WO2018069967A1

WO2018069967A1 - Personal mobility device

Info

Publication number: WO2018069967A1
Application number: PCT/JP2016/080127
Authority: WO
Inventors: 国亮佐藤
Original assignee: ｃｏｃｏａｍｏｔｏｒｓ．株式会社
Priority date: 2016-10-11
Filing date: 2016-10-11
Publication date: 2018-04-19
Also published as: JPWO2018069967A1; JP6589122B2

Abstract

A personal mobility device, wherein the weighting of a load sensor 31 is detected on the basis of an output signal from two load sensors 31 which are provided in locations on the forward-travel side of a passenger platform 10, drive control of a motor is performed so as to decelerate upon detecting that one or both of the load sensors 31 is not being weighted, and as a result, it is possible to decelerate by just unweighting a load sensor 31 provided on the forward-travel side, and it is possible to conveniently perform a deceleration operation while traveling forward, without the passenger needing to significantly move the center of gravity thereof rearward by tilting rearward in order to decelerate.

Description

Single-seat mobile device

The present invention relates to a single-seat mobile device, and more particularly, to a mobile device that can be travel-controlled by moving the center of gravity of a person.

In recent years, so-called “personal mobility (single-seat mobile device)” has attracted attention as a new type of mobile device that carries a person alone. For example, there is known a single-seat mobile device that is a configuration type in which wheels are provided on a board-like boarding platform and that can perform travel control by moving the center of gravity of the passenger (see Patent Document 1).

The single-seat mobile device described in Patent Document 1 includes a board-like boarding board that houses a motor that drives wheels and a control circuit, and a plurality of load sensors provided on the boarding board. A gravity center position detection unit that detects the presence or absence of weight and the position of the center of gravity based on an output signal from the load sensor, and a motor that controls driving of the motor according to the presence or absence of weight and the position of the center of gravity detected by the gravity center position detection unit And a drive control unit.

Further, in this Patent Document 1, two-dimensional coordinates (XY coordinates) with the center position of the boarding platform as the origin are set on the boarding plane, and the Y coordinate of the center of gravity position is determined from the negative maximum value. The maximum positive value is divided into three areas. If the center of gravity is located in the first area where the Y coordinate value is greater than y1, acceleration is performed. The center of gravity position is located in the third area where the Y coordinate value is less than -y2. It is described that the torque of the motor is controlled so as to decelerate when there is. Further, it is also described that when the person is not on the boarding board, the motor is not driven, and if the person moves on the boarding board and moves in the center of gravity in the forward direction, the vehicle starts straight.

In addition to the above-mentioned Patent Document 1, there is disclosed a single-seat mobile device that can perform travel control by moving the center of gravity of a person on a board-like boarding board (see, for example, Patent Documents 2 to 6). In the vehicle described in Patent Document 2, the travel control unit and the left rotation drive unit and the right rotation so as to realize either forward straight traveling or turning traveling based on the center of gravity position output from the center of gravity position calculating unit. The drive unit is rotationally driven and controlled. Further, when the driver takes a rear tilting posture, negative acceleration, that is, deceleration is realized. If the speed is 0, that is, if the vehicle stops, the negative acceleration is forcibly set to 0 after that.

In the coaxial two-wheeled vehicle described in Patent Document 3, when the speed is higher than 0, that is, when the inverted moving body is moving forward, the control device continues the inverted control. On the other hand, when the occupant tilts the vehicle body backward to get down, the speed in the forward direction is reduced. When the speed is 0, that is, when the inverted moving body stops, the control device stops the inverted control.

In the traveling device described in Patent Document 4, an appropriate rotation torque is added to each wheel, thereby maintaining an inverted state in which the pitch angle of the chassis does not exceed a certain value, and further, an attitude sensor The vehicle body movement control such as forward, reverse, stop, deceleration, acceleration, left turn, right turn, and the like is performed according to the posture information from.

In the self-propelled skateboard described in Patent Document 5, the wheels are driven by a motor through a transmission device such as a gear, and an integrated plate-like skateboard deck on which a rider rides has a plurality of strain sensors. . Based on the position of the center of gravity of the passenger riding on the skateboard deck and the acceleration value of the apparatus, the motor is controlled so that the skateboard accelerates or decelerates in the direction in which the center of gravity of the passenger tilts.

The inverted moving body described in Patent Literature 6 is connected to a base that holds a wheel in a drivable manner, a top part of the base, and a step cover on which a passenger gets on, and is connected to the top part of the base to elastically support the step cover. An elastic element that is provided between the base and the step cover, detects a pressure from the step cover when the elastic member is elastically deformed by the rider and the step cover is pushed down, and a switch sensor Inverted two-wheeled vehicle is controlled upside down only while the rider is riding on the step cover by providing a control unit that drives the wheels and performs inverted control while receiving the output of the detection signal of the pressure from I try to run.

Japanese Patent No. 5470507 JP 2014-125191 A JP 2014-148209 A JP 2012-20735 A Japanese Unexamined Patent Publication No. 2006-217952 JP 2014-84051 A

In the single-seat mobile devices described in Patent Documents 1 to 6, all travel control of acceleration, deceleration, left turn, and right turn is performed by moving the center of gravity of the passenger. However, in order to decelerate, it is difficult to tilt the body backward while the vehicle is moving forward, and the balance is easily lost. In particular, a single-seat mobile device such as Patent Document 1 that does not have a gripping part has a problem that it is difficult to perform a deceleration operation by backward tilt because there is no one that supports a body that is out of balance with a hand.

The present invention has been made to solve such problems, and in a single-seat mobile device in which travel control is performed by moving the center of gravity of the occupant, deceleration operation during forward travel is easily performed. The purpose is to be able to.

In order to solve the above-described problem, in the present invention, based on an output signal of a detection device arranged at a position on the forward side of the boarding board, the presence or absence of an on operation by the passenger's foot is detected, and there is no on operation. When this is detected, the motor is controlled to be decelerated.

According to the present invention configured as described above, the vehicle can be decelerated by simply turning off the on-operation for the detection device disposed on the forward side. There is no need to move the back to the back. As a result, the body is not tilted backward during forward travel and the balance is not lost, and the deceleration operation during forward travel can be easily performed.

It is a schematic perspective view which shows the external appearance of the single-seat mobile device by this embodiment. It is a bottom view which shows the power system of the single-seat mobile device by this embodiment. It is a figure which shows the example of arrangement | positioning of the several load sensor by this embodiment. It is a block diagram which shows the function structural example with which the control circuit by this embodiment is provided. It is a figure which shows the other structural example of the load sensor by this embodiment. It is a figure which shows the other structural example of the load sensor and pusher by this embodiment. It is a figure which shows the other structural example of the load sensor and pusher by this embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic perspective view showing an appearance of a single-seat mobile device (personal mobility) according to the present embodiment. FIG. 2 is a bottom view showing a power system of the single-seat mobile device according to the present embodiment. 2 shows a state in which the internal configuration is illustrated through the motor housing portion.

As shown in FIGS. 1 and 2, the single-seat mobile device of the present embodiment is a configuration type in which a plurality of

wheels

15 and 16 are provided on a board-like boarding base 10 and performs traveling control by moving the center of gravity of the passenger. It has been made possible. That is, the passenger can ride straight on, turn left and right, and control the running speed by getting both feet on the boarding platform 10 and boarding in an upright state and moving the center of gravity.

The boarding board 10 has a substantially rectangular plane, and four

wheels

15 and 16 are attached in the vicinity of the four corners. As a result, it is possible to ensure traveling stability when a passenger gets on a single-seat mobile device. Of the four

wheels

15 and 16, the two front wheels 15 are driven wheels that are driven by the two motors 21 built in the motor housing portion 12 of the boarding base 10. The remaining two rear wheels 16 are casters of a type that can freely rotate 360 degrees. The boarding base 10 has a curved surface portion that curves downward at the forward position. This curved surface portion constitutes a part of the motor housing portion 12.

The boarding board 10 has four

wheels

15 and 16 attached to the bottom thereof. The boarding platform 10 includes two motors 21 that independently drive the left and right two driven wheels 15, a connecting member 22 that connects the driven wheels 15 and the motor 21, and an axle 23 of the driven wheels 15. While being accommodated in the motor accommodating portion 12, a control circuit (not shown) and a battery (not shown) are accommodated in the circuit accommodating portion 11. The circuit housing part 11 is provided on the bottom side of the boarding base 10.

The two motors 21 drive the two driven wheels 15 independently under the control of the control circuit (however, the applied voltages to the two motors 21 are the same). As shown in FIGS. 1 and 2, the driving forces of the two motors 21 are transmitted to the two driven wheels 15 via the two connecting members 22, respectively.

The connecting member 22 connects the motor 21 and the driven wheel 15. For example, the connecting member 22 meshes a gear (not shown) connected to a rotation shaft (not shown) of the motor 21 and a gear (not shown) connected to the axle 23 of the driven wheel 15. It has a configuration. Thereby, the driving force of the motor 21 is transmitted to the driven wheel 15 via the gear of the connecting member 22.

Also, conversely, the ground pressure applied to the driven wheel 15 when the passenger gets on the boarding platform 10 is transmitted to the motor 21 as a load via the connecting member 22. Here, since the wheel 15 with drive is attached to the bottom surface of the boarding base 10, the ground pressure applied to the two wheels 15 with driving changes according to the position of the center of gravity of the passenger riding on the boarding base 10. The ground pressure applied to the left and right two driven wheels 15 acts as a load on the two motors 21, and the rotational speeds of the two driven wheels 15 are changed.

The single-seat mobile device of the present embodiment includes a plurality of load sensors. The load sensor is an example of a detection device that detects an on-operation by a passenger's foot. FIG. 3 is a diagram illustrating an arrangement example of a plurality of load sensors. 3A is a plan view of the boarding base 10, and FIG. 3B is a cross-sectional view taken along the line AA on the forward side of the boarding base 10. FIG. Note that FIG. 3B shows the actual structure in a deformed manner for easy understanding of the description.

As shown in FIG. 3A, in this embodiment, two

load sensors

31L and 31R arranged on the left and right at the position on the forward side of the boarding base 10 (hereinafter, the left and right are collectively referred to as the load sensor 31). And two

load sensors

32L and 32R (hereinafter referred to as the load sensor 32 collectively).

In the present embodiment, for example, when an adult male (an average shoe size is 26.5 cm) gets on the board 10, the toe part and the heel part slightly protrude from the board 10. The size is designed (see footprint 30 shown by dotted line). For example, it is preferable that the boarding board 10 is configured to have a paper A4 size. It is easier to take the center of gravity if the toe part or the heel part protrudes slightly from the boarding base 10 (or the center of gravity shifts) rather than a solid foot state where the entire sole of the foot reaches the boarding base 10 Because it becomes easier).

The four load sensors 31 and 32 provided at four locations on the boarding platform 10 in the front, rear, left, and right directions can be stepped on the base of the passenger's toes on the boarding base 10 and the part around the heel. It is arranged in the position. In particular, the forward-side load sensor 31 is disposed at a position including at least a part of the curved surface portion of the boarding base 10. In the example of FIG. 3A, the forward-side load sensor 31 is arranged at a position where a part is applied to the curved surface part and a part is applied to the flat part.

Note that the arrangement shown in FIG. 3A is merely an example. For example, the forward-side load sensor 31 may be disposed at a position where the entire area is applied to the curved surface portion. However, in that case, it is preferable not to be located far from the flat part of the boarding base 10 but to be located near the flat part. This is because if the passenger is placed on the boarding platform 10, it is difficult to apply a load to the load sensor 31 if it is disposed at a position far from the flat portion.

Moreover, in this embodiment, as shown in FIG.3 (b), the boarding base 10 is comprised by the double structure of the base part 10a and the cover part 10b covered on it, and it is a forward side on the upper surface side of the base part 10a. The load sensor 31 is arranged. The same applies to the reverse load sensor 32. In addition, four concave dents carved downward are provided on the upper surface side of the base portion 10a, and four load sensors 31, 32 are arranged on the bottom surfaces of the respective dents.

On the other hand, on the back side of the cover portion 10b, a convex pusher 33 protruding downward is provided at a position facing the four load sensors 31, 32. When the cover portion 10b is put on the base portion 10a, the opposing surfaces of the base portion 10a and the cover portion 10b are in contact with each other on the surface other than the depression, while the load sensors 31 and 32 and the pusher are located at the depression. 33 is in a non-contact state. And when a passenger gets on the cover part 10b, the cover part 10b bends according to a passenger's weight, and the load sensors 31 and 32 are weighted via the pusher 33. .

The control circuit (not shown) accommodated in the accommodation box 11 inputs the output signals of the four load sensors 31 and 32 and controls the driving of the two motors 21 connected to the driven wheels 15. As described above, in the present embodiment, the 2 connected to the driven wheel 15 through the change in the ground pressure applied to the two driven wheels 15 according to the position of the center of gravity of the occupant riding on the boarding platform 10. The load on the two motors 21 fluctuates, whereby the rotational speed of the two driven wheels 15 changes. As a result, a right turn or a left turn can be performed by moving the center of gravity in the left-right direction.

Therefore, the control circuit assumes that the torque or applied voltage applied to the two motors 21 is the same in any case of straight travel, right turn, and left turn. That is, the control circuit of this embodiment controls only the magnitude of the voltage applied to the two motors 21, and it is necessary to perform control such as changing the voltage applied to the two left and right motors 21 in accordance with the turning direction. There is no.

FIG. 4 is a block diagram showing a functional configuration example provided in the control circuit of the present embodiment. As shown in FIG. 4, the control circuit of the present embodiment includes an ON operation determination unit 41, an acceleration control unit 42, a deceleration control unit 43, and a stop control unit 44 as functional configurations.

Each of the functional configurations 41 to 44 can be realized by any of a hardware configuration, a DSP (Digital Signal Processor), and software. For example, when realized by software, each of the functional configurations 41 to 44 actually includes a CPU, a RAM, a ROM, etc., and a program stored in a recording medium such as a RAM, a ROM, or a semiconductor memory operates. Can be realized. The recording medium for storing the program is not limited to this.

The on operation determination unit 41 determines whether or not an on operation is performed by the passenger's foot based on the output signals of the load sensors 31 and 32. In the present embodiment, the presence / absence of a load on each of the four load sensors 31 and 32 is determined as the presence / absence of an on operation. That is, the on operation determination unit 41 determines that there is an on operation when there is a weight on the load sensors 31 and 32, and no on operation when there is no weight on the load sensors 31 and 32.

Here, “having a weight” basically means a case where the values of signals output from the load sensors 31 and 32 are not zero, but the present invention is not limited to this. For example, “there is no weight” when the value of the signal output from the load sensors 31 and 32 is equal to or less than a predetermined value, and “there is a weight” when the value is larger than the predetermined value.

As described above, in this embodiment, the forward load sensor 31 is disposed at a position including at least a part of the curved surface portion on the forward side of the boarding base 10. On the other hand, the reverse load sensor 32 is disposed on the flat portion of the boarding base 10. For this reason, in a state where the passenger simply gets on the boarding platform 10, the output value of the reverse load sensor 32 is larger than a predetermined value (zero or a value other than zero), but the forward load sensor The output value of 31 does not become larger than a predetermined value.

On the other hand, for example, when the passenger leans forward or loads forward, the output value of the load sensor 31 on the forward side becomes larger than a predetermined value. In this case, the ON operation determination unit 41 determines that “there is a load (with an ON operation)” with respect to the forward load sensor 31. On the other hand, when the occupant stops the forward tilt or the load (the vehicle may tilt backward, but does not necessarily have to tilt largely backward), the output value of the forward load sensor 31 becomes equal to or less than a predetermined value. For example, even when the thumb is raised, the output value of the forward load sensor 31 is not more than a predetermined value. In this case, the ON operation determination unit 41 determines “no load (no ON operation)” for the forward load sensor 31.

The acceleration control unit 42 controls the motor 21 to accelerate to a predetermined speed when it is determined by the on operation determination unit 41 that there is any load on the two load sensors 31 arranged at the forward position. Drive control. In this embodiment, regardless of the magnitude of the load, when there is a load, the motor 21 is driven and controlled to accelerate to a predetermined speed at a constant acceleration. When the predetermined speed is reached, the acceleration control unit 42 stops the acceleration and drives and controls the motor 21 so as to maintain the predetermined speed. In addition, although it accelerated with fixed acceleration here, this is only an example and how to accelerate is not limited to this.

In the present embodiment, the acceleration control by the acceleration control unit 42 is not started unless the weight is detected in all of the four load sensors 31 and 32. For this reason, it is possible to avoid the inconvenience that the single-seat mobile device starts running in a state where one of the passengers first places one foot on boarding board 10. After the acceleration control by the acceleration control unit 42 is started, the acceleration control unit 42 performs the acceleration control if the weight is detected on both sides of the left and right load sensors 31 on the forward side.

The deceleration control unit 43 drives the motor 21 to perform deceleration when the on-operation determination unit 41 determines that there is no load on at least one of the two load sensors 31 arranged at the forward side position. Control. In this embodiment, while it is detected that no load is applied to at least one of the two load sensors 31, the motor 21 is driven and controlled to decelerate at a constant deceleration (minus acceleration). Then, when deceleration is performed until the speed becomes zero, the deceleration control unit 43 stops the deceleration control. Although the deceleration is performed at a constant deceleration here, this is only an example, and the method of deceleration is not limited to this.

It should be noted that the foot may move due to vibration during traveling, and the load on the forward load sensor 31 may temporarily disappear. It is preferable not to perform deceleration control until such a case. Therefore, the deceleration control unit 43 performs deceleration when it is determined by the on-operation determination unit 41 that there is no load on at least one of the two load sensors 31 on the forward side for a predetermined time or longer. It is preferable to drive and control the motor 21.

The stop control unit 44 stops the motor 21 when the ON operation determination unit 41 determines that there is no weight in all of the four load sensors 31 and 32 arranged at the forward side position and the reverse side position. The drive is controlled to As a result, when the passenger jumps off the boarding platform 10 while traveling forward, the single-seat mobile device immediately stops on the spot.

As for the stop control by the stop control unit 44, the drive of the motor 21 is stopped when it is determined that no load is applied in all of the four load sensors 31, 32 for a predetermined time or longer. Also good.

As described above in detail, in the present embodiment, based on the output signal of the load sensor 31 arranged at the forward side position of the boarding base 10, the presence or absence of weighting on the load sensor 31 is determined, and at least one of the load sensors When it is determined that there is no weight on the motor 31, the motor 21 is driven and controlled to decelerate.

According to this embodiment configured as described above, the vehicle can be decelerated only by turning off the load applied to the load sensor 31 disposed on the forward side. There is no need to move the back to the back. As a result, the body is not tilted backward during forward travel and the balance is not lost, and the deceleration operation during forward travel can be easily performed.

Further, in this embodiment, the forward load sensor 31 is disposed at a position including at least a part of the curved surface portion of the boarding base 10, and when the output value of the forward load sensor 31 is larger than a predetermined value, “weighting” is performed. Since “determined (with ON operation)” is determined, it can be set as “with weight (with ON operation)” only when the passenger leans forward or weights forward. For this reason, it is determined that there is no weighting (no on operation) simply by the passenger stopping forward leaning or weighting, and deceleration control by the deceleration control unit 43 is performed. For example, the deceleration operation can be performed even when the passenger raises the thumb.

In the above-described embodiment, the example in which the load sensors 31 and 32 are provided at the four places on the front, rear, left and right of the boarding base 10 has been described, but the present invention is not limited to this. For example, only two load sensors 31 on the forward side may be provided. In this case, for example, it is possible to drive and control the motor 21 so that acceleration is applied when both the load sensors 31 are loaded, deceleration is performed when only one load is not applied, and stop is performed when both are not loaded.

In the above embodiment, an example in which the load sensors 31 and 32 are provided on both the left and right sides has been described, but the present invention is not limited to this. For example, two

load sensors

31L and 32L may be provided before and after the left side only. Or you may make it provide the two

load sensors

31R and 32R before and behind only the right side. In this case, for example, the motor 21 is driven so as to accelerate when there is a load on the load sensor 31L on the forward side, decelerate when there is only no load on the load sensor 31L on the forward side, and stop when there is no load on both front and rear. It is possible to control.

In the above embodiment, the example in which the two

load sensors

31L and 31R are provided at the two left and right positions on the forward side has been described, but the present invention is not limited to this. For example, as shown in FIG. 5, a load sensor 51 having a length from the vicinity of the left end of the boarding base 10 to the vicinity of the right end thereof, which is configured to be able to detect a position where the weight is applied, is used. Also good. You may use the load sensor 52 comprised similarly about the reverse side.

Further, in the above-described embodiment, an example of “no weight (no on operation)” when the output values of the load sensors 31 and 32 are equal to or smaller than a predetermined value, and “weighted (on operation)” when the output value is larger than the predetermined value. However, the present invention is not limited to this. For example, the value output from the load sensors 31 and 32 when the passenger first boarded the boarding base 10 is stored as a reference value. If the sensor output value is equal to or less than the reference value, “no weight (no ON operation)” "When the sensor output value is larger than the reference value," with weight (with ON operation) "may be set.

In the above embodiment, an example in which the load sensors 31 and 32 are used as an example of the detection device has been described. However, the present invention is not limited to this. For example, you may use the switch which switches on / off according to pressing operation with a passenger | crew's leg | foot. Or you may use the distance sensor (For example, the infrared sensor provided with the light emitting element and the light receiving element) which detects the distance of the boarding board 10 and a passenger | crew's leg | foot. When the distance sensor is used, it is determined whether the distance between the boarding platform 10 and the passenger's foot is equal to or less than a predetermined value based on the output signal of the distance sensor. Yes) ", and when it is greater than the predetermined value, it is determined that there is no weight (no ON operation).

In the above embodiment, the example in which the load sensors 31, 32 and the pusher 33 are arranged as shown in FIG. 3B has been described, but the present invention is not limited to this. For example, you may arrange | position like FIG. In the example of FIG. 6, four concave depressions carved upward are provided on the back surface side of the cover portion 10b, and the pusher 33 is disposed on the upper surface of each depression. Then, load sensors 31 and 32 are arranged at positions facing the pusher 33 on the upper surface of the base portion 10a.

Alternatively, it may be configured as shown in FIG. In the example of FIG. 7, similarly to FIG. 6, four concave depressions carved upward are provided on the back surface side of the cover portion 10 b. In the example of FIG. 7, load sensors 31 and 32 are disposed on the upper surface of the base portion 10 a at positions facing the recesses of the cover portion 10 b, and a belt-like pusher is disposed on the upper surface of the reaction portion of the load sensors 31 and 32. 33 'is arranged. The load sensors 31 and 32 and the pusher 33 'disposed on the upper surface thereof are configured to fit into the recess of the cover portion 10b.

As shown in FIG. 6 and FIG. 7, it is preferable that a sufficient strength can be secured to the base portion 10a by providing a digging in the cover portion 10b.

Moreover, although the said embodiment demonstrated the structure which connects between the motor 21 and the wheel 15 with a drive via the connection member 22, this invention is not limited to this. For example, it is good also as a structure of the in-wheel motor which incorporated the motor in the wheel with a drive.

In the above embodiment, the example in which the two motorized wheels 15 are independently driven by the two motors 21 has been described, but the present invention is not limited to this. For example, two motorized wheels 15 may be driven by one motor. In this case, a differential gear can be used as an example of a connecting member that connects the two wheels 15 with drive and one motor. In this way, the two driven wheels 15 are driven by the same motor with the same applied voltage (torque) while the two driven wheels 15 are driven in accordance with the position of the center of gravity of the passenger riding on the boarding base 10. 15 can change the rotational speed of the two wheels 15 with drive.

In the above-described embodiment, an example in which two driving wheels 21 as front wheels are provided on the left and right sides has been described, but only one in the center may be provided.

In the above embodiment, the example in which the torque or applied voltage applied to the two motors 21 is the same has been described. However, the control for changing the applied voltage of the two left and right motors 21 according to the turning direction is further performed. May be.

In addition, each of the above-described embodiments is merely an example of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner. That is, the present invention can be implemented in various forms without departing from the gist or the main features thereof.

DESCRIPTION OF SYMBOLS 10 Boarding board 11 Circuit accommodating part 12 Motor accommodating part 15 Wheel with drive 16 Caster 21 Motor 31 Forward load sensor (detection device)
32 Reverse load sensor (detection device)
33 Pusher 41 On-operation determination unit 42 Acceleration control unit 43 Deceleration control unit 44 Stop control unit

Claims

It is a configuration type with wheels on a board-like boarding board, and it is a single-passenger mobile device that can perform traveling control by moving the center of gravity of the passenger,
A plurality of wheels, and a board that houses a motor that drives at least a part of the plurality of wheels and a control circuit that drives and controls the motor; and
A detection device that is disposed at least on the forward side of the boarding board and detects an on-operation by the feet of the passenger,
The control circuit has the following functional configuration:
An on-operation determining unit that determines the presence or absence of an on-operation by the passenger's foot, based on an output signal of the detection device;
A single-seat comprising a deceleration control unit that drives and controls the motor to decelerate when the on-operation determination unit determines that the forward-side detection device does not have the on-operation Mobile equipment.
The detection device is configured to detect the on-operation at left and right positions on the forward side of the boarding platform,
The on-operation determining unit determines the presence or absence of the on-operation at left and right positions on the forward side based on an output signal of the detection device,
The deceleration control unit drives and controls the motor to perform deceleration when the on operation determination unit determines that there is no on operation for at least one of the left and right positions,
An acceleration control unit that drives and controls the motor so as to accelerate to a predetermined speed when the on operation determination unit determines that there is any on operation for the left and right positions. Item 1. A single-seat mobile device according to item 1.
The deceleration control unit drives and controls the motor to decelerate when the on-operation determination unit determines that the absence of the on-operation has continued for a predetermined time or more with respect to the forward detection device. The single-seat mobile device according to claim 1 or 2.
The detection device includes a load sensor,
The on-operation determining unit determines that there is no on-operation when the output value of the forward load sensor is equal to or smaller than a predetermined value, and that there is an on-operation when larger than the predetermined value. A single-seat mobile device according to any one of the above.
In addition to the position on the forward side of the boarding board, the detection device is also arranged at a position on the backward side of the boarding board,
The deceleration control unit is configured to decelerate the motor when the on operation determination unit determines that there is no on operation for at least one of the left and right positions with respect to the detection device arranged at the forward position. Drive control,
The acceleration control unit is configured to accelerate to a predetermined speed when the on operation determination unit determines that both the left and right positions of the detection device arranged at the forward position are present. Drive control of the motor,
A stop control unit that performs drive control to stop the motor when the on operation determination unit determines that there is no on operation for all of the detection devices disposed at the forward position and the reverse position. The single-seat mobile device according to claim 2, further comprising:
The boarding board has a curved surface portion that curves downward at the forward side position,
The pre-detection device is configured by a load sensor, and the load sensor is disposed at a position including at least a part of the curved surface portion,
The on-operation determining unit determines that there is no on-operation when the output value of the load sensor is less than or equal to a predetermined value, and that there is an on-operation when greater than the predetermined value. A single-seat mobile device according to item 1.
The boarding board is composed of a double structure of a base part and a cover part that covers the base part,
On the back side of the cover part, a concave recess carved upward is provided,
5. The one person according to claim 4, wherein the load sensor is arranged at a position facing the depression on the upper surface of the base portion, and a belt-like pusher is arranged on the upper surface of the load sensor. Ride and move equipment.