Autonomous driving device, autonomous driving control system, autonomous driving control device, autonomous driving control method, and autonomous driving control program

Abstract

To provide an autonomous travel device and the like in which security can be secured in delivery of a transportation object and a degree of freedom for storage of the transportation object can be secured.SOLUTION: A control part of a travel unit 2 is constructed to switch a door part 9 between a lock state and an unlock state in which: when satisfying a handing-over condition in delivery of a transportation object, a door part 9 of a storage unit 3 engaged with the travel unit 2 becomes unlock state; and when satisfying a release condition to release the engagement with the storage unit 3, the door part 9 of the storage unit 3 engaged with the travel unit 2 becomes unlock state. The control part is constructed to release the engagement between the storage unit 3 whose door part 9 is in the unlock state when satisfying the release condition and the travel unit 2.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an autonomous driving control technology for controlling an autonomous driving device. [Background technology]

[0002] Patent Document 1 discloses an unmanned mobile delivery vehicle. When a user of this delivery vehicle is authenticated, the door of the delivery vehicle is unlocked, allowing the user to receive the package.

[0003] Non-Patent Document 1 discloses a robot system that includes a cart that can store luggage and an autonomous traveling robot that is detachable from the cart. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2021-135859 [Non-patent literature]

[0005] [Non-Patent Document 1] Yoji Kanzaki, "Demonstration experiment of Mitsubishi Electric's "Multi-purpose transport robot system" and Panasonic's "Follow-up mobility" at Fujita Health University Hospital, Aichi Robot Showcase," [online], March 23, 2021, Robot Start Co., Ltd., [Retrieved March 28, 2022], Internet<URL: https: / / robotstart.info / 2021 / 03 / 23 / aichi-robotshowcase-06.html> Summary of the Invention [Problem to be solved by the invention]

[0006] Unlike Non-Patent Document 1, Patent Document 1 does not disclose how to control the separation and combination of units and the locking and unlocking of doors in an autonomous mobile device in which a storage unit and a traveling unit can be separated. Specifically, Patent Document 1 does not disclose how to control an autonomous mobile device that ensures security when transferring transported objects and ensures freedom of storage when storing transported objects.

[0007] An object of the present disclosure is to provide an autonomous driving device that ensures security when transferring an object to be transported and that can ensure flexibility in storing the object. Another object of the present disclosure is to provide an autonomous driving control system that ensures security when transferring an object to be transported and that can ensure flexibility in storing the object. Another object of the present disclosure is to provide an autonomous driving control device that ensures security when transferring an object to be transported and that can ensure flexibility in storing the object. Yet another object of the present disclosure is to provide an autonomous driving control method that ensures security when transferring an object to be transported and that can ensure flexibility in storing the object. Yet another object of the present disclosure is to provide an autonomous driving control program that ensures security when transferring an object to be transported and that can ensure flexibility in storing the object. [Means for solving the problem]

[0008] 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 correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0009] The first aspect of the present disclosure is a storage unit (3) having a storage chamber (B) capable of storing an object to be transported; a traveling unit (2) equipped with a control unit (100) having a processor (102) and releasably coupled to the storage unit; Equipped with The storage unit is a door section (9) that opens and closes the storage chamber and mechanically switches between a locked state and an unlocked state in accordance with electrical control from a control section, and that mechanically maintains the state before the traveling unit and the storage unit are disconnected when the traveling unit and the storage unit are disconnected; The control unit in the traveling unit Switching between a locked state and an unlocked state of the door part, including unlocking the door part of the storage unit coupled to the traveling unit when a delivery condition for delivering the transport object to the destination user is met, and unlocking the door part of the storage unit coupled to the traveling unit when a release condition for releasing the coupling with the storage unit is met; The autonomous traveling device is configured to release the connection between the storage unit and the traveling unit when the door section is in an unlocked state due to the establishment of a release condition.

[0010] A second aspect of the present disclosure is an autonomous driving control system having a processor (102) that controls an autonomous driving device (1) including a storage unit (3) formed with a storage chamber (B) capable of storing an object to be transported, and a traveling unit (2) releasably coupled to the storage unit, The processor When a delivery condition for delivering an object to be transported with a destination user is met, a door section (9) provided on the storage unit opens and closes the storage chamber, and can mechanically switch between a locked state and an unlocked state according to electrical control, and when the traveling unit and the storage unit are in a decoupled state, the door section mechanically maintains the state before the decoupling, and when the traveling unit and the storage unit are in a coupled state, the door section is switched between a locked state and an unlocked state, including switching between a locked state and an unlocked state in the door section when the storage unit and the traveling unit are coupled, when a release condition for releasing the coupling with the storage unit is met; When the release condition is satisfied, the door section of the storage unit is unlocked, and the coupling between the storage unit and the traveling unit is released.

[0011] A third aspect of the present disclosure is an autonomous driving control device that is configured to be mountable on an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported, and a traveling unit (2) that is releasably coupled to the storage unit, and that has a processor (102) that controls the autonomous driving device, The processor a door section (9) provided on the storage unit coupled to the traveling unit, which opens and closes the storage chamber and can mechanically switch between a locked state and an unlocked state according to electrical control when a delivery condition for delivering an object to be transported between the destination user and the storage unit is met, and which mechanically maintains the state before the coupling is released when the traveling unit and the storage unit are in a decoupled state, is set to an unlocked state when the storage unit and the traveling unit are in a coupled state; and when a release condition for releasing the coupling with the storage unit is met, the door section in the storage unit coupled to the traveling unit is set to an unlocked state, When the release condition is satisfied, the door section of the storage unit is unlocked, and the coupling between the storage unit and the traveling unit is released.

[0012] A fourth aspect of the present disclosure is an autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein, and a traveling unit (2) releasably coupled to the storage unit, the method comprising: When a delivery condition for delivering an object to be transported with a destination user is met, a door section (9) provided on the storage unit opens and closes the storage chamber, and can mechanically switch between a locked state and an unlocked state according to electrical control, and when the traveling unit and the storage unit are in a decoupled state, the door section mechanically maintains the state before the decoupling, and when the traveling unit and the storage unit are in a coupled state, the door section is switched between a locked state and an unlocked state, including switching between a locked state and an unlocked state in the door section when the storage unit and the traveling unit are coupled, when a release condition for releasing the coupling with the storage unit is met; This includes releasing the connection between the storage unit and the traveling unit when the door section is in an unlocked state due to the establishment of the release condition.

[0013] A fifth aspect of the present disclosure is an autonomous driving control program stored in a storage medium (101) for controlling an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein, and a traveling unit (2) releasably coupled to the storage unit, the program including instructions to be executed by a processor (102), The command is, When a delivery condition for delivering an object to be transported to a destination user is met, a door section (9) provided on the storage unit opens and closes a storage chamber, and can mechanically switch between a locked state and an unlocked state according to electrical control, and when the traveling unit and the storage unit are in a disconnected state, the door section mechanically maintains the state before the disconnection, and when the traveling unit and the storage unit are in a connected state, the door section is switched between a locked state and an unlocked state, including switching between the locked state and the unlocked state of the door section when the storage unit and the traveling unit are connected, when a release condition for releasing the connection with the storage unit is met, The method includes releasing the connection between the storage unit and the traveling unit when the door portion is in an unlocked state due to the establishment of the release condition.

[0014] According to these first to fifth aspects, in the transfer environment for retrieving the transported object, security can be ensured by electrically controlling the unlocking of the door when the transfer conditions are met. Furthermore, in the release environment for storing the transported object, the storage unit can be decoupled from the traveling unit in a mechanically unlocked state, allowing the storage unit to perform storage work alone, ensuring storage flexibility. Therefore, security can be ensured in the transfer of the transported object, and storage flexibility can be ensured in the storage of the transported object. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating an overall configuration of a first embodiment. [Figure 2] FIG. 2 is a view of the storage unit of the first embodiment as seen from the door side. [Figure 3] FIG. 1 is a block diagram showing a functional configuration of an autonomous driving control system according to a first embodiment. [Figure 4] FIG. 2 is a schematic diagram showing a state of a door portion of an autonomous mobile device to which the first embodiment is applied. [Figure 5] FIG. 1 is a schematic diagram showing a driving environment of an autonomous driving device to which a first embodiment is applied. [Figure 6] 4 is a flowchart illustrating an autonomous driving control flow according to the first embodiment. [Figure 7] 4 is a flowchart illustrating an autonomous driving control flow according to the first embodiment. [Figure 8] 4 is a flowchart illustrating an autonomous driving control flow according to the first embodiment. [Figure 9] 4 is a flowchart illustrating an autonomous driving control flow according to the first embodiment. [Figure 10] 4 is a flowchart illustrating an autonomous driving control flow according to the first embodiment. [Figure 11] FIG. 10 is a diagram illustrating the overall configuration of a second embodiment. [Figure 12] FIG. 10 is a view of the storage unit of the second embodiment as seen from the second door side. [Figure 13]FIG. 10 is a schematic diagram showing the state of a door portion of an autonomous mobile device to which the second embodiment is applied. [Figure 14] 10 is a flowchart showing an autonomous driving control flow according to a second embodiment. [Figure 15] 10 is a flowchart showing an autonomous driving control flow according to a second embodiment. [Figure 16] 10 is a flowchart showing an autonomous driving control flow according to a second embodiment. [Figure 17] 10 is a flowchart showing an autonomous driving control flow according to a second embodiment. [Figure 18] FIG. 11 is a schematic diagram showing the state of a door portion of an autonomous mobile device to which a third embodiment is applied. [Figure 19] 10 is a flowchart showing an autonomous driving control flow according to a third embodiment. [Figure 20] 10 is a flowchart showing an autonomous driving control flow according to a third embodiment. [Figure 21] 10 is a flowchart showing an autonomous driving control flow according to a fourth embodiment. [Figure 22] 10 is a flowchart showing an autonomous driving control flow according to a fourth embodiment. [Figure 23] FIG. 10 is a diagram illustrating a modified example of an autonomous driving device. DETAILED DESCRIPTION OF THE INVENTION

[0016] 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.

[0017] (First embodiment) An autonomous driving control system 100 according to the first embodiment controls the driving of an autonomous driving device 1 shown in Fig. 1. The autonomous driving device 1 is, for example, a delivery robot that autonomously drives to deliver luggage, which is an object to be delivered, to a destination user.

[0018] The autonomous mobile device 1 includes a traveling unit 2 and a storage unit 3. The traveling unit 2 is a unit driven to travel by the autonomous mobile control system 100. The storage unit 3 includes a storage box B and is capable of storing an object to be transported in the storage box B. The storage box B is a storage chamber that partitions the storage space for the object to be transported, and multiple storage boxes B are provided in the storage unit 3, for example. The storage unit 3 may be provided with wheels so that it can be moved by nearby people. The traveling unit 2 and the storage unit 3 are releasably coupled by a coupling part 8, which will be described later.

[0019] The autonomous driving device 1 is equipped with a sensor system 4, a communication system 5, a map database 6, a driving system 7, a coupling unit 8, a door unit 9, a baggage detection unit 10, a matching unit 11, and an information presentation system 12, as shown in FIGS.

[0020] The sensor system 4 acquires sensor information that can be used by the autonomous driving control system 100 for the external and internal worlds of the autonomous driving device 1. To this end, the sensor system 4 is configured to include an external sensor 41 and an internal sensor .

[0021] The external sensor 41 is a surrounding environment sensor that acquires external information as sensor information from the external world that is the surrounding environment of the autonomous mobile device 1. The external sensor 41 may be a target detection type that detects targets that exist in the external world of the autonomous mobile device 1. The target detection type external sensor 41 is at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, etc. The external sensor 41 may also include a contact sensor that detects contact with a surrounding object.

[0022] The external sensor 41 may also acquire external information by monitoring the state of the external environment. The environmental monitoring type external sensor 41 includes, for example, at least one of a temperature sensor, a thermal camera, a wind sensor, and a water detection sensor.

[0023] The internal sensor 42 acquires internal information as sensor information from the internal world, which is the internal environment of the autonomous mobile device 1. The internal sensor 42 may be a physical quantity detection type that detects a specific physical quantity of motion in the internal world of the autonomous mobile device 1. The physical quantity detection type internal sensor 42 is at least one type of sensor, such as a traveling speed sensor, an acceleration sensor, or a gyro sensor. The internal sensor 42 may also include a door sensor that detects whether the door section 9 is open or closed.

[0024] The communication system 5 acquires communication information usable by the autonomous driving control system 100 via wireless communication. The communication system 5 may be a positioning type that receives positioning signals from GNSS (Global Navigation Satellite System) satellites present in the external world of the autonomous driving device 1. The positioning type communication system 5 is, for example, a GNSS receiver. The communication system 5 may be a V2X type that transmits and receives communication signals to and from a V2X system present in the external world of the autonomous driving device 1. The V2X type communication system 5 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device. The V2X type communication system 5 enables the autonomous driving device 1 to communicate with a center C that manages operation. The communication system 5 may be a terminal communication type that transmits and receives communication signals to and from a terminal present in the internal world of the autonomous driving device 1. The terminal communication type communication system 5 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, etc.

[0025] The map database 6 stores map information that can be used by the autonomous driving control system 100. The map database 6 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 6 may be a database of a locator that estimates the autonomous driving device 1's own state quantities, including its own position. The map database 6 may also be a database of a navigation unit that navigates the autonomous driving device 1's driving route. The map database 6 may be configured by combining multiple types of these databases.

[0026] The map database 6 acquires and stores the latest map information, for example, through communication with the center C via a V2X-type communication system 5. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous mobile device 1. In particular, digital data of a high-precision map is preferably used as the three-dimensional map data. The map information may include road information representing at least one of the following: the position, shape, and road surface condition of the road itself. The map information may also include marking information representing at least one of the following: the position and shape of signs and lane markings attached to the road. The map information may also include structure information representing at least one of the following: the position and shape of buildings and traffic lights facing the road.

[0027] The propulsion system 7 is provided in the propulsion unit 2 and enables the propulsion unit 2 to travel under the control of the autonomous driving control system 100. The propulsion system 7 includes drive wheels, a drive motor that drives and rotates the drive wheels, and a motor control unit that controls the drive motor. The motor control unit drives the propulsion unit 2 to travel by controlling the supply of electricity to the drive motor based on a control command (current command value) from the autonomous driving control system 100.

[0028] The coupling part 8 couples the storage unit 3 and the traveling unit 2. The coupling part 8 electrically couples the storage unit 3 and the traveling unit 2. The coupling part 8 forms an electrical path from the battery 13 of the traveling unit 2 to the door part 9 of the storage unit 3 through coupling. The coupling part 8 may include a locking claw or the like that mechanically couples the storage unit 3 and the traveling unit 2.

[0029] The door section 9 is configured to open and close the storage box B in the storage unit 3. Multiple door sections 9 are provided for each storage box B. The door section 9 includes a door panel that can close the storage box B and an electric lock that locks and unlocks the door panel when the door panel is closed. The electric lock is of a type that can mechanically switch between a locked state and an unlocked state through electrical control by the autonomous driving control system 100. The electric lock is of a type that maintains the state it was in when last energized when not energized. For example, the locking section may be a motor-driven electric lock that mechanically repeats locking and unlocking by motor drive each time it is energized. Alternatively, the locking section may be a case-lock type instantaneous electrolytic lock with a lever handle or knob that mechanically repeats locking and unlocking by activating a solenoid each time it is energized.

[0030] With this electric lock, the door section 9 is electrically controlled by the autonomous driving control system 100 to be locked or unlocked when the traveling unit 2 and the storage unit 3 are coupled together. When the traveling unit 2 and the storage unit 3 are disengaged, i.e., when the door section 9 is not energized, it mechanically maintains the state it was in before the coupling was discontinued.

[0031] The baggage detection unit 10 is a non-contact sensor that detects baggage as an object to be transported stored in the storage box B. For example, the baggage detection unit 10 is configured to include an RFID (Radio Frequency Identifier) ​​reader. The baggage detection unit 10 detects the stored object to be transported by reading a tag attached to the object to be transported with the RFID reader.

[0032] The matching unit 11 matches the destination user who is permitted to retrieve the item from the storage unit 3. The matching unit 11 accepts input of an authentication code from the destination user. The authentication code can be received by a touch panel that accepts touch operations, a scanner that scans the authentication code as a two-dimensional code or a one-dimensional code, or the like. If the input authentication code matches the authentication code stored in the memory 101 of the autonomous driving control system 100 or a storage medium of the matching unit 11, the matching unit 11 certifies that the destination user is a legitimate person. The matching unit 11 transmits information on the matching result to the autonomous driving control system 100. The matching unit 11 may also transmit the acquired authentication code to the center C via the communication system 5. In this case, the center C performs matching of the destination user, and the matching result is transmitted to the autonomous driving control system 100.

[0033] The information presentation system 12 presents notification information to people nearby the autonomous mobile device 1. The information presentation system 12 may be a visual presentation unit that presents the notification information by stimulating the vision of people nearby. The visual presentation unit may include, for example, a monitor device that stimulates the vision by displaying a video or image, and a light-emitting unit that stimulates the vision by emitting a lamp.

[0034] The information presentation system 12 may be an auditory presentation unit that presents the notification information by stimulating the auditory sense of the occupant. The auditory presentation unit is, for example, at least one of a speaker, a buzzer, a vibration unit, and the like.

[0035] The autonomous driving control system 100 is connected to the on-board configuration of the autonomous driving device 1 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. The autonomous driving control system 100 is configured to include at least one dedicated computer.

[0036] The dedicated computer constituting the autonomous driving control system 100 may be a driving control ECU (Electronic Control Unit) that controls driving of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be a navigation ECU that navigates the driving route of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be a locator ECU that estimates the self-state quantity of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be an actuator ECU that controls the driving actuator of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be an HCU (Human Machine Interface Control Unit (HMI)) that controls the presentation of information in the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be a computer other than the autonomous driving device 1 that constitutes, for example, a center C or a mobile terminal that can communicate via a V2X type communication system 5.

[0037] The dedicated computer constituting the autonomous driving control system 100 has at least one memory 101 and one processor 102. The memory 101 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. Here, "storage" may refer to accumulation in which data is retained even when the autonomous driving device 1 is powered on or off, or temporary storage in which data is erased when the autonomous driving device 1 is powered on or off. The processor 102 includes at least one type of core selected from a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), and a graph streaming processor (GSP).

[0038] In the autonomous driving control system 100, the processor 102 executes a plurality of instructions included in an autonomous driving control program stored in the memory 101 in order to control the autonomous driving device 1. In this way, the autonomous driving control system 100 constructs a plurality of functional blocks for controlling the autonomous driving device 1. As shown in FIG. 3, the multiple functional blocks constructed in the autonomous driving control system 100 include a decision block 110, a driving control block 120, a coupling control block 130, a lock control block 140, and a notification block 150. The autonomous driving control system 100 is an example of a "control unit."

[0039] The decision block 110 makes a decision to switch the control phase of the autonomous mobile device 1. The control phases include a transport preparation phase, a transport phase, a handover phase, and a release phase, as shown in FIG. 4 etc. The transport preparation phase is the phase in which the storage unit 3 filled with the transport object is coupled with the traveling unit 2 in the high security area AH and the transport begins. The transport phase is the phase in which the transport begins and the device moves to the delivery area AD. The delivery phase is the phase in which the device delivers the transport object to the destination user within the delivery area AD. The release phase is the phase in which the device returns to the high security area AH after the delivery is completed and the device decouples the storage unit 3 from the traveling unit 2.

[0040] The decision block 110 determines whether to switch to the transport preparation phase when the storage unit 3 is released (decoupled) from the traveling unit 2 in the high security area AH. The high security area AH is an area that is considered to have higher security than the delivery area AD. The location information of the high security area AH is stored in advance in the memory 101, etc. For example, the high security area AH is an area that is separated from people other than the packing user, such as a work area where the packing user packs the items to be transported into the storage unit 3.

[0041] The decision block 110 determines whether to switch to the transport phase when the robot starts traveling to the destination of the transported object after being coupled with the storage unit 3. The decision block 110 determines whether to switch to the delivery phase when the robot arrives at the delivery area AD. The decision block 110 determines whether to switch to the release phase when the delivery of the transported object is completed and the robot starts traveling to the high-security area AH after locking.

[0042] The decision block 110 determines whether or not the coupling between the traveling unit 2 and the storage unit 3 is permitted. The decision block 110 determines whether or not the coupling condition that allows coupling is satisfied in the transport preparation phase. The decision block 110 determines that the coupling is permitted if the coupling condition is satisfied. For example, the decision block 110 determines that the coupling condition is satisfied if the traveling unit 2 has arrived at a position where it can be coupled to the storage unit 3. For example, the decision block 110 may determine the position of the traveling unit 2 based on at least one type of information, such as external world information, internal world information, map information, and positioning information from a positioning-type communication system 5, or a combination of multiple types of information.

[0043] The decision block 110 determines whether to lock or unlock the door unit 9 or whether to continue locking or unlocking the door unit 9. If a locking condition that allows locking is met after the traveling unit 2 and the storage unit 3 are coupled during the transport preparation phase, the decision block 110 determines whether to allow locking of the door unit 9. For example, the decision block 110 determines whether the locking condition is met when both the transport object condition and the route condition are met as sub-conditions. The transport object condition is, for example, whether the transport object information acquired from the center C via the communication system 5 matches the transport object information related to the actually stored transport object. The actual transport object information is acquired, for example, by detection by the baggage detection unit 10. Furthermore, the route condition is whether the setting of the delivery area AD and the travel route to the delivery area AD has been completed.

[0044] In the delivery phase, when the delivery conditions that allow the delivery of the transport object are met, the decision block 110 determines whether to allow the execution of unlocking. For example, the decision block 110 determines that the delivery conditions are met when the stop condition and the matching condition are met as sub-conditions, and the suspicious condition is not met.

[0045] Specifically, the decision block 110 determines whether the stop condition is satisfied when the traveling speed detected by the internal sensor 42 within the delivery area AD is equal to or lower than a threshold. The decision block 110 also determines whether the matching condition is satisfied when the matching unit 11 matches the destination user. The decision block 110 also determines whether the suspicious condition is not satisfied when no suspicious person is detected in the vicinity. The decision block 110 detects, as a suspicious person, a person who performs suspicious actions, such as shaking the autonomous mobile device 1 or attempting to open the locked door 9. The suspicious action is determined based on, for example, person information detected by the external sensor 41 and external forces applied to the autonomous mobile device 1 detected by the internal sensor 42. Alternatively, the decision block 110 may track the autonomous mobile device 1 from the delivery phase and detect, as a suspicious person, a person who remains in the vicinity even after the autonomous mobile device 1 has stopped in the receiving phase.

[0046] Furthermore, in the delivery phase, when an unlock continuation condition that allows continuation of the unlock is satisfied after the delivery condition is satisfied, the decision block 110 determines whether to permit continuation of the unlock. For example, when the stop condition is satisfied during the unlock and the suspicious condition is not satisfied, the decision block 110 determines whether the unlock continuation condition is satisfied.

[0047] Furthermore, in the delivery phase, when a relocking condition that allows the unlocked door unit 9 to be locked is met, the decision block 110 determines whether to allow the lock unit to be relocked. For example, the decision block 110 determines whether the relocking condition is met when both the transport object removal condition and the door closing condition are met as sub-conditions. Specifically, the decision block 110 determines whether the transport object removal condition is met when the baggage detection unit 10 detects that the corresponding transport object has been removed. Furthermore, the decision block 110 determines whether the door closing condition is met when a door sensor or the like that detects the opening and closing of the door unit 9 detects that the door unit 9 is closed.

[0048] Furthermore, the decision block 110 determines that unlocking is permitted when a release condition that permits unlocking in the release phase is satisfied. For example, the decision block 110 determines that the release condition is satisfied when the autonomous mobile device 1 arrives at the high security area AH. Alternatively, the decision block 110 may determine that the release condition is satisfied when the autonomous mobile device 1 arrives at the high security area AH and stops. Note that when the release condition is satisfied, decoupling after unlocking is also permitted, and therefore the release condition can also be said to be a condition that permits decoupling after unlocking.

[0049] The travel control block 120 controls the travel of the travel unit 2. The travel control block 120 performs autonomous travel control by controlling the rotation speed of the left and right motors of the travel system 7. When the travel control block 120 receives a transport command from the center C via the communication system 5 during the transport preparation phase, it performs a connection preparation run to connect to the storage unit 3. During the connection preparation run, the travel control block 120 generates a travel route to a position where the assigned storage unit 3 can be connected and travels to that position. Also, during the transport preparation phase, when the travel control block 120 receives a transport command, it generates a travel route to the delivery area AD, which is the transport destination, based on the command. The delivery area AD is an area within the low-security area AL, which has lower security than the high-security area AH, that allows delivery by the destination user. The delivery area AD may be an area that includes the location of the destination user, or an area that includes a delivery location set by the destination user or the center C, etc. The travel control block 120 may generate a travel route at any timing between when the transport command is received and when the connection is completed. When the door section 9 is locked based on the locking condition being satisfied, the travel control block 120 starts a transport travel for transporting the transport object. This causes the phase to transition to the transport phase.

[0050] In the transport phase, the travel control block 120 controls the travel of the travel unit 2 according to the generated travel route. Upon arrival at the destination, the travel control block 120 stops the travel unit 2. Upon arrival at the destination, the phase transitions to the delivery phase. In the delivery phase, the travel control block 120 keeps the travel unit 2 stopped. In the delivery phase, when the delivery of the transported objects is completed and locking is performed due to the re-locking condition being met, release travel begins to release the storage unit 3. This transitions the control phase to the release phase. Alternatively, if the delivery of all transported objects has not been completed, transport travel begins to the next delivery area AD.

[0051] In the release phase, the travel control block 120 causes the travel unit 2 to travel to the high-security area AH. After arriving at the high-security area AH, when the release conditions are met and the door section 9 is unlocked and the connection with the storage unit 3 is released, travel after release is performed. In the travel after release, the travel control block 120 causes the travel unit 2 to travel to a waiting area until the next transport. Note that if a new transport command is acquired before traveling to the waiting area, the travel control block 120 may transition to transport preparation travel before traveling to the waiting area.

[0052] The coupling control block 130 controls switching between coupling and decoupling between the storage unit 3 and the traveling unit 2 by the coupling unit 8. When the judgment block 110 determines that the coupling condition is met during the transport preparation phase, the coupling control block 130 controls the coupling unit 8 to couple the storage unit 3, whose door unit 9 is unlocked, with the traveling unit 2. The coupling control block 130 maintains the coupled state during the transport phase and the delivery phase.

[0053] Furthermore, in the release phase, when the decision block 110 determines that the release condition is met, the connection control block 130 executes the disconnection between the storage unit 3 whose door section 9 is in the unlocked state and the traveling unit 2.

[0054] As shown in Fig. 5 etc., the lock control block 140 controls switching between locking and unlocking of the door section 9 of the storage unit 3 in a connected state with the traveling unit 2. In the transportation preparation phase, the lock control block 140 executes locking when the decision block 110 determines that the locking condition is met. In the transportation phase, the lock control block 140 maintains the locked state.

[0055] In the delivery phase, the lock control block 140 executes unlocking when the decision block 110 determines that the delivery conditions are met. Also in the delivery phase, if the lock control block 140 determines that the unlock continuation conditions are met after unlocking, it continues unlocking, and if it determines that the unlock continuation conditions are not met, it executes locking. After locking due to the unlock continuation conditions not being met, the lock control block 140 executes unlocking when it determines that the delivery conditions are met again. Also in the delivery phase, the lock control block 140 executes locking when it determines that the re-lock conditions are met.

[0056] In the release phase, the lock control block 140 continues locking until it is determined that the release condition is met. Then, when it is determined that the release condition is met, the lock control block 140 executes unlocking before the combination of the storage unit 3 and the traveling unit 2 is released.

[0057] The notification block 150 issues a notification to people in the vicinity of the autonomous mobile device 1. For example, in the handover phase, if the unlock continuation condition is not met, the notification block 150 issues a continuation impossibility notification. Specifically, if the stop condition, one of the sub-conditions, is not met, the notification block 150 may issue a warning notification that the autonomous mobile device 1 is moving. Furthermore, if the suspicious condition, one of the sub-conditions, is met, the notification block 150 may issue a warning notification that a suspicious person is present.

[0058] The notification block 150 also issues a notification that re-locking is not possible when the re-locking condition is not met in the delivery phase. Specifically, when the sub-condition for removing the transported object is not met, the notification block 150 may notify that the transported object remains. When the sub-condition for closing the door is not met, the notification block 150 may issue a warning that the door section 9 is open.

[0059] The autonomous driving control method in which driving control system 100 controls autonomous driving device 1 through the cooperation of blocks 110, 120, 130, and 140 described above is executed according to the autonomous driving control flow shown in Figures 6 to 10. This autonomous driving control flow is executed repeatedly while autonomous driving device 1 is running. Note that each "S" in this autonomous driving control flow represents multiple steps executed by multiple commands included in the autonomous driving control program.

[0060] First, in S10 of FIG. 6, the decision block 110 determines whether to switch the current control phase. When the storage unit 3 and the traveling unit 2 are decoupled in the high-security area AH, the decision block 110 determines whether to switch to the transport preparation phase and proceeds to S20. When the transport travel begins, the decision block 110 determines whether to switch to the transport phase and proceeds to S30. When the delivery area AD is reached, the decision block 110 determines whether to switch to the delivery phase and proceeds to S40. When the delivery of all transport objects is completed, the decision block 110 determines whether to switch to the release phase and proceeds to S50.

[0061] The autonomous driving control method in each control phase will be described with reference to Figs. 7 to 10. First, in the transport preparation phase, in S200 of Fig. 7, the driving control block 120 determines whether or not a transport command has been received from the center C. Until a transport command is received, the traveling unit 2 continues to wait in the high security area AH. If it is determined that a transport command has been received, the flow proceeds to S205.

[0062] In S205, the travel control block 120 executes a preparatory run for connection. As a result, the travel control block 120 drives the travel unit 2 to a position where it can be connected to the storage unit 3 assigned by the transport command. In the following S210, the judgment block 110 determines whether the connection condition is met. If it is determined that the connection condition is not met, the flow returns to S205, and the travel control block 120 executes the preparatory run for connection again.

[0063] If it is determined that the connection condition is met, the flow proceeds to S215. In S215, the connection control block 130 controls the connection unit 8 to connect the traveling unit 2 with the unlocked storage unit 3. After the connection is completed, in S220, the lock control block 140 maintains the unlocked state, and in S225, the judgment block 110 determines whether the locking condition is met. If it is determined that the locking condition is not met, the flow returns to S220, and the unlocked state is maintained.

[0064] On the other hand, if it is determined that the locking condition is met, the flow proceeds to S230. In S230, the lock control block 140 locks the door unit 9. In the following S235, the travel control block 120 starts transport travel to the delivery area AD.

[0065] In the transport phase, the travel control block 120 continues the transport travel in S300 of Fig. 8, and the lock control block 140 maintains the locked state in S305. The above processing is repeatedly executed until the decision block 110 determines to switch to the delivery phase due to arrival at the delivery area AD in S10 of Fig. 6.

[0066] In the delivery phase, the lock control block 140 maintains the locked state in S400 of Fig. 9, while the judgment block 110 determines whether the delivery conditions are met in S405. If it is determined that the delivery conditions are not met, the flow returns to S400, and the locked state is maintained.

[0067] On the other hand, if it is determined that the delivery conditions are met, the flow proceeds to S410. In S410, the lock control block 140 executes unlocking. In the following S415, the judgment block 110 determines whether the unlock continuation condition is met. If it is determined that the unlock continuation condition is met, the flow proceeds to S430.

[0068] On the other hand, if it is determined that the unlock continuation condition is not satisfied, the flow proceeds to S420. In S420, the notification block 150 executes a continuation impossible notification. Thereafter, in S425, the judgment block 110 determines whether the door unit 9 is in the open state or the closed state. If it is determined that the door unit 9 is in the closed state, the flow returns to S400, and the door unit 9 is locked. On the other hand, if it is determined that the door unit 9 is in the closed state, the flow proceeds to S430.

[0069] In S430, the decision block 110 determines whether the relocking condition is met. If the decision is that the relocking condition is not met, the flow proceeds to S435. In S435, the notification block 150 issues a notification that relocking is not possible. After processing in S435, the flow returns to S410.

[0070] On the other hand, if it is determined that the re-locking condition is met, the flow proceeds to S440. In S440, the lock control block 140 executes locking. In the following S445, the traveling control block 120 resumes traveling of the autonomous mobile device 1. Specifically, if there are any transport objects that have not been delivered, the traveling control block 120 resumes transport traveling, and if the delivery of all transport objects has been completed, the traveling control block 120 starts release traveling.

[0071] In the release phase, the lock control block 140 continues the lock at S500 in Fig. 10, while the decision block 110 determines whether the release condition is met at S505. If it is determined that the release condition is not met, the flow returns to S500, and the locked state is maintained.

[0072] On the other hand, if it is determined that the release condition is met, the flow proceeds to S510. In S510, the lock control block 140 executes unlocking. In the following S515, the coupling control block 130 executes decoupling of the unlocked storage unit 3 and the traveling unit 2. After the decoupling is executed, in S520 the traveling control block 120 starts traveling after the decoupling.

[0073] According to the first embodiment described above, in the transfer environment for retrieving transported objects, security can be ensured by electrically controlling the unlocking of the door 9 when the transfer conditions are met. Furthermore, in the release environment for storing transported objects, the storage unit 3 can be decoupled from the traveling unit 2 in a mechanically unlocked state, allowing the storage unit to perform storage work alone, ensuring storage flexibility. Therefore, security can be ensured when transferring transported objects, and storage flexibility can be ensured when storing transported objects.

[0074] Second Embodiment As shown in FIGS. 11 to 17, the second embodiment is a modification of the first embodiment.

[0075] In the second embodiment, the door section 9 of the storage unit 3 includes a first door section 9a and a second door section 9b. The first door section 9a has a door panel that can close the storage box B and an electronic lock that locks the door panel when the door panel is closed. Similar to the door section 9 in the first embodiment, multiple first door sections 9a are provided for each storage box B. The first door section 9a is the door section 9 that is opened and closed to receive and deliver the transport object in the delivery phase.

[0076] The second door portion 9b is a door portion 9 that can close the storage box B separately from the first door portion 9a. Like the first door portion 9a, the second door portion 9b is equipped with a door panel that can close the storage box B and an electronic lock that locks the door panel when it is closed. As shown in FIG. 12, the second door portion 9b is configured to be able to close multiple storage boxes B by itself. For example, the second door portion 9b is configured to be able to close all of the storage boxes B by itself. The second door portion 9b is a door portion that is opened and closed to load the objects to be transported in the transport preparation phase.

[0077] The first door section 9a and the second door section 9b are both controlled to switch between a locked state and an unlocked state by the autonomous driving control system 100. As shown in FIG. 13, the first door section 9a and the second door section 9b can each be controlled to switch between a locked state and an unlocked state individually.

[0078] When the lock control block 140 of the autonomous driving control system 100 determines that the release condition is met during the release phase, it locks the first door section 9a and unlocks the second door section 9b. In other words, the lock control block 140 locks the first door section 9a and unlocks the second door section 9b before the storage unit 3 and the traveling unit 2 are uncoupled in the high-security area AH. That is, the lock control block 140 controls the state of the door sections 9 so that the items to be transported can be loaded through the second door section 9b after the storage unit 3 is separated from the traveling unit 2. Furthermore, the lock control block 140 continues to lock the door sections 9a and 9b during the transport phase.

[0079] Furthermore, when it is determined that the delivery conditions are met in the delivery phase, the lock control block 140 unlocks the first door section 9a and maintains the second door section 9b in the locked state. In other words, the lock control block 140 controls the state of the door section 9 so that the object can be removed from the first door section 9a when the object is delivered in the low security area AL.

[0080] Furthermore, in the handover phase, if the lock control block 140 determines that the unlock continuation condition is met while the first door section 9a is closed, the lock control block 140 locks the first door section 9a. In addition, in the handover phase, if the lock control block 140 determines that the re-lock condition is met, the lock control block 140 locks the first door section 9a.

[0081] In the second embodiment, the autonomous driving control method in each control phase in which the driving control system 100 controls the autonomous driving device 1 is executed according to the autonomous driving control flow shown in Figures 14 to 17. For steps in Figures 14 to 17 that are assigned the same reference numerals as in the first embodiment, the explanation in the first embodiment is cited.

[0082] In the transport preparation phase, when the traveling unit 2 is coupled with the unlocked storage unit 3 in S215 of Figure 14, the flow proceeds to S221. In S221, the lock control block 140 maintains the first door section 9a locked and the second door section 9b unlocked. After S221, the flow proceeds to S225.

[0083] If it is determined in S225 that the locking conditions are met, the flow proceeds to S231. In S231, the lock control block 140 locks the second door section 9b while continuing to lock the first door section 9a. After S231, the flow proceeds to S235.

[0084] In the transport phase, the flow proceeds to S306 after S300 in Fig. 15. In S306, the lock control block 140 maintains the locked state of the first door section 9a and the second door section 9b. The above processing is repeatedly executed until the decision block 110 determines in S10 in Fig. 6 that the process should be switched to the delivery phase due to arrival at the delivery area AD.

[0085] In the delivery phase, the lock control block 140 maintains the locked state of the door sections 9a and 9b in S400 of Fig. 16. If it is determined in S405 that the delivery conditions are met, the flow proceeds to S411. In S411, the lock control block 140 unlocks the first door section 9a and keeps the second door section 9b locked. After S411, the flow proceeds to S415.

[0086] If it is determined in S430 that the re-locking condition is met, the flow proceeds to S441. In S441, the lock control block 140 executes locking of the first door section 9a and continues locking of the second door section 9b. After S441, the flow proceeds to S445.

[0087] In the release phase, in S501 of Fig. 17, the lock control block 140 continues to lock the first door section 9a and the second door section 9b. When it is determined in S505 that the release condition is met, the flow proceeds to S511. In S511, the lock control block 140 continues to lock the first door section 9a while unlocking the second door section 9b. After S511, the flow proceeds to S515.

[0088] (Third embodiment) As shown in FIGS. 18 to 20, the third embodiment is a modification of the first embodiment.

[0089] The second door 9b can be locked and unlocked by a user operation in addition to being controlled by electrical locking and unlocking. For example, the second door 9b may be locked and unlocked by a key owned by the user who puts the transported object inside, such as a mechanical key or an electronic key. Alternatively, the second door 9b may be locked and unlocked by authentication using a personal identification number, biometric authentication, or the like.

[0090] During the release phase, even if a release condition is met in a medium-security area AM, which has lower security than the high-security area AH, the lock control block 140 does not unlock the second door section 9b and continues to lock it. Position information of the medium-security area AM in the medium-security area AM is stored in advance, for example, in memory 101. By continuing to lock the second door section 9b, the lock control block 140 maintains the second door section 9b in the medium-security area AM in a state in which it can be unlocked externally by a user operation, as shown in FIG. 18 . As a result, even during the transport preparation phase, the lock control block 140 maintains a state in which the second door section 9b cannot be opened in the medium-security area AM without an external user operation.

[0091] The autonomous driving control method in the release phase and the transport preparation phase in which the driving control system 100 controls the autonomous driving device 1 is executed according to the autonomous driving control flow shown in Figures 19 and 20. For steps in Figures 19 and 20 that are given the same reference numerals as in the first embodiment, the explanation in the first embodiment is cited.

[0092] As shown in Figure 19, in the release phase, after the release condition is met in S505, the flow proceeds to S506. Note that the release condition in this embodiment also includes arrival at the medium security area AM. In S506, decision block 110 determines whether the current area is the medium security area AM. If it is determined that the current area is not the medium security area AM, i.e., is the high security area AH, the flow proceeds to S511.

[0093] On the other hand, if it is determined in S506 that the current area is the medium security area AM, the flow proceeds to S512. In S512, the lock control block 140 continues to lock the first door section 9a and the second door section 9b. As a result, the second door section 9b enters a locked state in which it can be unlocked from the outside by a user operation.

[0094] 20, in the transportation preparation phase, the flow proceeds to S216 after S215. In S216, decision block 110 determines whether the current area is a medium security area AM. If it is determined that the current area is not a medium security area AM, that is, a high security area AH, the flow proceeds to S221.

[0095] On the other hand, if it is determined in S216 that the current area is the medium security area AM, the flow proceeds to S222. In S222, the lock control block 140 continues to lock the first door section 9a and the second door section 9b. As a result, the second door section 9b becomes available for insertion when unlocked from the outside by a user operation.

[0096] In the next step S223, the decision block 110 determines whether or not the transport condition is met. The transport condition is, for example, the same as the lock condition. If the transport condition is met, the flow proceeds to step S235.

[0097] (Fourth embodiment) As shown in FIGS. 21 and 22, the fourth embodiment is a modification of the first embodiment.

[0098] In the release phase, a decision block 110 determines whether or not the release interruption condition is met after the release condition is met. The release interruption condition is a condition that allows the transition to the transport preparation phase without releasing the storage unit 3. The release interruption condition is met, for example, when a release interruption instruction is received from the center C, or when transport preparation without release has been set in advance.

[0099] The autonomous driving control method in the release phase and the transport preparation phase in which the driving control system 100 controls the autonomous driving device 1 is executed according to the autonomous driving control flow shown in Figures 21 and 22. For steps in Figures 21 to 22 that are given the same reference numerals as in the first embodiment, the explanation in the first embodiment is cited.

[0100] 21, in the release phase, after S510, the flow proceeds to S513. In S513, the decision block 110 determines whether the release interruption condition is met. If the release interruption condition is not met, the flow proceeds to S515. On the other hand, if the release interruption condition is met in S513, the flow skips steps S515 and S520 and ends.

[0101] 22, in the transport preparation phase, if it is determined in S200 that a transport command has been issued, the flow proceeds to S201. In S201, the decision block 110 determines whether the storage unit 3 and the traveling unit 2 have been connected. If it is determined that they have not been connected, the flow proceeds to S205. If it is determined that they have been connected, the flow skips S205, S210, and S215 and proceeds to S220.

[0102] (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.

[0103] 23, the matching unit 11 is provided in the storage unit 3. In this case, when the storage unit 3 and the traveling unit 2 are connected, the matching unit 11 can perform matching processing using power supplied from the battery 13 of the traveling unit 2.

[0104] In a modified example, the dedicated computer constituting the autonomous driving control system 100 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.

[0105] In a modified example, the host moving body to which the autonomous driving control system 100 is applied may be, for example, an autonomous driving robot capable of transporting an object to be transported or collecting information by autonomous driving or remote driving. In addition to the forms described so far, the above-described 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 that is configured to be mountable on a host moving body and has at least one processor 102 and one memory 101.

[0106] (Disclosed technical idea) This specification discloses multiple technical ideas described in the following paragraphs, and also discloses multiple combined technical ideas indicated by alternatively citing the preceding technical ideas in the subsequent technical ideas.

[0107] (Technical thought 1) a storage unit (3) having a storage chamber (B) capable of storing the object to be transported; a traveling unit (2) equipped with a control unit (100) having a processor (102) and releasably coupled to the storage unit; Equipped with The storage unit comprises: a door section (9) that opens and closes the storage chamber and mechanically switches between a locked state and an unlocked state in accordance with electrical control from the control section, and that mechanically maintains the state before the traveling unit and the storage unit are disconnected when the traveling unit and the storage unit are disconnected; The control unit in the traveling unit Switching between the locked state and the unlocked state of the door section, including setting the door section of the storage unit coupled to the traveling unit to the unlocked state when a delivery condition for delivering the transport object to a destination user is met, and setting the door section of the storage unit coupled to the traveling unit to the unlocked state when a release condition for releasing the coupling with the storage unit is met; and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

[0108] (Technical thought 2) The switching between the locked state and the unlocked state of the door portion is performed by The autonomous driving device described in Technical Idea 1, wherein the delivery conditions include matching the destination user who is permitted to remove the transported item from the storage unit.

[0109] (Technical Thought 3) The autonomous mobile device according to Technical Idea 2, wherein the traveling unit includes a verification unit (11) that verifies the destination user.

[0110] (Technical Thought 4) The storage unit includes a verification unit (11) that verifies the destination user, The switching between the locked state and the unlocked state of the door portion is performed by The autonomous driving device according to Technical Idea 2 controls the matching by the matching unit when the driving unit and the storage unit are connected.

[0111] (Technical Thought 5) The storage unit has a plurality of the storage chambers, The autonomous driving device according to any one of Technical Ideas 1 to 4, wherein the door section is provided for each of the storage compartments.

[0112] (Technical Thought 6) the door section includes a first door section (9a) used for handing over the object to the destination user, and a second door section (9b) different from the first door section for opening and closing the storage chamber common to the first door section, Switching the door between the locked state and the unlocked state includes: An autonomous driving device according to any one of Technical Ideas 1 to 5, including: when the delivery condition is met, the second door section is set to the unlocked state, and the first door section is maintained in the locked state; and when the release condition is met, the first door section is set to the unlocked state, and the second door section is maintained in the locked state.

[0113] (Technical Thought 7) The autonomous traveling device according to any one of Technical Ideas 1 to 6, further comprising a surrounding environment sensor (41) mounted on at least one of the traveling unit and the storage unit.

[0114] (Technical Thought 8) Switching the door between the locked state and the unlocked state includes: An autonomous driving device as described in Technical Idea 7, further including prohibiting the door section from switching to the unlocked state when the transported object is handed over if a suspicious condition regarding the surrounding environment is established.

[0115] (Technical Thought 9) Switching the door between the locked state and the unlocked state includes: An autonomous driving device according to Technical Idea 7 or Technical Idea 8, further comprising switching the door section back to the locked state when a suspicious condition regarding the surrounding environment is met after switching to the unlocked state when the delivery condition is met.

[0116] (Technical Thought 10) The autonomous mobile device according to any one of Technical Ideas 1 to 9 further includes a non-contact sensor (10) that identifies the object to be transported in the storage chamber.

[0117] (Technical Thought 11) Switching the door between the locked state and the unlocked state includes: An autonomous driving device according to technical idea 10, which includes maintaining the unlocked state due to the fulfillment of the delivery conditions when the object to be transported remains in a state in which the destination user is permitted to take it out.

[0118] (Technical Thought 12) Switching the door between the locked state and the unlocked state includes: An autonomous driving device according to Technical Idea 10 or Technical Idea 11, which includes switching the door section, which has been set to the unlocked state due to the fulfillment of the delivery conditions, back to the locked state in response to the destination user being permitted to take out the transported object.

[0119] (Technical Thought 13) The releasing of the coupling between the storage unit and the traveling unit includes: An autonomous driving device according to any one of Technical Ideas 1 to 12, wherein the release conditions include arrival at a high-security area with higher security than the delivery area where the transported object is handed over.

[0120] (Technical Thought 14) An autonomous driving control system having a processor (102) that controls an autonomous driving device (1) including a storage unit (3) formed with a storage chamber (B) capable of storing an object to be transported, and a traveling unit (2) releasably coupled to the storage unit, The processor: a door section (9) provided on the storage unit, which opens and closes the storage chamber and can mechanically switch between a locked state and an unlocked state according to electrical control when a delivery condition for delivering the object to be transported with a destination user is met, the door section being in the unlocked state when the storage unit is in the coupled state with the traveling unit, and the door section being in the unlocked state when a release condition for releasing the coupling with the storage unit is met; and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

[0121] (Technical Thought 15) An autonomous driving control device having a processor (102) configured to be mountable on an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported, and a traveling unit (2) releasably coupled to the storage unit, and for controlling the autonomous driving device, The processor: a door section (9) provided on the storage unit coupled to the traveling unit, which opens and closes the storage chamber and is capable of mechanically switching between a locked state and an unlocked state according to electrical control when a delivery condition for delivering the object to be transported between the destination user and the storage unit is met, the door section being in the unlocked state when the storage unit is coupled to the traveling unit and the storage unit, and which mechanically maintains the state before the coupling when the traveling unit and the storage unit are decoupled, and switching between the locked state and the unlocked state of the door section when a release condition for releasing the coupling with the storage unit is met; and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

[0122] (Technical Thought 16) An autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein, and a traveling unit (2) releasably coupled to the storage unit, comprising: a door section (9) provided on the storage unit, which opens and closes the storage chamber and can mechanically switch between a locked state and an unlocked state according to electrical control when a delivery condition for delivering the object to be transported with a destination user is met, the door section being in the unlocked state when the storage unit is in the coupled state with the traveling unit, and the door section being in the unlocked state when a release condition for releasing the coupling with the storage unit is met; and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

[0123] (Technical Thought 17) An autonomous traveling control program stored in a storage medium (101) for controlling an autonomous traveling device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein, and a traveling unit (2) releasably coupled to the storage unit, the autonomous traveling control program including instructions to be executed by a processor (102), The instruction: When a delivery condition for delivering the object to be transported with a destination user is met, a door section (9) provided on the storage unit, which opens and closes the storage chamber and can mechanically switch between a locked state and an unlocked state according to electrical control, and which mechanically maintains the state before the disconnection when the traveling unit and the storage unit are disconnected, is switched between the locked state and the unlocked state in the connected state of the storage unit and the traveling unit, including switching the door section between the locked state and the unlocked state in the connected state of the storage unit and the traveling unit when a release condition for releasing the connection with the storage unit is met; and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met. [Explanation of symbols]

[0124] 1: Autonomous driving device, 2: Driving unit, 3: Storage unit, 10: Baggage detection unit (non-contact sensor), 11: Collation unit, 41: External sensor (surrounding environment sensor), 9: Door unit, 9a: First door unit, 9b: Second door unit, 100: Autonomous driving control system (control unit), 101: Memory (storage medium), 102: Processor, B: Storage box (storage room).

Claims

1. a storage unit (3) having a storage chamber (B) capable of storing objects to be transported; a traveling unit (2) equipped with a control unit (100) having a processor (102) and releasably coupled to the storage unit; Equipped with The storage unit comprises: a door section (9) that opens and closes the storage chamber and mechanically switches between a locked state and an unlocked state in accordance with electrical control from the control section, and that mechanically maintains the state before the traveling unit and the storage unit are disconnected when the traveling unit and the storage unit are disconnected; The control unit in the traveling unit Switching between the locked state and the unlocked state of the door section, including setting the door section of the storage unit coupled to the traveling unit to the unlocked state when a delivery condition for delivering the transport object to a destination user is met, and setting the door section of the storage unit coupled to the traveling unit to the unlocked state when a release condition for releasing the coupling with the storage unit is met; and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

2. The switching between the locked state and the unlocked state of the door portion is performed by The autonomous driving device according to claim 1 , wherein the delivery conditions include verification of the destination user who is permitted to take out the object to be transported from the storage unit.

3. The autonomous driving device according to claim 2 , wherein the driving unit includes a verification unit (11) that verifies the destination user.

4. The storage unit includes a verification unit (11) that verifies the destination user, The switching between the locked state and the unlocked state of the door portion is performed by The autonomous driving device according to claim 2 , wherein the verification by the verification unit is controlled when the traveling unit and the storage unit are connected to each other.

5. The storage unit has a plurality of the storage chambers, The autonomous mobile device according to claim 1 , wherein the door portion is provided for each of the storage compartments.

6. The door section includes a first door section (9a) used to deliver the transport object to the destination user, and a second door section (9b) different from the first door section and used to open and close the storage chamber common to the first door section, Switching the door between the locked state and the unlocked state includes:

2. The autonomous driving device of claim 1, further comprising: when the delivery condition is satisfied, the second door section is set to the unlocked state and the first door section is maintained in the locked state; and when the release condition is satisfied, the first door section is set to the unlocked state and the second door section is maintained in the locked state.

7. The autonomous driving device according to claim 1, further comprising a surrounding environment sensor (41) mounted on at least one of the driving unit and the storage unit.

8. Switching the door between the locked state and the unlocked state includes: The autonomous driving device according to claim 7 , further comprising: prohibiting the door from being switched to the unlocked state when the object to be transported is handed over if a suspicious condition is established in the surrounding environment.

9. Switching the door between the locked state and the unlocked state includes:

9. The autonomous driving device according to claim 7 or claim 8, further comprising switching the door section back to the locked state when a suspicious condition regarding the surrounding environment is met after switching to the unlocked state when the delivery condition is met.

10. The autonomous mobile device according to claim 1, further comprising a non-contact sensor (10) for identifying the object to be transported in the storage chamber.

11. Switching the door between the locked state and the unlocked state includes: The autonomous mobile device according to claim 10 , wherein a remaining state of the object to be transported that is permitted for removal by the destination user includes maintaining the unlocked state resulting from the fulfillment of the delivery conditions.

12. Switching the door between the locked state and the unlocked state includes: The autonomous driving device according to claim 10 or claim 11, further comprising switching the door section, which has been set to the unlocked state due to the fulfillment of the delivery conditions, back to the locked state in response to the destination user being permitted to take out the object to be transported.

13. The releasing of the coupling between the storage unit and the traveling unit includes: The autonomous mobile device according to claim 1 , wherein the release condition includes arrival at a high-security area having higher security than a delivery area where the transport object is delivered.

14. An autonomous driving control system having a processor (102) for controlling an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein, and a traveling unit (2) releasably coupled to the storage unit, The processor: When a delivery condition for delivering the object to be transported with a destination user is met, a door section (9) provided on the storage unit opens and closes the storage chamber, and can mechanically switch between a locked state and an unlocked state according to electrical control, and when the traveling unit and the storage unit are in a decoupled state, the door section mechanically maintains the state before the decoupling, and when the traveling unit and the storage unit are in a coupled state, the door section is switched to the unlocked state; and when a release condition for releasing the coupling with the storage unit is met, the door section of the storage unit in the coupled state with the traveling unit is switched to the unlocked state. and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

15. An autonomous driving control device having a processor (102) configured to be mountable on an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported and a traveling unit (2) releasably coupled to the storage unit, and for controlling the autonomous driving device, The processor: Upon establishment of a delivery condition for delivering the transport object between the destination user and the door unit (9) provided on the storage unit in a coupled state with the traveling unit, the door unit being capable of opening and closing the storage chamber and mechanically switching between a locked state and an unlocked state according to electrical control, and mechanically maintaining the state prior to the decoupling when the traveling unit and the storage unit are decoupled, the door unit being set to the unlocked state when the storage unit and the traveling unit are coupled; and upon establishment of a release condition for releasing the coupling with the storage unit, the door unit in the storage unit in a coupled state with the traveling unit being set to the unlocked state, and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

16. An autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein, and a traveling unit (2) releasably coupled to the storage unit, comprising: When a delivery condition for delivering the object to be transported with a destination user is met, a door section (9) provided on the storage unit opens and closes the storage chamber, and can mechanically switch between a locked state and an unlocked state according to electrical control, and when the traveling unit and the storage unit are in a decoupled state, the door section mechanically maintains the state before the decoupling, and when the traveling unit and the storage unit are in a coupled state, the door section is switched to the unlocked state; and when a release condition for releasing the coupling with the storage unit is met, the door section of the storage unit in the coupled state with the traveling unit is switched to the unlocked state. and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

17. An autonomous driving control program stored in a storage medium (101) for controlling an autonomous driving device (1) including a storage unit (3) having a storage chamber (B) capable of storing an object to be transported formed therein and a traveling unit (2) releasably coupled to the storage unit, the program including instructions to be executed by a processor (102), The instruction: When a delivery condition for delivering the object to be transported with a destination user is met, a door section (9) provided on the storage unit, which opens and closes the storage chamber and can mechanically switch between a locked state and an unlocked state according to electrical control, and which mechanically maintains the state before the disconnection when the traveling unit and the storage unit are in a disconnected state, is switched to the unlocked state when the storage unit and the traveling unit are in a connected state; and when a release condition for releasing the connection with the storage unit is met, the door section of the storage unit in the connected state with the traveling unit is switched to the unlocked state, and releasing the connection between the storage unit and the traveling unit when the door section is in the unlocked state due to the release condition being met.

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