TW201815342A

TW201815342A - Electric floor-sweeping robot characterized by improving the maintainability of the side brush

Info

Publication number: TW201815342A
Application number: TW106134496A
Authority: TW
Inventors: 伊藤賢宏; 伊藤則和; 矢吹祐輔; 橘川拓也; 加藤尚樹; 山谷遼
Original assignee: 日商日立空調家用電器股份有限公司
Priority date: 2016-10-06
Filing date: 2017-10-06
Publication date: 2018-05-01
Also published as: TWI691303B; CN107913034B; TW201815341A; TWI688363B; CN107913030A; CN107913034A

Abstract

To provide an electric floor-sweeping robot that can improve the maintainability of the side brush. An electric floor-sweeping robot is provided with the side brushes installed at the lower housing. Wherein, the side brush is provided with a jig inserted hole that allows the side brush to be removed from the lower housing by applying a force of inserting the jig. The jig inserted hole is formed on the rotary shaft of the side brush which also is the side brush bracket. The side brush bracket has a mounting claw installed at the installation part of the electric floor-sweeping robot.

Description

Electric sweeping robot

本發明，是有關於電動掃地機器人。The present invention relates to an electric sweeping robot.

清掃塵埃落下的地面的電動掃地機器人，已知具有從動輪者。電動掃地機器人已知是藉由使用者的操作而使吸口往復動的所謂的罐型、和電動掃地機器人本身是自律地驅動的自走式電動掃地機器人。　　專利文獻1是揭示了具有藉由螺栓可裝卸的側刷的電動掃地機器人（0045、0046）。 [先前技術文獻] [專利文獻] 　　[專利文獻1] 日本特開2016-26856號公報An electric sweeping robot for cleaning the ground where dust has fallen is known to have a driven wheel. The electric sweeping robot is known as a so-called tank type in which the suction mouth reciprocates by a user's operation, and the electric sweeping robot itself is a self-propelled electric sweeping robot that is driven autonomously. Patent Document 1 discloses an electric cleaning robot (0045, 0046) having a side brush that can be attached and detached by a bolt. [Prior Art Document] [Patent Document] [Patent Document 1] Japanese Patent Laid-Open No. 2016-26856

[本發明所欲解決的課題] 　　專利文獻1，是在側刷的裝卸，需要螺栓的取下，費力費時。 [用以解決課題的手段] 　　有鑑於上述狀況的本發明的電動掃地機器人，是將側刷設於下殼的電動掃地機器人，前述側刷，是具有：藉由加上將冶具插入的力，可將該側刷從前述下殼取下的冶具插孔。[Problems to be Solved by the Present Invention] Patent Document 1 requires attachment and detachment of a side brush, which requires removal of bolts, which is laborious and time consuming. [Means for Solving the Problems] The electric cleaning robot of the present invention in view of the above situation is an electric cleaning robot in which a side brush is provided in a lower case. The side brush has a force for inserting a metal mold, The side brush can be removed from the aforementioned socket of the mold.

對於本發明的實施例，一邊參照添付的圖面一邊詳細說明。對於同樣的構成要素附加同樣的符號，不再重複同樣的說明。本發明的各種的構成要素，不一定必要是由一構件所構成，例如容許，一構成要素是由複數構件所構成，複數構成要素是由一構件所構成，或構成要素的一部分及其他的構成要素的一部分是彼此重複。　　又，自走式電動掃地機器人1（第1圖參照）進行的方向之中，將自走式電動掃地機器人1通常進行的方向設成前方，將與重力方向相反的方向設成上方，將驅動輪116（第3圖參照）相面對的方向設成左方及右方。即如第1圖等所示地定義前後、上下、左右。在本實施例中，在自走式電動掃地機器人1的前方側安裝有側刷15。＜實施例1＞ [自走式電動掃地機器人1] 　　第1圖，是本實施例的自走式電動掃地機器人1的立體圖。　　自走式電動掃地機器人1，是將掃除領域（例如室內）一邊自律地移動一邊掃除的掃地機器人。自走式電動掃地機器人1，是具備由包含上壁（及一部分的側壁）也就是上殼111、底壁（及一部分的側壁）也就是下殼112、及被設於前部的保險桿18所構成的本體11。在上殼111中，被配置有：開關薄片22、及使用者對於自走式電動掃地機器人1的控制部2施加指令的作為操作按鈕的圓形操作按鈕221及環形操作按鈕222。　　且在自走式電動掃地機器人1的上後方側中，設有垃圾盒4。本實施例的自走式電動掃地機器人1，雖是藉由控制裝置2的運算處理而自律地將驅動輪116驅動地清掃，但是藉由遙控器等接受使用者的指令來進行驅動也可以。 [下殼112] 　　第2圖是將上殼111及垃圾盒4取下的狀態的立體圖，第3圖是自走式電動掃地機器人1的底面圖，第4圖，是第1圖的A-A線的剖面圖，第5圖是吸口部113、塵埃感測器單元12及垃圾盒4的立體圖。　　下殼112，是安裝：驅動輪116、行走馬達1161、臂1141、及將包含減速機構1142地構成的驅動機構收容的驅動機構收容部114、及側刷安裝部1121、行走馬達1161、旋轉刷馬達1133、電動送風機16、充電池19、將充電池19收納的電池收容部115（第4圖參照）、控制裝置2、及吸口部113的薄型的圓板狀的構件。　　下殼112，是包含側面的下端側，較佳是下端，具有設於側面全周或是大致全周的保險桿框架1127。保險桿框架1127，是由比形成側面的其他的部分的構件更軟的材料所形成，例如，採用可以彈性體等的樹脂材。且，保險桿框架1127，是比側面的其他的部分，例如保險桿18更朝外周側突出。由此，自走式電動掃地機器人1即使與家具等衝突，也可以抑制家具等破損。　　又，自走式電動掃地機器人1因為是主要是前進，前方側的側面容易與家具等衝突，例如考慮進入窄路的情況等的話，如本實施例在側面和後面也設置保險桿框架1127較佳。且，因為保險桿18是環狀，所以如本實施例藉由將保險桿框架1127形成環狀，就可以將保險桿框架1127位置在保險桿18的外周側。如此的話，因為可以從外周側將保險桿18推壓，所以組裝容易進行。（自走式電動掃地機器人1的平衡）　　設於本體11內的構件中，比較重者，是充電池19及電動送風機16。充電池19多比電動送風機16更重。為了取得本實施例的本體11的重量平衡，首先，電動送風機16是設於下殼112的大致中央，充電池19是被設置在前側。　　在此，在比下殼112的中心更後側中，設有：將旋轉刷14收容的吸口部113、和搔取刷13。電動送風機16是設在中央側（2個驅動輪116之間），因為充電池19是設在前側，所以在後側設置重量物使取得平衡較佳。因此，在本實施例中，在搔取刷13的內周中，重錘是藉由貼附等被固定（未圖示）。由此，可以將稱為搔取刷13內的死角（死空間）有效活用。在本實施例中，因為搔取刷13是位於比旋轉刷14更遠離中央的側，所以在此設置重錘較佳。且，重錘，若從左右的平衡的觀點，設於本體11的左右方向的中央側較佳。又，在旋轉刷14內設置重錘也可以，但是旋轉刷14因為是藉由旋轉刷馬達1133而被驅動的刷，所以設置重錘的話會成為馬達的負荷。因此，馬達驅動不在從動旋轉的搔取刷13內設置重錘較佳。且，藉由重錘，而將自走式電動掃地機器人1的重心，位於前後方向大致中心（與驅動輪116的軸大致一致）較佳。（下殼112的突起）　　對於下殼112，在旋轉刷14的左右方向外側（正左外側及正右外側），各別設有設於下殼112的底面的凸部也就是後方突起1123的至少一部分。各後方突起1123的至少一部分，也位置在驅動輪116的正後方。　　且在相當於2個驅動輪116之間的領域的下殼112的中央側領域中，設有中央前側突起1124及中央後側突起1125。中央前側突起1124，是在前後方向位於驅動輪116的前端側，在左右方向位於下殼112的中央側的凸部。中央後側突起1125，是在比中央前側突起1124後側，朝前後方向延伸的凸部。　　本實施例的自走式電動掃地機器人1，是驅動輪116的後端及旋轉刷14的外端是接近。具體而言，從驅動輪116的後端的左右內側部分，至旋轉刷14的前端的左右外側部分為止的距離，若從例如小形化的觀點是20mm以下。旋轉刷14及/或後述的氣密構件118，是為了接近地面容易吸引塵埃而從下殼112突出，驅動輪116是為了與地面接觸而同樣地突出。因此，障礙物進入2個驅動輪116之間的領域（設有突起1124、突起1125的中央側領域）、和設有驅動輪116後側的領域（突起1123的領域）的話，會嵌入驅動輪116及旋轉刷14之間有可能妨害自走式電動掃地機器人1的驅動。為了抑制這種事態，設置突起1123、突起1124、突起1125。其中任一的突起1123、1124、1125，當自走式電動掃地機器人1是行走於至少平坦的地面上期間，是被調整從地面遠離的尺寸。 [驅動機構收容部114] 　　被收容於第3圖等所示的驅動機構收容部114的驅動機構，是將驅動輪116支撐於本體11的機構。驅動機構，是包含將行走馬達1161、驅動輪116從左右內側支撐的臂1141、及減速機構1142。臂1141，是設於2個驅動輪116之間，一端是朝前後方向延伸的轉動軸，另一端是與驅動輪116連接的構件，藉由轉動軸的轉動而可以各別將驅動輪116轉動的構件。轉動軸，是各別位於2個驅動輪116之間，特別是本實施例中，位於各驅動輪116及中央突起1124、突起1125之間。 [電池收容部115] 　　如第4圖等所示，電池收容部115，是在內部收容充電池19的空間，位於比下殼112的中心更前側。電池收容部115，是為了將充電池19交換而具有向下開口的構成。又，在電池收容部115的左右中，形成有將側刷15安裝的側刷安裝部1121。 [驅動輪116] 　　如第3圖等所示，驅動輪116是各別透過減速機構1142各別承受各行走馬達1161的驅動力的構件。由此驅動輪116本身是可以藉由旋轉將本體11前進、後退、繞轉。驅動輪116，是被配置於左右兩側。 [前方蓋117] 　　如第3圖等所示，前方蓋117，是將形成於下殼112前端側的電池收容部115（第4圖參照）的開口從下殼112的下面塞住的近似長方形板狀的構件。且，前方蓋117，是具備將輔助輪17安裝在下殼112的中心側附近的圓形的輔助輪安裝部1122。 [輔助輪17] 　　第20圖，是輔助輪17的放大立體圖。如第3、20圖等所示，輔助輪17，是將下殼112從地面遠離且將自走式電動掃地機器人1圓滑地移動用的輔助的車輪，被設置在下殼112。輔助輪17，是以藉由伴隨由驅動輪116所產生的本體11的移動而與地面之間發生的摩擦力而從動旋轉的方式藉由固定軸173而被支撐。　　輔助輪17，是具有將固定軸173作為旋轉軸可旋轉地設置的近似圓形的接地輪171、圓板部172及小圓板部174。接地輪171，是伴隨自走式電動掃地機器人1的行走與地面接觸地旋轉。小圓板部174，是鄰接於接地輪171，比接地輪171徑小且比固定軸173徑大地構成，可繞固定軸173周圍旋轉。圓板部172，是鄰接於小圓板部174，比接地輪171徑小且比小圓板部174徑大地構成，可繞固定軸173周圍旋轉。　　伴隨接地輪171的旋轉使毛髮垃圾等附著在接地輪171的話，此毛髮垃圾等會朝固定軸173周圍繞轉而糾纏在固定軸173。此時，因為小圓盤部174及圓板部172是與接地輪171鄰接，毛髮垃圾等不是容易糾纏在固定軸173而是容易糾纏在圓板部172。因此，藉由將圓板部172繞固定軸173周圍旋轉，就可將毛髮垃圾的除去比較容易地進行。小圓板部174及圓板部172是一體形成的話較佳。　　且輔助輪17，是使方向朝水平方向360°可旋轉自如地構成。又，第3圖所示的輔助輪17，是設於本體11的前方的左右方向的中央，被安裝於輔助輪安裝部1122。　　又，將接地輪17換成後述的從動滾子1186，將與圓板部172同樣的構成設於氣密構件118也可以。 [保險桿18] 　　保險桿18，是對應從外部作用的按壓力朝前後方向，較佳是進一步左右方向，可移動地被設置。保險桿18，是藉由左右一對保險桿彈簧（圖示省略）而朝前方向被推迫。透過保險桿18使來自障礙物的抵抗力作用於保險桿彈簧的話，保險桿彈簧會變形，將保險桿18朝前方向推迫且容許保險桿18的後退。保險桿18遠離障礙物使抵抗力消失的話，保險桿18是藉由保險桿彈簧的推迫力而返回至原來的位置。順便一提，保險桿18的後退（即，與障礙物的接觸），是藉由保險桿感測器（紅外線感測器）而被檢出，其檢出結果是被輸入至控制裝置2。保險桿18的變位量因為是對應障礙物等的接觸位置而不同，所以也可將障礙物等對於本體11的位置檢出。 [搔取刷13] 　　搔取刷13是在表面的一部分或是大致全部具備植毛，在與後述的旋轉刷14大致平行的方向具有軸的刷，在本實施例中藉由與地面的接觸而從動旋轉或是轉動。轉動的情況時，藉由設置止動器等來限制轉動範圍。搔取刷13的植毛的高度位置，是將木地板掃除的情況，是使先端從地面遠離0.5mm程度較佳。且，搔取刷13的植毛的位置，是將地毯上掃除的情況，與地毯的毛重疊較佳。因此，搔取刷13是可以從地毯表面將塵埃撥出的方式回收。　　對於搔取刷13，若在設置止動器地轉動的態樣使用的情況，規定的領域是持續接觸地面，可以將塵埃撥出。此時，搔取刷13之中，成為與地面持續接觸的領域，是平坦的形狀較佳。即，搔取刷13的形狀，是在軸方向視，圓筒形狀之中，將一部分置換成平坦的平面的形狀（例如將圓的一部分由弦切除的形狀、和近似半月形狀）較佳。 [旋轉刷14] 　　第19圖，是旋轉刷14的立體圖。旋轉刷14，是與通過驅動輪116的旋轉中心的軸（左右方向）大致並行地配置（第3圖參照）。旋轉刷14，是在水平方向（在本實施例中為左右方向）具有旋轉軸的圓筒形，可旋轉地被支撐在吸口部113。旋轉刷14，是藉由旋轉刷馬達1133（第2圖參照）承受驅動力而旋轉驅動。旋轉刷14，是具備從軸部141的外周面朝法線方向突出的複數植毛142。旋轉刷14的植毛142，是具備長度不同的植毛、硬度不同的植毛等複數種類的植毛，各植毛是對於旋轉軸呈螺旋狀形成列地配設（第19圖參照）。　　在植毛142的一部分或是全部中，鄰接地設有不織布143。各不織布143是各別對於植毛142，共有根部。這是例如，藉由將植毛142及不織布143由超音波熔接，就可以將植毛142及不織布143一體地實現。植毛，是最好具有某些程度的硬度，可以採用例如耐綸（尼龍）。　　且與植毛142相鄰接的不織布143，例如在本實施例中，將根部共有的植毛142及不織布143，是各別使旋轉刷14藉由旋轉刷馬達1133而旋轉的情況，使不織布143在植毛142之前與地面接觸地配置。由此，存在於地面的毛髮垃圾等，因為是先與不織布143接觸，所以可抑制被糾纏在植毛142。且，在不織布143中，朝徑方向側延伸的開縫1431是被設置1個或是2個以上。由此，可以抑制不織布的扭轉。　　又，在呈螺旋狀配置的植毛142之間追加將由橡膠等的彈性材料所構成的葉片構件呈螺旋狀配置的構成也可以，可以適宜地變更。旋轉刷14所撥起的塵埃是通過開口部17被貯塵在垃圾盒4。且，為了抑制植毛142、不織布143或是葉片構件與後述的氣密構件118的架橋部1181接觸，將這些的一部分的長度縮短、或設置缺口也可以。 [氣密構件118] 　　第21圖是將氣密構件118從本體11取下的狀態的分解立體圖，第22圖是氣密構件118的背面立體圖。　　在位於旋轉刷14的下方的部分中，安裝有氣密構件118。氣密構件118，是從自走式電動掃地機器人1的下面視，具有：將旋轉刷14下方的領域橫跨前後方向設置的架橋部1181、朝左右方向延伸的擺動軸1182、及將旋轉刷14包圍的形狀的框體部1183、氣密構件118取下時使用的取下爪1184、將架橋部1181及框體部1183朝下方推迫的推迫部1185、以及從動滾子1186。　　氣密構件118，是與吸口部113及旋轉刷14各別擺動的構件，藉由推迫部1185朝下方被推迫。因此氣密構件118，是伴隨自走式電動掃地機器人1的段差的行走等而上下動。由此，因為氣密構件118是維持接近或是接觸地面的位置，所以可以提高氣密性。且，氣密構件118，因為是與吸口部113及旋轉刷14各別擺動，所以不必要將吸口部113的擺動空間設於本體11內，有助於本體11的小形化。　　本實施例的擺動軸1182，是與搔取刷13設成同軸，可以將搔取刷13安裝在擺動軸1182。由此，即使將氣密構件118及搔取刷13一起設置的情況，因為也可以減少設置空間，所以有助於自走式電動掃地機器人1的小形化。又，擺動軸118，是被設置在氣密構件118的後端側。　　擺動軸118，是設於氣密構件118的前端側也可以。如此的話，氣密構件118，因為是隨著從後方朝向前方，而成為具有朝向上方的傾斜，所以可以減輕與位於前方的障礙物衝突時的負荷。且，氣密構件118的前端，是隨著從前方朝向後方形成朝向下方的傾斜部1187（第4圖等參照）。因此，可以進一步減少與前方的障礙物衝突時的負荷。　　取下爪1184，是被安裝於氣密構件118的左右側，藉由朝向左右方向（在本實施例中，朝向左右方向內側）動作，可以將取下爪1184從本體11取下。自走式電動掃地機器人1，因為主要是朝前後方向移動，如此藉由朝左右方向動作而可取下，在行走中可以抑制氣密構件118從本體11脫落。　　推迫部1185，是設於氣密構件118的背面側，例如可以將框體部1183和此附近朝下方推迫的例如彈簧狀的構件。氣密構件118，是藉由推迫部1185，在自走式電動掃地機器人1的行走中，以與地面接觸的方式被推迫。由此，因為可以提高旋轉刷14周圍的氣密性，所以可以提高集塵效率。　　從動滾子1186，是各別被設置在氣密構件118的左右外側部分，伴隨自走式電動掃地機器人1的行走與地面接觸，可以將氣密構件118支撐。由此，即使將氣密構件118朝下方推迫，也可以抑制與地面的摩擦阻力，可以抑制能量損失和刮傷地面。且，對於前後方向，因為從動滾子1186是透過驅動輪116位置在輔助輪17的相反側，所以自走式電動掃地機器人1的支撐可以藉由這些3個構成要素而有效地進行。 [側刷15] 　　在第3圖等例示的側刷15，是將房間的隅等的位於比本體11更外側的旋轉刷14不容易到達的場所的塵埃導引至吸口部113（吸引口1131）的刷。側刷15的旋轉軸是上下方向，側刷15的一部分是從俯視看從本體11露出。側刷15，是具有從俯視看由120°間隔呈放射狀延伸的3束的刷，各別被配置於下殼112的前方左右側。側刷15，其根部是被固定於側刷支架151。　　側刷15各刷，其側刷支架151側（根部側），是彈性體等的具有可撓性的根部彈性部153，先端側是例如刷毛也就是刷毛部154。在本實施例中，形成側刷15的旋轉軸（輪轂）的側刷支架151及根部彈性部153是被一體形成。藉由將側刷15的根部作成如根部彈性部153的彈性體，與刷毛部154是從根部朝先端的構成相比，因為刷毛部154不易彎曲而纏在一起，所以可以提高側刷15的耐久性。　　側刷15的植毛，是以隨著朝向先端而接近地面的方式傾斜，其先端附近是與地面接觸。　　側刷支架151，是被設置在下殼112的底面附近，與側刷馬達152連結（第2圖參照）。藉由側刷馬達152驅動，使側刷15朝向內側（第3圖的箭頭的方向）旋轉，將塵埃朝吸引口1131撥動收集。 [電動送風機16] 　　第4圖所示的電動送風機16，是具有設有前後方向軸的風扇，風扇是藉由旋轉驅動將垃圾盒4內的空氣朝外部排出使負壓發生，具有從地面透過吸引口1131（吸口部113）將塵埃吸入的功能。彈性體161是被設置在電動送風機16的外周面。如此藉由將彈性體位在其間，電動送風機16的振動衰減成為不易朝本體11傳達，可以減少本體11的振動、噪音。又，在本實施例中，電動送風機16是被配置於下殼112的中心附近。 [吸口部113] 　　第6圖是吸口部113、塵埃感測器單元12及垃圾盒4的分解立體圖，第7圖是塵埃感測器單元12的前視圖，第8圖是塵埃感測器單元12的右側視圖。　　吸口部113，是形成有與垃圾盒4連通的吸引口1131，並且收容搔取刷13、旋轉刷14的構件。旋轉刷馬達1133是被安裝在吸口部113也可以。比吸引口1131更上游側（旋轉刷14側），是收納旋轉刷14的空間，比吸引口1131剖面積更大。　　在本實施例中，藉由電動送風機16的負壓而被吸入的空氣，是依吸引口1131、塵埃感測器單元12、垃圾盒4的風道42及主積蓄室41、集塵過濾器46、電動送風機16、以及排氣口1126的順序通過。在此空氣中多包含塵埃，由集塵過濾器46被遮住並被貯塵在垃圾盒4內。以下，將與吸引口1131及塵埃感測器單元12的框121大致垂直的方向（框121的正面視方向）稱為主方向。又，排氣口1126，是設於下殼112，在2個驅動輪116之間在本實施例中位置6個。　　本實施例的吸口部113，雖未具有從吸引口1131朝主方向延伸的部分，但是例如後述的垃圾盒4的風道42，具有朝主方向延伸且與吸口部113一體的吸口部風道也可以。此情況，吸口部風道、塵埃感測器單元12及風道42，是包圍從吸引口1131至垃圾盒4內為止的道程。此點，如後述，從提高垃圾盒4的容積的觀點等，此道程之中，風道42的長度（例如主方向長度），是比吸口部風道的長度（例如主方向長度）和框121的長度（例如主方向長度）更長較佳。 [塵埃感測器單元12] 　　塵埃感測器單元12，是被配置於吸口部113及垃圾盒4之間。　　塵埃感測器單元12，是具有：框121、設於框121且彼此相面對的發光部122及受光部123、被安裝於框121的垃圾盒4側的密合構件124、及基板127。塵埃感測器單元12，是與吸口部113及垃圾盒4別構件地形成，將框121與吸口部113接觸，藉由在此狀態下安裝，可同時將發光部122、受光部123、連接器126及密合構件124安裝。因此，本實施例的塵埃感測器單元12，組裝性優異。（框121）　　框121，是確保將發光部123及受光部124連結的光軸的空間，且在框121本身或是此附近可安裝發光部123及受光部124的構件。本實施例的框121，是形成具有長度方向及寬度方向的形狀，可以形成例如矩形狀。在本實施例中近似長方形狀。在框121的長度方向的一方中，安裝有受光部123及基板127。在框121的長度方向的另一方中，安裝有發光部122。又，發光部122及受光部123，是設於框121的寬度方向也可以。且，框121是正方形狀、圓形狀、橢圓形狀、卵型等也可以。（發光部122及受光部123）　　發光部122及受光部123，是彼此相面對，發光部122發出的紅外線等的光，是藉由受光部123而被受光。發光部122所發出者，不限定於光，超音波等可將塵埃的有無檢出的話各種公知者皆可以。將發光部122及受光部123設於相同側也可以，但是從小形化的觀點等是相面對較佳。（配線125、連接器126、基板127）　　基板127，可以搭載：發光部122的驅動電路、受光部123的增幅電路、藉由將增幅的訊號與某些基準電壓相比較而將由塵埃的通過所產生的受光量的減少作為脈衝輸出的比較器等。可取代比較器或是追加可以檢出受光部123的受光量繼續減少者也可以。此情況，可以推測垃圾盒4是否裝滿。　　發光部122及基板127，是藉由配線125而與電力地連接。配線125，是沿著發光部122及受光部123的相面對方向，在框121附近爬行，或在框121內爬行，被組入框121及密合構件124之間。在配線125中，發光部122的驅動電流流動。又，受光部123也藉由配線而與基板127電連接（未圖示）。這些配線，是與連接器126電連接。（密合構件124）　　密合構件124，是配合框121的周緣形狀的形狀，在本實施例中為中空的近似長方形狀。框121的形狀，是配合吸引口1131的形狀。密合構件124，可以採用密封墊等。（塵埃感測器單元12的優點）　　如此構成的塵埃感測器單元12，因為可以將發光部122及受光部123一體地保持，所以容易使光軸一致。且，因為可以將受光部123及基板127接近地配置，所以從受光部123至增幅電路為止的距離可以縮短，可以減少電磁雜音對於微弱的訊號也就是受光部123的輸出的影響。且，發光部122的配線125也在塵埃感測器單元12內一體化，與控制裝置2電連接時，也只將配線（無圖示）與連接器126連接即可，組裝性優異。　　且在與垃圾盒4接觸的構件也就是密合構件124中，使用彈性體等的具有彈性的材料較佳，但是這種材料，是比其他的零件更早劣化。且，發光部122及受光部123的表面也容易產生由塵埃所產生的弄髒和刮傷等。依據本實施例，這種劣化和弄髒，將容易藉由刮傷而產生必需交換的零件，因為藉由可以與塵埃感測器單元12的交換同時交換，所以維修性優異。（框24的非相面對方向的尺寸等）　　第9圖，是第7圖的C-C剖面圖。對於塵埃感測器單元12，與框121平行的方向（與主方向垂直的方向）之中，將與發光部122及受光部123的相面對方向大致垂直的方向稱為非相面對方向。框121之中，將吸引口1131側的非相面對方向的寬度設成a、將垃圾盒4側的非相面對方向的寬度設成b的話，a≒b且a＜b。由此抑制與主方向垂直的面的剖面積過度地變窄所導致的損失增加。且，將框121所包圍的領域的中心線90（與主方向大致平行），作成通過尺寸a及b的中點的直線。即，如第9圖所例示考慮使a1=a2=a/2、b1=b2=b/2成立的直線的話，a1及b1是比中心線更上方側，a2及b2是比中心線更下方側。此時，發光部122及受光部123，是對於非相面對方向，被配置於比中心線90更下方側。塵埃是比空氣重，通過中心線90的下側的確率因為較高，藉由在下方側設置發光部122及受光部123，就可高精度地將塵埃檢出。　　第10圖，是第8圖的D-D剖面圖。發光部122，是具有發光元件1221及透明樹脂帽1239，受光部123，是具有受光元件1232及透明樹脂帽1239。對於被安裝的透明樹脂帽1239，發光元件1221及受光元件1232之間的領域，是各別具有比與發光元件1221所發出的光的光軸垂直的方向的尺寸更小的尺寸。由此，可以由透明樹脂帽1239保護元件，且導引發光元件32的光，且抑制塵埃感測器單元12的上下尺寸和前後尺寸的大形化。（框24的相面對方向的尺寸等）　　與框121平行的方向之中，將與發光部122及受光部123的相面對方向大致平行的方向稱為相面對方向。將吸引口1131側的相面對方向的寬度設成e、將垃圾盒4側的相面對方向的寬度設成d的話，e＞d。即，框121的相面對方向的寬度，是隨著朝向垃圾盒4側而變小。由此，包含塵埃的空氣是流動於箭頭91的方向時，藉由慣性，使塵埃遠離壁面地流動。因此，可以抑制透明樹脂帽1239的刮傷和弄髒。 [垃圾盒4] 　　第11圖是將垃圾盒4從本體11取下的狀態的立體圖，第12圖是自走式電動掃地機器人1之中，包含裝設有垃圾盒4的本體11的領域的立體圖，第13圖是第12圖的主要部分放大圖，第14圖是第5圖的B-B剖面圖，第15圖是包含小道具收容部1102及小道具95的立體圖，第16圖是將垃圾盒4安裝的本體11的後豎框體圖。　　垃圾盒4，是將從地面透過吸引口1131（吸口部113）被吸入的塵埃積蓄的容器。垃圾盒4，是具備：將形成於吸引口1131側的風道42、將回收的塵埃積蓄在主的主積蓄室41、可將積蓄的塵埃從過濾器46側（上方側）取出的蓋45、可轉動且可將主積蓄室77下方側（風道42側）的開口開閉的逆流抑制閥44、及可折疊的操作桿43。垃圾盒4，是從本體11的傾斜上朝向傾斜下地安裝。（主積蓄室41）　　主積蓄室41，是由例如樹脂材所形成，將空間內包的領域，藉由蓋45及逆流抑制閥44來抑制塵埃從空間朝外側漏出。蓋45，可以將主積蓄室41的水平方向側的開口塞住，逆流抑制閥44，可以將主積蓄室41的下方側的開口塞住。主積蓄室41內包的空間的剖面積，是比框121的剖面積更大。在此的主積蓄室41內包的空間的剖面積，可以是例如，與過濾器46垂直的方向的剖面積。（風道42）　　風道42，是在主積蓄室41的下方側具有一端，另一端是藉由逆流抑制閥44可開閉。風道42，是與形成從吸引口1131至主積蓄室41為止的道程的一部分、大致全部或是全部的垃圾盒4一體的部分。本實施例的風道42，雖是一端側是大致朝上下方向延伸，從中途處朝向另一端側朝傾斜下方向延伸的形狀，但是只有後者，即，只有朝向另一端側朝傾斜下方向延伸的部分構成也可以。　　如此，從整體看的話，風道42，是從一端朝向另一端朝向傾斜下延伸。風道42的一端，是例如，可以設於主積蓄室41的下面，較佳是，從上面視，對於主積蓄室41的下面的中央，設於比風道42的另一端更遠的位置。由此，容易將垃圾盒4的上面視中的尺寸小形地形成。（操作桿43）　　操作桿43，是將主積蓄室41的上側作為轉動軸可轉動地被設置的構件，具有把持部431、止脫部432、作用點部433、卡止部434。操作桿43，是可以轉動從轉動軸的前方至轉動軸的上方為止的大致90°～100°程度。為了達成後述的作用點部433及卡止部434的兩者的作用，可轉動範圍是超過90°，大致135°以下，較佳是120°以下較佳。在此，將把持部431躺下的狀態（被卡止於卡止部434的狀態）的轉動角設成0°。又，在第16圖例示的狀態，轉動角是大致90°。　　把持部431，是使用者容易將垃圾盒4把持並進行裝卸動作等用的部分，在前端設有卡止部434。在垃圾盒4被安裝於本體11的狀態下，卡止部434是被卡止於設於上殼111的非卡止部（未圖示），可以將操作桿43卡止。　　止脫部432，是設於轉動軸附近且比轉動軸更靠卡止部434側（轉動角度0°側）的突起狀的部分。在操作桿43位於前側的狀態下，止脫部432是進入本體11內，與本體11內的部分接觸並產生摩擦阻力。由此，抑制操作桿43的脫落。　　作用點部433，是在操作桿43位於上側的狀態下進一步使用者朝向後方（朝向轉動角超過90°的方向）賦予力的話，與本體11的上面側接觸的部分。在此狀態下作用點部433，是成為垃圾盒4從本體11被舉升的力的作用點，轉動軸是成為支點。由此，可以成為使用者將垃圾盒4取下時的輔助。本體11的上面側，不特別限制，可以是例如後述的導引段差119。 [垃圾盒4的形狀及小道具收納部] 　　垃圾盒4，是後方上側朝後方突出的形狀，被安裝於本體11時，後方上側是形成自走式電動掃地機器人1的側面的一部分（第16圖等參照）。因此，對於本體11，在垃圾盒4中的後方上側領域的正下方碰觸的領域，也形成自走式電動掃地機器人1的側面的一部分。在本實施例中，在由此本體11所產生的側面的一部分的附近，設置在第15圖等例示的小道具收容部1102，收納小道具的其中一例的清掃用刷95。清掃用刷95，是例如，為了讓使用者可以清掃垃圾盒4內用者，沿著本體11的外周形狀彎曲的形狀。清掃用刷95，是具有刷毛951及冶具部952。刷毛部951，可以在垃圾盒4等的清掃時使用，冶具部952，可以在將側刷15取下時使用。　　藉由沿著本體11的外周形狀彎曲的形狀，可以將在清掃用刷95的收納所需要的空間沿著本體11的側面的內周設置。例如將清掃用刷95等，作成裝設在垃圾盒4的外面的態樣的話，因為會導致垃圾盒4的容量的減少而不佳。且，藉由將清掃用刷95等的收納空間設在垃圾盒4的裝卸領域，可以抑制清掃用刷95等無意中地脫落的事態。　　又，可取代本實施例，可取代例如清掃用刷95或是追加將側刷15取下用的冶具，將其他的小道具收納也可以。　　小道具的收納態樣不限定於上述，將垃圾盒4安裝於本體11的狀態的話將被本體11及垃圾盒4包圍的領域設於本體11即可。（逆流抑制閥44）　　逆流抑制閥44，是具有：與可以將作為風道42的另一端的開口塞住的主面441、與主面441一體或是別體地安裝且在主面441對於大致平行的方向且比風道42更朝外側突出的突出部442、及朝將主面441及突出部442轉動的方向推迫的推迫部443。在本實施例中，突出部442是各別被設置在與主面441大致平行的方向的外側。　　推迫部443，是朝主面441將開口塞住的方向將逆流抑制閥44推迫的構件，可以使用各種公知者，可以使用例如彈簧。將推迫部443設成例如捲簧的話，自己可以成為轉動軸。　　因此，在外力不能正常工作的狀態下，逆流抑制閥44是將風道42的另一端塞住。　　突出部442，是將垃圾盒4裝設在本體11時，設於垃圾盒4被收納的領域，與作為反推迫部的導引段差119接觸。導引段差119，是被設置在本體11之中將垃圾盒4取下的話可目視的領域的2個段差部分。導引段差119，是各別沿著垃圾盒4的安裝方向被設置，在本實施例中從上後方朝向下前方延伸。　　突出部442是由伴隨朝垃圾盒4的本體11的裝設的朝垃圾盒4的下方的移動，各別與導引段差119接觸及滑動，主面441是朝將開口開放的方向承受力。由此，逆流抑制閥44是抵抗推迫部443的推迫力，將風道42的另一端開放。如本實施例所例示的導引段差119，藉由反推迫部及突出部442的接觸，主面441可以承受推迫部443的推迫力相反方向的力將作為風道42的另一端的開口開放。　　具體而言，產生將逆流抑制閥44的長度方向作成軸的轉動，將風道42的另一端開放。本實施例的逆流抑制閥44因為是近似長方形狀，所以將逆流抑制閥44的寬度方向作成軸的轉動、和將與主面441垂直的方向作成軸的轉動的話，為了進行轉動所必要的空間因為需要較廣，所以將長度方向作為軸轉動較佳。即，推迫部443，是將主面441的長度方向作為軸將逆流抑制閥44轉動。　　又，突出部442，是藉由與自走式電動掃地機器人1的任何的構件（反推迫部）接觸而可以將逆流抑制閥44成為開狀態即可。　　在比本實施例的導引段差119的前端更前方中設置間隙1101，在垃圾盒4被安裝於本體11的狀態下，逆流抑制閥44，是朝導引段差119被推壓且滑動，被收納於間隙1101。間隙1101，是位於框121的主方向投影面的外側。因此，在將垃圾盒4裝設的狀態下，風道42的另一端，是與塵埃感測器單元12接觸，特別是在本實施例中與密合構件124密合。 [從吸引口1131至主積蓄室41為止被設置的構造物] 　　特別是如第14圖例示，對於主方向，塵埃感測器單元12的尺寸92，是比風道42的另一端側的尺寸93更短。即，將從吸引口1131至主積蓄室41為止連接的道程的一部分，較佳是比尺寸92更長地，形成風道42的另一端側的尺寸93。由此，因為可以在從吸引口1131至主積蓄室41為止的領域設置垃圾盒4的一部分，所以可以擴大垃圾盒4的容積。　　在此，風道42，可以形成風道42的一端側，具有尺寸94且具備朝上下延伸的直立部421。直立部421，抑制塵埃從主積蓄室41朝風道42的另一端側漏出。　　在此，尺寸93，是將垃圾盒4的下面擬制成平面（將主積蓄室41形成近似箱型），在塵埃感測器單元12的尺寸92以大致平行的直線測量，從此平面至塵埃感測器單元12為止的距離。又，本實施例的主積蓄室41可以是箱型。 [由逆流抑制閥44所產生的風道42的閉塞] 　　如上述，在垃圾盒4被裝設於本體11的狀態下，逆流抑制閥44，是被存儲於旋轉刷14的上側。將垃圾盒4從本體11取下的話，藉由推迫部443的推迫力使逆流抑制閥44轉動，將風道42側另一端的開口塞住。由此，即使塵埃被積蓄在風道42內，也可以抑制塵埃溢出從垃圾盒4落下。又，主面441，是平板狀也可以，可以抑制塵埃通過的程度的網孔狀也可以。 [塵埃的裝滿檢出] 　　自走式電動掃地機器人1是吸引塵埃的話，吸引的塵埃首先被積蓄在主積蓄室41，主積蓄室41是成為裝滿的話也被積蓄在風道42。因為風道42是比重力方向更朝向水平方向側的傾斜向下，所以可以抑制塵埃從風道42落下。且，因為比水平方向更朝向重力方向側，所以主積蓄室41是成為裝滿之後，塵埃比較容易馬上被積蓄在風道42，容易藉由塵埃感測器單元12檢出塵埃。　　且藉由直立部421，即使在主積蓄室41具有多餘狀態也可以無關地抑制塵埃流動落下風道42。本實施例的垃圾盒4，因為是在比風道42的一端更前側，設有主積蓄室41內包的空間的過半的比率，所以塵埃容易積蓄在前方側。但是，因為在空間的過半的比率及風道42之間設有直立部421，所以即使塵埃是伴隨朝自走式電動掃地機器人1的主移動方向也就是前方的加速朝後方移動，仍可以有效地抑制塵埃朝風道42落下。即，從前方朝向後方，由主積蓄室41內包的空間的過半的比率、直立部421、風道42的一端的順序位置。　　塵埃也積蓄在風道42而成為大致裝滿的話，塵埃是持續將發光部122的光遮斷，受光部123的受光量下降的狀態是繼續。藉由將此狀態檢出，就可以開始進行：將垃圾盒4的裝滿檢出並通知使用者、將自走式電動掃地機器人1朝充電台（未圖示）歸還的控制。 [通過的塵埃量的檢出] 　　發光部122的光是被瞬間地遮斷的話，受光部123的受光量會脈衝地減少。由此，可以檢出塵埃朝向垃圾盒4通過。在本實施例中，對於主方向中的剖面積，旋轉刷14側是比吸引口1131更大，在框121和風道42變小，在主積蓄室41變大。即，從旋轉刷14的收納空間至主積蓄室41為止的道程中的剖面積，是在框121及/或風道42最小。因此，被吸入的塵埃，是配合風道42的形狀集中在剖面積小的框121。因為發光部122及受光部123，是被設置在框121，所以塵埃多是通過發光部122及受光部123之間。即，可以將塵埃量高精度地測量。　　且因為通過框121之後的塵埃，是通過剖面積大致相同的風道42，所以在框121附近，渦流不易產生。即，可以抑制塵埃藉由渦流而逆流而被多重檢出。進一步，因為可以擴大風道42通過之後的剖面積，所以可以抑制風損。　　且比塵埃感測器單元12更上游側的剖面積，即，從吸口部113至塵埃感測器單元12為止的剖面積，是單調地減少也可以。如此的話，在塵埃感測器單元12的上游產生渦流，可以抑制塵埃被塵埃感測器單元12多重地檢出。 [佈局配置] 　　第17圖是將上殼111取下的自走式電動掃地機器人1的立體圖，第18圖是第1圖的E-E剖面圖。　　為了將自走式電動掃地機器人1的上下尺寸作成小形，本體11的上下尺寸是與電動送風機16的上下尺寸大致同一。如第17圖所例示，將上殼111取下的狀態的話，以將電動送風機16的上面的一部分覆蓋的凸形狀113被看到的方式構成。由此，有助於本體11的上下尺寸的小形化。又，本體11的底面側，是在由下面視與電動送風機16重疊的位置，具有朝下方突出的凸形狀也可以。　　在上殼111的下側空間中，藉由設置凸形狀162，只有將電動送風機16上端側的部分朝此空間突出，並且只有其突出尺寸分，成為可以配置別的零件的空間。即，在凸形狀162位置的高度領域，配置有別的零件。　　在例如本實施例中，成為配置：開關薄片22的一部分、電路基板或是電路元件、7區段、及LED等的發光元件，可以由上殼111將這些覆蓋的構成。由此，成為容易減小容易受到電動送風機162的尺寸影響的自走式電動掃地機器人1的上下尺寸。又，除了開關薄片22的一部分、電路基板或是電路元件、7區段、及LED等的發光元件以外，配置任何的零件也可以，只有配置這些的一部分也可以。這些配置的零件的高度尺寸，是凸形狀162的高度尺寸以下較佳，例如5mm以下、3mm以下、2mm以下或是1mm以下。　　且電動送風機162，是朝水平方向被送風地被安裝，即，風扇開口是成為大致水平方向（例如水平方向的±10度以下，較佳是±5度以下）。如此的話，如本實施例容易將電動送風機162及垃圾盒4由水平方向形成的通路連接。即，可以減少在高度方向將通路延伸的必要性，可以抑制高度尺寸。　　又，藉由將上殼111取下讓電動送風機16的上端側的部分露出也可以，配置了上述的別的零件的平板狀的構件是將電動送風機16的上端側的部分覆蓋也可以。　　且通常是將圓筒形狀的電動送風機16傾斜地配置的話，因為會發生加大本體11的上下尺寸的必要，所以電動送風機16的軸方向，是成為從水平方向或是水平方向的±10度以下，較佳是±5度以下地偏離。　　對於電動送風機16的軸方向視，如第18圖所例示，臂1141的轉動軸側是位置在與筒型的電動送風機16外接的近似正方形的領域的內側。此領域容易成為死角（死空間），如此藉由配置臂1141的一部分就可以將空間有效活用實現自走式電動掃地機器人1的小形化。且，因為將排氣口1126位於電動送風機16的正下方、和位於電動送風機16的下游側的開口的正下方，所以可以將排氣風路縮短。　　本實施例，是具備小形化用的各式各樣的構成，其結果，上下尺寸可以形成接近電動送風機16的上下尺寸。具體而言，即使考慮驅動輪116對於尺寸的影響，是在將自走式電動掃地機器人1載置在地面的狀態中的自走式電動掃地機器人1的上下尺寸（即臂1141朝上側轉動使驅動輪116被收納的狀態的上下尺寸）的70%以上，較佳是75%以上或是85%以上的範圍，成為電動送風機16的上下尺寸以內的方式構成。　　上殼111及下殼112是將上下側包圍的領域的上下尺寸、及電動送風機16的上下尺寸是大致同一。具體而言，電動送風機16的上下尺寸，是上殼111及下殼112所包圍的領域的上下尺寸的90%以上，較佳是95%以上。　　且如上述，被載置在本體11的構造物之中，重量大者是充電池19和電動送風機16。將充電池19配置於中央側的話，因為容易成為配線等的妨害，所以在本實施例中將電動送風機16配置於中央側，將充電池19配置於前側。 [側刷15的旋轉速度] 　　自走式電動掃地機器人1，是在左側及右側各別具有側刷15。在本實施例中，將側刷15的旋轉速度各別可變更的構成。具體而言，自走式電動掃地機器人1，是實行以壁位在左側的方式行走的壁邊清掃模式的情況，將與壁位置的側相同側也就是左側的側刷15的旋轉速度，比另一方的側刷15的旋轉速度更快速地控制。由此，可以將壁邊的清掃更有效地進行。壁邊清掃模式，可以藉由各種公知的方法實行，例如，可以藉由使設於本體11的左側的測距感測器210持續地檢出壁面（障礙物）的方式進行行走控制而實現。　　又，在以壁位置在右側的方式行走的壁邊清掃模式實行的情況，也可以同樣地控制。且，即使將壁邊清掃模式的實行中的壁側的側刷15的旋轉速度，設成與其他的控制模式，例如將壁面和障礙物檢出的話，朝遠離其壁面和障礙物的方向將進路變更將行走再開的反射行走模式的實行中的旋轉速度相比更高地控制，也可獲得同樣的效果。且，與壁邊同樣地，2壁面交叉的隅部也可以同樣地將旋轉速度和後述的扭矩控制。 [側刷15的扭矩] 　　側刷15，是各別藉由充電池19的電力而驅動的側刷馬達152被驅動。在本實施例中，側刷馬達152是採用DC馬達。DC馬達，即使是時間平均的輸出的電壓是同值，也是功率比較高（電壓外加時間長）者可以將較高的扭矩傳達。側刷15，是與壁和障礙物接觸的話，因為藉由其摩擦而使扭矩減少，所以清掃效率容易下降。　　因此，在本實施例中，例如，實行以壁位在左側的方式行走的壁邊清掃模式的情況，能以將朝與壁位置側相同側也就是左側的側刷15將扭矩傳達的側刷馬達152的功率比，比朝另一方的側刷15將扭矩傳達的側刷馬達152的功率更高的方式控制。　　且充電池19的能量減少且輸出電壓下降的情況，因為即使相同功率比，扭矩也下降，所以充電池19的殘電力愈低，功率比愈大。　　又，由同樣的理由，因為依據地面的材質而輸出的扭矩也不同，對應地面的種類決定功率比也可以。例如，與木地板清掃中相比，可以使地毯清掃中的功率比變高的方式控制。　　進一步，塵埃感測器單元12的塵埃檢出個數愈大，功率比可以愈下降。由此，在塵埃為多量的領域，可以不會藉由側刷15而將塵埃撒散。　　且即使將壁邊清掃模式的實行中的壁側的側刷15的功率比，設成與其他的控制模式，例如將壁面和障礙物檢出的話，朝遠離其壁面和障礙物的方向將進路變更將行走再開的反射行走模式的實行中的功率比相比更高地控制，也可獲得同樣的效果。 [感測器類] 　　第23圖，是顯示與自走式電動掃地機器人的控制裝置2、及控制裝置2連接的機器的概略構成圖。保險桿感測器（障礙物檢出手段），是將保險桿18的後退（即，與障礙物的接觸）檢出的感測器。　　在第2圖等例示的測距感測器210（障礙物檢出手段），是檢出障礙物為止的距離的紅外線感測器。在本實施例中，在正面3處及側面2處的計5處設有測距感測器。　　測距感測器210，是具有：將紅外線發光的發光部（無圖示）、及將使紅外線由障礙物反射回來的反射光受光的受光部（無圖示）。依據藉由此受光部被檢出的反射光，而算出至障礙物為止的距離。又，保險桿18之中至少測距感測器的附近，是由紅外線可透過的樹脂或是玻璃所形成。　　在第3圖等例示的地面用測距感測器211（地面檢出手段），是測量地面為止的距離的紅外線感測器，在下殼112的下面的前後左右被設置4處。更具體而言，位於：輔助輪17的前側、旋轉刷14及搔取刷13的後側、各驅動輪116的前側且左右方向外側。　　藉由地面用測距感測器而將台階等的大的段差檢出，就可防止自走式電動掃地機器人1（從台階等）落下。例如，藉由地面用測距感測器而在前方被檢出30mm程度的段差的場合，控制裝置2是將行走馬達控制將本體11後退，將進行方向轉換。　　又，輔助輪17前側（下殼112的前端側）的地面用測距感測器211是檢出從地面的距離是遠的情況，且，旋轉刷14後側（下殼112的後端側）的地面要素距感測器211是檢出從地面的距離是接近的情況的情況，控制裝置2，是將本體11就這樣持續前進也可以。因為這種檢出的組合的情況，被認為自走式電動掃地機器人1多是已爬上段差。同樣地，輔助輪17前側的地面用測距感測器211是檢出從地面的距離是接近情況，且，旋轉刷14後側的地面要素距感測器211是檢出從地面的距離是遠的情況時，控制裝置2，是將本體11就這樣持續前進也可以。在此所謂的「接近」，是指例如，在平坦的地面上自走式電動掃地機器人C行走的情況地面用測距感測器211所檢出的距離以下，「遠」，是指例如，在平坦的地面上自走式電動掃地機器人C行走的情況超過地面用測距感測器211所檢出的距離。其他，設定1個或是2個適當的門檻值，與此相比較的結果也可以。　　利用第23圖所示的行走馬達脈衝輸出，檢出行走馬達1161的旋轉速度、旋轉角度。又，控制裝置2是依據由行走馬達脈衝輸出而被檢出的旋轉速度、旋轉角度、及減速機構的齒輪比、及驅動輪116的徑，算出本體11的移動速度、移動距離。　　行走馬達電流測量器，是測量流動於行走馬達1161的電樞捲線的電流的測量器。同樣地，電動送風機用電流測量器是將電動送風機16的電流值測量，旋轉刷馬達用電流測量器是測量旋轉刷馬達1133的電流值。2個側刷馬達用電流測量器是測量側刷馬達152的電流值。各電流測量器，是將被測量的電流值朝控制裝置2輸出。可以利用電流值的檢出結果，檢出例如異物糾纏在旋轉刷使旋轉停止的異常，可以藉由操作按鈕朝使用者報知。　　且從旋轉刷馬達1133的電流值及行走馬達1161的電流值，檢出本體11行走的地面的狀態，例如辨認為在地毯上的話將電動送風機16的輸入加大使增加吸引力，在木地板上的話，減小電動送風機16的輸入設定進行抑制充電池19的消耗電力的控制。　　藉由塵埃感測器單元12檢出塵埃的話，將電動送風機16的輸入一定時間增加。不進行對應檢出的塵埃量決定電動送風機16的輸入增加時間（例如延長）。由此，抑制電動送風機16的消耗電力。且，即使檢出塵埃，也不進行本體11的反轉和往復動作。由此，可以迴避移動速度的下降。 [驅動裝置] 　　第23圖所示的行走馬達驅動裝置（左）（右），是將左右側的行走馬達1161驅動的變頻器，或是由PWM控制所產生的脈衝波形發生裝置，對應來自控制裝置2的指令動作。對於電動送風機驅動裝置、旋轉刷用馬達驅動裝置、側刷用馬達驅動裝置（左）（右）也同樣。這些各驅動裝置，是被設置在本體11內的控制裝置2（第2圖參照）。 [控制裝置2] 　　控制裝置2，是例如微電腦（Microcomputer、圖示省略），將被記憶在ROM（唯讀記憶體、Read Only Memory）的程式讀出朝RAM（動態隨機存取記憶體、Random Access Memory）展開，由CPU（中央處理器、Central Processing Unit）實行各種處理。控制裝置2，是對應從開關薄片22（第1圖參照）、及前述的各感測器類被輸入的訊號實行運算處理，將指令訊號朝前述的各驅動裝置輸出。　　以上，對於本發明的自走式電動掃地機器人顯示了實施例並詳細說明。又，本發明的內容不限定於實施例，在不脫離其宗旨的範圍內當然可適宜地改變、變更等。且，在本實施例中，說明了自走式掃地機器人的例，但是即使適用於罐式、棒式、及手持式的掃地機器人，也具有同樣的效果。＜實施例2＞　　實施例2的構成，是除了下述的點以外可以與實施例1同樣。 [開關薄片22] 　　第24圖是將上殼111取下的自走式電動掃地機器人1的立體圖，第25圖是從第24圖的狀態進一步將開關薄片22取下的自走式電動掃地機器人1的立體圖，第26圖（a）是開關薄片22的正面立體圖，第26圖（b）是開關薄片22的背面立體圖。　　開關薄片22，是被設置在上殼111及控制基板21之間。控制基板21，是位於本體11之中的上殼111的下側。且，控制基板21及開關薄片22之間，是設有將開關薄片22載置的例如樹脂性的支撐板80。　　開關薄片22，是具有：將對應使用者的操作的操作訊號朝控制裝置2輸出的操作按鈕221、222、及軟質部223。操作按鈕221、222，是具有將圓形狀的圓形操作按鈕221及圓形操作按鈕221周圍包圍的環狀的環形操作按鈕222。藉由將操作按鈕221、222壓下，就可以朝控制裝置2將訊號輸出。操作按鈕221、222及軟質部223，是被預先組裝作為一構件地形成。　　操作按鈕221、222，是露出自走式電動掃地機器人1的上面。在操作按鈕221、222中，可以具有例如將電源的導通（ON）/斷開（OFF）、掃除的開始/終了、進行掃除模式的變更的訊號，朝控制裝置2輸出的功能。　　軟質部223，是可以將操作按鈕221、222周圍包圍的例如具有可撓性的橡膠製的構件。將軟質部223載置在支撐板80，藉由上殼111及支撐板80將軟質部223挾持，可以抑制水滴等從露出自走式電動掃地機器人1的上面的操作按鈕221、222附近滲入。藉由如此構成，因為可以抑制水滴等的滲入且將操作按鈕221、222朝自走式電動掃地機器人1的上面露出，所以可以減少由防水性的構件包圍壓下式的操作按鈕221、222等的必要性，可以提高新式樣（外觀的造形設計）效果。　　軟質部223，是將貫通孔2231具有1個或是2個以上。透過貫通孔2231在上殼111的相反側中，設有LED等的發光部（未圖示）。發光部，可以設於例如控制基板21。藉由對應操作按鈕221、222的壓下，改變發光部所發出的光色，朝使用者通知控制裝置2可以辨認由操作按鈕221、222所產生的操作。貫通孔2231，是在開關薄片22的正面視，與操作按鈕221、222遠離。由此，可以抑制水滴滲入貫通孔2231。　　顯示面板驅動裝置，是對應來自控制裝置2的指令，朝顯示面板的電極外加電壓使發光部發光的裝置。發光部，是例如，自走式電動掃地機器人1的運轉狀態模式（自動和手動）和狀態（垃圾拋棄要否和充電值殘量的報知），將正時器預約時間和電動送風機的輸入模式（強、中、弱）等顯示。　　支撐板80，是在與操作按鈕221、222重疊的位置各別具有貫通孔801。且，操作按鈕221、222，是在背面具有突起2211、2221及支撐突起2232。藉由支撐突起2232，在操作按鈕221.222未被壓下的狀態下抑制突起2211、2221與控制基板21的開關接觸，且，在操作按鈕221、222被壓下的狀態下讓突起2211、2221進入貫通孔801，可以與控制基板21的開關接觸。又，在與上述的發光部及貫通孔2231重疊的位置也具有貫通孔802。　　又，操作按鈕221、222，未具有通知塵埃的檢出的顯示部。檢出塵埃的話電動送風機的輸入模式因為會變化，所以與此電動送風機的輸入模式顯示部兼用。藉此，可達成顯示部的低成本化。　　充電池19，是例如，可藉由充電再利用的二次電池，被收容在電池收容部115（第4圖參照）。來自充電池19的電力，是被供給至各感測器類、各馬達、各驅動裝置、及控制裝置2。＜實施例3＞　　本實施例的構成，是除了以下的點以外與實施例1或是2同樣。 [側刷15的形狀] 　　第27圖是側刷15的立體圖，第28圖是顯示側刷15為撓曲的狀態的圖。側刷15的根部彈性部153，是側刷支架151側的部分（根部側）也就是細狀部1531，是成為比刷毛部154側的部分也就是粗狀部1532更細的形狀。且，因為將細狀部1531與側刷支架151連接，所以可以將細狀部1531作為軸使粗狀部1532及刷毛部154比較容易撓曲。因此，電源線等即使與側刷15接觸，如第28圖所例示，藉由將細狀部1531作為軸撓曲，側刷15是不會糾纏在電源線等可容易繼續旋轉。　　且沿著根部彈性部153的刷毛部154的尺寸（長度尺寸），是將自律行走型掃地機器人S載置在地面的情況時，即使將根部彈性部153朝向地面曲折也無法到達地面的長度。由此，例如電源線等即使與側刷15接觸使側刷15被曲折，根部彈性部153會與地面接觸，仍可以抑制側刷15從根部被激烈折返的事態。即，根部彈性部153，是自走式電動掃地機器人1的行走中，以其先端不與地面接觸的方式被尺寸調整。　　且從細狀部1531的上側表面部分至粗狀部1532的上側表面部分為止的與刷毛部154垂直的方向中的距離（細狀部1531及粗狀部1532的段差的尺寸），是1.2mm以下。　　細狀部1531，與粗狀部1532相比，旋轉方向兩側的面各別是成為變細的形狀，且，2個側刷15各別可以共通地使用。在此，在旋轉方向兩側其中任一皆無變細的部分的情況，根部彈性部153，是與障礙物接觸的話容易朝下側撓曲。此時，刷毛部154會大撓曲，有可能糾纏在一起。另一方面，在旋轉方向任一方有變細的部分的情況，根部彈性部153，是與障礙物接觸的話容易朝傾斜下側撓曲。即，刷毛部154成為難被挾持在與地面之間，可以抑制糾纏在一起。但是此時，2個側刷15的旋轉方向因為通常是反向，所以變細的部分的方向，是2個側刷15成為彼此逆向。即，難將2個側刷15作為共用的零件使用。且，如本實施例，在旋轉方向雙方有變細的部分的情況，可以抑制在根部彈性部153糾纏在一起，並且可以將2個側刷15作為共用的零件使用。　　側刷支架151，是如第3圖例示，在下面具有冶具插孔1512。冶具插孔1512，是貫通側刷支架151的上下，形成安裝爪1511的2個爪是位置在冶具插孔1512的兩側中。安裝爪1511，是被安裝於設於下殼112的被安裝部（未圖示）。被安裝部，是從安裝爪1511的形狀可知近似長方形狀。　　使用者，是將棒狀的小道具95的冶具部952插入冶具插孔1512，藉由利用桿杆的原理加上力，就可以將側刷15取下。由此，側刷15的固定強固，且使用者可進行側刷15的交換和清掃。且，將安裝爪1511及被安裝部的形狀藉由形成近似長方形狀，側刷15即使旋轉仍可以抑制側刷15的脫落。被安裝部，是形成其他的多角形也可以。 [垃圾盒4的肋47] 　　第29圖，是將垃圾盒4的蓋45及過濾器46透視的前方透視圖。在風道42的一端的上方、正上方、或是上後方中，設有被安裝於垃圾盒4的內面的肋47。肋47，會影響從風道42的一端朝主積蓄室41流入的氣流，可以導引塵埃。肋47，其至少一部分是重疊在風道42的一端的正上方的話較佳。肋47，是在主積蓄室41的內面朝前後方向突出的部分，大致朝左右方向延伸。且，隨著從左右方向外側朝向中央側而朝向上方傾斜。藉由朝向中央側朝上方傾斜，容易將塵埃朝主積蓄室41的中央側導引。（其他的技術的思想）　　本案，是包含以下的技術思想。又，附記m-n（m、n為自然數）記載的各技術的思想，是只要在文脈上無障礙的話，可以任意地組合。又，以下提出的「電動掃地機器人」，是除了上述的實施例例示的自律地驅動的自走式電動掃地機器人以外，也包含罐式和棍式等的電動掃地機器人。 [附記1-1] 　　一種自走式電動掃地機器人，是設有：具有吸入口的吸口部、及具有主積蓄部的垃圾盒，從前述吸入口至前述主積蓄部為止的道程的一部分或是全部，是由與前述垃圾盒一體的風道包圍。　　依據附記1-1的話，可以提供可將集塵容積提高的小形的自走式電動掃地機器人。 [附記1-2] 　　如附記1-1的自走式電動掃地機器人，其中，前述吸口部，是具有形成從前述吸入口至前述主積蓄部為止的道程的一部分的吸口部風道，該吸口部風道的長度，是比前述風道的長度短。 [附記1-3] 　　如附記1-1或是1-2的自走式電動掃地機器人，其中，在從前述吸入口至前述主積蓄部為止的道程，具有與前述垃圾盒及前述吸口部別體的塵埃感測器單元，前述風道，是從前述吸入口至前述主積蓄部為止的道程之中，形成比形成有前述塵埃感測器單元的道程更長的道程。 [附記1-4] 　　一種塵埃感測器單元，具備：框、及設於該框且彼此相面對的發光部及受光部、及被安裝於該框的密合構件。 [附記1-5] 　　一種垃圾盒，一體地具有：箱狀的主積蓄部、及從該主積蓄部朝向傾斜下方延伸的風道，具有可將前述風道開閉的逆流抑制閥，該逆流抑制閥，是具有：主面、及突出部、及推迫部。 [附記2-1] 　　一種自走式電動掃地機器人，具備：電動送風機、及具有吸引口的吸入部、及具有彼此相面對的發光部及受光部且藉由該發光部及該受光部而將通過的塵埃檢出的塵埃感測器單元、及垃圾盒，與藉由前述電動送風機的驅動而使空氣主要流動的方向也就是主方向垂直的剖面積，是從前述吸引口的上游側朝向前述塵埃感測器單元變小，從前述塵埃感測器單元朝向前述垃圾盒變大。　　依據附記2-1的話，可以提供具有可將通過的塵埃量有效地檢出的塵埃感測器單元的自走式電動掃地機器人。 [附記2-2] 　　如附記2-1的自走式電動掃地機器人，其中，前述吸引口、前述塵埃感測器單元、及前述垃圾盒之中，前述發光部及前述受光部相面對的部分的剖面積是大致最小或是最小。 [附記2-3] 　　如附記2-1或是2-2的自走式電動掃地機器人，其中，前述垃圾盒，是具有一體形成的風道，主方向中的尺寸，是前述風道比前述塵埃感測器單元更長。 [附記3-1] 　　一種電動掃地機器人，具備垃圾盒，其具有：主積蓄室、及將轉動軸作為軸可轉動的操作桿，前述操作桿，是具有：藉由將該操作桿轉動並與該電動掃地機器人接觸，可成為被施加在該操作桿上的力的作用點的作用點部。　　依據附記3-1的話，可以提供可容易地將垃圾盒取下的電動掃地機器人。 [附記3-2] 　　如附記3-1的電動掃地機器人，其中，將前述作用點部作為作用點，藉由將施加在前述操作桿上的力作用在該作用點，使前述垃圾盒朝上方被舉升。 [附記4-1] 　　一種電動掃地機器人，是在本體具有可裝卸自如的垃圾盒的電動掃地機器人，前述本體，是在前述垃圾盒被安裝在前述本體的狀態下，具有藉由該本體及該垃圾盒被包圍的領域，在該領域收納小道具。　　依據附記4-1的話，可以提供可收納小道具，較佳是有關於垃圾盒的小道具的電動掃地機器人。 [附記4-2] 　　如附記4-1的電動掃地機器人，其中，前述小道具，是具有沿著前述本體側面形狀彎曲的形狀的刷。 [附記4-3] 　　如附記4-1或是4-2的電動掃地機器人，其中，前述小道具，是具有可以利用在將刷毛及該電動掃地機器人的刷取下的冶具部。 [附記5-1] 　　一種自走式電動掃地機器人，具有：將旋轉刷收納的吸口部、及設於該旋轉刷及該吸口部的下側的氣密構件，前述氣密構件，是朝下側被推迫，且，對於前述旋轉刷及前述吸口部擺動。　　依據附記5-1的話，可以提供小形的自走式電動掃地機器人。 [附記5-2] 　　一種自走式電動掃地機器人，前述氣密構件，是具有取下爪，將該取下爪朝左右方向動作的話，可以將前述氣密構件從該自走式電動掃地機器人取下。 [附記5-3] 　　如附記5-1或是5-2的自走式電動掃地機器人，其中，前述氣密構件，是在前側或是後側具有轉動軸。 [附記5-4] 　　如附記5-1至5-3其中任一的自走式電動掃地機器人，其中，具有從動旋轉的搔取刷，前述氣密構件的轉動軸，是與前述搔取刷同軸。 [附記6-1] 　　一種自走式電動掃地機器人，具有：下殼、及被安裝於該下殼側的2個驅動輪、及設於該驅動輪的前方或是後方且在與2個該驅動輪的相面對方向大致平行的方向具有旋轉軸的旋轉刷，前述驅動輪及前述旋轉刷各端部的距離，是20mm以下，具有：設於前述驅動輪的正前方或是正後方且前述旋轉軸的延長線上的後方突起、及/或、設於2個前述驅動輪之間的中央突起。　　依據附記6-1的話，可以提供可以抑制障礙物的嵌入的自走式電動掃地機器人。 [附記7-1] 　　一種自走式電動掃地機器人，具有：設於上殼及下殼內的電動送風機、及被安裝於前述下殼側的驅動輪，將前述驅動輪與地面接觸載置，前述電動送風機的軸方向，是對於水平或是水平方向10度以下的傾斜，前述上殼及/或前述下殼，是在前述電動送風機的上下端面附近，具有遠離前述電動送風機的方向的凹陷。　　依據附記7-1的話，可以提供小形的自走式電動掃地機器人。附記7-1是有鑑於以下的狀況者。　　日本特開2013-70952號公報是揭示了實現小形化的佈局配置。如日本特開2013-70952號公報，為了實現自走式電動掃地機器人的小形化的佈局配置雖採取了各種措施，但是其高度尺寸，是深深地影響電動送風機的尺寸。因此，對於將電動送風機的尺寸小形化的目標，專利文獻1未揭示任何考慮了電動送風機的高度尺寸的佈局配置。 [附記7-2] 　　如附記7-1的自走式電動掃地機器人，其中，在設有前述凹陷的高度領域，配置其他的零件。 [附記7-3] 　　如附記7-2的自走式電動掃地機器人，其中，前述其他的零件，是配置：開關薄片、電路基板、電路元件、7區段、及發光元件的至少其中任一。 [附記7-4] 　　如附記7-1至7-3其中任一的自走式電動掃地機器人，其中，被安裝於該領域的前述電動送風機的上下尺寸，對於前述上殼及前述下殼將上下側包圍的領域的上下尺寸的比，是0.90以上。 [附記7-5] 　　如附記7-1至7-4其中任一項的自走式電動掃地機器人，其中，具有：設於前述下殼側的驅動輪、及將該驅動輪轉動的驅動機構，前述上殼及前述下殼包圍的領域的上下尺寸，是相當於將該自走式電動掃地機器人載置在地面使前述驅動輪與地面接觸的狀態的上下尺寸的70%以上的尺寸。 [附記8-1] 　　一種自走式電動掃地機器人，具有：2個驅動輪、及電動送風機、及充電池、及在水平方向具有旋轉軸的刷，前述刷，是在內部具有重錘。　　依據附記8-1的話，可以提供可取得重心平衡且將電動送風機配置於中央側的自走式電動掃地機器人。 [附記8-2] 　　如附記8-1的自走式電動掃地機器人，其中，前述刷，是從動旋轉的刷，具有馬達驅動的別的刷。 [附記8-3] 　　如附記8-2的自走式電動掃地機器人，其中，前述刷，與前述別的刷相比，是被設置在遠離該自走式電動掃地機器人的中央的位置。 [附記8-4] 　　如附記8-1至8-3其中任一的自走式電動掃地機器人，其中，重心，是與前述驅動輪的軸大致一致。 [附記9-1] 　　一種自走式電動掃地機器人，具有：朝側刷將動力傳達的直流馬達、及將壁面檢出的感測器，前述直流馬達，是在該自走式電動掃地機器人行走於壁邊的壁邊清掃模式的實行中，實行將前述側刷的旋轉速度提高或是加大前述直流馬達的功率比。　　依據附記9-1的話，可以提高壁邊清掃模式中的清掃效率。 [附記9-2] 　　一種自走式電動掃地機器人，具有：朝側刷將動力傳達的直流馬達、及將地面的種類2種以上區別檢出的感測器，前述直流馬達，是對應前述感測器檢出的地面的種類，將前述側刷的旋轉速度控制或是將前述直流馬達的功率比控制。　　依據附記9-2的話，可以對應地面的種類，更適切地清掃。 [附記9-3] 　　一種自走式電動掃地機器人，具有：朝側刷將動力傳達的直流馬達、及將通過吸入口的塵埃量檢出的感測器，以使前述感測器所檢出的塵埃的個數、及前述直流馬達的功率比之間負的相間成立的方式，控制前述直流馬達。　　依據附記9-3的話，在塵埃多的領域，可以抑制側刷將塵埃擴散。 [附記9-4] 　　如附記9-1至9-3其中任一的自走式電動掃地機器人，其中，在左右側各別具有2個前述側刷，前述側刷之中，將壁側的側刷的旋轉速度提高或是加大功率比的情況，另一方的側刷也將旋轉速度提高或是加大功率比。 [附記10-1] 　　一種電動掃地機器人，是具有藉由馬達將水平方向作為軸旋轉的旋轉刷的電動掃地機器人，前述旋轉刷，是具有彼此相鄰接的植毛及不織布，對於由前述馬達所產生的旋轉方向，前述不織布是在前述植毛之前與地面接觸地被設置。　　依據附記10-1的話，可以提供具有抑制毛髮等的糾纏的旋轉刷的電動掃地機器人。 [附記10-2] 　　如附記10-1的電動掃地機器人，其中，前述不織布，是具有朝前述旋轉刷的徑方向延伸的開縫。 [附記10-3] 　　如附記10-1或是10-2的電動掃地機器人，其中，前述植毛及前述不織布，是根部成為一體。 [附記11-1] 　　一種電動掃地機器人，是具備設有將側刷支架作為軸旋轉的刷毛部的側刷的電動掃地機器人，前述刷毛部及前述側刷支架之間，具有將彈性體也就是根部彈性部，與前述側刷支架作成一體的構件。　　依據附記11-1的話，可以提高側刷的耐久性。 [附記11-2] 　　一種電動掃地機器人，前述側刷，是設於該電動掃地機器人的下殼，前述根部彈性部的長度，是比從該電動掃地機器人接地時的地面至前述下殼為止的長度更短。　　依據附記11-2的話，根部彈性部會與地接觸而撓曲，可以抑制側刷扭轉。 [附記11-3] 　　如附記11-2的電動掃地機器人，其中，前述根部彈性部，是具有：設於前述側刷支架側的細狀部、及比該細狀部粗且設於前述刷毛部側的粗狀部。 [附記11-4] 　　如附記11-2或是11-3的電動掃地機器人，其中，前述細狀部，是在旋轉方向兩側各別具有變細的部分。 [附記12-1] 　　一種電動掃地機器人，是具有從動旋轉的輔助輪，前述輔助輪，是具有：被固定於該電動掃地機器人的固定軸、及將該固定軸作為旋轉軸的接地輪、及與該接地輪相鄰接的小圓板部、及與該小圓盤部相鄰接的圓板部，前述小圓板部，是將前述固定軸作為旋轉軸可旋轉，前述小圓板部，是比前述固定軸大徑且比前述圓板部小徑，前述圓板部，是比前述接地輪小徑。　　依據附記12-1的話，可以抑制毛髮垃圾等糾纏在固定軸。 [附記13-1] 　　一種機器，設有：具有操作按鈕及軟質部的開關薄片、及殼、及控制基板、及支撐板，前述支撐板，是位於前述控制基板的一方側，前述軟質部，是被挾持在前述支撐板及前述殼之間，前述操作按鈕，是從前述殼露出。　　依據附記13-1的話，可以提供可提高操作按鈕的新式樣（外觀的造形設計）效果，且可以抑制水滲入殼內的機器。機器，不限定於自走式電動掃地機器人，可以採用各種公知的電器。 [附記14-1] 　　一種電動掃地機器人，是具備具有設於開口的逆流抑制閥的垃圾盒，前述逆流抑制閥，是具有：可將前述開口閉塞的主面、及朝將前述開口閉塞的方向將前述主面推迫的推迫部、及朝與前述主面大致平行的方向延伸且到達前述開口外側的突出部，前述推迫部，是藉由將前述逆流抑制閥的長度方向作為轉動軸，將前述主面推迫而可以轉動，該電動掃地機器人，是具有可以使與前述突出部接觸將前述開口開放的方向的力朝前述主面施加的反推迫部。　　附記14-1，是有鑑於以下的狀況者。　　日本特開2006-55303號公報是揭示將配合軟管形狀的開口可開閉地覆蓋的開閉蓋24（摘要）。日本特開2006-55303號公報，因為開閉蓋是圓形，將轉動軸如專利文獻1（第9圖等）地設定而成為一案。但是，開閉蓋是具有長度方向及寬度方向的形狀的情況，若從小形化等的觀點仍具有改善的餘地。且，對於將轉動方向朝那一方向，若從與其他的構成磨擦接合、及開閉機構的設計的觀點，仍具有檢討的餘地。 [附記14-2] 　　如附記14-1的電動掃地機器人，其中，前述反推迫部，是作為設於該電動掃地機器人的段差的導引段差，前述逆流抑制閥，是在被安裝於該電動掃地機器人的狀態下，被收納於設於旋轉刷的上方的間隙。 [附記14-3] 　　如附記14-1或是14-2的電動掃地機器人，其中，前述垃圾盒，是在前述開口的下游側，具有朝上下方向延伸的直立部。 [附記15-1] 　　一種自走式電動掃地機器人，具有：下殼、及設於側面的保險桿，將驅動輪控制自律地行走，在側面全周或是大致全周具有位於比前述保險桿更外周側的樹脂性的保險桿框架。 [附記15-2] 　　如附記15-1的自走式電動掃地機器人，其中，前述保險桿，是環狀，前述保險桿框架，是設於前述保險桿的外周的全周，前述保險桿，是藉由前述保險桿框架來承受朝內側推壓的力。 [附記16-1] 　　一種電動掃地機器人，具有：主積蓄室、及與該主積蓄室連接的風道或是風道的一端側，在前述風道或是風道的一端側的上方，具有設於前述主積蓄室的內面的肋。　　依據附記16-1的話，可以提供可以導引透過風道等朝主積蓄室流入的塵埃的電動掃地機器人。 [附記16-2] 　　如附記16-1的電動掃地機器人，其中，前述風道或是前述風道的一端側，是位於前述主積蓄室的下方，前述肋，是具有隨著從前述主積蓄室的端側朝向中央側而朝向上方的傾斜。 [附記16-3] 　　如附記16-1或是16-2的電動掃地機器人，其中，前述風道的一端側，是朝向與設有過濾器的位置不同的方向。The embodiment of the present invention will be described in detail with reference to the drawings. The same reference numerals are given to the same constituent elements, and the same description is not repeated. The various constituent elements of the present invention do not necessarily need to be constituted by one member. For example, it is permissible that one constituent element is constituted by a plurality of members, the plural constituent elements are constituted by one member, or a part of the constituent elements and other constitutions Parts of the elements are repeated with each other. Among the directions performed by the self-propelled electric cleaning robot 1 (refer to FIG. 1), the direction in which the self-propelled electric cleaning robot 1 normally performs is set to the front, and the direction opposite to the direction of gravity is set to the top, and the driving The facing directions of the wheels 116 (refer to FIG. 3) are set to the left and right. That is, front, back, up, and left are defined as shown in FIG. 1 and the like. In this embodiment, a side brush 15 is mounted on the front side of the self-propelled electric cleaning robot 1. <Embodiment 1> [Self-propelled electric cleaning robot 1] FIG. 1 is a perspective view of the self-propelled electric cleaning robot 1 of this embodiment. Self-propelled electric sweeping robot 1 is a sweeping robot that sweeps a sweeping area (for example, indoor) while autonomously moving it. The self-propelled electric cleaning robot 1 includes an upper case 111, which includes an upper wall (and a part of side walls), a lower wall (and a part of side walls), which is a lower case 112, and a bumper 18 provided at the front. Constituted body 11. The upper case 111 is provided with a switch sheet 22 and a circular operation button 221 and a ring operation button 222 that are instructions given by the user to the control unit 2 of the self-propelled electric cleaning robot 1. Also, in the upper and rear sides of the self-propelled electric cleaning robot 1, a trash box 4 is provided. Although the self-propelled electric cleaning robot 1 according to the present embodiment autonomously cleans the driving wheels 116 by calculation processing of the control device 2, it may be driven by receiving a user's instruction via a remote controller or the like. [Lower case 112] FIG. 2 is a perspective view of a state in which the upper case 111 and the trash box 4 are removed. FIG. 3 is a bottom view of the self-propelled electric cleaning robot 1. FIG. 4 is a line AA of FIG. FIG. 5 is a perspective view of the suction port section 113, the dust sensor unit 12, and the trash box 4. The lower case 112 is mounted with a driving wheel 116, a traveling motor 1161, an arm 1141, and a driving mechanism receiving portion 114 that accommodates a driving mechanism including a reduction mechanism 1142, and a side brush mounting portion 1121, a traveling motor 1161, and a rotating brush. The motor 1133, the electric blower 16, the rechargeable battery 19, a battery storage portion 115 (refer to FIG. 4) that houses the rechargeable battery 19, the control device 2, and a thin disk-shaped member of the suction port 113. The lower case 112 is a lower end side including a side surface, preferably a lower end, and has a bumper frame 1127 provided on the entire circumference of the side surface or substantially the entire circumference. The bumper frame 1127 is made of a softer material than the members forming other parts of the side surface, and for example, a resin material that can be made of an elastomer or the like is used. In addition, the bumper frame 1127 is more protruded toward the outer peripheral side than other parts on the side, for example, the bumper 18. Accordingly, even if the self-propelled electric cleaning robot 1 collides with the furniture, the furniture or the like can be prevented from being damaged. In addition, since the self-propelled electric sweeping robot 1 mainly advances, the side on the front side easily conflicts with furniture and the like. For example, when considering the situation of entering a narrow road, for example, in this embodiment, bumper frames 1127 are also provided on the side and the back. good. Moreover, since the bumper 18 is ring-shaped, as in this embodiment, by forming the bumper frame 1127 into a ring shape, the bumper frame 1127 can be positioned on the outer peripheral side of the bumper 18. In this case, since the bumper 18 can be pushed from the outer peripheral side, assembly is easy. (Balance of the self-propelled electric cleaning robot 1) Among the components provided in the main body 11, the heavier ones are the rechargeable battery 19 and the electric blower 16. The rechargeable battery 19 is much heavier than the electric blower 16. In order to achieve a weight balance of the main body 11 of the present embodiment, first, the electric blower 16 is provided approximately at the center of the lower case 112, and the rechargeable battery 19 is provided on the front side. Here, on the rear side than the center of the lower case 112, there are provided a suction mouth portion 113 that houses the rotary brush 14 and a pick-up brush 13. The electric blower 16 is provided on the center side (between the two driving wheels 116), and since the rechargeable battery 19 is provided on the front side, a weight is provided on the rear side to achieve better balance. Therefore, in this embodiment, in the inner periphery of the scooping brush 13, the weight is fixed by attachment or the like (not shown). Thereby, a dead angle (dead space) called the scooping brush 13 can be effectively utilized. In this embodiment, since the picking brush 13 is located on the side farther from the center than the rotating brush 14, it is better to provide a weight here. In addition, it is preferable that the weight is provided on the center side in the left-right direction of the main body 11 from the viewpoint of the left-right balance. It is also possible to provide a weight in the rotary brush 14, but since the rotary brush 14 is a brush driven by the rotary brush motor 1133, the weight of the motor is a load when the weight is provided. Therefore, it is preferable that the motor does not provide a weight in the scooping brush 13 which is driven to rotate. In addition, it is preferable that the center of gravity of the self-propelled electric cleaning robot 1 is located at a substantially center in the front-rear direction (approximately coincides with an axis of the driving wheel 116) by a weight. (Protrusions of the lower case 112) For the lower case 112, the protrusions provided on the bottom surface of the lower case 112, that is, the rear protrusions 1123, are provided on the outer sides of the rotating brush 14 in the left-right direction (outer left and right outer sides). At least a part. At least a part of each rear projection 1123 is also positioned directly behind the drive wheel 116. Also, in the center-side area of the lower case 112 corresponding to the area between the two driving wheels 116, a center front-side protrusion 1124 and a center rear-side protrusion 1125 are provided. The central front-side protrusion 1124 is a convex portion located on the front end side of the drive wheel 116 in the front-rear direction and on the center side of the lower case 112 in the left-right direction. The central rear-side protrusion 1125 is a convex portion extending in the front-rear direction on the rear side of the central front-side protrusion 1124.的 The self-propelled electric cleaning robot 1 of this embodiment is close to the rear end of the driving wheel 116 and the outer end of the rotating brush 14. Specifically, the distance from the left and right inner side portions of the rear end of the drive wheel 116 to the left and right outer side portions of the front end of the rotary brush 14 is, for example, 20 mm or less from the viewpoint of miniaturization. The rotary brush 14 and / or an air-tight member 118 described later protrude from the lower case 112 in order to approach the ground and easily attract dust, and the driving wheel 116 protrudes similarly to contact the ground. Therefore, if an obstacle enters the area between the two driving wheels 116 (the area where the protrusions 1124 and 1125 are located on the center side) and the area where the rear side of the driving wheel 116 is located (the area where the protrusions 1123 are located), the driving wheel is embedded 116 and the rotating brush 14 may hinder the driving of the self-propelled electric cleaning robot 1. In order to suppress such a situation, a protrusion 1123, a protrusion 1124, and a protrusion 1125 are provided. Any of the protrusions 1123, 1124, and 1125 is adjusted to be away from the ground while the self-propelled electric cleaning robot 1 is walking on at least a flat ground. [Driving Mechanism Accommodating Unit 114] The driving mechanism accommodated in the driving mechanism accommodating unit 114 shown in FIG. 3 and the like is a mechanism that supports the driving wheel 116 to the body 11. The drive mechanism includes an arm 1141 that supports the travel motor 1161, the drive wheels 116 from the left and right inner sides, and a reduction mechanism 1142. The arm 1141 is provided between the two driving wheels 116. One end is a rotation shaft extending in the front-rear direction, and the other end is a member connected to the driving wheel 116. The driving wheels 116 can be individually rotated by the rotation of the rotation shaft. Building blocks. The rotating shafts are respectively located between the two driving wheels 116. In particular, in this embodiment, they are located between the driving wheels 116 and the central protrusions 1124 and 1125. [Battery accommodating portion 115] As shown in FIG. 4 and the like, the battery accommodating portion 115 is a space for accommodating the rechargeable battery 19 inside, and is located more forward than the center of the lower case 112. The battery accommodating portion 115 has a structure that opens downward for exchanging the rechargeable battery 19. In addition, side brush mounting portions 1121 on which the side brush 15 is mounted are formed on the left and right sides of the battery accommodating portion 115. [Drive Wheel 116] As shown in FIG. 3 and the like, the drive wheels 116 are members that individually receive the driving force of the travel motors 1161 through the reduction mechanism 1142, respectively. As a result, the driving wheel 116 itself can rotate the main body 11 forward, backward, and revolve. The driving wheels 116 are arranged on the left and right sides. [Front cover 117] As shown in FIG. 3 and the like, the front cover 117 is an approximately rectangular shape that plugs the opening of the battery storage portion 115 (refer to FIG. 4) formed on the front end side of the lower case 112 from the lower surface of the lower case 112. Plate-shaped member. The front cover 117 is provided with a round auxiliary wheel mounting portion 1122 for mounting the auxiliary wheel 17 near the center side of the lower case 112. [Auxiliary Wheel 17] FIG. 20 is an enlarged perspective view of the auxiliary wheel 17. As shown in FIGS. 3 and 20, the auxiliary wheel 17 is an auxiliary wheel for removing the lower case 112 from the ground and moving the self-propelled electric cleaning robot 1 smoothly, and is provided in the lower case 112. The auxiliary wheel 17 is supported by the fixed shaft 173 so as to follow the rotation of the main body 11 caused by the movement of the driving wheel 116 with the ground, and the auxiliary wheel 17 is supported by the fixed shaft 173. The auxiliary wheel 17 is an approximately circular ground wheel 171, a circular plate portion 172, and a small circular plate portion 174 having a fixed shaft 173 rotatably provided as a rotation shaft. The ground wheel 171 rotates in contact with the ground as the self-propelled electric cleaning robot 1 moves. The small circular plate portion 174 is adjacent to the ground wheel 171 and has a smaller diameter than the ground wheel 171 and a larger diameter than the fixed shaft 173, and is rotatable around the fixed shaft 173. The circular plate portion 172 is adjacent to the small circular plate portion 174 and has a smaller diameter than the ground wheel 171 and a larger diameter than the small circular plate portion 174, and is rotatable around the fixed shaft 173.的 If hair garbage or the like adheres to the ground wheel 171 with the rotation of the ground wheel 171, the hair garbage or the like will turn around the fixed shaft 173 and become entangled on the fixed shaft 173. At this time, since the small disk portion 174 and the circular plate portion 172 are adjacent to the ground wheel 171, hair garbage and the like are not easily entangled on the fixed shaft 173, but are easily entangled on the circular plate portion 172. Therefore, by rotating the circular plate portion 172 around the fixed shaft 173, the removal of hair litter can be performed relatively easily. The small circular plate portion 174 and the circular plate portion 172 are preferably formed integrally. The auxiliary wheel 17 is configured to be rotatable freely with the direction being 360 ° in the horizontal direction. The auxiliary wheel 17 shown in FIG. 3 is provided at the center in the left-right direction in front of the main body 11 and is attached to the auxiliary wheel mounting portion 1122. In addition, the ground wheel 17 may be replaced with a driven roller 1186 described later, and the same structure as that of the circular plate portion 172 may be provided on the airtight member 118. [Bumper 18] The bumper 18 is movably provided in a forward-backward direction, preferably further in a left-right direction, in response to a pressing force acting from the outside. The bumper 18 is pushed forward by a pair of left and right bumper springs (not shown). When the resistance force from an obstacle acts on the bumper spring through the bumper 18, the bumper spring is deformed, and the bumper 18 is pushed forward and the bumper 18 is allowed to move backward. When the bumper 18 moves away from the obstacle and the resistance force disappears, the bumper 18 returns to its original position by the urging force of the bumper spring. Incidentally, the backward movement of the bumper 18 (that is, contact with an obstacle) is detected by a bumper sensor (infrared sensor), and the detection result is input to the control device 2. The amount of displacement of the bumper 18 differs depending on the contact position of the obstacle or the like, so the position of the obstacle or the like with respect to the main body 11 may be detected. [搔取刷 13] The 搔取刷 13 is a brush provided with hair implantation on a part or almost all of the surface and having an axis in a direction substantially parallel to the rotating brush 14 to be described later. In this embodiment, the contact with the ground Followed rotation or rotation. In the case of rotation, a stopper or the like is provided to limit the rotation range.搔 Take the height of the planting hair of the brush 13, which is the case of sweeping the wooden floor, so that the apex is far from the ground 0. 5mm is better. And 搔 Take the position of the planted hair of the brush 13, It ’s the case of sweeping the carpet, It is better to overlap the wool of the carpet. therefore, The picking brush 13 can be recovered by pulling out dust from the carpet surface. For 搔取刷 13, If it is used in a state where the stopper is rotated, The prescribed area is continuous ground contact, You can remove the dust. at this time, Grabbing brush 13, To be in constant contact with the ground, A flat shape is preferred. which is, Grab the shape of the brush 13, Is viewed in the axial direction, In the shape of a cylinder, Replace a part with a flat plane shape (e.g., a shape with a part of a circle cut off by a chord, And approximate half-moon shape) is better. [Rotating Brush 14] Figure 19, This is a perspective view of the rotating brush 14. Rotating brush 14, It is arranged substantially parallel to the axis (left-right direction) passing through the rotation center of the drive wheel 116 (refer to FIG. 3). Rotating brush 14, Is a cylindrical shape with a rotation axis in the horizontal direction (left-right direction in this embodiment), The suction port portion 113 is rotatably supported. Rotating brush 14, The rotary brush motor 1133 (refer to FIG. 2) receives the driving force to rotate and drive. Rotating brush 14, The plurality of hair implants 142 project from the outer peripheral surface of the shaft portion 141 in a normal direction. The planting hairs 142 of the rotating brush 14, It is equipped with different length of hair implants, Plural kinds of hairs, such as hairs of different hardness, Each of the hair implants is arranged in a spiral shape with respect to the rotation axis (refer to FIG. 19). In part or all of the hair implantation 142, Non-woven fabric 143 is provided adjacently. Each of the non-woven fabrics 143 is for the hair implantation 142, Shared roots. This is for example, By fusing the implanted hair 142 and the non-woven fabric 143 by ultrasound, The hair implantation 142 and the non-woven fabric 143 can be realized integrally. Tufting, Is better to have some degree of hardness, For example, nylon (nylon) can be used. And a non-woven fabric 143 adjacent to the planting hair 142, For example, in this embodiment, The planting hair 142 and the non-woven fabric 143 shared by the roots are In the case where the rotating brush 14 is rotated by the rotating brush motor 1133, The non-woven fabric 143 is placed in contact with the ground before the hairs 142 are planted. thus, Hair litter, etc. that exist on the ground, Because it was in contact with the non-woven fabric 143 first, Therefore, entanglement in the hair implantation 142 can be suppressed. And In the non-woven fabric 143, One or more slits 1431 extending in the radial direction side are provided. thus, It is possible to suppress twisting of the non-woven fabric. Alas, A configuration in which a blade member made of an elastic material such as rubber is arranged in a spiral shape may be added between the spirally arranged hairs 142, It can be appropriately changed. The dust picked up by the rotary brush 14 is stored in the dustbin 4 through the opening 17. And To suppress hair transplantation 142, The non-woven fabric 143 or the blade member is in contact with a bridge portion 1181 of an airtight member 118 described later. Shorten the length of some of these, Or set a gap. [Airtight Member 118] FIG. 21 is an exploded perspective view of a state where the airtight member 118 is removed from the main body 11, FIG. 22 is a rear perspective view of the airtight member 118. In the part below the rotating brush 14, An airtight member 118 is installed. Airtight member 118, Is viewed from below the self-propelled electric sweeping robot 1, have: A bridge portion 1181 provided across the area under the rotating brush 14 in the front-rear direction Swing axis 1182 extending in the left-right direction And a frame body portion 1183 that surrounds the rotating brush 14, Removal claws 1184 used when removing the airtight member 118, A pushing portion 1185 that pushes the bridge portion 1181 and the frame portion 1183 downward, And the driven roller 1186. Airtight member 118, It is a member that swings separately from the suction port 113 and the rotating brush 14, The pushing portion 1185 is pushed downward. Therefore the airtight member 118, It moves up and down in accordance with stepped walking of the self-propelled electric cleaning robot 1. thus, Because the airtight member 118 maintains a position close to or touching the ground, Therefore, air tightness can be improved. And Airtight member 118, Because it swings separately from the suction port 113 and the rotating brush 14, Therefore, it is not necessary to set the swing space of the suction mouth portion 113 in the body 11, It contributes to the miniaturization of the body 11. 摆动 The swing axis 1182 of this embodiment, Is coaxial with the grabbing brush 13, The picking brush 13 may be mounted on the swing shaft 1182. thus, Even if the airtight member 118 and the scooping brush 13 are provided together, Because it can also reduce the setting space, Therefore, it contributes to miniaturization of the self-propelled electric cleaning robot 1. also, Swing axis 118, It is provided on the rear end side of the airtight member 118. Swing axis 118, It may be provided on the front end side of the airtight member 118. If so, Airtight member 118, Because it is from the back to the front, And become inclined upward, Therefore, it is possible to reduce the load in the case of collision with an obstacle located in front. And The front end of the airtight member 118, The downward slope 1187 is formed as it goes from the front to the rear (refer to FIG. 4 and the like). therefore, It is possible to further reduce the load at the time of collision with an obstacle ahead. Remove the claw 1184, Are mounted on the left and right sides of the airtight member 118, By facing left and right (in this embodiment, Toward the left and right) The removal claw 1184 can be removed from the body 11. Self-propelled electric sweeping robot 1, Because it is mainly moving forward and backward, This can be removed by moving left and right, It is possible to suppress the airtight member 118 from falling off from the body 11 during walking. Pushing Department 1185, Is provided on the back side of the airtight member 118, For example, the frame body portion 1183 and the vicinity thereof may be urged downward, for example, a spring-like member. Airtight member 118, Through the pusher 1185, While the self-propelled electric cleaning robot 1 is walking, Pushed in contact with the ground. thus, Because the air tightness around the rotating brush 14 can be improved, Therefore, the dust collection efficiency can be improved. Follower roller 1186, Are provided on the left and right outer portions of the airtight member 118, Accompanying the walking of the self-propelled electric cleaning robot 1 comes into contact with the ground, The airtight member 118 may be supported. thus, Even if the airtight member 118 is pushed downward, It can also reduce the frictional resistance with the ground, Can suppress energy loss and scratch the ground. And For forward and backward directions, Because the driven roller 1186 is on the opposite side of the auxiliary wheel 17 through the driving wheel 116, Therefore, the self-propelled electric cleaning robot 1 can be effectively supported by these three constituent elements. [Side Brush 15] 的 The side brush 15 illustrated in FIG. 3 and the like, This is a brush that guides dust in a place such as a room where the rotating brush 14 located outside the body 11 is not easily accessible to the suction port 113 (suction port 1131). The rotation axis of the side brush 15 is up and down, A part of the side brush 15 is exposed from the main body 11 in a plan view. Side brush 15, It is a brush with three beams extending radially at 120 ° intervals when viewed from above. They are respectively arranged on the front left and right sides of the lower case 112. Side brush 15, The root is fixed to the side brush holder 151. Side brush 15 each brush, Its side brush holder 151 side (root side), A flexible root elastic portion 153 such as an elastomer, The apex side is, for example, the bristles, that is, the bristles 154. In this embodiment, The side brush holder 151 and the root elastic portion 153 forming the rotation shaft (hub) of the side brush 15 are integrally formed. By making the root of the side brush 15 an elastic body such as the root elastic portion 153, Compared with the structure in which the bristle portion 154 is from the root to the apex, Because the bristles 154 are not easily bent and entangled, Therefore, the durability of the side brush 15 can be improved. Planting hairs on the side brush 15, Is tilted as it approaches the ground, Near its tip is in contact with the ground. Side brush holder 151, Is placed near the bottom surface of the lower case 112, It is connected to the side brush motor 152 (refer to FIG. 2). Driven by the side brush motor 152, Rotate the side brush 15 inward (in the direction of the arrow in FIG. 3), The dust was collected by pulling the dust toward the suction port 1131. [Electric blower 16] 的 The electric blower 16 shown in Fig. 4, Is a fan with a front-rear axis, The fan exhausts the air in the trash box 4 to the outside by rotating to cause negative pressure. It has a function of sucking dust from the ground through the suction port 1131 (suction port portion 113). The elastic body 161 is provided on the outer peripheral surface of the electric blower 16. By placing the elastomer in between, The vibration attenuation of the electric blower 16 becomes difficult to be transmitted to the main body 11, Can reduce the vibration of the body 11, noise. also, In this embodiment, The electric blower 16 is arranged near the center of the lower case 112. [Suction Port 113] Figure 6 shows the suction port 113, An exploded perspective view of the dust sensor unit 12 and the trash box 4, FIG. 7 is a front view of the dust sensor unit 12, FIG. 8 is a right side view of the dust sensor unit 12. Suction port 113, Is formed with a suction port 1131 which communicates with the trash box 4, And contain the capture brush 13, The component of the rotating brush 14. The rotary brush motor 1133 may be attached to the suction port 113. It is more upstream than the suction port 1131 (the rotating brush 14 side), Is the space for the rotating brush 14, The sectional area is larger than that of the suction port 1131. In this embodiment, The air sucked in by the negative pressure of the electric blower 16, It is by suction 1131 Dust sensor unit 12, The air duct 42 and the main storage chamber 41 of the trash box 4, Dust filter 46, Electric blower 16, And the sequence of exhaust ports 1126 passes. This air contains much dust, The dust is collected by the dust collection filter 46 in the dust box 4. the following, A direction substantially perpendicular to the suction port 1131 and the frame 121 of the dust sensor unit 12 (the front view direction of the frame 121) is referred to as a main direction. also, Exhaust port 1126, Is located in the lower shell 112, There are six positions between the two driving wheels 116 in this embodiment. 吸 The suction part 113 of this embodiment, Although there is no portion extending from the suction port 1131 in the main direction, However, for example, the air duct 42 of the waste box 4 described later, It is also possible to have a suction port air duct extending in the main direction and integrated with the suction port 113. In this case, Suction duct, Dust sensor unit 12 and air duct 42, It is the path from the suction port 1131 to the inside of the trash box 4. At this point, As described later, From the viewpoint of increasing the volume of the trash box 4 and the like, In this journey, The length of the air duct 42 (for example, the length in the main direction), It is preferably longer than the length of the air duct at the mouthpiece portion (for example, the length in the main direction) and the length of the frame 121 (for example, the length in the main direction). [Dust sensor unit 12] Dust sensor unit 12, It is arranged between the mouthpiece part 113 and the trash box 4. Dust sensor unit 12, Is with: Box 121, The light-emitting portion 122 and the light-receiving portion 123 provided in the frame 121 and facing each other, The seal member 124 attached to the trash box 4 side of the frame 121, And substrate 127. Dust sensor unit 12, It is formed separately from the suction port 113 and the trash box. Contacting the frame 121 with the suction port 113, By installing in this state, The light emitting section 122, Light receiving section 123, The connector 126 and the sealing member 124 are attached. therefore, The dust sensor unit 12 of this embodiment, Excellent assemblability. (Box 121) Box 121, A space for securing the optical axis connecting the light emitting section 123 and the light receiving section 124, In addition, members of the light emitting section 123 and the light receiving section 124 may be mounted on the frame 121 itself or in the vicinity thereof. Block 121 of this embodiment, Is formed into a shape having a length direction and a width direction, It may be formed in a rectangular shape, for example. This embodiment is approximately rectangular. On one side of the frame 121 in the length direction, A light receiving unit 123 and a substrate 127 are mounted. On the other side in the length direction of the frame 121, A light emitting portion 122 is mounted. also, The light emitting section 122 and the light receiving section 123, It may be provided in the width direction of the frame 121. And The frame 121 is square, Round shape, Oval shape, Ovary and the like are also acceptable. (Light emitting section 122 and light receiving section 123) light emitting section 122 and light receiving section 123, Face each other, Light such as infrared rays emitted from the light emitting section 122, The light is received by the light receiving unit 123. From the light emitting unit 122, Not limited to light, Anyone who is able to detect the presence of dust, such as ultrasonic waves, can use any known method. The light emitting section 122 and the light receiving section 123 may be provided on the same side. But from the viewpoint of miniaturization, it is better to face each other. (Wiring 125, Connector 126, Substrate 127) Substrate 127, Can carry: The driving circuit of the light emitting section 122, Amplifying circuit of light receiving section 123, By comparing the amplified signal with some reference voltages, a comparator such as a pulse output is used to reduce the amount of received light caused by the passage of dust. It is possible to replace the comparator or add a detector that can detect a decrease in the amount of light received by the light receiving unit 123. In this case, It can be estimated whether the waste box 4 is full. Light emitting section 122 and substrate 127, It is connected to the power ground through the wiring 125. Wiring 125, Is along the facing direction of the light emitting section 122 and the light receiving section 123, Crawling around box 121, Or crawl inside box 121, It is assembled between the frame 121 and the adhesion member 124. In the wiring 125, The driving current of the light emitting section 122 flows. also, The light receiving section 123 is also electrically connected to the substrate 127 through wiring (not shown). These wiring, It is electrically connected to the connector 126. (Adhesive member 124) Adherent member 124, Is a shape that matches the peripheral shape of the frame 121, In this embodiment, it is hollow and approximately rectangular. The shape of the frame 121, It is shaped to fit the suction opening 1131. Close-fitting member 124, Gaskets and the like can be used. (Advantages of the dust sensor unit 12) The dust sensor unit 12 thus constructed, Because the light emitting portion 122 and the light receiving portion 123 can be held integrally, Therefore, it is easy to make the optical axes coincide. And Since the light receiving unit 123 and the substrate 127 can be arranged close to each other, Therefore, the distance from the light receiving section 123 to the amplifier circuit can be shortened. It is possible to reduce the influence of electromagnetic noise on a weak signal, that is, the output of the light unit 123. And The wiring 125 of the light emitting section 122 is also integrated in the dust sensor unit 12, When electrically connected to the control device 2, It is only necessary to connect the wiring (not shown) to the connector 126, Excellent assemblability. And in the member that is in contact with the trash box 4, that is, the close member 124, It is better to use elastic materials such as elastomers, But this material, It deteriorates earlier than other parts. And The surfaces of the light-emitting portion 122 and the light-receiving portion 123 are also prone to dirt, scratches, and the like caused by dust. According to this embodiment, This deterioration and staining, Will easily produce the parts that must be exchanged by scratching, Because it can be exchanged simultaneously with the exchange of the dust sensor unit 12, Therefore, it has excellent maintainability. (Dimensions of non-face-to-face direction, etc. of frame 24) Figure 9, It is C-C sectional drawing of FIG. For the dust sensor unit 12, Among the directions parallel to the frame 121 (directions perpendicular to the main direction), A direction substantially perpendicular to the facing direction of the light emitting section 122 and the light receiving section 123 is referred to as a non-facing direction. In box 121, Set the width in the non-facing direction of the suction opening 1131 side to a, If the width in the non-facing direction of the trash box 4 side is set to b, a ≒ b and a <b. This suppresses an increase in loss due to an excessively narrow cross-sectional area of a surface perpendicular to the main direction. And The center line 90 of the area surrounded by the frame 121 (roughly parallel to the main direction), Make a straight line passing through the midpoint of the dimensions a and b. which is, Consider a1 = a2 = a / 2, as illustrated in Figure 9. If b1 = b2 = b / 2 is true, a1 and b1 are above the center line, a2 and b2 are lower than the center line. at this time, The light emitting section 122 and the light receiving section 123, For non-face-to-face directions, It is arranged below the center line 90. Dust is heavier than air, The accuracy of passing through the lower side of the center line 90 is higher, By providing the light emitting section 122 and the light receiving section 123 on the lower side, The dust can be detected with high accuracy. Figure 10, It is the D-D sectional view of FIG. Luminescent section 122, It has a light emitting element 1221 and a transparent resin cap 1239. Light receiving section 123, It has a light receiving element 1232 and a transparent resin cap 1239. For the mounted transparent resin cap 1239, The area between the light emitting element 1221 and the light receiving element 1232, Each has a size smaller than a size in a direction perpendicular to the optical axis of the light emitted from the light emitting element 1221. thus, Element can be protected by transparent resin cap 1239, And guide the light of the light emitting element 32, In addition, the increase in the size of the dust sensor unit 12 in the vertical direction and the vertical direction is suppressed. (Dimensions of the facing direction of the frame 24, etc.) 之中 Among the directions parallel to the frame 121, A direction substantially parallel to the facing direction of the light emitting section 122 and the light receiving section 123 is referred to as a facing direction. Set the width in the opposite direction of the suction opening 1131 side to e, If the width in the facing direction of the trash box 4 side is set to d, e> d. which is, The width of the opposite direction of the frame 121, It becomes smaller as it goes toward the trash can 4 side. thus, When the air containing dust flows in the direction of arrow 91, By inertia, Keep dust away from walls. therefore, Scratches and stains on the transparent resin cap 1239 can be suppressed. [Trash box 4] FIG. 11 is a perspective view of a state where the trash box 4 is removed from the main body 11, FIG. 12 shows the self-propelled electric cleaning robot 1. A perspective view of an area including the main body 11 on which the trash box 4 is installed, Figure 13 is an enlarged view of the main part of Figure 12, Fig. 14 is a sectional view taken along the line B-B in Fig. 5, FIG. 15 is a perspective view including a small item accommodating portion 1102 and a small item 95, FIG. 16 is a rear vertical frame view of the main body 11 in which the trash box 4 is mounted. Trash box 4, This is a container that accumulates dust sucked in from the floor through the suction port 1131 (suction port portion 113). Trash box 4, Yes: The air duct 42 formed on the suction port 1131 side, The recovered dust is stored in the main main storage chamber 41, A cover 45 for removing the accumulated dust from the filter 46 side (upper side), A counterflow suppression valve 44 that can rotate and open an opening below the main storage chamber 77 (side of the air duct 42), And the foldable operating lever 43. Trash box 4, The main body 11 is mounted so that it is tilted downward from the top. (Main storage room 41) Main storage room 41, Is made of, for example, a resin material, The area that encloses the space, The cover 45 and the backflow suppression valve 44 prevent dust from leaking from the space to the outside. Cover 45, The opening on the horizontal side of the main storage chamber 41 can be plugged, Backflow suppression valve 44, The opening on the lower side of the main storage chamber 41 can be plugged. The cross-sectional area of the space enclosed by the main storage chamber 41, It is larger than the cross-sectional area of the frame 121. The cross-sectional area of the space enclosed by the main storage chamber 41 here, Can be, for example, A cross-sectional area in a direction perpendicular to the filter 46. (Air duct 42) Howling duct 42, Has one end on the lower side of the main storage chamber 41, The other end is openable and closable by a backflow suppression valve 44. Air duct 42, It is part of the journey from the suction port 1131 to the main storage chamber 41, It is an integral part of substantially all or all of the trash cans 4. The air duct 42 of this embodiment, Although the one end side extends approximately up and down, A shape that extends downward from the halfway toward the other end side, But only the latter, which is, Only the part which extends toward the other end side and inclines downward may be sufficient. in this way, Looking at the whole, Air duct 42, Extends downward from one end toward the other. One end of the air duct 42, Is for example, It may be provided below the main accumulation chamber 41, Preferably, Viewed from above, For the lower center of the main accumulation chamber 41, It is located farther than the other end of the air duct 42. thus, It is easy to form the size of the garbage box 4 in a small size when viewed from above. (Joy lever 43) Joy lever 43, It is a member rotatably provided with the upper side of the main accumulation chamber 41 as a rotation axis, With holding section 431, Stop-off section 432, Action point 433, Engagement portion 434. Joystick 43, It can be rotated approximately 90 ° to 100 ° from the front of the rotation shaft to the top of the rotation shaft. In order to achieve the effects of both the action point portion 433 and the locking portion 434 described later, The rotation range is more than 90 °, Below about 135 °, It is preferably at most 120 °. here, The rotation angle of the state in which the grip portion 431 is lying down (the state of being locked on the locking portion 434) is set to 0 °. also, In the state illustrated in Figure 16, The rotation angle is approximately 90 °. Holding section 431, It is a part for the user to easily hold the garbage box 4 and perform loading and unloading operations. A locking portion 434 is provided at the front end. In a state where the trash can 4 is attached to the main body 11, The locking portion 434 is locked to a non-locking portion (not shown) provided in the upper case 111. The operation lever 43 can be locked. 止脱部 432, It is a protruding portion provided near the rotation shaft and closer to the locking portion 434 side (the rotation angle 0 ° side) than the rotation shaft. In a state where the operation lever 43 is located on the front side, The detachment stop portion 432 enters the main body 11. It comes into contact with a part inside the body 11 and generates frictional resistance. thus, The fall of the operation lever 43 is suppressed. Action point 433, If the user applies force to the rear (toward a direction in which the rotation angle exceeds 90 °) with the operation lever 43 on the upper side, The portion that is in contact with the upper surface of the body 11. In this state, the action point portion 433, Is the point of action of the force that becomes the trash can 4 being lifted from the body 11, The axis of rotation becomes the fulcrum. thus, This can assist the user when removing the trash can 4. The upper side of the body 11, Not particularly limited, This may be, for example, a pilot step difference 119 described later. [Shape of Trash Box 4 and Small Item Storage] Trash Box 4, It is a shape that protrudes from the upper back side toward the rear, When mounted on the main body 11, The upper rear side is a part of a side surface forming the self-propelled electric cleaning robot 1 (refer to FIG. 16 and the like). therefore, For ontology 11, The area that touches directly below the upper rear area in the trash box 4, A part of a side surface of the self-propelled electric cleaning robot 1 is also formed. In this embodiment, In the vicinity of a part of the side surface generated by this body 11, The small item storage unit 1102 illustrated in FIG. 15 and the like is provided, Cleaning brush 95, which is an example of a small item. Cleaning brush 95, Is for example, In order for the user to clean the user inside the trash box 4, A shape curved along the outer peripheral shape of the body 11. Cleaning brush 95, It has bristles 951 and metallurgy part 952. Bristle 951, It can be used for cleaning the waste bin 4, etc. Metallurgical Department 952, It can be used when the side brush 15 is removed. With a shape curved along the outer shape of the body 11, The space required for accommodating the cleaning brush 95 may be provided along the inner periphery of the side surface of the main body 11. For example, cleaning brush 95, etc. If you put it on the outside of the trash box 4, This is unfavorable because the capacity of the trash can 4 is reduced. And By accommodating the storage space such as the cleaning brush 95 in the loading / unloading area of the trash box 4, Inadvertently falling off of the cleaning brush 95 and the like can be suppressed. Alas, Instead of this embodiment, It can replace, for example, the cleaning brush 95 or an additional tool for removing the side brush 15, You can also store other small items. 的 The storage state of small props is not limited to the above, In a state where the trash can 4 is mounted on the main body 11, an area surrounded by the main body 11 and the trash can 4 may be provided on the main body 11. (Reverse flow suppression valve 44) Reverse flow suppression valve 44, Is with: With the main surface 441 which can be plugged as the opening at the other end of the air duct 42, A protruding portion 442 that is integrally or separately mounted with the main surface 441 and that projects substantially outward in the main surface 441 in a direction substantially parallel to the main surface 441 and is more outward than the air duct 42. And a pushing portion 443 that pushes the main surface 441 and the protruding portion 442 in a direction to rotate. In this embodiment, The protruding portions 442 are respectively provided on the outer sides in a direction substantially parallel to the main surface 441. Pushing Department 443, It is a member that pushes the backflow suppression valve 44 in a direction in which the main surface 441 plugs the opening, Can use a variety of well-known, For example, a spring can be used. If the pushing part 443 is a coil spring, for example, You can be the axis of rotation. Therefore, When the external force cannot work normally, The backflow suppression valve 44 is a plug for the other end of the air duct 42. Projection 442, When the trash can 4 is installed in the main body 11, It is provided in the area where the waste box 4 is stored, It is in contact with the guide segment difference 119 which is an anti-pushing part. The lead segment is 119, It is two step parts in the area which can be seen when the trash box 4 is removed in the main body 11. The lead segment is 119, It is installed along the installation direction of the trash box 4 respectively, In this embodiment, it extends from the upper back to the lower front. The protuberance protrusion 442 is moved downward by the trash box 4 accompanying the installation toward the body 11 of the trash box 4, Contact and sliding with the guide segment difference 119, The main surface 441 receives a force in a direction to open the opening. thus, The backflow suppression valve 44 resists the urging force of the urging portion 443, The other end of the air duct 42 is opened. As shown in this embodiment, the pilot segment difference is 119, By the contact of the anti-pressing portion and the protruding portion 442, The main surface 441 can withstand the pushing force of the pushing portion 443 in the opposite direction and opens as an opening at the other end of the air duct 42. in particular, The rotation of the lengthwise direction of the counterflow suppression valve 44 is generated. The other end of the air duct 42 is opened. Since the backflow suppression valve 44 of this embodiment is approximately rectangular, Therefore, the widthwise direction of the counterflow suppression valve 44 is used to rotate the shaft. If the axis is rotated in a direction perpendicular to the main surface 441, The space necessary to perform the rotation is relatively wide, Therefore, it is better to rotate the longitudinal direction as an axis. which is, Pushing department 443, The backflow suppression valve 44 is rotated using the longitudinal direction of the main surface 441 as an axis. Alas, Protrusion 442, It is sufficient that the backflow suppression valve 44 can be opened by contacting any member (reverse pushing portion) of the self-propelled electric cleaning robot 1. 设置 A gap 1101 is provided in the front more than the front end which is 119 worse than the guide section of this embodiment, In a state where the trash can 4 is attached to the main body 11, Backflow suppression valve 44, Is pushed and slides towards the guide segment difference 119, Stored in the gap 1101. Gap 1101, Is located outside the projection surface in the main direction of the frame 121. therefore, With the trash can 4 installed, The other end of air duct 42, Is in contact with the dust sensor unit 12, In particular, this embodiment is in close contact with the adhesion member 124. [Structures installed from the suction port 1131 to the main storage chamber 41] Especially as illustrated in FIG. 14, For the main direction, Size 92 of the dust sensor unit 12, It is shorter than the dimension 93 on the other end side of the air duct 42. which is, Part of the journey connecting the suction port 1131 to the main storage chamber 41, Preferably longer than size 92, A dimension 93 on the other end side of the air duct 42 is formed. thus, Since a part of the trash can 4 can be installed in the area from the suction port 1131 to the main storage chamber 41, Therefore, the volume of the trash can 4 can be enlarged. here, Air duct 42, Can form one end side of the air duct 42, It has a size 94 and has an upright portion 421 extending upward and downward. Upright 421, Dust is prevented from leaking from the main storage chamber 41 toward the other end side of the air duct 42. here, Size 93, The bottom surface of the trash box 4 is made into a flat surface (the main storage chamber 41 is formed into an approximate box shape), The size 92 of the dust sensor unit 12 is measured in a substantially parallel straight line, The distance from this plane to the dust sensor unit 12. also, The main storage chamber 41 of this embodiment may be a box type. [Blocking of the air duct 42 by the backflow suppression valve 44] As described above, In a state where the trash can 4 is installed in the main body 11, Backflow suppression valve 44, It is stored on the upper side of the rotating brush 14. When the trash can 4 is removed from the main body 11, By the urging force of the urging portion 443, the backflow suppression valve 44 is rotated, Plug the opening at the other end of the air duct 42 side. thus, Even if dust is accumulated in the air duct 42, It is also possible to suppress dust from falling out of the trash box 4. also, Main surface 441, It can be flat, A mesh shape that can suppress the passage of dust may be used. [Detection of full detection of dust] If the self-propelled electric sweeping robot 1 attracts dust, The attracted dust is first stored in the main storage chamber 41, When the main storage chamber 41 becomes full, it is also stored in the air duct 42. Because the air duct 42 is inclined downward toward the horizontal side more than the direction of gravity, Therefore, it is possible to suppress dust from falling from the air duct 42. And Because it is more toward the side of gravity than the horizontal direction, So after the main accumulation chamber 41 becomes full, Dust is easier to accumulate in the air duct 42 immediately, The dust is easily detected by the dust sensor unit 12. And by the upright portion 421, Even if the main storage chamber 41 has an excess state, it is possible to suppress the dust flow from falling down the air duct 42 irrespective. The trash box 4 of this embodiment, Because it is more forward than one end of the air duct 42, The ratio of more than half of the space enclosed by the main accumulation chamber 41 is provided, Therefore, dust is easily accumulated on the front side. but, Because there is an upright portion 421 between the ratio of more than half of the space and the air duct 42, Therefore, even if the dust moves in the main moving direction of the self-propelled electric cleaning robot 1, that is, the acceleration moves forward and backward, It is still possible to effectively suppress dust from falling toward the air duct 42. which is, From front to back, The ratio of more than half of the space enclosed by the main storage chamber 41, Upright 421, The sequential position of one end of the air duct 42. If the dust is accumulated in the air duct 42 and becomes substantially full, The dust continuously cuts off the light from the light emitting section 122, The state in which the amount of light received by the light receiving unit 123 has decreased is continued. By checking this out, You can start: Detect the fullness of the trash box 4 and notify the user, Control for returning the self-propelled electric cleaning robot 1 to a charging station (not shown). [Detection of the amount of dust passing through] If the light from the light emitting unit 122 is momentarily blocked, The amount of light received by the light receiving unit 123 decreases in a pulse. thus, It is possible to detect that dust has passed toward the waste box 4. In this embodiment, For the cross-sectional area in the main direction, The side of the rotating brush 14 is larger than the suction port 1131, The frame 121 and the air duct 42 become smaller, The main storage chamber 41 becomes larger. which is, The cross-sectional area in the path from the storage space of the rotary brush 14 to the main storage chamber 41, It is the smallest in the frame 121 and / or the air duct 42. therefore, Inhaled dust, The shape of the matching air duct 42 is concentrated on the frame 121 having a small cross-sectional area. Because the light emitting section 122 and the light receiving section 123, Is set in box 121, Therefore, much dust passes between the light emitting section 122 and the light receiving section 123. which is, The amount of dust can be measured with high accuracy. And because of the dust after passing frame 121, Through an air duct 42 having approximately the same cross-sectional area, So near box 121, Eddy currents are not easy to produce. which is, It is possible to prevent dust from being detected multiple times by eddy current and countercurrent. further, Because the cross-sectional area after the passage of the air duct 42 can be enlarged, Therefore, wind loss can be suppressed. And the cross-sectional area on the upstream side of the dust sensor unit 12, which is, The cross-sectional area from the suction port 113 to the dust sensor unit 12, It can be reduced monotonously. If so, Eddy current is generated upstream of the dust sensor unit 12, Multiple detection of dust by the dust sensor unit 12 can be suppressed. [Layout configuration] FIG. 17 is a perspective view of the self-propelled electric cleaning robot 1 with the upper case 111 removed, Fig. 18 is a sectional view taken along the line E-E in Fig. 1. In order to make the upper and lower dimensions of the self-propelled electric cleaning robot 1 small, The vertical dimension of the main body 11 is substantially the same as the vertical dimension of the electric blower 16. As illustrated in Figure 17, When the upper case 111 is removed, The convex shape 113 which covers a part of the upper surface of the electric blower 16 is seen. thus, It contributes to downsizing of the upper and lower dimensions of the body 11. also, The bottom side of the body 11, Is at a position overlapping the electric blower 16 when viewed from below, It is also possible to have a convex shape protruding downward. In the space below the upper shell 111, By setting the convex shape 162, Only the upper end portion of the electric blower 16 projects toward this space, And only its prominent size points, It becomes a space where other parts can be arranged. which is, In the height region of the convex shape 162 position, Configured with other parts. 例如 In this embodiment, for example, Become configuration: A part of the switch sheet 22, Circuit board or circuit element, 7 sections, And LED and other light-emitting elements, These may be formed by covering the upper case 111. thus, The vertical size of the self-propelled electric cleaning robot 1 which is easily affected by the size of the electric blower 162 becomes easy. also, Except for a part of the switch sheet 22, Circuit board or circuit element, 7 sections, And light-emitting elements such as LEDs, It is also possible to configure any part, Only some of these can be configured. The height dimensions of these configured parts, It is preferably below the height dimension of the convex shape 162, For example, 5mm or less, 3mm or less, Below 2mm or below 1mm. And electric blower 162, It is installed to be blown horizontally, which is, The fan opening is approximately horizontal (for example, ± 10 degrees or less in the horizontal direction, It is preferably ± 5 degrees or less). If so, As in this embodiment, it is easy to connect the electric blower 162 and the garbage box 4 through a passage formed in the horizontal direction. which is, Can reduce the need to extend the path in the height direction, It is possible to suppress the height dimension. Alas, The upper case 111 may be removed to expose the upper end portion of the electric blower 16. The flat plate-shaped member on which the other components described above are arranged may be a portion covering the upper end side of the electric blower 16. If the cylindrical electric blower 16 is usually arranged obliquely, Because it is necessary to increase the upper and lower dimensions of the main body 11, So the axial direction of the electric blower 16, Is it within ± 10 degrees from the horizontal direction or horizontal direction, The deviation is preferably ± 5 degrees or less. For the axial direction of the electric blower 16, As illustrated in Figure 18, The rotation axis side of the arm 1141 is located inside a substantially square area circumscribing the cylindrical electric blower 16. This area is prone to become dead ends (dead space), In this way, by disposing a part of the arm 1141, the space can be effectively utilized to realize the miniaturization of the self-propelled electric cleaning robot 1. And Because the exhaust port 1126 is located directly below the electric blower 16, And directly below the opening on the downstream side of the electric blower 16, Therefore, the exhaust air path can be shortened. This embodiment, It has various structures for miniaturization, the result, The upper and lower dimensions can be formed close to the upper and lower dimensions of the electric blower 16. in particular, Even considering the effect of drive wheel 116 on size, 70% of the upper and lower dimensions of the self-propelled electric cleaning robot 1 when the self-propelled electric cleaning robot 1 is placed on the ground the above, The range is preferably 75% or more or 85% or more. It is comprised so that the up-down size of the electric blower 16 may be made into it. The upper and lower shells 111 and 112 are the upper and lower dimensions of the area surrounding the upper and lower sides, The vertical dimensions of the electric blower 16 are substantially the same. in particular, The upper and lower dimensions of the electric blower 16, 90% or more of the upper and lower dimensions of the area surrounded by the upper shell 111 and the lower shell 112, It is preferably 95% or more. And as mentioned above, Placed in the structure of the body 11, The heavier ones are the rechargeable battery 19 and the electric blower 16. When the rechargeable battery 19 is placed on the center side, Because it is easy to be a hindrance to wiring, etc., Therefore, in this embodiment, the electric blower 16 is arranged on the center side. The rechargeable battery 19 is disposed on the front side. [Rotation speed of side brush 15] Self-propelled electric sweeping robot 1, The side brushes 15 are provided on the left and right sides, respectively. In this embodiment, A configuration in which the rotation speed of the side brushes 15 can be individually changed. in particular, Self-propelled electric sweeping robot 1, This is a case where the wall cleaning mode is implemented in which the wall position is on the left side, The rotation speed of the side brush 15 on the same side as the side of the wall position, that is, the left side, It is controlled faster than the rotation speed of the other side brush 15. thus, Cleaning of the walls can be carried out more efficiently. Wall cleaning mode, Can be implemented by various well-known methods, E.g, This can be achieved by performing walking control such that the distance measuring sensor 210 provided on the left side of the main body 11 continuously detects a wall surface (obstacle). Alas, When the wall cleaning mode is performed with the wall position on the right, The same can be controlled. And Even if the rotation speed of the side brush 15 on the wall side during the execution of the wall edge cleaning mode, Set to other control modes, For example, if you detect walls and obstacles, In the direction away from the wall surface and obstacles, the rotation speed is controlled at a higher speed than in the reflection walking mode in which the walking is reopened. The same effect can be obtained. And Like the walls, The crotch portion where the two wall surfaces intersect can similarly control the rotation speed and the torque described later. [Torque of side brush 15] Side brush 15, Each of the side brush motors 152 driven by the power of the rechargeable battery 19 is driven. In this embodiment, The side brush motor 152 is a DC motor. DC motor, Even if the time-averaged output voltages are the same value, Those with higher power (longer voltage plus time) can transmit higher torque. Side brush 15, If it comes into contact with walls and obstacles, Because the torque is reduced by its friction, Therefore, the cleaning efficiency is liable to decrease. Therefore, In this embodiment, E.g, In the case of a wall cleaning mode in which the wall is positioned on the left side, The power ratio of the side brush motor 152 that will transmit torque to the side brush 15 on the same side as the wall position side, that is, the left side, It is controlled so that the power of the side brush motor 152 which transmits torque to the other side brush 15 is higher. When the energy of the rechargeable battery 19 decreases and the output voltage decreases, Because even with the same power ratio, The torque also drops, So the lower the residual power of the rechargeable battery 19, The greater the power ratio. Alas, For the same reason, Because the torque output varies depending on the material of the ground, The power ratio may be determined depending on the type of the ground. E.g, Compared with wood floor cleaning, It can be controlled in such a way that the power ratio during carpet cleaning becomes higher. Further, The larger the number of dust detected by the dust sensor unit 12, The power ratio can be lowered. thus, In areas where there is a lot of dust, The dust may not be scattered by the side brush 15. 即使 And even if the power ratio of the side brush 15 on the wall side in the execution of the wall edge cleaning mode, Set to other control modes, For example, if you detect walls and obstacles, In the direction away from the walls and obstacles, the power ratio in the implementation of the reflective walking mode is changed, and the walking is reopened. The same effect can be obtained. [Sensors] Figure 23, Control device for display and self-propelled electric sweeping robot 2. A schematic configuration diagram of a device connected to the control device 2. Bumper sensor (obstacle detection method), Is to move the bumper 18 back (ie, Sensor in contact with obstacles). 距 The distance measuring sensor 210 (obstacle detection means) illustrated in FIG. 2 and the like, This is an infrared sensor for the distance until an obstacle is detected. In this embodiment, Distance measuring sensors are provided at 3 locations on the front and 2 locations on the side. 距 ranging sensor 210, Is with: A light emitting section (not shown) that emits infrared light, And a light receiving unit (not shown) that receives the reflected light reflected by the infrared rays from the obstacle. Based on the reflected light detected by this light receiving unit, The distance to the obstacle is calculated. also, At least the proximity sensor in the bumper 18, It is made of infrared-transparent resin or glass. 地面 The ground ranging sensor 211 (ground detection means) illustrated in FIG. 3 and the like, Is an infrared sensor that measures the distance to the ground, Four locations are provided in the front, back, left, and right sides of the lower surface of the lower case 112. More specifically, lie in: Front side of auxiliary wheel 17, The rear side of the rotating brush 14 and the grabbing brush 13, Each drive wheel 116 is on the front side and on the outside in the left-right direction. 地面 Large steps such as steps are detected by the ground ranging sensor, This prevents the self-propelled electric cleaning robot 1 from falling (from a step, etc.). E.g, When a step difference of approximately 30 mm is detected in the front by a ground-based ranging sensor, The control device 2 controls the travel motor to move the main body 11 backward, Direction change will take place. Alas, The ground ranging sensor 211 on the front side of the auxiliary wheel 17 (the front end side of the lower case 112) detects that the distance from the ground is long. And The ground element on the rear side of the rotating brush 14 (the rear end side of the lower case 112) is detected from the sensor 211 when the distance from the ground is close. Control device 2, The main body 11 may be continued as it is. Because of this combination of detections, It is considered that most of the self-propelled electric sweeping robot 1 has climbed up the step. Similarly, The ground ranging sensor 211 on the front side of the auxiliary wheel 17 detects that the distance from the ground is close. And When the ground element on the rear side of the rotating brush 14 and the sensor 211 detect that the distance from the ground is far, Control device 2, The main body 11 may be continued as it is. The so-called "close" Means, for example, When the self-propelled electric sweeping robot C is walking on a flat ground, the distance detected by the ground ranging sensor 211 is less than "far", Means, for example, The situation in which the self-propelled electric cleaning robot C is walking on a flat ground exceeds the distance detected by the ground-based ranging sensor 211. other, Set 1 or 2 appropriate thresholds, The results compared with this are also possible. Using the walking motor pulse output shown in Figure 23, Detect the rotation speed of the walking motor 1161, Rotation angle. also, The control device 2 is based on the rotation speed detected by the travel motor pulse output, Rotation angle, And the gear ratio of the reduction mechanism, And the diameter of the drive wheel 116, Calculate the moving speed of the body 11, Moving distance. Travel motor current measuring device, This is a measuring device that measures the current flowing through the armature winding of the travel motor 1161. Similarly, The electric current measuring device for electric blower measures the electric current value of electric blower 16, The current measuring device for a rotary brush motor measures a current value of the rotary brush motor 1133. The two side brush motor current measuring devices measure the current value of the side brush motor 152. Each current measuring device, The measured current value is output to the control device 2. You can use the detection result of the current value, Detect an abnormality such as foreign matter entangled in the rotating brush to stop the rotation, It can be notified to the user through the operation button. From the current value of the rotating brush motor 1133 and the current value of the walking motor 1161, Detecting the state of the ground on which the body 11 is walking, For example, it is recognized that increasing the input of the electric blower 16 on the carpet increases the attractiveness, On the wooden floor, The input setting of the electric blower 16 is reduced to perform control to suppress the power consumption of the rechargeable battery 19. 尘 If dust is detected by the dust sensor unit 12, The input of the electric blower 16 is increased for a certain period of time. The amount of dust that is not detected correspondingly determines the input increase time (for example, extension) of the electric blower 16. thus, Power consumption of the electric blower 16 is suppressed. And Even if dust is detected, The reversing and reciprocating actions of the main body 11 are also not performed. thus, You can avoid the decrease in moving speed. [Drive] Travel motor drive (left) (right) shown in Figure 23, It is an inverter that drives the left and right travel motors 1161, Or a pulse waveform generating device generated by PWM control, It responds to a command operation from the control device 2. For electric blower drives, Motor drive for rotating brushes, The same applies to the side brush motor drive (left) (right). These various driving devices, It is the control device 2 (refer FIG. 2) provided in the main body 11. [Control device 2] Control device 2, Is for example a microcomputer (Microcomputer, (Illustration omitted), Will be stored in ROM (read-only memory, Read Only Memory) program reads RAM (Dynamic Random Access Memory, Random Access Memory), CPU (Central Processing Unit, Central Processing Unit) performs various processes. Control device 2, Corresponds to the switch sheet 22 (refer to Figure 1), The signals inputted to the aforementioned sensors are subjected to arithmetic processing. The command signal is output to each of the aforementioned driving devices. the above, An embodiment of the self-propelled electric sweeping robot of the present invention is shown and described in detail. also, The content of the present invention is not limited to the examples, Of course, it can be changed as appropriate without departing from its purpose. Changes, etc. And In this embodiment, An example of a self-propelled sweeping robot was explained. But even for tanks, Stick, And handheld sweeping robots, It has the same effect. <Embodiment 2> The structure of Embodiment 2, It is the same as that of Example 1 except the following points. [开关片 22] FIG. 24 is a perspective view of the self-propelled electric cleaning robot 1 with the upper case 111 removed, Fig. 25 is a perspective view of the self-propelled electric cleaning robot 1 further removing the switch sheet 22 from the state of Fig. 24, Fig. 26 (a) is a front perspective view of the switch sheet 22, FIG. 26 (b) is a rear perspective view of the switch sheet 22. Switch sheet 22, It is provided between the upper case 111 and the control substrate 21. Control substrate 21, It is the lower side of the upper case 111 located in the main body 11. And Between the control substrate 21 and the switch sheet 22, It is provided with, for example, a resinous support plate 80 on which the switch sheet 22 is placed. Switch sheet 22, Is with: An operation button 221 that outputs an operation signal corresponding to a user operation to the control device 2 222, And soft part 223. Operation button 221, 222, It is a circular operation button 222 which has a circular shape and surrounds the periphery of the circular operation button 221. By operating button 221, 222Press down, A signal can be output to the control device 2. Operation button 221, 222 and soft part 223, It is formed in advance as an assembly. Operation buttons 221, 222, The top surface of the self-propelled electric cleaning robot 1 is exposed. On the operation button 221, In 222, It may have, for example, ON / OFF of the power supply, Start / end of sweeping, A signal to change the sweep mode. Function output to the control device 2. Soft section 223, Yes, the operation button 221, 222 is surrounded by, for example, a flexible rubber member. Placing the soft portion 223 on the support plate 80, The soft part 223 is held by the upper case 111 and the support plate 80. It is possible to suppress the operation buttons 221 from the top of the self-propelled electric floor cleaning robot 1 such as water droplets Infiltration near 222. By so constituting, Because the penetration of water droplets and the like can be suppressed, the operation buttons 221, 222 is exposed toward the top of the self-propelled electric cleaning robot 1, Therefore, it is possible to reduce the pressure-type operation button 221 surrounded by the waterproof member, The need for 222, etc. Can improve the effect of the new style (the appearance design). Soft section 223, One or two or more through holes 2231 are provided. The through-hole 2231 is in the opposite side of the upper case 111, A light emitting section (not shown) such as an LED is provided. Light-emitting part, It may be provided on the control substrate 21, for example. With corresponding operation buttons 221, Depression of 222, Change the color of the light emitted by the light emitting part, The user is notified that the control device 2 can recognize the operation button 221, 222 The resulting operation. Through-hole 2231, Is a front view of the switch sheet 22, With operation button 221, 222 away. thus, Infiltration of water droplets into the through hole 2231 can be suppressed. Display panel driving device, Corresponding to the command from the control device 2, A device that applies a voltage to an electrode of a display panel to cause a light-emitting portion to emit light. Light-emitting part, Is for example, Operation mode (automatic and manual) and status (notification of waste disposal and charging value residual amount) of self-propelled electric cleaning robot 1, Set the timer reservation time and the input mode of the electric blower (strong, in, Weak) and so on. Support plate 80, Is with the operation button 221, The positions where 222 overlaps each have a through hole 801. And Operation button 221, 222, Has protrusions 2211 on the back 2221 and support protrusion 2232. With the support protrusion 2232, The operation button 221. In a state where 222 is not depressed, the protrusions 2211 and 2221 are prevented from coming into contact with the switches of the control substrate 21, and when the operation buttons 221 and 222 are depressed, the protrusions 2211 and 2221 are allowed to enter the through-holes 801 to communicate with the control substrate 21 Switch contact. Further, a through hole 802 is also provided at a position overlapping the light emitting portion and the through hole 2231 described above. In addition, the operation buttons 221 and 222 are not provided with a display section for notifying the detection of dust. Since the input mode of the electric blower changes when dust is detected, it also serves as the input mode display section of the electric blower. Thereby, cost reduction of a display part can be achieved. The rechargeable battery 19 is, for example, a secondary battery that can be reused by being charged and stored in the battery storage portion 115 (refer to FIG. 4). The electric power from the rechargeable battery 19 is supplied to each sensor, each motor, each driving device, and the control device 2. <Embodiment 3> The structure of this embodiment is the same as that of embodiment 1 or 2 except the following points. [Shape of Side Brush 15] Fig. 27 is a perspective view of the side brush 15, and Fig. 28 is a view showing a state where the side brush 15 is flexed. The root elastic portion 153 of the side brush 15 is a portion (root side) on the side brush holder 151 side (ie, the thin portion 1531), and has a thinner shape than a portion on the side of the bristle portion 154 that is the thick portion 1532. In addition, since the thin portion 1531 is connected to the side brush holder 151, the thick portion 1532 and the bristle portion 154 can be easily bent by using the thin portion 1531 as an axis. Therefore, even if the power cord and the like come into contact with the side brush 15, as shown in FIG. 28, by bending the thin portion 1531 as an axis, the side brush 15 can be easily rotated without being entangled in the power cord or the like. The size (length) of the bristle portion 154 along the root elastic portion 153 is a length when the self-propelled cleaning robot S is placed on the ground, and the root elastic portion 153 does not reach the ground even if it is bent toward the ground. Thus, for example, even if the power cord or the like comes into contact with the side brush 15 and the side brush 15 is tortuous, the root elastic portion 153 may come into contact with the ground, and the situation where the side brush 15 is strongly folded back from the root can be suppressed. That is, the root elastic portion 153 is adjusted in size so that its tip does not contact the ground during the walking of the self-propelled electric cleaning robot 1. The distance from the upper surface portion of the thin portion 1531 to the upper surface portion of the thick portion 1532 in the direction perpendicular to the bristle portion 154 (the size of the step between the thin portion 1531 and the thick portion 1532) is 1. 2mm or less. The thin-shaped portion 1531 has a thinner shape on both sides in the rotation direction than the thick-shaped portion 1532, and the two side brushes 15 can be used in common. Here, in the case where there is no tapered portion on either side of the rotation direction, the root elastic portion 153 is easily bent downward when it comes in contact with an obstacle. At this time, the bristle portion 154 is greatly deflected, and there is a possibility of entanglement. On the other hand, when there is a tapered portion in any one of the rotation directions, the root elastic portion 153 is liable to flex toward the lower side when it is in contact with an obstacle. That is, the bristle portion 154 is difficult to be held between the bristles and the ground, and entanglement can be suppressed. However, at this time, since the rotation directions of the two side brushes 15 are generally reversed, the direction of the tapered portion is such that the two side brushes 15 are opposite to each other. That is, it is difficult to use the two side brushes 15 as a common component. Moreover, as in the present embodiment, when there are tapered portions on both sides in the rotation direction, entanglement at the root elastic portion 153 can be suppressed, and the two side brushes 15 can be used as a common component. The side brush holder 151 is illustrated in FIG. 3 and has a tool insertion hole 1512 on the lower side. The tool insertion hole 1512 penetrates the upper and lower sides of the side brush holder 151, and the two claws forming the mounting claw 1511 are located on both sides of the tool insertion hole 1512. The mounting claw 1511 is mounted on a mounted portion (not shown) provided in the lower case 112. The mounted portion is approximately rectangular in shape from the shape of the mounting claw 1511. The user inserts the metal mold part 952 of the small rod-shaped prop 95 into the metal mold insertion hole 1512, and by applying force using the lever principle, the side brush 15 can be removed. Thereby, the fixing of the side brush 15 is strong, and the user can exchange and clean the side brush 15. In addition, by forming the shapes of the mounting claw 1511 and the mounted portion into a substantially rectangular shape, the side brush 15 can suppress the falling off of the side brush 15 even if it is rotated. The mounted portion may have another polygon shape. [Rib 47 of Trash Box 4] FIG. 29 is a front perspective view of the cover 45 and the filter 46 of the trash box 4. A rib 47 attached to the inner surface of the trash box 4 is provided above, directly above, or above and below one end of the air duct 42. The rib 47 affects the airflow flowing into the main storage chamber 41 from one end of the air duct 42 and can guide dust. It is preferable that at least a part of the rib 47 overlaps directly above one end of the air duct 42. The rib 47 is a portion protruding from the inner surface of the main storage chamber 41 in the front-rear direction, and extends substantially in the left-right direction. And it inclines upwards as it goes from the outside in the left-right direction toward the center side. By inclining upward toward the center side, it is easy to guide the dust toward the center side of the main storage chamber 41. (Other technical thoughts) This case contains the following technical thoughts. In addition, the ideas of the respective technologies described in the note m-n (m and n are natural numbers) can be arbitrarily combined as long as there is no obstacle in the context. In addition, the "electric sweeping robot" proposed below is a self-propelled self-propelled electric sweeping robot driven autonomously as illustrated in the embodiment described above, and also includes a tank-type and stick-type electric sweeping robot. [Supplementary note 1-1] 自 A self-propelled electric floor sweeping robot is provided with a suction port portion having a suction port and a garbage box having a main accumulation portion, a part of a path from the suction port to the main accumulation portion, or All of them are surrounded by an air duct integrated with the aforementioned trash box. According to Appendix 1-1, a small self-propelled electric sweeping robot that can increase the dust collection volume can be provided. [Supplementary note 1-2] The self-propelled electric floor sweeping robot according to supplementary note 1-1, wherein the suction mouth section is a suction duct having a part of a path from the suction mouth to the main accumulation section, and the suction mouth The length of the air duct is shorter than the length of the air duct. [Supplementary note 1-3] The self-propelled electric floor sweeping robot according to supplementary note 1-1 or 1-2, wherein the path from the suction port to the main accumulation section is different from the garbage box and the suction port section. The dust sensor unit of the body has a longer path from the suction path to the main accumulation section than the path where the dust sensor unit is formed. [Appendix 1-4] (1) A dust sensor unit including a frame, a light-emitting portion and a light-receiving portion provided in the frame and facing each other, and an adhesive member attached to the frame. [Supplementary note 1-5] A garbage box that integrally includes a box-shaped main storage section and an air duct extending obliquely downward from the main storage section, and has a backflow suppression valve capable of opening and closing the air duct, and the backflow suppression The valve includes a main surface, a protruding portion, and a pushing portion. [Supplementary note 2-1] A self-propelled electric floor sweeping robot including an electric blower, a suction portion having a suction port, a light emitting portion and a light receiving portion facing each other, and the light emitting portion and the light receiving portion The cross-sectional area perpendicular to the main direction, that is, the direction in which the air mainly flows by the drive of the electric blower is detected from the dust sensor unit and the trash box that are detected by the passing dust toward the upstream side of the suction port. The dust sensor unit becomes smaller, and the dust sensor unit becomes larger toward the trash can. According to Appendix 2-1, a self-propelled electric cleaning robot with a dust sensor unit that can effectively detect the amount of dust passing through can be provided. [Supplementary note 2-2] The self-propelled electric floor sweeping robot of supplementary note 2-1, wherein, among the suction port, the dust sensor unit, and the trash box, the light-emitting portion and the light-receiving portion face each other. The cross-sectional area of the part is approximately minimal or minimal. [Supplementary Note 2-3] As in Supplementary Note 2-1 or 2-2, the self-propelled electric sweeping robot, wherein the garbage box has an integrated air duct, and the dimensions in the main direction are that the air duct is larger than the aforementioned air duct. The dust sensor unit is longer. [Supplementary Note 3-1] 电动 An electric sweeping robot including a trash box, which includes a main storage chamber and an operation lever that can rotate with a rotation axis as an axis, and the operation lever includes: When the electric cleaning robot contacts, it can become an action point portion of an action point of a force applied to the operation lever. According to Appendix 3-1, an electric cleaning robot that can easily remove the trash can can be provided. [Supplementary note 3-2] The electric cleaning robot of supplementary note 3-1, wherein the action point portion is used as the action point, and the force applied to the operation lever is applied to the action point, so that the garbage box faces upward. Raised. [Supplementary note 4-1] 电动 An electric sweeping robot is an electric sweeping robot having a detachable trash box in the body, and the body is provided with the body and the An area surrounded by a trash can, where small items are stored. According to Attachment 4-1, you can provide an electric floor sweeping robot that can store small items, preferably small items about garbage boxes. [Supplementary Note 4-2] The electric cleaning robot according to Supplementary 4-1, wherein the small prop is a brush having a shape curved along a shape of a side surface of the main body. [Supplementary Note 4-3] (For example, the supplementary 4-1 or 4-2 electric floor sweeping robot, wherein the small props are provided with a metal mold section that can be used to remove the bristles and the brush of the electric floor sweeping robot. [Supplementary note 5-1] 自 A self-propelled electric floor sweeping robot, comprising: a suction mouth portion that stores a rotating brush; and an airtight member provided on the lower side of the rotating brush and the suction port; the airtight member facing downward The side is pushed and swings with respect to the said rotating brush and the said suction part. According to Appendix 5-1, you can provide small self-propelled electric sweeping robot. [Supplementary note 5-2] 自 A self-propelled electric cleaning robot, wherein the airtight member has a removing claw, and when the removing claw is moved to the left and right direction, the airtight member can be removed from the self-propelled electric cleaning robot Take off. [Supplementary note 5-3] (For example, the self-propelled electric sweeping robot of supplementary note 5-1 or 5-2, wherein the airtight member has a rotation axis on the front side or the rear side. [Supplementary note 5-4] A self-propelled electric floor sweeping robot according to any one of supplementary notes 5-1 to 5-3, wherein the self-propelled electric sweeping robot has a driven rotating brush, and the rotation axis of the airtight member is the same as that of the foregoing grabbing Brush coaxial. [Supplementary note 6-1] 自 A self-propelled electric sweeping robot, which includes a lower case and two driving wheels installed on the lower case side, and is provided in front of or behind the driving wheels and is connected with two A rotating brush having a rotation axis in a direction in which the facing directions of the driving wheels are substantially parallel to each other. The distance between the driving wheel and each end of the rotating brush is 20 mm or less. A rear protrusion on an extension line of the rotation shaft and / or a central protrusion provided between the two drive wheels. According to Appendix 6-1, a self-propelled electric sweeping robot capable of suppressing the embedding of obstacles can be provided. [Supplementary note 7-1] 自 A self-propelled electric sweeping robot, comprising: an electric blower provided in the upper and lower cases, and a driving wheel installed on the lower case side, and placing the driving wheel in contact with the ground, The axial direction of the electric blower is a horizontal or horizontal inclination of 10 degrees or less, and the upper case and / or the lower case have recesses near the upper and lower end faces of the electric blower and away from the electric blower. According to Appendix 7-1, small self-propelled electric sweeping robots can be provided. Attachment 7-1 is for the following situations. Japanese Patent Application Laid-Open No. 2013-70952 discloses a layout configuration that realizes miniaturization. For example, Japanese Patent Laid-Open No. 2013-70952, although various measures have been taken in order to realize the miniaturization of the self-propelled electric sweeping robot, the height dimension has a profound effect on the size of the electric blower. Therefore, regarding the goal of reducing the size of the electric blower, Patent Document 1 does not disclose any layout configuration that takes into consideration the height dimension of the electric blower. [Supplementary Note 7-2] A self-propelled electric sweeping robot as described in Supplementary 7-1, in which other parts are arranged in a height area provided with the aforementioned depression. [Supplementary note 7-3] The self-propelled electric floor sweeping robot of supplementary note 7-2, in which the other parts described above are arranged: at least one of a switch sheet, a circuit board, a circuit element, a 7-segment, and a light-emitting element . [Supplementary note 7-4] If the self-propelled electric sweeping robot of any of supplementary notes 7-1 to 7-3, the upper and lower dimensions of the electric blower installed in the field, the upper and lower casings will be The ratio of the upper and lower dimensions of the area enclosed by the upper and lower sides is 0. More than 90. [Supplementary note 7-5] A self-propelled electric sweeping robot according to any one of supplementary notes 7-1 to 7-4, which includes a driving wheel provided on the lower casing side and a driving mechanism for rotating the driving wheel The upper and lower dimensions of the area surrounded by the upper case and the lower case are equivalent to 70% or more of the upper and lower dimensions in a state where the self-propelled electric sweeping robot is placed on the ground and the driving wheels are in contact with the ground. [Supplementary Note 8-1] 自 A self-propelled electric floor sweeping robot having two driving wheels, an electric blower, a rechargeable battery, and a brush having a rotation axis in a horizontal direction. The brush has a weight inside. According to Attachment 8-1, a self-propelled electric sweeping robot with a center of gravity and an electric blower placed on the center can be provided. [Supplementary Note 8-2] The self-propelled electric floor sweeping robot according to Supplementary Note 8-1, wherein the brush is a driven rotating brush and has a motor-driven other brush. [Supplementary Note 8-3] The self-propelled electric floor sweeping robot according to Appendix 8-2, wherein the brush is disposed farther away from the center of the self-propelled electric floor sweeping robot than the other brushes. [Supplementary Note 8-4] The self-propelled electric floor sweeping robot according to any of Supplementary Notes 8-1 to 8-3, wherein the center of gravity is substantially the same as the axis of the aforementioned drive wheel. [Supplementary Note 9-1] 自 A self-propelled electric sweeping robot, comprising: a DC motor that transmits power to a side brush and a sensor that detects a wall surface; the DC motor is walking on the self-propelled electric sweeping robot In the implementation of the wall-side cleaning mode, the rotation speed of the side brush is increased or the power ratio of the DC motor is increased. According to Appendix 9-1, the cleaning efficiency in the wall cleaning mode can be improved. [Supplementary Note 9-2] 自 A self-propelled electric floor sweeping robot, which includes a DC motor that transmits power to the side and a sensor that detects two or more types of the ground. The DC motor corresponds to the sensor. The type of the ground detected by the detector is to control the rotation speed of the side brush or the power ratio of the DC motor. According to Appendix 9-2, you can clean more appropriately according to the type of floor. [Supplementary note 9-3] 自 A self-propelled electric floor sweeping robot, which includes a DC motor that transmits power to a side brush, and a sensor that detects the amount of dust passing through a suction port so that the sensor can detect The number of dusts and the manner in which a negative phase between the power ratio of the DC motor is established control the DC motor. According to Attachment 9-3, in areas with a lot of dust, the side brush can be prevented from spreading the dust. [Supplementary note 9-4] A self-propelled electric sweeping robot according to any one of supplementary notes 9-1 to 9-3, in which there are two of the aforementioned side brushes on the left and right sides respectively, and among the aforementioned side brushes, the wall side When the rotation speed of the side brush is increased or the power ratio is increased, the other side brush is also increased in rotation speed or the power ratio. [Supplementary note 10-1] 电动 An electric sweeping robot is an electric sweeping robot having a rotating brush that rotates horizontally as an axis by a motor. The rotating brush has a hair implant and a non-woven fabric adjacent to each other. In the generated rotation direction, the non-woven fabric is disposed in contact with the ground before the hair implantation. According to Appendix 10-1, it is possible to provide an electric sweeping robot with a rotating brush that suppresses entanglement of hair and the like. [Supplementary Note 10-2] The electric cleaning robot according to Supplementary 10-1, wherein the non-woven fabric has a slit extending in a radial direction of the rotary brush. [Supplementary Note 10-3] The electric cleaning robot of Supplementary Note 10-1 or 10-2, wherein the hair-implantation and the non-woven fabric are integrated at the root. [Supplementary note 11-1] 电动 An electric sweeping robot is an electric sweeping robot provided with a side brush provided with a bristle portion that rotates a side brush holder as an axis. Between the bristle portion and the side brush holder, an elastic body The root elastic part is integrated with the side brush holder. According to Appendix 11-1, the durability of the side brush can be improved. [Supplementary note 11-2] 电动 An electric sweeping robot, the side brush is provided on the lower shell of the electric sweeping robot, and the length of the elastic portion of the root is longer than the distance from the ground when the electric sweeping robot is grounded to the lower shell. Shorter length. According to Appendix 11-2, the elastic part of the root will be in contact with the ground and flex, and the twist of the side brush can be suppressed. [Supplementary note 11-3] The electric cleaning robot according to supplementary note 11-2, wherein the root elastic portion includes a thin portion provided on the side brush holder side and a thicker portion than the thin portion and provided on the bristles. Coarse section on the part side. [Supplementary Note 11-4] The electric sweeping robot according to Supplementary 11-2 or 11-3, wherein the thin portion is a thinner portion on each side of the rotation direction. [Supplementary Note 12-1] 电动 An electric sweeping robot having an auxiliary wheel for driven rotation, the auxiliary wheel having a fixed shaft fixed to the electric sweeping robot, and a ground wheel having the fixed shaft as a rotating shaft, And a small circular plate portion adjacent to the ground wheel and a small circular plate portion adjacent to the small circular disk portion, the small circular plate portion is rotatable using the fixed shaft as a rotation axis, and the small circular plate The portion has a larger diameter than the fixed shaft and a smaller diameter than the circular plate portion, and the circular plate portion has a smaller diameter than the ground wheel. According to Appendix 12-1, it is possible to prevent entanglement of hair, etc. on the fixed shaft. [Supplementary Note 13-1] 机器 A machine provided with a switch sheet having an operation button and a soft portion, a case, a control substrate, and a support plate, wherein the support plate is located on one side of the control substrate, and the soft portion, It is held between the support plate and the case, and the operation button is exposed from the case. According to Appendix 13-1, it can provide a new style (design of appearance) that can improve the operation buttons, and can prevent water from penetrating into the case. The machine is not limited to a self-propelled electric sweeping robot, and various well-known appliances can be used. [Supplementary Note 14-1] 电动 An electric sweeping robot is provided with a garbage box having a backflow suppression valve provided in an opening. The backflow suppression valve has a main surface capable of closing the opening and a direction closing the opening. The pushing portion for pushing the main surface, and a protruding portion extending in a direction substantially parallel to the main surface and reaching the outside of the opening, the pushing portion uses a longitudinal direction of the backflow suppression valve as a rotation axis. The electric sweeping robot has an anti-pushing portion that can apply a force in a direction in which the opening is opened in contact with the protruding portion by pushing the main surface to rotate. Appendix 14-1 is for the following reasons. Japanese Patent Application Laid-Open No. 2006-55303 discloses an opening / closing cover 24 (abstract) which covers an opening that fits the shape of a hose so as to be opened and closed. Japanese Patent Application Laid-Open No. 2006-55303 is a case in which the opening and closing cover is circular, and the rotation axis is set as in Patent Document 1 (FIG. 9 and the like). However, when the opening and closing cover has a shape in the longitudinal direction and the width direction, there is still room for improvement from the viewpoint of reduction in size and the like. Furthermore, there is still room for reviewing the direction in which the rotation direction is directed from the viewpoint of frictional engagement with other components and the design of the opening and closing mechanism. [Supplementary Note 14-2] The attachment of the electric sweeping robot of Supplementary 14-1, in which the aforementioned anti-pushing section is a guide step as a step difference provided in the electric sweeping robot, and the aforementioned backflow suppression valve is installed in the In a state of the electric cleaning robot, it is stored in a gap provided above the rotating brush. [Supplementary Note 14-3] The electric cleaning robot according to Supplementary Note 14-1 or 14-2, wherein the garbage box has an upright portion extending in a vertical direction on a downstream side of the opening. [Supplementary Note 15-1] 自 A self-propelled electric floor sweeping robot, which has a lower shell and a bumper provided on the side, and controls driving wheels to autonomously walk. A resinous bumper frame on the outer peripheral side. [Supplementary Note 15-2] The self-propelled electric sweeping robot of Supplementary 15-1, wherein the bumper is ring-shaped, and the bumper frame is the entire circumference of the outer periphery of the bumper, and the bumper, The above-mentioned bumper frame is used to withstand the force of pushing inward. [Supplementary Note 16-1] 电动 An electric floor sweeping robot having a main storage chamber, and an air duct or one end side of an air duct connected to the main storage chamber, above the one end side of the air duct or air duct, having A rib provided on the inner surface of the main storage chamber. According to Appendix 16-1, an electric sweeping robot that can guide dust flowing into the main storage chamber through an air duct or the like can be provided. [Supplementary note 16-2] The electric cleaning robot of supplementary note 16-1, wherein the air duct or one end side of the air duct is located below the main storage chamber, and the ribs have The end side of the chamber is inclined upwards toward the center side. [Supplementary Note 16-3] (For example, the supplementary 16-1 or 16-2 electric floor sweeping robot, wherein one end side of the air duct is directed in a direction different from the position where the filter is installed.

1‧‧‧自走式電動掃地機器人1‧‧‧Self-propelled electric sweeping robot

11‧‧‧本體11‧‧‧ Ontology

111‧‧‧上殼111‧‧‧ Upper shell

112‧‧‧下殼112‧‧‧ lower shell

1121‧‧‧側刷安裝部1121‧‧‧Side brush mounting section

1122‧‧‧輔助輪安裝部1122‧‧‧Auxiliary wheel installation department

1123‧‧‧後方突起1123‧‧‧ rear protrusion

1124‧‧‧中央前側突起1124‧‧‧ central front protrusion

1125‧‧‧中央後側突起1125‧‧‧ central rear protrusion

1126‧‧‧排氣口1126‧‧‧Exhaust

1127‧‧‧保險桿框架1127‧‧‧ bumper frame

1128‧‧‧安裝爪卡止部1128‧‧‧Mounting claw locking portion

113‧‧‧吸口部113‧‧‧Suction section

1131‧‧‧吸引口1131‧‧‧ Attraction

1133‧‧‧旋轉刷馬達1133‧‧‧Rotary brush motor

114‧‧‧驅動機構收容部114‧‧‧Drive mechanism housing section

1141‧‧‧臂（懸吊）1141‧‧‧arm (suspended)

1142‧‧‧減速機構1142‧‧‧ Reduction mechanism

115‧‧‧電池收容部115‧‧‧ Battery Containment Department

116‧‧‧驅動輪116‧‧‧Drive Wheel

1161‧‧‧行走馬達1161‧‧‧ Walking motor

117‧‧‧前方蓋117‧‧‧Front cover

118‧‧‧氣密構件118‧‧‧airtight member

1181‧‧‧架橋部1181‧‧‧Bridge Department

1182‧‧‧擺動軸1182‧‧‧Swing axis

1183‧‧‧框體部1183‧‧‧Frame

1184‧‧‧取下爪1184‧‧‧ take off the claw

1185‧‧‧推迫部1185‧‧‧Press

1186‧‧‧從動滾子1186‧‧‧Driven roller

1187‧‧‧傾斜部1187‧‧‧inclined

119‧‧‧導引段差119‧‧‧Guide segment difference

1101‧‧‧間隙1101‧‧‧Gap

1102‧‧‧小道具收容部1102 ‧ ‧ ‧ Small Item Containment Department

12‧‧‧塵埃感測器單元12‧‧‧ Dust sensor unit

121‧‧‧框121‧‧‧ frame

122‧‧‧發光部122‧‧‧Lighting Department

1221‧‧‧發光元件1221‧‧‧Light-emitting element

123‧‧‧受光部123‧‧‧Light receiving section

1232‧‧‧受光元件1232‧‧‧Light receiving element

1239‧‧‧透明樹脂帽1239‧‧‧Transparent resin cap

124‧‧‧密合構件124‧‧‧closed component

125‧‧‧配線125‧‧‧ Wiring

126‧‧‧連接器126‧‧‧Connector

127‧‧‧基板127‧‧‧ substrate

13‧‧‧搔取刷13‧‧‧ 搔 Brush

14‧‧‧旋轉刷14‧‧‧ rotating brush

141‧‧‧軸部141‧‧‧Shaft

142‧‧‧植毛142‧‧‧hair transplant

143‧‧‧不織布143‧‧‧non-woven

1431‧‧‧開縫1431‧‧‧Slit

15‧‧‧側刷15‧‧‧Side brush

151‧‧‧側刷支架151‧‧‧Side brush holder

1511‧‧‧安裝爪1511‧‧‧Mounting claws

1512‧‧‧冶具插孔1512‧‧‧Jack

152‧‧‧側刷馬達152‧‧‧Side brush motor

153‧‧‧根部彈性部153‧‧‧ root elastic part

1531‧‧‧細狀部1531‧‧‧ thin section

1532‧‧‧粗狀部1532‧‧‧Coarse section

154‧‧‧刷毛部154‧‧‧bristles

155‧‧‧安裝爪155‧‧‧Mounting claws

16‧‧‧電動送風機16‧‧‧ Electric blower

161‧‧‧彈性體161‧‧‧ elastomer

162‧‧‧凸形狀162‧‧‧ convex shape

17‧‧‧輔助輪17‧‧‧ auxiliary wheel

171‧‧‧接地部171‧‧‧ Ground

172‧‧‧圓板部172‧‧‧Circular Department

173‧‧‧固定軸173‧‧‧Fixed shaft

174‧‧‧小圓板部174‧‧‧Small round plate

18‧‧‧保險桿18‧‧‧ bumper

19‧‧‧充電池19‧‧‧ Rechargeable battery

2‧‧‧控制裝置2‧‧‧control device

21‧‧‧控制基板21‧‧‧Control Board

210‧‧‧感測器類（測距感測器）210‧‧‧Sensors (Ranging Sensors)

211‧‧‧感測器類（地面用測距感測器）211‧‧‧Sensors (ranging sensors for ground)

22‧‧‧開關薄片22‧‧‧ Switch Sheet

221‧‧‧圓形操作按鈕221‧‧‧Circular operation button

222‧‧‧環形操作按鈕222‧‧‧Ring operation button

4‧‧‧垃圾盒4‧‧‧ trash can

41‧‧‧主積蓄室41‧‧‧Main storage room

42‧‧‧風道42‧‧‧Air duct

421‧‧‧直立部421‧‧‧ Upright

43‧‧‧操作桿43‧‧‧ Joystick

431‧‧‧把持部431‧‧‧holding department

432‧‧‧止脫部432‧‧‧Separation section

433‧‧‧作用點部433‧‧‧action point

434‧‧‧卡止部434‧‧‧Detent

44‧‧‧逆流抑制閥44‧‧‧Backflow suppression valve

441‧‧‧主面441‧‧‧Main face

442‧‧‧突出部442‧‧‧ protrusion

443‧‧‧推迫部443‧‧‧Pushing Department

45‧‧‧蓋45‧‧‧ cover

46‧‧‧過濾器46‧‧‧ Filter

47‧‧‧肋47‧‧‧ rib

80‧‧‧支撐板80‧‧‧ support plate

90‧‧‧中心線90‧‧‧ center line

91‧‧‧箭頭91‧‧‧arrow

92‧‧‧塵埃感測器單元的主方向的尺寸92‧‧‧ Dimensions of the main direction of the dust sensor unit

93‧‧‧風道的另一端側的尺寸（傾斜尺寸）93‧‧‧Dimension of the other side of the duct (inclined dimension)

94‧‧‧風道的一端側的尺寸（上下尺寸）94‧‧‧ Dimension of one end side of the air duct (upper and lower dimensions)

95‧‧‧小道具的其中一例的清掃用刷95‧‧‧ one of the small items cleaning brush

951‧‧‧刷毛951‧‧‧bristles

952‧‧‧冶具部952‧‧‧Mechanical & Metallurgy Department

[第1圖] 實施例1的自走式電動掃地機器人的立體圖。　　[第2圖] 將實施例1的自走式電動掃地機器人的上殼及垃圾盒取下的狀態的立體圖。　　[第3圖] 實施例1的自走式電動掃地機器人的底面圖。　　[第4圖] 第1圖的A-A剖面圖。　　[第5圖] 實施例1的自走式電動掃地機器人的吸口部、塵埃感測器單元及垃圾盒的立體圖。　　[第6圖] 實施例1的自走式電動掃地機器人的吸口部、塵埃感測器單元及垃圾盒的分解圖。　　[第7圖] 實施例1的自走式電動掃地機器人的塵埃感測器單元的前視圖。　　[第8圖] 實施例1的自走式電動掃地機器人的塵埃感測器單元的側面圖。　　[第9圖] 第7圖的C-C剖面圖。　　[第10圖] 第8圖的D-D剖面圖。　　[第11圖] 實施例1的自走式電動掃地機器人本體中的垃圾盒的立體圖。　　[第12圖] 實施例1的自走式電動掃地機器人本體之中，包含裝設有垃圾盒的領域的立體圖。　　[第13圖] 第12圖的主要部分放大圖。　　[第14圖] 第5圖的B-B剖面圖。　　[第15圖] 包含實施例1的小道具收納部及小道具的立體圖。　　[第16圖] 將實施例1的垃圾盒安裝的本體的後豎框體圖。　　[第17圖] 將實施例1的上殼取下的自走式電動掃地機器人的立體圖。　　[第18圖] 第1圖的E-E剖面圖。　　[第19圖] 實施例1的旋轉刷的立體圖。　　[第20圖] 實施例1的輔助輪的放大立體圖。　　[第21圖] 將實施例1的氣密構件從本體取下的狀態的分解立體圖。　　[第22圖] 實施例1的氣密構件的背面立體圖。　　[第23圖] 顯示實施例1的自走式電動掃地機器人的控制裝置、及與控制裝置連接的機器的構成圖。　　[第24圖] 將實施例2的上殼取下的自走式電動掃地機器人的立體圖。　　[第25圖] 從第24圖的狀態進一步將開關薄片取下的自走式電動掃地機器人的立體圖。　　[第26圖] 實施例2，（a）是開關薄片22的正面立體圖，（b）是開關薄片22的背面立體圖。　　[第27圖] 實施例3的側刷的立體圖。　　[第28圖] 實施例3的側刷撓曲時的側面圖。　　[第29圖] 將實施例3的垃圾盒的蓋及過濾器透視的前方透視圖。[FIG. 1] A perspective view of the self-propelled electric floor sweeping robot according to the first embodiment. [Fig. 2] A perspective view of a state in which an upper case and a trash box of the self-propelled electric cleaning robot of Example 1 are removed.第 [FIG. 3] A bottom view of the self-propelled electric sweeping robot of the first embodiment.第 [Figure 4] Section A-A in Figure 1.第 [FIG. 5] A perspective view of the suction port, the dust sensor unit, and the trash box of the self-propelled electric floor cleaning robot of the first embodiment.第 [FIG. 6] An exploded view of the suction port portion, the dust sensor unit, and the trash box of the self-propelled electric floor sweeping robot of the first embodiment.第 [FIG. 7] A front view of a dust sensor unit of the self-propelled electric cleaning robot of the first embodiment. [Fig. 8] A side view of a dust sensor unit of a self-propelled electric floor cleaning robot according to the first embodiment. [Fig. 9] Section C-C in Fig. 7.第 [Figure 10] Section D-D in Figure 8.第 [FIG. 11] A perspective view of a trash can in the main body of the self-propelled electric floor cleaning robot according to the first embodiment. [Fig. 12] A perspective view of a self-propelled electric sweeping robot body according to Embodiment 1 including a field in which a trash box is installed. [第 13 图] The enlarged view of the main part of Figure 12. [Figure 14] Section B-B in Figure 5. [Fig. 15] A perspective view including the small item storage section and the small item of the first embodiment. [Fig. 16] A rear vertical frame view of a main body in which the trash can of Example 1 is mounted. [Fig. 17] A perspective view of a self-propelled electric cleaning robot with the upper case of Example 1 removed.第 [Fig. 18] Section E-E in Fig. 1. [Fig. 19] A perspective view of the rotary brush of the first embodiment. [Fig. 20] An enlarged perspective view of the auxiliary wheel of the first embodiment. [Fig. 21] An exploded perspective view of a state where the airtight member of Example 1 is removed from the body. [Fig. 22] A rear perspective view of the airtight member of the first embodiment.第 [Fig. 23] A configuration diagram of a control device of the self-propelled electric floor cleaning robot of Example 1 and a device connected to the control device are shown.第 [Fig. 24] A perspective view of a self-propelled electric sweeping robot with the upper case of Example 2 removed.第 [Fig. 25] A perspective view of the self-propelled electric cleaning robot further removing the switch sheet from the state of Fig. 24. [FIG. 26] In the second embodiment, (a) is a front perspective view of the switch sheet 22, and (b) is a rear perspective view of the switch sheet 22. [Fig. 27] A perspective view of the side brush of the third embodiment. [FIG. 28] A side view of the third embodiment when the side brush is flexed. [FIG. 29] A front perspective view of the lid and the filter of the garbage container of Example 3 through the front.

Claims

An electric floor sweeping robot is provided with a side brush on a lower case, which is characterized in that the aforementioned side brush has a tool inserting hole capable of removing the side brush from the lower case by adding a force for inserting a tool .

For example, the electric sweeping robot of the first scope of the patent application, wherein: the aforementioned tool inserting hole is a rotary shaft provided on the side brush, that is, a side brush holder, and the side brush holder is provided with a cover mounted on the electric cleaning robot. Mounting claws at the mounting section.

For example, the electric sweeping robot of item 2 of the patent application scope, wherein: the aforementioned metal mold insertion hole is located between the two parts forming the mounting claw, and the mounted claw is a polygonal shape.

For example, the electric floor sweeping robot according to any one of claims 1 to 3, wherein the has a small prop storage section for storing the aforementioned smelting tools.

For example, the electric sweeping robot of item 4 of the patent application, wherein is an electric sweeping robot attached to the aforementioned smelting tool, and the aforementioned smelting tool further has a bristle portion.

An electric floor sweeping robot, comprising a garbage box provided with a backflow suppression valve at an opening, characterized in that: the aforementioned backflow suppression valve has: a main surface capable of closing the opening and closing the main opening in a direction in which the opening is closed The pushing portion that pushes the surface, and a protruding portion that extends in a direction substantially parallel to the main surface and reaches the outside of the opening. The pushing portion uses the longitudinal direction of the backflow suppression valve as a rotation axis, The main surface is urged to rotate, and the electric cleaning robot has an anti-pushing portion that can apply a force in a direction in contact with the protruding portion to open the opening to the main surface.

For example, the electric sweeping robot of the sixth scope of the patent application, wherein: the aforementioned anti-pushing section is a guide for the step difference provided in the electric sweeping robot; the aforementioned backflow suppressing valve is installed in the electric sweeping robot In a state, it is accommodated in a gap provided above the rotary brush.

For example, the electric sweeping robot according to item 6 or 7 of the patent application scope, wherein the garbage box has an upright portion extending in a vertical direction on a downstream side of the opening.

A self-propelled electric sweeping robot, comprising: an electric blower provided in an upper case and a lower case, and a driving wheel installed on the lower case side, characterized in that: for the aforementioned driving wheel being placed in contact with the ground In the self-propelled electric sweeping robot, the axial direction of the electric blower is for a horizontal or horizontal tilt of 10 degrees or less. The upper case and / or the lower case are located near the upper and lower end faces of the electric blower and have a distance The depression of the aforementioned electric blower in the direction.

For example, the self-propelled electric floor sweeping robot of the ninth scope of the patent application, wherein the ratio of the upper and lower dimensions of the electric blower installed in the field to the upper and lower dimensions of the area surrounded by the upper and lower shells, It is 0.90 or more. It has a driving wheel provided on the lower casing side and a driving mechanism for rotating the driving wheel. 的 The upper and lower dimensions of the area enclosed by the upper casing and the lower casing are equivalent to the self-propelled electric sweeping floor. The robot is placed on the ground with a size of 70% or more of the upper and lower dimensions in a state where the drive wheels are in contact with the ground.