對於本發明的實施例，一邊參照添付的圖面一邊詳細說明。對於同樣的構成要素附加同樣的符號，不再重複同樣的說明。本發明的各種的構成要素，不一定必要是由一構件所構成，例如容許，一構成要素是由複數構件所構成，複數構成要素是由一構件所構成，或構成要素的一部分及其他的構成要素的一部分是彼此重複。 又，自走式電動掃地機器人1(第1圖參照)進行的方向之中，將自走式電動掃地機器人1通常進行的方向設成前方，將與重力方向相反的方向設成上方，將驅動輪116(第3圖參照)相面對的方向設成左方及右方。即如第1圖等所示地定義前後、上下、左右。在本實施例中，在自走式電動掃地機器人1的前方側安裝有側刷15。 ＜實施例1＞ [自走式電動掃地機器人1] 第1圖，是本實施例的自走式電動掃地機器人1的立體圖。 自走式電動掃地機器人1，是將掃除領域(例如室內)一邊自律地移動一邊掃除的掃地機器人。自走式電動掃地機器人1，是具備由包含上壁(及一部分的側壁)也就是上殼111、底壁(及一部分的側壁)也就是下殼112、及被設於前部的保險桿18所構成的本體11。在上殼111中，被配置有：開關薄片22、及使用者對於自走式電動掃地機器人1的控制部2施加指令的作為操作按鈕的圓形操作按鈕221及環形操作按鈕222。 且在自走式電動掃地機器人1的上後方側中，設有垃圾盒4。本實施例的自走式電動掃地機器人1，雖是藉由控制裝置2的運算處理而自律地將驅動輪116驅動地清掃，但是藉由遙控器等接受使用者的指令來進行驅動也可以。 [下殼112] 第2圖是將上殼111及垃圾盒4取下的狀態的立體圖，第3圖是自走式電動掃地機器人1的底面圖，第4圖，是第1圖的A-A線的剖面圖，第5圖是吸口部113、塵埃感測器單元12及垃圾盒4的立體圖。 下殼112，是安裝：驅動輪116、行走馬達1161、臂1141、及將包含減速機構1142地構成的驅動機構收容的驅動機構收容部114、及側刷安裝部1121、行走馬達1161、旋轉刷馬達1133、電動送風機16、充電池19、將充電池19收納的電池收容部115(第4圖參照)、控制裝置2、及吸口部113的薄型的圓板狀的構件。 下殼112，是包含側面的下端側，較佳是下端，具有設於側面全周或是大致全周的保險桿框架1127。保險桿框架1127，是由比形成側面的其他的部分的構件更軟的材料所形成，例如，採用可以彈性體等的樹脂材。且，保險桿框架1127，是比側面的其他的部分，例如保險桿18更朝外周側突出。由此，自走式電動掃地機器人1即使與家具等衝突，也可以抑制家具等破損。 又，自走式電動掃地機器人1因為是主要是前進，前方側的側面容易與家具等衝突，例如考慮進入窄路的情況等的話，如本實施例在側面和後面也設置保險桿框架1127較佳。且，因為保險桿18是環狀，所以如本實施例藉由將保險桿框架1127形成環狀，就可以將保險桿框架1127位置在保險桿18的外周側。如此的話，因為可以從外周側將保險桿18推壓，所以組裝容易進行。 (自走式電動掃地機器人1的平衡) 設於本體11內的構件中，比較重者，是充電池19及電動送風機16。充電池19多比電動送風機16更重。為了取得本實施例的本體11的重量平衡，首先，電動送風機16是設於下殼112的大致中央，充電池19是被設置在前側。 在此，在比下殼112的中心更後側中，設有：將旋轉刷14收容的吸口部113、和搔取刷13。電動送風機16是設在中央側(2個驅動輪116之間)，因為充電池19是設在前側，所以在後側設置重量物使取得平衡較佳。因此，在本實施例中，在搔取刷13的內周中，重錘是藉由貼附等被固定(未圖示)。由此，可以將稱為搔取刷13內的死角(死空間)有效活用。在本實施例中，因為搔取刷13是位於比旋轉刷14更遠離中央的側，所以在此設置重錘較佳。且，重錘，若從左右的平衡的觀點，設於本體11的左右方向的中央側較佳。又，在旋轉刷14內設置重錘也可以，但是旋轉刷14因為是藉由旋轉刷馬達1133而被驅動的刷，所以設置重錘的話會成為馬達的負荷。因此，馬達驅動不在從動旋轉的搔取刷13內設置重錘較佳。且，藉由重錘，而將自走式電動掃地機器人1的重心，位於前後方向大致中心(與驅動輪116的軸大致一致)較佳。 (下殼112的突起) 對於下殼112，在旋轉刷14的左右方向外側(正左外側及正右外側)，各別設有設於下殼112的底面的凸部也就是後方突起1123的至少一部分。各後方突起1123的至少一部分，也位置在驅動輪116的正後方。 且在相當於2個驅動輪116之間的領域的下殼112的中央側領域中，設有中央前側突起1124及中央後側突起1125。中央前側突起1124，是在前後方向位於驅動輪116的前端側，在左右方向位於下殼112的中央側的凸部。中央後側突起1125，是在比中央前側突起1124後側，朝前後方向延伸的凸部。 本實施例的自走式電動掃地機器人1，是驅動輪116的後端及旋轉刷14的外端是接近。具體而言，從驅動輪116的後端的左右內側部分，至旋轉刷14的前端的左右外側部分為止的距離，若從例如小形化的觀點是20mm以下。旋轉刷14及/或後述的氣密構件118，是為了接近地面容易吸引塵埃而從下殼112突出，驅動輪116是為了與地面接觸而同樣地突出。因此，障礙物進入2個驅動輪116之間的領域(設有突起1124、突起1125的中央側領域)、和設有驅動輪116後側的領域(突起1123的領域)的話，會嵌入驅動輪116及旋轉刷14之間有可能妨害自走式電動掃地機器人1的驅動。為了抑制這種事態，設置突起1123、突起1124、突起1125。其中任一的突起1123、1124、1125，當自走式電動掃地機器人1是行走於至少平坦的地面上期間，是被調整從地面遠離的尺寸。 [驅動機構收容部114] 被收容於第3圖等所示的驅動機構收容部114的驅動機構，是將驅動輪116支撐於本體11的機構。驅動機構，是包含將行走馬達1161、驅動輪116從左右內側支撐的臂1141、及減速機構1142。臂1141，是設於2個驅動輪116之間，一端是朝前後方向延伸的轉動軸，另一端是與驅動輪116連接的構件，藉由轉動軸的轉動而可以各別將驅動輪116轉動的構件。轉動軸，是各別位於2個驅動輪116之間，特別是本實施例中，位於各驅動輪116及中央突起1124、突起1125之間。 [電池收容部115] 如第4圖等所示，電池收容部115，是在內部收容充電池19的空間，位於比下殼112的中心更前側。電池收容部115，是為了將充電池19交換而具有向下開口的構成。又，在電池收容部115的左右中，形成有將側刷15安裝的側刷安裝部1121。 [驅動輪116] 如第3圖等所示，驅動輪116是各別透過減速機構1142各別承受各行走馬達1161的驅動力的構件。由此驅動輪116本身是可以藉由旋轉將本體11前進、後退、繞轉。驅動輪116，是被配置於左右兩側。 [前方蓋117] 如第3圖等所示，前方蓋117，是將形成於下殼112前端側的電池收容部115(第4圖參照)的開口從下殼112的下面塞住的近似長方形板狀的構件。且，前方蓋117，是具備將輔助輪17安裝在下殼112的中心側附近的圓形的輔助輪安裝部1122。 [輔助輪17] 第20圖，是輔助輪17的放大立體圖。如第3、20圖等所示，輔助輪17，是將下殼112從地面遠離且將自走式電動掃地機器人1圓滑地移動用的輔助的車輪，被設置在下殼112。輔助輪17，是以藉由伴隨由驅動輪116所產生的本體11的移動而與地面之間發生的摩擦力而從動旋轉的方式藉由固定軸173而被支撐。 輔助輪17，是具有將固定軸173作為旋轉軸可旋轉地設置的近似圓形的接地輪171、圓板部172及小圓板部174。接地輪171，是伴隨自走式電動掃地機器人1的行走與地面接觸地旋轉。小圓板部174，是鄰接於接地輪171，比接地輪171徑小且比固定軸173徑大地構成，可繞固定軸173周圍旋轉。圓板部172，是鄰接於小圓板部174，比接地輪171徑小且比小圓板部174徑大地構成，可繞固定軸173周圍旋轉。 伴隨接地輪171的旋轉使毛髪垃圾等附著在接地輪171的話，此毛髪垃圾等會朝固定軸173周圍繞轉而糾纏在固定軸173。此時，因為小圓盤部174及圓板部172是與接地輪171鄰接，毛髪垃圾等不是容易糾纏在固定軸173而是容易糾纏在圓板部172。因此，藉由將圓板部172繞固定軸173周圍旋轉，就可將毛髪垃圾的除去比較容易地進行。小圓板部174及圓板部172是一體形成的話較佳。 且輔助輪17，是使方向朝水平方向360°可旋轉自如地構成。又，第3圖所示的輔助輪17，是設於本體11的前方的左右方向的中央，被安裝於輔助輪安裝部1122。 又，將接地輪17換成後述的從動滾子1186，將與圓板部172同樣的構成設於氣密構件118也可以。 [保險桿18] 保險桿18，是對應從外部作用的按壓力朝前後方向，較佳是進一步左右方向，可移動地被設置。保險桿18，是藉由左右一對保險桿彈簧(圖示省略)而朝前方向被推迫。透過保險桿18使來自障礙物的抵抗力作用於保險桿彈簧的話，保險桿彈簧會變形，將保險桿18朝前方向推迫且容許保險桿18的後退。保險桿18遠離障礙物使抵抗力消失的話，保險桿18是藉由保險桿彈簧的推迫力而返回至原來的位置。順便一提，保險桿18的後退(即，與障礙物的接觸)，是藉由保險桿感測器(紅外線感測器)而被檢出，其檢出結果是被輸入至控制裝置2。保險桿18的變位量因為是對應障礙物等的接觸位置而不同，所以也可將障礙物等對於本體11的位置檢出。 [搔取刷13] 搔取刷13是在表面的一部分或是大致全部具備植毛，在與後述的旋轉刷14大致平行的方向具有軸的刷，在本實施例中藉由與地面的接觸而從動旋轉或是轉動。轉動的情況時，藉由設置止動器等來限制轉動範圍。搔取刷13的植毛的高度位置，是將木地板掃除的情況，是使先端從地面遠離0.5mm程度較佳。且，搔取刷13的植毛的位置，是將地毯上掃除的情況，與地毯的毛重疊較佳。因此，搔取刷13是可以從地毯表面將塵埃撥出的方式回收。 對於搔取刷13，若在設置止動器地轉動的態樣使用的情況，規定的領域是持續接觸地面，可以將塵埃撥出。此時，搔取刷13之中，成為與地面持續接觸的領域，是平坦的形狀較佳。即，搔取刷13的形狀，是在軸方向視，圓筒形狀之中，將一部分置換成平坦的平面的形狀(例如將圓的一部分由弦切除的形狀、和近似半月形狀)較佳。 [旋轉刷14] 第19圖，是旋轉刷14的立體圖。旋轉刷14，是與通過驅動輪116的旋轉中心的軸(左右方向)大致並行地配置(第3圖參照)。旋轉刷14，是在水平方向(在本實施例中為左右方向)具有旋轉軸的圓筒形，可旋轉地被支撐在吸口部113。旋轉刷14，是藉由旋轉刷馬達1133(第2圖參照)承受驅動力而旋轉驅動。旋轉刷14，是具備從軸部141的外周面朝法線方向突出的複數植毛142。旋轉刷14的植毛142，是具備長度不同的植毛、硬度不同的植毛等複數種類的植毛，各植毛是對於旋轉軸呈螺旋狀形成列地配設(第19圖參照)。 在植毛142的一部分或是全部中，鄰接地設有不織布143。各不織布143是各別對於植毛142，共有根部。這是例如，藉由將植毛142及不織布143由超音波熔接，就可以將植毛142及不織布143一體地實現。植毛，是最好具有某些程度的硬度，可以採用例如耐綸(尼龍)。 且與植毛142相鄰接的不織布143，例如在本實施例中，將根部共有的植毛142及不織布143，是各別使旋轉刷14藉由旋轉刷馬達1133而旋轉的情況，使不織布143在植毛142之前與地面接觸地配置。由此，存在於地面的毛髪垃圾等，因為是先與不織布143接觸，所以可抑制被糾纏在植毛142。且，在不織布143中，朝徑方向側延伸的開縫1431是被設置1個或是2個以上。由此，可以抑制不織布的扭轉。 又，在呈螺旋狀配置的植毛142之間追加將由橡膠等的彈性材料所構成的葉片構件呈螺旋狀配置的構成也可以，可以適宜地變更。旋轉刷14所撥起的塵埃是通過開口部17被貯塵在垃圾盒4。且，為了抑制植毛142、不織布143或是葉片構件與後述的氣密構件118的架橋部1181接觸，將這些的一部分的長度縮短、或設置缺口也可以。 [氣密構件118] 第21圖是將氣密構件118從本體11取下的狀態的分解立體圖，第22圖是氣密構件118的背面立體圖。 在位於旋轉刷14的下方的部分中，安裝有氣密構件118。氣密構件118，是從自走式電動掃地機器人1的下面視，具有：將旋轉刷14下方的領域橫跨前後方向設置的架橋部1181、朝左右方向延伸的擺動軸1182、及將旋轉刷14包圍的形狀的框體部1183、氣密構件118取下時使用的取下爪1184、將架橋部1181及框體部1183朝下方推迫的推迫部1185、以及從動滾子1186。 氣密構件118，是與吸口部113及旋轉刷14各別擺動的構件，藉由推迫部1185朝下方被推迫。因此氣密構件118，是伴隨自走式電動掃地機器人1的段差的行走等而上下動。由此，因為氣密構件118是維持接近或是接觸地面的位置，所以可以提高氣密性。且，氣密構件118，因為是與吸口部113及旋轉刷14各別擺動，所以不必要將吸口部113的擺動空間設於本體11內，有助於本體11的小形化。 本實施例的擺動軸1182，是與搔取刷13設成同軸，可以將搔取刷13安裝在擺動軸1182。由此，即使將氣密構件118及搔取刷13一起設置的情況，因為也可以減少設置空間，所以有助於自走式電動掃地機器人1的小形化。又，擺動軸118，是被設置在氣密構件118的後端側。 擺動軸118，是設於氣密構件118的前端側也可以。如此的話，氣密構件118，因為是隨著從後方朝向前方，而成為具有朝向上方的傾斜，所以可以減輕與位於前方的障礙物衝突時的負荷。且，氣密構件118的前端，是隨著從前方朝向後方形成朝向下方的傾斜部1187(第4圖等參照)。因此，可以進一步減少與前方的障礙物衝突時的負荷。 取下爪1184，是被安裝於氣密構件118的左右側，藉由朝向左右方向(在本實施例中，朝向左右方向內側)動作，可以將取下爪1184從本體11取下。自走式電動掃地機器人1，因為主要是朝前後方向移動，如此藉由朝左右方向動作而可取下，在行走中可以抑制氣密構件118從本體11脫落。 推迫部1185，是設於氣密構件118的背面側，例如可以將框體部1183和此附近朝下方推迫的例如彈簧狀的構件。氣密構件118，是藉由推迫部1185，在自走式電動掃地機器人1的行走中，以與地面接觸的方式被推迫。由此，因為可以提高旋轉刷14周圍的氣密性，所以可以提高集塵效率。 從動滾子1186，是各別被設置在氣密構件118的左右外側部分，伴隨自走式電動掃地機器人1的行走與地面接觸，可以將氣密構件118支撐。由此，即使將氣密構件118朝下方推迫，也可以抑制與地面的摩擦阻力，可以抑制能量損失和刮傷地面。且，對於前後方向，因為從動滾子1186是透過驅動輪116位置在輔助輪17的相反側，所以自走式電動掃地機器人1的支撐可以藉由這些3個構成要素而有效地進行。 [側刷15] 在第3圖等例示的側刷15，是將房間的隅等的位於比本體11更外側的旋轉刷14不容易到達的場所的塵埃導引至吸口部113(吸引口1131)的刷。側刷15的旋轉軸是上下方向，側刷15的一部分是從俯視看從本體11露出。側刷15，是具有從俯視看由120°間隔呈放射狀延伸的3束的刷，各別被配置於下殼112的前方左右側。側刷15，其根部是被固定於側刷支架151。 側刷15各刷，其側刷支架151側(根部側)，是彈性體等的具有可撓性的根部彈性部153，先端側是例如刷毛也就是刷毛部154。在本實施例中，形成側刷15的旋轉軸(輪轂)的側刷支架151及根部彈性部153是被一體形成。藉由將側刷15的根部作成如根部彈性部153的彈性體，與刷毛部154是從根部朝先端的構成相比，因為刷毛部154不易彎曲而纏在一起，所以可以提高側刷15的耐久性。 側刷15的植毛，是以隨著朝向先端而接近地面的方式傾斜，其先端附近是與地面接觸。 側刷支架151，是被設置在下殼112的底面附近，與側刷馬達152連結(第2圖參照)。藉由側刷馬達152驅動，使側刷15朝向內側(第3圖的箭頭的方向)旋轉，將塵埃朝吸引口1131撥動收集。 [電動送風機16] 第4圖所示的電動送風機16，是具有設有前後方向軸的風扇，風扇是藉由旋轉驅動將垃圾盒4內的空氣朝外部排出使負壓發生，具有從地面透過吸引口1131(吸口部113)將塵埃吸入的功能。彈性體161是被設置在電動送風機16的外周面。如此藉由將彈性體位在其間，電動送風機16的振動衰減成為不易朝本體11傳達，可以減少本體11的振動、噪音。又，在本實施例中，電動送風機16是被配置於下殼112的中心附近。 [吸口部113] 第6圖是吸口部113、塵埃感測器單元12及垃圾盒4的分解立體圖，第7圖是塵埃感測器單元12的前視圖，第8圖是塵埃感測器單元12的右側視圖。 吸口部113，是形成有與垃圾盒4連通的吸引口1131，並且收容搔取刷13、旋轉刷14的構件。旋轉刷馬達1133是被安裝在吸口部113也可以。比吸引口1131更上游側(旋轉刷14側)，是收納旋轉刷14的空間，比吸引口1131剖面積更大。 在本實施例中，藉由電動送風機16的負壓而被吸入的空氣，是依吸引口1131、塵埃感測器單元12、垃圾盒4的風道42及主積蓄室41、集塵過濾器46、電動送風機16、以及排氣口1126的順序通過。在此空氣中多包含塵埃，由集塵過濾器46被遮住並被貯塵在垃圾盒4內。以下，將與吸引口1131及塵埃感測器單元12的框121大致垂直的方向(框121的正面視方向)稱為主方向。又，排氣口1126，是設於下殼112，在2個驅動輪116之間在本實施例中位置6個。 本實施例的吸口部113，雖未具有從吸引口1131朝主方向延伸的部分，但是例如後述的垃圾盒4的風道42，具有朝主方向延伸且與吸口部113一體的吸口部風道也可以。此情況，吸口部風道、塵埃感測器單元12及風道42，是包圍從吸引口1131至垃圾盒4內為止的道程。此點，如後述，從提高垃圾盒4的容積的觀點等，此道程之中，風道42的長度(例如主方向長度)，是比吸口部風道的長度(例如主方向長度)和框121的長度(例如主方向長度)更長較佳。 [塵埃感測器單元12] 塵埃感測器單元12，是被配置於吸口部113及垃圾盒4之間。 塵埃感測器單元12，是具有：框121、設於框121且彼此相面對的發光部122及受光部123、被安裝於框121的垃圾盒4側的密合構件124、及基板127。塵埃感測器單元12，是與吸口部113及垃圾盒4別構件地形成，將框121與吸口部113接觸，藉由在此狀態下安裝，可同時將發光部122、受光部123、連接器126及密合構件124安裝。因此，本實施例的塵埃感測器單元12，組裝性優異。 (框121) 框121，是確保將發光部123及受光部124連結的光軸的空間，且在框121本身或是此附近可安裝發光部123及受光部124的構件。本實施例的框121，是形成具有長度方向及寬度方向的形狀，可以形成例如矩形狀。在本實施例中近似長方形狀。在框121的長度方向的一方中，安裝有受光部123及基板127。在框121的長度方向的另一方中，安裝有發光部122。又，發光部122及受光部123，是設於框121的寬度方向也可以。且，框121是正方形狀、圓形狀、橢圓形狀、卵型等也可以。 (發光部122及受光部123) 發光部122及受光部123，是彼此相面對，發光部122發出的紅外線等的光，是藉由受光部123而被受光。發光部122所發出者，不限定於光，超音波等可將塵埃的有無檢出的話各種公知者皆可以。將發光部122及受光部123設於相同側也可以，但是從小形化的觀點等是相面對較佳。 (配線125、連接器126、基板127) 基板127，可以搭載：發光部122的驅動電路、受光部123的增幅電路、藉由將增幅的訊號與某些基準電壓相比較而將由塵埃的通過所產生的受光量的減少作為脈衝輸出的比較器等。可取代比較器或是追加可以檢出受光部123的受光量繼續減少者也可以。此情況，可以推測垃圾盒4是否裝滿。 發光部122及基板127，是藉由配線125而與電力地連接。配線125，是沿著發光部122及受光部123的相面對方向，在框121附近爬行，或在框121內爬行，被組入框121及密合構件124之間。在配線125中，發光部122的驅動電流流動。又，受光部123也藉由配線而與基板127電連接(未圖示)。這些配線，是與連接器126電連接。 (密合構件124) 密合構件124，是配合框121的周緣形狀的形狀，在本實施例中為中空的近似長方形狀。框121的形狀，是配合吸引口1131的形狀。密合構件124，可以採用密封墊等。 (塵埃感測器單元12的優點) 如此構成的塵埃感測器單元12，因為可以將發光部122及受光部123一體地保持，所以容易使光軸一致。且，因為可以將受光部123及基板127接近地配置，所以從受光部123至增幅電路為止的距離可以縮短，可以減少電磁雜音對於微弱的訊號也就是受光部123的輸出的影響。且，發光部122的配線125也在塵埃感測器單元12內一體化，與控制裝置2電連接時，也只將配線(無圖示)與連接器126連接即可，組裝性優異。 且在與垃圾盒4接觸的構件也就是密合構件124中，使用彈性體等的具有彈性的材料較佳，但是這種材料，是比其他的零件更早劣化。且，發光部122及受光部123的表面也容易產生由塵埃所產生的弄髒和刮傷等。依據本實施例，這種劣化和弄髒，將容易藉由刮傷而產生必需交換的零件，因為藉由可以與塵埃感測器單元12的交換同時交換，所以維修性優異。 (框24的非相面對方向的尺寸等) 第9圖，是第7圖的C-C剖面圖。對於塵埃感測器單元12，與框121平行的方向(與主方向垂直的方向)之中，將與發光部122及受光部123的相面對方向大致垂直的方向稱為非相面對方向。框121之中，將吸引口1131側的非相面對方向的寬度設成a、將垃圾盒4側的非相面對方向的寬度設成b的話，a≒b且a＜b。由此抑制與主方向垂直的面的剖面積過度地變窄所導致的損失增加。且，將框121所包圍的領域的中心線90(與主方向大致平行)，作成通過尺寸a及b的中點的直線。即，如第9圖所例示考慮使a1=a2=a/2、b1=b2=b/2成立的直線的話，a1及b1是比中心線更上方側，a2及b2是比中心線更下方側。此時，發光部122及受光部123，是對於非相面對方向，被配置於比中心線90更下方側。塵埃是比空氣重，通過中心線90的下側的確率因為較高，藉由在下方側設置發光部122及受光部123，就可高精度地將塵埃檢出。 第10圖，是第8圖的D-D剖面圖。發光部122，是具有發光元件1221及透明樹脂帽1239，受光部123，是具有受光元件1232及透明樹脂帽1239。對於被安裝的透明樹脂帽1239，發光元件1221及受光元件1232之間的領域，是各別具有比與發光元件1221所發出的光的光軸垂直的方向的尺寸更小的尺寸。由此，可以由透明樹脂帽1239保護元件，且導引發光元件32的光，且抑制塵埃感測器單元12的上下尺寸和前後尺寸的大形化。 (框24的相面對方向的尺寸等) 與框121平行的方向之中，將與發光部122及受光部123的相面對方向大致平行的方向稱為相面對方向。將吸引口1131側的相面對方向的寬度設成e、將垃圾盒4側的相面對方向的寬度設成d的話，e＞d。即，框121的相面對方向的寬度，是隨著朝向垃圾盒4側而變小。由此，包含塵埃的空氣是流動於箭頭91的方向時，藉由慣性，使塵埃遠離壁面地流動。因此，可以抑制透明樹脂帽1239的刮傷和弄髒。 [垃圾盒4] 第11圖是將垃圾盒4從本體11取下的狀態的立體圖，第12圖是自走式電動掃地機器人1之中，包含裝設有垃圾盒4的本體11的領域的立體圖，第13圖是第12圖的主要部分放大圖，第14圖是第5圖的B-B剖面圖，第15圖是包含小道具收容部1102及小道具95的立體圖，第16圖是將垃圾盒4安裝的本體11的後方立體圖。 垃圾盒4，是將從地面透過吸引口1131(吸口部113)被吸入的塵埃積蓄的容器。垃圾盒4，是具備：將形成於吸引口1131側的風道42、將回收的塵埃積蓄在主的主積蓄室41、可將積蓄的塵埃從過濾器46側(上方側)取出的蓋45、可轉動且可將主積蓄室77下方側(風道42側)的開口開閉的逆流抑制閥44、及可折疊的操作桿43。垃圾盒4，是從本體11的傾斜上朝向傾斜下地安裝。 (主積蓄室41) 主積蓄室41，是由例如樹脂材所形成，將空間內包的領域，藉由蓋45及逆流抑制閥44來抑制塵埃從空間朝外側漏出。蓋45，可以將主積蓄室41的水平方向側的開口塞住，逆流抑制閥44，可以將主積蓄室41的下方側的開口塞住。主積蓄室41內包的空間的剖面積，是比框121的剖面積更大。在此的主積蓄室41內包的空間的剖面積，可以是例如，與過濾器46垂直的方向的剖面積。 (風道42) 風道42，是在主積蓄室41的下方側具有一端，另一端是藉由逆流抑制閥44可開閉。風道42，是與形成從吸引口1131至主積蓄室41為止的道程的一部分、大致全部或是全部的垃圾盒4一體的部分。本實施例的風道42，雖是一端側是大致朝上下方向延伸，從中途處朝向另一端側朝傾斜下方向延伸的形狀，但是只有後者，即，只有朝向另一端側朝傾斜下方向延伸的部分構成也可以。 如此，從整體看的話，風道42，是從一端朝向另一端朝向傾斜下延伸。風道42的一端，是例如，可以設於主積蓄室41的下面，較佳是，從上面視，對於主積蓄室41的下面的中央，設於比風道42的另一端更遠的位置。由此，容易將垃圾盒4的上面視中的尺寸小形地形成。 (操作桿43) 操作桿43，是將主積蓄室41的上側作為轉動軸可轉動地被設置的構件，具有把持部431、止脫部432、作用點部433、卡止部434。操作桿43，是可以轉動從轉動軸的前方至轉動軸的上方為止的大致90°～100°程度。為了達成後述的作用點部433及卡止部434的兩者的作用，可轉動範圍是超過90°，大致135°以下，較佳是120°以下較佳。在此，將把持部431躺下的狀態(被卡止於卡止部434的狀態)的轉動角設成0°。又，在第16圖例示的狀態，轉動角是大致90°。 把持部431，是使用者容易將垃圾盒4把持並進行裝卸動作等用的部分，在前端設有卡止部434。在垃圾盒4被安裝於本體11的狀態下，卡止部434是被卡止於設於上殼111的非卡止部(未圖示)，可以將操作桿43卡止。 止脫部432，是設於轉動軸附近且比轉動軸更靠卡止部434側(轉動角度0°側)的突起狀的部分。在操作桿43位於前側的狀態下，止脫部432是進入本體11內，與本體11內的部分接觸並產生摩擦阻力。由此，抑制操作桿43的脫落。 作用點部433，是在操作桿43位於上側的狀態下進一步使用者朝向後方(朝向轉動角超過90°的方向)賦予力的話，與本體11的上面側接觸的部分。在此狀態下作用點部433，是成為垃圾盒4從本體11被擧升的力的作用點，轉動軸是成為支點。由此，可以成為使用者將垃圾盒4取下時的輔助。本體11的上面側，不特別限制，可以是例如後述的導引段差119。 [垃圾盒4的形狀及小道具收納部] 垃圾盒4，是後方上側朝後方突出的形狀，被安裝於本體11時，後方上側是形成自走式電動掃地機器人1的側面的一部分(第16圖等參照)。因此，對於本體11，在垃圾盒4中的後方上側領域的正下方碰觸的領域，也形成自走式電動掃地機器人1的側面的一部分。在本實施例中，在由此本體11所產生的側面的一部分的附近，設置在第15圖等例示的小道具收容部1102，收納小道具的其中一例的清掃用刷95。清掃用刷95，是例如，為了讓使用者可以清掃垃圾盒4內用者，沿著本體11的外周形狀彎曲的形狀。清掃用刷95，是具有刷毛951及冶具部952。刷毛部951，可以在垃圾盒4等的清掃時使用，冶具部952，可以在將側刷15取下時使用。 藉由沿著本體11的外周形狀彎曲的形狀，可以將在清掃用刷95的收納所需要的空間沿著本體11的側面的內周設置。例如將清掃用刷95等，作成裝設在垃圾盒4的外面的態樣的話，因為會導致垃圾盒4的容量的減少而不佳。且，藉由將清掃用刷95等的收納空間設在垃圾盒4的裝卸領域，可以抑制清掃用刷95等無意中地脫落的事態。 又，可取代本實施例，可取代例如清掃用刷95或是追加將側刷15取下用的冶具，將其他的小道具收納也可以。 小道具的收納態樣不限定於上述，將垃圾盒4安裝於本體11的狀態的話將被本體11及垃圾盒4包圍的領域設於本體11即可。 (逆流抑制閥44) 逆流抑制閥44，是具有：與可以將作為風道42的另一端的開口塞住的主面441、與主面441一體或是別體地安裝且在主面441對於大致平行的方向且比風道42更朝外側突出的突出部442、及朝將主面441及突出部442轉動的方向推迫的推迫部443。在本實施例中，突出部442是各別被設置在與主面441大致平行的方向的外側。 推迫部443，是朝主面441將開口塞住的方向將逆流抑制閥44推迫的構件，可以使用各種公知者，可以使用例如彈簧。將推迫部443設成例如捲簧的話，自己可以成為轉動軸。 因此，在外力不能正常工作的狀態下，逆流抑制閥44是將風道42的另一端塞住。 突出部442，是將垃圾盒4裝設在本體11時，設於垃圾盒4被收納的領域，與作為反推迫部的導引段差119接觸。導引段差119，是被設置在本體11之中將垃圾盒4取下的話可目視的領域的2個段差部分。導引段差119，是各別沿著垃圾盒4的安裝方向被設置，在本實施例中從上後方朝向下前方延伸。 突出部442是由伴隨朝垃圾盒4的本體11的裝設的朝垃圾盒4的下方的移動，各別與導引段差119接觸及滑動，主面441是朝將開口開放的方向承受力。由此，逆流抑制閥44是抵抗推迫部443的推迫力，將風道42的另一端開放。如本實施例所例示的導引段差119，藉由反推迫部及突出部442的接觸，主面441可以承受推迫部443的推迫力相反方向的力將作為風道42的另一端的開口開放。 具體而言，產生將逆流抑制閥44的長度方向作成軸的轉動，將風道42的另一端開放。本實施例的逆流抑制閥44因為是近似長方形狀，所以將逆流抑制閥44的寬度方向作成軸的轉動、和將與主面441垂直的方向作成軸的轉動的話，為了進行轉動所必要的空間因為需要較廣，所以將長度方向作為軸轉動較佳。即，推迫部443，是將主面441的長度方向作為軸將逆流抑制閥44轉動。 又，突出部442，是藉由與自走式電動掃地機器人1的任何的構件(反推迫部)接觸而可以將逆流抑制閥44成為開狀態即可。 在比本實施例的導引段差119的前端更前方中設置間隙1101，在垃圾盒4被安裝於本體11的狀態下，逆流抑制閥44，是朝導引段差119被推壓且滑動，被收納於間隙1101。間隙1101，是位於框121的主方向投影面的外側。因此，在將垃圾盒4裝設的狀態下，風道42的另一端，是與塵埃感測器單元12接觸，特別是在本實施例中與密合構件124密合。 [從吸引口1131至主積蓄室41為止被設置的構造物] 特別是如第14圖例示，對於主方向，塵埃感測器單元12的尺寸92，是比風道42的另一端側的尺寸93更短。即，將從吸引口1131至主積蓄室41為止連接的道程的一部分，較佳是比尺寸92更長地，形成風道42的另一端側的尺寸93。由此，因為可以在從吸引口1131至主積蓄室41為止的領域設置垃圾盒4的一部分，所以可以擴大垃圾盒4的容積。 在此，風道42，可以形成風道42的一端側，具有尺寸94且具備朝上下延伸的直立部421。直立部421，抑制塵埃從主積蓄室41朝風道42的另一端側漏出。 在此，尺寸93，是將垃圾盒4的下面擬制成平面(將主積蓄室41形成近似箱型)，在塵埃感測器單元12的尺寸92以大致平行的直線測量，從此平面至塵埃感測器單元12為止的距離。又，本實施例的主積蓄室41可以是箱型。 [由逆流抑制閥44所產生的風道42的閉塞] 如上述，在垃圾盒4被裝設於本體11的狀態下，逆流抑制閥44，是被存儲於旋轉刷14的上側。將垃圾盒4從本體11取下的話，藉由推迫部443的推迫力使逆流抑制閥44轉動，將風道42側另一端的開口塞住。由此，即使塵埃被積蓄在風道42內，也可以抑制塵埃溢出從垃圾盒4落下。又，主面441，是平板狀也可以，可以抑制塵埃通過的程度的網孔狀也可以。 [塵埃的裝滿檢出] 自走式電動掃地機器人1是吸引塵埃的話，吸引的塵埃首先被積蓄在主積蓄室41，主積蓄室41是成為裝滿的話也被積蓄在風道42。因為風道42是比重力方向更朝向水平方向側的傾斜向下，所以可以抑制塵埃從風道42落下。且，因為比水平方向更朝向重力方向側，所以主積蓄室41是成為裝滿之後，塵埃比較容易馬上被積蓄在風道42，容易藉由塵埃感測器單元12檢出塵埃。 且藉由直立部421，即使在主積蓄室41具有多餘狀態也可以無關地抑制塵埃流動落下風道42。本實施例的垃圾盒4，因為是在比風道42的一端更前側，設有主積蓄室41內包的空間的過半的比率，所以塵埃容易積蓄在前方側。但是，因為在空間的過半的比率及風道42之間設有直立部421，所以即使塵埃是伴隨朝自走式電動掃地機器人1的主移動方向也就是前方的加速朝後方移動，仍可以有效地抑制塵埃朝風道42落下。即，從前方朝向後方，由主積蓄室41內包的空間的過半的比率、直立部421、風道42的一端的順序位置。 塵埃也積蓄在風道42而成為大致裝滿的話，塵埃是持續將發光部122的光遮斷，受光部123的受光量下降的狀態是繼續。藉由將此狀態檢出，就可以開始進行：將垃圾盒4的裝滿檢出並通知使用者、將自走式電動掃地機器人1朝充電台(未圖示)歸還的控制。 [通過的塵埃量的檢出] 發光部122的光是被瞬間地遮斷的話，受光部123的受光量會脈衝地減少。由此，可以檢出塵埃朝向垃圾盒4通過。在本實施例中，對於主方向中的剖面積，旋轉刷14側是比吸引口1131更大，在框121和風道42變小，在主積蓄室41變大。即，從旋轉刷14的收納空間至主積蓄室41為止的道程中的剖面積，是在框121及/或風道42最小。因此，被吸入的塵埃，是配合風道42的形狀集中在剖面積小的框121。因為發光部122及受光部123，是被設置在框121，所以塵埃多是通過發光部122及受光部123之間。即，可以將塵埃量高精度地測量。 且因為通過框121之後的塵埃，是通過剖面積大致相同的風道42，所以在框121附近，渦流不易產生。即，可以抑制塵埃藉由渦流而逆流而被多重檢出。進一步，因為可以擴大風道42通過之後的剖面積，所以可以抑制風損。 且比塵埃感測器單元12更上游側的剖面積，即，從吸口部113至塵埃感測器單元12為止的剖面積，是單調地減少也可以。如此的話，在塵埃感測器單元12的上游產生渦流，可以抑制塵埃被塵埃感測器單元12多重地檢出。 [佈局配置] 第17圖是將上殼111取下的自走式電動掃地機器人1的立體圖，第18圖是第1圖的E-E剖面圖。 為了將自走式電動掃地機器人1的上下尺寸作成小形，本體11的上下尺寸是與電動送風機16的上下尺寸大致同一。如第17圖所例示，將上殼111取下的狀態的話，以將電動送風機16的上面的一部分覆蓋的凸形狀113被看到的方式構成。由此，有助於本體11的上下尺寸的小形化。又，本體11的底面側，是在由下面視與電動送風機16重疊的位置，具有朝下方突出的凸形狀也可以。 且通常是將圓筒形狀的電動送風機16傾斜地配置的話，因為會發生加大本體11的上下尺寸的必要，所以電動送風機16的軸方向，是成為從水平方向或是水平方向的 ±10度以下，較佳是±5度以下地偏離。 對於電動送風機16的軸方向視，如第18圖所例示，臂1141的轉動軸側是位置在與筒型的電動送風機16外接的近似正方形的領域的內側。此領域容易成為死角(死空間)，如此藉由配置臂1141的一部分就可以將空間有效活用實現自走式電動掃地機器人1的小形化。且，因為將排氣口1126位於電動送風機16的正下方、和位於電動送風機16的下游側的開口的正下方，所以可以將排氣風路縮短。 本實施例，是具備小形化用的各式各樣的構成，其結果，上下尺寸可以形成接近電動送風機16的上下尺寸。具體而言，即使考慮驅動輪116對於尺寸的影響，是在將自走式電動掃地機器人1載置在地面的狀態中的自走式電動掃地機器人1的上下尺寸(即臂1141朝上側轉動使驅動輪116被收納的狀態的上下尺寸)的70%以上，較佳是75%以上或是85%以上的範圍，成為電動送風機16的上下尺寸以內的方式構成。 上殼111及下殼112是將上下側包圍的領域的上下尺寸、及電動送風機16的上下尺寸是大致同一。具體而言，電動送風機16的上下尺寸，是上殼111及下殼112所包圍的領域的上下尺寸的90%以上，較佳是95%以上。 且如上述，被載置在本體11的構造物之中，重量大者是充電池19和電動送風機16。將充電池19配置於中央側的話，因為容易成為配線等的妨害，所以在本實施例中將電動送風機16配置於中央側，將充電池19配置於前側。 [側刷15的旋轉速度] 自走式電動掃地機器人1，是在左側及右側各別具有側刷15。在本實施例中，將側刷15的旋轉速度各別可變更地構成。具體而言，自走式電動掃地機器人1，是實行以壁位在左側的方式行走的壁邊清掃模式的情況，將與壁位置的側相同側也就是左側的側刷15的旋轉速度，比另一方的側刷15的旋轉速度更快速地控制。由此，可以將壁邊的清掃更有效地進行。壁邊清掃模式，可以藉由各種公知的方法實行，例如，可以藉由使設於本體11的左側的測距感測器210持續地檢出壁面(障礙物)的方式進行行走控制而實現。 又，在以壁位置在右側的方式行走的壁邊清掃模式實行的情況，也可以同樣地控制。且，即使將壁邊清掃模式的實行中的壁側的側刷15的旋轉速度，設成與其他的控制模式，例如將壁面和障礙物檢出的話，朝遠離其壁面和障礙物的方向將進路變更將行走再開的反射行走模式的實行中的旋轉速度相比更高地控制，也可獲得同樣的效果。且，與壁邊同樣地，2壁面交叉的隅部也可以同樣地將旋轉速度和後述的扭矩控制。 [側刷15的扭矩] 側刷15，是各別藉由充電池19的電力而驅動的側刷馬達152被驅動。在本實施例中，側刷馬達152是採用DC馬達。DC馬達，即使是時間平均的輸出的電壓是同值，也是功率比較高(電壓外加時間長)者可以將較高的扭矩傳達。側刷15，是與壁和障礙物接觸的話，因為藉由其摩擦而使扭矩減少，所以清掃效率容易下降。 因此，在本實施例中，例如，實行以壁位在左側的方式行走的壁邊清掃模式的情況，能以將朝與壁位置側相同側也就是左側的側刷15將扭矩傳達的側刷馬達152的功率比，比朝另一方的側刷15將扭矩傳達的側刷馬達152的功率更高的方式控制。 且充電池19的能量減少且輸出電壓下降的情況，因為即使相同功率比，扭矩也下降，所以充電池19的殘電力愈低，功率比愈大。 又，由同樣的理由，因為依據地面的材質而輸出的扭矩也不同，對應地面的種類決定功率比也可以。例如，與木地板清掃中相比，可以使地毯清掃中的功率比變高的方式控制。 進一步，塵埃感測器單元12的塵埃檢出個數愈大，功率比可以愈下降。由此，在塵埃為多量的領域，可以不會藉由側刷15而將塵埃撒散。 且即使將壁邊清掃模式的實行中的壁側的側刷15的功率比，設成與其他的控制模式，例如將壁面和障礙物檢出的話，朝遠離其壁面和障礙物的方向將進路變更將行走再開的反射行走模式的實行中的功率比相比更高地控制，也可獲得同樣的效果。 [感測器類] 第23圖，是顯示與自走式電動掃地機器人的控制裝置2、及控制裝置2連接的機器的概略構成圖。保險桿感測器(障礙物檢出手段)，是將保險桿18的後退(即，與障礙物的接觸)檢出的感測器。 在第2圖等例示的測距感測器210(障礙物檢出手段)，是檢出障礙物為止的距離的紅外線感測器。在本實施例中，在正面3處及側面2處的計5處設有測距感測器。 測距感測器210，是具有：將紅外線發光的發光部(無圖示)、及將使紅外線由障礙物反射回來的反射光受光的受光部(無圖示)。依據藉由此受光部被檢出的反射光，而算出至障礙物為止的距離。又，保險桿18之中至少測距感測器的附近，是由紅外線可透過的樹脂或是玻璃所形成。 在第3圖等例示的地面用測距感測器211(地面檢出手段)，是測量地面為止的距離的紅外線感測器，在下殼112的下面的前後左右被設置4處。更具體而言，位於：輔助輪17的前側、旋轉刷14及搔取刷13的後側、各驅動輪116的前側且左右方向外側。 藉由地面用測距感測器而將台階等的大的段差檢出，就可防止自走式電動掃地機器人1(從台階等)落下。例如，藉由地面用測距感測器而在前方被檢出30mm程度的段差的場合，控制裝置2是將行走馬達控制將本體11後退，將進行方向轉換。 又，輔助輪17前側(下殼112的前端側)的地面用測距感測器211是檢出從地面的距離是遠的情況，且，旋轉刷14後側(下殼112的後端側)的地面要素距感測器211是檢出從地面的距離是接近的情況的情況，控制裝置2，是將本體11就這樣持續前進也可以。因為這種檢出的組合的情況，被認為自走式電動掃地機器人1多是已爬上段差。同樣地，輔助輪17前側的地面用測距感測器211是檢出從地面的距離是接近情況，且，旋轉刷14後側的地面要素距感測器211是檢出從地面的距離是遠的情況時，控制裝置2，是將本體11就這樣持續前進也可以。在此所謂的「接近」，是指例如，在平坦的地面上自走式電動掃地機器人C行走的情況地面用測距感測器211所檢出的距離以下，「遠」，是指例如，在平坦的地面上自走式電動掃地機器人C行走的情況超過地面用測距感測器211所檢出的距離。其他，設定1個或是2個適當的門檻值，與此相比較的結果也可以。 利用第23圖所示的行走馬達脈衝輸出，檢出行走馬達1161的旋轉速度、旋轉角度。又，控制裝置2是依據由行走馬達脈衝輸出而被檢出的旋轉速度、旋轉角度、及減速機構的齒輪比、及驅動輪116的徑，算出本體11的移動速度、移動距離。 行走馬達電流測量器，是測量流動於行走馬達1161的電樞捲線的電流的測量器。同樣地，電動送風機用電流測量器是將電動送風機16的電流值測量，旋轉刷馬達用電流測量器是測量旋轉刷馬達1133的電流值。2個側刷馬達用電流測量器是測量側刷馬達152的電流值。各電流測量器，是將被測量的電流值朝控制裝置2輸出。可以利用電流值的檢出結果，檢出例如異物糾纏在旋轉刷使旋轉停止的異常，可以藉由操作按鈕朝使用者報知。 且從旋轉刷馬達1133的電流值及行走馬達1161的電流值，檢出本體11行走的地面的狀態，例如辨認為在地毯上的話將電動送風機16的輸入加大使增加吸引力，在木地板上的話，減小電動送風機16的輸入設定進行抑制充電池19的消耗電力的控制。 藉由塵埃感測器單元12檢出塵埃的話，將電動送風機16的輸入一定時間增加。不進行對應檢出的塵埃量決定電動送風機16的輸入增加時間(例如延長)。由此，抑制電動送風機16的消耗電力。且，即使檢出塵埃，也不進行本體11的反轉和往復動作。由此，可以迴避移動速度的下降。 [驅動裝置] 第23圖所示的行走馬達驅動裝置(左)(右)，是將左右側的行走馬達1161驅動的變頻器，或是由PWM控制所產生的脈衝波形發生裝置，對應來自控制裝置2的指令動作。對於電動送風機驅動裝置、旋轉刷用馬達驅動裝置、側刷用馬達驅動裝置(左)(右)也同樣。這些各驅動裝置，是被設置在本體11內的控制裝置2(第2圖參照)。 [控制裝置2] 控制裝置2，是例如微電腦(Microcomputer、圖示省略)，將被記憶在ROM(唯讀記憶體、Read Only Memory)的程式讀出朝RAM(動態隨機存取記憶體、Random Access Memory)展開，由CPU(中央處理器、Central Processing Unit)實行各種處理。控制裝置2，是對應從開關薄片22(第1圖參照)、及前述的各感測器類被輸入的訊號實行運算處理，將指令訊號朝前述的各驅動裝置輸出。 以上，對於本發明的自走式電動掃地機器人顯示了實施例並詳細說明。又，本發明的內容不限定於實施例，在不脫離其宗旨的範圍內當然可適宜地改變、變更等。且，在本實施例中，說明了自走式掃地機器人的例，但是即使適用於罐式、棒式、及手持式的掃地機器人，也具有同樣的效果。 ＜實施例2＞ 實施例2的構成，是除了下述的點以外可以與實施例1同樣。 [開關薄片22] 第24圖是將上殼111取下的自走式電動掃地機器人1的立體圖，第25圖是從第24圖的狀態進一步將開關薄片22取下的自走式電動掃地機器人1的立體圖，第26圖(a)是開關薄片22的正面立體圖，第26圖(b)是開關薄片22的背面立體圖。 開關薄片22，是被設置在上殼111及控制基板21之間。控制基板21，是位於本體11之中的上殼111的下側。且，控制基板21及開關薄片22之間，是設有將開關薄片22載置的例如樹脂性的支撐板80。 開關薄片22，是具有：將對應使用者的操作的操作訊號朝控制裝置2輸出的操作按鈕221、222、及軟質部223。操作按鈕221、222，是具有將圓形狀的圓形操作按鈕221及圓形操作按鈕221周圍包圍的環狀的環形操作按鈕222。藉由將操作按鈕221、222壓下，就可以朝控制裝置2將訊號輸出。操作按鈕221、222及軟質部223，是被預先組裝作為一構件地形成。 操作按鈕221、222，是露出自走式電動掃地機器人1的上面。在操作按鈕221、222中，可以具有例如將電源的導通(ON)/斷開(OFF)、掃除的開始/終了、進行掃除模式的變更的訊號，朝控制裝置2輸出的功能。 軟質部223，是可以將操作按鈕221、222周圍包圍的例如具有可撓性的橡膠製的構件。將軟質部223載置在支撐板80，藉由上殼111及支撐板80將軟質部223挾持，可以抑制水滴等從露出自走式電動掃地機器人1的上面的操作按鈕221、222附近滲入。藉由如此構成，因為可以抑制水滴等的滲入且將操作按鈕221、222朝自走式電動掃地機器人1的上面露出，所以可以減少由防水性的構件包圍壓下式的操作按鈕221、222等的必要性，可以提高新式樣(外觀的造形設計)效果。 軟質部223，是將貫通孔2231具有1個或是2個以上。透過貫通孔2231在上殼111的相反側中，設有LED等的發光部(未圖示)。發光部，可以設於例如控制基板21。藉由對應操作按鈕221、222的壓下，改變發光部所發出的光色，朝使用者通知控制裝置2可以辨認由操作按鈕221、222所產生的操作。貫通孔2231，是在開關薄片22的正面視，與操作按鈕221、222遠離。由此，可以抑制水滴滲入貫通孔2231。 顯示面板驅動裝置，是對應來自控制裝置2的指令，朝顯示面板的電極外加電壓使發光部發光的裝置。發光部，是例如，自走式電動掃地機器人1的運轉狀態模式(自動和手動)和狀態(垃圾拋棄要否和充電值殘量的報知)，將正時器預約時間和電動送風機的輸入模式(強、中、弱)等顯示。 支撐板80，是在與操作按鈕221、222重疊的位置各別具有貫通孔801。且，操作按鈕221、222，是在背面具有突起2211、2221及支撐突起2232。藉由支撐突起2232，在操作按鈕221.222未被壓下的狀態下抑制突起2211、2221與控制基板21的開關接觸，且，在操作按鈕221、222被壓下的狀態下讓突起2211、2221進入貫通孔801，可以與控制基板21的開關接觸。又，在與上述的發光部及貫通孔2231重疊的位置也具有貫通孔802。 又，操作按鈕221、222，未具有通知塵埃的檢出的顯示部。檢出塵埃的話電動送風機的輸入模式因為會變化，所以與此電動送風機的輸入模式顯示部兼用。藉此，可達成顯示部的低成本化。 充電池19，是例如，可藉由充電再利用的二次電池，被收容在電池收容部115(第4圖參照)。來自充電池19的電力，是被供給至各感測器類、各馬達、各驅動裝置、及控制裝置2。 ＜實施例3＞ 本實施例的構成，是除了以下的點以外與實施例1或是2同樣。 [側刷15的形狀] 第27圖是側刷15的立體圖，第28圖是顯示側刷15為撓曲的狀態的圖。側刷15的根部彈性部153，是側刷支架151側的部分(根部側)也就是細狀部1531，是成為比刷毛部154側的部分也就是粗狀部1532更細的形狀。且，因為將細狀部1531與側刷支架151連接，所以可以將細狀部1531作為軸使粗狀部1532及刷毛部154比較容易撓曲。因此，電源線等即使與側刷15接觸，如第28圖所例示，藉由將細狀部1531作為軸撓曲，側刷15是不會糾纏在電源線等可容易繼續旋轉。 且沿著根部彈性部153的刷毛部154的尺寸(長度尺寸)，是將自律行走型掃地機器人S載置在地面的情況時，即使將根部彈性部153朝向地面曲折也無法到達地面的長度。由此，例如電源線等即使與側刷15接觸使側刷15被曲折，根部彈性部153會與地面接觸，仍可以抑制側刷15從根部被激烈折返的事態。即，根部彈性部153，是自走式電動掃地機器人1的行走中，以其先端不與地面接觸的方式被尺寸調整。 且從細狀部1531的上側表面部分至粗狀部1532的上側表面部分為止的與刷毛部154垂直的方向中的距離(細狀部1531及粗狀部1532的段差的尺寸)，是1.2mm以下。 細狀部1531，與粗狀部1532相比，旋轉方向兩側的面各別是成為變細的形狀，且，2個側刷15各別可以共通地使用。在此，在旋轉方向兩側其中任一皆無變細的部分的情況，根部彈性部153，是與障礙物接觸的話容易朝下側撓曲。此時，刷毛部154會大撓曲，有可能糾纏在一起。另一方面，在旋轉方向任一方有變細的部分的情況，根部彈性部153，是與障礙物接觸的話容易朝傾斜下側撓曲。即，刷毛部154成為難被挾持在與地面之間，可以抑制糾纏在一起。但是此時，2個側刷15的旋轉方向因為通常是反向，所以變細的部分的方向，是2個側刷15成為彼此逆向。即，難將2個側刷15作為共用的零件使用。且，如本實施例，在旋轉方向雙方有變細的部分的情況，可以抑制在根部彈性部153糾纏在一起，並且可以將2個側刷15作為共用的零件使用。 側刷支架151，是如第3圖例示，在下面具有冶具插孔1512。冶具插孔1512，是貫通側刷支架151的上下，形成安裝爪1511的2個爪是位置在冶具插孔1512的兩側中。安裝爪1511，是被安裝於設於下殼112的被安裝部(未圖示)。被安裝部，是從安裝爪1511的形狀可知近似長方形狀。 使用者，是將棒狀的小道具95的冶具部952插入冶具插孔1512，藉由利用桿杆的原理加上力，就可以將側刷15取下。由此，側刷15的固定強固，且使用者可進行側刷15的交換和清掃。且，將安裝爪1511及被安裝部的形狀藉由形成近似長方形狀，側刷15即使旋轉仍可以抑制側刷15的脫落。被安裝部，是形成其他的多角形也可以。 [垃圾盒4的肋47] 第29圖，是將垃圾盒4的蓋45及過濾器46透視的前方透視圖。在風道42的一端的上方、正上方、或是上後方中，設有被安裝於垃圾盒4的內面的肋47。肋47，會影響從風道42的一端朝主積蓄室41流入的氣流，可以導引塵埃。肋47，其至少一部分是重疊在風道42的一端的正上方的話較佳。肋47，是在主積蓄室41的內面朝前後方向突出的部分，大致朝左右方向延伸。且，隨著從左右方向外側朝向中央側而朝向上方傾斜。藉由朝向中央側朝上方傾斜，容易將塵埃朝主積蓄室41的中央側導引。 (其他的技術的思想) 本案，是包含以下的技術思想。又，附記m-n(m、n為自然數)記載的各技術的思想，只要在文脈上無障礙的話，可以任意地組合。又，以下揭示的「電動掃地機器人」，是包含罐式和棍式等的電動掃地機器人。 [附記1-1] 一種自走式電動掃地機器人，是設有：具有吸入口的吸口部、及具有主積蓄部的垃圾盒，從前述吸入口至前述主積蓄部為止的道程的一部分或是全部，是由與前述垃圾盒一體的風道包圍。 依據附記1-1的話，可以提供可將集塵容積提高的小形的自走式電動掃地機器人。 [附記1-2] 如附記1-1的自走式電動掃地機器人，其中，前述吸口部，是具有形成從前述吸入口至前述主積蓄部為止的道程的一部分的吸口部風道，該吸口部風道的長度，是比前述風道的長度短。 [附記1-3] 如附記1-1或是1-2的自走式電動掃地機器人，其中，在從前述吸入口至前述主積蓄部為止的道程，具有與前述垃圾盒及前述吸口部別體的塵埃感測器單元，前述風道，是從前述吸入口至前述主積蓄部為止的道程之中，形成比形成有前述塵埃感測器單元的道程更長的道程。 [附記1-4] 一種塵埃感測器單元，具備：框、及設於該框且彼此相面對的發光部及受光部、及被安裝於該框的密合構件。 [附記1-5] 一種垃圾盒，一體地具有：箱狀的主積蓄部、及從該主積蓄部朝向傾斜下方延伸的風道，具有可將前述風道開閉的逆流抑制閥，該逆流抑制閥，是具有：主面、及突出部、及推迫部。 [附記2-1] 一種自走式電動掃地機器人，具備：電動送風機、及具有吸引口的吸入部、及具有彼此相面對的發光部及受光部且藉由該發光部及該受光部而將通過的塵埃檢出的塵埃感測器單元、及垃圾盒，與藉由前述電動送風機的驅動而使空氣主要流動的方向也就是主方向垂直的剖面積，是從前述吸引口的上游側朝向前述塵埃感測器單元變小，從前述塵埃感測器單元朝向前述垃圾盒變大。 依據附記2-1的話，可以提供具有可將通過的塵埃量有效地檢出的塵埃感測器單元的自走式電動掃地機器人。 [附記2-2] 如附記2-1的自走式電動掃地機器人，其中，前述吸引口、前述塵埃感測器單元、及前述垃圾盒之中，前述發光部及前述受光部相面對的部分的剖面積是大致最小或是最小。 [附記2-3] 如附記2-1或是2-2的自走式電動掃地機器人，其中，前述垃圾盒，是具有一體形成的風道，主方向中的尺寸，是前述風道比前述塵埃感測器單元更長。 [附記3-1] 一種電動掃地機器人，具備垃圾盒，其具有：主積蓄室、及將轉動軸作為軸可轉動的操作桿，前述操作桿，是具有：藉由將該操作桿轉動並與該電動掃地機器人接觸，可成為被施加在該操作桿上的力的作用點的作用點部。 依據附記3-1的話，可以提供可容易地將垃圾盒取下的電動掃地機器人。 [附記3-2] 如附記3-1的電動掃地機器人，其中，將前述作用點部作為作用點，藉由將施加在前述操作桿上的力作用在該作用點，使前述垃圾盒朝上方被擧升。 [附記4-1] 一種電動掃地機器人，是在本體具有可裝卸自如的垃圾盒的電動掃地機器人，前述本體，是在前述垃圾盒被安裝在前述本體的狀態下，具有藉由該本體及該垃圾盒被包圍的領域，在該領域收納小道具。 依據附記4-1的話，可以提供可收納小道具，較佳是有關於垃圾盒的小道具的電動掃地機器人。 [附記4-2] 如附記4-1的電動掃地機器人，其中，前述小道具，是具有沿著前述本體側面形狀彎曲的形狀的刷。 [附記4-3] 如附記4-1或是4-2的電動掃地機器人，其中，前述小道具，是具有可以利用在將刷毛及該電動掃地機器人的刷取下的冶具部。 [附記5-1] 一種自走式電動掃地機器人，具有：將旋轉刷收納的吸口部、及設於該旋轉刷及該吸口部的下側的氣密構件，前述氣密構件，是朝下側被推迫，且，對於前述旋轉刷及前述吸口部擺動。 依據附記5-1的話，可以提供小形的自走式電動掃地機器人。 [附記5-2] 一種自走式電動掃地機器人，前述氣密構件，是具有取下爪，將該取下爪朝左右方向動作的話，可以將前述氣密構件從該自走式電動掃地機器人取下。 [附記5-3] 如附記5-1或是5-2的自走式電動掃地機器人，其中，前述氣密構件，是在前側或是後側具有轉動軸。 [附記5-4] 如附記5-1至5-3其中任一的自走式電動掃地機器人，其中，具有從動旋轉的搔取刷，前述氣密構件的轉動軸，是與前述搔取刷同軸。 [附記6-1] 一種自走式電動掃地機器人，具有：下殼、及被安裝於該下殼側的2個驅動輪、及設於該驅動輪的前方或是後方且在與2個該驅動輪的相面對方向大致平行的方向具有旋轉軸的旋轉刷，前述驅動輪及前述旋轉刷各端部的距離，是20mm以下，具有：設於前述驅動輪的正前方或是正後方且前述旋轉軸的延長線上的後方突起、及/或、設於2個前述驅動輪之間的中央突起。 依據附記6-1的話，可以提供可以抑制障礙物的嵌入的自走式電動掃地機器人。 [附記7-1] 一種自走式電動掃地機器人，具有：設於上殼及下殼內的電動送風機、及被安裝於前述下殼側的驅動輪，將前述驅動輪與地面接觸載置，前述電動送風機的軸方向，是對於水平或是水平方向10度以下的傾斜，前述上殼及/或前述下殼，是在前述電動送風機的上下端面附近，具有遠離前述電動送風機的方向的凹陷。 依據附記7-1的話，可以提供小形的自走式電動掃地機器人。 [附記7-2] 如附記7-1的自走式電動掃地機器人，其中，被安裝於該領域的前述電動送風機的上下尺寸，對於由前述上殼及前述下殼將上下側包圍的領域的上下尺寸的比，是0.90以上。 [附記7-3] 如附記7-2的自走式電動掃地機器人，其中，具有：設於前述下殼側的驅動輪、及將該驅動輪轉動的驅動機構，前述上殼及前述下殼所包圍的領域的上下尺寸，是相當於將該自走式電動掃地機器人載置在地面使前述驅動輪與地面接觸的狀態的上下尺寸的70%以上的尺寸。 [附記8-1] 一種自走式電動掃地機器人，具有：2個驅動輪、及電動送風機、及充電池、及在水平方向具有旋轉軸的刷，前述刷，是在內部具有重錘。 依據附記8-1的話，可以提供可取得重心平衡且將電動送風機配置於中央側的自走式電動掃地機器人。 [附記8-2] 如附記8-1的自走式電動掃地機器人，其中，前述刷，是從動旋轉的刷，具有馬達驅動的別的刷。 [附記8-3] 如附記8-2的自走式電動掃地機器人，其中，前述刷，與前述別的刷相比，是被設置在遠離該自走式電動掃地機器人的中央的位置。 [附記8-4] 如附記8-1至8-3其中任一的自走式電動掃地機器人，其中，重心，是與前述驅動輪的軸大致一致。 [附記9-1] 一種自走式電動掃地機器人，具有：朝側刷將動力傳達的直流馬達、及將壁面檢出的感測器，前述直流馬達，是在該自走式電動掃地機器人行走於壁邊的壁邊清掃模式的實行中，實行將前述側刷的旋轉速度提高或是加大前述直流馬達的功率比。 依據附記9-1的話，可以提高壁邊清掃模式中的清掃效率。 [附記9-2] 一種自走式電動掃地機器人，具有：朝側刷將動力傳達的直流馬達、及將地面的種類2種以上區別檢出的感測器，前述直流馬達，是對應前述感測器檢出的地面的種類，將前述側刷的旋轉速度控制或是將前述直流馬達的功率比控制。 依據附記9-2的話，可以對應地面的種類，更適切地清掃。 [附記9-3] 一種自走式電動掃地機器人，具有：朝側刷將動力傳達的直流馬達、及將通過吸入口的塵埃量檢出的感測器，以使前述感測器所檢出的塵埃的個數、及前述直流馬達的功率比之間負的相間成立的方式，控制前述直流馬達。 依據附記9-3的話，在塵埃多的領域，可以抑制側刷將塵埃擴散。 [附記9-4] 如附記9-1至9-3其中任一的自走式電動掃地機器人，其中，在左右側各別具有2個前述側刷，前述側刷之中，將壁側的側刷的旋轉速度提高或是加大功率比的情況，另一方的側刷也將旋轉速度提高或是加大功率比。 [附記10-1] 一種電動掃地機器人，是具有藉由馬達將水平方向作為軸旋轉的旋轉刷的電動掃地機器人，前述旋轉刷，是具有彼此相鄰接的植毛及不織布，對於由前述馬達所產生的旋轉方向，前述不織布是在前述植毛之前與地面接觸地被設置，或是具有藉由馬達將水平方向作為軸旋轉的旋轉刷，前述旋轉刷，是具有彼此相鄰接的植毛及不織布，前述植毛及前述不織布，是根部成為一體。 依據附記10-1的話，可以提供具有抑制毛髪等的糾纏的旋轉刷的電動掃地機器人。附記10-1是有鑑於以下的狀況。 日本特開2011-188951是揭示了糾纏防止葉片45是對於清掃刷44被配置於旋轉軸63的旋轉方向A的前方側的構成(0051)。 日本特開2011-188951，是將糾纏防止葉片和清掃刷由別體構成，在組裝性具有改善的餘地。 [附記10-2] 如附記10-1的電動掃地機器人，其中，前述不織布，是具有朝前述旋轉刷的徑方向延伸的開縫。 [附記10-3] 如附記10-1或是10-2的電動掃地機器人，其中，前述植毛及前述不織布，是根部成為一體。 [附記11-1] 一種電動掃地機器人，是具備設有將側刷支架作為軸旋轉的刷毛部的側刷的電動掃地機器人，前述刷毛部及前述側刷支架之間，具有將彈性體也就是根部彈性部，與前述側刷支架作成一體的構件。 依據附記11-1的話，可以提高側刷的耐久性。 [附記11-2] 一種電動掃地機器人，前述側刷，是設於該電動掃地機器人的下殼，前述根部彈性部的長度，是比從該電動掃地機器人接地時的地面至前述下殼為止的長度更短。 依據附記11-2的話，根部彈性部會與地接觸而撓曲，可以抑制側刷扭轉。 [附記11-3] 如附記11-2的電動掃地機器人，其中，前述根部彈性部，是具有：設於前述側刷支架側的細狀部、及比該細狀部粗且設於前述刷毛部側的粗狀部。 [附記11-4] 如附記11-2或是11-3的電動掃地機器人，其中，前述細狀部，是在旋轉方向兩側各別具有變細的部分。 [附記12-1] 一種電動掃地機器人，是具有從動旋轉的輔助輪，前述輔助輪，是具有：被固定於該電動掃地機器人的固定軸、及將該固定軸作為旋轉軸的接地輪、及與該接地輪相鄰接的小圓板部、及與該小圓盤部相鄰接的圓板部，前述小圓板部，是將前述固定軸作為旋轉軸可旋轉，前述小圓板部，是比前述固定軸大徑且比前述圓板部小徑，前述圓板部，是比前述接地輪小徑。 依據附記12-1的話，可以抑制毛髪垃圾等糾纏在固定軸。 [附記13-1] 一種機器，設有：具有操作按鈕及軟質部的開關薄片、及殼、及控制基板、及支撐板，前述支撐板，是位於前述控制基板的一方側，前述軟質部，是被挾持在前述支撐板及前述殼之間，前述操作按鈕，是從前述殼露出。 依據附記13-1的話，可以提供可提高操作按鈕的新式樣(外觀的造形設計)效果，且可以抑制水滲入殼內的機器。機器，不限定於自走式電動掃地機器人，可以採用各種公知的電器。 [附記14-1] 一種電動掃地機器人，是具備具有設於開口的逆流抑制閥的垃圾盒，前述逆流抑制閥，是具有：可將前述開口閉塞的主面、及朝將前述開口閉塞的方向將前述主面推迫的推迫部、及朝與前述主面大致平行的方向延伸且到達前述開口外側的突出部，前述推迫部，是藉由將前述逆流抑制閥的長度方向作為轉動軸，將前述主面推迫而可以轉動，該電動掃地機器人，是具有可以使與前述突出部接觸將前述開口開放的方向的力朝前述主面施加的反推迫部。 [附記14-2] 如附記14-1的電動掃地機器人，其中，前述反推迫部，是作為設於該電動掃地機器人的段差的導引段差，前述逆流抑制閥，是在被安裝於該電動掃地機器人的狀態下，被收納於設於旋轉刷的上方的間隙。 [附記14-3] 如附記14-1或是14-2的電動掃地機器人，其中，前述垃圾盒，是在前述開口的下游側，具有朝上下方向延伸的直立部。 [附記15-1] 一種自走式電動掃地機器人，具有：下殼、及設於側面的保險桿，將驅動輪控制自律地行走，在側面全周或是大致全周具有位於比前述保險桿更外周側的樹脂性的保險桿框架。 [附記15-2] 如附記15-1的自走式電動掃地機器人，其中，前述保險桿，是環狀，前述保險桿框架，是設於前述保險桿的外周的全周，前述保險桿，是藉由前述保險桿框架來承受朝內側推壓的力。 [附記16-1] 一種電動掃地機器人，具有：主積蓄室、及與該主積蓄室連接的風道或是風道的一端側，在前述風道或是風道的一端側的上方，具有設於前述主積蓄室的內面的肋。 依據附記16-1的話，可以提供可以導引透過風道等朝主積蓄室流入的塵埃的電動掃地機器人。 [附記16-2] 如附記16-1的電動掃地機器人，其中，前述風道或是前述風道的一端側，是位於前述主積蓄室的下方，前述肋，是具有隨著從前述主積蓄室的端側朝向中央側而朝向上方的傾斜。The embodiments of the present invention will be described in detail while referring to the attached drawings. The same symbols are attached to the same constituent elements, and the same description will not be repeated. The various constituent elements of the present invention do not necessarily need to be composed of one component. For example, it is permissible that a constituent element is composed of plural components, plural constituent elements are composed of a component, or a part of the constituent elements and other constituents Part of the elements are overlapping each other. In addition, among the directions of the self-propelled electric sweeping robot 1 (refer to FIG. 1 ), the direction in which the self-propelled electric sweeping robot 1 normally proceeds is set to the front, and the direction opposite to the direction of gravity is set to the upper side, and the drive The direction in which the wheels 116 (refer to FIG. 3) face each other is set to the left and right. That is, the front, back, top, bottom, and left and right are defined as shown in Fig. 1 and the like. In this embodiment, the side brush 15 is attached to the front side of the self-propelled electric sweeping robot 1. <Example 1> [Self-propelled electric sweeping robot 1] FIG. 1 is a perspective view of the self-propelled electric sweeping robot 1 of this embodiment. The self-propelled electric sweeping robot 1 is a sweeping robot that sweeps a sweeping area (for example, indoor) while autonomously moving. The self-propelled electric sweeping robot 1 includes an upper wall (and part of the side walls), that is, the upper case 111, a bottom wall (and part of the side walls), that is, the lower case 112, and a bumper 18 provided at the front形成的体11。 The body 11 constituted. The upper case 111 is provided with a switch sheet 22 and a circular operation button 221 and a ring operation button 222 as operation buttons that the user gives instructions to the control unit 2 of the self-propelled electric sweeping robot 1. In the upper and rear sides of the self-propelled electric sweeping robot 1, a trash box 4 is provided. Although the self-propelled electric sweeping robot 1 of this embodiment autonomously cleans the driving wheels 116 by the arithmetic processing of the control device 2, it may be driven by receiving a user's command by a remote controller or the like. [Lower case 112] FIG. 2 is a perspective view of a state where the upper case 111 and the trash box 4 are removed, FIG. 3 is a bottom view of the self-propelled electric sweeping robot 1, and FIG. 4 is line AA of FIG. 1 FIG. 5 is a perspective view of the suction port 113, the dust sensor unit 12, and the trash box 4. The lower case 112 is mounted with: a drive wheel 116, a travel motor 1161, an arm 1141, a drive mechanism housing portion 114 that houses a drive mechanism including a speed reduction mechanism 1142, and a side brush mounting portion 1121, a travel motor 1161, a rotating brush The thin disk-shaped member of the motor 1133, the electric blower 16, the rechargeable battery 19, the battery storage portion 115 (refer to FIG. 4) for storing the rechargeable battery 19, the control device 2, and the suction port 113. The lower case 112 is a lower end side including a side surface, preferably the lower end, and has a bumper frame 1127 provided on the entire circumference or substantially the entire circumference of the side surface. The bumper frame 1127 is formed of a softer material 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 toward the outer peripheral side of other parts than the side, for example, the bumper 18. Thus, even if the self-propelled electric sweeping robot 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 sweeping robot 1 is mainly moving forward, the side on the front side is likely to conflict with furniture, etc. For example, considering the case of entering a narrow road, as in this embodiment, the bumper frame 1127 is also provided on the side and back. good. In addition, since the bumper 18 has a ring shape, by forming the bumper frame 1127 into a ring shape in this embodiment, the bumper frame 1127 can be positioned on the outer circumferential side of the bumper 18. In this case, since the bumper 18 can be pushed from the outer peripheral side, assembly is easy. (Balance of the self-propelled electric sweeping robot 1) Among the components provided in the main body 11, the heavier ones are the rechargeable battery 19 and the electric blower 16. The rechargeable battery 19 is much heavier than the electric blower 16. In order to achieve the weight balance of the main body 11 of this embodiment, first, the electric blower 16 is provided at the approximate center of the lower case 112, and the rechargeable battery 19 is provided on the front side. Here, on the rear side of the center of the lower case 112, a suction port 113 that accommodates the rotating brush 14 and a picking brush 13 are provided. The electric blower 16 is provided on the center side (between the two drive wheels 116). Since the rechargeable battery 19 is provided on the front side, it is better to provide a weight on the rear side to achieve a better balance. Therefore, in the present embodiment, the weight is fixed by sticking or the like on the inner periphery of the brush 13 (not shown). Thus, the dead angle (dead space) in the scratching brush 13 can be effectively used. In this embodiment, since the picking brush 13 is located on the side farther from the center than the rotating brush 14, it is preferable to provide a weight here. In addition, the weight 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 weight may be provided in the rotating brush 14. However, since the rotating brush 14 is a brush driven by the rotating brush motor 1133, if a weight is provided, it will become a load of the motor. Therefore, it is preferable that the motor drive does not provide a weight in the picking brush 13 that is driven to rotate. In addition, it is preferable that the center of gravity of the self-propelled electric sweeping robot 1 is positioned approximately at the center in the front-rear direction (substantially coincides with the axis of the drive wheel 116) by the weight. (Protrusion of the lower case 112) For the lower case 112, on the outer side of the rotating brush 14 in the left-right direction (outer left side and right outer side), a convex portion provided on the bottom surface of the lower case 112, that is, the rear protrusion 1123 At least partly. At least a part of each rear protrusion 1123 is also positioned directly behind the driving wheel 116. In the center side area of the lower case 112 corresponding to the area between the two drive wheels 116, a center front side protrusion 1124 and a center rear side protrusion 1125 are provided. The central front projection 1124 is a convex portion located on the front end side of the driving wheel 116 in the front-rear direction and located on the center side of the lower case 112 in the left-right direction. The central rear projection 1125 is a convex portion that extends in the front-rear direction behind the central front projection 1124. In the self-propelled electric sweeping robot 1 of this embodiment, the rear end of the driving wheel 116 and the outer end of the rotating brush 14 are 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 case 112 to attract dust easily when approaching the ground, and the drive wheel 116 protrudes in the same manner to contact the ground. Therefore, if an obstacle enters the area between the two drive wheels 116 (the area on the central side where the protrusion 1124 and the protrusion 1125 are provided) and the area on the rear side where the drive wheel 116 is provided (the area where the protrusion 1123 is located), the obstacle is embedded in the drive wheel Between 116 and the rotating brush 14 may hinder the driving of the self-propelled electric sweeping robot 1. In order to suppress this situation, protrusions 1123, protrusions 1124, and protrusions 1125 are provided. Any one of the protrusions 1123, 1124, and 1125 is adjusted to be away from the ground when the self-propelled electric sweeping robot 1 is walking on at least flat ground. [Drive mechanism housing section 114] The drive mechanism housed in the drive mechanism housing section 114 shown in FIG. 3 and the like is a mechanism that supports the drive wheel 116 on the main body 11. The drive mechanism includes an arm 1141 that supports the travel motor 1161 and the drive wheels 116 from the left and right inside, and a speed reduction mechanism 1142. The arm 1141 is provided between the two driving wheels 116, one end is a rotating shaft extending forward and backward, and the other end is a member connected to the driving wheel 116, and the driving wheel 116 can be individually rotated by the rotation of the rotating shaft Building blocks. The rotating shaft is located between the two driving wheels 116 respectively. In particular, in this embodiment, it is located between each driving wheel 116 and the central protrusion 1124 and the protrusion 1125. [Battery accommodating portion 115] As shown in FIG. 4 and the like, the battery accommodating portion 115 is a space in which the rechargeable battery 19 is accommodated, and is located in front of the center of the lower case 112. The battery accommodating portion 115 is configured to open downward to exchange the rechargeable battery 19. In addition, a side brush mounting portion 1121 to which the side brush 15 is attached is formed on the left and right of the battery housing portion 115. [Drive Wheel 116] As shown in FIG. 3 and the like, the drive wheel 116 is a member that receives the driving force of each travel motor 1161 through the speed reduction mechanism 1142, respectively. In this way, the driving wheel 116 itself can rotate the body 11 forward, backward, and revolve. The driving wheels 116 are arranged on the left and right sides. [Front cover 117] As shown in FIG. 3 and the like, the front cover 117 is an approximately rectangular shape that plugs the opening of the battery housing 115 (refer to FIG. 4) formed on the front end side of the lower case 112 from the lower surface of the lower case 112 Plate-shaped member. In addition, the front cover 117 is provided with a circular auxiliary wheel mounting portion 1122 for mounting the auxiliary wheel 17 near the center side of the lower case 112. [Auxiliary Wheel 17] FIG. 20 is an enlarged perspective view of the auxiliary wheel 17. As shown in FIGS. 3 and 20, the auxiliary wheels 17 are auxiliary wheels for moving the self-propelled electric sweeping robot 1 smoothly away from the ground, and are provided in the lower case 112. The auxiliary wheel 17 is supported by the fixed shaft 173 in a manner of being driven to rotate by frictional force generated between the body 11 generated by the driving wheel 116 and the ground. The auxiliary wheel 17 includes an approximately 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 ground as the self-propelled electric sweeping robot 1 walks. The small circular plate portion 174 is adjacent to the grounding wheel 171 and has a smaller diameter than the grounding wheel 171 and a larger diameter than the fixed shaft 173, and is rotatable around the fixed shaft 173. The circular plate portion 172 is adjacent to the small circular plate portion 174 and has a smaller diameter than the ground wheel 171 and a larger diameter than the small circular plate portion 174, and is rotatable around the fixed shaft 173. When the ground wheel 171 rotates and the hair dust and the like adhere to the ground wheel 171, the hair hair and the like will turn around the fixed shaft 173 and become entangled in the fixed shaft 173. At this time, since the small disk portion 174 and the disk portion 172 are adjacent to the ground wheel 171, hair dust and the like are not easily entangled in the fixed shaft 173 but are easily entangled in the disk portion 172. Therefore, by rotating the circular plate portion 172 around the fixed shaft 173, it is possible to relatively easily remove hair dust. The small circular plate portion 174 and the circular plate portion 172 are preferably formed integrally. The auxiliary wheel 17 is configured to be freely rotatable so that the direction is 360° in the horizontal direction. In addition, the auxiliary wheel 17 shown in FIG. 3 is provided at the center of the front of the main body 11 in the left-right direction, and is attached to the auxiliary wheel mounting portion 1122. In addition, the grounding wheel 17 may be replaced with a driven roller 1186 described later, and the same structure as the disk portion 172 may be provided in the airtight member 118. [Bumper 18] The bumper 18 is provided movably in the front-rear direction, preferably further in the left-right direction, according to the pressing force acting from the outside. The bumper 18 is pushed forward by a pair of left and right bumper springs (not shown). When the resistance force from an obstacle acts on the bumper spring through the bumper 18, the bumper spring deforms, pushing the bumper 18 forward and allowing the bumper 18 to retreat. When the bumper 18 moves away from the obstacle and the resistance disappears, the bumper 18 returns to its original position by the urging force of the bumper spring. Incidentally, the retreat 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 an obstacle or the like, the position of the obstacle or the like to the body 11 can also be detected. [Scratching brush 13] Scratching brush 13 is a brush which has hair implantation on a part or almost all of the surface, and has an axis in a direction substantially parallel to the rotating brush 14 described later. In this embodiment, it is caused by contact with the ground Follow or rotate. In the case of rotation, the rotation range is limited by providing a stopper or the like. Scratching the height position of the brushing brush 13 is to sweep the wooden floor, the tip is away from the ground 0. 5mm is better. And, Scratching the position of brush 13 for hair planting, It’s the case of cleaning the carpet, Good overlap with carpet hair. therefore, The scratching brush 13 can be recovered by removing dust from the surface of the carpet. For scratching brush 13, If it is used when the stopper is installed to rotate, The prescribed area is continuous contact with the ground, The dust can be set aside. at this time, Scratching the brush 13, Become an area that is in constant contact with the ground, The flat shape is better. which is, Take the shape of the brush 13, Looking in the axial direction, In the shape of a cylinder, Replace a part of the shape with a flat plane (for example, a shape where a part of a circle is cut by a chord, And approximate half-moon shape) is better. [Rotary brush 14] Figure 19, It is a perspective view of the rotating brush 14. Rotating brush 14, It is arranged substantially parallel to the axis (left-right direction) passing through the rotation center of the drive wheel 116 (refer to FIG. 3 ). Rotating brush 14, It is a cylindrical shape with a rotation axis in the horizontal direction (left-right direction in this embodiment), The mouthpiece 113 is rotatably supported. Rotating brush 14, The rotary brush motor 1133 (refer to FIG. 2) receives the driving force to rotate and drive. Rotating brush 14, It is provided with a plurality of tufts 142 protruding from the outer peripheral surface of the shaft portion 141 in the normal direction. Tufting 142 of the rotating brush 14, Is to have hair grafting of different lengths, Multiple types of planting hair, such as planting hair with different hardness, Each tuft is arranged in a spiral shape with respect to the rotation axis (refer to FIG. 19). In part or all of the hair transplant 142, The non-woven fabric 143 is provided adjacently. Each non-woven fabric 143 is individually Total roots. This is for example, By fusing the flocked 142 and the non-woven fabric 143 by ultrasound, The tufting 142 and the non-woven fabric 143 can be realized integrally. Tufting, It is best to have some degree of hardness, For example, nylon (nylon) can be used. and the non-woven fabric 143 adjacent to the flock 142, For example, in this embodiment, Combine the root hair 142 and non-woven fabric 143, This is the case where the rotating brush 14 is rotated by the rotating brush motor 1133, The non-woven fabric 143 is arranged in contact with the ground before the tufting 142. thus, Hairy garbage on the ground, etc., Because it is the first contact with the non-woven cloth 143, Therefore, it is possible to suppress being entangled in the tufting 142. And, In the non-woven fabric 143, One or more slits 1431 extending toward the radial direction are provided. thus, The twisting of the non-woven fabric can be suppressed. Again, A structure in which a blade member made of an elastic material such as rubber is spirally arranged may be added between the flocking 142 arranged spirally, It can be changed appropriately. The dust picked up by the rotating brush 14 is stored in the trash bin 4 through the opening 17. And, In order to suppress the hair transplant 142, The nonwoven fabric 143 or the blade member contacts the bridge portion 1181 of the airtight member 118 described later, Shorten the length of some of these, Or set a gap. [Airtight member 118] FIG. 21 is an exploded perspective view of 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. In the part below the rotating brush 14, The airtight member 118 is installed. Airtight member 118, It is viewed from the bottom of the self-propelled electric sweeping robot 1, have: A bridge portion 1181 provided across the front and back direction of the area under the rotating brush 14 The swing shaft 1182 extending in the left-right direction, And a frame portion 1183 of a shape surrounding the rotating brush 14, Removal claw 1184 used when the airtight member 118 is removed, A pushing portion 1185 that 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 separately from the suction port 113 and the rotating brush 14, The pushing part 1185 is pushed downward. Therefore the airtight member 118, The self-propelled electric sweeping robot 1 moves up and down along with a stepped movement. thus, Because the airtight member 118 maintains a position close to or touching the ground, Therefore, airtightness can be improved. And, Airtight member 118, Because it swings separately from the suction port 113 and the rotating brush 14, Therefore, it is unnecessary to provide the swing space of the suction port 113 in the body 11, This contributes to the miniaturization of the body 11. The swing shaft 1182 of this embodiment, It is coaxial with the scratching brush 13, The picking brush 13 may be mounted on the swing shaft 1182. thus, Even if the airtight member 118 and the scratching brush 13 are provided together, Because it can also reduce the installation space, Therefore, it contributes to the miniaturization of the self-propelled electric sweeping robot 1. also, Swing axis 118, It is provided on the rear end side of the airtight member 118. swing axis 118, It may be provided on the front end side of the airtight member 118. In this case, Airtight member 118, Because it goes from the rear to the front, And become inclined upwards, Therefore, the load at the time of collision with an obstacle located in front can be reduced. And, The front end of the airtight member 118, It is to form the inclined portion 1187 which is directed downward from the front to the rear (refer to FIG. 4 etc.). therefore, The load when colliding with the obstacle in front can be further reduced. Remove claw 1184, Is installed on the left and right sides of the airtight member 118, By facing in the left-right direction (in this embodiment, Toward the inside in the left-right direction), The removal claw 1184 can be removed from the body 11. Self-propelled electric sweeping robot 1, Because it mainly moves forward and backward, It can be removed by moving left and right in this way, It is possible to suppress the airtight member 118 from falling off the body 11 during walking. Pushing Department 1185, Is provided on the back side of the airtight member 118, For example, the frame portion 1183 and the spring-like member may be pushed downward in this vicinity. Airtight member 118, It was through the pushing department 1185, During the walking of the self-propelled electric sweeping robot 1, Pushed in contact with the ground. thus, Because the air tightness around the rotating brush 14 can be improved, Therefore, the dust collection efficiency can be improved. Follower roller 1186, Are provided on the left and right outer portions of the airtight member 118, As the self-propelled electric sweeping robot 1 walks and contacts the ground, The airtight member 118 may be supported. thus, Even if the airtight member 118 is pushed downward, It can also suppress the frictional resistance with the ground, Can suppress energy loss and scratch the ground. And, For front and back directions, Because the driven roller 1186 is located on the opposite side of the auxiliary wheel 17 through the driving wheel 116, Therefore, the support of the self-propelled electric sweeping robot 1 can be effectively performed by these three components. [Side brush 15] The side brush 15 illustrated in FIG. 3, etc., It is a brush that guides dust to a suction port 113 (suction port 1131) in a place where the rotating brush 14 located outside the main body 11 and the like are difficult to reach. The rotation axis of the side brush 15 is up and down, A part of the side brush 15 is exposed from the body 11 in a plan view. Side brush 15, It is a brush with three beams extending radially at 120° intervals when viewed from above, They are arranged on the front left and right sides of the lower case 112, respectively. Side brush 15, The root is fixed to the side brush holder 151. 15 side brushes, Its side brush holder 151 side (root side), It is a flexible root elastic part 153 such as an elastic body, The tip side is, for example, bristles, that is, bristle portions 154. In this embodiment, The side brush holder 151 and the root elastic portion 153 forming the rotating shaft (hub) of the side brush 15 are integrally formed. By making the root of the side brush 15 an elastic body like the root elastic portion 153, Compared with the structure where the bristle portion 154 is from the root to the tip, Because the bristle portion 154 is not easy to bend and become entangled, Therefore, the durability of the side brush 15 can be improved. Side brush 15 for hair planting, It leans so that it approaches the ground as it heads towards the tip, Near its tip is in contact with the ground. Side brush holder 151, Is placed near the bottom surface of the lower case 112, It is connected to the side brush motor 152 (refer to FIG. 2 ). Driven by the side brush motor 152, Rotate the side brush 15 toward the inside (the direction of the arrow in FIG. 3), The dust is moved toward the suction port 1131 to collect. [Electric blower 16] The electric blower 16 shown in FIG. 4, Is a fan with a front and back axis, The fan drives the air in the trash box 4 to the outside by rotating and driving, so that negative pressure occurs. It has a function of sucking dust through the suction port 1131 (suction port 113) from the ground. The elastic body 161 is provided on the outer peripheral surface of the electric blower 16. By placing the elastic body in between, The vibration attenuation of the electric blower 16 becomes difficult to be transmitted toward 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. [Suction part 113] Figure 6 is the suction part 113, Exploded perspective view of the dust sensor unit 12 and the trash box 4, FIG. 7 is a front view of the dust sensor unit 12, FIG. 8 is a right side view of the dust sensor unit 12. suction mouth 113, It is formed with a suction port 1131 communicating with the trash box 4, And contain scratch brush 13, The member of the rotating brush 14 The rotary brush motor 1133 may be attached to the suction port 113. More upstream than the suction port 1131 (the rotating brush 14 side), Is a space for storing the rotating brush 14, The cross-sectional area is larger than the suction port 1131. In this embodiment, The air sucked by the negative pressure of the electric blower 16, It is according to the suction port 1131 Dust sensor unit 12, The air duct 42 of the trash box 4 and the main storage room 41, Dust filter 46, Electric blower 16, And the order of the exhaust ports 1126 passes. The air contains much dust, The dust filter 46 is covered 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 front view direction of the frame 121) is referred to as the main direction. also, Exhaust port 1126, Is located in the lower shell 112, There are 6 positions between the two drive wheels 116 in this embodiment. The mouth part 113 of this embodiment, Although there is no part extending from the suction port 1131 in the main direction, However, for example, the air duct 42 of the trash box 4 described later, It is also possible to have a suction port duct extending in the main direction and integrated with the suction port 113. In this case, Suction duct, Dust sensor unit 12 and air duct 42, It is the route from the suction port 1131 to the trash box 4. At this point, As described later, From the viewpoint of increasing the volume of the trash box 4, etc., During this journey, The length of the air duct 42 (for example, the length in the main direction), It is preferably longer than the length of the air duct of the suction port (for example, the length in the main direction) and the length of the frame 121 (for example, the length in the main direction). [Dust sensor unit 12] Dust sensor unit 12, It is arranged between the suction port 113 and the trash box 4. Dust sensor unit 12, Is with: Box 121, The light-emitting part 122 and the light-receiving part 123 provided in the frame 121 and facing each other, The adhesion member 124 attached to the trash box 4 side of the frame 121, And substrate 127. Dust sensor unit 12, It is formed separately from the suction port 113 and the trash bin. The frame 121 is brought into contact with the suction port 113, By installing in this state, The light emitting section 122, Light receiving unit 123, The connector 126 and the adhesion member 124 are attached. therefore, The dust sensor unit 12 of this embodiment, Excellent assembly. (Box 121) Box 121, It is a space to secure the optical axis connecting the light-emitting part 123 and the light-receiving part 124, Furthermore, the light emitting unit 123 and the light receiving unit 124 can be mounted on the frame 121 itself or in the vicinity thereof. Block 121 of this embodiment, It is formed into a shape with a length direction and a width direction, It may be formed in a rectangular shape, for example. In this embodiment, it is approximately rectangular. In one of the longitudinal directions of the frame 121, The light receiving unit 123 and the substrate 127 are mounted. In the other side of the longitudinal direction 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 be provided in the width direction of the frame 121. And, Frame 121 is square, Round shape, Oval shape, Egg type is also acceptable. (Light emitting part 122 and light receiving part 123) Light emitting part 122 and light receiving part 123, Facing each other, Light such as infrared light emitted by the light emitting unit 122, The light is received by the light receiving unit 123. From the light emitting part 122, Not limited to light, Ultrasonic waves and the like can detect various types of dust if they can be detected. The light emitting unit 122 and the light receiving unit 123 may be provided on the same side, But from the perspective of miniaturization, it is better to face each other. (Wiring 125, Connector 126, Substrate 127) substrate 127, Can carry: The drive circuit of the light emitting unit 122, The amplifier circuit of the light receiving unit 123, By comparing the amplified signal with certain reference voltages, the reduction in the amount of light received by the passage of dust is used as a comparator for pulse output. It is possible to replace the comparator or add a person that can detect that the amount of light received by the light receiving unit 123 continues to decrease. In this case, It can be guessed whether the trash box 4 is full. light emitting part 122 and substrate 127, It is electrically connected to the ground through the wiring 125. Wiring 125, Is along the facing direction of the light emitting part 122 and the light receiving part 123, Crawling around box 121, Or crawl in box 121, It is incorporated between the frame 121 and the adhesion member 124. In 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 by wiring (not shown). These wires, It is electrically connected to the connector 126. (Adhesive member 124) Adhesive member 124, Is a shape matching the peripheral shape of the frame 121, In this embodiment, it is hollow and approximately rectangular. The shape of box 121, It matches the shape of the suction port 1131. Adhering member 124, Seals and the like can be used. (Advantages of the dust sensor unit 12) The dust sensor unit 12 thus constructed, Because the light emitting unit 122 and the light receiving unit 123 can be held integrally, Therefore, it is easy to make the optical axis uniform. And, Because the light receiving portion 123 and the substrate 127 can be arranged close to each other, Therefore, the distance from the light receiving unit 123 to the amplifier circuit can be shortened, It is possible to reduce the influence of electromagnetic noise on the weak signal, that is, the output of the light unit 123. And, The wiring 125 of the light emitting unit 122 is also integrated in the dust sensor unit 12, When electrically connected to the control device 2, It is only necessary to connect the wiring (not shown) to the connector 126, Excellent assembly. And in the member that is in contact with the trash box 4, that is, the adhesion member 124, It is better to use elastic materials such as elastomers, But this material, It is degraded earlier than other parts. And, The surfaces of the light-emitting portion 122 and the light-receiving portion 123 are also prone to dirt and scratches caused by dust. According to this embodiment, This deterioration and contamination, It is easy to produce parts that must be exchanged by scratching, Because it can be exchanged simultaneously with the exchange of the dust sensor unit 12, Therefore, the maintainability is excellent. (Dimensions of the non-facing direction of the frame 24, etc.) Figure 9, It is the C-C sectional view of FIG. For the dust sensor unit 12, In the direction parallel to the frame 121 (direction perpendicular to the main direction), The direction substantially perpendicular to the facing direction of the light emitting section 122 and the light receiving section 123 is referred to as the non-facing direction. In box 121, Set the width of the non-facing direction on the suction port 1131 side to a, If the width of the non-facing direction on the side of the trash box 4 is set to b, a≒b and a<b. This suppresses an increase in loss due to an excessively narrow cross-sectional area of the surface perpendicular to the main direction. And, The center line 90 of the area surrounded by the frame 121 (almost parallel to the main direction), A straight line passing through the midpoints of dimensions a and b is made. which is, As illustrated in Figure 9, consider that a1=a2=a/2, If b1=b2=b/2 is a straight line, 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, Is for non-face-to-face directions, It is arranged below the center line 90. Dust is heavier than air, The accuracy of passing the lower side of the center line 90 is higher because By providing the light emitting part 122 and the light receiving part 123 on the lower side, The dust can be detected with high precision. Figure 10, It is the D-D sectional view of FIG. Light emitting part 122, It has a light emitting element 1221 and a transparent resin cap 1239, Light receiving unit 123, It has a light receiving element 1232 and a transparent resin cap 1239. For the installed transparent resin cap 1239, The area between the light emitting element 1221 and the light receiving element 1232, Each has a size smaller than that in the direction perpendicular to the optical axis of the light emitted by the light-emitting element 1221. thus, The element can be protected by a transparent resin cap 1239, And guide the light of the light element 32, Moreover, the enlargement of the upper and lower dimensions and the front and rear dimensions of the dust sensor unit 12 is suppressed. (Dimension of the facing direction of the frame 24, etc.) In the direction parallel to the frame 121, The direction substantially parallel to the facing direction of the light emitting section 122 and the light receiving section 123 is referred to as the facing direction. Set the width in the facing direction of the suction port 1131 side to e, If the width in the facing direction of the trash box 4 side is set to d, e>d. which is, The width of the frame 121 in the facing direction, It becomes smaller as it faces the trash box 4 side. thus, When the air containing dust flows in the direction of arrow 91, With inertia, Keep dust flowing away from the wall. therefore, The scratching and staining of the transparent resin cap 1239 can be suppressed. [Garbage Box 4] FIG. 11 is a perspective view of a state where the trash box 4 is removed from the main body 11, Figure 12 is in the self-propelled electric sweeping robot 1, A perspective view of the field containing the body 11 in which the trash box 4 is installed, Figure 13 is an enlarged view of the main part of Figure 12, Figure 14 is a B-B cross-sectional view of Figure 5, FIG. 15 is a perspective view including the prop storage unit 1102 and the prop 95. FIG. 16 is a rear perspective view of the body 11 to which the trash box 4 is attached. trash box 4, It is a container that accumulates dust sucked through the suction port 1131 (suction port 113) from the ground. Trash box 4, Is equipped with: The air duct 42 formed on the side of the suction port 1131, The recovered dust is stored in the main storage room 41 of the main The cover 45 that can take out the accumulated dust from the filter 46 side (upper side), A backflow suppression valve 44 that can rotate and can open and close the opening below the main storage chamber 77 (air duct 42 side), And foldable operating lever 43. Trash box 4, It is installed from the oblique upward direction of the main body 11 toward the oblique downward direction. (Main storage room 41) Main storage room 41, Is made of, for example, resin material, The area where the space is included, The cover 45 and the backflow suppression valve 44 suppress the leakage of dust from the space toward the outside. Cover 45, The opening in the horizontal direction side of the main accumulation chamber 41 can be plugged, 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 reservoir 41, It is larger than the cross-sectional area of the frame 121. The cross-sectional area of the space enclosed in the main reservoir 41 here, It could be, for example, The cross-sectional area in the direction perpendicular to the filter 46. (Wind 42) Wind 42, It has one end below the main reservoir 41, The other end can be opened and closed by the reverse flow suppression valve 44. Wind tunnel 42, Is part of the path from the suction port 1131 to the main reservoir 41, Roughly all or all of the integral part of the trash can 4. The air duct 42 of this embodiment, Although the one end side extends generally up and down, A shape that extends obliquely downward from the midway toward the other end side, But only the latter, which is, Only a part of the configuration that extends obliquely downward toward the other end side may be sufficient. in this way, Looking at the whole, Wind tunnel 42, It extends obliquely downward from one end to the other. One end of the air duct 42, Is for example, It can be placed under the main reservoir 41, Preferably, Viewed from above, For the lower center of the main reservoir 41, It is located farther than the other end of the air duct 42. thus, It is easy to form the size of the trash can 4 in the top view in a small shape. (Operation lever 43) operation lever 43, It is a member that is rotatably provided with the upper side of the main accumulation chamber 41 as a rotation axis, With grip 431, Stopping part 432, Point of action 433, Locking part 434. Lever 43, It is possible to rotate approximately 90° to 100° from the front of the rotating shaft to the top of the rotating shaft. In order to achieve the functions of both the operating point portion 433 and the locking portion 434 described below, The rotatable range is over 90°, Roughly below 135°, It is preferably 120° or less. here, The rotation angle of the state where the grip portion 431 is lying down (the state where it is locked to the locking portion 434) is set to 0°. also, In the state illustrated in Figure 16, The rotation angle is approximately 90°. control part 431, It is the part where the user can easily hold the trash box 4 and perform the loading and unloading operations, etc. A locking portion 434 is provided at the front end. In a state where the trash box 4 is mounted on the body 11, The locking portion 434 is locked to a non-locking portion (not shown) provided on the upper case 111, The operation lever 43 can be locked. The detachment 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. In a state where the operating lever 43 is located on the front side, The retaining portion 432 enters the body 11, It comes into contact with parts inside the body 11 and generates frictional resistance. thus, The fall of the operation lever 43 is suppressed. Operation point 433, If the user further applies a force toward the rear (toward the direction where the rotation angle exceeds 90°) with the operation lever 43 positioned on the upper side, The part that is in contact with the upper side of the body 11. In this state, the point of action 433, Is the point of action of the force that the trash can 4 is lifted from the body 11, The axis of rotation becomes the fulcrum. thus, It can be used as assistance when the user removes the trash can 4. The upper side of the body 11, Not particularly restricted, This may be, for example, the guidance step 119 described later. [The shape of the trash box 4 and the storage area for small items] trash box 4, It is a shape that protrudes from the upper side toward the rear, When installed on the body 11, The upper rear side is a part of the side surface forming the self-propelled electric sweeping robot 1 (refer to FIG. 16 etc.). therefore, For Ontology 11, The area touching directly below the upper rear area in the trash box 4, A part of the side of the self-propelled electric sweeping robot 1 is also formed. In this embodiment, In the vicinity of a part of the side surface produced by this body 11, Installed in the prop storage unit 1102 illustrated in FIG. 15 etc., One of the cleaning brushes 95 for storing small items. Cleaning brush 95, Is for example, In order to allow users to clean the users in the trash box 4, A shape curved along the outer peripheral shape of the body 11. Cleaning brush 95, It has a bristle 951 and a tooling department 952. The bristle section 951, Can be used for cleaning of trash box 4, etc., Tooling Department 952, It can be used when the side brush 15 is removed. By the shape curved along the outer peripheral shape of the body 11, The space required for storing the cleaning brush 95 may be provided along the inner circumference of the side surface of the body 11. For example, cleaning brush 95, etc., When the appearance is installed outside the trash box 4, This is unfavorable because it causes a reduction in the capacity of the trash can 4. And, By setting the storage space of the cleaning brush 95 and the like in the area where the trash box 4 is installed, It is possible to prevent the cleaning brush 95 and the like from accidentally falling out. Again, Can replace this embodiment, It can replace, for example, the cleaning brush 95 or an additional tool for removing the side brush 15, Other small props can also be stored. The storage of props is not limited to the above, When the trash box 4 is attached to the main body 11, the area surrounded by the main body 11 and the trash box 4 may be provided on the main body 11. (Backflow suppression valve 44) Backflow suppression valve 44, Is with: With the main surface 441 that can block the opening at the other end of the air duct 42, A protrusion 442 which is integrally or separately mounted with the main surface 441 and protrudes outward in the direction substantially parallel to the main surface 441 and outward of the air duct 42, And the pressing portion 443 which urges the main surface 441 and the protruding portion 442 to rotate. In this embodiment, The protruding portions 442 are respectively provided outside in a direction substantially parallel to the main surface 441. Pushing Department 443, It is a member that pushes the backflow suppression valve 44 in the direction that the main surface 441 plugs the opening, Various well-known people can be used, For example, a spring can be used. If the pressing portion 443 is set as a coil spring, for example, You can be the axis of rotation. Therefore, Under the condition that the external force cannot work normally, The backflow suppression valve 44 plugs the other end of the air duct 42. protrusion 442, When the trash box 4 is installed in the body 11, Located in the area where the trash box 4 is stored, It is in contact with the guide step 119 as the counter thrust part. The guidance segment is 119, These are the two stepped parts of the field that can be seen visually when the trash box 4 is removed from the main body 11. The guidance segment is 119, It is installed separately along the installation direction of the trash box 4, In this embodiment, it extends from the upper back to the lower front. The protruding portion 442 is moved downward with the installation of the main body 11 of the trash box 4 downward, Each contact and slide with the guide segment difference 119, The main surface 441 bears the force toward the opening. thus, The backflow suppression valve 44 resists the pushing force of the pushing portion 443, The other end of the air duct 42 is opened. As shown in this embodiment, the guide segment difference is 119, By the contact of the anti-urging part and the protruding part 442, The main surface 441 can withstand the force in the opposite direction of the pushing force of the pushing portion 443 to open the opening at the other end of the air duct 42. in particular, The rotation of the backflow suppression valve 44 in the longitudinal direction is made into an axis, The other end of the air duct 42 is opened. Since the backflow suppression valve 44 of this embodiment is approximately rectangular, Therefore, the width direction of the backflow suppression valve 44 is made to rotate the shaft, And if the axis of rotation is perpendicular to the main surface 441, Because the space necessary for rotation is wider, Therefore, it is better to turn the longitudinal direction as an axis. which is, Pushing Department 443, The backflow suppression valve 44 is rotated using the longitudinal direction of the main surface 441 as an axis. Again, Protrusion 442, It is sufficient that the backflow suppression valve 44 can be opened by contacting with any member (reverse thrust portion) of the self-propelled electric sweeping robot 1. A gap 1101 is provided in front of the front end of the guide step difference 119 of this embodiment, In a state where the trash box 4 is mounted on the body 11, Reverse flow suppression valve 44, It was pushed and slid towards the guide segment difference 119, It is accommodated in the gap 1101. Gap 1101, It is located outside the main plane projection surface of the frame 121. therefore, With the trash box 4 installed, The other end of the air duct 42, Is in contact with the dust sensor unit 12, Especially in this embodiment, it is in close contact with the adhesion member 124. [Structure provided from the suction port 1131 to the main reservoir 41] is particularly illustrated in FIG. 14, For 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 air duct 42. which is, Part of the course connecting from the suction port 1131 to the main reservoir 41, It is preferably longer than the size 92, The size 93 of the other end side of the air duct 42 is formed. thus, Because part of the trash box 4 can be installed in the area from the suction port 1131 to the main reservoir 41, Therefore, the volume of the trash box 4 can be enlarged. here, Wind tunnel 42, One end side of the air duct 42 can be formed, It has a size 94 and an upright portion 421 extending vertically. Upright 421, Dust is prevented from leaking from the main storage chamber 41 toward the other end side of the air duct 42. here, Size 93, Is to make the lower surface of the trash box 4 into a flat surface (the main storage chamber 41 is formed into an approximate box shape), The size 92 of the dust sensor unit 12 is measured with a substantially parallel straight line, The distance from this plane to the dust sensor unit 12. also, The main reservoir 41 of this embodiment may be box-shaped. [Occlusion of the air duct 42 by the backflow suppression valve 44] As described above, In a state where the trash box 4 is installed in the body 11, Reverse flow suppression valve 44, It is stored on the upper side of the rotating brush 14. When the trash box 4 is removed from the body 11, By the urging force of the urging portion 443, the backflow suppression valve 44 is rotated, Plug the opening at the other end of the air duct 42 side. thus, Even if the dust is accumulated in the air duct 42, It is also possible to prevent dust from overflowing and falling from the trash box 4. also, Main face 441, It can be flat, A mesh shape that can suppress the passage of dust may be sufficient. [Dust full detection] Self-propelled electric sweeping robot 1 attracts dust, The attracted dust is first accumulated in the main storage chamber 41, When the main accumulation chamber 41 becomes full, it is also accumulated in the air duct 42. Because the air duct 42 is inclined downward toward the horizontal side more than the direction of gravity, Therefore, it is possible to suppress dust falling from the air duct 42. And, Because it is more toward the gravity direction than the horizontal direction, So after the main storage room 41 becomes full, Dust is relatively easy to accumulate in the air duct 42, It is easy to detect dust by the dust sensor unit 12. And with the upright portion 421, Even if the main storage chamber 41 has an excess state, it is possible to irrespectively suppress the flow of dust from falling into the air duct 42. The trash box 4 of this embodiment, Because it is more forward than the end of the duct 42, The ratio of more than half of the space enclosed in the main reservoir 41, Therefore, dust easily accumulates on the front side. but, Because an upright portion 421 is provided between the ratio of more than half of the space and the air duct 42, Therefore, even if the dust moves in the main moving direction of the self-propelled electric sweeping robot 1, that is, the acceleration in the front moves toward the rear, It is still possible to effectively prevent dust from falling toward the air duct 42. which is, From front to back, The ratio of more than half of the space enclosed in the main reservoir 41, Upright 421, The sequential position of one end of the air duct 42. If the dust is also accumulated in the air duct 42 and becomes substantially full, The dust keeps blocking the light of the light emitting part 122, The state in which the amount of light received by the light receiving unit 123 has decreased is continued. By checking out this status, You can start: Detect the fullness of the trash box 4 and notify the user, Control to return the self-propelled electric sweeping robot 1 to a charging stand (not shown). [Detection of the amount of dust passing through] If the light of the light emitting unit 122 is momentarily blocked, The light-receiving amount of the light-receiving portion 123 decreases in a pulse. thus, It can be detected that the dust passes through the trash box 4. In this embodiment, For the cross-sectional area in the main direction, The side of the rotating brush 14 is larger than the suction port 1131, In box 121 and air duct 42 become smaller, The main storage chamber 41 becomes larger. which is, The cross-sectional area in the path from the storage space of the rotating brush 14 to the main reservoir 41, It is the smallest in the frame 121 and/or the air duct 42. therefore, The inhaled dust, The shape of the air duct 42 is concentrated on the frame 121 having a small cross-sectional area. Because the light emitting part 122 and the light receiving part 123, Is set in box 121, Therefore, a lot of dust passes between the light emitting unit 122 and the light receiving unit 123. which is, The amount of dust can be measured with high accuracy. And because of the dust after passing the frame 121, Is through a duct 42 with approximately the same cross-sectional area, So near box 121, Eddy currents are not easily generated. which is, It can prevent the dust from being detected multiple times by the eddy current. further, Because the cross-sectional area after the passage of the air duct 42 can be enlarged, Therefore, wind damage can be suppressed. and the cross-sectional area on the upstream side of the dust sensor unit 12, which is, The cross-sectional area from the suction port 113 to the dust sensor unit 12, It can be reduced monotonously. In this case, Eddy current is generated upstream of the dust sensor unit 12, It is possible to suppress multiple detection of dust by the dust sensor unit 12. [Layout configuration] FIG. 17 is a perspective view of the self-propelled electric sweeping robot 1 with the upper case 111 removed, Fig. 18 is an E-E cross-sectional view of Fig. 1. In order to make the upper and lower dimensions of the self-propelled electric sweeping robot 1 small, The vertical size of the main body 11 is substantially the same as the vertical size of the electric blower 16. As illustrated in Figure 17, When the upper case 111 is removed, The convex shape 113 covering a part of the upper surface of the electric blower 16 is configured to be seen. thus, This contributes to the miniaturization of the upper and lower dimensions of the body 11. also, The bottom surface side of the body 11, Is a position overlapping with the electric blower 16 as viewed from below, It may have a convex shape protruding downward. And usually when the cylindrical electric blower 16 is arranged obliquely, Because the need to increase the upper and lower dimensions of the body 11 will occur, So the axial direction of the electric blower 16, Is it below or within ±10 degrees from the horizontal direction, Preferably, the deviation is within ±5 degrees. For the axial direction view of the electric blower 16, As illustrated in Figure 18, The rotation axis side of the arm 1141 is located inside the approximately square area circumscribed to the cylindrical electric blower 16. This field is easy to become a dead end (dead space), In this way, by arranging a part of the arm 1141, the space can be effectively utilized to realize the miniaturization of the self-propelled electric sweeping robot 1. And, Because the exhaust port 1126 is located directly below the electric blower 16, And directly below the opening on the downstream side of the electric blower 16, Therefore, the exhaust air path can be shortened. This embodiment, It is equipped with various structures for miniaturization, the result, The vertical size can be formed close to the vertical size of the electric blower 16. in particular, Even considering the influence of the driving wheel 116 on the size, It is 70% of the vertical size of the self-propelled electric sweeping robot 1 in the state where the self-propelled electric sweeping robot 1 is placed on the ground (that is, the vertical size of the state where the arm 1141 is turned upward so that the drive wheel 116 is stored) the above, It is preferably in the range of more than 75% or more than 85%, The electric blower 16 is configured within the upper and lower dimensions. The upper shell 111 and the lower shell 112 are the upper and lower dimensions of the area surrounding the upper and lower sides, The vertical dimensions of the electric blower 16 are approximately the same. in particular, The upper and lower dimensions of the electric blower 16, It is more than 90% of the upper and lower dimensions of the area surrounded by the upper shell 111 and the lower shell 112, It is preferably at least 95%. And as mentioned above, Placed in the structure of the body 11, The heavy ones are the rechargeable battery 19 and the electric blower 16. If the rechargeable battery 19 is placed on the center side, Because it is easy to be a hindrance to wiring, etc., Therefore, in this embodiment, the electric blower 16 is arranged on the center side, The rechargeable battery 19 is arranged on the front side. [Rotation Speed of Side Brush 15] Self-propelled electric sweeping robot 1, The side brush 15 is provided on the left side and the right side, respectively. In this embodiment, The rotation speed of the side brush 15 can be changed individually. in particular, Self-propelled electric sweeping robot 1, This is the case of implementing the wall cleaning mode that walks on the left side of the wall, The rotation speed of the side brush 15 on the same side as the wall position, that is, the left side, The rotation speed of the side brush 15 is controlled faster than the other. thus, The cleaning of the wall can be performed more efficiently. Wall cleaning mode, Can be carried out by various well-known methods, E.g, This can be achieved by running control so that the distance measuring sensor 210 provided on the left side of the body 11 continuously detects the wall surface (obstacle). Again, When the wall cleaning mode is executed with the wall position on the right, It can also be controlled in the same way. And, Even if the rotation speed of the side brush 15 on the wall side during the execution of the wall cleaning mode, Set to other control modes, For example, if the wall and obstacles are detected, The rotation speed in the implementation of the reflective walking mode that changes the path away from the wall surface and obstacles and restarts walking is controlled to be higher than that. The same effect can be obtained. And, Like the wall, The corner portion where the two wall surfaces intersect can control the rotation speed and the torque described later in the same manner. [Torque of side brush 15] side brush 15, The side brush motor 152 driven by the electric power of the rechargeable battery 19 is driven separately. In this embodiment, The side brush motor 152 is a DC motor. DC motor, Even if the time-averaged output voltage is the same value, Those with higher power (longer voltage plus longer time) can transmit higher torque. Side brush 15, When it comes into contact with walls and obstacles, Because the friction reduces the torque, Therefore, the cleaning efficiency is likely to decrease. Therefore, In this embodiment, E.g, In the case of a wall cleaning mode that walks with the wall on the left, The power ratio of the side brush motor 152 that transmits torque to the side brush 15 that is the same side as the wall position side, that is, the left side, It is controlled so that the power of the side brush motor 152 that transmits torque to the other side brush 15 is higher. If the energy of the rechargeable battery 19 decreases and the output voltage drops, Because even with the same power ratio, The torque also drops, So the lower the residual power of the rechargeable battery 19, The greater the power ratio. Again, For the same reason, Because the torque output varies according to the material of the ground, The power ratio may be determined according to the type of ground. E.g, Compared with cleaning the wooden floor, It can be controlled in such a way that the power ratio during carpet cleaning becomes higher. Further, The greater the number of dust detections in the dust sensor unit 12, The power ratio can be reduced. thus, In areas where there is a lot of dust, The dust may not be scattered by the side brush 15. And even if the wall side cleaning mode is being executed, the power ratio of the side brush 15 on the wall side, Set to other control modes, For example, if the wall and obstacles are detected, Change the path away from the wall and obstacles, and control the power of the reflected walking mode that will reopen the walk, and the power ratio is higher than that in the implementation. The same effect can be obtained. [Sensors] Figure 23, It is the control device of display and self-propelled electric sweeping robot 2. A schematic configuration diagram of a device connected to the control device 2. Bumper sensor (obstacle detection means), Is to move the bumper 18 backwards (ie, Contact with obstacles) detected sensor. The distance measuring sensor 210 (obstacle detection means) exemplified in FIG. 2 and the like, It is an infrared sensor that detects the distance to an obstacle. In this embodiment, Distance measuring sensors are provided at the front side 3 and the side 5 at the meter 5 points. ranging sensor 210, Is with: Light-emitting part (not shown) that emits infrared light, And a light-receiving portion (not shown) that receives the reflected light that reflects infrared rays back from the obstacle. Based on the reflected light detected by the light receiving unit, And calculate the distance to the obstacle. also, In the bumper 18, at least in the vicinity of the distance measuring sensor, It is made of resin or glass that is transparent to infrared rays. The distance measuring sensor 211 (ground detection means) exemplified in FIG. 3, etc., Is an infrared sensor that measures the distance to the ground, Four places are provided at the front, back, left, and right under the lower case 112. More specifically, lie in: Front side of auxiliary wheel 17, The back side of the rotating brush 14 and scratching brush 13, The front side of each driving wheel 116 is outside in the left-right direction. Detection of large steps such as steps with a distance measuring sensor on the ground, It is possible to prevent the self-propelled electric sweeping robot 1 (from steps, etc.) from falling. E.g, When a step difference of about 30mm is detected in the front with a distance measuring sensor for the ground, The control device 2 controls the walking motor to move the body 11 back, The direction will be changed. Again, The distance measuring sensor 211 for the ground on the front side of the auxiliary wheel 17 (the front end side of the lower case 112) detects that the distance from the ground is far, And, The ground element on the rear side of the rotating brush 14 (the rear end side of the lower case 112) is detected from the sensor 211 when the distance from the ground is close, Control device 2, The main body 11 may continue to move forward in this way. Because of this detected combination, It is considered that most of the self-propelled electric sweeping robot 1 has climbed a step. Similarly, The distance measuring sensor 211 for the ground on the front side of the auxiliary wheel 17 detects that the distance from the ground is close, And, When the ground element on the back side of the rotating brush 14 is away from the sensor 211 and the distance from the ground is detected, Control device 2, The main body 11 may continue to move forward in this way. The so-called "approach" here, Means for example, When the self-propelled electric sweeping robot C walks on a flat ground, the distance detected by the ground distance measuring sensor 211 is below, "far", Means for example, When the self-propelled electric sweeping robot C walks on a flat ground, it exceeds the distance detected by the ground distance measuring sensor 211. other, Set 1 or 2 appropriate thresholds, The result compared with this is also acceptable. Using the travel motor pulse output shown in Figure 23, Detect the rotation speed of the walking motor 1161, Rotation angle. also, The control device 2 is based on the rotation speed detected by the pulse output of the walking motor, Rotation angle, And the gear ratio of the reduction mechanism, And the diameter of the drive wheel 116, Calculate the moving speed of the body 11, Moving distance. Travel motor current measuring device, It is a measuring device that measures the current flowing in the armature winding of the walking motor 1161. Similarly, The current measuring device for electric blower measures the current value of electric blower 16, The current measuring device for the rotary brush motor measures the current value of the rotary brush motor 1133. The two current measuring devices for the side brush motor measure the current value of the side brush motor 152. Various current measuring devices, The measured current value is output to the control device 2. You can use the detection result of the current value, An abnormality such as foreign objects entangled in the rotating brush to stop the rotation is detected, The user can be notified by operating the button. And from the current value of the rotating brush motor 1133 and the current value of the walking motor 1161, Detect the state of the ground on which the body 11 is walking, For example, if it is recognized that the input of the electric blower 16 is increased on the carpet to increase the attractiveness, On the wooden floor, The input setting of the electric blower 16 is reduced to control the power consumption of the rechargeable battery 19. If dust is detected by the dust sensor unit 12, The input of the electric blower 16 is increased for a certain period of time. The amount of dust not detected correspondingly determines the input increase time (for example, extension) of the electric blower 16. thus, The power consumption of the electric blower 16 is suppressed. And, Even if dust is detected, No reversal and reciprocating motion of the body 11 is performed. thus, You can avoid the decrease in movement speed. [Driving device] Travel motor driving device (left) (right) shown in Figure 23, It is an inverter that drives the walking motor 1161 on the left and right sides, Or a pulse waveform generating device generated by PWM control, Corresponds to the command action from the control device 2. For electric blower drive, Motor drive for rotating brushes, The same applies to the motor drive device (left) (right) for the side brush. These various driving devices, It is the control device 2 provided in the main body 11 (refer to FIG. 2). [Control Device 2] Control Device 2, For example, a microcomputer (Microcomputer, (Illustration omitted), Will be memorized in ROM (read only memory, Read Only Memory) program reads towards RAM (Dynamic Random Access Memory, Random Access Memory), By the CPU (central processing unit, Central Processing Unit) implements various processes. Control device 2, It corresponds to the switch sheet 22 (refer to FIG. 1), And the input signals of the sensors mentioned above are subjected to arithmetic processing, The command signal is output to each of the aforementioned driving devices. the above, The self-propelled electric sweeping robot of the present invention shows an embodiment and is described in detail. also, The content of the present invention is not limited to the embodiments, Of course, it can be appropriately changed without departing from its purpose, Change etc. And, In this embodiment, An example of a self-propelled sweeping robot is explained, But even if it is suitable for tank type, Stick, And hand-held sweeping robots, It also has the same effect. <Example 2> The structure of Example 2, It is the same as in Example 1 except for the following points. [Switch sheet 22] FIG. 24 is a perspective view of the self-propelled electric sweeping robot 1 with the upper case 111 removed, FIG. 25 is a perspective view of the self-propelled electric cleaning robot 1 with the switch sheet 22 further removed from the state of FIG. 24, FIG. 26(a) is a front perspective view of the switch sheet 22, FIG. 26(b) is a rear perspective view of the switch sheet 22. FIG. switch sheet 22, It is provided between the upper case 111 and the control board 21. Control board 21, It is the lower side of the upper case 111 located in the body 11. And, Between the control board 21 and the switch sheet 22, The resin-made support plate 80 which mounts the switch sheet 22 is provided, for example. switch sheet 22, Is with: The operation button 221 outputting the operation signal corresponding to the user's operation to the control device 2, 222, And soft part 223. Operation button 221, 222, This is a ring-shaped ring operation button 222 that surrounds a circle-shaped circle operation button 221 and a circle-shaped operation button 221. By turning the operation button 221, 222 depressed, The signal can be output toward the control device 2. Operation button 221, 222 and soft part 223, It is pre-assembled as a component. operation button 221, 222, It is exposed above the self-propelled electric sweeping robot 1. In the operation button 221, In 222, It may have, for example, turning on/off the power supply, The beginning/end of sweeping, The signal to change the sweep mode, The function output to the control device 2. Soft part 223, Yes, the operation button 221, Surrounded by 222 is, for example, a flexible rubber member. Place the soft part 223 on the support plate 80, The upper part 111 and the support plate 80 hold the soft part 223, It is possible to suppress the operation buttons 221, water droplets, etc. from being exposed on the upper surface of the self-propelled electric sweeping robot 1. Seepage near 222. By constructing like this, Because the penetration of water droplets and the like can be suppressed and the operation button 221, 222 is exposed toward the top of the self-propelled electric sweeping robot 1, Therefore, it is possible to reduce the pressure-type operation buttons 221 surrounded by waterproof members, The necessity of 222, etc., Can improve the effect of the new style (shape design of appearance). Soft part 223, One or more through holes 2231 are provided. Through the through hole 2231 in the opposite side of the upper case 111, A light emitting unit (not shown) such as an LED is provided. Light-emitting department, For example, the control board 21 may be provided. By corresponding to the operation button 221, Depression of 222, Change the color of the light emitted by the light emitting part, Notify the user that the control device 2 can recognize the operation button 221, 222 The resulting operation. Through hole 2231, Is a front view of the switch sheet 22, And operation buttons 221, 222 away. thus, The penetration of water droplets into the through hole 2231 can be suppressed. Display panel drive device, Corresponds to the command from the control device 2, A device that applies a voltage to the electrodes of the display panel to cause the light-emitting portion to emit light. Light-emitting department, Is for example, The running state mode (automatic and manual) and state (notification of whether garbage is thrown out and charging value residual amount) of the self-propelled electric sweeping robot 1, Set the timing of the timer and the input mode of the electric blower (strong, in, Weak) and other displays. Support plate 80, Is with the operation button 221, The positions where 222 overlap each have through holes 801. And, Operation button 221, 222, It has protrusions 2211 on the back 2221及支持突2232。 By supporting the protrusion 2232, On the operation button 221. When the 222 is not depressed, the protrusions 2211, 2221 are prevented from contacting the switch of the control board 21, and when the operation buttons 221, 222 are depressed, the protrusions 2211, 2221 are allowed to enter the through-hole 801, and can communicate with the control board 21 Switch contact. In addition, there is a through hole 802 at a position overlapping with the above-mentioned light emitting portion and through hole 2231. In addition, the operation buttons 221 and 222 do not have a display unit for notifying the detection of dust. When dust is detected, the input mode of the electric blower will change, so it is also used as the input mode display of this electric blower. With this, the display unit can be reduced in cost. The rechargeable battery 19 is, for example, a secondary battery that can be reused by charging, and is stored in the battery storage section 115 (refer to FIG. 4 ). The electric power from the rechargeable battery 19 is supplied to each sensor, each motor, each drive device, and the control device 2. <Example 3> The structure of this example is the same as that of Example 1 or 2 except for the following points. [Shape of Side Brush 15] FIG. 27 is a perspective view of the side brush 15, and FIG. 28 is a view showing a state where the side brush 15 is bent. The root elastic portion 153 of the side brush 15 is a portion (the root side) on the side brush holder 151 side (that is, the thin portion 1531), and has a thinner shape than the portion on the bristle portion 154 side, that is, the thick portion 1532. Moreover, since the thin portion 1531 is connected to the side brush holder 151, the thin portion 1531 can be used as an axis to make the thick portion 1532 and the bristle portion 154 relatively easy to flex. Therefore, even if the power cord or the like comes into contact with the side brush 15, as illustrated in FIG. 28, by flexing the thin portion 1531 as an axis, the side brush 15 can easily continue to rotate without being entangled in the power cord or the like. The size (length dimension) of the bristle portion 154 along the root elastic portion 153 is the length when the self-propelled sweeping robot S is placed on the ground, and it cannot reach the ground even if the root elastic portion 153 is bent toward the ground. Accordingly, even if the power cord or the like contacts the side brush 15 and the side brush 15 is bent, the root elastic portion 153 will contact the ground, and the side brush 15 can be prevented from being turned back violently from the root. That is, the root elastic portion 153 is adjusted in size so that the tip of the self-propelled electric sweeping robot 1 is not in contact with the ground during walking. And from the upper surface portion of the thin portion 1531 to the upper surface portion of the thick portion 1532 to the bristle portion 154 in the direction perpendicular to the distance (fine portion 1531 and thick portion 1532 step size), is 1. Below 2mm. The thin portion 1531 has a thinner shape on both sides in the rotation direction than the thick portion 1532, and the two side brushes 15 can be used in common. Here, if there is no tapered portion on either side of the rotation direction, the root elastic portion 153 tends to flex downward when it comes into contact with an obstacle. At this time, the bristle portion 154 may flex greatly, and may be entangled. On the other hand, when there is a tapered portion in either direction of rotation, the root elastic portion 153 tends to deflect downward when it comes into contact with an obstacle. That is, the bristle portion 154 becomes difficult to be caught between the ground and the entanglement can be suppressed. However, at this time, since the rotation directions of the two side brushes 15 are usually reversed, the direction of the thinned portion is that the two side brushes 15 become opposite to each other. That is, it is difficult to use the two side brushes 15 as common parts. Moreover, as in the present embodiment, when there are tapered portions in both directions of rotation, it is possible to suppress the entanglement of the root elastic portion 153, and the two side brushes 15 can be used as a common component. The side brush holder 151, as illustrated in FIG. 3, has a tool insertion hole 1512 at the bottom. The tool insertion hole 1512 penetrates the upper and lower sides of the side brush holder 151, and the two claws forming the mounting claw 1511 are positioned on both sides of the tool insertion hole 1512. The mounting claw 1511 is mounted on a mounted portion (not shown) provided on the lower case 112. The to-be-attached portion is approximately rectangular from the shape of the attachment claw 1511. The user inserts the tool part 952 of the stick-shaped prop 95 into the tool insertion hole 1512, and the side brush 15 can be removed by applying force using the principle of the rod. Thereby, the fixing of the side brush 15 is strong, and the user can exchange and clean the side brush 15. Furthermore, by forming the shapes of the mounting claw 1511 and the mounted portion to be approximately rectangular, the side brush 15 can suppress the falling of the side brush 15 even if it rotates. The attached portion may be formed into other polygons. [Rib 47 of the trash box 4] FIG. 29 is a front perspective view through which the cover 45 and the filter 46 of the trash box 4 are seen through. A rib 47 attached to the inner surface of the trash bin 4 is provided above, directly above, or above and below one end of the air duct 42. The rib 47 affects the airflow flowing from the end of the air duct 42 toward the main storage chamber 41, and can guide dust. It is preferable that at least a part of the rib 47 overlaps directly over one end of the air duct 42. The rib 47 is a portion that protrudes in the front-rear direction on the inner surface of the main storage chamber 41 and extends substantially in the left-right direction. And, it is inclined upward from the outer side toward the center side in the left-right direction. By inclining upward toward the center side, it is easy to guide the dust toward the center side of the main accumulation chamber 41. (Other technical ideas) This case includes the following technical ideas. In addition, the thoughts of the respective technologies described in m-n (m and n are natural numbers) can be arbitrarily combined as long as they are barrier-free in the context. In addition, the "electric sweeping robot" disclosed below is an electric sweeping robot including a tank type and a stick type. [Supplementary Note 1-1] A self-propelled electric sweeping robot is provided with: a suction port portion having a suction port, and a waste bin having a main storage part, a part of the journey from the suction port to the main storage part or The whole is surrounded by the air duct integrated with the aforementioned trash box. According to Appendix 1-1, a small self-propelled electric sweeping robot that can increase the dust collection volume can be provided. [Supplementary Note 1-2] The self-propelled electric sweeping robot according to Supplementary Note 1-1, wherein the suction port section is a suction port duct having a part of a path from the suction port to the main reservoir section, the suction port The length of the partial air duct is shorter than the length of the aforementioned air duct. [Supplementary Note 1-3] A self-propelled electric sweeping robot such as Supplementary Note 1-1 or 1-2, in which the path from the suction port to the main storage section is different from the garbage box and the suction port section In the dust sensor unit of the body, the air passage is formed from the suction port to the main accumulator section and has a longer path than the path on which the dust sensor unit is formed. [Supplementary Notes 1-4] A dust sensor unit includes a frame, a light-emitting portion and a light-receiving portion provided on the frame and facing each other, and an adhesion member attached to the frame. [Supplementary Note 1-5] A garbage box integrally includes a box-shaped main reservoir and an air duct extending obliquely downward from the main reservoir, and has a backflow suppression valve that can open and close the air duct, the backflow suppression The valve has a main surface, a protruding portion, and a pressing portion. [Supplementary note 2-1] A self-propelled electric sweeping robot, comprising: an electric blower, a suction part having a suction port, and a light emitting part and a light receiving part facing each other and by the light emitting part and the light receiving part The cross-sectional area perpendicular to the main direction of the dust sensor unit and the dust bin that detects the passing dust and driven by the electric blower is from the upstream side of the suction port The dust sensor unit becomes smaller, and the dust sensor unit becomes larger from the dust sensor unit toward the trash box. According to Appendix 2-1, it is possible to provide a self-propelled electric sweeping robot having a dust sensor unit that can effectively detect the amount of passing dust. [Supplementary note 2-2] A self-propelled electric sweeping robot such as supplementary note 2-1, wherein the light-emitting part and the light-receiving part of the suction port, the dust sensor unit, and the trash bin face each other The cross-sectional area of a part is approximately the smallest or smallest. [Supplementary Note 2-3] A self-propelled electric sweeping robot such as Supplementary Note 2-1 or 2-2, wherein the trash box has an integrally formed air duct, and the size in the main direction is larger than the aforementioned air duct The dust sensor unit is longer. [Supplementary Note 3-1] An electric sweeping robot equipped with a trash bin, which has a main storage chamber and an operating lever rotatable with a rotating shaft as an axis. The operating lever has: by rotating the operating lever and When the electric sweeping robot comes into contact, it can be a point of action of the point of action of the force applied to the operating lever. According to Appendix 3-1, an electric sweeping robot that can easily remove the trash can is provided. [Supplementary note 3-2] The electric sweeping robot as in supplementary note 3-1, wherein the action point is used as an action point, and the garbage box is directed upward by applying a force applied to the operation lever to the action point Was lifted. [Supplementary 4-1] An electric sweeping robot is an electric sweeping robot with a detachable garbage box on the body, the body is in a state where the garbage box is installed on the body, the body and the In the area surrounded by the trash box, store small props in this area. According to Appendix 4-1, we can provide electric sweeping robots that can store small props, preferably small props. [Supplementary Note 4-2] The electric sweeping robot according to Supplementary Note 4-1, wherein the prop is a brush having a shape curved along the shape of the side surface of the body. [Supplementary Note 4-3] The electric sweeping robot according to Supplementary Note 4-1 or 4-2, wherein the above-mentioned prop has a metallurgical tool part that can be used to remove the bristles and the brush of the electric sweeping robot. [Supplementary Note 5-1] A self-propelled electric floor-cleaning robot, comprising: a suction mouth portion for storing a rotary brush; and an airtight member provided under the rotary brush and the suction mouth portion, the airtight member being directed downward The side is pushed, and swings with respect to the rotating brush and the suction port portion. According to Appendix 5-1, a small self-propelled electric sweeping robot can be provided. [Supplementary Note 5-2] A self-propelled electric sweeping robot, wherein the airtight member has a removal claw, and when the removal claw is moved in the left-right direction, the airtight member can be removed from the self-propelled electric sweeping robot Remove. [Supplementary Note 5-3] The self-propelled electric sweeping robot according to Supplementary Note 5-1 or 5-2, wherein the airtight member has a rotation axis on the front side or the rear side. [Supplementary Note 5-4] A self-propelled electric sweeping robot as described in any of Supplementary Notes 5-1 to 5-3, which has a driven rotating picking brush, and the rotation axis of the airtight member is the same as the above Brush coaxial. [Supplementary note 6-1] A self-propelled electric sweeping robot, comprising: a lower case, two driving wheels mounted on the side of the lower case, and two driving wheels provided in front of or behind the driving wheel The driving brush has a rotating brush with a rotating shaft in a direction substantially parallel to the facing direction. The distance between each end of the driving wheel and the rotating brush is 20 mm or less, and is provided at the front or rear of the driving wheel and the aforementioned The rear protrusion on the extension line of the rotation shaft, and/or the central protrusion provided between the two aforementioned drive wheels. According to Appendix 6-1, it is possible to provide a self-propelled electric sweeping robot that can suppress the embedding of obstacles. [Supplementary Note 7-1] A self-propelled electric sweeping robot, comprising: an electric blower provided in the upper and lower shells, and a driving wheel mounted on the side of the lower shell, placing the driving wheel in contact with the ground, The axial direction of the electric blower is inclined to the horizontal or horizontal direction by 10 degrees or less, and the upper case and/or the lower case are recessed near the upper and lower end surfaces of the electric blower in a direction away from the electric blower. According to Appendix 7-1, a small self-propelled electric sweeping robot can be provided. [Supplementary Note 7-2] The self-propelled electric sweeping robot of Supplementary Note 7-1, wherein the upper and lower dimensions of the electric blower installed in the field are those of the area surrounded by the upper and lower shells by the upper and lower shells The ratio of the upper and lower dimensions is 0. more than 90 percent. [Supplementary Note 7-3] A self-propelled electric sweeping robot as in Supplementary Note 7-2, which includes: a drive wheel provided on the lower case side, a drive mechanism for rotating the drive wheel, the upper case and the lower case The vertical size of the enclosed area is a size corresponding to 70% or more of the vertical size of the state in which the self-propelled electric sweeping robot is placed on the ground with the drive wheels in contact with the ground. [Supplementary Note 8-1] A self-propelled electric sweeping robot includes two driving wheels, an electric blower, a rechargeable battery, and a brush having a rotation axis in the horizontal direction. The brush has a weight inside. According to Appendix 8-1, it is possible to provide a self-propelled electric sweeping robot that can obtain a center of gravity balance and arrange an electric blower on the center side. [Supplementary Note 8-2] The self-propelled electric sweeping robot according to Supplementary Note 8-1, wherein the brush is a driven rotating brush and has another brush driven by a motor. [Supplementary Note 8-3] The self-propelled electric sweeping robot according to Supplementary Note 8-2, wherein the brush is provided at a position farther from the center of the self-propelled electric sweeping robot than the other brushes. [Supplementary Note 8-4] The self-propelled electric sweeping robot according to any one of Supplementary Notes 8-1 to 8-3, wherein the center of gravity is substantially coincident with the axis of the aforementioned drive wheel. [Supplementary Note 9-1] A self-propelled electric sweeping robot, comprising: a DC motor that transmits power toward the side brush, and a sensor that detects the wall surface, and the DC motor walks on the self-propelled electric sweeping robot In the execution of the wall cleaning mode of the wall, the rotation speed of the side brush is increased or the power ratio of the DC motor is increased. According to Appendix 9-1, the cleaning efficiency in the wall cleaning mode can be improved. [Supplementary Note 9-2] A self-propelled electric sweeping robot, comprising: a DC motor that transmits power to the side brush, and a sensor that detects two or more different types of ground. The DC motor corresponds to the aforementioned sense The type of ground detected by the sensor controls the rotation speed of the side brush or the power ratio of the DC motor. According to Appendix 9-2, you can clean more appropriately according to the type of ground. [Supplementary Note 9-3] A self-propelled electric sweeping robot, comprising: a DC motor that transmits power toward the side brush, and a sensor that detects the amount of dust passing through the suction port to detect the sensor The number of dusts and the negative phase ratio between the DC motor power ratio are such that the DC motor is controlled. According to Supplementary Note 9-3, in areas with a lot of dust, it is possible to prevent the side brush from spreading the dust. [Supplementary Note 9-4] The self-propelled electric sweeping robot according to any one of Supplementary Notes 9-1 to 9-3, wherein there are two side brushes on the left and right sides respectively. Among the side brushes, the wall side When the rotation speed of the side brush is increased or the power ratio is increased, the other side brush also increases the rotation speed or the power ratio. [Supplementary Note 10-1] An electric sweeping robot is an electric sweeping robot that has a rotating brush that rotates horizontally as an axis by a motor. The rotating brush has a planting hair and a non-woven fabric adjacent to each other. In the generated rotation direction, the non-woven fabric is set in contact with the ground before the hair is planted, or has a rotating brush that rotates the horizontal direction as an axis by a motor. The rotating brush has a planting hair and a non-woven fabric adjacent to each other. The aforementioned hair-planting and the aforementioned non-woven fabric are integrated into the root. According to Appendix 10-1, it is possible to provide an electric floor cleaning robot having a rotating brush that suppresses entanglement of hair and the like. Supplement 10-1 is due to the following situation. Japanese Patent Laid-Open No. 2011-188951 discloses that the entanglement preventing blade 45 is arranged on the front side of the cleaning brush 44 in the rotation direction A of the rotary shaft 63 (0051). Japanese Patent Laid-Open No. 2011-188951 is to separate the entanglement prevention blade and the cleaning brush from a separate body, and there is room for improvement in assemblability. [Supplementary Note 10-2] The electric sweeping robot according to Supplementary Note 10-1, wherein the non-woven fabric has a slit extending in the radial direction of the rotating brush. [Supplementary Note 10-3] The electric sweeping robot as in Supplementary Note 10-1 or 10-2, wherein the hair-planting and the non-woven fabric are integrated into the root. [Supplementary Note 11-1] An electric sweeping robot is an electric sweeping robot including a side brush provided with a bristle portion that rotates around a side brush holder as an axis. Between the bristle portion and the side brush holder, there is an elastic body. The root elastic portion is an integral member with the side brush holder. According to Appendix 11-1, the durability of the side brush can be improved. [Supplementary Note 11-2] An electric sweeping robot, the side brush is provided in the lower casing of the electric sweeping robot, and the length of the root elastic portion is longer than the ground from the ground when the electric sweeping robot is grounded to the lower casing The length is shorter. According to Supplement 11-2, the root elastic part will be in contact with the ground and deflect, which can suppress twisting of the side brush. [Supplementary Note 11-3] The electric sweeping robot according to Supplementary Note 11-2, wherein the root elastic portion has a thin portion provided on the side brush holder side, and is thicker than the thin portion and provided on the bristles Thick portion on the side. [Supplementary Note 11-4] The electric sweeping robot according to Supplementary Note 11-2 or 11-3, wherein the thin portion is a portion having tapering on both sides in the rotation direction. [Supplementary note 12-1] An electric sweeping robot has an auxiliary wheel with driven rotation. The auxiliary wheel has a fixed shaft fixed to the electric sweeping robot, and a ground wheel using the fixed shaft as a rotating shaft. And a small circular plate portion adjacent to the ground wheel, and a circular plate portion adjacent to the small disc portion, the small circular plate portion is rotatable using the fixed shaft as a rotation axis, and the small circular plate The portion has a larger diameter than the fixed shaft and a smaller diameter than the circular plate portion, and the circular plate portion has a smaller diameter than the ground wheel. According to Appendix 12-1, it is possible to suppress entanglement of hair and rubbish on the fixed shaft. [Supplementary Note 13-1] A device provided with a switch sheet having an operation button and a soft part, a case, a control board, and a support plate, the support plate being located on one side of the control board, the soft part, It is held between the support plate and the case, and the operation button is exposed from the case. According to Supplement 13-1, it is possible to provide a device that can improve the effect of a new style of the operation button (shape design of the appearance), and can prevent water from seeping into the case. The machine is not limited to a self-propelled electric sweeping robot, and various well-known electric appliances can be used. [Supplementary Note 14-1] An electric sweeping robot is provided with a waste bin having a backflow suppression valve provided in an opening. The backflow suppression valve has a main surface capable of blocking the opening and a direction to block the opening A pushing portion that pushes the main surface and a protruding portion that extends substantially parallel to the main surface and reaches the outside of the opening, the pressing portion uses the longitudinal direction of the backflow suppression valve as a rotation axis The main surface is pushed and turned, and the electric sweeping robot has a counter-urging portion that can apply a force in a direction that contacts the protruding portion to open the opening toward the main surface. [Supplementary note 14-2] The electric sweeping robot according to supplementary note 14-1, wherein the reverse thrust portion is a guide step that is a step provided in the electric sweeping robot, and the backflow suppression valve is installed in the In the state of the electric sweeping robot, it is accommodated in a gap provided above the rotating brush. [Supplementary Note 14-3] The electric sweeping robot according to Supplementary Note 14-1 or 14-2, wherein the trash bin has an upright portion extending vertically in the downstream side of the opening. [Supplementary Note 15-1] A self-propelled electric sweeping robot, comprising: a lower shell, and a bumper provided on the side, the driving wheel is controlled to walk autonomously, and has a bumper located on the side or substantially the entire circumference than the aforementioned bumper A resin bumper frame on the outer peripheral side. [Supplementary Note 15-2] The self-propelled electric sweeping robot of Supplementary Note 15-1, wherein the bumper is ring-shaped, the bumper frame is provided on the entire circumference of the outer periphery of the bumper, the bumper, It is through the aforementioned bumper frame to bear the pushing force toward the inside. [Supplementary Note 16-1] An electric sweeping robot, comprising: a main storage chamber, and an air duct or one end side of the air duct connected to the main storage chamber, above the air duct or one end side of the air duct, having A rib provided on the inner surface of the main storage chamber. According to Appendix 16-1, it is possible to provide an electric sweeping robot that can guide dust flowing into the main storage chamber through an air duct or the like. [Supplementary note 16-2] The electric sweeping robot as in supplementary note 16-1, wherein the air duct or one end side of the air duct is located below the main storage chamber, and the rib is provided with The end side of the chamber slopes upward toward the center side.
