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

An autonomous travel control system comprising a processor configured to control an autonomous travel device including a housing unit including a housing room capable of housing a transport target and a travel unit that is detachably coupled to the housing unit,

• wherein
• the travel unit is configured to travel from a high security area to a delivery area where the transport target is delivered and back to the high security area, the high security area having a security higher than the delivery area,
• the housing unit includes a door that is configured to:
• open and close the housing room;
• and
• mechanically switch a state between a locked state and an unlocked state according to an electrical control when a delivery condition for delivering the transport target to a transport destination user is satisfied, and
• the processor is configured to:
• switch, in the delivery area, a state of a door of the housing unit coupled to the travel unit to an unlocked state, the door mechanically maintaining a state prior to decoupling in a state where the travel unit and the housing unit are decoupled;
• determine whether a release condition is satisfied, the release condition including that the travel unit has arrived at the delivery area;
• switch, in the high security area after returning from the delivery area, the state of the door of the housing unit coupled to the travel unit between the locked state and the unlocked state;
• and
• release, in the high security area, coupling between the travel unit and the housing unit while maintaining the unlocked state of the door when the release condition is satisfied.

An autonomous travel control device comprising a processor that:

• is configured to control an autonomous travel device including a housing unit including a housing room capable of housing a transport target and a travel unit that is detachably coupled to the housing unit;
• and is mountable on the autonomous travel device,
• wherein
• the travel unit is configured to travel from a high security area to a delivery area where the transport target is delivered and back to the high security area, the high security area having a security higher than the delivery area,
• the housing unit coupled to the travel unit includes a door that is configured to:
• open and close the housing room;
• and
• mechanically switch a state between a locked state and an unlocked state according to an electrical control when a delivery condition for delivering the transport target to a transport destination user is satisfied, and
• the processor is configured to:
• switch, in the delivery area, a state of a door of the housing unit coupled to the travel unit to an unlocked state, the door mechanically maintaining a state prior to decoupling in a state where the travel unit and the housing unit are decoupled;
• determine whether a release condition is satisfied, the release condition including that the travel unit has arrived at the delivery area;
• switch, in the high security area after returning from the delivery area, the state of the door of the housing unit coupled to the travel unit to the unlocked state;
• and
• release, in the high security area, coupling between the travel unit and the housing unit while maintaining the unlocked state of the door when the release condition is satisfied.

An autonomous travel control method executed by a processor for controlling an autonomous travel device including a housing unit including a housing room capable of housing a transport target and a travel unit that is detachably coupled to the housing unit,

• wherein
• the travel unit is configured to travel from a high security area to a delivery area where the transport target is delivered and back to the high security area, the high security area having a security higher than the delivery area,
• the housing unit includes a door that is configured to:
• closes open and close the housing room;
• and
• mechanically switch a state between a locked state and an unlocked state according to an electrical control when a delivery condition for delivering the transport target to a transport destination user is satisfied, and
• the method includes:
• switching, in the delivery area, a state of a door of the housing unit coupled to the travel unit to an unlocked state, the door mechanically maintaining a state prior to decoupling in a state where the travel unit and the housing unit are decoupled;
• determining whether a release condition is satisfied, the release condition including that the travel unit has arrived at the delivery area;
• switching, in the high security area after returning from the delivery area, the state of the door of the housing unit coupled to the travel unit to the unlocked state;
• and
• releasing, in the high security area, coupling between the travel unit and the housing unit while maintaining the unlocked state of the door when the release condition is satisfied.

A non-transitory computer-readable storage medium storing an autonomous travel control program including instructions executed by a processor for controlling an autonomous travel device including a housing unit including a housing room capable of housing a transport target and a travel unit that is detachably coupled to the housing unit,

• wherein
• the travel unit is configured to travel from a high security area to a delivery area where the transport target is delivered and back to the high security area, the high security area having a security higher than the delivery area,
• the housing unit includes a door that is configured to:
• open and close the housing room;
• and
• mechanically switch a state between a locked state and an unlocked state according to an electrical control when a delivery condition for delivering the transport target to a transport destination user, and
• the instructions include causing the processor to:
• switch, in the delivery area, a state of a door of the housing unit coupled to the travel unit to an unlocked state, the door mechanically maintaining a state prior to decoupling in a state where the travel unit and the housing unit are decoupled;
• determine whether a release condition is satisfied, the release condition including that the travel unit has arrived at the delivery area;
• switch, in the high security area after returning from the delivery area, the state of the door of the housing unit coupled to the travel unit to the unlocked state;
• and
• release, in the high security area, coupling between the travel unit and the housing unit while maintaining the unlocked state of the door when the release condition is satisfied.