To provide an autonomous moving device capable of holding (for example, connecting) a loading object, and being autonomously moved to a desired delivery destination without needing any high level control even when a plurality of loading objects (for example, trucks) are placed closely or arranged disorderly.

This autonomous moving device 10 is configured to autonomously move while a loading object 1 on which a conveyance object is loaded is held to convey the loading object, and provided with a holding mechanism 3 for holding the loading object from a state that it is separated from the loading object 1; and a moving mechanism 5 for moving the holding mechanism 3 to the desired conveyance destination and a control unit 7 for switching a mode between a passive mode and an autonomous mode. The control unit 7 controls the holding mechanism 3 and the moving mechanism 5 to move according to an operation command from the outside in the passive mode, and autonomously control the moving mechanism 5, and controls the holding mechanism 3 to move to a desired delivery destination in the autonomous mode.