JP2009035075A - Wiper device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wiper device which suppresses an inertia force of a wiper arm and a blade to prevent overrun by approximating angular acceleration at an inversion position to zero, eliminates the discontinuity of a motion, avoids a collision of a wiper of a Dr side (driver side) and a Pa side (front passenger seat side), and can improve inversion positional precision. <P>SOLUTION: The wiper device is equipped with a first wiper arm and a second wiper arm to which a first wiper blade and a second wiper blade are connected, a first wiper rotary shaft and a second wiper rotary shaft for turning the first wiper arm and the second wiper arm, a motor for driving the first wiper rotary shaft and the second wiper rotary shaft, and a control means for controlling the motor. The motor is driven so that the angular acceleration of the first wiper rotary shaft and the second wiper rotary shaft becomes substantially zero at an upper inversion position and a lower inversion position, and a resting period for stopping the drive of the motor is provided at least at one side of the upper inversion position and the lower inversion position. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a wiper device, and in particular, can prevent an overrun of a wiper arm and a wiper blade at a reversal position of a reciprocating wiping operation of a wiping surface, and can prevent collision of both wiper arms and a wiper blade in an opposed device. The present invention relates to a wiper device.

Conventionally, a control method for stabilizing the reversal position of the reciprocating wiping operation in a vehicle wiper device has been proposed (see Patent Document 1 and Patent Document 2).
In the wiper control device described in Patent Literature 1, the position of the wiper blade is detected by the position detection device, and the wiper blade has moved to a predetermined position before the reverse position based on the detection result by the position detection device. When detected, a deceleration signal for decelerating the wiper motor is detected by the deceleration circuit.

  With this configuration, in the wiper device described in Patent Document 1, when the wiper blade reaches the reverse position, the movement speed of the wiper blade (or the angle of the wiper shaft attached to the base end of the wiper arm) is reduced. Therefore, the wiper blade can be smoothly reversed.

  However, in the wiper device described in Patent Document 1, when the wiper blade reaches the reverse position, the movement speed of the wiper blade (or the angular speed of the wiper shaft) is reduced, but the wiper blade has a predetermined speed and Due to the acceleration, the wiper blade may overrun, and when this wiper device is used in a facing wiper device, both wiper arms and wiper blades may collide. there were.

Patent Document 2 proposes a technique that can prevent backlash of the wiper at the reversal position and avoid a collision between both wipers of the opposed wiper device.
In the wiper device described in the technique of Patent Document 2, the two wipers are driven by motors separately provided.

The motors are independently controlled by a single control unit, and the wiper angle of each wiper is controlled by the control unit so as to be substantially a trigonometric function.
In this way, since trigonometric functions that can be differentiated over time are used, wiper backlash can be effectively prevented, and conditions for avoiding collisions between opposing wipers can be compared using simple trigonometric functions. Can be obtained easily.

Japanese Unexamined Patent Publication No. 03-109153 JP 2005-511408 A

  However, in the technique described in Patent Document 2, since the parameter is selected so that the speed exceeds the minimum value at the reverse position, the angular acceleration at the reverse position is large, and the inertial force of the wiper arm and the blade May overrun.

  For this reason, the patent applicant has proposed an operation pattern in which the angular acceleration at the reversal position becomes zero (Japanese Patent Application No. 2006-063038). In the wiper having a pipette, the possibility that the wiper arm and the blade collide with each other cannot be completely excluded.

  An object of the present invention is to solve the above-mentioned problems. By making the angular acceleration at the reversal position close to 0, the inertial force of the wiper arm and the blade is suppressed and overrun is prevented, and the operation is discontinuous. It is an object of the present invention to provide a wiper device that can improve the reversal position accuracy by avoiding collision of wiper on the Dr side (driver side) and Pa side (passenger seat side).

  According to the wiper device according to the present invention, the first and second wiper arms connected to the first wiper blade and the second wiper blade, and the base end portions of the first wiper arm and the second wiper arm are provided. A first wiper rotation shaft and a second wiper rotation shaft which are connected to rotate the first wiper arm and the second wiper arm; a motor which drives the first wiper rotation shaft and the second wiper rotation shaft; and the motor And a control means for controlling the wiper device, wherein the first wiper blade is disposed above the second wiper blade when the wiper device is not in operation. The control means includes the first wiper rotating shaft at least at the upper and lower inverted positions of the first wiper arm and the second wiper arm. And driving the motor so that the angular acceleration of the second wiper rotating shaft becomes substantially zero, and controlling to provide a pause period in which the driving of the motor is stopped at at least one of the upper inversion position and the lower inversion position. It is solved by doing.

As described above, in the present invention, when the second wiper arm and the second wiper blade connected to the first wiper arm and the first wiper blade are operated, at least the first wiper arm and the second wiper arm are inverted by the control means. The motor is driven so that the angular acceleration of the first wiper rotating shaft and the second wiper rotating shaft becomes substantially zero at the position and the lower reversing position, and the motor driving is stopped at at least one of the upper reversing position and the lower reversing position. Control is performed to provide a pause period.
By controlling in this way, a period in which the first wiper arm (and the first wiper blade) and the second wiper arm (and the second wiper blade) are temporarily stopped can be prevented, thereby preventing a reverse sound from being generated. In addition, since the accelerations of the first wiper rotating shaft and the second wiper rotating shaft are substantially zero at the upper reversing position and the lower reversing position, the first wiper arm (and the first wiper blade) and the second wiper arm ( And overrun of the second wiper blade) can be prevented.
In addition, by providing a pause time, a time difference is provided in the operation of the first wiper arm (and the first wiper blade) and the second wiper arm (and the second wiper blade), so that they can be prevented from interfering with each other. it can.

  Further, at this time, the control means is configured such that angular accelerations of the first wiper rotation shaft and the second wiper rotation shaft are substantially zero at the upper reversal position and the lower reversal position of the first wiper arm and the second wiper arm. The target value data is set such that the first wiper rotating shaft receives the operation command or a signal indicating that the first wiper arm has reached the lower reverse position. From the lower inversion position toward the upper inversion position, and from the time of receiving the operation command or the time of receiving a signal indicating that the second wiper arm has reached the lower inversion position. After a first pause period, which is one of the periods, has elapsed, the second wiper rotation shaft is rotated from the lower reverse position toward the upper reverse position, and the first wiper And when the second wiper arm reaches the upper reverse position, the first wiper rotating shaft is stopped for a second pause period that is one of the pause periods. When the second wiper arm reaches the upper inversion position, the second wiper rotation shaft is rotated from the upper inversion position toward the lower inversion position, and after the second pause period, the first wiper rotation is performed. The pattern is configured such that the shaft is rotated from the upper reversal position toward the lower reversal position, and when the second wiper arm reaches the lower reversal position, the operation of stopping the second wiper rotation shaft is repeated. It is preferable that

  As described above, the wiper device according to the present invention is controlled in accordance with the pattern in which the target value data is set, so that it can be accurately controlled and the first wiper arm (and the first wiper blade) can be controlled. Since the operation start speed becomes slow, it is possible to effectively avoid interference between the wipers.

Further, at this time, the control means includes the first wiper rotation shaft and the first wiper rotating shaft and the section for the section from the upper inversion position to the lower inversion position and the section from the lower inversion position to the upper inversion position, respectively. A plurality of target value patterns in which the angular acceleration of the second wiper rotation axis is substantially zero are provided in the middle of the section from the upper inversion position to the lower inversion position and the section from the lower inversion position to the upper inversion position. It is preferable that the plurality of patterns are switched.
Further, at this time, it is preferable that the timing for switching the plurality of patterns is when the angular acceleration of at least one of the first wiper rotation axis and the second wiper rotation axis is substantially zero.
With this configuration, a plurality of target value patterns in which the angular acceleration of the first wiper rotation axis and the second wiper rotation axis are substantially zero are provided, and the timing for switching the plurality of patterns is at least the first wiper rotation. Since the angular acceleration of either the shaft or the second wiper rotation axis is substantially zero, the point is discontinuous in the operation of the first wiper arm (and the first wiper blade) and the second wiper arm (and the second wiper blade). The pattern can be switched smoothly without using the

The plurality of patterns are configured such that, of the first wiper arm and the second wiper arm, the side disposed on the upper side at the lower inversion position is switched first.
Since it is comprised in this way, while being able to switch smoothly, it can prevent that both the 1st wiper arm and the 2nd wiper arm interfere.

  Furthermore, when the maximum value of the absolute value of the angular acceleration of the second wiper rotation axis is configured to be larger than the maximum value of the absolute value of the angular acceleration of the first wiper rotation axis, a pause time is set. Even in this case, the operation start position and the operation end position of the first wiper arm (and the first wiper blade) and the second wiper arm (and the second wiper blade) can be matched.

According to the present invention, the inertial force of the wiper arm and the blade can be suppressed and overrun can be prevented by bringing the angular acceleration at the wiper reversal position close to zero.
Further, discontinuity of operation can be eliminated, and collision of wipers on the Dr side (driver side) and Pa side (passenger seat side) can be avoided and the reversal position accuracy can be improved.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
Note that the configuration described below does not limit the present invention and can be variously modified within the scope of the gist of the present invention.
In the present embodiment, the inertial force of the wiper arm and the wiper blade is suppressed by reducing the angular acceleration at the reversal position to 0, and the overrun is prevented, and the discontinuity of the operation is eliminated, and the Dr side (driver side) and The present invention relates to a wiper device that can avoid collision of a wiper on the Pa side (passenger seat side) and improve reversal position accuracy.

FIGS. 1 to 6 show a first embodiment. FIGS. 1 and 2 are explanatory views of the wiper device, FIG. 3 is an electrical configuration diagram of the wiper device, and FIG. 4 is a rotation speed control of the control unit. FIG. 5 is a graph showing target value data of a fluctuation pattern, and FIG. 6 is a graph showing an interference range and an avoidance pattern.
7 and 8 show the second embodiment. FIG. 7 is a graph showing target value data of a fluctuation pattern, and FIG. 8 is a graph showing an interference range and an avoidance pattern.

(First embodiment)
First, an embodiment in which the present invention is applied to a wiper device W mounted on a vehicle will be described with reference to FIGS. 1 and 2.
As shown in FIG. 1, the wiper device W according to the present embodiment is described as a driver-side wiper W1 (hereinafter referred to as “Dr-side wiper W1”) and a passenger seat-side wiper W2 (hereinafter referred to as “Pa-side wiper W2”). ), And the control unit 30.
The Dr-side wiper W1 is attached to the driver's seat side of the windshield, and wipes the windshield in this area to remove raindrops and the like to ensure visibility.

Similarly, the Pa-side wiper W2 is attached to the front passenger seat side of the lower end portion of the windshield, and wipes the windshield (windshield) in this area to remove raindrops and the like to ensure visibility.
Since the Dr-side wiper W1 and the Pa-side wiper W2 have the same configuration, the configuration will be described using the Dr-side wiper W1 as an example.

As shown in FIG. 2, the Dr-side wiper W1 includes a wiper blade 10A as a first wiper blade, a wiper arm 12A as a first wiper arm, a Dr-side motor 20A, and a wiper pivot shaft 21A as a first wiper rotation shaft. It is configured.
(The Pa-side wiper W2 includes a wiper blade 10B as a second wiper blade, a wiper arm 12B as a second wiper arm, a Pa-side motor 20B, and a wiper pipette shaft 21B as a second wiper rotation shaft. Has been.)
The Dr-side motor 20A is configured to include an electric motor and a speed reduction mechanism therein, and outputs the rotational output of the electric motor by the speed reduction mechanism.

The wiper pivot shaft 21A is an output shaft from the Dr-side motor 20A.
The wiper arm 12A is a rigid rod-like member, one end of which is connected to the wiper pivot shaft 21A, and moves according to the rotational movement of the wiper pivot shaft 21A.
The wiper blade 10A is made of a rod-like elastic member, and wipes raindrops and the like adhering to the surface of the windshield. The substantially center of gravity of the wiper blade 10A is connected to the other end of the wiper arm 12A (the end opposite to the side to which the wiper pivot shaft 21A is connected).

The Dr-side motor 20A rotates forward and backward to reciprocate the wiper pivot shaft 21A at a predetermined angle (about 90 ° in the present embodiment), thereby swinging the wiper arm 12A.
As shown in FIG. 2, in the present embodiment, the wiper arm 12A and the wiper blade 10A swing between a reverse position (a) that is a lower reverse position and a reverse position (b) that is an upper reverse position. Is configured to do.
The control unit 30 is connected to the Dr-side motor 20A and the Pa-side motor 20B, and drives and controls the Dr-side motor 20A and the Pa-side motor 20B (see FIG. 1).

Next, the electrical configuration of the wiper device W according to the present embodiment will be described with reference to FIG.
The control unit 30 as a control unit according to the present embodiment is configured to operate upon receiving power supply from the in-vehicle battery 1.
The control unit 30 receives a drive control signal from the rotation speed control unit 31 and the rotation speed control unit 31 for driving and controlling the Dr side motor 20A and the Pa side motor 20B, and receives the drive control signal from the rotation speed control unit 31. The drive part 37 which supplies the power supply of the vehicle-mounted battery 1 to 20B is provided.
Since the configuration is the same, a configuration for driving and controlling the Dr-side motor 20A will be described.
The rotation speed control unit 31 operates the Dr-side motor 20 </ b> A via the drive unit 37 by receiving an operation signal from the operation switch 40.

The drive unit 37 has an H-type bridge circuit (not shown) formed by, for example, a relay circuit or an FET.
The drive unit 37 switches both terminals 20a and 20b of the Dr-side motor 20A to a high potential (battery 1) side and a low potential (earth) side by this H-type bridge circuit, and rotates the Dr-side motor 20A forward and backward. .

In addition, the drive unit 37 includes a short-circuit unit 38 for adjusting the speed of the Dr-side motor 20A by short-circuiting both terminals 20a and 20b of the Dr-side motor 20A.
The short circuit part 38 is formed by an FET element 38a. The source and drain of the FET element 38 a are connected to the terminals 20 a and 20 b, respectively, and the gate is connected to the drive unit 37.

In the short-circuit unit 38, when the drive signal from the drive unit 37 is input to the gate of the FET element 38a, the source and drain are short-circuited.
That is, while the drive signal is continuously or intermittently input, both terminals 20a and 20b of the Dr-side motor 20A are substantially equipotential, and the Dr-side motor 20A is decelerated.
Thereby, the control unit 30 can adjust the speed of the Dr-side motor 20A.
The drive unit 30 adjusts the speed of the Dr-side motor 20A by changing the duty ratio of the PWM signal, which is a control signal for supplying power to the Dr-side motor 20A, in addition to the control of the short-circuit unit 38. Yes.

A position detector 22 is disposed in the Dr-side motor 20A.
The position detector 22 outputs a pulse signal to the control unit 30 as the wiper pivot shaft 21A rotates.

  In the present embodiment, the position detector 22 directly detects the rotation of the wiper pivot shaft 21A. However, the present invention is not limited to this, and if there is no mechanical error, the wiper pivot in the Dr side motor 20A is not limited. You may comprise so that rotation of the rotary body (deceleration gear etc.) upstream from the shaft 21A may be detected.

The control unit 30 includes an angular velocity / angular acceleration detection unit 39.
The angular velocity / angular acceleration detector 39 receives the pulse signal from the position detector 22 and counts the pulse signal, thereby calculating the rotational angle or the rotational speed of the wiper pivot shaft 21A.
Since the rotation angle of the wiper pivot shaft 21A is equal to the rotation angle of the wiper arm 12A and the wiper blade 10A, the control unit 30 determines the position of the wiper arm 12A and the wiper blade 10A according to the rotation angle or the number of rotations of the wiper pivot shaft 21A. Can be detected.

Further, the angular velocity / angular acceleration detector 39 calculates the angular velocity of the wiper pivot shaft 21A and the like from the interval of the pulse signals.
Further, the angular velocity / angular acceleration detection unit 39 requires each of the calculated rotation angle signal, rotation number signal, angular velocity signal, angular acceleration signal, etc., representing the rotation angle, rotation number, angular velocity, and angular acceleration of the wiper pivot shaft 21A. Is output to the rotation speed control unit 31.

  As described below, the rotation speed control unit 31 performs a drive control signal to perform speed control of the Dr-side motor 20A based on necessary signals such as an angular velocity signal received from the angular velocity / acceleration detection unit 39. Is output to the drive unit 37.

As shown in FIG. 4, the rotation speed control unit 31 includes a target value data storage unit 32, a time measurement unit 33, a comparison unit 34, an output adjustment unit 35, and a drive control unit 36. .
The rotation speed control unit 31 stores various signals (a rotation angle signal, a rotation speed signal, an angular velocity signal, an angular acceleration signal, etc.) input from the angular velocity / angular acceleration detection unit 39 in the target value data storage unit 32. A drive control signal is output by servo control so as to coincide with the rotation angle fluctuation pattern, rotation speed fluctuation pattern, and angular acceleration fluctuation pattern.
The rotation angle fluctuation pattern, the rotation speed fluctuation pattern, and the angular acceleration fluctuation pattern are fluctuation patterns of the rotation angle, the rotation speed, and the angular acceleration when the wiper pipette shaft 21A performs the reciprocating rotation operation.
The rotation angle variation pattern, the rotation speed variation pattern, and the angular acceleration variation pattern correspond to patterns indicating target value data.

FIG. 5 shows an example of a rotation angle variation pattern, a rotation number variation pattern, and an angular acceleration variation pattern, which are target value data of the rotation pattern according to this embodiment.
Since the rotation angle of the wiper pivot shaft 21A is equal to the rotation angle of the wiper arm 12A and the wiper blade 10A, and the rotation speed and the angular acceleration are also equal, it will be described below as a variation pattern of the wiper pivot shaft 21A.
FIG. 5A is a variation pattern of the rotation angles θ _{D, P} [°] of the wiper pivot shafts 21A, 21B.
In FIG. 5A, the solid line indicates the rotation angle θ _D [°] of the wiper pivot shaft 21A (Dr side), and the alternate long and short dash line indicates the rotation angle θ _P [°] of the wiper pivot shaft 21B (Pa side). Show.

FIG. 5B is a fluctuation pattern of the rotational speed [rpm] of the wiper pivot shafts 21A and 21B.
In FIG. 5B, the solid line indicates the rotation speed N _D [rpm] of the wiper pipette shaft 21A (Dr side), and the alternate long and short dash line indicates the rotation angle N _P [rpm] of the wiper pipette shaft 21B (Pa side). .

Further, FIG. 5C is a variation pattern of the angular acceleration α _{D, P} [rad / s ² ] of the wiper pivot shafts 21A, 21B.
In FIG. 5C, the solid line indicates the angular acceleration α _D [rad / s ² ] of the wiper pivot axis 21A (Dr side), and the alternate long and short dash line indicates the angular acceleration α _P [rad / s of the wiper pivot axis 21B (Pa side). s ² ].

These fluctuation patterns are defined as a function of time t when the reciprocating operation periods _{TD1, P1} [s] and maximum rotation angles θ _{DMAX, PMAX} [°] of the wiper pivot shafts 21A, 21B are set.
The maximum rotation angle θ _{DMAX, PMAX} [°] is a rotation angle from one inversion position (a) to the other inversion position (b), that is, a wiping angle (this maximum rotation angle θ _DMAX, For the relationship between _PMAX [°] and the rotation angles θ _{D, P} [°] of the wiper pivot shafts 21A and 21B, see FIG.

Specifically, in the present embodiment, these variation patterns are expressed by the following time function equations (Equation 1 to Equation 3).
First, the wiper pipette shaft 21A side will be described.
The pause time t _D1 corresponds to the pause period.

The symbols are defined as follows.
T: One round trip period [s]
t _D1 : Pause time of wiper pipe pot shaft 21A [s]
T _D1 : period [s] of the wiper pipette shaft 21A
θ _D : rotation angle [°] of the wiper pivot shaft 21A
_θDMAX : Maximum rotation angle (wiping angle) [°] of the wiper pipette shaft 21A
ω _D : Angular speed [rad / s] of wiper pipette shaft 21A
_ωDMAX : Maximum angular velocity [rad / s] of the wiper pipot shaft 21A
N _D : Number of revolutions of the wiper pipette shaft 21A [rpm]
α _D : Angular acceleration [rad / s ² ] of wiper pipette shaft 21A

The time range is 0 ≦ t ≦ T _D1 / 2, and a pause time of t _D1 is provided at the upper inversion position (a) at t = T / 2.
Also, T _D1 / 2 <t ≦ T / 2 is a pause time, so ω _D (t) = 0.
Further, in Equation 3, the angular acceleration becomes zero when t = 0 and when t = T _D1 / 2.
As described above, since the angular acceleration α _D (t) = 0 is set as the target value at the reversal positions (a) and (b), overrun occurs or noise and rattling occurs due to sudden braking. It can be prevented from occurring.

Further, T _D1 , ω _D , θ _DMAX , and ω _DMAX are expressed by the following equations (Equations 4 to 7).

Similarly, the wiper pipette shaft 21B side will be described.
Since the rotation angle of the wiper pivot shaft 21B is equal to the rotation angle of the wiper arm 12B and the wiper blade 10B, and the rotation speed and the angular acceleration are also equal, it will be described below as a variation pattern of the wiper pivot shaft 21B.
The symbols are defined as follows.
The pause time t _P1 corresponds to the pause period.
T: One round trip period [s]
t _P1 : Pause time [s] of wiper pipette shaft 21B
T _P1 : period [s] of the wiper pipette shaft 21B
θ _P : rotation angle of the wiper pivot shaft 21B [°]
θ _PMAX : Maximum rotation angle (wiping angle) of wiper pipot shaft 21B [°]
ω _P : Angular speed [rad / s] of wiper pipette shaft 21B
ω _PMAX : Maximum angular velocity of the wiper pipot shaft 21B [rad / s]
N _P : Number of revolutions of the wiper pipette shaft 21B [rpm]
α _P : Angular acceleration [rad / s ² ] of the wiper pipette shaft 21B

The time range is 0 ≦ t ≦ T _P1 / 2, and a pause time of t _P1 is provided at the lower inversion position (b) of t = 0 or t = T.
Since t ≦ t _P1 is a pause time, ω _P (t) = 0.
Furthermore, in Equation 10, the angular acceleration becomes zero when t = t _P1 and when t = T / 2 = T _P1 / 2 + t _P1 .
As described above, since the angular acceleration α _P (t) = 0 is set as the target value at the reversal positions (a) and (b), overrun occurs or noise and rattling occurs due to sudden braking. It can be prevented from occurring.

Further, T _P1 , ω _P , θ _PMAX , and ω _PMAX are expressed by the following formulas (Equations 11 to 14).

With this configuration, when the positions of the wiper pivot shafts 21A and 21B and the lengths of the wiper blades 10A and 10B and the wiper arms 12A and 12B are determined, the wiper blades 10A and 10B and the wiper arms 12A and 12B interfere with each other. The area is mechanically determined.
When the period T and the maximum rotation angles (wiping angles θ _DMAX , θ _PMAX ) of the wiper pivot shafts 21A and 21B are determined, a variation pattern that avoids this interference region can be obtained simply by adjusting t _D1 and t _P1. Can be created.

The interference area X and the avoidance pattern Y are shown in FIG.
It is preferable to create a variation pattern so as to trace the rotation angles (θ _D , θ _P ) of the wiper pivot shafts 21A, 21B along the avoidance pattern Y while avoiding the interference region X.
Note that t _D1 may be set to 0.
As described above, since the pause time t _D1 and the pause time t _P1 are set, both the wiper arm 12A (wiper blade 10A) and the wiper arm 12B (wiper blade 10B) can be driven without interference. .
Further, the section of T / 2 <t <T is a variation pattern obtained by turning back the section of 0 ≦ t ≦ T / 2.

The time measuring unit 33 of the rotation speed control unit 31 measures the elapsed time from the reversal position (a) and outputs it to the comparison unit 34.
The time measurement unit 33 receives the rotation angle signal from the angular velocity / acceleration detection unit 39, and resets the elapsed time every time the wiper pivot shafts 21A and 21B reach the reverse position (a).
The comparison unit 34 receives each signal from the angular velocity / acceleration detection unit 39, reads the elapsed time from the time measurement unit 33, and reads the target value corresponding to the elapsed time from the target value data storage unit 32.
That is, the comparison unit 34 reads target value data corresponding to this elapsed time from each variation pattern.

Then, the comparison unit 34 compares each signal received from the angular velocity / angular acceleration detection unit 39 with the target value data read from the target value data storage unit 32, and outputs the comparison result to the output adjustment unit 35.
That is, the comparison unit 34 compares whether the actually acquired data matches the target value data and outputs these differences to the output adjustment unit 35.
The output adjustment unit 35 outputs an adjustment signal for adjusting the magnitude of the control signal output by the drive control unit 36 so that these differences are zero.

The drive control unit 36 adjusts the drive control signal with the adjustment signal, and outputs the adjusted drive control signal to the drive unit 37.
This drive control signal is a PWM signal, and its duty ratio is adjusted by the adjustment signal.
At this time, if it is necessary to reduce the speed of the Dr-side wiper motor 20A and the Pa-side wiper motor 20B by operating the short-circuit unit 38, the drive control unit 36 also outputs a signal for operating the short-circuit unit 38 at the same time. To do.

In this way, the rotation speed control unit 31 outputs the drive control signal so that the actual data follows the target value data with respect to the operation elapsed time.
In the present embodiment, as the variation pattern, the angular acceleration (α _D , α _P ) of the wiper pivot shafts 21A, 21B, the rotational speed (N _D , N _P ) of the wiper pivot shafts 21A, 21B, and the wiper pivot shaft 21A , 21B rotation angles (θ _D , θ _P ) are selected, but the present invention is not limited to this. For example, the angular velocity (ω _D , ω _P ) can be used as long as the target control of the present invention can be performed. May be selected.

The above embodiment can be modified as follows.
Other embodiments will be described below as modified examples.
In addition, the same code | symbol is attached | subjected to the component similar to the said embodiment, and description of the overlapping structure is abbreviate | omitted.

(Second Embodiment)
In the present embodiment, the variation pattern is modified.
Other configurations are the same as those of the first embodiment.
FIG. 7 shows an example of the rotation angle fluctuation pattern, the rotation speed fluctuation pattern, and the angular acceleration fluctuation pattern, which are target value data of the rotation pattern according to the present embodiment.
In this pattern, two types of patterns are respectively set on the Dr side and the Pa side. The pattern on the Dr side is switched when t = T _D1 / 4, and the pattern on the Pa side is t = T _P1 / 4 + t _P1. The pattern is switched at

FIG. 7A is a variation pattern of the rotation angles θ _{D, P} [°] of the wiper pivot shafts 21A, 21B.
In FIG. 7 (a), the solid line indicates the rotation angle θ _D [°] of the wiper pivot shaft 21A (Dr side), and the alternate long and short dash line indicates the rotation angle θ _P [°] of the wiper pivot shaft 21B (Pa side). Show.

FIG. 7B shows a fluctuation pattern of the rotation speed [rpm] of the wiper pivot shafts 21A and 21B.
In FIG. 7B, the solid line indicates the rotation speed N _D [rpm] of the wiper pipette shaft 21A (Dr side), and the alternate long and short dash line indicates the rotation angle N _P [rpm] of the wiper pipette shaft 21B (Pa side). .

Further, FIG. 7C is a fluctuation pattern of the angular accelerations α _{D, P} [rad / s ² ] of the wiper pivot shafts 21A, 21B.
In FIG. 7C, the solid line indicates the angular acceleration α _D [rad / s ² ] of the wiper pivot axis 21A (Dr side), and the alternate long and short dash line indicates the angular acceleration α _P [rad / s of the wiper pivot axis 21B (Pa side). s ² ].

These fluctuation patterns are defined as a function of time t when the reciprocating operation periods _{TD1, P1} [s] and maximum rotation angles θ _{DMAX, PMAX} [°] of the wiper pivot shafts 21A, 21B are set.
The maximum rotation angle θ _{DMAX, PMAX} [°] is a rotation angle from one inversion position (a) to the other inversion position (b), that is, a wiping angle (this maximum rotation angle θ _DMAX, For the relationship between _PMAX [°] and the rotation angles θ _{D, P} [°] of the wiper pivot shafts 21A and 21B, see FIG.

Specifically, in the present embodiment, these variation patterns are expressed by the following time function equations (Equations 15 to 17).
First, the wiper pipette shaft 21A side will be described.

The symbols are defined as follows.
T: One round trip period [s]
T _D1 : Period [s] of the pattern 1 of the wiper pipette shaft 21A
T _D2 : period [s] of the pattern 2 of the wiper pivot shaft 21A
θ _D : rotation angle [°] of the wiper pivot shaft 21A
_θDMAX : Maximum rotation angle (wiping angle) [°] of the wiper pipette shaft 21A
ω _D : Angular speed [rad / s] of wiper pipette shaft 21A
_ωDMAX : Maximum angular velocity [rad / s] of the wiper pipot shaft 21A
N _D : Number of revolutions of the wiper pipette shaft 21A [rpm]
α _D : Angular acceleration [rad / s ² ] of wiper pipette shaft 21A

The time range is 0 ≦ t ≦ T _D1 / 4.
Further, in Equation 17, the angular acceleration becomes 0 when t = 0 and when t = T _D1 / 4.
Therefore, it is possible to avoid the occurrence of discontinuous movement, rattling, and the like during pattern switching.

T and ω _D are expressed by the following equations (Equation 18 and Equation 19).

Next, the case where the time range is T _D1 / 4 ≦ t ≦ T _D1 / 2-t _D1 will be described.
In Equation 21, when t = T _D1 / 4 + T _D2 / 4, the angular acceleration is zero.
As described above, the angular acceleration α _D (t) = 0 is set as the target value at the upper inversion position (b), so that overrun occurs or noise and rattling occurs due to sudden braking. Can be prevented.

Further, ω _D and θ _DMAX are expressed by the following equations (Equation 22 and Equation 23).

Similarly, the wiper pipette shaft 21B side will be described.
The symbols are defined as follows.
T: One round trip period [s]
t _P1 : Pause time [s] of wiper pipette shaft 21B
T _P1 : Period [s] of the pattern 1 of the wiper pipette shaft 21B
T _P2 : Period [s] of pattern 2 of wiper pipette shaft 21B
θ _P : rotation angle of the wiper pivot shaft 21B [°]
θ _PMAX : Maximum rotation angle (wiping angle) of wiper pipot shaft 21B [°]
ω _P : Angular speed [rad / s] of wiper pipette shaft 21B
ω _PMAX : Maximum angular velocity of the wiper pipot shaft 21B [rad / s]
N _P : Number of revolutions of the wiper pipette shaft 21B [rpm]
α _P : Angular acceleration [rad / s ² ] of the wiper pipette shaft 21B
Note that the time range is t _P1 ≦ t ≦ t _P1 + T _P1 / 4, and a rest time of t _P1 is provided at the lower inversion position (a) of t <t _P1 .
Further, in Equation 26, the angular acceleration becomes 0 when t ≦ t _P1 and when t = t _P1 + T _P1 / 4.
Therefore, it is possible to avoid the occurrence of discontinuous movement, rattling, and the like during pattern switching.

Further, T, omega _P is expressed by the following equation (Equation 27 and Equation 28).

Next, a case where the time range is t _P1 + T _P1 / 4 <t ≦ T / 2 will be described.
In Equation 30, when t = T / 2 and when t = T _P1 / 4 + T _P2 / 4 + t _P1 , the angular acceleration becomes zero.
As described above, since the angular acceleration α (t) = 0 is configured as the target value at the reverse position (b), it is possible to prevent overrun or noise / rattle due to sudden braking. be able to.

Further, ω _P and θ _PMAX are expressed by the following equations (Equation 31 and Equation 32).

With this configuration, when the positions of the wiper pivot shafts 21A and 21B and the lengths of the wiper blades 10A and 10B and the wiper arms 12A and 12B are determined, the wiper blades 10A and 10B and the wiper arms 12A and 12B interfere with each other. The area is mechanically determined.
If the period T and the maximum rotation angles (wiping angles θ _DMAX , θ _PMAX ) of the wiper pivot shafts 21A and 21B are determined, it is only necessary to adjust t _D1 , t _P1 , T _D1 / 4 and T _P1 / 4. A fluctuation pattern that avoids this interference area can be created.

The interference area X and the avoidance pattern Y are shown in FIG.
It is preferable to create a variation pattern so as to trace the rotation angles (θ _D , θ _P ) of the wiper pivot shafts 21A, 21B along the avoidance pattern Y while avoiding the interference region X.
Further, since the angular acceleration at time t = T _P1 / 4 + t _P1 is zero on the wiper pipette shaft 21A side when t = T _D1 / 4 and t = T _P1 / 4 + t _P1 on the wiper pipette shaft 21B side, there is no discontinuous point in operation. , Can switch the speed pattern.
As described above, since the pause time t _D1 and the pause time t _P1 are set, both the wiper arm 12A (wiper blade 10A) and the wiper arm 12B (wiper blade 10B) can be driven without interference. .
Note that the section of T / 2 <t <T is a variation pattern obtained by turning back the section of 0 ≦ t ≦ T / 2.

The configuration is not limited to the above embodiment, and the wiper blades 10A and 10B and the wiper arms 12A and 12B may be directly connected to the output shaft after deceleration, or may have a link interposed therebetween.
Further, the angle of the wiper blades 10A and 10B and the wiper arms 12A and 12B can be obtained by integrating the rotation of the armature shaft or the speed reducer even if a sensor that detects the angle of the wiper pivot shafts 21A and 21B as an absolute angle is used. May be.
Further, the control circuit may process both sides of the wiper pivot pots 21A and 21B with one circuit, or may process them separately.

It is explanatory drawing of the wiper apparatus which concerns on 1st Embodiment of this invention. It is explanatory drawing of the wiper apparatus which concerns on 1st Embodiment of this invention. It is an electrical block diagram of the wiper apparatus which concerns on 1st Embodiment of this invention. It is explanatory drawing of the rotational speed control part of the control part which concerns on 1st Embodiment of this invention. It is a graph which shows the target value data of the fluctuation pattern which concerns on 1st Embodiment of this invention. It is a graph which shows the interference range and avoidance pattern which concern on 1st Embodiment of this invention. It is a graph which shows the target value data of the fluctuation pattern which concerns on 2nd Embodiment of this invention. It is a graph which shows the interference range and avoidance pattern which concern on 2nd Embodiment of this invention.

Explanation of symbols

(Dr side)
10A wiper blade, 12A wiper arm, 20A Dr side motor,
20a, 20b ... terminals,
21A ... wiper pipe pot shaft,
(Pa side)
10B Wiper blade, 12B Wiper arm, 20B Pa motor,
21B ... wiper pipe pot shaft,
(Control system)
DESCRIPTION OF SYMBOLS 1 ... Battery, 22 ... Position detector, 30 ... Control part, 31 ... Turning speed control part,
32 ... Target value data storage unit, 33 ... Time measurement unit, 34 ... Comparison unit, 35 ... Output adjustment unit,
36... Drive control unit, 37... Drive unit, 38.
39 ... Angular velocity / acceleration detector, 40 ... Operation switches,
W wiper device, W1 Dr side wiper, W2 Pa side wiper

Claims (6)

A first wiper arm and a second wiper arm to which the first wiper blade and the second wiper blade are connected, and a base end portion of the first wiper arm and the second wiper arm to rotate the first wiper arm and the second wiper arm. Opposing wiper comprising: a first wiper rotating shaft and a second wiper rotating shaft to be moved; a motor for driving the first wiper rotating shaft and the second wiper rotating shaft; and a control means for controlling the motor. A device,
When the wiper device is not in operation, the first wiper blade is disposed above the second wiper blade,
The control means is configured to control the motor so that angular accelerations of the first wiper rotation shaft and the second wiper rotation shaft become substantially zero at least at the upper and lower reversing positions of the first wiper arm and the second wiper arm. And a wiper device that controls to provide a pause period during which the driving of the motor is stopped in at least one of the upper reversal position and the lower reversal position. The control means sets the angular acceleration of the first wiper rotation axis and the second wiper rotation axis to be substantially zero at the upper and lower reversing positions of the first wiper arm and the second wiper arm. Target value data,
The target value data is
Upon receiving an operation command or a signal indicating that the first wiper arm has reached the lower reverse position, the first wiper rotation shaft is rotated from the lower reverse position toward the upper reverse position, and After the first pause period, which is one of the pause periods, has elapsed since the time when the operation command was received or when the signal indicating that the second wiper arm has reached the lower reverse position, the second wiper rotation Rotating the shaft from the lower reverse position toward the upper reverse position,
When the first wiper arm reaches the upper reverse position, the first wiper rotation shaft is stopped for a second pause period, which is one of the pause periods, and waits for the second wiper arm to reach the upper reverse position. ,
When the second wiper arm reaches the upper reverse position, the second wiper rotation shaft is rotated from the upper reverse position to the lower reverse position, and after the second rest period, the first wiper is rotated. Rotating the rotation shaft from the upper reverse position to the lower reverse position,
2. The wiper device according to claim 1, wherein when the second wiper arm reaches the lower inversion position, the wiper device has a pattern in which an operation of stopping the second wiper rotation shaft is repeated. The control means, for each of the section from the upper inversion position to the lower inversion position and the section from the lower inversion position to the upper inversion position,
A plurality of target value patterns in which angular accelerations of the first wiper rotation axis and the second wiper rotation axis are substantially zero;
3. The wiper device according to claim 2, wherein the plurality of patterns are switched during a section from the upper inversion position to the lower inversion position and a section from the lower inversion position to the upper inversion position. .   4. The wiper device according to claim 3, wherein the timing of switching the plurality of patterns is when at least one of the angular accelerations of the first wiper rotation axis and the second wiper rotation axis is substantially zero. 5.   5. The plurality of patterns according to claim 3, wherein, of the first wiper arm and the second wiper arm, a side disposed on an upper side in the lower inversion position is switched first. Wiper device.   The maximum value of the absolute value of the angular acceleration of the second wiper rotation axis is larger than the maximum value of the absolute value of the angular acceleration of the first wiper rotation axis. The wiper device according to item.

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