AUTONOMOUS TRAVEL CLEANING DEVICE

To cause an autonomous travel cleaning device to continue automatic travel cleaning by moving between cleaning areas regardless of steps.SOLUTION: An autonomous travel cleaning device 1 capable of performing automatic cleaning work by traveling autonomously and cleaning automatically, includes: automatic cleaning control units such as a follow-up travel control unit 33 and a random travel control unit 34 that control automatic travel cleaning for each of a plurality of cleaning areas; and movement control units such as a movement travel control unit 35 and a step travel control unit 36 that control autonomous movement between two cleaning areas. When there is a step between a cleaning area at the current position and a next cleaning area, and when predetermined step travel conditions are satisfied, the step travel control unit 36 performs control so as to perform stepped travel for autonomously moving over the step from the cleaning area at the current position to the next cleaning area.SELECTED DRAWING: Figure 1 【課題】段差に拘わらず清掃エリア間を移動して自動走行清掃を継続させる。【解決手段】自律的に走行し自動で清掃する自動清掃作業を実行可能な自律走行清掃装置１は、複数の清掃エリアのそれぞれの自動走行清掃を制御する追従走行制御部３３やランダム走行制御部３４などの自動清掃制御部と、２つの清掃エリアの間の自律移動を制御する移動走行制御部３５や段差走行制御部３６などの移動制御部とを備える。段差走行制御部３６は、現在位置の清掃エリアと次の清掃エリアとの間に段差があるとき、所定の段差走行条件を満たした場合に、現在位置の清掃エリアから次の清掃エリアへと段差を超えて自律的に移動する段差走行を実行するように制御する。【選択図】図１