JP6309297B2 - Electric mobility and control method thereof - Google Patents

Description

  The present invention relates to electric mobility and a control method thereof.

2. Description of the Related Art Conventionally, a wheelchair that controls driving of driving wheels by operating an joystick while an operator is seated on a seat is known (see, for example, Patent Document 1).
The wheelchair disclosed in Patent Document 1 stops driving of the wheel when the operator's seating is not detected in order to prevent erroneous start when the operator is away from the seat. ing.

JP 2009-279118 A

In the wheelchair of Patent Document 1, driving of the wheel is stopped when the operator's seating is not detected.
However, when the operator's seating is detected, the driving of the wheels is not stopped. Therefore, in patent document 1, the timing at which the driving of the wheel is stopped is late, and the driving of the wheel may not be stopped when the operator performs the getting-on / off operation. For example, in the case of performing an getting-on / off operation by swinging a handle disposed on the side while the operator is seated, or when performing an getting-on / off operation with a hand on the seat detected while sitting, May occur.

  In addition, there is a disadvantage in that the driving of the wheels is stopped when the operator temporarily does not detect seating during the operation of the vehicle. For example, if the driver's waist temporarily floats and the seating is not detected when the vehicle gets over the step, there is a possibility that the step cannot be properly overcome if the driving of the wheel is stopped. .

  The present invention has been made in view of the above-described circumstances, and appropriately detects that the operator is in a state of performing a boarding / alighting operation, such as an erroneous start in a state of performing a boarding / alighting operation. It is an object of the present invention to provide an electric mobility and a control method thereof that can prevent problems.

In order to achieve the above object, the present invention provides the following means.
The electric mobility according to one aspect of the present invention is disposed at intervals in the traveling direction, and at least one of the front wheels and the rear wheels, which are electrically driven wheels, and the front wheels and the rear wheels can be rotated around each axle. a vehicle body frame which supports, attached to the body frame, mounting and arranged seat upward, on the body frame swingably about an oscillation axis extending in the vehicle width direction between the front wheel and the rear wheel And is attached to at least one of the pair of handles disposed on the left and right sides of the operator seated on the seat and the pair of handles, and receives the operation by the operator to drive the driving wheel It said handle detected a drive operation section for outputting a command signal, a detector for detecting at least one of the rocking position of the pair of handles, by the detection unit of the When the swing position is different from the operation region, and a control section for prohibiting the driving of the driving wheel by the driver operating unit.

According to the electric mobility according to one aspect of the present invention, the swing position of at least one of the pair of handles disposed on the left and right sides of the operator who is seated on the seat is detected. When the swing position is different from the operable region, the electric mobility is in a state where the operator performs the getting-on / off operation. In this state, if the operator carelessly touches the drive operation unit, the drive wheels are driven and problems such as erroneous start occur. According to the electric mobility of this aspect, when the swing position is detected to be different from the operable region, driving of the driving wheel by the driving operation unit that outputs a command signal for driving the driving wheel is prohibited. Therefore, problems such as erroneous start are prevented.
As described above, according to the electric mobility of this aspect, it is possible to appropriately detect that the operator is in the state of performing the getting on and off operation, and to prevent problems such as erroneous start when the operator is in the state of performing the getting on and off operation. be able to.

In this aspect, the drive operation unit may be attached to only one of the handles, and the detection unit may detect the swing position of the other handle.
By doing so, when the other handle different from the one handle to which the drive operation unit is attached is swung, the swing position of the other handle is switched to a region different from the operable region. In this case, driving of the driving wheel is prohibited. Therefore, when the operator gets on and off by swinging the other handle while attaching a hand to one handle to which the drive operation unit is attached, it prevents problems such as erroneous start due to touching the drive operation unit. be able to.

In this aspect, the drive operation unit may be attached to only one of the handles, and the detection unit may detect a swing position of the one handle.
In this way, when one handle to which the drive operation unit is attached is swung to get on and off, the drive wheel is driven when the swinging position of the handle is switched to a region different from the operable region. Is prohibited. Therefore, when an operator gets on and off by swinging one handle to which the drive operation unit is attached, problems such as erroneous start due to swinging the handle or getting on and off while holding the hand on the handle are prevented. be able to.

  In this aspect, the detection unit detects the swing positions of both the handles, and the control unit detects the swing position of any one of the handles detected by the detection unit. When the driving wheel is different from the driving wheel, the driving wheel may be prohibited from being driven by the driving operation unit.

  In this way, when either of the two handles is swung to get on and off, driving of the drive wheel is prohibited if the swinging position of the swinging handle is switched to a region different from the operable region. Is done. Therefore, when the operator gets on and off by swinging one of both handles, problems such as erroneous start due to touching the drive operation unit attached to at least one of the pair of handles are prevented. be able to.

  An electric mobility control method according to an aspect of the present invention includes a front wheel and a rear wheel that are arranged at intervals in the traveling direction, and at least one of which is an electric drive wheel, and the front wheel and the rear wheel around each axle. A vehicle body frame rotatably supported on the vehicle body, a seat attached to the vehicle body frame and disposed above the position between the front wheel and the rear wheel and close to the rear wheel, and a swing extending in the vehicle width direction A pair of handles disposed on the left and right sides of the operator in a state of being swingable about an axis and seated on the seat, and attached to at least one of the pair of handles. And a driving operation unit that outputs a command signal for driving the driving wheel in response to an operation by the electric mobility, wherein at least one of the pair of handles A detection step for detecting one swing position, and a control step for prohibiting driving of the drive wheel by the drive operation unit when the swing position detected by the detection step is different from the operable region; Is provided.

An electric mobility control method according to an aspect of the present invention includes a front wheel and a rear wheel that are arranged at intervals in the traveling direction, and at least one of which is an electric drive wheel, and the front wheel and the rear wheel around each axle. A vehicle body frame rotatably supported on the vehicle body, a seat mounted on the vehicle body frame and disposed between the front wheel and the rear wheel, and a swingable shaft about a swing shaft extending in the vehicle width direction. A drive wheel attached to a body frame and attached to at least one of the pair of handles disposed on the left and right sides of the operator seated on the seat and the pair of handles, and receiving an operation by the operator An electric mobility control method comprising: a drive operation unit that outputs a command signal for driving the vehicle, wherein the swing position of at least one of the pair of handles is detected That comprises a detection step, when the swing position of the handle which is detected by said detection step is different from the operation region, and a control step for prohibiting the driving of the driving wheel by the driver operating unit.

  According to the present invention, it is possible to appropriately detect that an operator is in a state of performing a boarding / alighting operation, and to prevent problems such as a false start when the operator is in a state of performing a boarding / alighting operation. And a control method thereof.

It is a perspective view of the electric mobility of this embodiment which shows the state which has arrange | positioned a pair of handle | steering-wheel in the steering position. It is a perspective view of the electric mobility of this embodiment which shows the state which has arrange | positioned a pair of handle | steering-wheel in the boarding / alighting position. It is a top view which shows the operating device of this embodiment. It is a block diagram which shows the control structure of the electric mobility of this embodiment. It is a flowchart which shows the process which the electric mobility of this embodiment performs.

An electric mobility 100 according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 and 2, the electric mobility 100 of the present embodiment includes an operating device 10 (drive operation unit), a front wheel 20, a rear wheel 21, a body frame 22, a seat 23, and a pair of handles. 24, 25.

  As will be described later, the control unit 30 of the electric mobility 100 according to the present embodiment uses the rear wheel (operating device 10) when the swing position of the handle 25 detected by the hall sensor 40 is different from the steering position shown in FIG. Driving of the driving wheel) 21 is prohibited. The electric mobility 100 of the present embodiment appropriately detects that the operator is in a state of performing a boarding / alighting operation, and prevents problems such as a false start when the operator is in a state of performing a boarding / alighting operation. .

First, each configuration of the electric mobility 100 will be described.
As shown in FIG. 1, in an electric mobility 100, a front wheel 20 and a rear wheel 21 are arranged at intervals in the traveling direction, and at least one of them is an electric driving wheel using an electric motor (not shown) as a power source. It has become. For example, two rear wheels are electrically driven wheels, and two front wheels are driven wheels. Alternatively, the two rear wheels are electric driving wheels, and the two front wheels are driving wheels to which driving force is transmitted from the two rear wheels by a belt or the like. Alternatively, the front wheel and the rear wheel each having two wheels may be electrically driven wheels.

  The front wheel 20 is an omnidirectional moving wheel including a plurality of rollers having an axis perpendicular to the radial direction of the wheel. When the front wheel 20 receives a force in the vehicle width direction, the plurality of rollers rotate around the respective axis lines so that the front wheel 20 can move along the vehicle width direction. By combining the movement in the vehicle width direction and the movement in the running direction, a vehicle (an omnidirectional vehicle) including the front wheel 20 that is an omnidirectional moving wheel can move in all directions with respect to the ground contact surface of the vehicle. Yes.

  The body frame 22 supports the front wheels 20 and the rear wheels 21 so as to be rotatable around the respective axles. In addition to the front wheels 20 and the rear wheels 21, an electric motor (not shown) serving as a driving wheel power source, a seat 23, a pair of handles 24 and 25, and a hall sensor 40 are attached to the body frame 22. Yes.

  The seat 23 is a seat for an operator of the electric mobility 100 and includes a seating surface 23a and a backrest 23b. The seat 23 is disposed above a position near the rear wheel 21 between the front wheel 20 and the rear wheel 21. Below the seat surface 23a, a slide member (not shown) attached to the upper part of the body frame 22 and attached to a rail member (not shown) extending in the direction of travel is attached. The position of the seat surface 23a with respect to the vehicle body frame 22 can be fixed at an arbitrary position by moving the slide member relative to the rail member and fixing the slide member with a lock mechanism (not shown).

  The pair of handles 24 and 25 includes a handle 24 disposed on the right side in the direction of travel of the electric mobility 100 and a handle 25 disposed on the left side. The pair of handles 24 and 25 are disposed on both the left and right sides of the operator who is seated on the seat 23. The pair of handles 24 and 25 swings about a swing axis A parallel to the axles of the front wheel 20 and the rear wheel 21. The pair of handles 24 and 25 can be fixed at any one of two positions, ie, a state where the handle is disposed at the steering position shown in FIG.

  The state in which the handle is disposed at the getting-on / off position refers to a state in which the tip end portion of the handle is swung backward in the traveling direction like the handle 25 shown in FIG. 1 and 2 show a state in which the handle 24 is disposed at the steering position, but the handle 24 can be swung around the swing axis A in the same manner as the handle 25 and can be disposed at the getting on / off position. It has become.

  A pair of locking mechanisms (not shown) are incorporated in the vehicle body frame 22, and each of the pair of handles 24, 25 can be fixed at either the steering position or the getting on / off position. The operator can swing each handle around the swing axis A by releasing the fixation by the lock mechanism with the lever. When each handle swings from the steering position to the entry / exit position, the position of the handle is fixed to the entry / exit position by the lock mechanism. Similarly, when each handle swings from the getting on / off position to the steering position, the position of the handle is fixed to the steering position by the lock mechanism.

As shown in FIG. 2, a magnet 41 is attached to the surface of the handle 25 that faces the vehicle body frame 22. As shown in FIG. 2, a hall sensor 40 (detection unit) is attached to the body frame 22 on a surface facing the handle 25. When the handle 25 is disposed at the steering position shown in FIG. 1, the hall sensor 40 and the magnet 41 are close to each other. The hall sensor 40 is a module that detects the swing position of the handle 25. The hall sensor 40 can detect whether the swing position of the handle 25 is in an operable region including the steering position or an operation prohibited region different from that by detecting the magnetic field generated by the magnet 41.
Since the magnet 41 is installed on the surface facing the vehicle body frame 22, it cannot be directly recognized in the perspective views shown in FIGS. 1 and 2. Therefore, in FIG. 1 and FIG. 2, the place where the magnet 41 is installed is shown by the dotted line.

  An operating device 10 (drive operation unit) is provided at the distal end of the handle 24 (right handle) of the pair of handles 24 and 25. As shown in FIG. 3, the operating device 10 is a device for operating the traveling speed and the steering direction of the electric mobility 100, and includes an operating member 11 that is displaced by the operator of the electric mobility 100. The operator of the electric mobility 100 outputs a command signal for instructing the electric mobility 100 to travel speed and steering direction by displacing the operation member 11 along the traveling direction and the vehicle width direction.

  As shown in FIG. 3, the operating device 10 according to the present embodiment includes an operating member 11 that is displaced by an operator. The operation member 11 is held at a neutral position shown in FIG. 3 by an urging mechanism (not shown). The operator can displace the operation member 11 to any position between the position 11a and the position 11b in the direction of the axis X1 that coincides with the running direction. Further, the operator can displace the operation member 11 to any position between the position 11c and the position 11d in the axis X2 direction that coincides with the vehicle width direction. The operator can displace the operation member 11 to an arbitrary position by combining the displacement along the axis X1 and the displacement along the axis X2.

  When the operating member 11 is displaced to the position 11a in FIG. 2, the operating device 10 outputs a speed command signal that causes the electric mobility 100 to advance at a predetermined maximum speed. When the operation member 11 is displaced to the position 11b in FIG. 2, the operation device 10 outputs a speed command signal that causes the electric mobility 100 to move backward at a predetermined maximum speed.

  When the operating member 11 is displaced to the position 11c in FIG. 2, the operating device 10 outputs a steering command signal for turning the electric mobility 100 in the right direction at a predetermined maximum steering angle. When the operating member 11 is displaced to the position 11d in FIG. 2, the operating device 10 outputs a steering command signal for turning the electric mobility 100 in the left direction at a predetermined maximum steering angle.

  As shown in FIG. 2, a magnet 41 is attached to the surface of the handle 25 that faces the vehicle body frame 22. As shown in FIG. 2, a hall sensor 40 (detection unit) is attached to the body frame 22 on a surface facing the handle 25. When the handle 25 is disposed at the steering position shown in FIG. 1, the hall sensor 40 and the magnet 41 are close to each other. Therefore, the hall sensor 40 can detect whether the swing position of the handle 25 is in an operable region including the steering position or an operation prohibited region different from that by detecting the magnetic field generated by the magnet 41. .

Next, the control configuration of the electric mobility 100 of this embodiment will be described.
As shown in FIG. 4, the control unit 30 is configured to control the right side of the rear wheel 21 based on the steering command signal transmitted from the steering command input unit 14 and the speed command signal transmitted from the speed command input unit 15. An electric motor (not shown) for driving the drive wheels 21a and an electric motor (not shown) for driving the left drive wheels 21b are controlled.

  The steering command input unit 14 inputs a steering command according to the position of the operation member 11 in the direction of the axis X2 that coincides with the vehicle width direction, and transmits a steering command signal to the control unit 30. The steering command input unit 14 transmits a steering command signal for turning the electric mobility 100 in the right direction to the control unit 30 when the operation member 11 moves from the neutral position shown in FIG. Similarly, the steering command input unit 14 transmits a steering command signal for turning the electric mobility 100 leftward to the control unit 30 when the operation member 11 moves from the neutral position shown in FIG.

  The speed command input unit 15 inputs a speed command corresponding to the position of the operation member 11 in the direction of the axis X1 that coincides with the traveling direction, and transmits a speed command signal to the control unit 30. The speed command input unit 15 transmits a speed command signal for advancing the electric mobility 100 to the control unit 30 when the operation member 11 moves from the neutral position shown in FIG. Similarly, the speed command input unit 15 transmits to the control unit 30 a speed command signal that causes the electric mobility 100 to move backward when the operation member 11 moves from the neutral position shown in FIG.

  When the steering command signal is transmitted, the control unit 30 generates a steering control signal that rotates the right driving wheel 21a and the left driving wheel 21b in different directions at a constant speed according to the steering command signal. Since this steering control signal is a signal for controlling the steering direction, it is a control signal for rotating each drive wheel in a different direction at a constant speed. For example, when a steering command signal for turning in the right direction is transmitted from the operation device 10, the left driving wheel 21b is rotated in the forward direction and the right driving wheel 21a is rotated in the backward direction.

  When the speed command signal is transmitted, the control unit 30 generates a speed control signal for rotating the right driving wheel 21a and the left driving wheel 21b in the same direction at a constant speed according to the speed command signal. Since this speed control signal is a signal for controlling the traveling speed, it is a control signal for rotating each drive wheel at the same speed in the same direction.

The control unit 30 that has generated the speed control signal and the steering control signal as described above transmits the control signal to each drive wheel after superimposing the speed control signal and the steering control signal.
When the command signal transmitted from the operation device 10 to the control unit 30 is only the speed command signal (when the operation member 11 is in the neutral position in the vehicle width direction), the control unit 30 is configured to steer the electric mobility 100 to the left and right. Each drive wheel is controlled so that it goes straight or reverse without moving.
When the command signal transmitted from the controller 10 to the control unit 30 is only the steering command signal (when the operation member 11 is in the neutral position in the traveling direction), the control unit 30 allows the electric mobility 100 to move forward and backward. Without driving, each drive wheel is controlled to rotate rightward or leftward on the spot to switch the steering direction.

Next, processing executed by the control unit 30 with respect to the detection signal from the hall sensor 40 will be described with reference to FIG.
Each process shown in FIG. 5 is a process executed when the control unit 30 shown in FIG. 4 reads a control program stored in a ROM (not shown) into a RAM (Random Access Memory).

  In step S501 of FIG. 5, the control unit 30 determines whether or not the swing position of the handle 25 (left handle) is included in the operable region based on the detection signal transmitted from the hall sensor 40. When detecting the magnetic field generated by the magnet 41 attached to the handle 25, the hall sensor 40 transmits a detection signal indicating that the swing position of the handle 25 is included in the operable region to the control unit 30. On the other hand, when the Hall sensor 40 does not detect the magnetic field generated by the magnet 41 attached to the handle 25, the Hall sensor 40 transmits a detection signal indicating that the swing position of the handle 25 is included in the operation prohibited area to the control unit 30. To do.

  When the detection signal transmitted from the hall sensor 40 indicates that the swing position of the handle 25 is included in the operable region, the control unit 30 determines YES and advances the process to step S502. On the other hand, when the detection signal transmitted from the hall sensor 40 indicates that the swing position of the handle 25 is included in the operation prohibited area, the control unit 30 determines NO and advances the process to step S505. . If it is determined NO in step S501, it means that the operator is in a state of performing a getting-on / off operation or that the possibility is high.

In step S502, the control unit 30 generates a speed control signal for rotating the right driving wheel 21a and the left driving wheel 21b in the same direction at the same speed based on the speed command signal transmitted from the speed command input unit 15. To do.
In step S503, based on the steering command signal transmitted from the steering command input unit 14, the control unit 30 rotates the right driving wheel 21a and the left driving wheel 21b in different directions at equal speeds according to the steering command signal. A steering control signal to be generated is generated.

  In step S504, the control unit 30 superimposes the speed control signal generated in step S502 and the steering control signal generated in step S503, and transmits the control signal to each drive wheel.

As described above, if NO is determined in step S501, it means that the operator is in a state of performing a getting-on / off operation or that the possibility is high.
In this case, the control unit 30 advances the processing to step S505, and transmits a stop signal for prohibiting driving of each driving wheel to each of the right driving wheel 21a and the left driving wheel 21b. The right driving wheel 21a and the left driving wheel 21b to which the stop signal is transmitted from the control unit 30 stops the driving of the electric motor (not shown) constituting each driving wheel. Thus, when it is determined NO in step S501, the control unit 30 controls signals based on the steering command signal transmitted from the steering command input unit 14 and the speed command signal transmitted from the speed command input unit 15. The stop signal is transmitted to each drive wheel without transmitting.

The operation and effect of the present embodiment described above will be described.
According to the electric mobility 100 of the present embodiment, the swing position of the handle 25 disposed on the left side of the operator seated on the seat 23 is detected. When the swing position is different from the operable region, the electric mobility 100 is in a state where the operator performs the getting-on / off operation. In this state, if the operator touches the operating device 10 carelessly, the rear wheel 21 (drive wheel) is driven to cause problems such as erroneous start. According to the electric mobility 100 of the present embodiment, when the hall sensor 40 detects that the swing position is different from the operable region, the operation device 10 outputs a command signal for driving the rear wheel 21. Since driving of the wheel 21 is prohibited, problems such as erroneous start are prevented.
As described above, according to the electric mobility 100 of the present embodiment, it is possible to appropriately detect that the operator is in the state of performing the getting on and off operation, and to solve problems such as erroneous start when the operator is in the state of performing the getting on and off operation. Can be prevented.

In the present embodiment, the controller device 10 is attached only to the handle 24 arranged on the right side of the operator who is seated. The hall sensor 40 detects the swing position of the handle 25 arranged on the left side of the operator who is seated.
By doing so, when the handle 25 is swung from the operable region when the handle 25 different from the handle 24 to which the operating device 10 is mounted is swung, the driving of the rear wheel 21 is prohibited. Is done. Therefore, when the operator gets on and off by swinging the handle 25 while putting a hand on the handle 24, it is possible to prevent problems such as erroneous start by touching the operating device 10 attached to the handle 24. .

In the present embodiment, the control unit 30 transmits a stop signal to the rear wheel 21 so as to forcibly stop the rear wheel 21 when the swing position detected by the hall sensor 40 is different from the operable region. .
In this way, by controlling the rear wheel 21 to be forcibly stopped when the Hall sensor 40 detects that the swing position of the handle 25 to be detected is different from the operable region, Driving of the wheel 21 can be prohibited.

<Other embodiments>
In the above-described embodiment, the electric mobility 100 is provided with one hall sensor 40 as a sensor for detecting the swing position of the handle 25, but may be in another form. For example, in addition to the hall sensor 40 that detects that the handle 25 is in the operable area including the steering position, another hall sensor that detects that the handle 25 is in the operation prohibited area including the getting on / off position may be provided. Good.
In this case, the Hall sensor 40 transmits a detection signal to the control unit 30 when detecting the magnetic field of the magnet 41. Similarly, the other Hall sensors transmit a detection signal to the control unit 30 when detecting the magnetic field of the magnet 41. When receiving the detection signal from the hall sensor 40, the control unit 30 determines that the swing position of the handle 25 is included in the operable region. When receiving the detection signal from another hall sensor, the control unit 30 It is determined that the swing position is included in the operation prohibited area.

Further, for example, instead of the hall sensor 40 that detects that the handle 25 is in the operable area including the steering position, another hall sensor that detects that the handle 25 is in the operation prohibited area including the boarding / exiting position is provided. It may be.
In this case, the other Hall sensors transmit a detection signal to the control unit 30 when detecting the magnetic field of the magnet 41. When receiving a detection signal from another hall sensor, the control unit 30 recognizes that the swing position of the handle 25 is included in the operation prohibited area. On the other hand, the control unit recognizes that the swing position of the handle 25 is included in the operable region when the detection signal is not transmitted from another Hall sensor.

  In the above-described embodiment, the electric mobility 100 is provided with the hall sensor 40 as a sensor for detecting the swing position of the handle 25, but may be in another form. For example, instead of the hall sensor 40, an angle sensor that directly detects the swing angle of the handle 25 may be provided. In this case, for example, when the swing angle of the long axis of the handle 25 with respect to the installation surface of the electric mobility 100 detected by the angle sensor is smaller than a predetermined angle (for example, 70 °), the control unit 30 swings the handle 25. Is included in the operable region. If the angle is equal to or larger than the predetermined angle, it is determined that the swing position of the handle 25 is included in the operation prohibited region.

  In the above-described embodiment, the operating device 10 is provided at the distal end portion of the handle 24 disposed on the right side of the seated operator. However, the operating device 10 is disposed on the distal end portion of the handle 25 disposed on the left side of the seated operator. You may make it provide. In this case, the magnet 41 is provided on the handle 24, and the Hall sensor 40 is provided at a position close to the magnet 41 of the handle 24 at the steering position. Then, when the hall sensor 40 detects that the swing position of the handle 24 is different from the steering position, the control unit 30 controls to prohibit the driving of the rear wheel 21 by the operating device 10.

  As described above, the operating device 10 is provided at the distal end portion of the handle 24 disposed on the right side of the operator who is seated or the handle 25 disposed on the left side. However, other modes may be employed. For example, an operation device (drive operation unit) for inputting a steering command is provided at the distal end portion of the handle 24, and an operation device (drive operation unit) for inputting a speed command is provided at the distal end portion of the handle 25. May be.

  In the above-described embodiment, the magnet 41 is provided on the handle 25 arranged on the left side of the operator seated on the seat 23. However, other modes may be used. For example, the magnet 41 may be provided on the handle 24 arranged on the right side of the operator in a state where the magnet 41 is seated on the seat 23. In this case, the hall sensor 40 is provided so as to be close to the magnet 41 of the handle 24 at the steering position. When the handle 24 to which the operating device 10 is attached is swung to get on and off, the driving of the rear wheel 21 (drive wheel) is prohibited when the handle 24 is swung from the operable region. Therefore, when the operator gets on and off by swinging the handle 24 to which the operating device 10 is attached, problems such as erroneous start due to swinging the handle 24 or getting on and off while holding the hand on the handle 24 are prevented. can do.

  In the above-described embodiment, the magnet 41 is provided only on the handle 25 disposed on the left side of the operator in a state where the magnet 41 is seated on the seat. However, other modes may be used. For example, the magnet 41 may be provided on the handle 25 and another magnet may be provided on the handle 24 arranged on the right side of the operator in a state where the magnet 41 is seated on the seat. In this case, another Hall sensor is provided so as to be close to the magnet 41 of the steering wheel 24 at the steering position.

  In this aspect, each Hall sensor detects the swing position of each of the handles 24 and 25. Moreover, when the control part 30 differs in the rocking | fluctuation position of either of the handles 24 and 25 detected by the hall sensor from the operation possible area | region, the drive of the rear wheel 21 by the operating device 10 is prohibited.

  In this way, when the handle 24 or the handle 25 is swung to get on and off, the driving of the rear wheel 21 is prohibited when any of the swung handles swings from the operable region. Therefore, when the operator gets on and off by swinging the handle 24 or the handle 25, it is possible to prevent problems such as a false start caused by touching the operating device 10 attached to the handle 24.

In the embodiment described above, the control unit 30 transmits a stop signal to the rear wheel 21 when a detection signal indicating that the swing position of the handle 25 is different from the steering position is output from the hall sensor 40. Thus, the driving of the rear wheel 21 by the operating device 10 is prohibited, but other modes may be used.
For example, when a detection signal indicating that the swing position of the steering wheel 25 is different from the steering position is output from the hall sensor 40, the output of the steering command signal from the steering command input unit 14 and the speed command input unit 15 The controller device 10 may be controlled to stop the output of the speed command signal.

  In this way, when the hall sensor 40 detects that the swing position of the handle 25 to be detected is different from the operable region, the output of the steering command signal and the speed command signal from the operating device 10 is stopped. By doing so, the driving of the rear wheel 21 can be prohibited.

10 Operation device (drive operation unit)
11 Operation member 20 Front wheel 21 Rear wheel (drive wheel)
21a Right driving wheel 21b Left driving wheel 22 Body frame 23 Seat 24, 25 Handle 30 Control unit 40 Hall sensor (detection unit)
41 Magnet 100 Electric Mobility A Swing Axis X1 Axis X2 Axis

Claims (5)

A front wheel and a rear wheel arranged at intervals in the traveling direction, at least one of which is an electric drive wheel;
A body frame that rotatably supports the front and rear wheels around each axle;
Mounted on the body frame, a seat disposed above between the front wheel and the rear wheel,
A pair of handles that are attached to the vehicle body frame so as to be swingable about a swing shaft extending in the vehicle width direction, and are disposed on both the left and right sides of the operator seated on the seat;
A drive operation unit that is attached to at least one of the pair of handles and that receives an operation by an operator and outputs a command signal for driving the drive wheel;
A detection unit for detecting a swing position of at least one of the pair of handles;
An electric mobility comprising: a control unit that prohibits driving of the drive wheel by the drive operation unit when the swing position of the handle detected by the detection unit is different from the operable region. The drive operation unit is attached only to one of the handles,
The electric mobility according to claim 1, wherein the detection unit detects a swing position of the other handle. The drive operation unit is attached only to one of the handles,
The electric mobility according to claim 1, wherein the detection unit detects a swing position of the one handle. The detection unit detects the swing position of each of the handles;
The control unit prohibits driving of the drive wheel by the drive operation unit when the swing position of any of the handles detected by the detection unit is different from the operable region. The described electric mobility. A front wheel and a rear wheel, which are arranged at intervals in the traveling direction and at least one of which is an electric drive wheel, a vehicle body frame that rotatably supports the front wheel and the rear wheel around each axle, and the vehicle body frame attached, and a seat disposed above between the front wheel and the rear wheel, is mounted on the body frame swingably about an oscillation axis extending in the vehicle width direction, the operation of the seated on the seat A pair of handles disposed on the left and right sides of the person, and a drive operation unit that is attached to at least one of the pair of handles and that receives an operation by an operator and outputs a command signal for driving the drive wheels; An electric mobility control method comprising:
A detection step of detecting a swing position of at least one of the pair of handles;
A control step of prohibiting driving of the drive wheel by the drive operation unit when the swing position of the handle detected by the detection step is different from the operable region;
An electric mobility control method comprising:

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