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

Abstract

This control system is for controlling the autonomous travel of an autonomous transport device (Ma), to which power is supplied in order to accommodate an article requiring cold storage in a transport chamber (20) and transport the article by autonomous travel, the power being supplied from a power generation unit (9) that receives sunlight and generates power. The control system comprises a processor configured to execute: acquiring incident information on the incidence of sunlight on the autonomous transport device (Ma); and adjusting a traveling posture of the autonomous transport device (Ma) during autonomous travel to a control posture (Ac) in which the transport chamber (20) is positioned in an opposite direction (Dr) to a sun direction (Ds) with respect to a light-receiving surface (92) directed in accordance with the incident information in the sun direction (Ds) for receiving sunlight in the power generation unit.

Description

Control system, control device, control method, and control program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Patent Application No. 2023-99403 filed in Japan on June 16, 2023, and the contents of the original application are incorporated by reference in their entirety.

[0002] The present disclosure relates to a technique for controlling autonomous travel of an autonomous transport device.

[0003] The technology disclosed in Patent Document 1 searches for a future route with a large amount of sunlight irradiation for a vehicle equipped with a solar cell as a power generation unit that generates electricity from sunlight.

[0004] 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, in which the temperature of the transport environment will decrease, based on the results of a simulation of sunlight incidence.

[0005] Japanese Patent Application Laid-Open No. 2000-353295

[0006] Japanese Patent Application Laid-Open No. 2022-38136

[0007] However, when the technology disclosed in Patent Document 1 is used in an autonomous transport device equipped with a solar power generation unit to transport items that require refrigeration, the temperature of the transport environment will increase along 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 to transport items that require refrigeration, the amount of sunlight irradiation will decrease along the future route.

[0008] These problems arise from the 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 this trade-off from the perspective of energy conservation.

[0009] An object of the present disclosure is to provide a control system that achieves energy conservation. Another object of the present disclosure is to provide a control device that achieves energy conservation. Yet another object of the present disclosure is to provide a control method that achieves energy conservation. Yet another object of the present disclosure is to provide a control program that achieves energy conservation.

[0010] The technical means of the present disclosure for solving the problems will be described below.

[0011] A first aspect of the present disclosure is a control system that has a processor and controls the autonomous driving of an autonomous transport device that receives power from a power generation unit that receives sunlight and generates electricity in order to store items that require refrigeration in a transport chamber and transport them by autonomous driving, wherein the processor is configured to acquire incident information regarding the incidence of sunlight on the autonomous transport device, and adjust the driving posture of the autonomous transport device during autonomous driving to a control posture that positions the transport chamber in a direction opposite to the sun direction with respect to the light receiving surface of the power generation unit that is oriented in accordance with the incident information toward the sun direction to receive sunlight.

[0012] A second aspect of the present disclosure is a control device having a processor and configured to be mountable on an autonomous transport device that receives power from a power generation unit that receives sunlight and generates electricity, in order to store items requiring refrigeration in a transport chamber and transport them by autonomous travel, and that controls the autonomous travel of the autonomous transport device, wherein the processor is configured to acquire incident information regarding the incidence of sunlight on the autonomous transport device, and adjust the travel posture of the autonomous transport device during autonomous travel to a control posture that positions the transport chamber in a direction opposite to the sun's direction with respect to the light receiving surface of the power generation unit that is oriented in accordance with the incident information toward the sun's direction to receive sunlight.

[0013] A third aspect of the present disclosure is a control method executed by a processor to control the autonomous travel of an autonomous transport device that receives power from a power generation unit that receives sunlight and generates electricity in order to store items requiring refrigeration in a transport chamber and transport them by autonomous travel, the control method including: acquiring incident information regarding the incidence of sunlight on the autonomous transport device; and adjusting the travel posture of the autonomous transport device during autonomous travel to a control posture that positions the transport chamber in a direction opposite to the sun direction with respect to the light receiving surface of the power generation unit that is oriented in accordance with the incident information toward the sun direction to receive sunlight.

[0014] A fourth aspect of the present disclosure is a control program stored in a storage medium, the control program including instructions to be executed by a processor that controls the autonomous driving of an autonomous conveying device that receives power from a power generation unit that receives sunlight and generates power in order to store items requiring refrigeration in a conveying chamber and convey the items by autonomous driving, the control program including instructions to execute: acquiring incident information regarding the incidence of sunlight on the autonomous conveying device; and adjusting the driving posture of the autonomous conveying device during autonomous driving to a control posture that positions the conveying chamber in a direction opposite to the sun direction with respect to the light receiving surface of the power generation unit that is oriented in accordance with the incident information toward the sun direction to receive sunlight.

[0015] According to these first to fourth aspects, the autonomous transport device receives power from a power generation unit that receives sunlight and generates electricity, and autonomously transports items requiring refrigeration in a transport chamber. In the first to fourth aspects, incident information regarding the incidence of sunlight on the autonomous transport device is acquired, and the autonomous transport device's traveling posture during autonomous travel is adjusted in accordance with the incident information. Specifically, the traveling posture is adjusted to a control posture that positions the transport chamber in a direction opposite to the sun's direction, relative to the solar receiving surface of the power generation unit that is oriented in accordance with the incident information to receive sunlight. This allows for energy savings by ensuring power generation efficiency in the power generation unit whose solar receiving surface faces the sun, while ensuring refrigeration efficiency for items in the transport chamber whose solar receiving surface faces the sun's direction.

[0016] 1 is a block diagram showing the physical configuration of a control system according to a first embodiment. FIG. 2 is a perspective view showing the physical configuration of an autonomous mobile device to which the first embodiment is applied. FIG. 3 is a block diagram showing the functional configuration of an autonomous mobile device to which the first embodiment is applied. FIG. 4 is a block diagram showing the functional configuration of a control system according to the first embodiment. FIG. 5 is a flowchart showing a control flow according to the first embodiment. FIG. 6 is a schematic diagram for explaining a controlled attitude according to the first embodiment. FIG. 7 is a schematic diagram for explaining a controlled attitude according to the first embodiment. FIG. 8 is a graph for explaining cold insulation efficiency according to the first embodiment. FIG. 9 is a graph for explaining cold insulation efficiency according to the first embodiment. FIG. 10 is a flowchart showing a control flow according to a second embodiment. FIG. 11 is a flowchart showing a control flow according to a third embodiment. FIG. 12 is a flowchart showing a control flow according to the third embodiment. FIG. 13 is a graph for explaining determination of an optimal route according to the third embodiment.

[0017] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. Note that corresponding components in each embodiment are designated by the same reference numerals, and redundant description may be omitted. Furthermore, when only a portion of the configuration is described in each embodiment, the configuration of another previously described embodiment may be applied to the remaining 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, provided that there is no particular problem with the combination.

[0018] 1 controls the autonomous travel of an autonomous transport device Ma that autonomously transports an item Gc stored in a transport chamber 20 as shown in FIGS. 2 and 3. The autonomous transport device Ma is configured to be capable of autonomous travel in any direction along a horizontal plane.

[0019] The autonomous transport device Ma is intended to transport items Gc that require refrigeration. The items Gc that require refrigeration may be, for example, at least one type of food among refrigerated items, frozen items, and room-temperature stored items. The items Gc that require refrigeration may also be at least one type of item 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 material, such as a cardboard box, a polystyrene foam case, a plastic case, or a plastic film. Note that the autonomous transport device Ma may also transport items Gc that do not require refrigeration, as long as it is configured to transport items Gc that require refrigeration.

[0020] 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 items 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 items Gc. The autonomous transport device Ma may be a food delivery robot that autonomously travels on a travel path in a restaurant or hospital as a travel area, to deliver food and drink as items 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 supplies as items 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 assistance or travel control from an external center.

[0021] 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 hollow and made of, for example, metal. The body 2 holds other components of the autonomous transport device Ma inside or across from the inside to the outside.

[0022] The body 2 forms a transport chamber 20 for accommodating items Gc that are loaded from outside onto the autonomous transport device Ma as transport targets. The transport chamber 20 may be configured to exhibit refrigeration performance for the items Gc by being surrounded by walls made of insulating material in a box shape, such as the internal space of a refrigerated container. The transport chamber 20 may be configured to keep the items Gc at or below a set temperature by using a cooling function provided by 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 a refrigeration unit that refrigerates (or freezes) the items Gc in the transport chamber 20.

[0023] 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 independently driven 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 depending on the difference in rotational speed between these drive wheels 300 (i.e., the difference in the number of rotations per unit time).

[0024] Specifically, when the difference in rotational speed between the two left and right drive wheels 300 is zero or within a range that can be assumed to be zero, the autonomous transport device Ma is driven in a straight line. On the other hand, when the difference in rotational speed between the left and right drive wheels 300 increases, the turning radius of the autonomous transport device Ma when it is turned decreases in accordance with the increase in the difference in rotational speed. Here, the turning radius means the distance in a plan view between the vertical center line of the body 2 and the turning center of the turning drive, so turning drive in which the turning radius is reduced to essentially zero is point turning drive. Note that the multiple wheels 30 may include at least one driven wheel that rotates in response to the drive wheel 300.

[0025] At least one battery 4 shown in FIG. 3 is mounted in 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 components in the body 2 upon discharge. The battery 4 may store power to be supplied to the electrical components in the body 2 upon discharge by charging from an external source. The battery 4 may also store regenerated power from the electric actuator 34. The battery 4 is connected to the electric actuator 34, sensor system 5, communication system 6, map database 7, information presentation system 8, and power generation unit 9, which are power destinations, via wire harnesses so as to be able to supply power. The battery 4 may also be connected to the cooling unit 21, when mounted in the body 2, via a wire harness so as to be able to supply power.

[0026] 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 set of an electric motor 340 and a motor driver 341. In each electric actuator 34, the electric motor 340 independently drives and rotates the corresponding drive wheel 300. In each electric actuator 34, the motor driver 341 adjusts the current applied to the electric motor 340 in the same set 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 equipped with a brake unit that applies braking to the corresponding drive wheel 300 while it is rotating.

[0027] 2 and 3 acquires sensing information that can be used 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 is configured to include an external sensor 50 and an internal sensor 51.

[0028] 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 objects that exist in the external world of the autonomous transport device Ma. The object detection type external sensor 50 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, etc.

[0029] The internal sensor 51 shown in FIG. 3 acquires internal information as sensing information from 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 physical quantity of motion in the internal environment of the autonomous transport device Ma. The physical quantity detection type internal sensor 51 is, for example, at least one of a speed sensor, an acceleration sensor, an inertial sensor, etc. 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 environment of the autonomous transport device Ma. The indoor detection type internal sensor 51 is, for example, at least one of a temperature sensor, a weight sensor, a pressure sensor, a camera, an RFID (Radio Frequency Identifier) ​​reader, etc.

[0030] The communication system 6 transmits and receives communication information usable by the control system 1 via wireless communication between the autonomous transport device Ma and the outside world. The communication system 6 may be a positioning type that acquires communication information by receiving positioning signals from artificial satellites of the Global Navigation Satellite System (GNSS) that exist in the outside world of the autonomous transport device Ma. The positioning type communication system 6 is, for example, a GNSS receiver.

[0031] The communication system 6 may be a V2X type that transmits and receives communication information to and from a V2X system existing outside 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 a terminal communication type that transmits and receives communication information to and from a mobile terminal existing outside 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, etc.

[0032] 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 configured by combining multiple types of these databases.

[0033] The map database 7 acquires and stores the latest map information, for example, through communication with an external center. Here, the map information is converted into two-dimensional or three-dimensional data representing the travel area of ​​the autonomous transport vehicle Ma. In particular, digital data of a high-precision map is preferably employed as the three-dimensional map data. 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 for each of a plurality of three-dimensional voxels (i.e., three-dimensional grids) obtained by virtually dividing the travel area into a three-dimensional array, or for each of a plurality of two-dimensional grids obtained by virtually dividing the travel area into two-dimensional tiles, each associated with an individual space ID.

[0034] The map information stored in the map database 7 may include roadway information that indicates at least one of the following: position coordinates, size, shape, and road surface condition of the roadway. The map information may also include stationary object information that indicates at least one of the following: position coordinates, size, shape, and the like of buildings, structures, and plants facing the roadway. The map information may also include road marking information that indicates at least one of the following: position coordinates, size, shape, and the like of signs, dividing lines, and traffic lights attached to the roadway.

[0035] The information presentation system 8 presents alarm information to people around the autonomous transport device Ma. The information presentation system 8 may present the alarm information by stimulating the vision of the people around. The visual stimulation type information presentation system 8 is, for example, at least one of a monitor unit, a light-emitting unit, etc. The information presentation system 8 may present the alarm information by stimulating the hearing of the people around. The auditory stimulation type information presentation system 8 is, for example, at least one of a speaker, a buzzer, a vibration unit, etc.

[0036] 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 electrical power and output the power. The solar panel 90 forms a light-receiving surface 92 for receiving solar light. The solar panel 90 outputs electrical power that is temporarily stored in the battery 4 by generating electrical power in response to the reception of solar light on the light-receiving surface 92. As a result, the output electrical power from the solar panel 90 is used at least to accommodate the item Gc requiring refrigeration in the transport chamber 20 and transport it by autonomous travel.

[0037] In this embodiment in particular, 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 the 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.

[0038] 1 controls the autonomous travel of the autonomous transport device Ma along a planned future route while recognizing the external environment and the autonomous transport device Ma's own position. To this end, the control system 1 includes at least one dedicated computer, including a computer mounted in the body 2. The dedicated computer constituting the control system 1 is connected to the electric actuator 34, battery 4, sensor system 5, communication system 6, map database 7, information presentation system 8, and power generation unit 9 via at least one of, for example, a local area network (LAN) line, a wire harness, an internal bus, or a wireless communication line. The dedicated computer constituting the control system 1 may also be connected to the cooling unit 21 when mounted in the body 2 via at least one of, for example, a LAN line, a wire harness, or an internal bus.

[0039] 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.

[0040] 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 the map database 7. The dedicated computer constituting the control system 1 may be an information presentation ECU that controls the 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 the 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 mobile terminal that can communicate via the communication system 6.

[0041] 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 central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0042] In the control system 1, the processor 12 executes a plurality of instructions included in a control program stored in the memory 10 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. 4 .

[0043] The control method for the control system 1 to control the autonomous traveling of the autonomous transport device Ma through cooperation of these blocks 100 and 110 is executed according to the control flow shown in Figure 5. The control flow of the first embodiment is executed repeatedly when the autonomous transport device Ma starts transporting an item Gc by autonomous traveling after startup, until the device Ma arrives at the destination of the future route. Note that each "S" in the control flow represents each step executed by multiple commands included in the control program.

[0044] In S10, the monitoring block 100 acquires incident information Is regarding the incidence of sunlight on the autonomous transport device Ma. At this time, the incident information Is includes a sun direction Ds (see FIGS. 6 and 7 ) as the 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 the azimuth angle in the horizontal plane and the elevation angle in the vertical plane at a control traveling point that is the latest control target among traveling points on a future route planned for the autonomous transport device Ma.

[0045] The incident information Is acquired in S10 may include, in addition to the sun direction Ds, at least one of the following: the altitude or position of the sun, the illuminance or amount of sunlight incident, weather information, and shade information on the future route. Thus, the incident information Is including at least the sun direction Ds may be acquired based on at least one necessary type of information: sensing information from an ambient light sensor serving as the external sensor 50, weather information that is communication information from the communication system 6, positioning information that is communication information from the communication system 6, map information from the map database 7, and self-position information from 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 incident information Is may be skipped.

[0046] In the control flow, S20 is executed following completion of S10. In S20, the monitoring block 100 determines whether the environmental condition outside the autonomous transport device Ma is in a sunshine state where sunlight is incident on the device Ma. The determination of the sunshine state is based on the incident information Is acquired in S10.

[0047] 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 during autonomous traveling. At this time, the traveling posture of the autonomous transport device Ma is planned to be an optimized control posture Ac with respect to the controlled traveling point that is the latest control target among the traveling points on the future route planned for the autonomous transport device Ma.

[0048] 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, relative to the light receiving surface 92 of the solar panel 90 of the power generation unit 9, which is oriented toward the sun direction Ds to receive sunlight. Therefore, in the control attitude Ac for which adjustment at the latest control traveling point is planned, it is preferable that at least a portion 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.

[0049] In planning the traveling posture in S30, it may be assumed that the attitude angle of the autonomous transport device Ma on the traveling path is controlled by each electric actuator 34 in a horizontal plane, thereby adjusting the autonomous transport device Ma to a controlled attitude Ac in which the light receiving surface 92 faces the sun direction Ds and simultaneously positions the transport chamber 20 in the reverse direction Dr. In planning the traveling posture, it may be assumed that the attitude angle of the solar panel 90 of the autonomous transport device Ma is controlled by the attitude adjustment unit 91 in at least the vertical plane of the horizontal plane and the vertical plane, thereby adjusting the autonomous transport device Ma to a controlled attitude Ac in which the light receiving surface 92 faces the sun direction Ds and simultaneously positions the transport chamber 20 in the reverse direction Dr. In planning the traveling posture, it may be assumed that 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 of the autonomous transport device Ma are adjusted.

[0050] In the planning stage of S30, the control attitude Ac, which can also be considered a control target for 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 item Gc in the transport chamber 20 so as to control these efficiencies Eg and Ek. 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, which uses 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.

[0051] In S30, the power generation efficiency Eg is obtained as a power generation performance index by comparing the power generated by the solar panel 90 at each attitude Ab, As with the power generated at the reference attitude Ab. The power generation efficiency Eg at each attitude Ab, As is obtained based on power generation-related parameters including at least the sun direction Ds, such as the sun direction Ds, the sun's altitude or position, the illuminance or incident amount 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 obtaining the power generation efficiency Eg, the power generation-related parameters may be determined based on at least one required type of information, such as the incident information Is obtained in S10 and status detection information on the power generation unit 9.

[0052] 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 item Gc in each position Ab, As, to the temperature rise time in the reference position Ab as a reference. In this case, the cooling efficiency Ek may be obtained by predicting the temperature rise time in each position Ab, As according to the cooling temperature Tc before loading, with respect to the cooling temperature of the item Gc cooled before loading into the transport chamber 20, as shown in Figures 8 and 9. The cooling efficiency Ek may be obtained by predicting the temperature rise time in each position Ab, As according to the cooling performance of the cooling unit 21, as shown in Figure 9, with respect to the cooling temperature of the item 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 schematically show the correlation between time and refrigeration temperature starting from immediately after loading of item Gc, but in reality, it is better to take into account the change in refrigeration temperature over time according to the control posture Ac based on the previous control flow when predicting the temperature rise time (see Figure 12 of the third embodiment described below).

[0053] In S30, the cold insulation efficiency Ek at each position Ab, As is obtained based on cold insulation-related parameters including at least the direction Ds or Dr, such as the sun direction Ds or the opposite direction Dr, information on the shadow cast by the solar panel 90, the external environmental temperature, the initial temperature of the item 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 determined based on at least one required type, such as the incident information Is obtained in S10, temperature information from the temperature sensor serving as the internal sensor 51, and cooling condition information on the item Gc before loading.

[0054] 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, as described above, the weights ωg and ωk for each of the efficiencies Eg and Ek in Equation 1 that gives the energy efficiency Ee are set on a rule basis using, for example, a simulation model, a function, a map, or a table.

[0055] 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 when the stored power in the battery 4 falls below a threshold or below, or 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 when the time rate of change of the temperature inside the transfer chamber 20 falls below a threshold or below, in response to a low external environmental temperature (i.e., outside air temperature), or the opposite relationship may be adjusted when the condition is not met.

[0056] In S30, the weight ωk of the cold storage efficiency Ek may be adjusted to be greater than the weight ωg of the power generation efficiency Eg when a condition is met, such as the temperature in the transport chamber 20 rising above or exceeding a threshold, or the weight ωk of the cold storage efficiency Ek may be adjusted to be greater than the weight ωg of the power generation efficiency Eg when the condition is met ...

[0057] As described 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 that is less than the maximum efficiency may be selected as the optimal control posture Ac based on at least one of, for example, continuity from the control posture Ac selected by S30 in the previous 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.

[0058] 5 , in the control flow, S40 is executed following completion of execution of S30. In S40, the control block 110 adjusts the traveling posture of the autonomous transport device Ma at the latest controlled traveling point in accordance with the control posture 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 posture Ac selected in S30 may occur due to a rise in temperature of the solar panel 90, the traveling speed of the autonomous transport device Ma may be increased to allow air cooling of the solar panel 90 by the wind generated by traveling. The current execution of the control flow ends upon completion of execution of S40.

[0059] 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 most recent controlled traveling point. However, in S50, the traveling posture is controlled to the most recent posture among the control postures Ac selected by S30 executed in the previous control flow after startup of the autonomous transport 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 upon completion of execution of S50.

[0060] (Operational Effects) The operational effects of the first embodiment described above will be described below.

[0061] According to the first embodiment, the autonomous transport device Ma receives power from a power generation unit 9 that generates power by receiving sunlight and controls the autonomous travel of the autonomous transport device Ma to autonomously transport an item Gc requiring refrigeration in the transport chamber 20. Therefore, in the first embodiment, incident information Is regarding the incidence of sunlight on the autonomous transport device Ma is acquired, and the traveling posture of the autonomous transport device Ma during autonomous travel is adjusted in accordance with the incident information Is. Specifically, the traveling posture is adjusted to a controlled posture Ac that positions the transport chamber 20 in a direction Dr opposite to the sun direction Ds, relative to the light receiving surface 92 of the power generation unit 9 that is oriented in accordance with the incident information Is toward the sun direction Ds for receiving sunlight. This ensures power generation efficiency Eg in the power generation unit 9 whose light receiving surface 92 faces the sun direction Ds, while ensuring refrigeration efficiency Ek for the item Gc in the transport chamber 20 whose light receiving surface 92 faces the sun direction Ds, thereby enabling energy conservation.

[0062] According to the first embodiment, the attitude angle of the autonomous transport device Ma on the travel path may be controlled so that the light receiving surface 92 of the power generation unit 9 faces the solar direction Ds of sunlight. This allows accurate alignment of the light receiving surface 92 with the solar direction Ds to ensure power generation efficiency Eg, and accurate positioning of the transport chamber 20 in the opposite direction Dr from the solar direction Ds with respect to the light receiving surface 92 to ensure cooling efficiency Ek, all by controlling the attitude angle of the autonomous transport device Ma as a whole. This makes it possible to improve the reliability of energy conservation.

[0063] 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 faces the solar direction Ds of sunlight. This allows accurate alignment of the light receiving surface 92 with the solar direction Ds to ensure power generation efficiency Eg, and accurate positioning of the transport chamber 20 in the opposite direction Dr from the solar direction Ds with respect to the light receiving surface 92 to ensure cooling efficiency Ek, by controlling the attitude angle of each power generation unit 9 individually. This makes it possible to improve the reliability of energy conservation.

[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 cooled item Gc 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 cooled item Gc, thereby saving energy. Furthermore, it is possible to promote energy savings 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 in accordance with this reduction.

[0065] 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 coolable items Gc during autonomous traveling in the transport chamber 20. This makes it possible to optimize the cooling efficiency Ek, particularly in the transport chamber 20 in the direction Dr opposite the sun direction Ds with respect to the light receiving surface 92, by utilizing the cooling function (specifically, the cooling unit 21), thereby achieving energy savings.

[0066] 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 correlates 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 that is positioned 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 perspective of maximizing the energy efficiency Ee. This makes it possible to achieve energy savings according to the traveling environment of the autonomous transport device Ma.

[0067] 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.

[0068] In S200, the monitoring block 100 selects a planned travel point for pre-planning the control attitude Ac from a plurality of travel points that are 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 each time S200 is executed, in order of furthest or nearest to the destination of the future route.

[0069] In the control flow, S210 is executed following completion of execution of S200. In S210, the monitoring block 100 predicts the solar direction Ds of sunlight on the solar panel 90 of the power generation unit 9 as the incident information Is for the latest planned travel point selected in S200. At this time, the solar direction Ds, defined in the same manner as in S20 of the first embodiment, may be predicted based on at least one required type of information, such as weather information that is communication information from the communication system 6, positioning information that is communication information from the communication system 6, map information from the map database 7, and self-position information from the locator ECU. However, for planned travel points in environmental conditions where a negative prediction is made in S220, which will be described later, prediction of the solar direction Ds may be skipped.

[0070] In the control flow, S220 is executed following completion of execution of S210. In S220, the monitoring block 100 predicts whether the environmental condition outside the autonomous transport device Ma will be a sunshine condition 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 condition is based on the incident information Is acquired in S210.

[0071] If a positive prediction is given in S220 in the control flow, S230 is executed. In S230, the control block 110 plans a control attitude Ac, which conforms to S30 of the first embodiment, as the traveling attitude of the autonomous transport device Ma during autonomous traveling for the latest planned traveling point selected in S200. However, in S230, the traveling attitude of the autonomous transport device Ma is planned for the latest planned point so as to be 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 item Gc, according to the prediction result of the sun direction Ds in S210.

[0072] In the control flow, S231 is executed following completion of execution of S230. In S231, the monitoring block 100 determines whether the planning of the controlled posture Ac is complete by presetting all traveling points on the future route planned for the autonomous transport device Ma as planned traveling points. If a negative determination is made as a result, the control flow returns to S200, and the next planned traveling point is selected from among the traveling points for which the planning of the controlled posture Ac is incomplete.

[0073] Furthermore, in the control flow, if a negative prediction is given in S220, S231 is similarly executed after execution of S232. Here, in S232, the control block 110 plans the traveling posture of the autonomous transport device Ma during autonomous traveling to a control posture Ac defined differently from that defined in S230 for the planned traveling point selected in S200. Specifically, the control posture Ac in S232 is defined as the selected posture for the planned traveling point closest to the current one among the control postures Ac selected by S230 already executed in the current control flow, or as 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.

[0074] Regardless of whether S232 was passed or not, 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 the autonomous transport device Ma has started transporting the item Gc by autonomous travel. As a result, S240 is repeatedly executed while a negative determination is made.

[0075] 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 driving point by autonomous driving has reached either of the planned driving points for the control posture Ac planned in S230 or S232. As a result, as long as a negative determination is made, execution of S241 is repeated while autonomous driving control is maintained at the most recently adjusted control posture Ac.

[0076] 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.

[0077] Here, if the deviation between the optimal value and the observed value in S230 for the energy efficiency Ee for each traveling point 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 to optimize the energy efficiency Ee in S230 in accordance with S30 of the first embodiment, the machine learning model may be updated based on the optimal value and the observed value. In addition to the above, the predicted values ​​of the efficiencies Eg and Ek in S230 and the optimal value of the energy efficiency Ee based thereon may be acquired and compared for multiple autonomous guided vehicles Ma by a dedicated computer constituting at least a part of the control system 1, for example, at an external center, to select the autonomous guided vehicle Ma that is optimal for the future route.

[0078] In S243 following the completion of S242, the control block 110 determines whether the latest controlled travel point by autonomous travel has reached the destination on the future route. If a negative determination is made, the control flow returns to S241. On the other hand, if a positive determination is made, the current execution of the control flow ends.

[0079] 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 incident information Is. This allows the orientation of the light receiving surface 92, which is adjusted to the predicted sun direction Ds to ensure power generation efficiency Eg, and the position of the transport chamber 20, which is adjusted to the opposite direction Dr from the predicted sun direction Ds relative to the light receiving surface 92 to ensure cooling efficiency Ek, to be planned in advance for each travel point on the future route. This makes it possible to achieve energy savings tailored to the travel environment of the autonomous transport device Ma.

[0080] 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 in accordance with the predicted sun direction Ds. This allows for the posture of the light receiving surface 92, which is adjusted to the predicted sun direction Ds in order to optimize the power generation efficiency Eg, and the position of the transport chamber 20, which is adjusted in the opposite direction Dr relative to the sun direction Ds in order to optimize the cooling efficiency Ek, to be planned in advance for each traveling point on the future route. This makes it possible to improve the reliability of energy conservation according to the traveling environment of the autonomous transport device Ma.

[0081] Third Embodiment The third embodiment is a modification of the second embodiment. The control flow of the third embodiment shown in Figures 11 and 12 is executed once after the autonomous transport device Ma is started up.

[0082] 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 each time S300 is executed.

[0083] In the control flow, when execution of S300 is completed, S200 to S232 of the second embodiment are executed for the posture planned route selected in S300. As a result, if a positive determination is made in S231, S330 is executed. In S330, the monitoring block 100 determines whether all future routes planned for the autonomous transport device Ma have been selected as posture planned routes, and whether planning of control postures Ac for each traveling point for all of these routes has been completed. As a result, if 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 planning of control postures Ac for each traveling point has not been completed.

[0084] In the control flow, if 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 at each travel point has been completed as posture planned routes. The optimal route is determined based on, for example, the average value of the energy efficiency Ee corresponding to the control postures Ac at each travel point. However, as shown in FIG. 13 , posture planned routes in which the predicted refrigeration temperature of the item Gc before reaching the destination is equal to or exceeds the allowable temperature Tk may be excluded from the optimal route candidates. Note that in FIG. 13 , each line graph with a different thickness individually indicates the correlation between time and refrigeration temperature for each posture planned route.

[0085] 11 and 12, in the control flow, when execution of S340 is completed, S240 to S243 are executed for the optimal route selected in S340. If a positive determination is made in S243, the current execution of the control flow ends.

[0086] According to the third embodiment described above, a future route (specifically, an optimal route) is determined by adjusting the traveling posture 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 item Gc for each traveling point on each of the multiple planned future routes. This allows the efficiencies Eg and Ek, which are used to align the posture of the light receiving surface 92 with the predicted sun direction Ds and adjust the position of the transport chamber 20 in the opposite direction Dr to the predicted sun direction Ds, to also be effectively utilized in route determination. Furthermore, in the third embodiment, route determination is based on the energy efficiency Ee, which correlates with the efficiencies Eg and Ek, thereby promoting energy conservation.

[0087] (Other Embodiments) Although multiple 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 that does not deviate from the gist of the present disclosure.

[0088] 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 the following: an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a system on a chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Such a digital circuit may also have a memory that stores a program.

[0089] In the power generation unit 9 of the modified example, the solar panel 90 may be fixed in position relative to the body 2. In S30 and S230 of the control flow of the modified example, a control attitude Ac that controls only one of the efficiencies Eg and Ek may be selected.

[0090] In addition to the forms described so far, the above-mentioned embodiments and variants 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 that is configured to be mountable on the autonomous transport device Ma and has at least one processor 12 and one memory 10.

[0091] (Additional Remarks) This specification discloses the following technical ideas and their combinations. Note that the reference symbols in parentheses in this Additional Remarks section indicate the correspondence with the specific means described in the above detailed embodiments, and do not limit the technical scope of the present disclosure.

[0092] (Technical Idea 1) A control system having a processor (12) 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 items (Gc) that require refrigeration in a transport chamber (20) and transport them by autonomous travel, wherein the processor is configured to: acquire incident information (Is) regarding the incidence of sunlight on the autonomous transport device; and adjust the traveling posture of the autonomous transport device during the autonomous travel to a control posture (Ac) that positions the transport chamber in a direction opposite (Dr) to the sun direction (Ds) with respect to a light receiving surface (92) of the power generation unit that is oriented in accordance with the incident information toward the sun direction to receive the sunlight.

[0093] (Technical Idea 2) The control system according to Technical Idea 1, wherein adjusting the traveling attitude includes controlling an attitude angle of the autonomous transport device on a traveling path to orient the light receiving surface toward the sun.

[0094] (Technical Idea 3) The control system according to Technical Idea 1 or 2, wherein adjusting the traveling attitude includes controlling the attitude angle of the power generation unit in the autonomous transport device to orient the light receiving surface toward the sun.

[0095] (Technical Idea 4) A control system according to any one of Technical Ideas 1 to 3, wherein adjusting the traveling posture includes adjusting the traveling posture to a control posture that controls the cooling efficiency of the items that have been cooled before being loaded into the transport chamber.

[0096] (Technical Idea 5) A control system described in any one of Technical Ideas 1 to 4, wherein adjusting the traveling posture includes adjusting the traveling posture to a control posture that controls the cooling efficiency of the items that can be cooled during the autonomous traveling in the transport chamber.

[0097] (Technical Idea 6) A control system described in any one of Technical Ideas 1 to 5, wherein adjusting the running posture includes adjusting the running 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 items.

[0098] (Technical Idea 7) A control system according to any one of Technical Ideas 1 to 6, wherein acquiring the incident information includes predicting the direction of the sun at each travel point on the future route of the autonomous transport device as the incident information.

[0099] (Technical Idea 8) A control system according to Technical Idea 7, wherein adjusting the driving posture includes 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 according to the predicted result of the sun direction.

[0100] (Technical Idea 9) A control system described in Technical Idea 7 or 8, in which adjusting the driving posture 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 for each driving point on each of the multiple planned future routes.

[0101] The above-mentioned technical concepts 1 to 9 may be understood as the respective technical concepts of an apparatus, a method, and a program.

Claims

1. A control system having a processor (12) for controlling the autonomous traveling 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 it by autonomous traveling, wherein the processor is configured to perform the following: acquire incident information (Is) regarding the incidence of sunlight on the autonomous transport device; and adjust the traveling posture of the autonomous transport device during the autonomous traveling to a control posture (Ac) that positions the transport chamber in a direction opposite (Dr) to the solar direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the solar direction to receive the sunlight in the power generation unit.

2. The control system according to claim 1, wherein adjusting the traveling attitude includes controlling an attitude angle of the autonomous transport device on the traveling path to orient the light receiving surface toward the sun.

3. The control system of claim 1, wherein adjusting the traveling attitude includes controlling the attitude angle of the power generation unit in the autonomous transport device to orient the light receiving surface toward the sun.

4. The control system of claim 1, wherein adjusting the traveling posture includes adjusting the traveling posture to a control posture that controls the cooling efficiency of the items that have been cooled before being loaded into the transport chamber.

5. The control system of claim 1, wherein adjusting the driving posture includes adjusting the driving posture to a control posture that controls the cooling efficiency of the items that can be cooled during the autonomous driving in the transport chamber.

6. The control system of claim 1, wherein adjusting the driving posture includes adjusting the driving posture to the control posture that maximizes energy efficiency correlated with the power generation efficiency of the power generation unit and the cooling efficiency of the item.

7. A control system according to any one of claims 1 to 6, wherein acquiring the incident information includes predicting the sun direction for each travel point on a future route of the autonomous transport device as the incident information.

8. The control system of claim 7, wherein adjusting the driving posture includes 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. The control system of claim 7, wherein adjusting the driving posture 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 on each of the multiple planned future routes.

10. A control device having a processor (12) and configured to be mounted on an autonomous transport device (Ma) that receives power from a power generation unit (9) that receives sunlight and generates power in order to store items (Gc) that require refrigeration in a transport chamber (20) and transport them by autonomous travel, and which controls the autonomous travel of the autonomous transport device, wherein the processor is configured to perform the following: acquire incident information (Is) regarding the incidence of sunlight on the autonomous transport device; and adjust the travel posture of the autonomous transport device during the autonomous travel to a control posture (Ac) that positions the transport chamber in a direction opposite (Dr) to the solar direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the solar direction in the power generation unit to receive the sunlight.

11. A control method executed by a processor (12) 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 it by autonomous travel, the control method including: acquiring incident information (Is) regarding the incidence of sunlight on the autonomous transport device; and adjusting the travel posture of the autonomous transport device during the autonomous travel to a control posture (Ac) that positions the transport chamber in a direction opposite (Dr) to the solar direction (Ds) with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the solar direction in the power generation unit to receive the sunlight.

12. A control program stored in a storage medium (10) that includes instructions to be executed by a processor (12) that controls the autonomous traveling 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 it by autonomous traveling, the control program including the instructions to execute: acquiring incident information (Is) regarding the incidence of sunlight on the autonomous transport device; and adjusting the traveling posture of the autonomous transport device during the autonomous traveling to a control posture (Ac) that positions the transport chamber in a direction opposite (Dr) to the solar direction (Ds) for receiving the sunlight with respect to a light receiving surface (92) that is oriented in accordance with the incident information toward the solar direction in the power generation unit to receive the sunlight.

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