Electric personal transport vehicle

Abstract

To provide an electric personal transport vehicle enabling a larger number of people to move comfortably.SOLUTION: An electric personal transport vehicle includes: a vehicle body 30; and a sensor 90 that is attached to the vehicle body 30, offers a viewing angle α in a predetermined direction, covers a detection range DA1 defined by turning the viewing angle α about a predetermined axis line 91, and can detect an obstacle. The sensor 90 is attached to the vehicle body 30 so that the predetermined axis line 91 extends in a vehicle width direction.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to electric mobility. [Background technology]

[0002] Known electric mobility vehicles used within facilities include electric mobility vehicles in which a control device for the electric mobility vehicle detects obstacles using sensors provided on the electric mobility vehicle, and uses the detection results to cause the electric mobility vehicle to avoid the obstacles, stop, drive autonomously, etc. See, for example, Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 085446 Summary of the Invention [Problem to be solved by the invention]

[0004] Such electric mobility vehicles are used by users with various physical characteristics, races, clothing, etc. For example, the physical characteristics of a user include height, weight, etc., and the user may also have a curved spine. If the detection range of the sensor is blocked by the user's body, clothing, etc., this affects the accuracy of the obstacle avoidance, stopping, automatic driving, etc., and also affects the user's comfortable use.

[0005] Furthermore, improving the accuracy of the above-mentioned obstacle detection by sensors is useful for the safe running of electric mobility vehicles. Furthermore, reducing the cost of electric mobility vehicles is useful for realizing the use of such electric mobility vehicles in many facilities. These also relate to the comfortable use of electric mobility vehicles by users.

[0006] In view of the above circumstances, there is a demand for electric mobility that can make transportation more comfortable for more people. [Means for solving the problem]

[0007] One aspect of the present invention is an electric mobility comprising a mobility body and a sensor attached to the mobility body, having a field of view in a predetermined direction and a detection range rotated around a predetermined axis such that the field of view is capable of detecting obstacles, wherein the sensor is attached to the mobility body so that the predetermined axis extends in the vehicle width direction. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a front perspective view of an electric mobility device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a side view of the electric mobility of the present embodiment. [Diagram 3] FIG. 2 is a plan view of the electric mobility of the present embodiment. [Figure 4] FIG. 2 is a front view of the electric mobility of the present embodiment. [Diagram 5] FIG. 1 is a longitudinal sectional view of an electric mobility device according to an embodiment of the present invention. [Figure 6] FIG. 2 is a perspective view of a push handle of the electric mobility device of the present embodiment. [Figure 7] FIG. 2 is a vertical cross-sectional view of a portion of the push handle of the electric mobility device of the present embodiment. [Figure 8] FIG. 2 is a rear perspective view of a portion of the electric mobility device of the present embodiment. [Figure 9] FIG. 2 is a perspective view of a luggage basket of the electric mobility device of the present embodiment. [Figure 10] FIG. 2 is a longitudinal cross-sectional view of a portion of the electric mobility of the present embodiment. [Figure 11] FIG. 2 is a longitudinal cross-sectional view of a portion of the electric mobility of the present embodiment. [Figure 12] FIG. 2 is a longitudinal cross-sectional view of a portion of the electric mobility of the present embodiment. [Figure 13] FIG. 11 is a longitudinal cross-sectional view of a portion of a modified example of the electric mobility of the present embodiment. [Figure 14] FIG. 11 is a longitudinal cross-sectional view of a portion of a modified example of the electric mobility of the present embodiment. [Figure 15]FIG. 2 is a side view of the electric mobility device of the present embodiment placed on a cart. [Figure 16] FIG. 2 is a block diagram of a control device for electric mobility according to the present embodiment. [Figure 17] FIG. 1 is a schematic diagram of a passenger terminal in which the electric mobility of this embodiment is used. [Figure 18] FIG. 1 is a diagram illustrating an example of the operation of the electric mobility of this embodiment within a passenger terminal. [Figure 19] FIG. 11 is a bottom view of a modified example of the electric mobility of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A system in a facility such as an airport and electric mobility M according to one embodiment of the present invention will be described below with reference to the drawings. 17, the system includes a plurality of electric mobility vehicles M arranged in a passenger terminal T of an airport, and a server 100 which is a management server that manages the plurality of electric mobility vehicles M. The server 100 does not have to be arranged in the airport.

[0010] First, a brief description will be given of the electric mobility M of this embodiment on which one person sits and rides. Note that in this system, it is also possible to use an electric mobility other than the electric mobility M of this embodiment. As shown in Figs. 1 to 5, this electric mobility M includes a pair of front wheels (wheels) 10, a pair of rear wheels (wheels) 20, and a mobility body 30 supported by the front wheels 10 and the rear wheels 20. The mobility body 30 includes a seat unit S. Wheels other than the front wheels 10 and the rear wheels 20 may be provided, and the number of front wheels 10 and rear wheels 20 may be other than those described above. Also, one of the front wheels 10 and the rear wheels 20 may be absent.

[0011] The mobility body 30 has a motor MT for driving at least one of the pair of front wheels 10 and the pair of rear wheels 20. If a person who attaches the rear wheels 20 to the motor MT interposes a spacer between a part of a rotating portion (output portion) of the motor MT and the hub of the rear wheels 20, the rear wheels 20 will be positioned on the outside in the width direction. This configuration can improve the turning force when, for example, the pair of rear wheels 20 are rotated in opposite directions to each other to turn the electric mobility M, without increasing the output of the motor MT.

[0012] In the description of this embodiment, with respect to the vehicle longitudinal direction shown in Fig. 3, the vehicle longitudinal direction, the front of the vehicle, and the rear of the vehicle may be referred to as the longitudinal direction, the front, and the rear, respectively, in the following description, and the vehicle width direction shown in Fig. 3 may be referred to as the width direction or the left-right direction in the following description. Note that the vehicle longitudinal direction coincides with the front-rear direction of the electric mobility M and the mobility main body 30, and the vehicle width direction coincides with the width direction of the electric mobility M and the mobility main body 30.

[0013] In this embodiment, the pair of rear wheels 20 are each connected to a motor MT, and each motor MT drives the corresponding rear wheel 20. The driving force of each motor MT may be transmitted to the corresponding front wheel 10 by a power transmission means. The power transmission member is a belt, a gear, or the like.

[0014] Each front wheel 10 has a hub (not shown) attached to the axle 11, and a number of rotatable rollers (not shown in Figs. 1 to 5, etc.) supported by the hub. In this embodiment, each front wheel 10 is a known omnidirectional wheel. In one example, the outer circumferential surface of the omnidirectional wheel is formed by a number of rollers, each of which is rotatable in a direction along the rotation axis of the omnidirectional wheel, thereby allowing the omnidirectional wheel to move in a direction along the rotation axis. Each front wheel 10 may also be another wheel, such as a caster wheel.

[0015] The structure of the mobility body 30 can be modified as appropriate. The mobility body 30 of this embodiment has a base part 32 extending along the ground, and a seat support part 33 extending upward from the rear end side or the center part of the base part 32. A seat unit S is attached to the upper end side of the seat support part 33. The base part 32 of this embodiment has a plastic part 32b attached to a metal base frame 32a shown in Fig. 1. The part 32b is used as a footrest or the like for a driver (user) sitting in the seat unit S. A part or the whole of the footrest may be configured by the frame constituting the base part 32, or the footrest may have a different configuration.

[0016] In this embodiment, the seat unit S has a backrest portion 40 and a seat portion 50. The backrest portion 40 extends upward from the rear end of the seat portion 50. A cushion 51 of the seat portion 50 is removable, and when the cushion 51 is removed, an upper surface of the seat support portion 33 and / or a lower structure 52 of the seat portion 50 is exposed.

[0017] A battery storage section 34 extending in the vertical direction is formed in the seat support section 33, and the battery BA is stored in the battery storage section 34. A connector (not shown) is provided in the battery storage section 34, and when the battery BA is stored in the battery storage section 34, the battery BA is connected to the connector. Note that an operator can access the battery BA for replacement, etc. by removing the cushion 51 of the seat surface section 50.

[0018] As shown in Fig. 5, a seating sensor 53 is provided at the upper end of the seat support portion 33 as a part of the lower structure 52 of the seat surface portion 50. The seating sensor 53 in this embodiment has a flexible member 54 supported at the upper end of the seat support portion 33 and a detection device 55 arranged below the flexible member 54. The detection device 55 is a switch, a pressure sensor, or the like. In this embodiment, the detection device 55 is a switch. In this manner, the detection device 55 may be any device that can detect that a user is seated on the seat surface portion 50. In addition, the seating sensor 53 may be a sensor of another type that detects that a passenger is seated on the seat surface portion 50.

[0019] The seat unit S has a right arm 43 and a left arm 43 . An armrest 43a is fixed to the upper surface of each arm 43. For example, the driver (user) places both arms on the armrests 43a of the pair of arms 43. In one example, the driver places both hands on the upper ends of the pair of arms 43. In this embodiment, both the arms 43 and the armrests 43a are provided, but only the arms 43 or only the armrests 43a may be provided. In this case, the driver can place at least one of his / her arms and hands on the arms 43, or at least one of his / her arms and hands on the armrests 43a. Each arm 43 is a member to which the armrests 43a are attached.

[0020] The seat unit S is provided with a pair of guard members 46 aligned in the vehicle width direction. Each guard member 46 is fixed to the seat unit S so as to be positioned outside in the vehicle width direction with respect to at least one of the thighs and knees of a user seated in the seat unit S. In this embodiment, the guard members 46 are provided so as to extend downward from the lower surfaces of the arms 43, and the lower ends of the guard members 46 are positioned below the upper surface of the seating surface 50 when the user is not seated.

[0021] 1, 5, etc., a portion 46a of each guard member 46 is disposed forward of the front end 50a of the seating surface portion 50. The guard member 46 reduces the protrusion of the clothes, thighs, or knees of the user on the seat unit S from the seat unit S. 1, 3, 4, etc., each guard member 46 has an inclined portion 46b that is inclined downward and inward in the vehicle width direction. The inclined portion 46b guides the user's clothing, etc. on the seat unit S to the inside in the vehicle width direction, reducing the protrusion of the user's clothing, etc. from the seat unit S. In this embodiment, the inclined portion 46b is provided on the lower end side of the guard member 46, so that the protrusion of the user's clothing is more effectively reduced.

[0022] As shown in FIG. 8 and other figures, a pair of mounting parts 111 arranged in the width direction are fixed to the rear side of the mobility body 30, for example, the rear end of the seat unit S, and the left and right base ends 112 of the push handle 110 are attached to the pair of mounting parts 111. Specifically, as shown in FIG. 7 and other figures, each base end 112 of the push handle 110 is attached to an axis shaft 113 supported by the mounting parts 111 so as to be swingable in the up and down direction about its central axis line 113a. In this embodiment, one end side and the other end side of one axis shaft 113 extending in the left and right direction are supported by a pair of mounting parts 111, respectively, and the base end 112 of the push handle 110 is attached to the one end side and the other end side. Note that an axis shaft may be provided to each of the pair of mounting parts 111, and each base end 112 may be attached to each axis shaft.

[0023] In this embodiment, as shown in Figures 6, 8, etc., the pair of mounting parts 111 are fixed to the top wall etc. of the box structure part 41 of the mobility body 30. The box structure part 41 has a front wall, a rear wall, a top wall, a side wall etc., and each wall is made of a metal plate such as an iron plate or an aluminum plate. In some cases, each wall is made of a plate made of reinforced plastic in part or in whole. This configuration is useful for preventing deformation of the mobility body 30 due to a large force applied to the push handle 110.

[0024] The push handle 110 can be pivoted to a first swing position (FIG. 8), a second swing position lower than the first swing position (FIGS. 6 and 7), a third swing position at the top, and a fourth swing position lower than the second swing position (FIG. 15).

[0025] As shown in FIG. 6 and other figures, the push handle 110 has a pair of extensions 114 extending from a pair of base ends 112, and a grip portion 115 extending in the width direction and provided in a manner that connects the tips of the pair of extensions 114. In the first swing position, the grip portion 115 at the tip of the push handle 110 is disposed at a height that is easy to grip for a person pushing the electric mobility M. Preferably, the height is a predetermined height determined by standards, and is 70 cm or more. In the first swing position, the grip portion 115 is disposed obliquely upward and rearward of the vehicle with respect to the base end 112 of the push handle 110. It can be said that in the first swing position, the push handle 110 is disposed in a position for pushing the electric mobility M.

[0026] In addition, in the second swing position, the pair of extensions 114 of the push handle 110 are arranged, for example, such that the upper surfaces thereof are at the same height as the upper edge 121a of the side surface 123 of the luggage basket 120, or are arranged along the upper edge 121a (FIG. 2). In the second swing position, the push handle 110 can be said to be arranged in the storage position. When the extensions 114 are arranged along the upper edge 121a in the storage position, the push handle 110 does not get in the way when loading and unloading luggage into and from the luggage basket 120.

[0027] As shown in FIG. 7, each base end 112 of the push handle 110 is formed with an engagement notch 112a that can be engaged with an engagement member 116 provided on the mounting portion 111 in the up-down direction and / or the front-rear direction. The engagement member 116 is movable in a predetermined direction, and is biased in one of the predetermined directions by a biasing member 116a such as a coil spring or a torsion spring. In this embodiment, the engagement member 116 is a shaft member extending in the left-right direction. In addition, each mounting portion 111 is formed with a long hole 111a, a notch, etc. that extend in the predetermined direction, and this configuration allows the engagement member 116 to move in the predetermined direction. In addition, a biasing member 116a is provided on each mounting portion 111, and each biasing member 116a biases both ends in the left-right direction of the engagement member 116 in one of the predetermined directions.

[0028] The push handle 110 is disposed in the first swing position when the biased engagement member 116 engages with the engagement notch 112a. In this embodiment, the left and right ends of the engagement member 116 engage with the engagement notches 112a of the left and right base ends 112 of the push handle 110, respectively. For this reason, in order for the push handle 110 to swing from the first swing position, it is necessary to pull out the left and right ends of the engagement member 116 from the engagement notch 112a, which is useful for safe use of the electric mobility M.

[0029] Furthermore, in this embodiment, the weight of the push handle 110 presses the engagement member 116 against the engagement notch 112a, and this pressing makes it difficult to remove the engagement member 116 from the engagement notch 112a. This is also useful for the above-mentioned safe use. In this embodiment, the user can smoothly remove the engagement member 116 from the engagement notch 112a by using the operation member 117 described below while slightly lifting the tip side of the push handle 110.

[0030] An operating member 117 such as a lever or knob that moves the engaging member 116 in the other predetermined direction against the biasing member 116a is attached to one or both of the pair of mounting parts 111. The operating member 117 is fixed to one end of a lever shaft 117a extending in the left-right direction, and both ends of the lever shaft 117a are rotatably supported by the pair of mounting parts 111. A protruding member 118 that moves the engaging member 116 in the other predetermined direction in conjunction with the rotation of the lever shaft 117a is fixed to the lever shaft 117a. In one example, the protruding member 118 extends in the radial direction of the lever shaft 117a or in the normal direction to the outer circumferential surface of the lever shaft 117a, and applies a force to the engaging member 116 toward the other predetermined direction when the lever shaft 117a rotates. The operating member 117 may be any member that can impart a rotational force to the lever shaft 117a. When the user rotates the lever shaft 117a in a predetermined rotation direction using the operating member 117, the engaging member 116 moves to the other of the predetermined directions, and the engagement between the engaging member 116 and the engaging notch 112a is released. This allows the push handle 110 to be swung to the second or third swing position.

[0031] When the push handle 110 swings to the second swing position, both ends of the engagement member 116 biased in the predetermined direction engage with the engagement portions 112b of the pair of base ends 112 of the push handle 110. This prevents the push handle 110 from swinging downward below the second swing position.

[0032] In this state, when the user moves the engagement member 116 to the other of the predetermined directions by operating the operating member 117, the engagement between the engagement member 116 and the engagement portion 112b is released, and the push handle 110 can be swung to the fourth swing position. The push handle 110 can be swung from the second swing position to the first swing position without operating the operating member 117. In other words, the engagement portion 112b does not restrict the upward swing of the push handle 110. As shown in FIG. 7, the portion between the engagement portion 112b and the engagement notch 112a at each base end 112 of the push handle 110 is in the shape of a cam that is located farther from the central axis 113a than the engagement portion 112b. With this structure, when the push handle 110 is swung from the second swing position to the first swing position, the engagement member 116 moves to the other of the predetermined direction against the biasing member 116a, and a resistance force is generated.

[0033] When the push handle 110 is swung to the fourth swing position, the grip portion 115 of the push handle 110 moves forward more than the second swing position. This allows the size of the electric mobility M in the front-rear direction to be reduced with the luggage basket 120 removed as shown in FIG. 15, and this configuration is useful for loading the electric mobility M onto the dolly 500. The dolly 500 is a dolly called a moving cage, a cage trolley, a cage dolly, or the like. The inside dimension (storage dimension) L1 of the dolly 500 in the first horizontal direction shown in FIG. 15 is 110 cm or less, and the inside dimension (storage dimension) of the dolly 500 in the second horizontal direction, which is the direction perpendicular to the paper surface of FIG. 15, is also 110 cm or less. Since the outside dimension in the first horizontal direction is often 110 cm, when the diameter of the pipe constituting the dolly 500 is about 3 cm, the inside dimension in the first horizontal direction is 104 cm. The second horizontal external dimension is often less than 100 cm.

[0034] The luggage basket 120 in this embodiment is removably attached to the mobility body 30. The luggage basket 120 is attached to the rear side of the mobility body 30, for example, to the back of the seat unit S. The configuration in which the luggage basket 120 is removably attached to the rear side of the mobility body 30 as in this embodiment is useful when placing the mobility body 30 on a dolly 500 with fixed dimensions. In one example, the removed luggage basket 120 is placed on top of the seat unit S.

[0035] In this embodiment, as shown in Fig. 9, an upper engagement portion 121 such as a hook is provided on the upper side of the vehicle front of the luggage basket 120, and a lower engagement portion 122 such as a shaft is provided on the lower side of the vehicle front of the luggage basket 120. Meanwhile, as shown in Fig. 8, a locking mechanism 130 such as a snatch lock is provided below the axle shaft 113 in the mobility main body 30.

[0036] The upper engagement portion 121 of the luggage basket 120 is engaged with the shaft 113 (upper fixed portion) from above, and in this state, the lower engagement portion 122 is engaged so as to be locked with the locking mechanism 130 (lower fixed portion), whereby the luggage basket 120 is attached to the mobility body 30. The lower side of the luggage basket 120 may be fixed to the mobility body 30 using a bolt or the like instead of the locking mechanism 130. As shown in FIG. 9, a configuration in which the upper engagement portion 121 is curved along the upper surface of the shaft 113 effectively prevents the luggage basket 120 from falling when the lower engagement portion 122 is engaged with the locking mechanism 130. In another example, the upper engagement portion 121 engages with another portion of the rear side of the mobility body 30 from above.

[0037] 8, a release member 131 for releasing the lock of the lower engagement portion 122 by the lock mechanism 130 is provided above the lock mechanism 130 in the mobility body 30. The release member 131 is connected to the lock mechanism 130 by a connecting member 132. In this embodiment, the user can operate the release member 131 via a part of the backrest portion 40, or can operate the release member 131 from below the backrest portion 40 or from the back side.

[0038] Using the above-mentioned configuration, it is also possible to removably attach attachments such as an oxygen cylinder holder, an IV holder, a map acquisition tool, and a sunshade for outdoor driving to the mobility main body 30. In this case, the attachment is provided with one or more upper engagement parts 121, and also provided with one or more lower engagement parts 122 below the upper engagement parts 121. Instead of the lower engagement parts 122, other structures such as bolts that can be fixed to the lower fixing parts may be used. 1, 2, etc., the electric mobility M is provided with a display device 200 protruding upward from the upper end surface of the left arm 43. The display device 200 is supported by the left arm 43 by a support member 210 extending upward from the upper end surface of the left arm 43.

[0039] The display device 200 is, in one example, a tablet computer, but may be any other known display device. Information is transmitted to the display device 200 from the control device 80 described below by wire or wirelessly, and the display device 200 displays the received information. The information includes, for example, at least one of information on the traveling speed of the electric mobility M, information on the state of the battery BA, information on the positions of obstacles detected by the sensors 90, 95, 96, etc., information on the determination result as to whether or not the obstacles are an obstacle to traveling, map information, and information on the traveling route. The display device 200 also includes an input means such as a touch screen function, and information input to the display device 200 is transmitted to the control device 80 (FIG. 16).

[0040] The display device 200 may include a control device having a processor, a storage device, etc., and the control device may perform some or all of the functions of the control device 80 described below. The display device 200 may also be attached in a detachable manner.

[0041] As shown in FIG. 16, the control unit 60 has a motor driver 70 that drives each motor MT, and a control device 80. The motor driver 70 is connected to a battery BA. The motor driver 70 is also connected to each motor MT, and supplies driving power to each motor MT. The battery BA also supplies power to other devices such as a control device 80.

[0042] 16, the control device 80 has a processor 81 such as a CPU, a storage device 82 having a non-volatile memory, a ROM, a RAM, etc., and a transceiver unit 83 that transmits and receives information through wireless communication and wired communication. The storage device 82 stores a driving control program 82a for controlling the electric mobility M. The processor 81 transmits drive signals for driving each motor MT to the motor driver 70 based on the driving control program 82a.

[0043] As shown in Figures 1, 2 and 4, a sensor 90 is attached to each of the pair of guard members 46 so as to protrude in the width direction from the attachment surface 46c, which is the surface on the outer side in the width direction. The guard members 46 are members provided below the arm 43. In this embodiment, as shown in Figure 1, the sensor 90 is attached to the guard member 46, which is a member below the arm 43 or the armrest 43a, so as to protrude outward in the vehicle width direction. There is also a case where the sensor 90 is attached to the armrest 43a or the arm 43 so as to protrude outward in the vehicle width direction. There is also a case where the sensor 90 is attached to a member other than the guard member 46 below the armrest 43a or below the arm 43 so as to protrude outward in the vehicle width direction. In these cases, the same effect is achieved.

[0044] The sensor 90 is a LiDAR (Light Detection and Ranging or Laser) The sensor 90 is a known distance measuring sensor such as a 3D Imaging Detection and Ranging (3D Range Finder). The sensor 90 detects an obstacle three-dimensionally, and is therefore also referred to as a three-dimensional sensor, a three-dimensional distance sensor, or the like. In this embodiment, as shown in FIG. 4, each sensor 90 has a viewing angle α in the elevation angle direction (predetermined direction) and / or depression angle direction (predetermined direction) of the sensor. In this embodiment, the elevation angle direction of the sensor is a direction along the axis 91 of the sensor 90. In addition, each sensor 90 has a detection range DA1 (FIG. 3) obtained by rotating the viewing angle α shown in FIG. 4 around a predetermined axis 91 extending in the vehicle width direction. A part of the detection range DA1 may be blocked by the electric mobility M, a passenger, or the like. An example of the sensor 90 is the MID-360 manufactured by Livox (registered trademark). In this embodiment, the sensor 90 also has a viewing angle in the depression angle direction. The viewing angle in the depression angle direction is several degrees, for example, 2° or more. In addition, the viewing angle in the depression angle direction is 3° or less, 5° or less, 8° or less, or the like. By providing the sensor 90 with such a viewing angle in the depression angle direction, the sensor 90 can detect an obstacle in front of the electric mobility M more accurately.

[0045] As shown in FIG. 2, a rear sensor 95, which is a LiDAR, is attached to the rear end side of the mobility body 30 or below the luggage basket 120. In this embodiment, the rear sensor 95 emits laser light over the detection range DA2 in FIG. 3, and detects the reflected light that hits an object and is reflected by the rear sensor 95. Using the detection result (detection data), the control device 80 detects the position of an obstacle (avoidance target) in the detection range DA2, which is the outside and rear of the electric mobility M in the width direction. The obstacle is, for example, a person, an animal, a plant, a person's clothes, a person's belongings, etc. The obstacle is, for example, a wall, a relatively large object, a step, etc. In another example, the rear sensor 95 may detect an obstacle (avoidance target) such as a step, a hole, a groove, etc. into which the rear wheel 20 may fall or get stuck. Moreover, the obstacle is detected by each sensor 90 over the detection range DA1 in FIG. 3, and the obstacle is detected by the lower sensor 96 over detection ranges DA3 and DA4 described later.

[0046] A lower sensor 96 (FIGS. 2 and 3) is attached to the underside of the electric mobility M. In this embodiment, the lower sensor 96 is a LiDAR that is attached to the mobility main body 30 and is disposed below the footrest portion, below other portions of the base portion 32, etc. As a result, in this embodiment, the sensing portion of the lower sensor 96 is disposed below the footrest surface of the footrest portion or the underside portion of the base portion 32. It is only necessary that the emission portion of the laser light (detection wave) in the lower sensor 96 is disposed below the footrest surface. Also, in this embodiment, the lower sensor 96 is disposed approximately in the center of the electric mobility M in the vehicle width direction.

[0047] For example, the lower sensor 96 emits laser light over the detection range DA3 shown in Fig. 3, and receives the reflected light that hits an object and is reflected by the lower sensor 96. That is, the lower sensor 96 can detect the position of an obstacle (avoidance target) in the range in front of the electric mobility M from the underside of the footrest surface or the underside of the mobility main body 30. The lower sensor 96 also emits laser light from the range corresponding to the detection range DA4 shown in Fig. 3, that is, from between the front wheel 10 and the rear wheel 20, toward the side of the vehicle, and can detect an obstacle that exists in the space between the front wheel 10 and the rear wheel 20 or that may enter the space. There may also be a case where the lower sensor 96 detects only one of the detection ranges DA3 and DA4.

[0048] In order to prevent damage to the sensing structure of the lower sensor 96, as shown in FIG. 19, a single or multiple sensor protection members 150 may be attached so as to protrude downward from the lower surface of the mobility body 30. The sensor protection members 150 shown in FIG. 19 are also shown in FIG. 2 by two-dot chain lines. Each sensor protection member 150 is disposed in an area of ​​the sensing area of ​​the lower sensor 96 in which the front wheel 10 or the rear wheel 20 is located (area shown by a dashed line in FIG. 19). In other words, each sensor protection member 150 does not affect the detection of an obstacle by the lower sensor 96. In FIG. 19, the sensor protection member 150 is attached to the lower surface of the base frame 32a of the mobility body 30, and thus protrudes downward from the lower surface of the mobility body 30. The lower surface may be constituted by the base frame 32a or a plastic part that covers the base frame 32a, or may be constituted by another part that forms the lower surface of the mobility body 30.

[0049] Preferably, the lower end of each sensor protection member 150 is disposed below the lower end of the lower sensor 96 or at the same height. This configuration is useful for preventing damage to the lower sensor 96. The same effect can be achieved even if the lower end of each sensor protection member 150 is disposed about 2 cm or 3 cm above the lower end of the lower sensor 96. Furthermore, the horizontal distance between each sensor protection member 150 and the lower sensor 96 is preferably 20 cm or less, more preferably 15 cm or less, and even more preferably 10 cm or less.

[0050] For example, each sensor 90 emits laser light over a detection range DA1 shown in Fig. 3, and receives the light reflected by an object. In other words, the sensor 90 can detect the positions of obstacles (objects to be avoided) in front of and behind the vehicle along the side surfaces of the electric mobility M.

[0051] In this embodiment, the rear sensor 95 and the lower sensor 96 are two-dimensional LiDARs, which leads to a reduction in the cost of the sensors and a reduction in the amount of data processing required for the detection results of the sensors. In this embodiment, the rear sensor 95 and the lower sensor 96 are two-dimensional LiDARs, but it is also possible to use distance sensors such as three-dimensional LiDARs, radars, and millimeter wave sensors.

[0052] In this embodiment, the height position of the detection range DA2 of the rear sensor 95 is within a range of 50 cm or less, more preferably 40 cm or less, and even more preferably 30 cm or less, from the horizontal floor surface on which the front wheels 10 and rear wheels 20 are in contact with the ground. Also, in this embodiment, the height positions of the detection ranges DA3 and DA4 of the lower sensor 96 are within a range of 30 cm or less, more preferably 20 cm or less, and even more preferably 15 cm or less, from the horizontal floor surface on which the front wheels 10 and rear wheels 20 are in contact with the ground.

[0053] In this manner, this embodiment employs a configuration in which the rear sensor 95 and the lower sensor 96 detect the low ranges in front and behind the electric mobility M. This configuration leads to reduced sensor costs and a reduced amount of data processing of the sensor detection results. This makes it easier for various facilities to purchase and introduce the electric mobility M, which leads to improved convenience for users of the facilities.

[0054] In addition, in this embodiment, as shown in Fig. 3, a pair of left and right sensors 90 can detect obstacles in front of and behind the vehicle along the sides of the electric mobility M. This configuration is useful in terms of functionality and cost. The obstacles include steps, including downward stairs, holes, grooves, etc., as described above. In this embodiment, the detection range DA1 of each sensor 90 does not include the front and rear of the center in the width direction of the electric mobility M. However, within a facility, a pair of sensors 90 is useful in combination with the rear sensor 95 and / or the lower sensor 96.

[0055] For example, when a one-legged table with the center of the tabletop supported by a single support pillar is located directly in front of the electric mobility M and the electric mobility M is moving in that direction, the tabletop is detected by one of the pair of sensors 90. When a tabletop is not detected, the tabletop is smaller than the width dimension of the electric mobility M. Such tabletops are rare, and even if they do occur, they can be avoided by, for example, inputting information about the tabletop in the map data for autonomous driving.

[0056] Also, the number of cases in which the electric mobility M moves backward is far less than the number of cases in which the electric mobility M moves forward. For example, as described below, when the electric mobility M moves backward to enter an elevator car CA, the rear sensor 95 detects the feet of people around the elevator car CA and the walls in the detection range DA2, and the pair of left and right sensors 90 detects a range higher than the detection range DA2, such as the sides of the rear wheels 20. Since the movement of people around the elevator car CA and its vicinity is restricted, detection by the rear sensor 95 and the pair of left and right sensors 90 is effective in terms of functionality and cost.

[0057] As shown in Figs. 1 and 4, the mounting surface 46c of each sensor 90 on the arm 43 is disposed inward in the vehicle width direction by a dimension L2 from the outer surface 43b disposed on the outer side of the arm 43 in the vehicle width direction. The dimension L2 is preferably 2 cm or more, and more preferably 3 cm or more. In this embodiment, the outer position of each sensor 90 in the vehicle width direction is disposed inward in the vehicle width direction from the outer surface 43b. This leads to prevention of failure, damage, etc. of the sensor 90 due to hitting an obstacle, other object, etc. On the other hand, in this embodiment, a part of the arm 43 protrudes outward in the vehicle width direction above the sensor 90, and the outer surface of the protruding part is disposed above the sensor 90. That is, in this embodiment, the outer surface is disposed behind and above the sensor 90. This arrangement is useful for achieving both detection of the obstacle for traveling of the electric mobility M and prevention of failure, damage, etc. It is possible to configure the outer surface 43b to be disposed only above the sensor 90, and in this case, the same effect can be obtained.

[0058] Instead of the sensor 90, it is also conceivable to install a single LiDAR having a predetermined viewing angle in the up-down direction and a detection range obtained by rotating the viewing angle around an axis extending in the vertical direction on the upper part of the electric mobility M. In this case, unlike the present embodiment, it is not possible to detect obstacles immediately beside the front wheel 10 and the rear wheel 20. In addition, when the single LiDAR is used together with the sensor 90, the cost increases, but it is not significantly advantageous in obstacle detection.

[0059] The control device 80 (FIG. 16) causes the electric mobility M to perform an avoidance operation based on an avoidance control program 82b stored in the storage device 82, and moves the electric mobility M by automatic driving based on an automatic driving program 82c stored in the storage device 82. The avoidance operation includes stopping the electric mobility M, decelerating, moving in a direction away from the obstacle to be avoided, etc. The control device 80 creates or obtains a distance image (detection data) based on the detection results (detection data) of the sensors 90, 95, 96. Then, the control device 80 detects the position of the obstacle (object to be avoided) relative to the electric mobility M in the distance image.

[0060] The control device 80 moves the electric mobility M in an automatic driving manner based on the automatic driving program 82c stored in the storage device 82, using the detection result, map data of the airport (facility) stored in the storage device 82, and the like. Typically, the control device 80 moves the electric mobility M according to a route set in the route setting described below. The detection result is a detection result of a GPS receiver, an odometer, sensors 90, 95, 96, and the like provided in the electric mobility M. In this embodiment, the control device 80 estimates its own position on the map data using the detection result. The self-position estimation can be performed by a known method. In addition, the control device 80 can perform route setting and automatic driving, for example, from a departure point to a destination, based on the automatic driving program 82c, using a detected obstacle, map data stored in the storage device 82, and the result of self-position estimation. There may be cases where a part or all of the route setting and automatic driving are performed by another computer such as the server 100.

[0061] When the electric mobility M enters the elevator car CA in the automatic driving, the control device 80 controls the electric mobility M to enter the car CA in reverse. In this embodiment, the control device 80 changes the direction of the electric mobility M using at least the result of the self-location estimation and the map data so that the rear of the electric mobility M is positioned on the elevator car CA side as shown in Fig. 18 .

[0062] For example, if there is an instruction, information, trigger, or the like for changing direction within a predetermined range near the elevator car CA in the map data, the control device 80 changes direction based on the instruction, information, trigger, or the like.

[0063] The control device 80 may change the direction by using at least the set route information and the result of the self-location estimation. For example, when there is an instruction, information, trigger, or the like for the direction change within a predetermined range near the elevator car CA in the route information, the control device 80 changes the direction based on the instruction, information, trigger, or the like. The control device 80 may change the direction based on an instruction, information, a trigger, or the like, from a transmitter such as an antenna arranged near the cage CA. The information may be the distance from the transmitter, or the like.

[0064] Thus, in this embodiment, before the mobility body enters the elevator car CA, the control device positions the mobility body in front of the car CA such that the rear of the vehicle is positioned on the elevator car CA side. This configuration is useful for smoothly moving the electric mobility M into and out of the cage CA, which is not very spacious, in a short time. This can contribute to reducing stress for passengers of the electric mobility M and those around them.

[0065] In this embodiment, as described above, the movement of surrounding people is restricted inside and near the car, and the direction of the electric mobility M is changed in advance before the electric mobility M enters the elevator car CA. Therefore, surrounding people can clearly recognize that the electric mobility M is going to use the elevator. These configurations and recognitions are useful for allowing the electric mobility M to enter the car CA quickly and smoothly.

[0066] Furthermore, in this embodiment, when the electric mobility M moves backward toward a target position in the basket, the detection results by the rear sensor 95 and the pair of left and right sensors 90 are used. Because movement of people in the vicinity is restricted inside the basket or in its vicinity, the detection results of the foot positions of people in the vicinity inside the basket within the detection range DA2 (FIG. 3) are useful for safely reversing the electric mobility M. In this embodiment, the pair of sensors 90 can also detect obstacles moving toward the rear of the vehicle, and this configuration is useful for safely reversing the electric mobility M.

[0067] 2 and 8, this embodiment further includes a rear step sensor 97. The control device 80 causes the electric mobility M to perform an avoidance operation based on the avoidance control program 82b in response to the detection result of the rear step sensor 97. This configuration further improves the safety of the user who uses the electric mobility M.

[0068] In addition, when a step behind the electric mobility M is detected by each sensor 90, etc., a sensor configuration that does not include the rear step sensor 97 is possible. The rear step sensor 97 in this embodiment is a TOF (Time of Flight) sensor as a distance measurement sensor, but other sensors such as an ultrasonic sensor or a radar sensor may also be used.

[0069] In this embodiment, a pair of rear step sensors 97 are attached to the seat unit S or the rear part of the mobility main body 30. The rear part is a recess that opens to the rear. The rear of the rear part is covered by a luggage basket 120 attached to the mobility main body 30. Therefore, the luggage basket 120 is unlikely to be damaged regardless of whether it is attached to the mobility main body 30 or not. As shown in FIG. 2, each rear step sensor 97 detects a step behind the electric mobility M from the gap between the rear part and the luggage basket 120 attached to the rear part. The step is a downward step, a downward staircase, etc.

[0070] There may also be cases where a controller is provided on the upper end of the arm 43 of the electric mobility M, for example, and the rider manually moves the electric mobility M using a controller such as a joystick or an operating device implemented in a tablet computer by an application. Even in this case, it is possible to use the sensor configuration described above, which is advantageous in terms of functionality and cost as described above, and provides the above-mentioned effect of moving forward or backward.

[0071] The lower sensor 96 may be fixed to the base unit 32 or the like as shown in FIG. 5 and the like. In this case, the lower sensor 96 is always disposed at a sensing position where it can detect an obstacle. On the other hand, as shown in FIGS. 10 to 14, the lower sensor 96 may be attached to the mobility body 30 via a sensor moving mechanism 140 so as to be movable in the vertical direction. In this case, the lower sensor 96 is disposed at a sensing position where it can detect an obstacle when the battery BA is attached to the battery housing section 34 of the mobility body 30 by the sensor moving mechanism 140. Also, when the battery BA is removed from the battery housing section 34 of the mobility body 30, the lower sensor 96 is disposed at a storage position above the sensing position by the sensor moving mechanism 140.

[0072] 10 to 12, the base end of the swinging member 141 is supported by the mobility body 30, and the swinging member 141 can swing up and down around the base end. The lower sensor 96 is attached to the tip side of the swinging member 141, and when the swinging member 141 is disposed at the lower swing position shown in FIG. 10, the lower sensor 96 is disposed at the sensing position. With the lower sensor 96 disposed at the sensing position, the downward swing of the swinging member 141 is restricted by the mobility body 30. In FIG. 10, the tip part 141a provided on the tip side of the swinging member 141 engages with the lower part 34a of the battery housing part 34 from above (FIG. 12), and the downward swing of the swinging member 141 is restricted.

[0073] Furthermore, a spring member 142 is attached to the tip side of the rocking member 141, and with the lower sensor 96 disposed at the sensing position, the spring member 142 is elastically deformed between the battery BA and the rocking member 141. That is, with the battery BA inserted to a predetermined position in the battery housing section 34 and connected to the connector, the cantilever-shaped spring member 142 is bent as the elastic deformation by the lower part of the battery BA. The restoring force of the bending applies a downward force to the rocking member 141, thereby maintaining the lower sensor 96 at the sensing position. The spring member 142 may be in the form of a double-supported beam, a coil spring, or the like.

[0074] Further, there is provided a storage biasing member 143 such as a coil spring or a torsion spring that biases the swinging member 141 to swing upward. In this embodiment, the storage biasing member 143 is a coil spring.

[0075] When the battery BA is removed, the cushion 51 is removed, and the battery BA moves upward in a manner that releases the connection with the connector. With the battery BA removed from the battery housing 34, the swinging member 141 is swung upward by the storage biasing member 143, as shown in Fig. 11, and the lower sensor 96 is disposed in the storage position. Since the battery BA is often removed when the electric mobility M is transported or packed before transportation, this configuration is useful for preventing damage to the lower sensor 96 during transportation or packing before transportation.

[0076] In the stored position, the lower end of the lower sensor 96 is preferably disposed above the lower surface of the mobility main body 30. The lower end of the lower sensor 96 may be disposed several mm or several cm below the lower surface. The lower surface may be the lower surface of the base frame 32a of the base portion 32, the lower surface of the footrest portion, etc.

[0077] When the battery BA moves upward, at least one of the spring member 142 and the storage biasing member 143 may bias the battery BA upward. For example, when the cushion 51 is removed, when the connection of the battery BA with the connector is released, etc., the battery BA may automatically move upward a predetermined distance by at least one of the spring member 142 and the storage biasing member 143. This configuration is useful for facilitating the removal operation of the battery BA.

[0078] In the example of the sensor moving mechanism 140' in Figs. 13 and 14, the vertically moving member 144 is supported by the mobility body 30 via a slider mechanism 144a such as a linear guide, and the vertically moving member 144 is movable in the vertical direction. The lower sensor 96 is attached to the lower side of the vertically moving member 144, and when the vertically moving member 144 is disposed at the lower position shown in Fig. 13, the lower sensor 96 is disposed at the sensing position. With the lower sensor 96 disposed at the sensing position, the downward movement of the vertically moving member 144 is restricted by the mobility body 30. In this example, the downward movement of the vertically moving member 144 is restricted by a stopper member (not shown) of the slider mechanism 144a. The downward movement of the vertically moving member 144 may be restricted by a part of the vertically moving member 144 engaging with the mobility body 30 from above.

[0079] In addition, a spring member 145 is attached to the vertical moving member 144, and the spring member 145 is elastically deformed between the battery BA and the vertical moving member 144 when the lower sensor 96 is disposed at the sensing position. That is, when the battery BA is inserted to a predetermined position in the battery housing portion 34 and connected to the connector, the spring member 145, such as a coil spring, is compressed by the lower portion of the battery BA as the elastic deformation. The restoring force of the compression applies a downward force to the vertical moving member 144, thereby maintaining the lower sensor 96 at the sensing position. In this embodiment, a guide pin 145a that guides the spring member 145 extends upward from the bottom wall of the vertical moving member 144. The spring member 145 may be in the form of a cantilever beam, a double-supported beam, a coil spring, or the like.

[0080] Further, there is provided a storage biasing member 146, such as a coil spring or a torsion spring, which biases the vertically moving member 144 to move upward. In this embodiment, the storage biasing member 146 is a coil spring.

[0081] When the battery BA is removed, the cushion 51 is removed, and the battery BA moves upward in a manner that releases the connection with the connector. With the battery BA removed from the battery storage section 34, the vertically moving member 144 is moved upward by the storage biasing member 146 as shown in FIG. 14, and the lower sensor 96 is placed in the storage position. In the storage position, the lower end of the lower sensor 96 is preferably placed above the lower surface of the mobility main body 30. There may also be cases where the lower end of the lower sensor 96 is placed several mm or several cm below the lower surface. The lower surface is the lower surface of the base frame 32a of the base section 32, the lower surface of the footrest section, etc.

[0082] When the battery BA moves upward, at least one of the spring member 145 and the storage biasing member 146 may bias the battery BA upward. For example, when the cushion 51 is removed, when the connection of the battery BA with the connector is released, etc., the battery BA may automatically move upward a predetermined distance by at least one of the spring member 145 and the storage biasing member 146. This configuration is useful for facilitating the removal operation of the battery BA.

[0083] Also, an actuator such as a motor or an air cylinder may be provided to raise and lower the swinging member 141 and the vertically moving member 144. In this case, the battery BA is removed from the mobility body 30, and the control device 80 detects whether the battery BA is connected or disconnected from the connector, and in accordance with the detection result, the control device 80 controls the actuator to place the lower sensor 96 in the stored position. In accordance with the detection result of the sensors 90, 95, 96 instead of the detection result of the connection or disconnection of the battery BA, the control device 80 may use the actuator to place the lower sensor 96 in the stored position.

[0084] For example, when the lower sensor 96 detects a protruding object protruding from the ground at a height of several centimeters or several tens of centimeters in the detection range DA3, the control device 80 controls the actuator to place the lower sensor 96 in the stored position. Most of the floor surfaces of airports, large commercial facilities, hospitals, and other facilities where the electric mobility M is used are flat or gently inclined. For this reason, a configuration in which the lower sensor 96 is placed in the stored position based on a protruding object protruding from the ground at a height of several centimeters or several tens of centimeters can effectively prevent damage to the lower sensor 96. Surface scratches, distortions, and the like related to the detection by the lower sensor 96 affect the obstacle avoidance and automatic driving accuracy of the electric mobility M, and therefore the above configuration is useful in the technical field.

[0085] 10 and 11, the vehicle front side of the lower sensor 96 may be fixed to the swinging member 141 by one or more bolts 96a, and the vehicle rear side of the lower sensor 96 may be fixed to the swinging member 141 by one or more bolts 96b. The vehicle rear side of the lower sensor 96 may be fixed to the swinging member 141 by a hinge instead of the bolt 96b. The hinge supports the lower sensor 96 so that it can swing in the front-rear direction.

[0086] In this case, the fastening strength of the bolt 96a can be set clearly lower than the fastening strength of the bolt 96b. For example, the fastening strength of the bolt 96a can be set low by reducing the nominal diameter of the bolt 96a, by using a material of the bolt 96a that is clearly lower in strength than the material of the bolt 96b, such as plastic or wood, by providing a breaking portion that breaks actively in the bolt 96a, or the like. As a result, when the lower sensor 96 collides with the protruding object while the electric mobility M is traveling forward, the fastening is released due to the breaking of the bolt 96a, and this makes it possible to prevent damage to the structure related to the sensing of the lower sensor 96.

[0087] It is also possible to fix the lower sensor 96 to the swinging member 141 using a magnet instead of the bolts 96a, 96b. It is also possible to fix the lower sensor 96 to the swinging member 141 using a magnet and the hinge. In these cases, the same effect as described above can be obtained. This technology can also be adopted in the configurations of Figs. 5, 13, and 14.

[0088] In this way, by making the fastening strength of one part of the fastening structure for fixing the lower sensor 96 to the mobility main body 30 lower than the fastening strength of the other parts, it is possible to prevent damage to the structure related to sensing by the lower sensor 96. Alternatively, by fixing the lower sensor 96 to the mobility main body 30 with a magnet, it is possible to prevent damage to the structure related to sensing by the lower sensor 96.

[0089] In this embodiment, a user distance sensor 98 is provided instead of the seating sensor 53 or together with the seating sensor 53. As the user distance sensor 98, a known distance measuring sensor such as a TOF (Time of Flight) sensor, an ultrasonic sensor, a radar sensor, a stereo camera, or a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) can be used. In this embodiment, a TOF sensor having a viewing angle within a predetermined angle range is used.

[0090] As shown in FIG. 5, the user distance sensor 98 is fixed to the lower part of the backrest 40 of the seat unit S in the mobility main body 30. The optical axis 98a of the user distance sensor 98 extends toward the front of the vehicle and also extends obliquely upward with respect to the horizontal plane. The angle γ between the optical axis 98a and the horizontal plane is, for example, 0° or more and 60° or less. The angle γ may be an angle outside the range. The user distance sensor 98 has a detection range DA5, and the optical axis 98a is disposed at the center of the detection range DA5. Note that if the angle γ is 30° or more, the user distance sensor 98 tends to easily detect the buttocks, waist, etc. of a user standing on the footrest.

[0091] For example, the seating sensor 53 does not detect a user standing on the footrest. In response to this, the control device 80 obtains the distance from, for example, the seat unit S of the mobility main body 30 to the back of the user by calculation or the like, based on the detection result of the user distance sensor 98. Then, based on the distance, the control device 80 determines whether the user is seated on the seat unit S, whether the user is on the footrest, or the possibility that the user is on the footrest.

[0092] When the distance from the seating sensor 53 to a part of the seat unit S is input in advance to the control device 80, the control device 80 subtracts the distance from the detection result of the user distance sensor 98 to calculate the distance from the seat unit S to the back of the user. Examples of the back of the user are the user's buttocks, waist, back, thighs, etc. The control device 80 may obtain the distance from the seating sensor 53 to a part of the seat unit S based on the detection result of the seating sensor 53. The part is the front of the backrest portion 40, the center, rear end, front end, etc. in the front-rear direction of the seating surface portion 50.

[0093] This configuration is useful for checking the state of the user on the electric mobility M. For example, when the control device 80 determines that the user is on the footrest, it controls the electric mobility M so that the motor MT is not driven, the motor MT or a brake (not shown) is used to brake the electric mobility M, or the like. For this function, the user distance sensor 98 may be disposed in another location on the mobility body 30, such as the front end of the seat portion 50.

[0094] This configuration is also useful for confirming that a lightweight user is seated. This configuration can also detect that the user is seated on the front end side of the seat surface portion 50, and in such a case, the control device 80 may convey information about the user's seating position to the user using a display device such as the display device 200, a sound generating unit 300, or the like. The information about the seating position is information that prompts the user to change the seating position, information that indicates that the seating position is not appropriate, and the like.

[0095] In this configuration, the control device 80 may use the detection result of the user distance sensor 98 to determine whether or not an object such as the user's belongings is placed on the seat unit S. In this case, the control device 80 may use a display device such as the display device 200, a sound generating unit 300, or the like to convey information about the item on the seat unit S to the user. The information about the item is, for example, information conveying that an item thought to be the user's belongings remains on the seat unit S.

[0096] It is also possible to attach multiple user distance sensors 98 to the electric mobility M, and it is also possible to arrange the multiple user distance sensors 98 side by side in the vehicle width direction. In this case, even if one user distance sensor 98 fails, the other user distance sensor 98 maintains the above-mentioned function.

[0097] As shown in FIG. 5, a controller 400 for an assistant may be provided on the electric mobility M. For example, the controller 400 has a joystick 410 for controlling the traveling direction and speed of the electric mobility M, and a release button 420 that enables control with the joystick 410. In one example, the electric mobility M can be operated by the joystick 410 only while the release button 420 is pressed. As shown in FIG. 5, the controller 400 is attached to, for example, one of the pair of extension parts 114 of the push handle 110. For example, the assistant presses the release button 420 with the index finger and operates the joystick 410 with the thumb. It is also possible to use other types of controllers as the controller 400. For example, a controller that inputs the traveling direction and the speed via a liquid crystal screen, a controller that inputs the traveling direction and the speed by a plurality of buttons, etc. can be used.

[0098] An example of an assistant is a person working at a facility such as an airport. For example, in a jet bridge connecting an airplane and an airport facility, the assistant controls the electric mobility M on which the user is seated by operating the controller 400. This allows the user and the electric mobility M to move smoothly even in a narrow passage such as a jet bridge. In one example, the controller 400 is connected to the electric mobility M by a cable (not shown).

[0099] Note that a hidden command, a hidden menu, or the like may be set in the display device 200 or the like. In this case, the electric mobility M becomes operable by the controller 400 only when a hidden command, a hidden menu, or the like is operated. This prevents the controller 400 from being used by an unintended person, such as a user seated on the electric mobility M. Also, the automatic stop function may be disabled when the electric mobility M becomes operable by the controller 400. This allows the user and the electric mobility M to move more smoothly in narrow passages. [Explanation of symbols]

[0100] 30: Mobility main unit 43: Arm 43a: Armrest 46: Guard material 46b: Inclined part 50: Seat part 50a: Front end 80: Control device 90: Sensor 91: Axis line 95: Sensor 95: Rear sensor 96: Lower sensor 96: Sensor 97: Rear step sensor 98: User distance sensor 98a: Optical axis 100: Server 110: Push handle 115: Grip section 120: Luggage basket 140: Sensor moving mechanism 140': Sensor moving mechanism 141: Swinging member 142: Spring member 143: Storage biasing member 144: Vertically movable member 145: Spring member 146: Storage biasing member 150: Sensor protection material 500: Cart BA: Battery CA: Basket DA1: Detection range DA2: Detection range DA3: Detection range DA4: Detection range DA5:Viewing angle M: Electric Mobility S: Seat unit α: Viewing angle

Claims

1. Mobility unit, a sensor attached to the mobility body, having a viewing angle in a predetermined direction and a detection range obtained by rotating the viewing angle around a predetermined axis, and capable of detecting an obstacle; An electric mobility vehicle, wherein the sensor is attached to the mobility body so that the specified axis extends in the vehicle width direction.

2. The mobility body has a seat unit on which a user sits, The sensor is attached to an armrest of the seat unit, an arm to which the armrest is attached, a member below the armrest, a member below the arm, or a guard member so as to protrude outward in the vehicle width direction, The electric mobility described in claim 1, wherein the guard member is a member provided on the seat unit to reduce protrusion of the user's clothing, the user's thighs, or the user's knees from the seat unit in the vehicle width direction.

3. The electric mobility vehicle according to claim 1 or 2, further comprising a rear step sensor attached to the mobility body and capable of detecting a step behind the mobility body.

4. A control device for automatically driving the mobility body is provided, The electric mobility according to claim 1 , wherein the control device changes the direction of the mobility body before the mobility body enters an elevator car so that a rear of the vehicle is positioned on the car side.

5. a lower sensor provided on the mobility body and capable of detecting the obstacle from at least one of a space between front wheels of the mobility body and a space between the front wheels and rear wheels of the mobility body; The electric mobility according to claim 1 or 2, further comprising a sensor movement mechanism capable of moving the lower sensor between a sensing position where the obstacle can be detected and a stored position that is above the sensing position.

6. The mobility body has a removably mounted battery, The electric mobility described in claim 5, wherein the sensor moving mechanism is configured to place the lower sensor at the sensing position when the battery is attached to the mobility main body, and to place the lower sensor at the storage position when the battery is removed from the mobility main body.

7. a lower sensor provided on the mobility body and capable of detecting the obstacle from at least one of a space between the front wheels of the mobility body and a space between the front wheels and the rear wheels of the mobility body; A sensor protection member protruding downward from a lower surface of the mobility body, The electric mobility device according to claim 1 or 2, wherein the sensor protection member is disposed in an area of ​​a sensing area of ​​the lower sensor that includes the front wheel or the rear wheel.

8. The mobility body has a seat unit on which a user sits, The electric mobility according to claim 1 , wherein a user distance sensor capable of detecting a distance between the seat unit and the user in a front-rear direction is attached to the mobility body.

9. The mobility body has a seat unit on which a user sits, The seat unit includes a seat surface portion and a guard member disposed on an outer side of at least one of the thighs and knees of the user seated on the seat unit in the vehicle width direction, for reducing protrusion of the user's clothes, the thighs, or the knees from the seat unit; The electric mobility according to claim 1 , wherein a portion of the guard member is disposed forward of a front end of the seat portion, and the guard member has an inclined portion that is inclined downward and inward in the vehicle width direction.

10. A push handle is provided which is swingably attached to the mobility body, 3. The electric mobility vehicle according to claim 1 or 2, wherein the push handle is capable of swinging to a first swing position for positioning its grip portion at a height position for pushing the electric mobility vehicle, and is capable of swinging the grip portion to a second swing position which is a storage position lower than the first swing position.

11. The mobility body has a seat unit on which a user sits, a luggage basket disposed behind the seat unit; The electric mobility described in claim 1, wherein the luggage basket is removably attached to the mobility body so as to be placed on a cart having a storage capacity dimension in a first horizontal direction of 110 cm or less and a storage capacity dimension in a second horizontal direction perpendicular to the first horizontal direction of 110 cm or less.

Images