Autonomous mobile device

An autonomous mobile device, comprising:

• an object information acquisition unit to acquire position information on an object existing near autonomous mobile device;
• a local map creation unit to create a local map of surroundings of the autonomous mobile device based on the position information on the object acquired by the object information acquisition unit;
• a moving unit to move the autonomous mobile device;
• a self-location estimation unit to estimate a self-location based on the local map created by the local map creation unit and a travel distance of the moving unit;
• a guiding unit to guide the autonomous mobile device by driving the moving unit based on an operation of a user;
• an environmental map creation unit to create an environmental map of a mobile area, during the guiding by the guiding unit, based on the self-location estimated by the self-location estimation unit and the local map;
• a teaching unit to teach to register, during the guiding by the guiding unit, the self-location of the autonomous mobile device when the autonomous mobile device is positioned at a predetermined setting point as a position coordinate of the setting point;
• a storage unit to store the environmental map and the setting point;
• a route planning unit to plan a travel route by using the setting point on the environmental map stored in the storage unit;
• a control unit to control the moving unit so that the autonomous mobile device autonomously travels along the travel route planned by the route planning unit;
• a differential map creation unit to create a differential map showing an object change level within the mobile area, upon the autonomous traveling along the travel route;
• and
• a dynamic environmental map creation unit to create a dynamic environmental map based on an addition result of the differential map created by the differential map creation unit and the environmental map, upon the autonomous traveling along the travel route;
• wherein
• the self-location estimation unit compares each of the environmental map and the dynamic environmental map with the local map, and estimates the self-location based on the comparison result, upon the autonomous traveling along the travel route;
• and
• the differential map creation unit updates the differential map based on the addition result of the dynamic environmental map and the local map, and the difference with regard to the environmental map.