Autonomous mobile device

An autonomous mobile device, comprising:

• an obstacle sensor that acquires peripheral obstacle information;
• a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited;
• an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map;
• a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map;
• a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device;
• and
• a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map;
• wherein
• the controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone;
• the estimation device estimates the self-location of the mobile device without using the no-entry zone map;
• the synthesizing device generates the composite map that reflects both the obstacle zone shown on the environment map and the no-entry zone shown on the no-entry zone map for each of pixels corresponding mutually to the environment map and the no-entry zone map;
• and
• the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor.

An autonomous mobile device, comprising:

• an obstacle sensor that acquires peripheral obstacle information;
• a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited;
• an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map;
• a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map;
• a planning device that plans a path to a destination by using the composite map generated by the synthesizing device;
• a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device;
• and
• a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map;
• wherein
• the controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone;
• the estimation device estimates the self-location of the mobile device without using the no-entry zone map;
• the controller controls the autonomous movement based on the path planned by the planning device;
• and
• the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor.