關於本發明的實施形態，一面參照附圖一面予以詳細說明。於同樣的構成要素附以同樣的符號，而同樣的說明不予重覆。本發明的各種構成要素，未必由一個構件所構成，例如，容許一種構成要素由複數個構件所構成，複數種構成要素由一個構件所構成，或構成要素的一部分與其他的構成要素的一部分相互重複。 又，於自走式電動掃地機1（參照第1圖）行進方向之中，將自走式電動掃地機1通常進行之方向作為前方，與重力方向相反的方向作為上方，驅動輪116（參照第3圖）相向之方向作為左方及右方。亦即如第1圖等所示般定義前後、上下、左右。於本實施形態，於自走式電動掃地機1的前方側安裝有側邊刷15。 ＜實施形態1＞ [自走式電動掃地機1] 第1圖，為於有關本實施形態之自走式電動掃地機1的立體圖。本實施形態的自走式電動掃地機1，為自律性驅動地進行清掃者，如後述般，具備有對於小巧化有貢獻之種種構成。 自走式電動掃地機1，為一面在掃除區域（例如，室內）自律性移動一面掃除之掃地機。自走式電動掃地機1，具備有本體11；該本體11為包含：其為上壁（及一部分的側壁）之上外殼111、其為底壁（及一部分的側壁）之下外殼112、以及設置於前部之保險桿18而構成。 又，於自走式電動掃地機1的上後方側，設置有集塵盒4。本實施形態的自走式電動掃地機1，是藉由控制裝置2的演算處理使自律性驅動輪116驅動來進行清掃，不過亦可藉由遙控器等，接受使用者的指令來驅動。 [小巧的自走式電動掃地機1的尺寸] 本實施形態的自走式電動掃地機1，為小巧輕量且以較高速移動，設定以複數次掃除清掃區域之自走式電動掃地機。具體上，前後尺寸及左右尺寸同為300mm以下，較佳為280mm以下或是260mm以下，而高度尺寸為100mm以下，較佳為95mm以下。作成如此尺寸之理由容後再述。為了能一邊發揮如此之小巧形狀的優點，一邊確保應搭載於自走式電動掃地機1的零件容納之容積，自走式電動掃地機1，以規範在直徑為300mm以下，較佳為280mm以下或是260mm以下的圓內之形狀較為理想。 又，抑制充電電池的應當使用量，質量為2700g以下，較佳為2500g以下、2400g以下或2350g以下。又，從移動安定性等的觀點考量，質量為1800g以上，較佳為2000g以上。具體上，從不使支撐驅動輪116之驅動機構因本身重量彈推或在階梯差上大跳起來之觀點考量，如此設定質量的下限較為理想。 又，為了實現小巧化及輕量化，例如，設定成將清掃可能距離拉長，亦即設定成可複數次掃除清掃區域的同樣地方，來考慮將電動送風機作成小巧者。如此一來，可謀得一邊將自律移動型電動掃地機小巧輕量化，一邊更靜音化。具體上，作為本實施形態的電動送風機16者，可採用直徑為70mm以下，軸方向尺寸為65mm以下，質量為250g以下者。 第24圖是說明其為傢俱一例之椅子的椅腳間尺寸的統計資料之圖，第25圖是說明其為傢俱一例之床的床腳的高度尺寸的統計資料之圖。 第24圖的橫軸為椅子的椅腳間距離，將椅子的左右腳的間隔作為「a：腳間隔正面」，將椅子的前後的腳的間隔作為「b：腳間隔側面」。縱軸，為顯示對於橫軸所示之椅子的腳間距離，調查對象的椅子所包含之比例（尺寸覆蓋率）。亦即，顯示與橫軸所示之腳間距離的值相同、或具備有比該值更大之腳間距離的椅子有多少。又，發明者群所調查之對象的椅子約150張。 根據發明者群的調查，如第24圖所示，腳間距離為350mm時，尺寸覆蓋率a為80%強，且b為80%弱。隨著朝圖的右側前進，腳間距離越狹窄，縱軸的尺寸覆蓋率越高。其結果，可特定腳間距離為260mm時，尺寸覆蓋率為100%。亦即，椅子的腳間距離260mm，顯示為一般椅子的腳間距離與該值同等或比該值更大。 基於該結果，本實施形態的自走式電動掃地機1的寬度尺寸若如上述般時較為理想。藉此，本實施形態的自走式電動掃地機1，可通過較多比例的椅子的腳間，可提昇椅子周圍的清掃性。又，由於不易受制於椅子成為障礙的移動範圍，故可擴大清掃可能範圍。 說明了關於作為傢俱一例的椅子，此為考量到在一般家庭的傢俱中，椅子的腳間是具有最狹窄間隔者之故。因此，本實施形態的自走式電動掃地機1，藉由持有上述的尺寸，而不限於椅子，對於桌子等之附有腳的傢俱，也同樣地可通過腳間，可擴大清掃可能範圍。 其次，於第25圖，顯示作為一般性傢俱的一例之床的床腳高度的統計。橫軸，為顯示床的床腳高度的尺寸。縱軸，為顯示在橫軸所示之床的床腳高度中，調查對象的床所含有的比例（尺寸覆蓋率）。亦即，顯示比橫軸所示之腳高度的值更高之腳的床有多少。又，發明者們調查之對象的床約210張。 如第25圖所示，隨著朝圖右側前進，腳高度越高，縱軸的尺寸覆蓋率越低。其結果，可特定腳高度為10cm時，尺寸覆蓋率為80%左右。亦即，可特定床的床腳高度10cm，為一般的床的床腳高度與該值同等或比該值更小。 基於該結果，本實施形態的自走式電動掃地機1，若將高度尺寸作成如上述般時較理想。藉此，可通過一般性的床的下面，可提昇床的周圍的清掃性。又，由於不易受制於床成為障礙的移動範圍，故可擴大清掃可能範圍。 於第25圖說明了關於作為傢俱的一例的床，此為考量到在一般家庭的傢俱中，床的床腳高度較低之故。 又，本實施形態的自走式電動掃地機1，由於是設定清掃1個或是2以上的房間，故若太過小巧，則清掃區域有限。因此，考慮一般性的椅子腳尺寸或床尺寸，前後尺寸及上下尺寸若為230mm以上、240mm以上、250mm以上、260mm以上或是270mm以上時較為理想。又，關於高度尺寸，若為70mm以上、80mm以上、或是90mm以上時較為理想。在此，如後述般驅動輪116，為被支撐於本體11而可旋動，在進入床的下面時，驅動輪116的旋動狀態，是加上了本體11的本身重量的狀態的高度尺寸。亦即，高度尺寸，是指載置了自走式電動掃地機1之狀態而計測之值。 [自走式電動掃地機1的速度] 本實施形態的自走式電動掃地機1，是設定為藉由作得小而輕，再將移動速度作成比較快，即使狹窄的地方或較低矮的地方亦可進入，而擴大了清掃可能區域，並以複數次通過清掃區域的相同部分。亦即設定為並非僅一次通過，藉由複數次的通過來除去塵埃，因此，將電動送風機作成小巧者。 具體上，本實施形態的自走式電動掃地機1的直行時的平均速度，為81mm/s以上，且迴旋時的平均速度，為81mm/s以上，且經過一次的清掃（從滿充電狀態開始至歸還於充電台或是直至充電電池容量用盡而停止）之平均速度，作成81mm/s以上。此為，例如在將充電電池的持續時間假定為50分鐘時之，於國際電子技術委員會IEC（International Electrotechnical Commission）測試，可求得進行相同區域通過3次之所謂「通過三次（triplepass）」時必須之最低速度之故。 但是，考慮到清掃所需時間的減低，提升使用者對清掃進行迅速的印象性等，亦可將上述的各速度，作成100mm/s以上、130mm/s以上、150mm/s以上，或是170mm/s以上。又，本實施形態的自走式電動掃地機1，充電電池19的持續時間作成60分鐘以上。持續時間的上限，可作成90分鐘以下，較佳為80分鐘以下或是70分鐘以下。 又，迴旋時的平均速度可作成直行時的平均速度以下，不過從清掃迅速進行的印象性的觀點考量，迴旋時的平均速度，為直行時的平均速度的80%以上或是90%以上較為理想。 [自走式電動掃地機1的旋轉刷14的寬度] 從進入傢俱的間隙等之觀點來看，將自走式電動掃地機1小巧化，較為理想，不過從清掃區域的觀點來看，可一邊將自走式電動掃地機1小巧化，一邊加大旋轉刷14的寬度，是眾所期待。旋轉刷14的寬度（軸方向尺寸。參照第3圖的L1等），相對於自走式電動掃地機1的寬度（左右尺寸。參照第3圖的L2等）為51%以上。又，具體上，從自走式電動掃地機1的左右方向端部至旋轉刷14的端部的距離（參照第3圖的L3等）為65mm以下，較佳為60mm以下，且旋轉刷14的寬度為120mm以上，較佳為130mm以上。 旋轉刷14的寬度，相對於自走式電動掃地機1的寬度為95%以下較為理想。藉此，可一邊將旋轉刷14的軸支撐於旋轉刷14的左右外側，一邊不使旋轉刷14從自走式電動掃地機1的寬度露出地構成。 於國際電子技術委員會IEC測試，作為清掃4m×5m之區域者，進行了測試。於該場合，將旋轉刷14的寬度作為W，將充電電池19的持續時間作為t，將通過（pass）次數作為s時，於s次的通過所必須之最低速度v_min是被賦予為4×5×s/（w×t）。若欲發揮如本實施形態的自走式電動掃地機1般小巧輕量的長處時，s=3或是4，又，例如t=50min，以滿足v_min＞4×5×s/（w×t）較為理想。如上述般，本實施形態的自走式電動掃地機，是設定在多次數通過。例如，以實施成三次通過率為80%以上的自走式電動掃地機1較為理想。 又，將旋轉刷14的左右尺寸作成120mm以上時，與後述之椅子腳間隔的關係，只要清掃2次椅子腳的周圍，則可大致有效清掃全種類的椅子的椅腳之間，作成130mm以上時，由於可維持該效果，同時旋轉刷14的寬度也變較大，故可有效擴大清掃區域。旋轉刷14的寬度，根據將旋轉刷14的前端設置於比驅動輪116的後端更後方處，可增大自由度。 以下，更詳述關於自走式電動掃地機1的各種構成。 [下外殼112] 第2圖為卸下上外殼111及集塵盒4之狀態的立體圖，第3圖為自走式電動掃地機1的底面圖，第4圖，為第1圖的A-A線處剖切之斷面圖，第5圖為吸入口部113、塵埃感應器單元12及集塵盒4的立體圖。 下外殼112，為安裝有：驅動機構容納部114、側邊刷安裝部1121、行進馬達1161、旋轉刷馬達1133、電動送風機16、充電電池19、收納充電電池19之電池容納部115（參照第4圖）、控制裝置2、以及吸入口部113之薄型的圓板狀的構件；上述驅動機構容納部114，為容納：包含驅動輪116、行進馬達1161、臂1141、以及減速機構1142而構成的驅動機構。 下外殼112，係具有設於側面的下端側（較佳為包含下端）、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部分之構件還柔軟的材料所形成，例如，可採用彈性體等的樹脂材。又，保險桿框架1127，比側面的其他部分，例如比保險桿18更突出於外周側。藉此，即使自走式電動掃地機1衝撞於傢俱等，亦可抑制傢俱等的破損。 又，由於自走式電動掃地機1主要為向前進，故前方側的側面易於衝撞傢俱等，例如考慮到進入狹路之場合等，如本實施形態般以於側面或後面亦設置保險桿框架1127較為理想。又，由於保險桿18為環狀，如本實施形態般藉由將保險桿框架1127形成環狀，可使保險桿框架1127位於保險桿18的外周側。如此一來，可從外周側押壓保險桿18，故易組合。 （自走式電動掃地機1的平衡） 設置於本體11內的構件中，較具有重量者，為充電電池19及電動送風機16。充電電池19比電動送風機16重的情形較多。要平衡本實施形態的本體11的重量，首先，電動送風機16要設置於下外殼112的大致中央，充電電池19要設置於前側。 在此，於比下外殼112的中心更後側處，設置有容納旋轉刷14之吸入口部113，及刮取刷13。根據電動送風機16位於中央側（2個驅動輪116之間），充電電池19位於前側，故於後側設置重量物來取得平衡較為理想。因此，於本實施形態，於刮取刷13的內周，鉛錘藉由貼著等予以固定（不圖示）。藉此，可有效活用刮取刷13內所謂的死角空間。於本實施形態，由於刮取刷13比旋轉刷14位於從中央更遠側處，故將鉛錘設置於此較為理想。又，鉛錘，從左右平衡的觀點來看，以設置於本體11的左右方向的中央側較為理想。又，亦可於旋轉刷14內設置鉛錘，由於旋轉刷14是藉由旋轉刷馬達1133而被驅動的刷子，若設置鉛錘則成為馬達的負荷。因此，不驅動馬達而將鉛錘設置於從動旋轉之刮取刷13內較為理想。又，藉由鉛錘，將自走式電動掃地機1的重心，設於前後方向大致中心處（與驅動輪116的軸大致一致）較為理想。 （自走式電動掃地機1之曲率半徑的不同） 自走式電動掃地機1，係接續了2個大致圓形的形狀，且前側的曲率半徑比後側的曲率半徑還大。具體上，於設置有側邊刷15之前後位置的寬度，為比設置有旋轉刷14之前後位置的寬度還大。藉由如此做，可一面將側邊刷15配置於左右外側，收集較寬範圍的塵埃，一面抑制從旋轉刷14的端部至自走式電動掃地機1的寬度方向端部為止的尺寸，使旋轉刷14可更接近壁邊。在壁邊移動時，只要一邊使自走式電動掃地機1朝左右擺動一邊清掃，則特別能一邊擴大側邊刷15的清掃區域，一邊使旋轉刷14更靠近壁邊。 （下外殼112的突起） 關於下外殼112，於旋轉刷14的左右方向外側（正左外側及正右外側），分別設置有其為設置於下外殼112的底面的凸部之後方突起1123的至少一部分。後方突起1123各別之至少一部分，亦位於驅動輪116的正後方。 又，於相當於2個驅動輪116之間的區域之下外殼112的中央側區域，設置有中央前側突起1124及中央後側突起1125。中央前側突起1124，是位於前後方向上之驅動輪116的前端側，左右方向上之下外殼112的中央側之凸部。中央後側突起1125，是比中央前側突起1124更後側處，朝前後方向延身之凸部。 本實施形態的自走式電動掃地機1，其驅動輪116的後端及旋轉刷14的外端很接近。具體上，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，例如從小巧化的觀點來看，作成20mm以下。旋轉刷14及/或後述之氣密構件118，為了作成接近於地板面易於吸引塵埃，而從下外殼112突出，驅動輪116應當接觸於地板面也同樣地突出。因此，若於2個驅動輪116之間的區域（設置有突起1124、突起1125之中央側區域），或於驅動輪116後側的區域（設置有突起1123之區域）進入障礙物，而嵌入於驅動輪116與旋轉刷14之間時，則有妨礙自走式電動掃地機1的驅動之虞。要抑制如此之事態，而設置了突起1123、突起1124、突起1125。不論是突起1123、1124、1125的任何一個，在自走式電動掃地機1，於至少平坦地板面上移動期間，皆為被調整成從地板面離開之尺寸的突起。 [驅動機構容納部114] 容納於第3圖等所示之驅動機構容納部114的驅動機構，為將驅動輪116支撐於本體11之機構。驅動機構，含有：將行進馬達1161、驅動輪116從左右內側支撐之臂1141，以及減速機構1142。臂1141，為設置於2個驅動輪116之間，其一端延伸於前後方向之旋動軸，另一端接續於驅動輪116之構件，且為可藉由旋動軸周圍的旋動使驅動輪116分別旋動之構件。旋動軸，分別位於2個驅動輪116之間，特別是於本實施形態，為位於分別之驅動輪116、中央突起1124、及突起1125之間。 [電池容納部115] 如於第4圖等所示般，電池容納部115，為於內部容納充電電池19之空間，且位於比下外殼112的中心更前側處。電池容納部115，為了交換充電電池19，作成具備有向下的開口之構成。又，於電池容納部115的左右，形成有安裝有側邊刷15之側邊刷安裝部1121。 [驅動輪116] 如於第3圖等所示般，驅動輪116，為分別夾介各別之減速機構1142，承受各別之行進馬達1161的驅動力之構件。藉此，驅動輪116本身可藉由旋轉使本體11前進、後退、迴旋。驅動輪116，配置於左右兩側。 本實施形態的自走式電動掃地機1，係藉由使2個驅動輪116相互逆向旋轉（超信地迴旋：2個驅動輪相互逆向旋轉），而可在大致該同場所旋轉或是旋動。從擴大清掃區域的觀點來看，如本實施形態般，驅動輪116設置於本體前後寬度的大致中央，將超信地迴旋的旋轉中心，作為上外殼111或是下外殼112的圖心（中央），而於前方具備有側邊刷15，於後方具備有旋轉刷14較為理想。如此一來，可使側邊刷15、旋轉刷14位於旋轉外側，故可有效清掃2壁面所形成之某角度（例如90°）的角落部。 [前方蓋117] 如於第3圖等所示般，前方蓋117，為將形成於下外殼112的前端側之電池容納部115（參照第4圖）的開口，從下外殼112的下面塞住之大致長方形板狀的構件。又，前方蓋117，具備有：將輔助輪17安裝於下外殼112的中心側附近之圓形的輔助輪安裝部1122。 [輔助輪17] 第20圖，為輔助輪17的放大立體圖。如第3、20圖等所示般，輔助輪17，係用以一邊使下外殼112從地板面離開一邊使自走式電動掃地機1圓滑移動的輔助性車輪，且設置於下外殼112。輔助輪17，伴隨藉由驅動輪116之本體11的移動，以藉由與地板面之間發生摩擦力而從動旋轉之方式藉固定軸173支撐。 輔助輪17，具備有：以固定軸173為旋轉軸設置成可旋轉之大致圓形的接地輪171、圓板部172及小圓板部174。接地輪171，伴隨自走式電動掃地機1的移動，接觸於地板面地旋轉。小圓板部174，鄰接於接地輪171，為直徑比接地輪171還小且比固定軸173還大地構成，可於固定軸173周圍旋轉。圓板部172，鄰接於小圓板部174，為直徑比接地輪171還小且比小圓板部174還大地構成，可於固定軸173周圍旋轉。 伴隨接地輪171的旋轉，毛髮垃圾等若附著於接地輪171，則該毛髮垃圾等會迴旋於固定軸173周圍而有纏繞於固定軸173之情形。此時，由於小圓盤部174及圓板部172鄰接於接地輪171，故會變得毛髮垃圾等並非纏繞於固定軸173而是易於纏繞於圓板部172。因此，藉由使圓板部172於固定軸173周圍旋轉，較易於進行毛髮垃圾的去除。小圓板部174及圓板部172以一體形成較為理想。 又，輔助輪17，以其轉向可於水平方向360°自由旋轉地構成。又，第3圖所示之輔助輪17，為設置於本體11的前方的左右方向的中央，安裝於輔助輪安裝部1122。 又，亦可將接地輪17代替以後述之從動滾輪1186，將與圓板部172相同的構成設置於氣密構件118。 [保險桿18] 保險桿18，係以可對應來自外部產生作用之押壓力，而朝前後方向，較佳為可再朝左右方向移動之方式設置。保險桿18，係藉由左右一對之保險桿彈簧（圖示省略）被朝前方向彈推。夾介保險桿18，來自障礙物的抗力，作用於保險桿彈簧時，保險桿彈簧會變形，一邊將保險桿18朝前方向彈推一邊容許保險桿18的後退。保險桿18從障礙物離開而抗力消失時，則藉由保險桿彈簧的彈推力，保險桿18會回到原來的位置。附帶一提，保險桿18的後退（亦即，與障礙物的接觸），是藉由保險桿感應器（紅外線感應器）檢知，該檢知結果會被輸入於控制裝置2。由於對應障礙物等的接觸位置，保險桿18的變位量會不同，故相對於本體11之障礙物等的位置亦可檢知。 [刮取刷13] 刮取刷13為於表面的一部分或是大致全部具備有植毛，於與後述之旋轉刷14大致平行之方向具備有軸之刷子，且於本實施形態藉由與地板面的接觸會從動旋轉或是旋動。旋動之時，藉由設置制動器等規範旋動範圍。刮取刷13的植毛的高度位置，在掃除木地板（木板之間）之場合，以前端從地板面分開0.5mm左右較為理想。又，刮取刷13的植毛的位置，在地毯上掃除之場合，以與地毯的毛重疊較為理想。因此，刮取刷13可從地毯表面將塵埃以刮取之方式回收。 關於刮取刷13，以設置制動器來旋動之形態來使用之場合，於地板面，可持續接觸特定的區域並刮掃出塵埃。此時，刮取刷13中，其所持續接觸地板面的區域，以平坦形狀較為理想。亦即，刮取刷13的形狀，從軸方向觀察，圓筒形狀中，以一部分置換成平坦的平面之形狀（例如，將圓的一部分以弦月狀切除之形狀、或大致半月狀）較為理想。 [旋轉刷14] 第19圖，為旋轉刷14的立體圖。旋轉刷14，係以大致平行於通過驅動輪116的旋轉中心的軸（左右方向）之方式配置（參照第3圖）。旋轉刷14，為於水平方向（於本實施形態為左右方向）具備有旋轉軸之圓筒形，且被吸入口部113可旋轉地支撐。旋轉刷14，藉由旋轉刷馬達1133（參照第2圖）承受驅動力而旋轉驅動。旋轉刷14，具備有從軸部141的外周面朝法線方向突出之複數的植毛142。旋轉刷14的植毛142，具備有長度不同之植毛、硬度不同之植毛等複數種類的植毛，各植毛相對於旋轉軸、以形成螺旋狀地排列配設（參照第19圖）。 於植毛142的一部分或是全部，設置有鄰接的不織布143。對於分別之植毛142，分別之不織布143具有共同根基。此可藉由例如將植毛142及不織布143藉超音波熔著，將植毛142及不織布143作成一體得到實現。作為植毛者，以具有某程度的硬度者較為理想，例如可採用尼龍。 又，鄰接於植毛142之不織布143，例如於本實施形態，具有共同根基之植毛142與不織布143，分別在旋轉刷14藉由旋轉刷馬達1133旋轉時，以不織布143比植毛142更先接觸於地板面之方式配置。藉此，存在於地板面之毛髮垃圾等，會先接觸於不織布143，故可抑制植毛142被纏繞。又，於不織布143，設置有1個或是個2以上朝直徑方向側延伸之切縫1431。藉此，可抑制不織布的扭曲。 又，亦可於螺旋狀配置之植毛142間追加以把由橡膠等的彈性材料所構成之葉片構件以螺旋狀之方式配置之構成，可適當變更。旋轉刷14所刮掃起來的塵埃通過開口部17被貯塵於集塵盒4。又，植毛142、不織布143或葉片構件要抑制與後述之氣密構件118的架橋部1181接觸，亦可將此等之一部分的長度縮短，或設置切口。 [氣密構件118] 第21圖為將氣密構件118從本體11卸下之狀態的分解立體圖，第22圖為氣密構件118的背面立體圖。 於位在旋轉刷14的下側之部分，安裝有氣密構件118。氣密構件118，從自走式電動掃地機1的下面觀察，具備有：將旋轉刷14下側的區域朝前後方向跨越設置的架橋部1181、延伸於左右方向之擺動軸1182、形成圍住旋轉刷14的形狀之框體部1183、卸下氣密構件118時要用到的卸下爪1184、將架橋部1181及框體部1183朝下側彈推之彈推部1185、以及從動滾輪1186。 氣密構件118，係與吸入口部113及旋轉刷14分別擺動之構件，藉由彈推部1185被朝下側彈推。因此氣密構件118，伴隨自走式電動掃地機1的階梯差的移動等而上下動。藉此，氣密構件118會維持近接於或是接觸於地板面之位置，故可提高氣密性。又，氣密構件118，由於與吸入口部113及旋轉刷14分別擺動，故不必於本體11內設置吸入口部113的擺動空間，對於本體11的小巧化有貢獻。 本實施形態的擺動軸1182，可與刮取刷13設置於同軸，而將刮取刷13安裝於擺動軸1182。藉此，一同設置氣密構件118及刮取刷13時，可減低設置空間，故對於自走式電動掃地機1的小巧化有貢獻。又，擺動軸118，為設置於氣密構件118的後端側。 擺動軸118，亦可設置於氣密構件118的前端側。如此一來，氣密構件118，隨著從後方朝向前方，具備有越來越朝向上方的傾斜，故可減輕衝撞到在前方的障礙物時的負荷。又，氣密構件118的前端，隨著從前方朝向後方形成有越來越朝向下側的傾斜部1187（參照第4圖等）。因此，可更低減衝撞到前方障礙物時的負荷。 卸下爪1184，安裝於氣密構件118的左右側，藉由朝向左右方向（於本實施形態，為朝向左右方向內側）移動，可將卸下爪1184從本體11卸下。由於自走式電動掃地機1，主要為朝前後方向移動，故如此藉由作成朝左右方向移動來卸下，可抑制氣密構件118於移動中從本體11脫落。 彈推部1185，係置於氣密構件118的背面側之可將例如框體部1183或其附近朝下側彈推之例如彈簧狀的構件。藉由彈推部1185，氣密構件118，於自走式電動掃地機1的移動中，以接觸於地板面之方式彈推。藉此，可提昇旋轉刷14周圍的氣密性，故可提昇集塵效率。 從動滾輪1186，分別設置於氣密構件118的左右外側部分，伴隨自走式電動掃地機1的移動接觸於地板面，可支撐氣密構件118。藉此，即使將氣密構件118朝下側彈推，也可抑制與地板面的摩擦抵抗，而抑制能源損失或對地板面的傷害。又，於前後方向，由於從動滾輪1186夾介驅動輪116位於輔助輪17的對面側，故可藉由此等3個構成要素有效進行自走式電動掃地機1的支撐。 [側邊刷15] 例示於第3圖等之側邊刷15，為把在房間的角落等之比本體11更外側處之旋轉刷14不易到達的場所的塵埃引導於吸入口部113（吸引口1131）的刷子。側邊刷15的旋轉軸為上下方向，且側邊刷15的一部分從平面觀察為從本體11露出。側邊刷15，具備有從平面觀察以120°間隔放射狀延伸的3束刷子，分別配置於下外殼112的前方左右側。側邊刷15，其根基固定於側邊刷夾座151。 側邊刷15各別之刷子，其側邊刷夾座151側（根基側），係彈性體等之具備有可撓性的根基彈性部153，且其前端側為例如其為刷毛之刷毛部154。於本實施形態，形成側邊刷15的旋轉軸（輪轂）之側邊刷夾座151及根基彈性部153為一體形成。藉由將側邊刷15的根基作成根基彈性部153般的彈性體，比起刷毛部154從根基跨到前端的構成，不易產生刷毛部154彎曲的姿勢，故可提昇側邊刷15的耐久性。 側邊刷15的植毛，以隨著朝向前端越靠近地板面之方式傾斜，其前端附近與地板面接觸。 側邊刷夾座151，設置於下外殼112的底面附近，連結於側邊刷馬達152（參照第2圖）。藉由側邊刷馬達152之驅動，朝向側邊刷15內側（朝第3圖所附之箭頭的方向）旋轉，而將塵埃刮集於吸引口1131。 [電動送風機16] 第4圖所示之電動送風機16，具備有於前後方向持有軸之風扇，藉由風扇旋轉驅動，將集塵盒4內的空氣排出於外部使其發生負壓，而具備有從地板面夾介吸引口1131（吸入口部113）將塵埃吸入之功能。於電動送風機16的外周面設置有彈性體161。藉由如此使彈性體介於其中，電動送風機16的振動會減弱變得不易傳到本體11，可減低本體11的振動、噪音。又，於本實施形態，電動送風機16配置於下外殼112的中心附近。又，由於是複數次通過清掃區域的設定，故電動送風機16以採用較小型者為理想，其直徑如上述般可作成70mm以下。另一方面，為了使作為清掃房間等之自走式電動掃地機1充分地發揮功能，其直徑為50mm以上較理想。 [吸入口部113] 第6圖為吸入口部113、塵埃感應器單元12及集塵盒4的分解立體圖，第7圖為塵埃感應器單元12的正面圖，第8圖為塵埃感應器單元12的右側面圖。 吸入口部113，形成有連通於集塵盒4之吸引口1131，並且是容納刮取刷13、旋轉刷14的構件。於吸入口部113，亦可安裝旋轉刷馬達1133。比吸引口1131上游側（旋轉刷14側），是收納旋轉刷14的空間，且斷面積比吸引口1131還大。 於本實施形態，藉由電動送風機16的負壓被吸入的空氣，順序通過吸引口1131、塵埃感應器單元12、集塵盒4的通氣管42與主蓄積室41、集塵過濾器46、電動送風機16、以及排氣口1126。該空氣含有多量的塵埃，在集塵過濾器46處被遮攔而貯塵於集塵盒4內。以下，將大致垂直於吸引口1131及塵埃感應器單元12的框121的方向（從正面觀察框121的方向）稱為主方向。又，排氣口1126，為設置於下外殼112，於本實施形態有6個位於2個驅動輪116之間。 本實施形態的吸入口部113，不具從吸引口1131延伸於主方向之部分，不過亦可例如後述之集塵盒4的通氣管42般，具備有延伸於主方向且與吸入口部113一體的吸入口部通氣管。此時，吸入口部通氣管、塵埃感應器單元12及通氣管42，會圍住從吸引口1131至集塵盒4內的路徑。此點，如後述般，從提昇集塵盒4的容積的觀點等來考量，於該路徑中，比起吸入口部通氣管的長度（例如主方向長度）或框121的長度（例如主方向長度），以通氣管42的長度（例如主方向長度）較長為理想。 [塵埃感應器單元12] 塵埃感應器單元12，為配置於吸入口部113與集塵盒4之間。 塵埃感應器單元12，具備有：框121、設置於框121之相互相向的發光部122與受光部123、安裝於框121的集塵盒4側的緊貼構件124、以及基板127。塵埃感應器單元12，與吸入口部113及集塵盒4為不同構件地形成，使框121接觸於吸入口部113，藉由以此狀態安裝，可同時安裝發光部122、受光部123、連接器126以及緊貼構件124。因此，本實施形態的塵埃感應器單元12，組合性優異。 （框121） 框121，為一邊確保連結發光部123與受光部124的光軸的空間，一邊可以在框121本身或其附近安裝發光部123與受光部124的構件。本實施形態的框121，為持有長邊方向及短邊方向的形狀，可作成例如矩形。於本實施形態為大致長方形。於框121的長邊方向的一方，安裝有受光部123及基板127。於框121的長邊方向的另一方，安裝有發光部122。又，發光部122與受光部123，亦可設置於框121的短邊方向。又，框121亦可為正方形、圓形、橢圓形、卵型等。 （發光部122與受光部123） 發光部122與受光部123，為相互相向，發光部122所發射之紅外線等的光，藉由受光部123受光。發光部122所發射者，不限於光，亦可為超音波等，只要可檢知塵埃的有無，各種習知者皆可。發光部122與受光部123亦可設置於相同側，從小巧化的觀點等考量，以使其相向較為理想。 （配線125、連接器126、基板127） 基板127，可搭載發光部122的驅動電路、受光部123的放大電路，藉由與放大之信號或基準電壓比較，將塵埃的通過而產生之受光量的減少作為脈衝出力之比較器等。亦可代替比較器或是再追加，作成可檢出受光部123的受光量持續減少。此時，可推測集塵盒4是否已滿量。 發光部122及基板127，藉由配線125接電。配線125，為沿著發光部122與受光部123的相向方向，走在框121附近，或走在框121內，而組裝於框121及緊貼構件124之間。於配線125，流動有發光部122的驅動電流。又，受光部123也藉由配線與基板127接電（不圖示）。此等配線，為與連接器126接電。 （緊貼構件124） 緊貼構件124，為合於框121的周緣形狀的形狀，於本實施形態為中空之大致長方形。框121的形狀，是配合吸引口1131的形狀。作為緊貼構件124者，可採用墊片等。 （塵埃感應器單元12的優點） 如此構成之塵埃感應器單元12，由於可將發光部122與受光部123保持於一體，故易於使光軸一致。又，可將受光部123與基板127近接配置，故可縮短從受光部123至放大電路的距離，可減少對於其為微弱信號之受光部123的出力之電磁雜音的影響。又，發光部122的配線125於塵埃感應器單元12內一體化，與控制裝置2接電時，亦將配線（圖示省略）僅與連接器126接續即可，其組裝性優異。 又，於其為與集塵盒4接觸的構件之緊貼構件124，以使用彈性體等之具有彈性的材料較為理想，不過如此之材料，相較下比其他零件更早劣化。又，發光部122與受光部123的表面也易於產生塵埃所引起之髒污或傷害等。根據本實施形態，由於易於因如此之劣化、髒污或傷害而產生交換必要性的零件，在交換塵埃感應器單元12時可同時交換，故其維修性優異。 （框24之非相向方向的尺寸等） 第9圖，為第7圖的C-C斷面圖。關於塵埃感應器單元12，在平行於框121的方向（垂直於主方向的方向）中，把大致垂直於發光部122與受光部123的相向方向的方向稱為非相向方向。框121中，將吸引口1131側的非相向方向的寬度作為a，將集塵盒4側的非相向方向的寬度作為b，則a≒b且a＜b。藉此可抑制垂直於主方向的面的斷面積過分狹窄而增加損失。又，把框121所圍住之區域的中心線90（大致平行於主方向），作為通過尺寸a及b的中點的直線。亦即，如例示於第9圖般，考慮到a1=a2=a/2，b1=b2=b/2會成立的直線，則a1及b1為比中心線更上方側，a2及b2為比中心線更下方側。此時，發光部122與受光部123，對於非相向方向，為配置於比中心線90更下方側。由於塵埃比空氣更重，通過中心線90的下側之確率較高，故藉由在下方側設置發光部122與受光部123，可高精度檢知塵埃。 第10圖，為第8圖的D-D斷面圖。發光部122，具備有發光元件1221以及透明樹脂1239，受光部123，具備有受光元件1232以及透明樹脂1239。對於所安裝的透明樹脂1239而言，其在在發光元件1221與受光元件1232之間的區域，為分別具有比垂直於發光元件1221所發射之光的光軸之方向的尺寸還小的尺寸。藉此，可藉由透明樹脂1239保護元件，又，可一面引導發光元件32的光，一面抑制塵埃感應器單元12的上下尺寸或前後尺寸的大型化。 （框24的相向方向的尺寸等） 平行於框121的方向中，大致平行於發光部122與受光部123的相向方向之方向稱為相向方向。將吸引口1131側的相向方向的寬度作為e，將集塵盒4側的相向方向的寬度作為d，則e＞d。亦即，框121的相向方向的寬度，隨著越朝向集塵盒4側會變越小。藉此，在含有塵埃的空氣朝箭頭91的方向流動時，根據慣性，塵埃會從壁面離開流動。因此，可抑制透明樹脂1239受傷或弄髒。 [集塵盒4] 第11圖為將集塵盒4從本體11卸下之狀態的立體圖，第12圖為自走式電動掃地機1中，含有裝著有集塵盒4的本體11的區域的立體圖，第13圖為第12圖的主要部位放大圖，第14圖為第5圖的B-B斷面圖，第15圖為含有小道具容納部1102及小道具95的立體圖，第16圖為安裝有集塵盒4之本體11的後方立體圖。 集塵盒4，為蓄積從地板面經由吸引口1131（吸入口部113）吸入的塵埃之容器。集塵盒4，具備有：形成於吸引口1131側的通氣管42、主要為蓄積回收之塵埃的主蓄積室41、可將蓄積之塵埃從過濾器46側（上方側）取出之蓋45、可旋動開閉主蓄積室77下方側（通氣管42側）的開口之逆流抑制閥44、以及可折疊之手把43。集塵盒4，係從本體11的斜上朝向斜下安裝。 （主蓄積室41） 主蓄積室41，例如由樹脂材所形成，為將空間內包之區域，且藉由蓋45及逆流抑制閥44抑制塵埃從空間漏出於外側。蓋45，可塞住主蓄積室41的水平方向側的開口，逆流抑制閥44，可塞住主蓄積室41的下方側的開口。主蓄積室41所內包之空間的斷面積，為比框121的斷面積更大。作為在此所謂主蓄積室41所內包之空間的斷面積者，例如，可作為垂直於過濾器46方向的斷面積。 （通氣管42） 通氣管42，具備有位於主蓄積室41的下方側的一端，及藉由逆流抑制閥44可開閉之另一端。通氣管42，係與集塵盒4成為一體的部分；集塵盒4，形成一部分、大致全部、或全部之從吸引口1131至主蓄積室41的路徑。本實施形態的通氣管42，為其一端側延伸於大致上下方向，從途中朝向另一端側延伸於斜下側方向之形狀，不過亦可僅由後者，亦即，僅由朝向另一端側延伸於斜下側方向之部分來形成。 如此，整體來看，則通氣管42，從一端朝向另一端朝向斜下延伸。通氣管42的一端，例如可設置於主蓄積室41的下面，較佳為，從上面觀察，設置於對於主蓄積室41的下面的中央，比通氣管42的另一端更遠的位置。藉此，從上面觀察集塵盒4的尺寸易於做得小巧。 （手把43） 手把43，係以主蓄積室41的上方作為旋動軸，以可旋動之方式設置的構件，並具備有：把持部431、防脫部432、作用點部433、卡止部434。手把43，係從比旋動軸更前方至比旋動軸更上方之大概90°～100°左右可旋動。要使後述之作用點部433及卡止部434的兩者之作用奏效，能夠旋動的範圍以超過90°，大概135°以下，較佳為120°以下為理想。在此，將把持部431躺平的狀態（卡止於卡止部434的狀態）作為旋動角0°。又，如於第16圖例示般之狀態，旋動角為大概90°。 把持部431，為使用者在把持集塵盒4進行裝卸動作等時易於使用的部分，於前端設置有卡止部434。於集塵盒4安裝於本體11之狀態，卡止部434是被卡止於設置在上外殼111的非卡止部（不圖示），可卡止手把43。 防脫部432，為設置於旋動軸附近且比起旋動軸更靠卡止部434側（旋動角度0°側）之突起狀的部分。於手把43位於前側之狀態，防脫部432是進入於本體11內，與本體11內的部分接觸產生摩擦抵抗。藉此，抑制手把43的脫落。 作用點部433，為在手把43位於上側之狀態而使用者再朝向後方（朝向旋動角超過90°的方向）施力時，接觸於本體11的上面側的部分。於該狀態下，作用點部433，成為集塵盒4從本體11被上提之力的作用點，成為旋動軸支點。藉此，可成為使用者卸下集塵盒4時之輔助。作為本體11的上面側者，並無特別限制，不過可作成例如後述之引導階梯差119。 [集塵盒4的形狀及小道具收納部] 集塵盒4，為其後方上側突出於後方之形狀，且安裝於本體11時，後方上側形成自走式電動掃地機1的側面的一部分（參照第16圖等）。因此，於本體11，相當於集塵盒4中的後方上側區域的正下方之區域，亦形成自走式電動掃地機1的側面的一部分。於本實施形態，於靠著該本體11之側面的一部分的附近，設置如第15圖等例示之小道具容納部1102，收納有作為小道具一例之清掃用刷95。清掃用刷95，例如，為使用者用以清掃集塵盒4內時可使用者，且為沿著本體11的外周形狀彎曲的形狀。清掃用刷95，具備有刷毛951及治具部952。刷毛部951，可用於清掃集塵盒4等之時，治具部952，可用於卸下側邊刷15之時。 藉由作成沿著本體11的外周形狀彎曲的形狀，可將收納清掃用刷95需要的空間沿著本體11的側面的內周設置。作成例如使清掃用刷95等，裝著於集塵盒4的外面之形態時，由於可招來集塵盒4的容量的低減，故較為理想。又，藉由將清掃用刷95等的收納空間作成集塵盒4的裝卸區域，可抑制清掃用刷95等意外脫落之事態。 又，代替本實施形態，亦可例如代替清掃用刷95或是再追加，來收納用以卸下側邊刷15之治具、其他的小道具。 小道具的收納形態並不限於上述者，只要將集塵盒4安裝於本體11的狀態即可，因此亦可將被本體11及集塵盒4所圍住的區域設置於本體11。 （逆流抑制閥44） 逆流抑制閥44，具備有：可塞住作為通氣管42另一端開口的主面441、以一體或是不同個體安裝於主面441且於大致平行於主面441的方向，突出於比通氣管42更外側之突出部442、以及朝向使主面441與突出部442旋動的方向彈推之彈推部443。於本實施形態，突出部442分別設置於大致平行於主面441的方向的外側。 彈推部443，係朝向主面441塞住開口的方向使逆流抑制閥44彈推之構件，可使用各種習知者，例如可使用彈簧。將彈推部443例如作成線圈彈簧，則本身可成為旋動軸。 因此，在沒有外力作用的狀態下，逆流抑制閥44塞住通氣管42的另一端。 突出部442，接觸於在將集塵盒4裝著於本體11之時設置於收納集塵盒4的區域之作為反彈推部的引導階梯差119。引導階梯差119，係設置於於本體11中，將集塵盒4卸下則可目視的區域之2個階梯差部分。引導階梯差119，分別沿著集塵盒4的安裝方向設置，於本實施形態為從上後方朝向下前方延伸。 藉由隨著集塵盒4朝向本體11的裝著而朝向集塵盒4的下側之移動，突出部442分別接觸於引導階梯差119並滑動，承受來自主面441開放開口之方向之力。藉此，逆流抑制閥44對抗彈推部443的彈推力，而開放通氣管42的另一端。於本實施形態例示般之引導階梯差119，藉由反彈推部與突出部442的接觸，主面441承受與彈推部443的彈推力反方向的力，可將作為通氣管42的另一端的開口開放。 具體上，以逆流抑制閥44的長邊方向為軸之旋動產生而開放通氣管42的另一端。由於本實施形態的逆流抑制閥44為略長方形狀，若以逆流抑制閥44的短邊方向為軸來旋動，或以垂直於主面441的方向為軸來旋動，則為了進行旋動，必定需要較寬的空間，故以長邊方向為軸來旋動較為理想。亦即，彈推部443，以主面441的長邊方向為軸使逆流抑制閥44旋動。 又，突出部442，只要能藉由接觸於自走式電動掃地機1的某個構件（反彈推部）將逆流抑制閥44呈打開狀態即可。 於比本實施形態的引導階梯差119的前端更前方處設置有間隙1101，於集塵盒4安裝於本體11的狀態下，逆流抑制閥44，一邊被引導階梯差119所按壓同時一邊滑動而被收納於間隙1101。間隙1101，位於框121的主方向投影面的外側。因此，於裝著有集塵盒4之狀態下，通氣管42的另一端，接觸於塵埃感應器單元12，特別是於本實施形態為緊貼於緊貼構件124。 [設置於從吸引口1131至主蓄積室41為止的構造物] 特別是如例示於第14圖般，於主方向，塵埃感應器單元12的尺寸92，為比通氣管42的另一端側的尺寸93還短。亦即，接續從吸引口1131至主蓄積室41為止的路徑的一部分，較佳為，比起尺寸92，更多是由通氣管42的另一端側的尺寸93所形成。藉此，可於從吸引口1131至主蓄積室41為止的區域設置集塵盒4的一部分，故可擴大集塵盒4的容積。 在此，通氣管42，可具備有：形成通氣管42的一端側，且具備尺寸94並朝上下延伸之直立部421。直立部421，抑制塵埃從主蓄積室41漏出於通氣管42的另一端側。 在此，作為尺寸93者，可將集塵盒4的下表面模擬建構成平面（將主蓄積室41近似於箱型），視為以大致平行於塵埃感應器單元12的尺寸92的直線而計測出從該平面至塵埃感應器單元12為止的距離。又，本實施形態的主蓄積室41可視為箱型。 [藉由逆流抑制閥44之通氣管42的閉塞] 如上述般，在集塵盒4裝著於本體11的狀態，逆流抑制閥44，被收納於旋轉刷14的上方。將集塵盒4從本體11卸下，則藉由彈推部443的彈推力，逆流抑制閥44會旋動，而塞住通氣管42側另一端的開口。藉此，即使塵埃蓄積於通氣管42內，亦可抑制塵埃從集塵盒4落下。又，主面441，可為平板狀，亦可為可抑制塵埃通過之程度的網狀。 [塵埃的滿量檢知] 自走式電動掃地機1若吸引塵埃，吸引之塵埃首先會被蓄積於主蓄積室41，若主蓄積室41滿量則亦會被蓄積於通氣管42。由於通氣管42比起重力方向為更朝水平方向側之斜下朝向，故可抑制塵埃從通氣管42落下。又，比起水平方向更朝向重力方向側，故主蓄積室41滿量之後塵埃較易於馬上被蓄積於通氣管42，易於藉由塵埃感應器單元12檢出塵埃。 又，藉由直立部421，也不拘主蓄積室41為仍有餘裕之狀態，塵埃會朝通氣管42流動，可抑制落下。本實施形態的集塵盒4，於比通氣管42的一端更前側處，設置有過半比例之內包有主蓄積室41之空間，故塵埃易於蓄積於前方側。但是，於過半比例的空間與通氣管42之間設置有直立部421，故伴隨朝向其為自走式電動掃地機1的主移動方向之前方的加速，即使塵埃朝後方移動，亦可有效抑制塵埃於通氣管42落下。亦即，從前方朝向後方，依順序位有內包有主蓄積室41之空間的過半比例、直立部421、通氣管42的一端。 於通氣管42蓄積大概滿量塵埃時，塵埃亦會持續遮蔽發光部122的光，而受光部123的受光量降低之狀態會持續。藉由檢出該狀態，可檢知集塵盒4的滿量，而通知使用者、或是開始進行使自走式電動掃地機1回歸於充電台（圖示省略）之控制。 [通過之塵埃量的檢知] 若發光部122的光瞬間被遮蔽，則受光部123的受光量會脈衝性減少。藉此，可檢知塵埃朝向集塵盒4通過中。於本實施形態，於主方向之斷面積，比起吸引口1131，旋轉刷14側較大，框121或通氣管42較小，主蓄積室41較大。亦即，於從旋轉刷14的收納空間至主蓄積室41為止的路徑之斷面積，框121及/或通氣管42為最小。因此，被吸入的塵埃，會集中於配合通氣管42的形狀而斷面積較小之框121。發光部122與受光部123，設置於框121，故大部分的塵埃會通過發光部122與受光部123之間。亦即，可高精度測量塵埃量。 又，通過框121之後的塵埃，會通過其斷面積大概為相同之通氣管42，故於框121附近不易產生渦流。亦即，可抑制塵埃因渦流造成逆流而被多重檢知。再者，通過通氣管42之後的斷面積會放大，故可抑制風阻損失。 又，比塵埃感應器單元12為更上游側的斷面積，亦即，從吸入口部113至塵埃感應器單元12的斷面積，亦可單調遞減。如此一來，可抑制在塵埃感應器單元12上游處產生渦流，塵埃被塵埃感應器單元12多重檢出。 [配置設計] 第17圖為卸下上外殼111之自走式電動掃地機1的立體圖，第18圖為第1圖的E-E斷面圖。 要將自走式電動掃地機1的上下尺寸作得小巧，本體11的上下尺寸要作成與電動送風機16的上下尺寸大致相同。如於第17圖例示般，將上外殼111卸下之狀態，則是以看得到覆蓋電動送風機16的上面的一部分之凸形狀162之方式構成。藉此，對本體11的上下尺寸的小巧化有所貢獻。又，本體11的底面側，從下面觀察，亦可在重疊於電動送風機16的位置，具備有突出於下側之凸形狀。 於上外殼111的下側空間，藉由設置凸形狀162，使僅電動送風機16上端側的部分突出於該空間，並且多出之該突出尺寸部分，可成為配置別的零件之空間。亦即，於凸形狀162所在位置之高度區域，可配置別的零件。 例如於本實施形態，配置有開關薄片22的一部分、電路基板或電路元件、7區段、以及LED等之發光元件，成為可將此等零件用上外殼111覆蓋之構成。藉此，可易於將易受電動送風機162的尺寸影響的自走式電動掃地機1的上下尺寸縮小。又，除了開關薄片22的一部分、電路基板或電路元件、7 區段、以及LED等的發光元件之外亦可配置其他零件，亦可僅配置此等零件的一部分。此等配置之零件的高度尺寸，以凸形狀162的高度尺寸以下較為理想，例如可為5mm以下、3mm以下、2mm以下或是1mm以下。 又，電動送風機162，以朝水平方向送風之方式安裝，亦即，風扇開口為朝大致水平方向（例如為從水平方向±10度以下，較佳為±5度以下）。如此一來，如本實施形態般易於將電動送風機162及集塵盒4接續於形成於水平方向之通路。亦即，可減低使通路朝高度方向延伸的必須性，可抑制高度尺寸。 又，可藉由卸下上外殼111露出電動送風機16的上端側的部分，亦可為配置了上述之其他零件的平板狀的構件，覆蓋電動送風機16的上端側的部分。 又，通常為將圓筒形狀的電動送風機16斜向配置時，會產生將本體11的上下尺寸增大之必須性，故電動送風機16的軸方向，為水平方向或從水平方向移位±10度以下，較佳為±5度以下。 於從電動送風機16的軸方向觀察時，如於第18圖例示般，於外接於筒型之電動送風機16之大致正方形的區域的內側，位有臂1141的旋動軸側。該區域易於成為死角，而藉由如此配置臂1141的一部分來有效活用空間，可實現自走式電動掃地機1的小巧化。又，使排氣口1126位於電動送風機16的正下方，或電動送風機16的下游側的開口的正下方，故可縮短排氣風路。 本實施形態，具備有用以小巧化之種種構成，其結果，使上下尺寸近接於電動送風機16的上下尺寸。具體上，即使考慮到因驅動輪116產生之對尺寸的影響，電動送風機16的上下尺寸也會規範在將自走式電動掃地機1載置於地板面之狀態時之自走式電動掃地機1的上下尺寸（亦即，臂1141朝上側旋動而驅動輪116被收納之狀態的上下尺寸），的70%以上，較佳為75%以上或是85%以上的範圍內之方式構成。 上外殼111及下外殼112圍住上下側的區域的上下尺寸，為與電動送風機16的上下尺寸大致一同。具體上，電動送風機16的上下尺寸，為上外殼111及下外殼112所圍住的區域的上下尺寸的90%以上，較佳為95%以上。 又，如上述般，載置於本體11的構造物中，重量較大者為充電電池19或電動送風機16。由於將充電電池19配置於中央側時，易於妨礙配線等，故於本實施形態為將電動送風機16配置於中央側，將充電電池19配置於前側。 [側邊刷15的旋轉速度] 自走式電動掃地機1，係於左側及右側分別具備有側邊刷15。於本實施形態，作成可分別變更側邊刷15的旋轉速度的構成。具體上，自走式電動掃地機1，在執行牆壁位於左側方式來行進之壁邊清掃模式時，使與牆壁所在位置之側相同側之左側的側邊刷15的旋轉速度，以比另一方的側邊刷15的旋轉速度還快之方式控制。藉此，可更有效進行壁邊的清掃。壁邊清掃模式，可藉由各種習知的方法執行，例如，藉由使設置於本體11的左側之測距感應器210以持續檢出壁面（障礙物）之方式控制行進移動，而得以實現。 又，在執行牆壁位於右側方式之行進移動之壁邊清掃模式時，亦可同樣地控制。又，於壁邊清掃模式執行中，若將壁側之側邊刷15的旋轉速度，控制得比執行其他的控制模式中的旋轉速度還高，亦可得到同樣的效果；該其他的控制模式，為例如檢知出壁面或者障礙物時，就從該壁面或障礙物朝離開方向地變更進路然後再開始行進之反射行進模式等。又，與壁邊相同地，在2壁面交接的角落部，同樣地亦可控制旋轉速度或後述之力矩。 [側邊刷15的力矩] 側邊刷15，分別藉由側邊刷馬達152驅動，而側邊刷馬達152靠充電電池19的電力驅動。於本實施形態，作為側邊刷馬達152 採用直流馬達。直流馬達，即使以時間平均出力之電壓為同值，工作比例較高（電壓印加時間長）者可傳達較高力矩。側邊刷15，若接觸於牆壁或障礙物，則因該摩擦而減少力矩，故清掃效率易於降低。 因此，於本實施形態，例如，執行使牆壁位於左側地移動之壁邊清掃模式時，對於與牆壁所在位置之側為相同側之左側的側邊刷15，傳達力矩之側邊刷馬達152的工作比例，可以比對於另一方的側邊刷15傳達力矩之側邊刷馬達152的工作比例還高之方式控制。 又，充電電池19的能源減少而出力電壓降低時，即使工作比例相同力矩也會降低，故充電電池19的殘餘電力越低會使工作比越大。 又，同樣的理由，根據地板面的材料應出力之力矩也不同，故亦可作成對應地板面的種類決定工作比。例如，可作成與木地板清掃中比較，以地毯清掃中的工作比例較高之方式控制。 再者，可使塵埃感應器單元12的塵埃檢知個數越大，工作比越降低。藉此，於塵埃多量區域，可使塵埃不會因側邊刷15而散飛。 又，將壁邊清掃模式執行中的壁側的側邊刷15的工作比，作成比執行其他的控制模式中之工作比還要高者之控制，亦可得到同樣的效果；該其他的控制模式，為例如檢知出壁面或障礙物時，就從該壁面或障礙物朝離開方向地變更進路然後再開始行進之反射行進模式。 [感應器類] 第23圖，為顯示自走式電動掃地機的控制裝置2，以及接續於控制裝置2的機器之概略構成圖。保險桿感應器（障礙物檢知手段），為檢知保險桿18的後退（亦即，障礙物的接觸）之感應器。 例示於第2圖等之測距感應器210（障礙物檢知手段），是檢出到障礙物的距離之紅外線感應器。於本實施形態，於正面3處及側面2處共計5處設置測距感應器。 測距感應器210，具備有使紅外線發光的發光部（圖示省略），以及接受紅外線藉由障礙物反射回來之反射光的受光部（圖示省略）。根據藉該受光部被檢出之反射光，算出至障礙物的距離。又，保險桿18中之至少測距感應器的附近，為由可使紅外線透過之樹脂或是玻璃所形成。 例示於第3圖等之地板面用測距感應器211（地板面檢知手段），係計測至地板面的距離之紅外線感應器，且設置於下外殼112的下面的前後左右4處。更具體為，位於輔助輪17的前側、旋轉刷14與刮取刷13的後側、驅動輪116的前側且為左右方向外側。 藉由利用地板面用測距感應器檢知階梯等之大階梯差，可防止自走式電動掃地機1的（從階梯等的）跌落。例如，藉由地板面用測距感應器檢知於前方約30mm左右處的階梯差時，控制裝置2會控制行進馬達使本體11後退，轉換行進方向。 又，若輔助輪17前側（下外殼112的前端側）的地板面用測距感應器211，檢出離地板面的距離較遠，且，旋轉刷14後側（下外殼112的後端側）的地板面用測距感應器211，檢出離地板面的距離較近時，控制裝置2，亦可使本體11直接繼續前進。如此之檢出的組合時，是因認為自走式電動掃地機1，大約在爬階梯差之故。同樣地，若輔助輪17前側的地板面用測距感應器211檢出離地板面的距離較近，且，旋轉刷14後側的地板面要素距感應器211檢出離地板面的距離較遠時，控制裝置2，亦可使本體11直接繼續前進。在此所謂「近」，為在例如，自走式電動掃地機C在平坦地板面上移動時地板面用測距感應器211所檢出之距離以下，而所謂「遠」，為超過例如，自走式電動掃地機C在平坦地板面上移動時地板面用測距感應器211所檢出之距離。除此之外，亦可為設定1或是2個適當的閾值，並與此比較之結果。 利用第23圖所示之行進馬達脈衝出力，檢出行進馬達1161的旋轉速度、旋轉角度。又，根據利用行進馬達脈衝出力檢出的旋轉速度、旋轉角度、減速機構的齒輪比、以及驅動輪116的徑，控制裝置2算出本體11的移動速度、移動距離。 行進馬達電流計測器，為計測流動於行進馬達1161的電樞捲線的電流之計測器。同樣地，電動送風機用電流計測器為計測電動送風機16的電流值，旋轉刷馬達用電流計測器為計測旋轉刷馬達1133的電流值。2個側邊刷馬達用電流計測器為計測側邊刷馬達152的電流值。各別之電流計測器，將計測之電流值朝控制裝置2出力。利用電流值的檢知結果，例如可檢知異物交纏於旋轉刷而旋轉停止之異常，並可藉由操作鈕報知使用者。 又，根據旋轉刷馬達1133的電流值及行進馬達1161的電流值，檢知本體11移動時之地板面的狀態，若辨識出例如在地毯上時，會使電動送風機16的輸入增加來增大吸引力，於木地板上，則將電動送風機16的輸入設定減小，進行抑制充電電池19的消費電力的控制。 藉由塵埃感應器單元12檢出塵埃時，會一定時間內增加電動送風機16的輸入。並不對應檢出之塵埃量來決定電動送風機16的輸入增加時間（例如延長時間）。藉此，抑制電動送風機16的消費電力。又，即使檢出塵埃，也不進行本體11的反轉轉向或來回移動。藉此，可避免移動速度的降低。 [驅動裝置] 第23圖所示之行進馬達驅動裝置（左）（右），為驅動左右側的行進馬達1161之變頻器，或是，藉由PWM（脈寬調制）控制之脈衝波形發生裝置，且對應來自控制裝置2的指令動作。關於電動送風機驅動裝置、旋轉刷用馬達驅動裝置、側邊刷用馬達驅動裝置（左）（右）亦相同。此等各驅動裝置，設置於本體11內的控制裝置2（參照第2圖）。 [控制裝置2] 控制裝置2，例如為微電腦（Microcomputer：圖示省略），且會讀出被記憶於ROM（Read Only Memory）之程式，於RAM（Random Access Memory）展開，CPU（Central Processing Unit）執行各種處理。控制裝置2，對應來自開關薄片22（參照第1圖），及上述之各感應器類的輸入信號，執行演算處理，並對上述之各驅動裝置出力指令信號。 [與手冊之成組（成套）包裝] 本實施形態的自走式電動掃地機1，如上述般，為已假想成清掃配置有傢俱之房間之地板面者。作為自走式電動掃地機者，其他已知有例如，設計成要清掃桌上等，比起房間為非常狹窄的區域者，不過用以清掃如此狹窄之區域之自走式電動掃地機，其與本實施形態詳述之自走式電動掃地機1，設定使用形態極大不同。自始至終本實施形態詳述之自走式電動掃地機1，是要有效清掃配置有傢俱之房間的地板面而製造的。因此，與自走式電動掃地機1一同，將該宗旨以文字或圖像或動畫顯示之手冊一起包裝，作為自走式電動掃地機組（成套）販賣較為理想。作為手冊者例如，可作成紙張媒體、DVD等之記錄媒體、或是USB記憶體等之記憶媒體。又，作為紙張媒體者，亦可作成記載了例如經由網路網絡線等之電氣通信手段用以視聽可下載之影音串流之手段之形式。 以上，於有關本發明之自走式電動掃地機，已顯示實施形態並詳細說明。又，本發明的內容並不限定於所述實施形態者，只要沒有從該旨趣逸脫超出的範圍內，當然能夠適當地改變、變更等。The embodiments of the present invention will be described in detail with reference to the drawings. The same symbols are attached to the same constituent elements, and the same explanations are not repeated. The various constituent elements of the present invention are not necessarily constituted by one component. For example, it is permissible that a constituent element is composed of plural components, plural constituent elements are composed of one component, or a part of the constituent elements and a part of other constituent elements are mutually repeat. In addition, in the traveling direction of the self-propelled electric sweeper 1 (refer to FIG. 1), the direction in which the self-propelled electric sweeper 1 normally proceeds is taken as the front, and the direction opposite to the direction of gravity is taken as the upper direction, and the driving wheels 116 (refer to (Picture 3) The directions facing each other are left and right. That is, the front, back, top, bottom, and left and right are defined as shown in Fig. 1 and so on. In this embodiment, the side brush 15 is attached to the front side of the self-propelled electric sweeper 1. <Embodiment 1> [Self-propelled electric sweeper 1] FIG. 1 is a perspective view of a self-propelled electric sweeper 1 according to this embodiment. The self-propelled electric sweeper 1 of the present embodiment is a self-driving cleaner, and as described later, it has various configurations that contribute to miniaturization. Self-propelled electric sweeper 1 is a sweeper that sweeps while sweeping autonomously in the sweeping area (for example, indoor). The self-propelled electric sweeper 1 is provided with a body 11; the body 11 includes: an upper casing 111 on the upper wall (and part of the side walls), a lower casing 112 on the bottom wall (and part of the side walls), and The bumper 18 provided at the front is configured. In addition, a dust box 4 is provided on the upper and rear sides of the self-propelled electric sweeper 1. The self-propelled electric sweeper 1 of the present embodiment is driven by the autonomous driving wheel 116 by the arithmetic processing of the control device 2 to perform cleaning, but it can also be driven by a remote controller or the like in response to user commands. [Dimensions of compact self-propelled electric sweeper 1] The self-propelled electric sweeper 1 of the present embodiment is small, lightweight, and moves at a relatively high speed, and a self-propelled electric sweeper that sweeps a cleaning area in plural is set. Specifically, the front-rear dimension and the left-right dimension are both 300 mm or less, preferably 280 mm or less or 260 mm, and the height dimension is 100 mm or less, preferably 95 mm or less. The reason for this size will be described later. In order to take advantage of such a compact shape, while ensuring the volume of parts that should be mounted on the self-propelled electric sweeper 1, the self-propelled electric sweeper 1 is regulated to have a diameter of 300 mm or less, preferably 280 mm or less Or the shape within a circle below 260mm is more ideal. Also, the amount of rechargeable batteries that should be used is suppressed, and the mass is 2700 g or less, preferably 2500 g or less, 2400 g or less, or 2350 g or less. In addition, from the viewpoint of mobile stability and the like, the mass is 1800 g or more, preferably 2000 g or more. Specifically, considering the viewpoint that the driving mechanism supporting the driving wheel 116 is not pushed by its own weight or jumped up greatly on the step difference, it is desirable to set the lower limit of the mass in this way. In order to achieve compactness and weight reduction, for example, it is set to extend the cleaning possible distance, that is, to set the same place where the cleaning area can be swept multiple times, and consider making the electric blower compact. In this way, while making the autonomous mobile electric sweeper compact and lightweight, it can be made quieter. Specifically, as the electric blower 16 of this embodiment, a diameter of 70 mm or less, an axial dimension of 65 mm or less, and a mass of 250 g or less can be used. Figure 24 is a diagram illustrating the statistical data of the size of the foot of the chair as an example of furniture, and Figure 25 is a graph illustrating the statistical data of the height of the foot of the bed as an example of furniture. The horizontal axis in Figure 24 is the distance between the legs of the chair, and the interval between the left and right legs of the chair is "a: frontal interval between the feet", and the interval between the front and rear legs of the chair is "b: lateral side between the feet." The vertical axis shows the ratio (dimension coverage) of the chair of the survey subject to the distance between the feet of the chair shown on the horizontal axis. That is, it shows how many chairs have the same value as the distance between the feet shown on the horizontal axis, or have a greater distance between the feet. In addition, about 150 chairs were investigated by the inventor group. According to the investigation of the inventor group, as shown in Fig. 24, when the distance between the feet is 350 mm, the dimensional coverage a is 80% strong, and b is 80% weak. As you move toward the right side of the figure, the narrower the distance between the feet, the higher the coverage of the vertical axis. As a result, it can be determined that when the distance between the feet is 260 mm, the size coverage is 100%. That is, the distance between the legs of the chair is 260 mm, which is shown as the distance between the legs of the general chair is equal to or greater than this value. Based on this result, the width dimension of the self-propelled electric sweeper 1 of the present embodiment is preferably as described above. As a result, the self-propelled electric sweeper 1 of the present embodiment can pass a large proportion of the foot of the chair, and can improve the cleaning performance around the chair. In addition, since it is less likely to be restricted by the movement range in which the chair becomes an obstacle, the possible cleaning range can be expanded. explained about a chair as an example of furniture. This is because it is considered that the furniture has the narrowest spacing between the legs of the chair in general household furniture. Therefore, the self-propelled electric sweeper 1 of the present embodiment can hold the above-mentioned dimensions, and is not limited to a chair. For furniture with feet such as a table, it can also pass through the foot to expand the cleaning range. . Secondly, in Figure 25, the statistics of the foot height of a bed as an example of general furniture are shown. The horizontal axis shows the height of the foot of the bed. The vertical axis is the ratio (dimension coverage) contained in the bed of the survey subject in the height of the foot of the bed shown on the horizontal axis. That is, it shows how many beds have feet with a value higher than the height of the feet shown on the horizontal axis. In addition, the inventors investigated about 210 beds. As shown in Figure 25, as you move forward to the right side of the figure, the higher the foot height, the lower the vertical dimension coverage. As a result, it can be specified that when the foot height is 10 cm, the size coverage is about 80%. That is, the height of the foot of the bed can be specified to be 10 cm, which means that the height of the foot of a general bed is equal to or smaller than this value. Based on this result, the self-propelled electric sweeper 1 of the present embodiment is ideal if the height dimension is as described above. In this way, the cleaning performance around the bed can be improved by passing under the general bed. In addition, since it is less likely to be restricted by the movement range in which the bed becomes an obstacle, the possible cleaning range can be expanded. Figure 25 illustrates a bed as an example of furniture. This is considered to be the reason why the height of the foot of the bed is low in the furniture of general households. Since the self-propelled electric sweeper 1 of this embodiment is set to clean one room or more than two rooms, if it is too small, the cleaning area is limited. Therefore, considering the general chair leg size or bed size, it is desirable if the front and rear and top and bottom dimensions are 230 mm or more, 240 mm or more, 250 mm or more, 260 mm or more, or 270 mm or more. In addition, the height dimension is preferably 70 mm or more, 80 mm or more, or 90 mm or more. Here, as will be described later, the driving wheel 116 is rotatably supported by the main body 11, and when it enters the bottom of the bed, the rotating state of the driving wheel 116 is the height dimension with the weight of the main body 11 added. . That is, the height dimension refers to the value measured by the state where the self-propelled electric sweeper 1 is placed. [Speed of the self-propelled electric sweeper 1] The self-propelled electric sweeper 1 of the present embodiment is set to be small and light, and then to make the moving speed relatively fast, even in a narrow place or low It can also enter the place, and expand the possible cleaning area, and pass through the same part of the cleaning area multiple times. That is, it is set to not only pass once, but to remove dust by plural passes, so the electric blower is made compact. Specifically, the self-propelled electric sweeper 1 of the present embodiment has an average speed of 81 mm/s or more during straight travel, and an average speed of 81 mm/s or more during revolving, and is cleaned once (from a fully charged state) The average speed from the beginning to the return to the charging stand or until the rechargeable battery capacity is used up is 81mm/s. This is, for example, when the duration of the rechargeable battery is assumed to be 50 minutes, when tested by the International Electrotechnical Commission (IEC), the so-called "triplepass" can be obtained by passing the same area three times. The reason for the minimum speed. However, considering the reduction in the time required for cleaning, improving the user's rapid impression of cleaning, etc., the above-mentioned speeds may be made 100 mm/s or more, 130 mm/s or more, 150 mm/s or more, or 170 mm /s or more. In addition, in the self-propelled electric sweeper 1 of the present embodiment, the duration of the rechargeable battery 19 is 60 minutes or more. The upper limit of the duration can be made 90 minutes or less, preferably 80 minutes or less or 70 minutes or less. In addition, the average speed at the time of turning may be equal to or less than the average speed at the time of straight travel, but from the viewpoint of the impression of rapid cleaning, the average speed at the time of turning is 80% or more or 90% or more of the average speed at straight time ideal. [Width of the rotating brush 14 of the self-propelled electric sweeper 1] From the viewpoint of clearance into furniture, etc., it is desirable to make the self-propelled electric sweeper 1 compact, but from the viewpoint of cleaning area, While making the self-propelled electric sweeper 1 compact, the width of the rotating brush 14 is increased, which is expected. The width of the rotating brush 14 (the axial dimension. Refer to L1 in FIG. 3, etc.) is 51% or more relative to the width of the self-propelled electric sweeper 1 (left and right dimensions. Refer to L2 in FIG. 3, etc.). Furthermore, specifically, the distance from the left-right direction end of the self-propelled electric sweeper 1 to the end of the rotating brush 14 (refer to L3 in FIG. 3, etc.) is 65 mm or less, preferably 60 mm or less, and the rotating brush 14 The width is 120 mm or more, preferably 130 mm or more. The width of the rotary brush 14 is preferably 95% or less relative to the width of the self-propelled electric sweeper 1. Thereby, while supporting the shaft of the rotating brush 14 on the left and right outer sides of the rotating brush 14, the rotating brush 14 can be configured without exposing the width of the self-propelled electric sweeper 1. Tested by the International Electrotechnical Commission IEC as a person cleaning a 4m×5m area. In this case, when the width of the rotating brush 14 is W, the duration of the rechargeable battery 19 is t, and the number of passes is s, the minimum speed v_min necessary for s passes is given as 4× 5×s/(w×t). If you want to take advantage of the small and lightweight features like the self-propelled electric sweeper 1 of this embodiment, s=3 or 4, and, for example, t=50min, to satisfy v_min>4×5×s/(w× t) is ideal. As described above, the self-propelled electric sweeper of this embodiment is set to pass many times. For example, a self-propelled electric sweeper 1 with a three-pass rate of 80% or more is preferable. In addition, when the left and right dimensions of the rotating brush 14 are 120 mm or more, and the relationship between the chair legs described later, as long as the circumference of the chair legs is cleaned twice, the legs of all types of chairs can be effectively cleaned, making it 130 mm or more. In this case, since this effect can be maintained and the width of the rotating brush 14 also becomes larger, the cleaning area can be effectively expanded. The width of the rotating brush 14 can be increased by providing the front end of the rotating brush 14 behind the rear end of the driving wheel 116. Hereinafter, various configurations of the self-propelled electric sweeper 1 will be described in detail. [Lower case 112] FIG. 2 is a perspective view of a state where the upper case 111 and the dust box 4 are removed, FIG. 3 is a bottom view of the self-propelled electric sweeper 1, and FIG. 4 is line AA of FIG. 1 5 is a perspective view of the suction port 113, the dust sensor unit 12, and the dust box 4. The lower housing 112 is provided with: a drive mechanism accommodating portion 114, a side brush mounting portion 1121, a traveling motor 1161, a rotating brush motor 1133, an electric blower 16, a rechargeable battery 19, and a battery accommodating portion 115 that houses the rechargeable battery 19 (refer to 4), the control device 2, and the thin disk-shaped member of the suction port 113; the above-mentioned drive mechanism accommodating portion 114 is configured to accommodate: including a driving wheel 116, a travel motor 1161, an arm 1141, and a speed reduction mechanism 1142 Drive mechanism. The lower case 112 has a bumper frame 1127 provided on the lower end side (preferably including the lower end) of the side surface, the entire circumference of the side surface, or substantially the entire circumference. The bumper frame 1127 is made of a material that is softer than the members forming the other parts of the side surface, and for example, a resin material such as an elastomer can be used. In addition, the bumper frame 1127 protrudes more than the bumper 18 on the outer peripheral side than other parts of the side surface. Thereby, even if the self-propelled electric sweeper 1 collides with furniture or the like, it is possible to suppress damage to the furniture or the like. In addition, since the self-propelled electric sweeper 1 mainly moves forward, the side of the front side is likely to collide with furniture, etc. For example, when considering entering a narrow road, etc., as in this embodiment, a bumper frame is also provided on the side or rear 1127 is ideal. In addition, since the bumper 18 has a ring shape, by forming the bumper frame 1127 into a ring shape as in the present embodiment, the bumper frame 1127 can be positioned on the outer circumferential side of the bumper 18. In this way, the bumper 18 can be pressed from the outer peripheral side, so it is easy to assemble. (Balance of the self-propelled electric sweeper 1) Among the components provided in the body 11, those with a higher weight are the rechargeable battery 19 and the electric blower 16. The rechargeable battery 19 is often heavier than the electric blower 16. To balance the weight of the main body 11 of this embodiment, first, the electric blower 16 should be installed at the approximate center of the lower casing 112, and the rechargeable battery 19 should be installed at the front side. Here, at the rear side from the center of the lower case 112, there are provided an intake port 113 that accommodates the rotating brush 14, and a scraping brush 13. Since the electric blower 16 is located on the center side (between two drive wheels 116) and the rechargeable battery 19 is located on the front side, it is desirable to provide a weight on the rear side to achieve balance. Therefore, in this embodiment, the plumb is fixed to the inner periphery of the scraping brush 13 by sticking or the like (not shown). Thereby, the so-called dead space in the scraping brush 13 can be effectively utilized. In this embodiment, since the scraping brush 13 is located farther from the center than the rotating brush 14, it is preferable to provide the plumb here. In addition, the plumb is preferably provided on the center side of the main body 11 in the left-right direction from the viewpoint of balance between left and right. In addition, a lead hammer may be provided in the rotating brush 14. Since the rotating brush 14 is a brush driven by the rotating brush motor 1133, if the lead hammer is provided, it will become a load of the motor. Therefore, it is desirable to install the plumb in the scraper brush 13 that rotates without driving the motor. In addition, it is desirable to set the center of gravity of the self-propelled electric sweeper 1 at the approximate center in the front-rear direction (approximately the axis of the drive wheel 116) by a plumb. (Different curvature radius of self-propelled electric sweeper 1) Self-propelled electric sweeper 1 is connected with two substantially circular shapes, and the radius of curvature on the front side is larger than the radius of curvature on the rear side. Specifically, the width before and after the side brush 15 is provided is larger than the width before and after the rotary brush 14 is provided. By doing so, the side brush 15 can be arranged on the left and right outer sides to collect a wide range of dust while suppressing the size from the end of the rotating brush 14 to the widthwise end of the self-propelled electric sweeper 1, The rotating brush 14 can be brought closer to the wall. When the wall is moved, as long as the self-propelled electric sweeper 1 is swung to the left and right while cleaning, the cleaning area of the side brush 15 can be enlarged, and the rotating brush 14 can be moved closer to the wall. (Protrusion of lower case 112) About the lower case 112, the outer side of the rotating brush 14 in the left-right direction (outer left side and right outer side) are provided with protrusions 1123 behind the convex portions provided on the bottom surface of the lower case 112, respectively At least partly. At least a part of each of the rear protrusions 1123 is also located directly behind the driving wheel 116. In addition, a central front side projection 1124 and a central rear side projection 1125 are provided in the central side area of the housing 112 below the area corresponding to the two drive wheels 116. The central front projection 1124 is a convex portion of the front end side of the driving wheel 116 in the front-rear direction and the center side of the lower housing 112 in the left-right direction. The central rear projection 1125 is a convex portion that extends toward the front and rear directions at the rear side of the central front projection 1124. In the self-propelled electric sweeper 1 of this embodiment, the rear end of the driving wheel 116 and the outer end of the rotary brush 14 are very close. Specifically, the distance from the left and right inside portions of the rear end of the drive wheel 116 to the left and right outside portions of the front end of the rotating brush 14 is, for example, 20 mm or less from the viewpoint of miniaturization. The rotating brush 14 and/or the airtight member 118 described later protrudes from the lower housing 112 in order to be close to the floor surface and easily attracts dust, and the driving wheel 116 should protrude in the same manner when it contacts the floor surface. Therefore, if the area between the two driving wheels 116 (the area on the central side where the protrusion 1124 and the protrusion 1125 are provided) or the area on the rear side of the driving wheel 116 (the area where the protrusion 1123 is provided) enters the obstacle, it is embedded Between the driving wheel 116 and the rotating brush 14, there is a possibility that the driving of the self-propelled electric sweeper 1 may be hindered. To suppress such a situation, protrusions 1123, protrusions 1124, and protrusions 1125 are provided. Regardless of any of the protrusions 1123, 1124, 1125, the self-propelled electric sweeper 1 is a protrusion adjusted to a size away from the floor surface during movement on at least a flat floor surface. [Drive mechanism accommodating portion 114] The drive mechanism accommodating the drive mechanism accommodating portion 114 shown in FIG. 3 and the like is a mechanism that supports the drive wheel 116 on the body 11. The driving mechanism includes an arm 1141 that supports the traveling motor 1161, the driving wheel 116 from the left and right inside, and a speed reduction mechanism 1142. The arm 1141 is a member disposed between two driving wheels 116, one end of which extends to the rotating shaft in the front-rear direction, and the other end is connected to the driving wheel 116, and the driving wheel can be driven by the rotation around the rotating shaft 116 rotating components. The rotating shaft is located between the two driving wheels 116 respectively. In particular, in this embodiment, it is located between the respective driving wheels 116, the central protrusion 1124, and the protrusion 1125. [Battery accommodating part 115] As shown in FIG. 4 and the like, the battery accommodating part 115 is a space for accommodating the rechargeable battery 19 inside, and is located on the front side of the center of the lower case 112. In order to exchange the rechargeable battery 19, the battery accommodating portion 115 is configured to have a downward opening. In addition, on the left and right of the battery accommodating portion 115, a side brush attachment portion 1121 to which the side brush 15 is attached is formed. [Drive Wheel 116] As shown in FIG. 3 and the like, the drive wheel 116 is a member that sandwiches the respective deceleration mechanisms 1142 and receives the driving force of the respective traveling motor 1161. Thereby, the driving wheel 116 itself can rotate the main body 11 forward, backward, and rotate by rotation. The driving wheels 116 are arranged on the left and right sides. The self-propelled electric sweeper 1 of the present embodiment can rotate or rotate in roughly the same place by rotating the two driving wheels 116 in opposite directions (supersonic rotation: the two driving wheels rotate in opposite directions to each other) move. From the viewpoint of expanding the cleaning area, as in the present embodiment, the driving wheel 116 is provided at the approximate center of the front and back width of the main body, and the rotation center of the super-rotation is used as the centroid of the upper case 111 or the lower case 112 (center ), and it is desirable to have a side brush 15 in the front and a rotating brush 14 in the rear. In this way, the side brush 15 and the rotating brush 14 can be positioned on the outer side of the rotation, so that it is possible to effectively clean the corner portion formed by the two wall surfaces at an angle (for example, 90°). [Front cover 117] As shown in FIG. 3 and the like, the front cover 117 is an opening for inserting the battery accommodating 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 A rectangular plate-shaped member. In addition, the front cover 117 includes a circular auxiliary wheel mounting portion 1122 for mounting the auxiliary wheel 17 near the center side of the lower housing 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 wheels 17 are auxiliary wheels for smoothly moving the self-propelled electric sweeper 1 while separating the lower case 112 from the floor surface, and are provided in the lower case 112. The auxiliary wheel 17 is supported by the fixed shaft 173 in such a manner as to follow the movement of the main body 11 of the driving wheel 116 by the frictional force with the floor surface and to follow the rotation. The auxiliary wheel 17 includes a substantially circular ground wheel 171, a circular plate portion 172, and a small circular plate portion 174 that are rotatably provided with a fixed shaft 173 as a rotation axis. The ground wheel 171 rotates in contact with the floor surface as the self-propelled electric sweeper 1 moves. The small circular plate portion 174 is adjacent to the ground wheel 171 and has a diameter smaller than that of the ground wheel 171 and larger 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 diameter smaller than that of the ground wheel 171 and larger than the small circular plate portion 174, and is rotatable around the fixed shaft 173. With the rotation of the grounding wheel 171, if hair dust or the like adheres to the grounding wheel 171, the hair trash or the like may rotate around the fixed shaft 173 and may be wrapped around the fixed shaft 173. At this time, since the small disc portion 174 and the circular plate portion 172 are adjacent to the ground wheel 171, hair dust or the like is easily wound around the circular plate portion 172 instead of the fixed shaft 173. Therefore, by rotating the circular plate portion 172 around the fixed shaft 173, it is easier to remove hair dust. The small circular plate portion 174 and the circular plate portion 172 are preferably formed integrally. Furthermore, the auxiliary wheel 17 is configured so that its steering can rotate freely 360° in the horizontal direction. The auxiliary wheel 17 shown in FIG. 3 is provided in the center in the left-right direction of the front of the main body 11 and is attached to the auxiliary wheel mounting portion 1122. In addition, the grounding wheel 17 may be substituted for the driven roller 1186 described later, and the same structure as the disc portion 172 may be provided in the airtight member 118. [Bumper 18] The bumper 18 is provided in such a manner that it can move in the front-rear direction, preferably in the left-right direction, in response to the pressing force generated from the outside. The bumper 18 is pushed forward by a pair of left and right bumper springs (not shown). When the bumper 18 is sandwiched, the resistance force from an obstacle acts on the bumper spring, and the bumper spring deforms. The bumper 18 is pushed forward while allowing the bumper 18 to retreat. When the bumper 18 moves away from the obstacle and the resistance disappears, the bumper 18 will return to its original position by the spring thrust of the bumper spring. Incidentally, the backward movement of the bumper 18 (that is, contact with an obstacle) is detected by the bumper sensor (infrared sensor), and the detection result is input to the control device 2. Since the displacement amount of the bumper 18 differs according to the contact position of the obstacle or the like, the position of the obstacle or the like relative to the body 11 can also be detected. [Scraping brush 13] The scraping brush 13 is provided with a part of or substantially all of the surface, and has a brush with a shaft in a direction substantially parallel to the rotating brush 14 described later, and in this embodiment, by The contact will rotate or spin. When turning, standardize the turning range by setting a brake, etc. The height position of the tufting of the scraping brush 13, when sweeping the wooden floor (between wooden boards), the front end is separated from the floor surface by 0. 5mm is ideal. also, The location of the tufting of the scraping brush 13, When cleaning on the carpet, It is ideal to overlap with the wool of the carpet. therefore, The scraping brush 13 can collect dust from the surface of the carpet by scraping. About scraping brush 13, When it is used in the form of a brake to rotate, On the floor, Sustainably touch specific areas and sweep out dust. at this time, Scraping brush 13, The area where it continuously touches the floor surface, A flat shape is ideal. that is, The shape of the scraping brush 13, Viewed from the axis, In the shape of a cylinder, Replace a part with a flat flat shape (for example, The shape of a part of the circle cut off in a lunar shape, Or roughly half-moon shape) is more ideal. [Rotary brush 14] Figure 19, It is a perspective view of the rotating brush 14. Rotating brush 14, It is arranged so as to be 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, In order to provide a cylindrical shape with a rotation axis in the horizontal direction (left-right direction in this embodiment), And it is rotatably supported by the suction port 113. Rotating brush 14, The rotary brush motor 1133 (refer to FIG. 2) receives the driving force and rotates. Rotating brush 14, A plurality of tufts 142 protruding from the outer peripheral surface of the shaft portion 141 in the normal direction are provided. Tufting 142 of the rotating brush 14, With planting hair of different lengths, Multiple types of hair planting, such as hair planting with different hardness, Each tuft relative to the axis of rotation, Arranged in a spiral shape (see Figure 19). part or all of the hair transplant 142, The adjacent nonwoven fabric 143 is provided. For the separate hair planting 142, The non-woven fabrics 143 respectively have a common foundation. This can be done by, for example, fusing the tufted 142 and the non-woven fabric 143 by ultrasound, The integration of the tufting 142 and the non-woven fabric 143 is realized. As a hair transplanter, It is more ideal to have a certain degree of hardness, For example, nylon can be used. Again, The non-woven fabric 143 adjacent to the flocking 142, For example, in this embodiment, Planted hair 142 and non-woven fabric 143 with a common foundation, When the rotating brush 14 is rotated by the rotating brush motor 1133, The non-woven fabric 143 is arranged so as to contact the floor surface before the flock 142. With this, Hair rubbish existing on the floor, etc., Will first contact the non-woven cloth 143, Therefore, the tufting 142 can be suppressed from being entangled. also, Yu Fubu 143, One or more slits 1431 extending in the diameter direction are provided. With this, It can suppress the twist of non-woven fabric. Again, It is also possible to add a blade member made of an elastic material such as rubber to be spirally arranged between the spirally arranged tufts 142, Can be changed appropriately. The dust scraped by the rotating brush 14 is stored in the dust box 4 through the opening 17. also, Planting hair 142, The non-woven fabric 143 or the blade member should be prevented from coming into contact with the bridge portion 1181 of the airtight member 118 described below, You can also shorten the length of this part, Or set a cut. [Airtight member 118] FIG. 21 is an exploded perspective view of the state where the airtight member 118 is removed from the body 11, FIG. 22 is a rear perspective view of the airtight member 118. Located on the lower part of the rotating brush 14, The airtight member 118 is installed. Airtight member 118, Observed from below the self-propelled electric sweeper 1, Have: A bridge portion 1181 that spans the area under the rotating brush 14 in the front-rear direction The swing shaft 1182 extending in the left-right direction, The frame portion 1183 forming the shape surrounding the rotating brush 14, Removal claw 1184 to be used when removing the airtight member 118, The elastic pushing portion 1185 that elastically pushes the bridge portion 1181 and the frame portion 1183 downward, As well as the driven roller 1186. Airtight member 118, It is a member that swings with the suction port 113 and the rotating brush 14, respectively, The pushing portion 1185 is pushed downward. Therefore the airtight member 118, Along with the movement of the step difference of the self-propelled electric sweeper 1, etc., it moves up and down. With this, The airtight member 118 will maintain a position close to or in contact with the floor surface, Therefore, air tightness can be improved. also, Airtight member 118, Since the suction port 113 and the rotary brush 14 swing respectively, Therefore, it is not necessary to provide a swing space of the suction port 113 in the body 11, It contributes to the miniaturization of the body 11. The swing shaft 1182 of this embodiment, Can be arranged coaxially with the scraping brush 13, The scraping brush 13 is attached to the swing shaft 1182. With this, When the airtight member 118 and the scraping brush 13 are provided together, Can reduce the installation space, Therefore, it contributes to the miniaturization of the self-propelled electric sweeper 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. As a result, Airtight member 118, As you go from the rear to the front, It has a sloping upward and downward, Therefore, the load when colliding with an obstacle in front can be reduced. also, The front end of the airtight member 118, Inclined portions 1187 (see FIG. 4 and the like) are formed toward the lower side from the front to the rear. therefore, It can reduce the load when impacting the obstacle in front. Remove claw 1184, Installed on the left and right sides of the airtight member 118, By facing left and right (in this embodiment, To move inward in the left-right direction, The removal claw 1184 can be removed from the body 11. Since the self-propelled electric sweeper 1, It mainly moves forward and backward, So by removing it by moving it to the left and right, It is possible to suppress the airtight member 118 from falling off from the body 11 during movement. 1185, A spring-like member, for example, is placed on the back side of the airtight member 118 so that the frame portion 1183 or the vicinity thereof can be pushed downward. By popping the part 1185, Airtight member 118, During the movement of the self-propelled electric sweeper 1, Push it in a way that touches the floor surface. With this, Can improve the air tightness around the rotating brush 14, Therefore, the dust collection efficiency can be improved. driven roller 1186, They are provided on the left and right outer portions of the airtight member 118, With the movement of the self-propelled electric sweeper 1 comes into contact with the floor surface, The airtight member 118 can be supported. With this, Even if the airtight member 118 is pushed downward, It can also suppress the friction resistance with the floor surface, And suppress energy loss or damage to the floor surface. also, In front and back direction, Since the driven roller 1186 sandwiches the driving wheel 116 on the opposite side of the auxiliary wheel 17, Therefore, the self-propelled electric sweeper 1 can be effectively supported by these three components. [Side brush 15] The side brush 15 illustrated in FIG. 3, etc., In order to guide the dust in a place where the rotating brush 14 on the outside of the body 11 is hard to reach, such as a corner of the room, to the brush of the suction port 113 (suction port 1131). The rotation axis of the side brush 15 is the up-down direction, And a part of the side brush 15 is exposed from the main body 11 when viewed from the plane. Side brush 15, Equipped with three brushes that extend radially at 120° intervals when viewed from the plane, They are arranged on the front left and right sides of the lower housing 112, respectively. Side brush 15, Its base is fixed to the side brush holder 151. 15 individual brushes for side brushes, Its side brush holder 151 side (base side), The elastic body and the like have a flexible base elastic portion 153, And the front end side thereof is, for example, the bristle portion 154 which is bristles. In this embodiment, The side brush holder 151 and the base elastic portion 153 forming the rotating shaft (hub) of the side brush 15 are integrally formed. By making the base of the side brush 15 into an elastic body like the base elastic portion 153, Compared to the structure where the bristle portion 154 spans from the base to the front end, The posture of the bristle portion 154 is not easy to bend, Therefore, the durability of the side brush 15 can be improved. Side brush 15 for tufting, Tilt in such a way as to move closer to the floor surface toward the front end, Near the front end is in contact with the floor surface. Side brush holder 151, Located near the bottom surface of the lower housing 112, It is connected to the side brush motor 152 (refer to FIG. 2 ). Driven by the side brush motor 152, Rotate toward the inside of the side brush 15 (in the direction of the arrow attached to Figure 3), The dust is collected in the suction port 1131. [Electric blower 16] The electric blower 16 shown in Figure 4, Equipped with a fan that holds the shaft in the front and back direction, By rotating the fan, The air in the dust box 4 is discharged to the outside to cause negative pressure, It also has a function of sucking dust from the suction port 1131 (suction port 113) through the floor surface. An elastic body 161 is provided on the outer peripheral surface of the electric blower 16. By putting the elastomer in it like this, The vibration of the electric blower 16 will be weakened and become difficult to be transmitted to the 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 casing 112. also, Since it is the setting of cleaning area multiple times, Therefore, the electric blower 16 is ideal for the smaller one, The diameter can be made 70 mm or less as mentioned above. on the other hand, In order to fully function as a self-propelled electric sweeper 1 for cleaning rooms, etc., Its diameter is more than 50mm. [Suction port 113] Figure 6 shows the suction port 113, Exploded perspective view of the dust sensor unit 12 and the dust 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 mouth 113, A suction port 1131 connected to the dust box 4 is formed, And it contains the scraper brush 13, The member of the rotating brush 14 At the suction port 113, A rotating brush motor 1133 can also be installed. Than the suction port 1131 upstream side (rotating brush 14 side), Is a space for storing the rotating brush 14, And the cross-sectional area is larger than the suction port 1131. In this embodiment, The air sucked in by the negative pressure of the electric blower 16, Sequentially through the suction port 1131 Dust sensor unit 12, The air duct 42 of the dust box 4 and the main storage chamber 41, Dust filter 46, Electric blower 16, And the exhaust port 1126. This air contains a lot of dust, The dust filter 46 is blocked and stored in the dust box 4. the following, The direction substantially perpendicular to the suction port 1131 and the frame 121 of the dust sensor unit 12 (the direction in which the frame 121 is viewed from the front) is referred to as the main direction. also, Exhaust port 1126, To be installed in the lower housing 112, In this embodiment, six are located between two drive wheels 116. The suction port 113 of this embodiment, No part extending from the suction port 1131 in the main direction, However, for example, the air duct 42 of the dust box 4 described later, A suction port vent tube extending in the main direction and integrated with the suction port 113 is provided. at this time, Inhalation vent tube, Dust sensor unit 12 and vent pipe 42, The path from the suction port 1131 to the dust box 4 is enclosed. At this point, As described later, From the viewpoint of increasing the volume of the dust box 4, etc., In this path, Compared to the length of the intake vent tube (eg, the length in the main direction) or the length of the frame 121 (eg, the length in the main direction), It is desirable that the length of the vent tube 42 (for example, the length in the main direction) is long. [Dust sensor unit 12] Dust sensor unit 12, It is arranged between the suction port 113 and the dust box 4. Dust sensor unit 12, Have: Box 121, The light-emitting portion 122 and the light-receiving portion 123 provided on the frame 121 facing each other, The contact member 124 attached to the dust box 4 side of the frame 121, 和基地127。 And the substrate 127. Dust sensor unit 12, It is formed as a separate member from the suction port 113 and the dust box 4, The frame 121 is brought into contact with the suction port 113, By installing in this state, The light emitting part 122 can be installed at the same time Light receiving unit 123, Connector 126 and abutting member 124. therefore, The dust sensor unit 12 of this embodiment, Excellent combination. (Box 121) Box 121, In order to secure a space connecting the optical axis of the light emitting unit 123 and the light receiving unit 124, On one side, the members of the light-emitting portion 123 and the light-receiving portion 124 may be mounted on or near the frame 121 itself. Block 121 of this embodiment, To hold the shape of the long side direction and the short side direction, For example, it can be made rectangular. In this embodiment, it is substantially rectangular. On the side of the frame 121 in the longitudinal direction, The light receiving unit 123 and the substrate 127 are mounted. On the other side of the long side of the frame 121, The light emitting unit 122 is attached. also, The light emitting unit 122 and the light receiving unit 123, It may also be provided in the short side direction of the frame 121. also, Frame 121 can also be square, Round, Oval, Egg type, etc. (Light emitting unit 122 and light receiving unit 123) Light emitting unit 122 and light receiving unit 123, To face each other, Infrared light emitted by the light-emitting part 122, The light receiving unit 123 receives light. Emitted by the light emitting part 122, Not limited to light, It can also be ultrasonic, etc. As long as the dust can be detected, All kinds of knowledge are available. The light emitting part 122 and the light receiving part 123 may also be provided on the same side, From the perspective of compactness, etc., To make it more ideal. (Wiring 125, Connector 126, Substrate 127) substrate 127, A drive circuit that can mount the light emitting unit 122, The amplifier circuit of the light receiving unit 123, By comparing with the amplified signal or reference voltage, The reduction in the amount of light received by the passage of dust is used as a comparator for pulse output. Can also replace the comparator or add it again, The light-receiving amount of the light-receiving portion 123 is continuously reduced. at this time, It can be estimated whether the dust box 4 is full. light emitting part 122 and substrate 127, Electricity is connected by wiring 125. Wiring 125, In the direction facing the light emitting unit 122 and the light receiving unit 123, Walking around box 121, Or walk in box 121, It is assembled between the frame 121 and the contact member 124. For wiring 125, The driving current of the light emitting unit 122 flows. also, The light receiving unit 123 is also electrically connected to the substrate 127 via wiring (not shown). Such wiring, To connect with the connector 126. (Adhering member 124) adhering member 124, Is a shape conforming to the peripheral shape of the frame 121, In this embodiment, it is hollow and substantially rectangular. The shape of box 121, It matches the shape of the suction port 1131. As the clinging member 124, Gaskets can be used. (Advantages of the dust sensor unit 12) The dust sensor unit 12 thus constructed, Since the light emitting part 122 and the light receiving part 123 can be kept in one, Therefore, it is easy to make the optical axis consistent. also, The light-receiving part 123 and the substrate 127 can be arranged in close proximity, Therefore, the distance from the light receiving portion 123 to the amplifier circuit can be shortened, The influence of electromagnetic noise on the output of the light-receiving portion 123, which is a weak signal, can be reduced. also, The wiring 125 of the light emitting unit 122 is integrated in the dust sensor unit 12, When connected to the control device 2, Also connect the wiring (not shown) only to the connector 126, Its assembly is excellent. Again, Since it is the contact member 124 that is in contact with the dust box 4, It is ideal to use elastic materials such as elastomers, But with such materials, It deteriorates earlier than other parts. also, The surfaces of the light-emitting portion 122 and the light-receiving portion 123 are also susceptible to dirt or damage caused by dust. According to this embodiment, Because it is easy to deteriorate due to this, Parts that are necessary for exchange due to dirt or injury, The dust sensor unit 12 can be exchanged at the same time, Therefore, its maintainability is excellent. (Dimensions of the non-opposite direction of the box 24, etc.) Figure 9 of , It is the C-C sectional view of FIG. 7. About the dust sensor unit 12, In the direction parallel to the frame 121 (the direction perpendicular to the main direction), The direction substantially perpendicular to the facing direction of the light-emitting portion 122 and the light-receiving portion 123 is referred to as a non-facing direction. In box 121, Let the width of the non-opposing direction of the suction port 1131 side be a, Let the width of the non-opposing direction of the dust box 4 side be b, Then a≒b and a<b. This can suppress the cross-sectional area of the surface perpendicular to the main direction from being excessively narrow to increase the loss. also, The centerline 90 of the area enclosed by the frame 121 (approximately parallel to the main direction), As a straight line passing through the midpoint of dimensions a and b. that is, As illustrated in Figure 9, Considering a1=a2=a/2, b1=b2=b/2 will be a straight line, Then a1 and b1 are above the center line, a2 and b2 are below the center line. at this time, The light emitting unit 122 and the light receiving unit 123, For non-opposing directions, It is arranged below the center line 90. Since dust is heavier than air, The rate below the centerline 90 is indeed higher, Therefore, by providing the light emitting portion 122 and the light receiving portion 123 on the lower side, It can detect dust with high precision. Figure 10, It is the D-D sectional view of Fig. 8. Light emitting part 122, With a light-emitting element 1221 and a transparent resin 1239, Light receiving unit 123, The light receiving element 1232 and the transparent resin 1239 are provided. For the installed transparent resin 1239, It is in the area between the light emitting element 1221 and the light receiving element 1232, It has a size smaller than the size perpendicular to the direction of the optical axis of the light emitted by the light emitting element 1221. With this, The element can be protected by transparent resin 1239, also, Can guide the light of the light emitting element 32 on one side, While suppressing the enlargement of the upper and lower dimensions or the front and rear dimensions of the dust sensor unit 12. (Dimension of the opposite direction of the frame 24, etc.) in the direction parallel to the frame 121, The direction substantially parallel to the opposing direction of the light emitting portion 122 and the light receiving portion 123 is called the opposing direction. Let the width in the opposite direction on the side of the suction port 1131 be e, Let the width in the opposing direction of the dust box 4 side be d, Then e>d. that is, The width of the opposite direction of the frame 121, It becomes smaller as it goes toward the dust box 4 side. With this, When the air containing dust flows in the direction of arrow 91, According to inertia, Dust will flow away from the wall. therefore, The transparent resin 1239 can be prevented from being injured or soiled. [Dust box 4] FIG. 11 is a perspective view of a state where the dust box 4 is detached from the body 11, Figure 12 shows the self-propelled electric sweeper 1, A perspective view of the area containing the body 11 containing the dust box 4, Figure 13 is an enlarged view of the main parts of Figure 12, Figure 14 is the B-B cross-sectional view of Figure 5, FIG. 15 is a perspective view including a prop storage unit 1102 and a prop 95. FIG. 16 is a rear perspective view of the body 11 to which the dust box 4 is attached. dust box 4, It is a container for accumulating dust sucked in from the floor surface through the suction port 1131 (suction port 113). Dust box 4, Have: The vent tube 42 formed on the side of the suction port 1131, Main storage room 41 mainly for collecting recovered dust, A cover 45 that can remove the accumulated dust from the filter 46 side (upper side), The backflow suppression valve 44 which can open and close the opening on the lower side of the main accumulation chamber 77 (on the side of the vent pipe 42) As well as the foldable handle 43. Dust box 4, It is installed from the obliquely upward direction of the main body 11 toward the obliquely downward direction. (Main accumulation chamber 41) Main accumulation chamber 41, For example, made of resin material, To enclose the space, In addition, the cover 45 and the backflow suppression valve 44 suppress the leakage of dust from the space to the outside. Cover 45, It can plug the opening of the main accumulation chamber 41 in the horizontal direction, Reverse flow suppression valve 44, The opening on the lower side of the main accumulation chamber 41 can be plugged. The cross-sectional area of the space enclosed in the main accumulation chamber 41, It is larger than the cross-sectional area of the frame 121. As the cross-sectional area of the space enclosed in the so-called main storage chamber 41 here, E.g, It can be regarded as a cross-sectional area perpendicular to the direction of the filter 46. (Vent tube 42) vent tube 42, Equipped with an end located below the main accumulation chamber 41, And the other end that can be opened and closed by the reverse flow suppression valve 44. Snorkel 42, It is an integral part of the dust box 4; Dust box 4, Form part, Almost all, Or all the paths from the suction port 1131 to the main accumulation chamber 41. The vent tube 42 of this embodiment, Its one end side extends substantially up and down, The shape extending obliquely downward from the middle towards the other end, But it can also be the latter alone, that is, It is formed only by the portion extending in the obliquely lower direction toward the other end side. in this way, Overall, Then the snorkel 42, It extends diagonally downward from one end to the other. One end of the vent tube 42, For example, it can be installed under the main storage chamber 41, Preferably, Observed from above, Located in the center of the lower surface of the main storage chamber 41, The position farther than the other end of the snorkel 42. With this, Viewed from above, the size of the dust box 4 is easily made compact. (Handle 43) Handle 43, The upper part of the main accumulation chamber 41 is used as a rotation axis, A member that is rotatably arranged, And have: Grip 431, Anti-falling part 432 Point of action 433, Locking part 434. Handle 43, It is rotatable from about 90° to 100° from the front of the rotation axis to the top of the rotation axis. For the effect of both the action point portion 433 and the locking portion 434 described later to work, The range of rotation can exceed 90°, About 135°, It is preferably 120° or less. here, The state where the grip portion 431 is lying flat (the state where it is locked to the locking portion 434) is defined as the rotation angle of 0°. also, As illustrated in Figure 16, The rotation angle is approximately 90°. control part 431, It is a part that is easy for the user to use when holding the dust box 4 for loading and unloading operations, A locking portion 434 is provided at the front end. When the dust box 4 is installed on the body 11, The locking portion 434 is locked to a non-locking portion (not shown) provided on the upper casing 111, 可LOCK Handle 43. Protection part 432, It is a protruding portion provided near the rotating shaft and closer to the locking portion 434 side (rotating angle 0° side) than the rotating shaft. With the handle 43 on the front side, The anti-falling part 432 enters the body 11, Contact with parts in the body 11 produces friction resistance. With this, Restrains the fall of the handle 43. Operation point 433, When the user applies force to the rear (toward the direction where the rotation angle exceeds 90°) when the handle 43 is on the upper side, The part that is in contact with the upper side of the body 11. In this state, Point of action 433, It becomes the point of action where the dust box 4 is lifted from the body 11, Become a pivot pivot. With this, It can be used as an aid when the user removes the dust box 4. As the upper side of the body 11, There are no special restrictions, However, for example, the guide step 119 described later may be prepared. [The shape of the dust box 4 and the storage part of the props] The dust box 4, The shape of the upper rear side protruding from the rear, And when installed on the body 11, The rear upper side forms part of the side surface of the self-propelled electric sweeper 1 (see FIG. 16 and the like). therefore, On the body 11, The area directly below the upper rear area of the dust box 4, It also forms part of the side of the self-propelled electric sweeper 1. In this embodiment, Near a part of the side that leans on the body 11, Install the prop storage section 1102 as illustrated in Figure 15 etc., A cleaning brush 95 as an example of a small prop is stored. Cleaning brush 95, E.g, It can be used by the user when cleaning the dust box 4 And it is a shape curved along the outer peripheral shape of the body 11. Cleaning brush 95, Equipped with bristles 951 and fixture 952. The bristle section 951, Can be used when cleaning dust box 4, etc. Fixture Department 952, Can be used when removing side brush 15. By making the shape curved along the outer peripheral shape of the body 11, The space required for storing the cleaning brush 95 can be provided along the inner circumference of the side surface of the body 11. For example, make the cleaning brush 95, etc., When mounted on the outside of the dust box 4, Since the capacity of the dust box 4 can be reduced, Therefore, it is more ideal. also, By making the storage space such as the cleaning brush 95 and the like a loading and unloading area of the dust box 4, It can prevent accidental falling off such as cleaning brush 95. Again, Instead of this embodiment, For example, the cleaning brush 95 may be replaced or added, To store the jig for removing the side brush 15, Other small props. The storage form of props is not limited to the above, As long as the dust box 4 is attached to the body 11, Therefore, the area surrounded by the body 11 and the dust box 4 may also be provided on the body 11. (Backflow suppression valve 44) Backflow suppression valve 44, Have: It can plug the main surface 441, which is the other end of the vent tube 42, Installed on the main surface 441 as one body or different individuals and in a direction substantially parallel to the main surface 441, A protrusion 442 that protrudes outside the snorkel 42, And the ejection portion 443 which is ejected in a direction to rotate the main surface 441 and the protruding portion 442. In this embodiment, The protruding portions 442 are respectively provided outside in the direction substantially parallel to the main surface 441. Pushing part 443, It is a member that pushes the reverse flow suppression valve 44 toward the direction where the main surface 441 plugs the opening, Various learners can be used, For example, a spring can be used. The spring portion 443 is formed as a coil spring, for example, Then it can become the axis of rotation. Therefore, In the absence of external forces, The backflow suppression valve 44 plugs the other end of the vent tube 42. protrusion 442, It comes into contact with the guide step 119 as a rebound pushing portion provided in the area where the dust box 4 is housed when the dust box 4 is mounted on the body 11. Guide steps 119, It is set in the body 11, When removing the dust box 4, the two stepped parts of the visible area. Guide steps 119, Set along the installation direction of the dust box 4, In this embodiment, it extends from the upper back to the lower front. By moving the dust box 4 toward the lower side of the dust box 4 as it is mounted toward the body 11, The protrusions 442 are in contact with the guide steps 119 and slide, Bear the force from the direction of the main face 441 opening. With this, The backflow suppression valve 44 resists the elastic thrust of the elastic thrust portion 443, The other end of the vent tube 42 is opened. In the guide step 119 illustrated in this embodiment, By the contact between the rebound pusher and the protrusion 442, The main surface 441 receives the force in the opposite direction to the elastic thrust of the elastic pushing portion 443, The opening at the other end of the vent tube 42 may be opened. Specifically, The rotation of the backflow suppression valve 44 as the axis is generated and the other end of the vent tube 42 is opened. Since the backflow suppression valve 44 of this embodiment is slightly rectangular, If the short-side direction of the reverse flow suppression valve 44 is used as the axis, Or rotating in the direction perpendicular to the main surface 441, In order to spin, Must have a wider space, Therefore, it is ideal to rotate with the long side direction as the axis. that is, Bouncing Department 443, The backflow suppression valve 44 is rotated about the longitudinal direction of the main surface 441 as an axis. Again, Protrusion 442, It suffices that the backflow suppression valve 44 can be opened by contacting a member (rebound push portion) of the self-propelled electric sweeper 1. A gap 1101 is provided in front of the leading end of the guide step 119 of this embodiment, When the dust box 4 is mounted on the body 11, Reverse flow suppression valve 44, It is accommodated in the gap 1101 while sliding while being pressed by the guide step 119. Gap 1101, It is located outside the main plane projection surface of the frame 121. therefore, With the dust box 4 installed, The other end of the vent tube 42, Contact with the dust sensor unit 12, In particular, in this embodiment, it is in close contact with the contact member 124. [Structures installed from the suction port 1131 to the main storage chamber 41] is particularly illustrated in FIG. 14, In the main direction, The size 92 of the dust sensor unit 12, It is shorter than the size 93 on the other end side of the vent tube 42. that is, Part of the path from the suction port 1131 to the main accumulation chamber 41, Preferably, Compared to size 92, It is more formed by the size 93 on the other end side of the vent tube 42. With this, A part of the dust box 4 may be provided in the area from the suction port 1131 to the main storage chamber 41, Therefore, the volume of the dust box 4 can be enlarged. here, Snorkel 42, Available: One end side forming the vent tube 42, And it has an upright portion 421 of size 94 extending upward and downward. Upright 421, Suppression of dust leakage from the main storage chamber 41 to the other end side of the vent pipe 42 is suppressed. here, As the size 93, The lower surface of the dust box 4 can be simulated to form a plane (the main storage chamber 41 is approximated to a box shape), It is considered that the distance from this plane to the dust sensor unit 12 is measured by a straight line approximately parallel to the size 92 of the dust sensor unit 12. also, The main accumulation chamber 41 of this embodiment can be regarded as a box shape. [Blocking of the vent pipe 42 by the countercurrent suppression valve 44] As described above, In a state where the dust box 4 is mounted on the body 11, Reverse flow suppression valve 44, It is stored above the rotating brush 14. Remove the dust box 4 from the body 11, Then, by the pushing force of the pushing part 443, The countercurrent suppression valve 44 will rotate, The opening at the other end of the vent tube 42 is plugged. With this, Even if dust accumulates in the snorkel 42, It is also possible to suppress dust falling from the dust box 4. also, Main face 441, It can be flat, It may also be a net shape that can suppress the degree of dust passing through. [Detection of full amount of dust] If the self-propelled electric sweeper 1 attracts dust, Attracted dust will first be accumulated in the main accumulation chamber 41, If the main accumulation chamber 41 is full, it will be accumulated in the vent pipe 42. Since the vent pipe 42 is inclined downward toward the horizontal direction side compared to the gravity direction, Therefore, it is possible to suppress the dust from falling from the vent pipe 42. also, Compared to the horizontal direction, it is toward the side of gravity, Therefore, after the main storage chamber 41 is full, the dust is more likely to be accumulated in the air duct 42 immediately, It is easy to detect dust by the dust sensor unit 12. Again, With the upright portion 421, Even if the main storage room 41 is still in a state of surplus, Dust will flow towards the snorkel 42, Can suppress falling. The dust box 4 of this embodiment, At the front side of the end of the snorkel 42, There is more than half of the space that contains the main accumulation chamber 41, Therefore, dust easily accumulates on the front side. but, An upright portion 421 is provided between the space of more than half of the proportion and the vent pipe 42, Therefore, with the acceleration toward the front of the main moving direction of the self-propelled electric sweeper 1, Even if the dust moves backward, It can also effectively prevent dust from falling on the vent pipe 42. that is, From front to back, In order, there is more than half of the space that contains the main storage chamber 41, Upright 421, One end of the vent tube 42. When the air duct 42 accumulates approximately full amount of dust, The dust will continue to block the light of the light emitting part 122, The state in which the amount of light received by the light receiving unit 123 decreases will continue. By checking out the status, The full amount of dust box 4 can be detected, And notify the user, Or start the control to return the self-propelled electric sweeper 1 to the charging stand (not shown). [Detection of the amount of dust passing through] If the light of the light-emitting part 122 is instantly blocked, Then, the amount of light received by the light-receiving unit 123 is pulsed. With this, It can be detected that the dust is passing toward the dust box 4. In this embodiment, The cross-sectional area in the main direction, Compared to the suction port 1131, The side of the rotating brush 14 is larger, The frame 121 or snorkel 42 is smaller, The main accumulation chamber 41 is larger. that is, The cross-sectional area of the path from the storage space of the rotating brush 14 to the main storage chamber 41, The frame 121 and/or the snorkel 42 are the smallest. therefore, The inhaled dust, It will focus on the frame 121 with a smaller cross-sectional area according to the shape of the vent tube 42. The light emitting unit 122 and the light receiving unit 123, Set in box 121, Therefore, most of the dust passes between the light emitting part 122 and the light receiving part 123. that is, It can measure the amount of dust with high precision. Again, After passing the dust in box 121, Will pass through the snorkel 42 whose cross-sectional area is approximately the same, Therefore, eddy currents are less likely to occur near the frame 121. that is, It can prevent dust from being detected multiple times due to backflow caused by vortex. Furthermore, The cross-sectional area after passing through the snorkel 42 will be enlarged, Therefore, the wind resistance loss can be suppressed. Again, The cross-sectional area on the upstream side of the dust sensor unit 12, that is, The cross-sectional area from the suction port 113 to the dust sensor unit 12, It can also decrease monotonously. As a result, The generation of eddy current upstream of the dust sensor unit 12 can be suppressed, The dust is detected multiple times by the dust sensor unit 12. [Configuration design] Figure 17 is a perspective view of the self-propelled electric sweeper 1 with the upper casing 111 removed, Figure 18 is the E-E cross-sectional view of Figure 1. The self-propelled electric sweeper 1 has to be made small and compact in size, The upper and lower dimensions of the main body 11 are made to be substantially the same as the upper and lower dimensions of the electric blower 16. As illustrated in Figure 17, The state of removing the upper casing 111, It is constructed so that the convex shape 162 covering a part of the upper surface of the electric blower 16 can be seen. With this, It contributes to the compactness of the upper and lower dimensions of the body 11. also, The bottom surface side of the body 11, Observed from below, It can also overlap the position of the electric blower 16, It has a convex shape protruding from the lower side. In the space below the upper casing 111, By setting the convex shape 162, Only the part of the upper end side of the electric blower 16 protrudes from this space, And the extra size part, It can be used as a space for other parts. that is, In the height area where the convex shape 162 is located, Other parts can be configured. For example in this embodiment, A part of the switch sheet 22 is arranged, Circuit board or circuit element, 7 sections, And LED and other light-emitting components, It is possible to cover these parts with the upper case 111. With this, The vertical size of the self-propelled electric sweeper 1 that is easily affected by the size of the electric blower 162 can be easily reduced. also, In addition to a part of the switch sheet 22, Circuit board or circuit element, 7 sections, In addition to light-emitting elements such as LEDs, other parts can be configured It is also possible to configure only a part of these parts. The height dimension of the parts with these configurations, It is desirable to use the height dimension of the convex shape 162 or less, For example, it can be less than 5mm, Below 3mm, Below 2mm or below 1mm. Again, Electric blower 162, Install by blowing air horizontally, that is, The fan opening is in a substantially horizontal direction (for example, ±10 degrees or less from the horizontal direction, It is preferably within ±5 degrees). As a result, As in the present embodiment, it is easy to connect the electric blower 162 and the dust box 4 to the passage formed in the horizontal direction. that is, Can reduce the necessity of extending the passage in the height direction, The height dimension can be suppressed. Again, The upper end side of the electric blower 16 can be exposed by removing the upper casing 111, It can also be a flat member with other parts mentioned above, Covers the upper end portion of the electric blower 16. Again, Generally, when the cylindrical electric blower 16 is arranged diagonally, There will be a necessity to increase the upper and lower dimensions of the body 11, Therefore, the axial direction of the electric blower 16, Is horizontal or shifted from the horizontal by ±10 degrees or less, It is preferably ±5 degrees or less. When viewed from the axial direction of the electric blower 16, As illustrated in Figure 18, On the inside of the substantially square area circumscribed to the cylindrical electric blower 16, The rotation axis side of the arm 1141 is located. This area can easily become a dead end, And by arranging a part of the arm 1141 in this way to make effective use of space, The self-propelled electric sweeper 1 can be made compact. also, Position the exhaust port 1126 directly below the electric blower 16, Or directly below the opening on the downstream side of the electric blower 16, Therefore, the exhaust air path can be shortened. This embodiment, With various structures that are useful and compact, the result, The vertical size is close to the vertical size of the electric blower 16. Specifically, Even considering the effect of the driving wheel 116 on the size, The upper and lower dimensions of the electric blower 16 will also regulate the upper and lower dimensions of the self-propelled electric sweeper 1 when the self-propelled electric sweeper 1 is placed on the floor surface (ie, The upper and lower dimensions of the state in which the arm 1141 is rotated upward and the drive wheel 116 is stored), More than 70%, Preferably, it is constituted by 75% or more or 85% or more. The upper and lower dimensions of the area around the upper and lower shells 111 and 112, It is approximately the same as the vertical size of the electric blower 16. Specifically, The upper and lower dimensions of the electric blower 16, It is more than 90% of the upper and lower dimensions of the area enclosed by the upper casing 111 and the lower casing 112, It is preferably 95% or more. Again, As above, Placed in the structure of the body 11, The heavier one is the rechargeable battery 19 or the electric blower 16. When the rechargeable battery 19 is arranged on the center side, Easy to interfere with wiring, etc., Therefore, in this embodiment, the electric blower 16 is arranged on the center side, The rechargeable battery 19 is arranged on the front side. [Rotation speed of side brush 15] Self-propelled electric sweeper 1, Side brushes 15 are provided on the left and right sides, respectively. In this embodiment, The configuration is such that the rotation speed of the side brush 15 can be changed individually. Specifically, Self-propelled electric sweeper 1, When performing the wall cleaning mode with the wall on the left, The rotation speed of the side brush 15 on the left side on the same side as the side where the wall is located, It is controlled to be faster than the rotation speed of the other side brush 15. With this, Wall cleaning can be performed more efficiently. Wall cleaning mode, Can be performed by various conventional methods, E.g, By allowing the distance measuring sensor 210 provided on the left side of the body 11 to continuously detect the wall surface (obstacle), the traveling movement is controlled, And realized. Again, When performing the wall cleaning mode of the traveling movement of the wall on the right side, It can also be controlled in the same way. also, During the wall cleaning mode, If the rotation speed of the side brush 15 on the wall side, The control is faster than the rotation speed in the execution of other control modes, The same effect can be obtained; The other control mode, For example, when a wall or obstacle is detected, From the wall surface or the obstacle, the direction of travel is changed in the direction of departure, and then the reflective travel mode in which the travel starts again. also, Same as the wall, At the corner where the 2 walls meet, Similarly, the rotation speed or the torque described later can also be controlled. [Moment of side brush 15] side brush 15, Driven by the side brush motor 152, The side brush motor 152 is driven by the electric power of the rechargeable battery 19. In this embodiment, As the side brush motor 152, a DC motor is used. DC motor, Even if the time-averaged output voltage is the same value, Those with higher working ratio (long voltage application time) can transmit higher torque. Side brush 15, If it touches a wall or obstacle, Then the torque is reduced due to this friction, Therefore, the cleaning efficiency is easily reduced. Therefore, In this embodiment, E.g, When performing the edge cleaning mode that moves the wall to the left, For the side brush 15 on the left side of the same side as the wall location, The working ratio of the side brush motor 152 transmitting torque, It can be controlled in such a way that the operation ratio of the side brush motor 152 that transmits torque to the other side brush 15 is higher. Again, When the energy of the rechargeable battery 19 decreases and the output voltage decreases, Even if the working ratio is the same, the torque will be reduced, Therefore, the lower the residual power of the rechargeable battery 19, the greater the operating ratio. Again, For the same reason, The torque that should be output is different according to the material of the floor surface, Therefore, the work ratio can be determined according to the type of floor surface. E.g, Can be compared with the cleaning of wooden floors, Control in a way that the work ratio in carpet cleaning is high. Furthermore, The larger the number of dust detections of the dust sensor unit 12, The work ratio decreases. With this, In areas with a lot of dust, This prevents dust from scattering by the side brush 15. Again, The working ratio of the side brush 15 on the wall side in the execution of the wall cleaning mode, Make the control higher than the work performed in other control modes, The same effect can be obtained; The other control mode, For example, when a wall or obstacle is detected, Just change the path from the wall or obstacle in the direction of departure and then start the reflective travel mode of travel. [Sensors] Figure 23, To show the control device 2 of the self-propelled electric sweeper, And a schematic configuration diagram of a device connected to the control device 2. Bumper sensor (obstacle detection method), To detect the backward movement of the bumper 18 (that is, Obstacle contact) sensor. The distance measuring sensor 210 (obstacle detection means) illustrated in Fig. 2 and the like, It is an infrared sensor that detects the distance to an obstacle. In this embodiment, A total of 5 distance measuring sensors are installed on 3 front and 2 side. Distance sensor 210, Equipped with a light-emitting part (not shown) that emits infrared light, And the light-receiving part (illustration omitted) which receives the reflected light of infrared rays reflected by the obstacle. According to the reflected light detected by the light receiving part, Calculate the distance to the obstacle. also, At least in the vicinity of the distance measuring sensor in the bumper 18, It is made of resin or glass that can transmit infrared rays. An example is shown in FIG. 3 and the like of the floor surface distance measuring sensor 211 (floor surface detection means), Infrared sensor that measures the distance to the floor, And it is provided in four places of front, back, left, and right under the lower case 112. More specifically, Located on the front side of the auxiliary wheel 17, The back side of the rotating brush 14 and the scraping brush 13, The front side of the driving wheel 116 is outside in the left-right direction. By detecting the large step difference, such as a step, using a distance measuring sensor on the floor surface, It is possible to prevent the self-propelled electric sweeper 1 (from stairs etc.) from falling. E.g, When detecting a step difference of about 30 mm in front with a distance measuring sensor on the floor surface, The control device 2 will control the traveling motor to make the body 11 retreat, Change the direction of travel. Again, If the distance sensor 211 for the floor surface on the front side of the auxiliary wheel 17 (the front end side of the lower housing 112), The distance from the floor is detected, And, The distance measuring sensor 211 for the floor surface on the back side of the rotating brush 14 (the rear end side of the lower housing 112), When the distance from the floor surface is detected, Control device 2, The main body 11 can also be directly advanced. When such a combination is detected, It is because that self-propelled electric sweeper 1, It's about climbing the stairs. Similarly, If the floor surface on the front side of the auxiliary wheel 17 is detected by the distance measuring sensor 211 to be closer to the floor surface, And, When the floor surface element on the rear side of the rotating brush 14 is far away from the floor surface detected by the sensor 211, Control device 2, The main body 11 can also be directly advanced. "Near" here, For example, When the self-propelled electric sweeper C moves on a flat floor surface, the distance detected by the distance measuring sensor 211 on the floor surface is below, And the so-called "far", For example, The distance detected by the distance measuring sensor 211 on the floor surface when the self-propelled electric sweeper C moves on the flat floor surface. In addition, It can also be set to 1 or 2 appropriate thresholds, And compare with this result. Using the pulse output of the travel motor shown in Figure 23, The rotation speed of the travel motor 1161 is detected, Rotation angle. also, According to the rotation speed detected by the pulse output of the traveling motor, Rotation angle, Gear ratio of reduction mechanism, And the diameter of the drive wheel 116, The control device 2 calculates the moving speed of the body 11, Moving distance. Traveling motor current measuring device, It is a device for measuring the current flowing in the armature winding of the traveling motor 1161. Similarly, The current measuring device for electric blower measures the current value of electric blower 16, The current measuring device for the rotating brush motor measures the current value of the rotating brush motor 1133. The two current measuring devices for the side brush motor measure the current value of the side brush motor 152. Different current measuring devices, The measured current value is output to the control device 2. Using the detection result of current value, For example, it is possible to detect abnormalities where foreign objects are intertwined with the rotating brush and the rotation stops, And can inform the user through the operation button. Again, According to the current value of the rotating brush motor 1133 and the current value of the traveling motor 1161, Detect the state of the floor surface when the body 11 moves, If it is recognized, for example, on a carpet, Will increase the input of the electric blower 16 to increase the attractiveness, On the wooden floor, Then the input setting of the electric blower 16 is reduced, Control to suppress the power consumption of the rechargeable battery 19 is performed. When dust is detected by the dust sensor unit 12, The input of the electric blower 16 will be increased within a certain period of time. The input increase time (for example, the extension time) of the electric blower 16 is not determined according to the detected dust amount. With this, The power consumption of the electric blower 16 is suppressed. also, Even if dust is detected, Nor does the body 11 reverse turn or move back and forth. With this, Can avoid the reduction of movement speed. [Drive unit] Travel motor drive unit (left) (right) shown in Figure 23, In order to drive the frequency converter of the traveling motor 1161 on the left and right sides, Or, Pulse waveform generator controlled by PWM (Pulse Width Modulation), And corresponding to the command action from the control device 2. About electric blower drive device, Motor drive for rotating brushes, The motor drive device (left) (right) for the side brush is also the same. These various driving devices, The control device 2 provided in the main body 11 (refer to FIG. 2 ). [Control Device 2] Control Device 2, For example, microcomputer (Microcomputer: The illustration is omitted), And it will read the program stored in ROM (Read Only Memory), Expand in RAM (Random Access Memory), The CPU (Central Processing Unit) performs various processes. Control device 2, Corresponding from the switch sheet 22 (refer to FIG. 1), And the input signals of the sensors mentioned above, Perform calculation processing, And output command signals to the above-mentioned drive devices. [Package with the manual (complete set)] The self-propelled electric sweeper of this embodiment 1, As above, For those who have been supposed to clean the floor of a furnished room. As a self-propelled electric sweeper, Other known examples are, Designed to clean the table, etc., Compared to people with very narrow areas, However, the self-propelled electric sweeper used to clean such a narrow area, It is the self-propelled electric sweeper 1 detailed in this embodiment, The set usage patterns are very different. From beginning to end, the self-propelled electric sweeper 1 detailed in this embodiment mode, It is manufactured by effectively cleaning the floor of a room with furniture. therefore, Together with the self-propelled electric sweeper 1, Pack the manual with the text or image or animation, It is ideal to be sold as a self-propelled electric sweeping unit (complete set). As a manual, for example, Can be made into paper media, DVD and other recording media, Or memory media such as USB memory. also, As a media player, It can also be written as a means of recording audio-visual downloadable audio and video streams through electrical communication means such as a network cable. the above, In relation to the self-propelled electric sweeper of the present invention, The embodiment has been shown and explained in detail. also, The content of the present invention is not limited to those of the above-mentioned embodiment, As long as it does not exceed the scope of the interest, Of course it can be changed appropriately, Change etc.
