiency Eg may be adjusted to be greater than the weight ωk of the cold storage efficiency Ek when a condition is met, such as the stored power in the battery 4 dropping below a threshold or below, in response to a low external environmental temperature (i.e., outside air temperature), and the opposite relationship may be adjusted when the condition is not met.

[0055] In S30, the weight ωk of the cold storage efficiency Ek may be adjusted to a greater relationship than the weight ωg of the power generation efficiency Eg when a condition such as a temperature rise above or exceeding a threshold value in the transfer chamber 20 is satisfied, and the opposite relationship may be adjusted when the condition is not satisfied. In S30, the weight ωk of the cold storage efficiency Ek may be adjusted to a greater relationship than the weight ωg of the power generation efficiency Eg when a condition such as a cooling temperature above or exceeding a threshold value for goods Gc cooled before loading is satisfied, and the opposite relationship may be adjusted when the condition is not satisfied.

[0056] From the above, in S30, an optimal posture that maximizes the energy efficiency Ee is selected as the control posture Ac from among the candidate postures Ab and As. However, in S30, the posture Ab or As with the highest possible energy efficiency Ee less than the maximum efficiency may be selected as the optimal control posture Ac based on at least one of the following: continuity from the control posture Ac selected by S30 executed in the past control flow, and posture restrictions according to the driving environment at each driving point. Note that the weights ωg and ωk for each efficiency Eg and Ek may be adjusted by a machine learning model to maximize the energy efficiency Ee, and the control posture Ac corresponding to the maximized energy efficiency Ee may be selected.

[0057] 5, in the control flow, S40 is executed following completion of execution of S30. In S40, the control block 110 adjusts the traveling attitude of the autonomous transport apparatus Ma at the latest controlled traveling point according to the control attitude Ac selected in S30. At this time, for example, if there is concern that a significant decrease in the power generation efficiency Ek corresponding to the control attitude Ac selected in S30 may occur due to a rise in temperature of the solar panel 90, the traveling speed of the autonomous transport apparatus Ma may be increased to allow air cooling of the solar panel 90 by the traveling wind. The current execution of the control flow ends upon completion of execution of S40.

[0058] On the other hand, in the control flow, if a negative determination is made in S20, S50 is executed. In S50, the control block 110 adjusts the traveling posture of the autonomous transport device Ma at the latest controlled traveling point. However, in S50, the traveling posture is controlled to the latest posture among the controlled postures Ac selected by S30 executed in the previous control flow after the startup of the device Ma, or to a default posture when S30 has never been executed in the previous control flow. The current execution of the control flow also ends in response to the completion of execution of S50.

[0059] (Action and effect) The effects of the first embodiment described above will now be described.

[0060] According to the first embodiment, in order to accommodate an item Gc requiring refrigeration in a transport chamber 20 and transport it by autonomous travel, the autonomous transport device Ma, which receives power from a power generation unit 9 that receives sunlight and generates power, controls the autonomous travel of the autonomous transport device Ma. In the first embodiment, incident information Is regarding the incidence of sunlight on the autonomous transport device Ma is acquired, and the travel posture of the autonomous transport device Ma during autonomous travel is adjusted according to the incident information Is. Specifically, the travel posture is adjusted to a control posture Ac in which the transport chamber 20 is positioned in a direction Dr opposite to the sun direction Ds with respect to the light receiving surface 92 that is oriented in accordance with the incident information Is in the sun direction Ds for receiving sunlight in the power generation unit 9. According to this, the power generation efficiency Eg is ensured in the power generation unit 9 in which the light receiving surface 92 faces the sun direction Ds, while the cooling efficiency Ek of the item Gc is ensured in the transport chamber 20 in the direction Dr opposite to the sun direction Ds with respect to the light receiving surface 92, thereby enabling energy saving.

[0061] According to the first embodiment, the attitude angle of the autonomous transport apparatus Ma on the travel path may be controlled so that the light receiving surface 92 of the power generation unit 9 is oriented in the solar direction Ds of sunlight. This allows accurate alignment of the light receiving surface 92 to the solar direction Ds in order to ensure power generation efficiency Eg, and accurate positioning of the transport chamber 20 in the opposite direction Dr to the solar direction Ds with respect to the light receiving surface 92 in order to ensure cooling efficiency Ek, by controlling the attitude angle of the entire autonomous transport apparatus Ma. This makes it possible to increase the reliability of energy saving.

[0062] According to the first embodiment, the attitude angle of the power generation unit 9 in the autonomous transport device Ma may be controlled so that the light receiving surface 92 of the power generation unit 9 is oriented in the solar direction Ds of sunlight. This allows accurate alignment of the light receiving surface 92 to the solar direction Ds in order to ensure power generation efficiency Eg, and accurate adjustment of the position of the transport chamber 20 in the opposite direction Dr to the solar direction Ds with respect to the light receiving surface 92 in order to ensure cooling efficiency Ek, by controlling the attitude angle of the power generation unit 9 individually. This makes it possible to improve the reliability of energy saving.

[0063] According to the first embodiment, the traveling posture of the autonomous transport device Ma may be adjusted to a control posture Ac that controls the cooling efficiency Ek of the item Gc cooled before loading into the transport chamber 20. This makes it possible to control the cooling efficiency Ek in the transport chamber 20 in the direction Dr opposite to the sun direction Ds with respect to the light receiving surface 92 to the optimal efficiency for the item Gc in a cooled state, thereby saving energy. Furthermore, it is also possible to promote energy saving by reducing the cooling temperature and / or cooling time of the item Gc before loading as much as possible and optimally controlling the cooling efficiency Ek according to the reduction.

[0064] According to the first embodiment, the traveling posture of the autonomous transport device Ma may be adjusted to a control posture Ac that controls the cooling efficiency Ek of the coolable object Gc during autonomous traveling in the transport chamber 20. With this, it becomes possible to control the cooling efficiency Ek in the transport chamber 20 in the direction Dr opposite to the sun direction Ds with respect to the light receiving surface 92 to the optimal efficiency by utilizing a cooling function (specifically, the cooling unit 21), thereby achieving energy savings.

[0065] According to the first embodiment, the traveling posture of the autonomous transport device Ma is adjusted to a control posture Ac that maximizes the energy efficiency Ee, which is correlated with the power generation efficiency Eg of the power generation unit 9 and the cooling efficiency Ek of the item Gc. This makes it possible to optimize the power generation efficiency Eg of the power generation unit 9 in which the light receiving surface 92 faces the sun direction Ds, and the cooling efficiency Ek of the transport chamber 20 located in the opposite direction Dr from the sun direction Ds with respect to the light receiving surface 92, by adjusting the control posture Ac from the viewpoint of maximizing the energy efficiency Ee. Therefore, it becomes possible to achieve energy conservation according to the traveling environment of the autonomous transport device Ma.

[0066] Second Embodiment The second embodiment is a modification of the first embodiment. The control flow of the second embodiment shown in Fig. 10 is executed once after the autonomous transport device Ma is started up.

[0067] In S200, the monitoring block 100 selects a planned travel point for planning a control attitude Ac in advance from among a plurality of travel points planned at set distance intervals or set time intervals on the future route of the autonomous transport device Ma. Here, the planned travel points may be selected one by one in order of furthest or nearest to the destination of the future route each time S200 is executed.

[0068] In the control flow, S210 is executed following completion of execution of S200. In S210, the monitoring block 100 predicts the sun direction Ds of sunlight on the solar panel 90 of the power generation unit 9 as the incident information Is related to the latest planned travel point selected by S200. At this time, the sun direction Ds defined in the same manner as S20 in the first embodiment may be predicted based on at least one of the necessary types, for example, weather information which is communication information of the communication system 6, positioning information which is communication information of the communication system 6, map information of the map database 7, and self-position information of the locator ECU. However, for planned travel points in an environmental state where a negative prediction is given in S220 described later, the prediction of the sun direction Ds may be skipped.

[0069] In the control flow, S220 is executed following completion of execution of S210. In S220, the monitoring block 100 predicts whether or not the environmental state in the outside world of the autonomous transport device Ma will be a sunshine state in which sunlight is incident on the device Ma, for the planned travel point selected in S200. At this time, the prediction of the sunshine state is based on the incident information Is acquired in S210.

[0070] When a positive prediction is given by S220 in the control flow, S230 is executed. In S230, the control block 110 plans a control attitude Ac corresponding to S30 of the first embodiment as a traveling attitude of the autonomous transport device Ma in autonomous traveling for the latest planned traveling point selected by S200. However, in S230, the traveling attitude of the autonomous transport device Ma is planned for the latest planned point so that it is adjusted to a control attitude Ac that controls the power generation efficiency Eg of the power generation unit 9 and the cooling efficiency Ek of the goods Gc according to the prediction result of the sun direction Ds by S210.

[0071] In the control flow, S231 is executed following completion of execution of S230. In S231, the monitoring block 100 determines whether or not the planning of the controlled attitude Ac is completed by presetting all travel points in the future route planned for the autonomous transport device Ma as planned travel points. As a result, if a negative determination is made, the control flow returns to S200, and the next planned travel point is selected from among the travel points where the planning of the controlled attitude Ac is incomplete.

[0072] In the control flow, when a negative prediction is given in S220, S231 is executed in the same manner after S232 is executed. Here, in S232, the control block 110 plans the traveling posture of the autonomous transport device Ma in the autonomous traveling to a control posture Ac defined differently from S230 for the planned traveling point selected in S200. Specifically, the control posture Ac in S232 is defined as a selected posture for the planned traveling point located closest to this time among the control postures Ac selected by S230 already executed in the current control flow, or a default posture when S230 has never been executed in the current control flow. Even if S232 is passed through in this way, if a negative determination is made in S231, the control flow returns to S200.

[0073] Regardless of whether or not S232 has been passed, i.e., regardless of the prediction result of S220, if a positive determination is made in S231, S240 is executed. In S240, the monitoring block 100 determines whether or not the autonomous transport device Ma has started transporting the article Gc by autonomous travel. As a result, while a negative determination is made, execution of S240 is repeated.

[0074] On the other hand, if a positive determination is made in S240, S241 is executed. In S241, the control block 110 determines whether the latest controlled travel point by the autonomous travel has reached any of the planned travel points of the control attitude Ac planned in S230 or S232. As a result, while a negative determination is made, the execution of S241 is repeated while maintaining the autonomous travel control at the most recently adjusted control attitude Ac.

[0075] In the control flow, if a positive determination is made in S241, S242 is executed. In S242, the control block 110 adjusts the traveling posture of the autonomous transport device Ma in accordance with S40 of the first embodiment so that the traveling posture follows the controlled posture Ac at the planned traveling point corresponding to the most recently reached controlled traveling point.

[0076] Here, regarding the energy efficiency Ee for each traveling point, if the deviation between the optimum value in S230 and the observed value rises outside the allowable range, S200 to S241 may be re-executed in parallel with S242 to re-plan the control posture Ac for each traveling point. In this case, if a machine learning model is used for optimizing the energy efficiency Ee in S230 in accordance with S30 of the first embodiment, the machine learning model may be updated based on the optimum value and the observed value. In addition to the above, the predicted values ​​of each efficiency Eg, Ek in S230 and the optimum value of the energy efficiency Ee based thereon may be acquired for a plurality of autonomous transport devices Ma by a dedicated computer constituting at least a part of the control system 1 in, for example, an external center, and compared to select an autonomous transport device Ma that is optimal for the future route.

[0077] In S243 following the completion of execution of S242, the control block 110 judges whether the latest controlled travel point by the autonomous travel has reached the destination on the future route. If a negative judgment is made, the control flow returns to S241. On the other hand, if a positive judgment is made, the current execution of the control flow ends.

[0078] According to the second embodiment described above, the sun direction Ds for each travel point on the future route of the autonomous transport device Ma is predicted as the incidence information Is. According to this, the attitude of the light receiving surface 92, which is adjusted to the predicted result of the sun direction Ds in order to ensure the power generation efficiency Eg, and the position of the transport chamber 20, which is adjusted to the opposite direction Dr from the predicted result of the sun direction Ds with respect to the light receiving surface 92 in order to ensure the cooling efficiency Ek, can be planned in advance for each travel point on the future route. Therefore, it is possible to achieve energy saving according to the travel environment of the autonomous transport device Ma.

[0079] According to the second embodiment, the traveling posture of the autonomous transport device Ma is adjusted to a control posture Ac that controls the power generation efficiency Eg of the power generation unit 9 and the cooling efficiency Ek of the item Gc for each traveling point on the future route of the autonomous transport device Ma according to the predicted result of the sun direction Ds. According to this, the posture of the light receiving surface 92 that is adjusted to the predicted result of the sun direction Ds in order to control the power generation efficiency Eg to the optimal efficiency, and the position of the transport chamber 20 that is adjusted to the opposite direction Dr from the predicted result of the sun direction Ds with respect to the light receiving surface 92 in order to control the cooling efficiency Ek to the optimal efficiency can be planned in advance for each traveling point on the future route. Therefore, it is possible to improve the reliability of energy saving according to the traveling environment of the autonomous transport device Ma.

[0080] Third embodiment The third embodiment is a modification of the second embodiment. The control flow of the third embodiment shown in Fig. 11 and 12 is executed once after the autonomous transport device Ma is started up.

[0081] 11, the monitoring block 100 selects a posture planning route for planning a control posture A for each travel point from among a plurality of travel routes planned as future routes of the autonomous transport device Ma. Here, it is preferable that one posture planning route is selected for each execution of S300.

[0082] In the control flow, when the execution of S300 is completed, S200 to S232 of the second embodiment are executed for the posture planned route selected by S300. As a result, when a positive determination is made in S231, S330 is executed. In S330, the monitoring block 100 determines whether or not all future routes planned for the autonomous transport device Ma are selected as posture planned routes, and the planning of the control posture Ac for each traveling point for all of these routes is complete. As a result, when a negative determination is made, the control flow returns to S300, and the next posture planned route is selected from among the future routes for which the planning of the control posture Ac for each traveling point is incomplete.

[0083] In the control flow, when a positive determination is made in S330, S340 is executed. In S340, the control block 100 determines an optimal route in terms of energy efficiency Ee from among all future routes for which planning of control postures Ac for each travel point has been completed as posture planning routes. At this time, the optimal route is determined based on, for example, an average value of the energy efficiency Ee corresponding to the control postures Ac for each travel point. However, as shown in FIG. 13, posture planning routes in which the predicted cold storage temperature of the goods Gc before reaching the destination is equal to or exceeds the allowable temperature Tk may be excluded from the optimal route candidates. Note that each line graph with a different thickness in FIG. 13 individually indicates the correlation between time and cold storage temperature for each posture planning route.

[0084] 11 and 12, in the control flow, when execution of S340 is completed, S240 to S243 are executed for the optimum route selected in S340. When a positive determination is made in S243, the current execution of the control flow ends.

[0085] According to the third embodiment described above, a future route (specifically, an optimal route) is determined in which the traveling posture is adjusted to the control posture Ac for each traveling point based on the power generation efficiency Eg of the power generation unit 9 and the cooling efficiency Ek of the goods Gc for each traveling point in each of the multiple planned future routes. This allows the efficiencies Eg and Ek, which are used to adjust the posture of the light receiving surface 92 to match the predicted result of the sun direction Ds and to adjust the position of the transport chamber 20 in the opposite direction Dr to the predicted result of the sun direction Ds, to be effectively used in route determination. Moreover, in the third embodiment, it is possible to promote energy saving by route determination from the viewpoint of the energy efficiency Ee, which is correlated with each efficiencies Eg and Ek.

[0086] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0087] In a modified example, the dedicated computer constituting the control system 1 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. Furthermore, such a digital circuit may have a memory that stores a program.

[0088] In the power generation unit 9 of the modified example, the solar panel 90 may be fixed in position with respect to the body 2. In S30 and S230 in the control flow of the modified example, a control attitude Ac that controls only one of the efficiencies Eg and Ek may be selected.

[0089] In addition to the forms described so far, the above-mentioned embodiments and modified examples may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a control device configured to be mounted on an autonomous transport device Ma and having at least one processor 12 and one memory 10.

[0090] (Additional remarks) This specification discloses the following technical ideas and their combinations. Note that the reference characters in parentheses in the appended remarks indicate the corresponding relationship with the specific means described in the above detailed embodiment, and do not limit the technical scope of this disclosure.

[0091] (Technical thought 1) A control system for controlling the autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) that requires refrigeration in a transport chamber (20) and transport the item by autonomous travel, the control system comprising: The processor, Acquiring incidence information (Is) regarding incidence of the sunlight on the autonomous transport device; and adjusting the driving attitude of the autonomous transport device during the autonomous driving to a control attitude (Ac) that positions the transport chamber in a direction opposite to the sun direction (Dr) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the sun direction (Ds) for receiving the sunlight in the power generation unit.

[0092] (Technical thought 2) Adjusting the running posture includes: The control system according to Technical Idea 1 includes controlling the attitude angle of the autonomous transport device on the travel path to orient the light receiving surface toward the sun.

[0093] (Technical Thought 3) Adjusting the running posture includes: The control system described in Technical Idea 1 or 2 includes controlling the attitude angle of the power generation unit in the autonomous transport device to orient the light receiving surface toward the sun.

[0094] (Technical Thought 4) Adjusting the running posture includes: A control system according to any one of technical ideas 1 to 3, which includes adjusting the traveling posture to the control posture that controls the cooling efficiency of the items that have been cooled before being loaded into the transport chamber.

[0095] (Technical Thought 5) Adjusting the running posture includes: A control system described in any one of technical ideas 1 to 4, which includes adjusting the driving posture to the control posture that controls the cooling efficiency of the items that can be cooled during the autonomous driving in the transport chamber.

[0096] (Technical Thought 6) Adjusting the running posture includes: A control system described in any one of technical ideas 1 to 5, which includes adjusting the driving posture to the control posture that maximizes energy efficiency that correlates with the power generation efficiency of the power generation unit and the cooling efficiency of the goods.

[0097] (Technical Thought 7) The acquiring of the incident information includes: The control system according to any one of Technical Ideas 1 to 6, further comprising predicting, as the incidence information, the sun direction at each travel point in a future route of the autonomous transport device.

[0098] (Technical Thought 8) Adjusting the running posture includes: A control system as described in technical idea 7, which includes adjusting the driving posture to the control posture that controls the power generation efficiency of the power generation unit and the cooling efficiency of the items at each driving point in accordance with the predicted result of the sun direction.

[0099] (Technical Thought 9) Adjusting the running posture includes: A control system as described in Technical Idea 7 or 8, which includes determining the future route in which the driving posture is adjusted to the control posture for each driving point based on the power generation efficiency of the power generation unit and the cooling efficiency of the items at each driving point in each of the multiple planned future routes.

[0100] The above-mentioned technical concepts 1 to 9 may be understood as the respective technical concepts of an apparatus, a method, and a program. [Explanation of symbols]

[0101] 1: control system, 9: power generation unit, 10: memory, 12: processor, 20: transport chamber, 92: light receiving surface, Ac: control attitude, Dr: reverse direction, Ds: sun direction, Gc: object, Is: incident information, Ma: autonomous transport device

Claims

1. A control system for controlling the autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) that requires refrigeration in a transport chamber (20) and transport the item by autonomous travel, the control system comprising: The processor, Acquiring incidence information (Is) regarding incidence of the sunlight on the autonomous transport device; and adjusting the driving posture of the autonomous transport device during the autonomous driving to a control posture (Ac) that positions the transport chamber in a direction opposite to the sun direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the sun direction (Ds) for receiving the sunlight in the power generation unit.

2. Adjusting the running posture includes: The control system according to claim 1 , further comprising: controlling an attitude angle of the autonomous transport device on a travel path to orient the light receiving surface toward the sun.

3. Adjusting the running posture includes: The control system according to claim 1 , further comprising: controlling an attitude angle of the power generation unit in the autonomous transport device to orient the light receiving surface toward the sun.

4. Adjusting the running posture includes: The control system according to claim 1 , further comprising: adjusting the traveling posture to the control posture that controls a cooling efficiency of the article that has been cooled before being loaded into the transport chamber.

5. Adjusting the running posture includes: The control system according to claim 1 , further comprising: adjusting the traveling posture to the control posture that controls a cooling efficiency of the item that can be cooled during the autonomous traveling in the transport chamber.

6. Adjusting the running posture includes: The control system according to claim 1 , further comprising adjusting the driving posture to the control posture that maximizes energy efficiency correlated with power generation efficiency of the power generation unit and cooling efficiency of the item.

7. The acquiring of the incident information includes: The control system according to claim 1 , further comprising: predicting, as the incidence information, the sun direction at each travel point in a future route of the autonomous transport device.

8. Adjusting the running posture includes: The control system of claim 7 further comprises adjusting the driving posture to a control posture that controls the power generation efficiency of the power generation unit and the cooling efficiency of the items at each driving point in accordance with the predicted result of the sun direction.

9. Adjusting the running posture includes: The control system described in claim 7 further comprises determining the future route by adjusting the driving posture to the control posture for each driving point based on the power generation efficiency of the power generation unit and the cooling efficiency of the items at each driving point in each of the multiple planned future routes.

10. A control device having a processor (12), configured to be mountable on an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives solar light and generates power in order to store an item (Gc) that requires refrigeration in a transport chamber (20) and transport the item by autonomous travel, and that controls the autonomous travel of the autonomous transport device, The processor, Acquiring incidence information (Is) regarding incidence of the sunlight on the autonomous transport device; A control device configured to adjust the driving posture of the autonomous transport device during the autonomous driving to a control posture (Ac) that positions the transport chamber in a direction opposite to the sun direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the sun direction (Ds) for receiving the sunlight in the power generation unit.

11. A control method executed by a processor (12) for controlling autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) requiring refrigeration in a transport chamber (20) and transport the item by autonomous travel, comprising: Acquiring incidence information (Is) regarding incidence of the sunlight on the autonomous transport device; and adjusting the driving posture of the autonomous transport device during the autonomous driving to a control posture (Ac) that positions the transport chamber in a direction opposite to the sun direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the sun direction (Ds) for receiving the sunlight in the power generation unit.

12. A control program stored in a storage medium (10) including instructions to be executed by a processor (12) controls autonomous travel of an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store an item (Gc) requiring refrigeration in a transport chamber (20) and transport the item by autonomous travel, Acquiring incidence information (Is) regarding incidence of the sunlight on the autonomous transport device; and adjusting the driving posture of the autonomous transport device during the autonomous driving to a control posture (Ac) that positions the transport chamber in a direction opposite to the sun direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the sun direction (Ds) for receiving the sunlight in the power generation unit.

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