JP2014073806A - Electrically-driven mobility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a stable travel during a seating ride and during a standing ride in an inverted travel direction.SOLUTION: There is provided electrically-driven mobility 1 including an electrically-driven driving wheel 3 and a driven wheel 4 which are arranged at an interval in a travel direction, a vehicle body frame 2 supporting the wheels rotatably around axles, a seat 5 arranged above a position nearby one wheel between the driving wheel and the driven wheel, a footrest 6 arranged between the driving wheel and the driven wheel, and an arcuate handle 7 arranged below the seat and provided nearby an axle position of the driven wheel or the driving wheel swingably around an axis B extending in a vehicle width direction, and having an operation part 9 nearby a swing end thereof. The handle is arranged surrounding an operator from below both right and left sides to the front, and the operation part is arranged at the front side of the seat in a seating ride state in which the operator A seats himself/herself on the seat. The operation part is arranged above the seat in a standing ride state in which the operator stands on the footrest to face the seat.

Description

  The present invention relates to electric mobility.

2. Description of the Related Art Conventionally, there has been known an electric walking aid that can be used both for a steering wheel operated in a sitting state and a steering wheel operated in a standing state by changing the position (see, for example, Patent Document 1).
This Patent Document 1 has a handle having a T-shaped upper end of a handle shaft connected to a fork portion on which a steering wheel is mounted, and the handle and the steering wheel are rotated 180 ° about the handle post shaft. Thus, there is disclosed an electric walking assist device that switches between a sitting state and a standing state and switching a traveling direction at that time.

JP 2005-137467 A

  However, the electric walking assist device of Patent Document 1 reverses the handle connected to the steered wheel together with the steered wheel to switch between the sitting and standing state, so that the handle is in a horizontal direction with respect to the steered wheel. It is arranged at a close position. For this reason, in the standing state, both feet must be placed at the position where the steered wheel is sandwiched from side to side, and the rider must ride on the handle post shaft, and the center of gravity is easily removed from between the rear wheel and the front wheel. There is an inconvenience that the running cannot be performed.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide electric mobility capable of performing stable traveling when sitting and standing when the traveling direction is reversed.

In order to achieve the above object, the present invention provides the following means.
One aspect of the present invention includes a plurality of wheels including at least one electric drive wheel disposed at intervals in the traveling direction, a vehicle body frame that rotatably supports the wheels around each axle, and the vehicle body frame. Between the wheel that is fixed to the wheel and spaced apart in the traveling direction and located above the position close to any of the wheels, and the wheel that is provided in the body frame and spaced in the traveling direction. A swinging end provided on the footrest portion and the vehicle body frame that is swingable about an axis extending in the vehicle width direction in the vicinity of the axle position of the wheel disposed below the seat. An arch-shaped handle having an operation portion in the vicinity thereof, and the handle surrounds the driver from both the left and right sides in a sitting state in which the operator places a foot on the footrest and is seated on the seat. The operation unit is disposed in front of the seat, and the operation unit is disposed above the seat in a standing state in which a driver stands on the footrest and stands in a direction toward the seat. Provide electric mobility.

  According to this aspect, when sitting and riding, the operator places his / her feet on the footrests disposed between the wheels spaced apart in the traveling direction and sits on the seat. When the steering wheel is placed in the sitting position, the arched handle is placed so as to surround the driver forward from both the left and right sides, and the operation part provided at the swinging end of the handle is placed in front of the driver. Is done.

  As a result, the driver can drive the electric driving wheel by easily operating the operation unit arranged in front of himself / herself while having a sense of security that is surrounded and protected by the arched handle. You can then move forward or backward. Since the seat is disposed between the wheels spaced in the traveling direction, the center of gravity is disposed between the wheels, and stable traveling can be performed.

  On the other hand, when standing, the operator stands by placing his / her feet in the opposite direction on the same footrest as when sitting. At this time, if the handle is swung and disposed at the position for standing, the handle is disposed so as to surround the seat from above and from both the left and right sides, and an operation portion provided at the swing end of the handle disposed at the upper end is provided. Placed in front of a standing pilot.

  In this case, by swinging the handle so that the operation part is located above the seat, the space above the footrest part is greatly opened so that the operator can stand up on the footrest part without difficulty. Can do. As a result, the center of gravity of the driver is disposed between the wheels spaced apart in the traveling direction, and stable traveling can be performed. Here, “above the seat” includes not only directly above the seat but also obliquely above the seat.

  In the above aspect, a control unit that controls the drive wheel based on an operation amount of the operation unit, and a riding state detection unit that detects a riding state by the driver, the control unit detects the riding state detection The control of the drive wheels may be switched according to the boarding state detected by the unit.

  By doing in this way, if the boarding state by a driver is detected by the boarding state detection part, a control part will control a drive wheel according to the boarding state detected by the boarding state detection part. Since the traveling direction differs between the sitting state and the standing state, and the operator's position with respect to the steering wheel is reversed, when the riding state is detected, the control unit drives the driving wheel so that the traveling direction is in accordance with the riding state. Switch the control. Accordingly, the operator can operate the operation unit in the same manner regardless of the boarding state, and does not feel bothered.

  Further, in the above aspect, the riding state detection unit is in a sitting state when the angle sensor detects an angle of the handle with respect to the footrest unit and the angle detected by the angle sensor is smaller than a predetermined threshold. And a determination unit that determines that the vehicle is in a standing state when the value is equal to or greater than the threshold value.

In this way, when the operator sits on the seat and swings the handle until the operation unit is arranged at a position where it can be easily operated in front, the angle of the handle detected by the angle sensor is a predetermined threshold value. Since it is smaller, the determination unit determines that it is in a sitting state. On the other hand, when the operator greatly swings the handle with respect to the footrest so that the operator can stand with the foot on the footrest, the angle of the handle detected by the angle sensor becomes equal to or greater than a predetermined threshold. Therefore, it is determined that the determination unit is standing. As a result, the riding state of the driver is automatically determined by the riding state detection unit, and the control unit can switch the control of the drive wheels without the driver's intentional switching.
Here, the angle sensor is not limited to a sensor that measures an angle, and includes a sensor that detects that the handle is at a specific angle by magnetism or light.

Moreover, in the said aspect, the said control part may switch the rotational speed of a driving wheel according to the boarding state detected by the said boarding state detection part.
By doing so, the drive wheels are rotated at different rotational speeds even when the same operation is performed on the operation unit in the sitting state and the standing state. That is, since the operator operates the operation unit from the opposite side in the case of sitting and standing, the forward operation in the case of sitting is the same as the backward operation in the case of standing. In general, the forward speed is larger than the reverse speed for the same operation amount of the operation unit, so by switching the rotational speed of the drive wheel according to the riding state, the forward speed is fast and the reverse speed is slow regardless of the riding state. It can be run.

  Advantageous Effects of Invention According to the present invention, there is an effect that stable running can be performed at the time of sitting and standing and riding with the running direction reversed.

It is electric mobility concerning one embodiment of the present invention, and is a side view showing a state where a handle is arranged in the 1st position. It is a rear view which shows the electric mobility of FIG. It is a block diagram which shows the electric mobility of FIG. It is a perspective view which shows an example of the driven wheel of the electric mobility of FIG. It is a partial top view which shows the relationship between the driven wheel of the electric mobility of FIG. 1, and a footrest part. It is a top view which shows the electric mobility of FIG. FIG. 2 is a side view showing the state of the electric mobility of FIG. 1 with a handle disposed at a second position. FIG. 4 is a side view showing the state of the electric mobility in FIG. 1 with the handle disposed at a third position. FIG. 2A is a perspective view illustrating an operation unit provided on the handle of the electric mobility in FIG. 1, and FIG. 2B is a perspective view illustrating an internal structure by breaking a plate.

Electric mobility according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 to 3, the electric mobility 1 according to the present embodiment is fixed to the body frame 2, the driving wheel 3 and the driven wheel 4 attached to the body frame 2, and the body frame 2. A seat 5 and a footrest 6, a handle 7 attached to the vehicle body frame 2, and a controller 8 that controls the drive wheels 3 are provided.

As shown in FIG. 2, the drive wheel 3 is a motor built-in type, and the stator of the motor 3b disposed at the center of the tire 3a in the radial direction is fixed to the vehicle body frame 2, and the rotor of the motor 3b is the tire 3a. It is fixed to.
Two drive wheels 3 are provided at intervals in the width direction of the body frame 2. Each drive wheel 3 is driven independently by a separate motor 3b, and moves forward and backward linearly by matching the rotational speeds on the left and right sides, and changes direction by varying the rotational speeds. Can be done.

  As shown in FIG. 2, the drive wheel 3 is provided with a camber angle so that the width is widest at the contact point of the tire 3a. As a result, the running stability is improved, and the motor 3b built in the drive wheel 3 can be arranged on the inner side in the width direction than the grounding point so that the entire width of the electric mobility 1 can be suppressed.

  The driven wheel 4 is arranged in a central portion in the width direction of the body frame 2 at a position spaced from the driving wheel 3 in the traveling direction. In the present embodiment, the driven wheel 4 is an omnidirectional wheel (for example, an omni wheel or the like as shown in FIG. 4), and is rotatably attached around an axle extending horizontally in the width direction of the body frame 2. Yes. The omnidirectional wheel is a wheel that enables movement in all directions while the axle is fixed to the body frame 2. In FIG. 1 and FIG. 2, the code | symbol 4a is a wheel house.

  Since the omnidirectional wheel fixes the axle, it does not have to be rotated around an axis (for example, a vertical axis) intersecting the axle like a caster, and the installation space of the driven wheel 4 is small as shown in FIG. It has the advantage that it can be done. In the figure, a broken line shows an example of an installation space when a caster is employed. In particular, even if the diameter of the driven wheel 4 is increased in order to easily get over the unevenness of the road surface, it is not necessary to increase the installation space in the width direction, which is effective.

  The seat 5 is disposed above a position close to the drive wheel 3 between the drive wheel 3 and the driven wheel 4. In the present embodiment, the seat 5 is disposed so that the driven wheel 4 side is in front of the operator A in a state where the operator A is seated on the seat 5.

  The footrest 6 is disposed between the driving wheel 3 and the driven wheel 4 so as to extend in the traveling direction. In the sitting state in which the pilot A is seated, the pilot A places the foot so that the toes are directed to the driven wheel 4 side. Further, in the standing state in which the pilot A stands on the footrest 6, the pilot A places the foot so that the toes are directed toward the drive wheels 3.

  In the present embodiment, the handle 7 is provided so as to be swingable about a swing shaft B extending in the vehicle width direction in the vicinity of the axle position of the drive wheel 3. Therefore, the swing axis B is disposed below the seat 5. And the handle | steering-wheel 7 is comprised by the arch type extended so that the vehicle body frame 2 may be crossed in the vehicle width direction from the lower left and right both sides fixed to the rocking | fluctuation shaft B, as FIG. 6 shows. In addition, an arch-shaped top portion C serving as a swinging end of the handle 7 is provided with an operation portion 9 for manipulating the drive wheels 3.

  The handle 7 can swing to a first position shown in FIG. 1, a second position shown in FIG. 7, and a third position shown in FIG. The handle 7 can be fixed at the first to third positions by a fixing mechanism (not shown).

  The first position is a position arranged at an angle of about 35 ° to 55 ° with respect to the ground. This position is a position for sitting on which the operator A sits with the feet placed on the footrest 6 with the toes facing the driven wheel 4. In this position, the handle 7 is arranged so as to surround the front of the operator A from the lower left and right sides, and the operation unit 9 arranged at the apex of the arch type is arranged in front of the operator A. ing.

  That is, when the operator A sits on the seat 5 and arranges the handle 7 at the first position, the operation unit 9 is arranged at a position where the elbow is lightly bent and both arms are extended. Thus, the operator A can operate the electric mobility 1 by operating the operation unit 9 without difficulty.

  The second position is a position arranged at an angle of about 70 ° to 90 ° with respect to the ground. This position is a position for standing up where the pilot A stands up with his feet placed on the footrest 6 with his toes facing the drive wheels 3. In this position, the handle 7 is arranged so as to surround the upper part of the seat 5 from the lower side of the left and right sides, and the operation unit 9 arranged at the apex of the arch shape is a position arranged in front of the driver A. ing.

  That is, when the operator A places the handle 7 in the second position and stands on the footrest 6, the operation unit 9 is arranged at a position where the elbows are lightly bent and both arms are extended. ing. Thereby, the pilot A can operate the electric mobility by operating the operation unit 9 without difficulty.

  The third position is a position arranged at an angle of −20 ° to 0 ° with respect to the ground. At this position, the operation unit 9 arranged at the arched apex of the handle 7 is lowered to a position surrounding the driven wheel 4, so that the operator A can get on and off the driven wheel 4 and the handle 7.

  The handle 7 is provided with an angle sensor 10 for detecting the swing angle. The output from the angle sensor 10 is output to the control unit 8 and used for controlling the drive wheels 3.

  In each of the first to third positions, the swing angle of the handle 7 may be finely adjusted. For example, in the first position, the position of the operation unit 9 can be finely adjusted in accordance with the physique of the operator A.

As shown in FIG. 9, the operation unit 9 is capable of swinging around a plate 9a in which both hands of the operator A are lightly opened side by side and the two axes 9b and 9c perpendicular to each other. And a support mechanism 11 for supporting the support.
In the present embodiment, as shown in FIG. 9A, the plate 9 a is formed in a cylindrical shape that covers the support mechanism 11.

  As shown in FIG. 9B, the support mechanism 11 includes a base member 11a fixed to the handle 7, and a base member 11a fixed to the base member 11a and swinging the intermediate member 11b around a first axis 9b extending in the front-rear direction. A first motor 11c that is movably supported, and a second motor 11d that is fixed to the intermediate member 11b and that pivotally supports a plate 9a around a second axis 9c that extends in the left-right direction.

  Each of the first motor 11c and the second motor 11d includes an angle sensor (not shown) that detects the swing angle of the intermediate member 11b with respect to the base member 11a and the swing angle of the plate 9a with respect to the intermediate member 11b. As shown in FIG. 3, the outputs from these angle sensors are sent to the control unit 8, used for controlling the drive wheels 3, and fed back to the first motor 11c and the second motor 11d to be fed to the plate 9a. It is used to generate a reaction force against the force from the pilot A applied to the vehicle.

  Further, the control unit 8 determines that the plate 9a returns to the origin position, that is, the position where the plate 9a is not inclined in any of the front, rear, left, and right from the outputs from the angle sensors provided in the first motor 11c and the second motor 11d. The first motor 11c and the second motor 11d are controlled. Thereby, when the operator A releases his / her hand from the plate 9a, the electric mobility 1 is stopped.

  The control unit 8 generates a control signal for controlling the driving wheel 3 based on the swing angle of the plate 9a in the operation unit 9 from the angle sensors provided in the first motor 11c and the second motor 11d, and each driving wheel. 3 is supplied.

Here, the control in the sitting state will be described.
When the operator A tilts the plate 9a forward about the second axis 9c, the control unit 8 outputs the same drive command signal to the two drive wheels 3. Thereby, the two driving wheels 3 rotate in the same direction at the same speed, and the electric mobility 1 is advanced. Further, the forward speed in this case is adjusted so as to increase as the tilt angle of the plate 9a increases.

  Similarly, when the plate 9a is tilted rearward about the second axis 9c, the control unit 8 outputs the same drive command signal in the opposite direction to the two drive wheels 3. ing. Thereby, the electric mobility 1 can be moved backward. In this case, the reverse speed is adjusted so as to increase as the tilt angle of the plate 9a increases. However, the reverse speed is controlled to be smaller than the forward speed.

  Further, if the plate 9a is tilted to the left around the first axis 9b, the rotational speed of the right drive wheel 3 is faster than the left drive wheel 3 of the operator A, or the left drive wheel 3 and the right drive wheel 3 The rotation direction of the driving wheel 3 is controlled to be reversed. Thereby, the electric mobility 1 is steered leftward. Similarly, when the plate 9a is tilted to the right around the first axis 9b, the electric mobility 1 is steered rightward.

  Furthermore, when the electric mobility 1 is moving forward and the plate 9a is tilted to the maximum extent around the second axis 9c, the controller 8 performs two emergency stop processes in a short time. The operation of the drive wheel 3 is stopped.

Next, control in the standing state will be described.
In the standing state, the traveling direction is reversed from that in the sitting state, and the operator A operates the operation unit 9 from the opposite direction to that in the sitting state, but the operation of the operation unit 9 and the rotation direction of the driving wheel 3 Is the same as in the sitting state.

However, there is a difference in forward / reverse speed, and the emergency stop operation is reversed according to the riding state.
In other words, the forward movement in the standing state is the same as the backward movement in the sitting state, and the backward movement in the standing state is the same as the forward movement in the sitting state, but the backward movement is set slower than the forward movement in the sitting state. Just like you did, you need to set your backwards slower than forwards when you stand.

In addition, the emergency stop operation in the sitting state is when the plate 9a is tilted to the maximum in the backward direction in the forward state, but if the same operation is performed in the standing state, the tilt direction of the plate 9a is reversed. To do.
Therefore, in these cases, the control unit 8 reverses the control direction.

  The control unit 8 is configured such that the angle detected by the angle sensor 10 provided on the handle 7 is a threshold (for example, 70 with respect to the ground) disposed between the angle of the first position and the angle of the second position. If it is smaller than (°), it is determined that it is in a sitting state and control of sitting is performed, and if it is equal to or greater than a threshold value, it is determined that it is in a standing state and control of standing is performed. ing.

The operation of the electric mobility 1 according to this embodiment configured as described above will be described below.
When sitting and riding using the electric mobility 1 according to the present embodiment, the pilot A places the toe on the driven wheel 4 side, places his / her feet on the footrest 6 and sits on the seat 5. Then, the handle 7 is disposed at the first position. As a result, the handle 7 is disposed so as to surround the front from below the left and right sides of the operator A. As a result, the steering wheel 7 covers the front of the pilot A in the traveling direction and can give the pilot A a sense of security that it is protected.

  Further, since the seat 5 is disposed between the driven wheel 4 and the driving wheel 3, the center of gravity of the seated operator A is disposed between the driven wheel 4 and the driving wheel 3, and the driven wheel 4 and the driving wheel are arranged. 3 has an advantage that it can be distributed and supported in a well-balanced manner and can stably travel.

  On the other hand, the handle 7 is disposed so as to extend obliquely forward from the vicinity of the swing axis B disposed below the seat 5, so that an open space is provided around the upper body of the seated operator A. Can be secured. Thereby, the operator A in a sitting state can extend his hand to the vicinity of the ground of the drive wheel 3 by lying down on the body while sitting down. For example, when the electric mobility 1 is used for shopping in a supermarket or the like, the operator A himself / herself can pick up the commodity at the lower part of the display shelf.

  When the operator A sits and extends both arms lightly forward, the operation unit 9 is disposed at that position. Therefore, both hands are placed side by side on the plate 9a of the operation unit 9, and the plate 9a is moved by the movement of the wrist. The vehicle can be steered simply by tilting the plate 9a forward and backward, changing the load applied to both hands, and tilting the plate 9a left and right.

  The plate 9a moves forward when the plate is inclined forward, moves backward when the plate is inclined backward, turns left when the plate is tilted left, and turns right when the plate is tilted to the right.

  Since both hands are arranged on the plate 9a, a moment in the opposite direction is applied with both hands around the axes of the first motor 11c and the second motor 11d constituting the operation unit 9 as compared with the case of operating with only one hand. This makes it easy to balance the moments and finely adjust the speed and steering angle with both hands. In addition, according to the operation unit 9 provided in the electric mobility 1 of the present embodiment, the forward and backward movement and the steering are performed only by moving both hands placed on the plate 9a by changing the wrist angle or the elbow angle. be able to.

  Therefore, it is not necessary to hold the plate 9a or move the elbow back and forth, and even a pilot with a handicapped hand can be easily operated. According to the operation unit 9, instead of operating the plate 9a with both hands, if one hand is placed in the center of the plate 9a, the operation can be performed with only one hand.

  Next, when performing standing and running using the electric mobility 1 according to the present embodiment, the operator A places the handle 7 at the second position and places his foot on the side of the driving wheel 3 with the toes facing toward the driving wheel 3 side. Place your foot on part 6 and stand up. Since the second position is a position where the handle 7 stands substantially vertically, the operation portion 9 is disposed above the seat 5 and a sufficiently wide space is secured above the footrest portion 6.

  Therefore, the pilot A can stand up with sufficient margin in the footrest portion 6 and can reliably arrange the center of gravity position between the driving wheel 3 and the driven wheel 4. Therefore, even in a standing state, the weight can be distributed in a well-balanced manner to the driving wheel 3 and the driven wheel 4, and stable running can be performed.

The operator A standing up on the footrest 6 puts his hands side by side on the plate 9a of the operation unit 9 placed in the position of both hands while bending both elbows and lightly extending both arms. You can steer.
In this case, the control of the drive wheel 3 by the control unit 8 based on the operation of the operation unit 9 is switched according to the angle of the handle 7.

  That is, in a state where the handle 7 is disposed at the first position, the control unit 8 performs control for sitting and riding, while the handle 7 is moving from the first position to the second position, Since the angle exceeds a predetermined threshold value, the control unit 8 is automatically switched to perform control for standing.

  Since the forward / backward direction is reversed between sitting and standing, the speed of the drive wheels 3 is switched in order to make the reverse speed lower than the forward speed. That is, in the sitting state, the forward speed with the driven wheel 4 forward is higher than the reverse speed, but in the standing state, the forward speed with the driven wheel 4 rearward (reverse speed when sitting) is the reverse speed (sitting) (Advance speed at the time). Also, the emergency stop operation can be switched. As a result, there is an advantage that even when switching between sitting and standing, the vehicle can be operated without a sense of incongruity.

  Further, in the electric mobility 1 according to the present embodiment, the left and right drive wheels 3 are separately controlled to take charge of both driving and steering, and the driven wheel 4 is configured by an omnidirectional wheel. Installation space is reduced. As a result, the driven wheel 4 having a large diameter can be adopted, and the road surface unevenness can be easily overcome.

Moreover, since the axle of the driven wheel 4 is fixed to the vehicle body frame 2, the installation space in the width direction is particularly reduced. As a result, a sufficient footrest 6 can be secured even when the driven wheel 4 is brought close to the drive wheel 3, and the body frame 2 can be made compact. And since it is comprised so compactly, the handle | steering-wheel 7 can be lowered | hung so that it may not interfere with the driven wheel 4, and can be rock | fluctuated to the 3rd position.
By disposing the handle 7 in the third position, it is possible to easily get on and off the handle 7 and to achieve a compact storage form as a storage position when not in use.

  In the present embodiment, the angle sensor 10 provided on the handle 7 is exemplified as the boarding state detection unit, but other arbitrary sensors and switches may be employed instead. For example, the presence or absence of a seated state on the seat may be detected. Alternatively, the operator A may select the switch by switching the switch.

Further, in the present embodiment, the swing angle of the handle 7 is finely adjusted to match the physique of the operator A. In addition, the position of the seat 5 is provided so as to be movable back and forth and up and down. Also good.
Moreover, in this embodiment, although the example which arranged one wheel in the center of the vehicle width direction as the driven wheel 4 was shown, it is not limited to this, You may arrange | position on both sides of a vehicle width direction, A plurality of wheels may be arranged adjacent to each other in the center in the vehicle width direction.

Further, in the present embodiment, the driving wheels and the driven wheels are arranged with an interval in the traveling direction, but all the wheels may be driving wheels, or only one wheel may be the driving wheels.
In the present embodiment, the angle of the handle is detected by the angle sensor. However, the angle sensor is not limited to the sensor that measures the angle, and the handle has a specific angle. It also includes sensors that detect by magnetism or light.

  In this embodiment, in the standing state, the relationship between the operation of the operation unit 9 and the rotation direction of the drive wheel 3 is the same as in the sitting state, but may be reversed. . In this case, when the standing state is detected by the angle sensor, the control unit may reverse the rotation direction of the drive wheels.

  In the present embodiment, the support mechanism 11 generates the reaction force of the force applied to the plate 9a by the motors 11c and 11d, but instead of this, the reaction force is generated by a spring. Good.

  The electric mobility 1 according to the present invention has high applicability for daily movement and movement for entertainment regardless of whether it is a disabled person or a healthy person, as well as an electric wheelchair or a senior car.

A pilot B axis 1 electric mobility 2 body frame 3 driving wheel 4 driven wheel 5 seat 6 footrest 7 handle 8 control unit (determination unit)
9 Operation part 10 Angle sensor (boarding state detection part)

Claims (4)

A plurality of wheels including at least one electrically driven drive wheel spaced apart in the direction of travel;
A vehicle body frame that rotatably supports the wheels around each axle;
A seat fixed to the body frame and disposed above a position close to any of the wheels between the wheels spaced in the traveling direction;
A footrest portion fixed between the vehicle body frames and disposed between the wheels spaced apart in the running direction;
An arch type that is provided so as to be swingable about an axis extending in the vehicle width direction in the vicinity of the axle position of the wheel disposed below the seat with respect to the vehicle body frame, and having an operation portion in the vicinity of the swing end. With a handle,
The handle is disposed so as to surround the operator from the lower side of the left and right sides from the front to the front in the sitting state in which the operator places his feet on the footrest and sits on the seat. Electric mobility in which the operation unit is disposed above the seat in a standing state where the operator places the foot on the footrest and stands up in a direction toward the seat. A control unit that controls the drive wheel based on an operation amount of the operation unit;
A boarding state detection unit for detecting a boarding state by the driver,
The electric mobility according to claim 1, wherein the control unit switches the control of the drive wheels in accordance with a riding state detected by the riding state detection unit. The riding state detection unit detects an angle of the handle with respect to the footrest, and
The electric mobility according to claim 2, further comprising: a determination unit that determines that the vehicle is in a sitting state when the angle detected by the angle sensor is smaller than a predetermined threshold value, and that the vehicle is in a standing state when the angle is equal to or larger than the threshold value.   The electric mobility according to claim 2 or 3, wherein the control unit switches the rotational speed of the drive wheel according to the riding state detected by the riding state detection unit.

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