Motor control device and motor control method

Abstract

To provide an electric kick board that eliminates the need for a rider to kick the ground.SOLUTION: A motor control device 10 for an electric kick board includes: an accelerator 26 that instructs a traveling speed; a start button 25; a motor 23; an accelerator determination unit 13 that determines an ON state of the accelerator 26; a start-button determination unit 14 that determines an ON state of the start button 25; and a travel control unit 17 that, when the accelerator 26 is in the ON state and the start button 25 is in the ON state, outputs a control signal for driving the motor 23 to a drive unit 20 as an issued travel instruction.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a motor control device and a motor control method for an electric kickboard. [Background technology]

[0002] Conventionally, there are electric kick scooters in which the user kicks the ground to move the scooter, and the motor is started when the scooter reaches a speed of 3 km / h. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Utility Model Registration No. 3232835 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide an electric kickboard that does not require a rider to kick the ground to start the motor. [Means for solving the problem]

[0005] The motor control device according to the present disclosure is a motor control device for an electric kickboard having an accelerator and a motor, The launch button and an accelerator determination unit that determines whether the accelerator is on; a start button determination unit that determines an on state of the start button; a driving control unit that outputs a control signal for driving the motor when the accelerator is in an on state and the start button is in an on state, assuming that a driving command has been issued; Equipped with: Effect of the Invention

[0006] In the present disclosure, when the accelerator is on and the start button is on, the driving control unit starts the motor, so that the rider does not need to kick the ground. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of a motor control device 10. [Diagram 2] FIG. 2 is a side view of the motor control device 10. [Diagram 3] FIG. 2 is a plan view of the motor control device 10. [Figure 4] FIG. 2 is a plan view of the motor control device 10 with the seat 41 removed. [Diagram 5] 1 is a block diagram of a motor control device 10 according to a first embodiment. [Figure 6] 4 is a flow chart of a motor control method. [Figure 7] 4 is a flow chart of a motor control method. [Figure 8] 4 is a flow chart of a motor control method. [Figure 9] 4 is a flow chart of a motor control method. [Figure 10] FIG. 11 is a block diagram of a motor control device 10 according to a second embodiment. [Figure 11] 4 is a flow chart of a motor control method. [Figure 12] 4 is a flow chart of a motor control method. [Figure 13] 6 is a flowchart of a motor control method using only the start button 25. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0009] Embodiment 1 ***Explanation of the configuration of the electric kickboard 100*** ●●●Electric kickboard 100●●● FIG. 1 is a diagram showing an electric kickboard 100. As shown in FIG.

[0010] ●Specific small motorized bicycle● The electric kickboard 100 is considered a "motorcycle" under the Road Traffic Act, and depending on the rated output, may be considered a "normal motorcycle." The electric kickboard 100 is a "specific small motorized bicycle" as defined by the "Act to partially amend the Road Traffic Act (Act No. 32 of 2022)." The standards for a "specific small motorized bicycle" as stipulated in the "Road Traffic Act Enforcement Regulations as amended by the Cabinet Office Ordinance Partially Amending the Road Traffic Act Enforcement Regulations (Cabinet Office Ordinance No. 17 of 2023) (Cabinet Office Ordinance No. 60 of 1960)" are as follows. Vehicle size: Length: 190cm or less. Vehicle width: 60cm or less. Body structure: -The prime mover must be an electric motor with a rated output of 0.60 kilowatts or less. -You cannot go faster than 20km / h. -The maximum speed setting cannot be changed while driving. -An automatic transmission mechanism is installed. -The vehicle must be equipped with a maximum speed indicator as stipulated in Article 66-17 of the Road Transport Vehicle Safety Standards.

[0011] The electric kickboard 100 described below is assumed to have the configuration and functions corresponding to a specific small motorized bicycle.

[0012] ●Specially designated small motorized bicycles● The electric kickboard 100 is a "specially designated small motor-driven bicycle." A "specially specified small motorized bicycle" is a "specified small motorized bicycle" that meets any of the following 1 to 5 and is not towing another vehicle (excluding those that can be controlled remotely). 1. Flashing the maximum speed indicator while traveling on a sidewalk, etc. 2. Due to the structure of the vehicle, it is not possible to exceed a speed of 6 kilometers per hour while the maximum speed indicator light is flashing. (If a specific small motorized bicycle is driven at a speed not exceeding 6 kilometers per hour by operating the accelerator, this requirement is not met and the bicycle is not considered a special specific small motorized bicycle.) 3. No sidecar is attached. 4. The brakes are in a position where they can be easily operated while driving. 5. No sharp protrusions.

[0013] The electric kickboard 100 described below is assumed to have the configuration and functions that correspond to a specially specified small motorized bicycle.

[0014] The electric kickboard 100 does not have pedals like those used on bicycles. The electric kickboard 100 is not an electrically assisted bicycle. The electric kickboard 100 has a footboard 31, a front frame 32, and a rear frame 33 as its main housing.

[0015] ●Stepladder 31● The step 31 is a flat platform on which the feet are placed while running. On the side of the platform 31, there is a stand 34 for parking the electric kickboard 100. The step 31 incorporates the motor control device 10, the drive unit 20, and the battery 22. A seat pipe 42 is fixed to the rear of the footstool 31 and extends upward. A rear frame 33 is fixed to the rear side of the rear part of the step stool 31. A front frame 32 is fixed to the front of the step stool 31 so as to face upward.

[0016] ●Front frame 32● The front frame 32 is fixed to the center of the front part of the step 31 alone. The front frame 32 curves forward along the front wheel cover 54 . A head pipe 62 is fixed to the tip of the front frame 32.

[0017] ●Rear frame 33● The rear frame 33 extends obliquely upward from the rear side of the footboard 31 toward the wheel axis X of the rear wheel 52. The rear frame 33 has a wheel axis X of a rear wheel 52 fixed to its tip. As shown in FIG. 4, the rear frame 33 has a right rear frame 33R and a left rear frame 33L.

[0018] ●Front wheel 51 and rear wheel 52● At the front and rear of the step 31, there are a single front wheel 51, a front wheel cover 54, a single rear wheel 52, and a rear wheel cover 55.

[0019] ●Sheet 41● The seat 41 has a saddle that serves as a seat, and a pipe-shaped saddle post to which the saddle is fixed at the upper portion. The saddle post of the seat 41 is inserted into the seat pipe 42 and fixed thereto. The height of the seat 41 can be adjusted by changing the insertion amount of the saddle post.

[0020] ●Handle 61● The handle 61 is T-shaped. The handlebar 61 has a handlebar extending to the left and right and having grips 64 at both ends, and a handlebar post extending downward from the handlebar. The height of the handle 61 can be adjusted by changing the insertion amount of the handle post. The handle 61 is rotatably attached to the front of the platform. The handle 61 has a power switch 21, a start button 25, an accelerator 26, and a brake lever 27 fixed thereto. The handlebar 61 has the accelerator 26 attached near one of the grips 64 . The handle 61 has a start button 25 attached near the other grip 64 . Although not shown, the power switch 21, the start button 25, and the accelerator 26 are connected to the motor control device 10 by electric wires.

[0021] ●Head pipe 62● The lower part of the handle post is inserted into the head pipe 62 from the top. The upper part of the front fork 63 is inserted into the head pipe 62 from the lower part.

[0022] ●Front fork 63● The front fork 63 mounts the front wheel 51 rotatably about the wheel axis X of the front wheel 51 . The upper portion of the front fork 63 is inserted into the head pipe 62 from below. The front fork 63 is rotatably attached to the head pipe 62 . The front fork 63 rotates around the pipe axis of the head pipe 62 when the handlebars 61 are rotated.

[0023] ●Motor 23● The motor 23 is fixed to the rear frame 33 . The rotation of the motor 23 causes the rear wheel 52 to rotate.

[0024] ●Side view auxiliary frame 43● As shown in FIG. 2, the auxiliary frame 43 has an upper straight portion 431, a lower straight portion 432, and a bent portion 433 in a side view.

[0025] ●Auxiliary frame 43 in plan view● As shown in FIG. 4, in a plan view, the auxiliary frame 43 has an outer extension portion 434, a lower extension portion 435, and an arcuate curved portion 436.

[0026] ●Drive unit 20● The drive unit 20 drives the motor 23 in response to a control signal from the motor control device 10 .

[0027] ●Power switch 21● The power switch 21 is a power switch for the electric kickboard 100. The power switch 21 is a switch that supplies power from a battery 22 to the motor control device 10, the drive unit 20, and the motor 23. The power switch 21 is fixed to the inside of the left grip 64 of the handle 61 . The power switch 21 can be operated with the thumb of the left hand while the left hand is gripping the left grip 64. The power switch 21 may be located in the center of the handlebar. The power switch 21 may be located on the handle post.

[0028] ●Battery 22● The battery 22 is a storage battery.

[0029] ●Motor 23● The rotation of the motor 23 causes the rear wheel 52 to rotate.

[0030] ●Speed ​​sensor 24● The speed sensor 24 detects the rotation speed of the motor 23 to detect the traveling speed of the electric kickboard 100 . The speed sensor 24 may detect the rotational speed of the rear wheel 52 . The speed sensor 24 is fixed to the motor 23 or the rear frame 33 .

[0031] ●Start button 25● The start button 25 is a button that, when in the on state, permits the electric kickboard 100 to start moving. The start button 25 is fixed to the inside of the left grip 64 of the handlebar 61. The start button 25 can be operated with the thumb of the left hand while the left hand is gripping the left grip 64. The start button 25 may be fixed together with the power switch 21 . The start button 25 and the power switch 21 may be located separately.

[0032] ●Axel 26● The accelerator 26 instructs the motor control device 10 on the traveling speed. The axel 26 indicates the traveling speed by changing the amount or angle of rotation. The axle 26 is fixed to the inside of the right grip 64 of the handlebars 61 . The accelerator 26 can be operated with the thumb or palm of the right hand while the right hand is gripping the right grip 64 .

[0033] ●Brake lever 27● The brake lever 27 operates a braking mechanism (not shown) attached to the wheel. The brake lever 27 is connected to a brake mechanism by a wire. The brake lever 27 restricts the rotation of the front wheel 51 or the rear wheel 52 by means of a brake mechanism.

[0034] ●Auxiliary frame 43● The auxiliary frame 43 supports the seat pipe 42 from the rear. The auxiliary frame 43 prevents the seat pipe 42 from falling backward. The auxiliary frame 43 is provided to maintain the inclination of the seat pipe 42 since the seat pipe 42 is inclined rearward. There are two auxiliary frames 43, one on either side of the rear wheel 52. The lower end of the auxiliary frame 43 is fixed to the rear end of the rear frame 33 and the wheel axle X. The lower end of the auxiliary frame 43 is provided with a through hole through which the wheel axle X of the rear wheel 52 passes. The lower end of the auxiliary frame 43 is fixed by a nut attached to the wheel axle X with the wheel axle X passing through it. The lower end of the auxiliary frame 43 intersects with the rear frame 33 at an intersection angle S of 90 degrees in a side view, and the auxiliary frame 43 and the rear frame 33 are perpendicular to each other. The upper end of the auxiliary frame 43 is welded to the upper part of the seat pipe 42. The upper end of the auxiliary frame 43 is fixed to the upper part of the seat pipe 42 . The upper end of the auxiliary frame 43 is fixed to a position above half the length of the seat pipe 42. It is desirable that the upper end of the auxiliary frame 43 be fixed to a position above 70% of the length of the seat pipe . It is desirable that the upper end of the auxiliary frame 43 be fixed to a position above 90% of the length of the seat pipe . The auxiliary frame 43 also has the function of maintaining the ring shape of the seat pipe 42. At the position where the auxiliary frame 43 is fixed, the rigidity of the ring-shaped seat pipe 42 is strengthened. The upper end of the auxiliary frame 43 is fixed above the position where the lower end of the seat post exists when the seat 41 is at the lowest position. It is desirable that the upper end of the auxiliary frame 43 be fixed above the position where the lower end of the seat post exists when the seat 41 is in the uppermost position. It is preferable that the upper end of the auxiliary frame 43 is fixed to the upper end of the seat pipe in order to increase the rigidity of the ring shape at the upper end of the seat pipe . The rearward force acting on the seat pipe 42 is received at the wheel axis X by the auxiliary frame 43. Even if the seat pipe 42 tends to fall backward due to the body weight or impact, the seat pipe 42 will not tilt because the auxiliary frame 43 supports it at the wheel axis X.

[0035] The auxiliary frame 43 does not have to be bent in a V-shape when viewed from the side. The auxiliary frame 43 may be entirely arc-shaped when viewed from the side. The auxiliary frame 43 may be entirely linear in side view. The auxiliary frame 43 may be entirely arc-shaped in plan view. The auxiliary frame 43 may be entirely linear in plan view. The auxiliary frame 43 may be in the shape of a bifurcated fork. The seat pipe 42 and two linear auxiliary frames 43 may form a tripod shape.

[0036] ●Reinforcement frame 44● The reinforcing frame 44 is a horizontal straight pipe. The reinforcing frame 44 is fixed between the two auxiliary frames. The reinforcing frame 44 prevents the auxiliary frame 43 from being deformed.

[0037] ●Front wheel 51 and rear wheel 52● The front wheels 51 and rear wheels 52 have the same diameter. The front wheels 51 and the rear wheels 52 are pneumatic tires. Pneumatic tires have the following features: 1. The air acts as a cushion, making the ride comfortable. 2. Absorbs unevenness in the road surface and cushions the impact during a collision. 3. Noise generated between the tires and the road surface is reduced. 4. Supports the weight of the electric kickboard 100 and the rider while maintaining durability. 5. Even if it gets punctured, it can be easily replaced.

[0038] ●●●Dimensions and angles●●● Suitable examples of dimensions and angles shown in FIG. A: Height 1237mm B: Total length 1415mm C: Wheel axle spacing 1000mm D: Step length 322mm E: Tilt angle 105 degrees F: Tilt angle 168 degrees G: Diameter 32mm H: Diameter 22mm I: Seat height 560~760mm J: Diameter 410mm K: Diameter 50mm L: 24mm M: Step height 63.5mm N: Bending angle 140 degrees O: Ground clearance 118mm P: Shape material 75mm*40mm Q: Tilt angle 105 degrees S: Intersection angle 90 degrees

[0039] Suitable examples of dimensions and angles shown in FIG. W: Handle width 580mm V: Step width 220mm

[0040] The electric kickboard 100 has the following features. ● Rearward inclination of seat pipe 42 ● (Fig. 2) The rearward inclination angle E of the seat pipe 42 with respect to the horizontal direction is greater than 90 degrees. The inclination angle E is preferably equal to or greater than 95 degrees and equal to or less than 115 degrees. Furthermore, the inclination angle E is preferably equal to or greater than 100 degrees and equal to or less than 110 degrees, and is optimally equal to 105 degrees. Because the seat pipe 42 is inclined backward, the space above the footboard 31 is wider than when the seat pipe 42 is fixed perpendicular to the footboard 31, making it easier for passengers to get on and off. In addition, the front end of the seat 41 is located behind the rear end of the footboard 31. In addition, the front end of the seat 41 is located rearward of the lower end of the seat pipe 42. This increases the space above the platform 31, making it easier for passengers to board and disembark. In addition, even if a passenger stands while riding, the front end of the seat 41 will not hit the passenger's back or buttocks.

[0041] ● Passenger weight position (C position in the center of the seat) ● Due to the rearward inclination of the seat pipe 42, the seat 41 is disposed rearward of the lower end of the seat pipe 42. The center C of the seat 41 in the fore-and-aft direction (or the upper end of the seat post) is located at the upper part between the tip of the tire of the rear wheel 52 and the wheel axis X of the rear wheel 52, regardless of whether the height of the seat 41 is set to the lowest or highest height. Therefore, the weight of a passenger seated on the seat 41 is exerted downward between the tip of the tire of the rear wheel 52 and the wheel axis X of the rear wheel 52 . Therefore, even if the front wheel 51 hits an obstacle, the electric kickboard 100 can be prevented from tipping forward. Furthermore, since more weight is applied to the rear wheel 52 than to the front wheel 51, friction between the front wheel 51 and the road surface is reduced, making it easier to turn the handlebars 61.

[0042] ●Tilt angle Q = Tilt angle E● The head pipe 62 and the seat pipe 42 are parallel to each other. The head pipe 62 and the seat pipe 42 are inclined rearward at an angle Q and an inclination angle E, respectively, of the head pipe 62 and the seat pipe 42 relative to the horizontal direction. Therefore, even if the height of the seat 41 or the height of the handlebars 61 is changed, the distance between the seat 41 and the handlebars 61 does not change, so the passenger does not feel uncomfortable due to the height change and no discomfort is experienced when operating the handlebars.

[0043] ●Tilt angle Q<Tilt angle E● The seat pipe 42 may be inclined rearward relative to the head pipe 62 . The rearward inclination angle E of the seat pipe 42 with respect to the horizontal direction may be larger than the rearward inclination angle Q of the head pipe 62 with respect to the horizontal direction. When the inclination angle E is greater than the inclination angle Q, the distance between the seat 41 and the handlebars 61 is increased by increasing the height of the seat 41 or the height of the handlebars 61. Typically, passengers with a larger build will increase the height of the seat 41 (and the height of the handlebars 61), so it is convenient for such passengers to increase the height of the seat 41 (and the height of the handlebars 61) and thereby increase the distance between the seat 41 and the handlebars 61.

[0044] ●Side view auxiliary frame 43●(Fig. 2) As shown in FIG. 2, the auxiliary frame 43 has an upper straight portion 431, a lower straight portion 432, and a bent portion 433 in side view. The upper straight portion 431 is located at the upper portion of the auxiliary frame 43 in a side view. The upper straight portion 431 is a straight pipe that is inclined downward from the seat pipe 42 in a side view. The lower straight portion 432 is located at the lower part of the auxiliary frame 43 in a side view. The lower straight portion 432 is a straight pipe that is inclined downward from the upper straight portion 431 in a side view. The bent portion 433 is located between the upper straight portion 431 and the lower straight portion 432 in a side view. The bent portion 433 is a portion bent at a bending angle N of 140 degrees in side view. The bent portion 433 is a portion that is bent in a convex shape toward the rear in a side view. The bent portion 433 may be omitted, and the upper straight portion 431 and the lower straight portion 432 may be linear in side view. The bent portion 433 does not have to be in the shape of a circular arc. The bend 433 may be angular. The bending angle N of the bending portion 433 does not have to be 140 degrees. The bending angle N of the bending portion 433 may be any angle as long as it is equal to or greater than 90 degrees and less than 180 degrees. The bending angle N of the bent portion 433 is desirably equal to or greater than 120 degrees and less than 160 degrees.

[0045] ●Relationship between normal impact and bending part 433● (Fig. 2) The diameter H of the pipe of the auxiliary frame 43 is smaller than the diameter G of the pipe of the seat pipe 42 . The strength of the auxiliary frame 43 is weaker than the strength of the seat pipe 42 . The strength of the auxiliary frame 43 is weaker than the strength of the rear frame 33 . The auxiliary frame 43 has a bent portion 433 located approximately in the center. Therefore, the bent portion 433 can function as a spring, and the presence of the bent portion 433 can absorb shocks that occur during driving. The bending angle N is 140 degrees when the vehicle is stopped, but changes to, for example, 139 degrees or 141 degrees due to an impact while the vehicle is moving. Therefore, the impact from the road surface received by the rear wheel 52 on the seat 41 is first absorbed by the pneumatic tire of the rear wheel 52, and can further be absorbed by the change in the bending angle N of the bending portion 433.

[0046] ●Relationship between excessive impact and bent part 433● (Fig. 2) The auxiliary frame 43 has a bent portion 433, and is therefore prone to bending at the bent portion 433. The bent portion 433 is provided to allow the seat pipe 42 to tilt rearward in the event that an unexpected force exceeding an allowable range is applied to the seat pipe 42 due to a collision accident. When an excessive impact occurs, the bent portion 433 bends rearward at an angle of less than 140 degrees, allowing the seat pipe 42 (and the seat post) to fall rearward while maintaining a straight shape. The auxiliary frame 43 is attached to the wheel axle X with the wheel axle X passing through a through hole at the lower end thereof. If the bending portion 433 is bent at an angle of less than 140 degrees due to an excessive impact, the through hole at the lower end of the auxiliary frame 43 rotates around the wheel axis X, and the intersection angle S between the auxiliary frame 43 and the rear frame 33 becomes more than 90 degrees. This makes it possible to prevent bodily injury to the rider due to breakage or rupture of the seat pipe 42 (and the seat post).

[0047] ●Relationship between the auxiliary frame 43 and the rear frame 33● (Fig. 2) In a side view, the rear frame 33, the seat pipe 42, and the auxiliary frame 43 form a substantially triangular shape. Alternatively, in a side view, the rear frame 33, the seat pipe 42, and the auxiliary frame 43 form a substantial isosceles triangle with the rear frame 33 as the base. The auxiliary frame 43 maintains the inclination of the seat pipe 42 and also maintains the inclination of the rear frame 33. The footstool 31 and the rear frame 33 are not horizontal when viewed from the side. The rear frame 33 is attached to the footstool 31 at an inclination angle H of 168 degrees. The front end of the rear frame 33 is welded to the rear part of the footstool 31. The rear end of the rear frame 33 is provided with a through hole through which the wheel axle X of the rear wheel 52 passes. The rear end of the rear frame 33 is fixed by a nut attached to the wheel axle X with the wheel axle X passing through it. The vertical force acting on the rear frame 33 is received by the auxiliary frame 43 via the wheel axle X. Even if the rear frame 33 tends to deform in the vertical direction due to body weight or impact, the auxiliary frame 43 supports the wheel axle X, so that deformation of the rear frame 33 can be prevented.

[0048] ●Vehicle width●(Fig. 3) As shown in FIG. 3, in plan view, the width (length in the left-right direction) of the electric kickboard 100 excluding the handlebars 61 is maximum when the platform width V (220 mm) of the platform 31 is reached. The vehicle width excluding the handlebars 61 (step width V) is less than half the handlebar width W (580 mm) of the handlebars 61. The vehicle width excluding the handlebars 61 (step width V) is 30% to 40% of the handlebar width W (580 mm) of the handlebars 61. In plan view, only the handle 61 is larger than the platform width V. In plan view, the width of the seat 41 is smaller than the platform width V. In plan view, the width of the two rear frames 33 is smaller than the platform width V. In plan view, the width of the two auxiliary frames 43 is smaller than the platform width V. Therefore, there is nothing protruding from the rear of the handle 61 of the electric kickboard 100, allowing for safe riding.

[0049] ●Auxiliary frame 43 in plan view● (Fig. 4) The auxiliary frame 43 is located inside the outer periphery of the electric kickboard 100 in a plan view. The auxiliary frame 43 is located inside the outer contours of the step 31 and the rear frame 33 in a plan view. As shown in FIG. 4, the auxiliary frame 43 has an outer extension portion 434, a lower extension portion 435, and an arcuate curved portion 436 in plan view. The outer extension portion 434 is located at the upper part of the auxiliary frame 43 in a plan view. The outward extension portion 434 extends linearly outwardly of the seat pipe 42 in a plan view. The outward extensions 434 extend from the left and right sides of the seat pipe 42 in a direction perpendicular to the front-rear direction in a plan view. The lower extension portion 435 is located at the lower part of the auxiliary frame 43 in a plan view. The lower extension portion 435 extends linearly rearward from the outer extension portion 434 in a plan view. The arcuate curved portion 436 is located between the outer extension portion 434 and the lower extension portion 435 in a plan view. The arcuate curved portion 436 is a curved portion that is an arc with a central angle of 90 degrees in a plan view.

[0050] ●External extension 434● (Fig. 4) The outer extensions 434 are welded to both the left and right sides of the seat pipe 42 . The outward extension portion 434 extends straight in the left-right direction of the seat pipe 42, and prevents the seat pipe 42 from tipping over to the left or right. The outward extension 434 may be omitted. When the outward extension 434 is not included, the ends of the arcuate bent portion 436 are welded to both the left and right sides of the seat pipe 42.

[0051] ●Lower extension 435●(Fig. 4) In a plan view, the lower extension portion 435 of the right auxiliary frame 43R and the lower extension portion 435 of the left auxiliary frame 43L are parallel to each other. The inner width of the lower extension portion 435 of the right auxiliary frame 43R and the lower extension portion 435 of the left auxiliary frame 43L is greater than the tire width of the rear wheel 52 and the cover width of the rear wheel cover 55. The outer width between the lower extension portion 435 of the right auxiliary frame 43R and the lower extension portion 435 of the left auxiliary frame 43L is the same as the platform width V of the platform 31 or smaller than the platform width V of the platform 31. The outer width of the lower extension portion 435 of the right auxiliary frame 43R and the lower extension portion 435 of the left auxiliary frame 43L is the same as or smaller than the width of the rear frame 33. In plan view, the lower extension portion 435 of the right auxiliary frame 43R and the lower extension portion 435 of the left auxiliary frame 43L are present inside the outer contour of the rear frame 33.

[0052] ●Arc-shaped curved section 436● (Fig. 4) The arcuate curved portion 436 connects the outer extension portion 434 and the lower extension portion 435 so that the outer extension portion 434 and the lower extension portion 435 are perpendicular to each other in a plan view. As shown in FIG. 3, the arcuate curved portion 436 is disposed so as to be hidden under the sheet 41 in plan view. The arcuate curved portion 436 does not protrude from the seat 41 on either side, and therefore does not interfere with passengers getting on and off the seat. The curved portion 436 has a smooth arc shape that is convex forward and to the left and right, and therefore will not injure a passenger or catch objects.

[0053] ●Diameter of front wheel 51 and rear wheel 52●(Figure 2) With respect to the overall length B of the electric kickboard 100, the sum of the diameters of the front wheel 51 and the rear wheel 52 is 60% (50% or more). With respect to the overall length B of the electric kickboard 100, each of the diameters J of the front wheel 51 and the rear wheel 52 accounts for 30% (28.9%). Diameter J÷Total length B*100=410mm÷1415mm*100=28.9% Larger wheel diameters have the following advantages: 1. The tire's rotational energy can be easily transmitted to the ground. 2. The flywheel effect helps stabilize speed. 3.Extended tire life. 4. Pneumatic tires can be used. The front-to-rear length of the step 31 is up to 40% of the total length B. To compensate for the drawback that the footstool 31 is short in length from front to rear, the seat pipe 42 is inclined backward to widen the space above the footstool 31.

[0054] ***Description of the configuration of the motor control device 10*** ●●●Motor control device 10●●● (Fig. 5) FIG. 5 is a block diagram of motor control device 10. The motor control device 10 is built into the step 31 . The motor control device 10 includes a processor 11, a memory 12, and a storage unit 18. When the accelerator 26 and the start button 25 are in the on state, the motor control device 10 outputs a control signal to the drive unit 20 to start the electric kickboard 100.

[0055] The motor control method described below can be realized using a motor control device 10, which is a computer. The computer includes hardware such as a processor 11, a memory 12, a storage unit 18, and an input / output interface (not shown). These pieces of hardware are connected to each other via signal lines.

[0056] The processor 11 is an IC that performs arithmetic processing and controls other hardware. For example, the processor 11 is a CPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit.

[0057] The memory 12 is a volatile storage device. The memory 12 is also called a primary storage device or a main memory. For example, the memory 12 is a RAM. The data stored in the memory 12 is saved in the storage unit 18 as necessary. RAM is an abbreviation for Random Access Memory.

[0058] The storage unit 18 is a non-volatile storage device. For example, the storage unit 18 is a ROM, a HDD, a flash memory, or a combination of these. The data stored in the storage unit 18 is loaded into the memory 12 as required. ROM is an abbreviation for Read Only Memory. HDD is an abbreviation for Hard Disk Drive.

[0059] An input / output interface is a port to which input and output devices are connected. For example, the input / output interface is a USB terminal, the input device is a keyboard and a mouse, and the output device is a display device. Input and output to and from a computer is performed using an input / output interface. USB is an abbreviation for Universal Serial Bus.

[0060] The computer includes a control program, which is software.

[0061] The control program is loaded into the memory 12 and executed by the processor 11 . The storage unit 18 further stores an OS. At least a part of the OS is loaded into the memory 12 and executed by the processor 11. The processor 11 executes a control program while executing the OS. OS is an abbreviation for Operating System.

[0062] The program and input / output data of the program are stored in a storage device. The memory 12 and the storage unit 18 function as a storage device. The program may be recorded in a computer-readable recording medium. The program may also be called a program product. The processor 11 and the circuits that cooperate with the processor 11 are referred to as circuitry.

[0063] The operation of the motor control device 10 described below is realized using a control program.

[0064] ●Processor 11● The processor 11 has an accelerator determination unit 13, a start button determination unit 14, a travel speed determination unit 15, and a driving control unit 17. The accelerator determination unit 13, the start button determination unit 14, the travel speed determination unit 15, and the travel control unit 17 can be realized as a control program. The processor 11 reads the programs and data stored in the memory 12 and executes the programs.

[0065] ●Memory 12● The memory 12 stores programs and data. The memory 12 is a volatile memory.

[0066] ●Storage section 18● The storage unit 18 stores programs and data. The storage unit 18 is a non-volatile memory. It is assumed that the storage unit 18 has stored a speed of 3 km per hour as the specified speed in advance.

[0067] ●Accelerator judgment unit 13● The accelerator determination unit 13 determines whether the accelerator 26 is in an on state. The accelerator determination unit 13 determines the speed of the electric kickboard 100 specified by the accelerator 26 .

[0068] ●Start button judgment unit 14● The start button determination unit 14 determines whether the start button 25 is in the on state.

[0069] ●Moving speed determination section 15● The movement speed determination unit 15 determines the movement speed of the electric kickboard 100 using the speed sensor 24 .

[0070] ●Drive control unit 17● When the accelerator 26 is in the on state and the start button 25 is in the on state, the driving control unit 17 generates a control signal for driving the motor 23 and outputs the control signal to the drive unit 20, assuming that a driving command has been issued.

[0071] ***Description of the control method of the motor control device 10*** ●Controlled by accelerator 26 and start button 25● (Figure 6) The motor control method of motor control device 10 will be described below with reference to FIG. The motor control method is a motor control method for an electric kickboard 100 that is equipped with an accelerator 26, a start button 25, and a motor 23. The motor control method includes an accelerator determination step S11, a start button determination step S14, and a travel control step S20.

[0072] ● Passengers ● The passenger performs the following actions: Fold up stand 34. The right foot is placed on the platform 31 and the left foot is on the ground. The power switch 21 of the electric kickboard 100 is turned on. Hold the right grip 64 with your right hand and turn on the accelerator 26 with your right thumb. Hold the left grip 64 with your left hand and turn on the launch button 25 with your left thumb.

[0073] When the power switch 21 is turned on, the motor control method shown in FIG. 6 is started. In the accelerator determination step S11, the accelerator determination unit 13 determines whether the accelerator 26 is on. If the accelerator 26 is off, the accelerator determination step S11 is repeated. In the start button determination step S14, the start button determination unit 14 determines the on state of the start button 25. If the start button 25 is in the off state, the process returns to the accelerator determination step S11. In the driving control step S20, when the accelerator 26 is in the on state and the start button 25 is in the on state, it is determined that a driving instruction has been issued, and the driving control unit 17 generates a control signal for driving the motor 23 and outputs it to the drive unit 20. The drive unit 20 rotates the motor 23 using the power of the battery 22 in accordance with the control signal, and starts the electric kickboard 100 moving. When the electric kickboard 100 starts to move, the rider takes his / her left foot off the ground and places it on the footstool 31. Thereafter, the traveling control unit 17 causes the electric kickboard 100 to travel at the speed instructed by the accelerator 26 .

[0074] ●Modifications of motor control method● ●Controlled by accelerator 26, start button 25, and speed sensor 24● (Fig. 7) A modified example of the motor control method using the speed sensor 24 will be described below with reference to FIG. FIG. 7 provides a moving speed determination step S12 between the accelerator determination step S11 and the start button determination step S14 in FIG. In the movement speed determination step S12, the movement speed determination unit 15 detects the movement speed of the electric kickboard 100 from the detection result of the speed sensor 24. If the electric kickboard 100 is stopped, the process proceeds to the start button determination step S14. If the electric kickboard 100 is moving, the process returns to the accelerator determination step S11. As a result, the start button 25 is valid only when the electric kickboard 100 is stopped. In other words, when the electric kickboard 100 is moving, the start button 25 is ignored. In the driving control step S20, when the accelerator 26 is on, the start button 25 is on, and the moving speed is zero, the driving control unit 17 assumes that a driving instruction has been issued, and generates a control signal to drive the motor 23 and outputs it to the drive unit 20.

[0075] ●Starting at the specified speed● (Figure 8) A modified example of the motor control method using the prescribed speed will be described below with reference to FIG. In FIG. 8, in a moving speed determination step S12, the moving speed determination unit 15 reads out a specified speed (e.g., 3 km / h) previously stored in the memory unit 18. Then, the moving speed determination unit 15 determines from the detection result of the speed sensor 24 that the current moving speed of the electric kickboard 100 is "Speed=0", "0<speed<3km / h", "Speed ​​≧ 3km / h" It is determined whether the

[0076] If "speed=0", the electric kickboard 100 is stopped, and similarly to FIG. 7, the process proceeds to the start button determination step S14. If "0<speed<3 km / h", it is determined that the electric kickboard 100 has started moving due to the rider's kick, and the process returns to the accelerator determination step S11. If "speed ≧ 3 km / h," it is determined that the electric kickboard 100 has reached a speed equal to or greater than the specified speed due to the rider's kick, and the process transitions to the travel control step S20.

[0077] As a result, the electric kickboard 100 can be started in the following two ways. 1. When the vehicle is stopped and the accelerator 26 and the start button 25 are in the on state. 2. When the rider kicks the ground and the speed of the electric kickboard 100 reaches or exceeds the specified speed, the accelerator 26 is in the on state.

[0078] ●Starting using the specified speed● (Figure 9) Another modified example of the motor control method using the prescribed speed will be described below with reference to FIG. FIG. 9 differs from FIG. 8 in that the start button 25 is activated even when the electric kickboard 100 is moving at less than a specified speed. In FIG. 9, in a moving speed determination step S12, the moving speed determination unit 15 reads out a specified speed (e.g., 3 km / h) previously stored in the memory unit 18. Then, the moving speed determination unit 15 determines from the detection result of the speed sensor 24 that the current moving speed of the electric kickboard 100 is "Speed ​​< 3km / h", "Speed ​​≧ 3km / h" It is determined whether the

[0079] If "speed < 3 km / h", the electric kickboard 100 is stopped or moving at less than the specified speed, and similarly to FIG. 7, the process transitions to the start button determination step S14. If "speed ≧ 3 km / h", similarly to FIG. 7, the process proceeds to the driving control step S20.

[0080] As a result, the electric kickboard 100 can be started in the following two ways. 1. When the accelerator 26 and start button 25 are in the on state while the vehicle is stopped or moving at less than the specified speed. 2. When the rider kicks the ground and the speed of the electric kickboard 100 reaches or exceeds the specified speed, the accelerator 26 is in the on state.

[0081] ***Explanation of the Effects of the First Embodiment*** According to the motor control device 10 of the first embodiment, since the start button 25 is provided, the electric kickboard 100 can start moving even when the electric kickboard 100 is stopped or traveling at or below a specified speed. Therefore, even if the rider kicks the ground as described below and the speed of the electric kickboard 100 cannot reach or exceed the specified speed, the electric kickboard 100 can still be started. 1. Starting off uphill. 2. Starting off on road surfaces that are difficult to kick due to puddles, sand, unevenness, etc. 3. Starting off by passengers who do not have the kicking strength, such as elderly people, women, sick people, or people with disabilities.

[0082] Embodiment 2 In the second embodiment, differences from the first embodiment will be described.

[0083] ***Description of the configuration of the motor control device 10*** ● Starting using the low-speed starting section 16 ● (Fig. 10) FIG. 10 shows a configuration in which a low-speed starting unit 16 is added to the configuration of the motor control device 10 in FIG. As shown in FIG. 10, the motor control device 10 has a low-speed starting unit 16. The low-speed starting unit 16 generates a control signal for rotating the motor 23 at a slower speed than the travel speed instructed by the accelerator 26 , and outputs the control signal to the drive unit 20 .

[0084] ***Description of the control method of the motor control device 10*** ●Figure 6+Low speed starting section 16●(Figure 11) The motor control method of motor control device 10 will be described below with reference to FIG. FIG. 11 shows a configuration in which a low-speed starting step S19 is provided between the starting button determination step S14 and the driving control step S20 in FIG. In the low-speed start step S19, the low-speed start unit 16 generates a control signal for rotating the motor 23 at a speed slower than the running speed instructed by the accelerator 26, and outputs the control signal to the drive unit 20. The low-speed start unit 16 gradually increases the rotation of the motor 23 until the traveling speed reaches the traveling speed commanded by the accelerator 26. Here, "gradually increase" means that the time it takes for the low-speed start unit 16 to reach the traveling speed commanded by the accelerator 26 is slower than the time it takes for the traveling control unit 17 to reach the traveling speed commanded by the accelerator 26. The low speed start unit 16 ends the process when the traveling speed reaches the speed commanded by the accelerator 26. Thereafter, in a driving control step S20, the driving control unit 17 drives the electric kickboard 100 in accordance with an instruction from the accelerator 26. For example, when the accelerator 26 indicates a speed of 5 km / h in a stopped state, the low-speed start unit 16 does not increase the speed of the electric kickboard 100 from zero to 5 km / h in one go, but rather gradually increases the speed over time in the order of 1 km / h, 2 km / h, 3 km / h, 4 km / h, and 5 km / h. When the speed of the electric kickboard 100 reaches the speed indicated by the accelerator 26, the low-speed start unit 16 hands over to the travel control unit 17.

[0085] Modification of the motor control method by the low-speed starting unit 16 ●Figure 9+Low speed starting section 16●(Figure 12) Another motor control method of motor control device 10 will be described below with reference to FIG. FIG. 12 provides a low-speed start step S19 between the start button determination step S14 and the travel control step S20 in FIG. For example, assume that the electric kickboard 100 is moving at 2 km / h due to the rider's kick and the accelerator 26 indicates 5 km / h. In this case, the low-speed starting unit 16 does not increase the speed of the electric kickboard 100 from 2 km / h to 5 km / h in one go, but rather gradually increases the speed over time to 3 km / h, 4 km / h, and 5 km / h in that order. When the speed of the electric kickboard 100 reaches the speed indicated by the accelerator 26, the low-speed starting unit 16 hands over to the travel control unit 17.

[0086] ●Figure 7+Low speed starting section 16●(no diagram) Although not shown, a low-speed starting step S19 may be provided between the starting button determination step S14 and the driving control step S20 in FIG.

[0087] ●Figure 8+Low speed starting section 16●(no diagram) Although not shown, a low-speed starting step S19 may be provided between the starting button determination step S14 and the driving control step S20 in FIG.

[0088] ***Explanation of the effect of the second embodiment*** The low-speed starting section 16 can prevent the electric kickboard 100 from running out of control due to incorrect operation of the accelerator 26. Even if the electric kickboard 100 is started by mistake, the low-speed starting section 16 allows the electric kickboard 100 to be stopped by braking while still at a low speed.

[0089] ***Variation 1*** In the motor control method of the motor control device 10 described above, the order of the determinations of the accelerator determination step S11, the start button determination step S14, and the movement speed determination step S12 does not matter, or they may be performed simultaneously.

[0090] ***Variation 2*** Each of the motor control methods shown in Figures 6, 7, 8, 9, 11, and 12 may be registered as a mode, and one of the motor control methods shown in Figures 6, 7, 8, 9, 11, and 12 may be selectively executed by a mode switching switch not shown.

[0091] ***Variation 3*** When the start button 25 is pressed, the following warning is issued. 1. A warning voice will sound saying "We are departing." 2. A warning buzzer will sound. 3. A warning light is emitted by flashing the lamp.

[0092] ***Variation 4*** The power switch 21, the start button 25, the accelerator 26, or the brake lever 27 may be attached to a location other than the handlebars as long as they are easy to operate. The power switch 21, the start button 25, the accelerator 26, or the brake lever 27 may be attached to the handle post, the head pipe 62, the front frame 32, or the seat pipe 42. The power switch 21, the start button 25, the accelerator 26, or the brake lever 27 may be attached to the footstool 31. The power switch 21, the start button 25, the accelerator 26, or the brake lever 27 may be operated by hand or by foot. The structure of the power switch 21 or the start button 25 may be a toggle key type, a push key type, or a turn key type. The structure of the accelerator 26 or the brake lever 27 may be of a rotary type, a lever type, or a pedal type.

[0093] ***Variation 5*** FIG. 13 is a flowchart of a motor control method using only the start button 25. Regardless of the state of the accelerator 26, when the start button 25 is turned on, the driving control unit 17 may generate a control signal and output it to the drive unit 20 to start the rotation of the motor 23. The accelerator determination unit 13 determines the state of the accelerator 26 after the electric kickboard 100 starts moving. When the accelerator 26 is turned on, the traveling control unit 17 causes the electric kickboard 100 to travel according to the speed command of the accelerator 26. If the accelerator 26 is not in the on state, the traveling control unit 17 stops the electric kickboard 100. Alternatively, the traveling control unit 17 causes the electric kickboard 100 to continue traveling at the reference speed stored in the memory unit 18. In this way, when the start button is in the on state, the driving control unit 17 outputs a control signal to drive the motor as if a driving instruction has been issued, regardless of the state of the accelerator. After starting to travel, the travel control unit 17 determines whether the accelerator is on, and if the accelerator is on, outputs a control signal to drive the motor so that the travel speed becomes the one instructed by the accelerator.

[0094] A brake determination step for determining whether the brake is on may be provided between the start button determination step S14 and the driving control step S20 in FIG. 13, and the driving control step S20 may be executed when the brake is on. As a result, when the start button 25 is in the ON state and the brake is in the ON state, the electric kickboard 100 can start traveling. A low-speed start step S19 may be provided between the start button determination step S14 and the travel control step S20 in FIG.

[0095] ***Features of Motor Control Device 10*** The motor control device 10 of the electric kickboard 100 is an accelerator determination unit 13 that determines whether an accelerator 26 is on; A start button determination unit 14 that determines whether a start button 25 is on; When the accelerator 26 is in the ON state and the start button 25 is in the ON state, the driving control unit 17 drives the motor 23 as if a driving command has been issued. Equipped with:

[0096] The motor control device 10 of the electric kickboard 100 is A moving speed determination unit 15 that determines the moving speed by a speed sensor 24; Equipped with The traveling control unit 17 drives the motor 23 if the moving speed is zero when a traveling instruction is issued.

[0097] The traveling control unit 17 may drive the motor 23 when the moving speed at the time when the traveling instruction is issued is less than a specified speed stored in advance in the storage unit 18.

[0098] The motor control device 10 of the electric kickboard 100 is The vehicle is provided with a low-speed start section 16 that rotates the motor 23 at a speed slower than the running speed instructed by the accelerator 26 when the accelerator 26 is in the on state and the start button 25 is in the on state.

[0099] The low-speed starting unit 16 gradually increases the rotation of the motor 23 until the moving speed reaches the traveling speed instructed by the accelerator 26 . The low-speed starting unit 16 outputs a control signal for gradually increasing the rotation of the motor 23 until the moving speed reaches the running speed commanded by the accelerator 26, taking a longer time than the time it takes for the running control unit 17 to reach the running speed commanded by the accelerator 26.

[0100] ***Features of the motor control method of the motor control device 10*** The motor control method for an electric kickboard having an accelerator 26, a start button 25, and a motor 23 is as follows: an accelerator determination step S11 for determining whether the accelerator 26 is on; a start button determination step S14 for determining whether the start button 25 is on; When the accelerator 26 is in the ON state and the start button 25 is in the ON state, a travel control step S20 is performed in which the motor 23 is driven assuming that a travel command has been issued. Equipped with.

[0101] The motor control method includes a moving speed determination step S12 of detecting the moving speed of the electric kickboard 100 from the detection result of the speed sensor 24, In the travel control step S20, if the travel speed of the electric kickboard 100 is zero or less than a specified speed, it is determined that a travel command has been issued and the motor 23 is driven.

[0102] The motor control method includes a low-speed start step S19 for rotating the motor 23 at a speed lower than a running speed instructed by the accelerator 26, In the low-speed start step S19, the low-speed start unit 16 gradually increases the rotation of the motor 23 until the driving speed reaches the driving speed commanded by the accelerator 26, taking a longer time than when the driving control unit 17 makes the driving speed reach the driving speed commanded by the accelerator 26.

[0103] ***Structural features of the Electric Kickboard 100*** The electric kickboard 100 is Stepping stone 31, A rear wheel 52; A rear frame 33 extends rearward from the step 31 and has a rear wheel 52 rotatably attached thereto; A seat pipe 42 fixed to the step stool 31; An auxiliary frame 43 fixed between the upper portion of the seat pipe 42 and the rear frame 33; Equipped with.

[0104] The seat pipe 42 is fixed to the footboard 31 in a rearwardly inclined state.

[0105] The seat pipe 42 has a lower end fixed to the footstool 31 and an upper end fixed to the auxiliary frame 43 .

[0106] Rear frame 33 is a right rear frame 33R located to the right of the rear wheel 52; The left rear frame 33L on the left side of the rear wheel 52 and has.

[0107] The auxiliary frame 43 is a right auxiliary frame 43R, the upper end of which is fixed to the right side of the seat pipe 42 and the lower end of which is fixed to the right rear frame 33R; a left auxiliary frame 43L, the upper end of which is fixed to the left side of the seat pipe 42 and the lower end of which is fixed to the left rear frame 33L; has.

[0108] In a side view, the auxiliary frame 43 has, at its upper part, a straight upper straight portion 431 that is inclined downward from the seat pipe 42, and at its lower part, a straight lower straight portion 432 that is inclined downward from the upper straight portion 431, and has a bent portion 433 that is bent between the upper straight portion 431 and the lower straight portion 432.

[0109] When viewed in a plan view, the auxiliary frame 43 has at its upper part an outward extension portion 434 extending outward from the seat pipe 42, and at its lower part a downward extension portion 435 extending rearward from the outward extension portion 434, and has an arc-shaped curved portion between the outward extension portion 434 and the lower extension portion 435.

[0110] A reinforcing frame 44 is provided which is horizontally fixed to the right auxiliary frame 43R and the left auxiliary frame 43L.

[0111] The electric kickboard 100 has a substantially triangular shape formed by the rear frame 33, the seat pipe 42, and the auxiliary frame 43.

[0112] The electric kickboard 100 is A handle 61 rotatably attached to the front of the step; an axle 26 attached near one grip of the handle; A start button 25 attached to the handlebar near the other grip; A motor control device 10 that is built into the footboard 31 and starts the electric kickboard 100 when the accelerator 26 and the start button 25 are in the on state; has. [Explanation of symbols]

[0113] 100 Electric kickboard, 10 Motor control device, 11 Processor, 12 Memory, 13 Accelerator determination unit, 14 Start button determination unit, 15 Travel speed determination unit, 16 Low speed start unit, 17 Travel control unit, 18 Memory unit, 20 Drive unit, 21 Power switch, 22 Battery, 23 Motor, 24 Speed ​​sensor, 25 Start button, 26 Accelerator, 27 Brake lever, 31 Footstool, 32 Front frame, 33 Rear frame, 33R Right rear frame, 33L Left rear frame, 34 Stand, 41 Seat, 42 Seat pipe, 43 Auxiliary frame, 43R Right auxiliary frame, 43L Left auxiliary frame, 44 Reinforcement frame, 51 Front wheel, 52 Rear wheel, 54 Front wheel cover, 55 Rear wheel cover, 61 Handle, 62 Head pipe, 63 Front fork, 64 Grip, 431 An upper straight portion, 432 a lower straight portion, 433 a bent portion, 434 an outward extension portion, 435 a lower extension portion, 436 an arc-shaped curved portion, S11 an accelerator determination step, S12 a moving speed determination step, S14 a start button determination step, S19 a low-speed start step, and S20 a driving control step.

Claims

1. In a motor control device for an electric kick scooter, An accelerator that indicates the driving speed, A motor; The launch button and an accelerator determination unit that determines whether the accelerator is on; a start button determination unit that determines an on state of the start button; a driving control unit that outputs a control signal for driving the motor when the accelerator is in an on state and the start button is in an on state, assuming that a driving command has been issued; A motor control device comprising:

2. A speed sensor; a moving speed determination unit that determines a moving speed by the speed sensor; Equipped with The motor control device according to claim 1 , wherein the driving control unit outputs a control signal for driving the motor when the moving speed is zero when the driving instruction is issued.

3. A speed sensor; a moving speed determination unit that determines a moving speed by the speed sensor; Equipped with The motor control device according to claim 1 , wherein the driving control unit outputs a control signal to drive the motor when the moving speed at the time when the driving instruction is issued is less than a specified speed stored in advance in a storage unit.

4. In a motor control device for an electric kick scooter, An accelerator that indicates the driving speed, A motor; The launch button and an accelerator determination unit that determines whether the accelerator is on; a start button determination unit that determines an on state of the start button; A driving control unit that outputs a control signal for driving the motor; A motor control device comprising: a low-speed start unit that outputs a control signal for rotating the motor at a speed slower than the driving speed commanded by the accelerator when the accelerator is on and the start button is on.

5. A speed sensor; a moving speed determination unit that determines a moving speed by the speed sensor; Equipped with 5. The motor control device according to claim 4, wherein the low-speed start unit outputs a control signal to gradually increase rotation of the motor until the travel speed reaches the travel speed commanded by the accelerator, taking a time longer than a time for the travel control unit to reach the travel speed commanded by the accelerator.

6. In a motor control device for an electric kick scooter, An accelerator that indicates the driving speed, A motor; The launch button and an accelerator determination unit that determines whether the accelerator is on; a start button determination unit that determines an on state of the start button; a travel control unit which, when the start button is in an on state, outputs a control signal to drive the motor as if a travel command has been issued regardless of the state of the accelerator, and after travel has started, determines whether the accelerator is in an on state, and if the accelerator is in an on state, outputs a control signal to drive the motor so as to achieve the travel speed commanded by the accelerator; A motor control device comprising:

7. A motor control method for an electric kickboard having an accelerator, a start button, and a motor, an accelerator determination step for determining an on-state of the accelerator; a start button determination step of determining an on state of the start button; a control step of driving the motor as if a driving command has been issued when the accelerator is in an on state and the start button is in an on state; A motor control method comprising:

Images