JP2023159990A - Wiper device and control method of wiper device - Google Patents

Abstract

To provide a wiper device and a control method of the wiper device which can learn a specified position of a wiper blade with higher accuracy.SOLUTION: A wiper device drives an electric motor until a wiper blade reaches a specified position in a case where a learning mode of learning the specified position of the wiper blade with respect to a wiping surface is executed, determines that the wiper blade has stopped at the specified position during execution of the learning mode, acquires a rotation angle of a pivot shaft and a rotation angle of an output shaft of the electric motor in a period from the start of the learning mode to the stop determination of the wiper blade, calculates a correction amount from a difference between the rotation angle of the pivot shaft and a rotation angle of the output shaft, and learns an angle obtained by correcting the angle of the output shaft at the time of the stop determination of the wiper blade with a correction amount as the specified position.SELECTED DRAWING: Figure 4

Description

The present invention relates to a wiper device and a method of controlling the wiper device.

2. Description of the Related Art Conventionally, a wiper device is known in which a wiper blade attached to a wiper arm performs a wiping operation by rotationally driving an output shaft to which the wiper arm is fixed using an electric motor. The wiping range of the wiper blade is determined according to the position of the output shaft of the electric motor attached to the vehicle body. Therefore, if the position of the output shaft of the electric motor attached to the vehicle body deviates from the specified position, the wiping range of the wiper blade will deviate from the specified range, and the reverse position of the wiper blade will also deviate from the specified position. In particular, if the wiper blade's upwardly inverted position deviates from the specified position, there is a risk that the wiper blade will collide with a pillar of the vehicle body.

Therefore, various techniques have been proposed for controlling the wiper blade so that the upwardly inverted position is at the specified position after the wiper device is attached to the vehicle body. For example, Patent Document 1 listed below discloses a technique in which a jig (rubber piece) is arranged near the top-inverted position of the wiper blade, and the position where the wiper blade contacts the jig is learned as the top-inverted position. In this technique, learning is performed in consideration of the fact that when the wiper blade and the jig come into contact, the wiper arm bends and the position of the output shaft of the electric motor deviates from the position at the time of contact.

JP2020-59456A

However, the displacement of the output shaft of the electric motor that occurs when the wiper blade and the jig come into contact is not only caused by the bending of the wiper arm, but also by bending of the link mechanism that connects the wiper arm and the electric motor. It also occurs due to The technique disclosed in Patent Document 1 does not take into account the deflection of the link mechanism.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a wiper device and a wiper device control method that can learn the prescribed position of the wiper blade with higher accuracy.

A wiper device according to one aspect of the present invention includes a wiper blade disposed on a wiping surface, a wiper arm having the wiper blade attached to one end and a pivot shaft attached to the other end, and a wiper arm coupled to the pivot shaft. a link mechanism, an electric motor that rotationally drives an output shaft and rotates the pivot shaft in forward and reverse directions via the link mechanism, a position detection unit that detects the position of the wiper blade, and controls driving of the electric motor. a control unit, the control unit driving the electric motor until the wiper blade reaches the specified position when a learning mode for learning a specified position of the wiper blade with respect to the wiped surface is executed. a drive command unit; a stop determination unit that determines that the wiper blade has stopped at the prescribed position during execution of the learning mode; and a period from when the learning mode is started until the stop determination unit makes a stop determination. a pivot shaft rotation angle acquisition unit that acquires the rotation angle of the pivot shaft; and the output of the electric motor between when the learning mode is started and when the stop determination unit makes a stop determination. an output shaft rotation angle acquisition unit that acquires the rotation angle of the shaft; a correction amount calculation unit that calculates a correction amount from the difference between the rotation angle of the pivot shaft and the rotation angle of the output shaft; and a stop determination unit that calculates a correction amount. The present invention is characterized by comprising a learning section that learns, as the specified position, an angle obtained by correcting the angle of the output shaft when the determination is made using the correction amount.

A method for controlling a wiper device according to one aspect of the present invention includes: a wiper blade disposed on a wiping surface; a wiper arm to which the wiper blade is attached to one end and a pivot shaft to the other end; A linked link mechanism, an electric motor that rotationally drives an output shaft and rotates the pivot shaft in forward and reverse directions via the link mechanism, a position detection section that detects the position of the wiper blade, and a drive of the electric motor. A control method for a wiper device comprising: a control unit for controlling a wiper device, wherein a learning mode in which a drive command unit learns a prescribed position of the wiper blade with respect to the wiping surface is executed; , a drive command process of driving the electric motor until the wiper blade reaches the prescribed position, and a stop determination unit determining that the wiper blade has stopped at the prescribed position during execution of the learning mode. a determination step; and a pivot shaft rotation angle acquisition step in which the pivot shaft rotation angle acquisition unit acquires the rotation angle of the pivot shaft from the start of the learning mode until the stop determination is performed by the stop determination unit. and an output shaft rotation angle at which the output shaft rotation angle acquisition unit acquires the rotation angle of the output shaft of the electric motor from the start of the learning mode until the stop determination unit makes a stop determination. an acquisition step, a correction amount calculation step in which a correction amount calculation section calculates a correction amount from the difference between the rotation angle of the pivot shaft and the rotation angle of the output shaft, and a learning section that calculates a stop judgment by the stop judgment section. The present invention is characterized in that it includes a learning step of learning, as the specified position, an angle obtained by correcting the angle of the output shaft when the correction is performed using the correction amount.

As described above, according to the present invention, it is possible to learn the prescribed position of the wiper blade with higher accuracy.

FIG. 1 is a diagram showing an example of a schematic configuration of a wiper device according to the present embodiment. It is a figure showing an example of the arrangement position of contact member G concerning this embodiment. It is a figure explaining the 1st rotation speed data and the 2nd rotation speed data concerning this embodiment. FIG. 2 is a block diagram showing an example of a functional configuration of a control unit according to the present embodiment. It is a figure explaining the rise determination and descent|fall determination based on this embodiment. 3 is a flowchart illustrating an example of the flow of processing according to the present embodiment. 3 is a flowchart illustrating an example of the flow of processing according to the present embodiment.

Embodiments of the present invention will be described in detail below with reference to the drawings.

<1. Schematic configuration of wiper device>
A schematic configuration of a wiper device according to this embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a diagram showing an example of a schematic configuration of a wiper device according to the present embodiment.
The wiper device 100 shown in FIG. 1 is installed in a vehicle such as a car, and wipes away rain adhering to a windshield (windshield) F and droplets from the vehicle in front, in order to ensure the driver's visibility in rainy weather. It is a device that does
As shown in FIG. 1, the wiper device 100 includes wiper arms 1a and 1b, wiper blades 2a and 2b, pivot shafts 3a and 3b, a link mechanism 4, an electric motor 5, a rotation angle sensor 6, and a wiper switch. 7, a control device 8, a pivot axis measuring section 14, and an output axis measuring section 15.

(1) Wiper arms 1a, 1b
The wiper arm 1a is a wiper arm on the driver's seat side that is swingably provided on the vehicle body. The wiper arm 1a is fixed to a pivot shaft 3a.
The wiper arm 1b is a wiper arm on the passenger seat side that is swingably provided on the vehicle body. The wiper arm 1b is fixed to a pivot shaft 3b.

(2) Wiper blades 2a, 2b
The wiper blade 2a is arranged on the driver's seat side of the vehicle, and is attached to the tip of the wiper arm 1a on the opposite side to the side on which the pivot shaft 3a is supported.
The wiper blade 2b is arranged on the driver's seat side of the vehicle, and is attached to the tip of the wiper arm 1b on the opposite side to the side on which the pivot shaft 3b is supported.

The wiper blades 2a and 2b are in elastic contact with the windshield F by spring members (not shown) installed in the wiper arms 1a and 1b, respectively.

(3) Pivot shafts 3a, 3b The pivot shaft 3a is rotatable and connected to the electric motor 5 via the link mechanism 4.
The pivot shaft 3b is rotatable and connected to the electric motor 5 via a link mechanism 4.

(4) Link mechanism 4
The link mechanism 4 is provided between each pivot shaft 3a, 3b and the output shaft O of the electric motor 5, and converts the rotational motion of the output shaft O into a swinging motion of each pivot shaft 3a, 3b.

(5) Electric motor 5
The electric motor 5 is a drive source that drives the wiper blades 2a and 2b. For example, the electric motor 5 rotates the pivot shafts 3a, 3b based on control instructions from the control device 8, thereby swinging the wiper arms 1a, 1a. Specifically, when the electric motor 5 operates based on a control instruction from the control device 8, the output shaft O rotates, causing the respective pivot shafts 3a and 3b to rotate in synchronization. As a result, the wiper arms 1a, 1b swing, and the wiper blades 2a, 2b perform a wiping operation in which the wiper blades 2a, 2b wipe the surface of the windshield F to be wiped.

(6) Rotation angle sensor 6
Rotation angle sensor 6 outputs a pulse signal according to the rotation angle of electric motor 5 to control device 8 . For example, the electric motor 5 is provided with a sensor magnet that rotates integrally with the rotor shaft of the electric motor 5, and the rotation angle sensor 6 outputs a pulse signal to the control device 8 based on a change in the magnetic pole of the sensor magnet. do. For example, the rotation angle sensor 6 includes a Hall IC.

(7) Wiper switch 7
The wiper switch 7 is a switch for operating the wiper arms 1a, 1b, and is operated by a user or an operator. Specifically, the wiper switch 7 selects either the normal mode or the learning mode according to the operation by the user or worker, and operates the wiper arms 1a, 1b in the selected mode. can.

The normal mode is a mode in which a wiping operation is performed in which the wiper blades 2a and 2b wipe off rain and droplets from the vehicle in front of the windshield F. That is, the normal mode is a mode in which the wiper blades 2a and 2b are reciprocated in the same direction between the upper and lower inverted positions of each wiping range by swinging the wiper arms 1a and 1b. be. Specifically, as shown in FIG. 1, in the normal mode, the wiper blade 2a performs a reciprocating wiping operation between the lower reversal position Aa and the upper reversal position Ba of the wiping range Ha, and the wiper blade 2b performs a reciprocating wiping operation between the lower reversal position Aa and the upper reversal position Ba of the wiping range Hb. This is a mode in which a reciprocating wiping operation is performed between the lower inversion position Ab and the upper inversion position Bb.

For example, the normal mode includes a low speed operation mode in which the wiper arms 1a and 1b are operated at a low speed (for example, a preset speed), a high speed operation mode in which the wiper arms 1a and 1b are operated at a higher speed than the low speed operation mode, and a high speed operation mode in which the wiper arms 1a and 1b are operated at a higher speed than the low speed operation mode. These include an intermittent operation mode in which the wiper arms 1a and 1b are operated intermittently at a constant cycle, and a stop mode in which the swinging operation of the wiper arms 1a and 1b is stopped.

On the other hand, the learning mode is a mode in which the prescribed positions of the wiper blades 2a, 2b with respect to the wiped surface of the windshield F are learned.
More specifically, the learning mode means, for example, that the abutting member is placed at a predetermined position, and the position of the wiper blades 2a, 2b when the wiper blade 2a abuts the abutting member is learned as the predetermined position. mode.
In the present embodiment, a case will be described in which the prescribed position is the upper inverted position, but the present invention is not limited to this, and may be any position that can be defined in the wiping operation in the normal mode, for example, the lower inverted position or It may be a position that interferes with the A-pillar, a position that stores the wiper blades 2a, 2b, or the like.

Here, with reference to FIG. 2, the arrangement position of the abutting member according to this embodiment will be explained. FIG. 2 is a diagram showing an example of the arrangement position of the contact member according to the present embodiment.
As shown in FIG. 2, the abutting member G is arranged on the windshield F so that one end thereof is in an upwardly inverted position.
The abutting member G is, for example, a jig (block jig) having a block-shaped member. The above member is made of resin, for example. Note that the wiper device 100 and the contact member G may be configured as a learning system that learns the prescribed position.

By the way, in a factory or the like, the wiper arms 1a, 1b to which the wiper blades 2a, 2b are attached are attached to the pivot shafts 3a, 3b of a vehicle by a worker. However, the mounting positions of the wiper arms 1a, 1b vary from vehicle to vehicle (hereinafter also referred to as "mounting variations") due to the influence of the operator, dimensional errors, rigidity, etc. of the wiper arms 1a, 1b. Therefore, the learning mode is usually executed after the wiper arms 1a, 1b are attached to the pivot shafts 3a, 3b in order to suppress this variation in attachment.

When the normal mode is selected by the user or worker, the wiper switch 7 outputs a normal mode signal indicating the normal mode to the control device 8. On the other hand, when the learning mode is selected by the user or worker, the wiper switch 7 outputs a learning mode signal indicating the learning mode to the control device 8.

(8) Control device 8
The control device 8 is a device that controls the overall operation of the wiper device 100. As shown in FIG. 1, the control device 8 includes a position detection section 9, a speed calculation section 10, a drive section 11, a storage section 12, and a control section 13.

(8-1) Position detection section 9
The position detection unit 9 detects the current positions of the wiper blades 2a and 2b according to the pulse signal from the rotation angle sensor 6. For example, the positions of the wiper blades 2a and 2b are the rotation angles of the output shaft O. That is, the position detection unit 9 according to the present embodiment calculates the current rotation angle θ of the output shaft O as the current position of the wiper blades 2a, 2b based on the pulse signal from the rotation angle sensor 6. The position detection unit 9 outputs the calculated current rotation angle θ of the output shaft O to the control unit 13. Note that the present invention is not limited to this, and the position detection unit 9 may detect, for example, the rotation angle of the pivot shafts 3a, 3b or the electric motor 5 as the positions of the wiper blades 2a, 2b.

(8-2) Speed calculation unit 10
The speed calculation unit 10 calculates the speed V of the wiper blades 2a, 2b according to the pulse signal from the rotation angle sensor 6. For example, the speed V of the wiper blades 2a, 2b is the rotational speed of the output shaft O. Then, the speed calculation unit 10 outputs the calculated speed V to the control unit 13. Note that the present invention is not limited to this, and the position detection unit 9 detects the speeds of the pivot shafts 3a, 3b and the electric motor 5 according to, for example, a pulse signal from the rotation angle sensor 6 as the speed V of the wiper blades 2a, 2b. The rotation speed of the motor may also be detected.

(8-3) Drive section 11
The drive section 11 drives the electric motor 5 based on a PWM (Pulse Width Modulation) signal from the control section 13 . For example, the drive unit 11 is configured to include an inverter.

(8-4) Storage unit 12
The storage unit 12 includes first rotation speed data and second rotation speed data.

Here, with reference to FIG. 3, first rotation speed data and second rotation speed data according to the present embodiment will be explained. FIG. 3 is a diagram illustrating first rotation speed data and second rotation speed data according to this embodiment.

The first rotational speed data is data used in the normal mode, and is a speed V( For example, it is data of a target value of the rotation speed of the output shaft O.
For example, as shown in FIG. 2(a), the first rotation speed data includes each rotation angle between the rotation angle θA corresponding to the lower inversion position A and the rotation angle θB corresponding to the upper inversion position B. This is data in which a target value of the speed V (hereinafter also referred to as "target speed") is stored for each time.

The second rotational speed data is data used in the learning mode, and is based on each position of the wiper blades 2a and 2b between the lower reversal position A and the position C that is ahead of the upper reversal position B. This is data of a specified target value of speed V.
For example, as shown in FIG. 2(b), the second rotation speed data includes a rotation angle θA corresponding to the lower inversion position A, and a rotation angle θA corresponding to a position C that is further toward the A-pillar side than the upper inversion position B. This is data in which target speeds are stored for each rotation angle between rotation angle θC. However, the position C (rotation angle θC) is set so that the wiper blade 2a does not jump out of the A-pillar and operate.

Here, in the second rotational speed data, compared to the first rotational speed data, the target speed at the upper reversal position B, which is the specified position, does not become zero. That is, the second rotational speed data is set so that the wiper blades 2a and 2b pass by without stopping at the upper reversal position B, which is the specified position.

Note that in order to reduce the impact on the contact member G of the wiper blade 2a, the target speed in the second rotational speed data may be set to a lower value than the target speed in the first rotational speed data.

(8-5) Control unit 13
When the control unit 13 acquires the normal mode signal from the wiper switch 7, it shifts to the normal mode and causes the wiper blades 2a and 2b to perform a wiping operation. For example, when the control section 13 shifts to the normal mode, it reads out the target speed corresponding to the current rotation angle θ acquired from the position detection section 9 from the first rotation speed data in the storage section 12 . Then, the control unit 13 controls the wiper blades 2a and 2b by performing PWM control on the electric motor 5 so that the speed V calculated by the speed calculation unit 10 becomes the target speed read from the first rotational speed data. Operate the wipe. That is, the control unit 13 generates a PWM signal with a duty ratio and outputs it to the drive unit 11 so that the speed V calculated by the speed calculation unit 10 becomes the target speed read from the first rotational speed data. As a result, the electric motor 5 is subjected to PWM control to cause the wiper blades 2a and 2b to perform a wiping operation.

On the other hand, when the control unit 13 acquires a learning mode signal from the wiper switch 7, it shifts to a learning mode in which the specified positions of the wiper blades 2a, 2b with respect to the wiped surface are learned. Specifically, when the controller 13 shifts to the learning mode, it operates the wiper blades 2a and 2b by controlling the electric motor 5 using PWM control. Then, during the learning mode, the control unit 13 learns the positions of the wiper blades 2a, 2b when the duty ratio of the PWM control increases, that is, the rotation angle θ, as the upper reversal position (defined position).
In this embodiment, the control unit 13 corrects the rotation angle θ based on the rotation angle of the pivot axis measured by the pivot axis measurement unit 14 and the rotation angle of the output axis measured by the output axis measurement unit 15. do. Then, the control unit 13 learns the corrected rotation angle θ' as the upper reversal position (defined position).

(9) Pivot axis measurement section 14
The pivot axis measurement unit 14 measures the angle of the pivot axis. For example, the pivot axis measurement unit 14 measures at least the angle θP1 (reference angle) of the pivot axis 3a when the learning mode is started, and the angle θP1 (reference angle) of the pivot axis 3a when the wiper blade 2a stops after the learning mode starts. The angle θP2 is measured. The pivot axis measurement unit 14 outputs the measured angles θP1 and θP2 of the pivot axis 3a to the control device 8.

(10) Output shaft measurement section 15
The output shaft measuring section 15 measures the angle of the output shaft O. For example, the output shaft measurement unit 15 measures at least the angle θO1 (reference angle) of the output shaft O when the learning mode is started, and the angle θO1 (reference angle) of the output shaft O when the wiper blade 2a stops after the learning mode starts. The angle θO2 is measured. The output shaft measurement unit 15 outputs the measured angles θO1 and θO2 of the output shaft O to the control device 8.

<2. Functional configuration of control section>
The schematic configuration of the wiper device 100 according to the present embodiment has been described above. Next, the functional configuration of the control unit 13 according to this embodiment will be described with reference to FIGS. 4 and 5. FIG. 4 is a diagram showing an example of the functional configuration of the control unit 13 according to the present embodiment.
As shown in FIG. 4, the control unit 13 includes a drive command unit 20, a stop determination unit 21, an area determination unit 22, a learning unit 23, a pivot shaft rotation angle acquisition unit 24, and an output shaft rotation angle acquisition unit. 25, and a correction amount calculation unit 26.

(1) Drive command unit 20
When the drive command section 20 acquires the learning mode signal from the wiper switch 7 , the drive command section 20 calculates the target speed corresponding to the current rotation angle θ acquired from the position detection section 9 from the second rotation speed data in the storage section 12 . read out. Then, the drive command section 20 controls the wiper blades 2a and 2b by performing PWM control on the electric motor 5 so that the speed V calculated by the speed calculation section 10 becomes the target speed read from the second rotational speed data. Move toward position C. That is, the drive command unit 20 generates a PWM signal with a duty ratio D and outputs it to the drive unit 11 so that the speed V calculated by the speed calculation unit 10 becomes the target speed read from the second rotational speed data. By doing so, the electric motor 5 is subjected to PWM control to operate the wiper blades 2a and 2b toward the position C.

Further, when the drive command unit 20 performs PWM control on the electric motor 5 and acquires a stop signal from the stop determination unit 21, the drive command unit 20 stops the PWM control on the electric motor 5, thereby controlling the electric motor 5. 5 is stopped.
Thereby, pushing of the wiper arms 1a, 1b into the contact member G can be alleviated.

(2) Stop determination section 21
When the electric motor 5 is under PWM control by the drive command unit 20 during the learning mode, the stop determination unit 21 acquires the duty ratio D of the PWM signal in the PWM control from the drive command unit 20 in real time. The stop determination unit 21 performs a stop determination to determine whether the wiper blade 2a has come into contact with the contact member G and stopped, based on the duty ratio D acquired in real time from the drive command unit 20. Specifically, the stop determination unit 21 determines the stop by performing an increase determination to determine whether the duty ratio D acquired in real time from the drive command unit 20 has increased. Here, when the wiper blade 2a contacts the contact member G, the speed V becomes lower than the target speed, so the drive command unit 20 increases the duty ratio D in order to control the speed V to the target speed. . Therefore, the stop determination unit 21 can detect that the wiper blade 2a has contacted the contact member G by detecting this increase in the duty ratio D.

When the stop determination unit 21 detects that the wiper blade 2a has come into contact with the contact member G and has stopped by determining that the duty ratio D has increased, the stop determination unit 21 sends a stop signal indicating this to the drive command unit 20. , is output to the area determination section 22 and learning section 23.

The stop determination unit 21 determines the stop by determining whether the duty ratio D acquired in real time from the drive command unit 20 has increased. However, in order to determine the stop with more accuracy, for example, the following method may be used to determine the stop. A determination may be made.

For example, the stop determination unit 21 determines whether or not the duty ratio D of the PWM control during the learning mode has changed from a decrease to an increase as a stop determination, and when it is determined that the duty ratio has changed from a decrease to an increase, It is determined that the wiper blade 2a has come into contact with the contact member G and has stopped.

Specifically, the stop determination unit 21 first performs a decrease determination to determine whether the duty ratio D has decreased. This lowering determination is to determine whether the wiper blade 2a is close to the upper reversal position. That is, when the wiper blade 2a moves from the lower inverted position to the upper inverted position, the duty ratio D gradually increases to a certain value, but after that, as the wiper blade 2a approaches the upper inverted position, the duty ratio D decreases. It will go down. Therefore, the stop determination unit 21 can determine whether the wiper blade 2a is close to the upper reversal position by performing the lowering determination. When the stop determination unit 21 determines that the duty ratio D has decreased based on the decrease determination, it performs an increase determination to determine whether the duty ratio has increased.
Thereby, it is possible to more accurately determine that the wiper arms 1a, 1b have contacted the contact member G.

In this embodiment, as an example, the rise determination is performed using the following method.
For example, after it is determined that the duty ratio D has decreased in the decrease determination, the stop determination unit 21 determines the average of the duty ratios D for a (a is a natural number) cycles from the present to the past among the control cycles of the PWM control. The value Dave is calculated for each control cycle. Then, the stop determination unit 21 determines for each control cycle whether the calculated average value Dave has increased more than the average value Dave of the previous control cycle. As a result, if the stop determination unit 21 determines that the average value Dave has increased continuously b (b is a natural number) times or more, it determines that the duty ratio D has increased.
Thereby, the influence of noise etc. can be removed and the accuracy of the rise determination can be improved.

Further, in this embodiment, the descent determination is performed by the following method, as an example.
For example, the stop determination unit 21 calculates, for each control cycle, the average value Dave of the duty ratio D for c (c is a natural number) cycles from the present to the past among the control cycles of the PWM control. Then, the stop determination unit 21 determines for each control cycle whether the calculated average value Dave has fallen below the average value Dave of the previous control cycle. As a result, if the stop determination unit 21 determines that the duty ratio D has decreased continuously d or more times (d is a natural number), it determines that the duty ratio D has decreased.
This makes it possible to remove the influence of noise and the like and improve the accuracy of descent determination.

Here, with reference to FIG. 5, the rise determination and descent determination according to the present embodiment will be specifically explained. FIG. 5 is a diagram illustrating upward determination and downward determination according to this embodiment. Below, the descending determination and ascending determination in the case of setting a=b=c=d=3 will be explained.

First, the stop determination unit 21 performs a decrease determination for each control cycle based on the average value Dave of the duty ratio D for the past three cycles among the control cycles of PWM control. In the example shown in FIG. 5, since the average value Dave decreases continuously in control cycles "4", "5", and "6", the stop determination unit 21 determines that the duty ratio D is lower at the time of control cycle "6". It is determined that it has descended.

Next, the stop determination unit 21 performs an increase determination for each control cycle based on the average value Dave of the duty ratio D for the past three cycles among the control cycles of the PWM control. In the example shown in FIG. 5, since the average value Dave increases continuously in control cycles "12," "13," and "14," the stop determination unit 21 determines that the duty ratio D is It is determined that the value has increased.

(3) Area determination unit 22
When the area determination unit 22 receives a stop signal from the stop determination unit 21, it determines whether the rotation angle θ acquired from the position detection unit 9 is within a predetermined determination area. Then, when the area determination unit 22 determines that the rotation angle θ acquired from the position detection unit 9 is within the predetermined determination area, the area determination unit 22 notifies the learning unit 23 . This predetermined determination area is an area for preventing the rotation angle θ from being learned as a specified position when contact with the contact member G and stopping at an unexpected rotation angle θ is detected. . For example, if the contact member G is mistakenly placed in a position other than the specified position by the operator, the stop determination unit 21 may detect that the wiper blades 2a, 2b have contacted the contact member G. In this case, the learning section 23 does not learn the prescribed position. As a result, it is possible to prevent the wrong positions of the wiper blades 2a, 2b from being learned as the prescribed positions.

Here, the range of variation in the mounting of the wiper arms 1a, 1b is limited within a certain predetermined range due to the structure of the wiper blade 2a and the vehicle. Therefore, even if mounting variations occur, the rotation angle that can be set as the specified position will fall within a predetermined range. Therefore, by setting this predetermined range as a determination area, it is possible to prevent a rotation angle θ that is clearly not a specified position from being learned as a specified position.

(4) Learning department 23
When the learning unit 23 acquires a stop signal from the stop determination unit 21 and receives a notification from the area determination unit 22, the learning unit 23 determines the rotation angle θ( (hereinafter also referred to as "recognized rotation angle") is learned as a specified position (for example, the upper inversion position in the first rotation speed data). For example, in the normal mode, the learning unit 23 corrects the first rotation speed data so as to perform a reversal operation at the recognized rotation angle. This recognized rotation angle is the rotation angle θ detected by the position detection unit 9 when the stop determination unit 21 detects that the wiper blade 2a has come into contact with the contact member G and stopped.

Here, when a stop signal is acquired from the stop determination unit 21, the PWM control for the electric motor 5 has already been stopped, and the electric motor 5 has been stopped. However, it is possible that the wiper blade 2a bites into the contact member G and the wiper arms 1a and 1b are bent until the electric motor 5 stops, causing the output shaft O to rotate excessively. I can't say that. Therefore, the learning unit 23 determines the rotation angle θ at a predetermined position (for example, the upper position in the first rotation speed data) when a certain period of time T has elapsed after acquiring the stop signal from the stop determination unit 21, rather than the recognized rotation angle. (inverted position). This certain period of time T may be at least a period of time during which the bending of the wiper arms 1a, 1b can be eliminated.
As a result, if the wiper arms 1a, 1b are bent into the contact member G and the output shaft O is rotated excessively, the deflection is canceled and the output shaft O is rotated. It can be stabilized.

Further, the learning unit 23 may learn, as the default position, a rotation angle θ′ obtained by correcting the rotation angle θ with a correction amount calculated by a correction amount calculation unit 26 described later. For example, in the normal mode, the learning unit 23 corrects the first rotation speed data so that a reversal operation is performed at the corrected recognized rotation angle.

As described above, when the wiper blade 2a bites into the contact member G until the electric motor 5 stops, the wiper arms 1a and 1b may be bent, but not only the wiper arms 1a and 1b but also the link The mechanism 4 may be bent. There is also a possibility that the output shaft O will rotate excessively due to the bending of the link mechanism 4. However, although the deflection of the wiper arms 1a and 1b returns to its original state after a certain period of time has passed, the deflection of the link mechanism 4 does not return to its original state even after a certain period of time has elapsed. Therefore, the learning unit 23 corrects the rotation angle θ after the deflection of the wiper arms 1a, 1b is eliminated after a certain period of time T has passed, with a correction amount that takes into account the deflection of the link mechanism 4, and corrects the rotation angle θ after the correction. The angle θ' may be set at a predetermined position. Thereby, the learning unit 23 can learn and set the specified position with higher accuracy.

(5) Pivot axis rotation angle acquisition unit 24
The pivot shaft rotation angle acquisition unit 24 acquires the rotation angle of the pivot shaft. For example, the pivot shaft rotation angle acquisition unit 24 acquires the rotation angle θP of the pivot shaft 3a from the start of the learning mode until the stop determination unit 21 makes a stop determination. Specifically, the pivot axis rotation angle acquisition unit 24 acquires the angle θP1 and the angle θP2 from the pivot axis measurement unit 14. Then, the pivot shaft rotation angle acquisition unit 24 calculates the difference (θP2−θP1) between the angle θP2 and the angle θP1. Thereby, the pivot shaft rotation angle acquisition unit 24 can acquire the angle (rotation angle θP) by which the pivot shaft 3a rotates from the start of the learning mode until the wiper blade 2a stops.

(6) Output shaft rotation angle acquisition unit 25
The output shaft rotation angle acquisition unit 25 acquires the rotation angle of the output shaft. For example, the output shaft rotation angle acquisition unit 25 acquires the rotation angle θO of the output shaft O of the electric motor 5 from the start of the learning mode until the stop determination unit 21 makes a stop determination. Specifically, the output shaft rotation angle acquisition unit 25 acquires the angle θO1 and the angle θO2 from the output shaft measurement unit 15. Then, the output shaft rotation angle acquisition unit 25 calculates the difference (θO2−θO1) between the angle θO2 and the angle θO1. Thereby, the output shaft rotation angle acquisition unit 25 can acquire the angle at which the output shaft O rotated (rotation angle OP) from the start of the learning mode until the wiper blade 2a stops.

(7) Correction amount calculation unit 26
The correction amount calculation unit 26 calculates a correction amount for correcting the rotation angle θ. For example, the correction amount calculation unit 26 calculates the correction amount from the difference between the rotation angle θP of the pivot shaft 3a and the rotation angle θO of the output shaft O. Specifically, the correction amount calculation unit 26 calculates the difference between the rotation angle θP of the pivot shaft 3a and the rotation angle θO of the output shaft O as the correction amount.
When the wiper blade 2a is deflected, the pivot shaft 3a and the output shaft O rotate an extra angle corresponding to the deflection of the wiper blade 2a. Furthermore, when the link mechanism 4 is deflected, the output shaft O rotates an additional angle corresponding to the deflection of the link mechanism 4. As a result, the rotation angle θO of the output shaft O is larger than the rotation angle θP of the pivot shaft 3a by an angle corresponding to the deflection of the link mechanism 4. Therefore, the correction amount calculation unit 26 can use the difference between the rotation angle θP of the pivot shaft 3a and the rotation angle θO of the output shaft O as the correction amount for removing the angle rotated excessively due to the bending of the link mechanism 4. can.

<3. Processing flow>
The functional configuration of the control unit 13 according to the present embodiment has been described above. Next, the flow of processing according to this embodiment will be described with reference to FIGS. 6 and 7. 6 and 7 are flowcharts showing an example of the flow of processing according to this embodiment. FIG. 6 shows the processing from step S101 to step S108, and FIG. 7 shows the processing from step S109 to step S117. After step S108 shown in FIG. 6, the process proceeds to step S109 shown in FIG.
In addition, in the following description, the case where the prescribed position is the upper inversion position will be explained.

First, in the process of attaching the wiper device 100 to the vehicle, the operator places the contact member G at the upper inversion position Ba (step S101).
After placing the contact member G in the upper inverted position Ba, the operator moves the wiper arms 1a and 1b, to which the wiper blades 2a and 2b are attached, to the pivot shafts 3a and 3b of the vehicle so that they are in the lower inverted position or the retracted position. Attach it (step S102).
After the wiper arms 1a and 1b are attached by the operator, the pivot axis measurement unit 14 measures the reference angle (angle θ1) of the pivot axis 3a, and the output shaft measurement unit 15 measures the reference angle (angle θO1) of the output shaft O. (Step S103).

After measuring the reference angle, the operator performs a predetermined operation on the wiper switch 7 (step S104). This predetermined operation is an operation for shifting to learning mode, and is a different operation from an operation for shifting to normal mode.
The wiper switch 7 outputs a learning mode signal to the control unit 13 when the predetermined operation is performed by the operator. Therefore, when the control unit 13 acquires the learning mode signal from the wiper switch 7, it shifts to a learning mode in which the upper determination position of the wiper blades 2a, 2b is learned (step S105).

When the drive command unit 20 shifts to the learning mode, it operates the wiper blades 2a and 2b toward the upper reversal position by performing PWM control on the electric motor 5 based on the second rotational speed data (step S106). ).
Here, the drive command unit 20 operates the wiper blades 2a, 2b so as to pass through the upper reversal position, as the wiper blades 2a, 2b move toward the upper reversal position. That is, in the normal mode, the wiper blades 2a, 2b operate so as to stop at the upper inversion position, but in the learning mode, the wiper blades 2a, 2b operate so as to pass through the upper inversion position. This is because it is necessary to bring the wiper blade 2a into reliable contact with the contact member G in the learning mode.

When the electric motor 5 is under PWM control and the wiper blades 2a and 2b are operating, the stop determination unit 21 performs a stop determination based on the duty ratio D of the PWM signal in the PWM control (step S107).
When the stop determination unit 21 determines that the duty ratio D has decreased in the decrease determination of the stop determination, the stop determination unit 21 determines that the wiper blade 2a has come into contact with the contact member G and has stopped (step S107/YES). On the other hand, when the duty ratio D is not determined to have decreased in the lowering determination of the stop determination, the stop determination unit 21 determines that the wiper blade 2a has not come into contact with the contact member G and has stopped (step S107 /NO). Note that the stop determination unit 21 repeats the stop determination (processing in step S107) until it determines that the wiper blade 2a has come into contact with the contact member G and has stopped.

When the stop determination unit 21 determines that the wiper blade 2a has come into contact with the contact member G and has stopped (step S107/YES), the stop determination unit 21 outputs a stop signal to the drive command unit 20, the area determination unit 22, and the learning unit 23. .

When the drive command unit 20 acquires the stop signal from the stop determination unit 21, the drive command unit 20 stops the PWM control on the electric motor 5 (for example, duty ratio D=0), and stops driving the electric motor 5 (step S108).

The area determination unit 22 acquires a stop signal from the stop determination unit 21, and acquires the rotation angle θ from the position detection unit 9 when the PWM control by the drive command unit 20 is stopped. Then, the area determination unit 22 determines whether the acquired rotation angle θ is within the determination area (step S109).

If the area determination unit 22 determines that the rotation angle θ is not within the determination area (step S109/NO), the process proceeds to step S110. On the other hand, if the area determination unit 22 determines that the rotation angle θ is within the determination area (step S109/YES), the area determination unit 22 notifies the learning unit 23 to that effect and advances the process to step S111.

When the process proceeds to step S110, the area determination unit 22 notifies an error (step S110). Specifically, the area determining section 22 transmits an error signal to an error notifying section (not shown) of the vehicle, and the error notifying section notifies the error. This error notification may be a sound output, a lighting or blinking indicator light, or both. In addition, regarding the output of this sound and the lighting or blinking display of the indicator light, the existing horn and indicator light provided in the vehicle may be used.
After reporting the error, the process advances to step S117.

When the process proceeds to step S111 (when a stop signal is acquired from the stop determination section 21 and when a notification from the area determination section 22 is received), the learning section 23 controls the PWM control by the drive command section 20. After stopping, the rotation angle θ when a certain period of time T has elapsed is acquired as a specified position (step S111). Note that the rotation angle θ is detected by the position detection section 9.

Next, the pivot shaft rotation angle acquisition unit 24 acquires the rotation angle θP of the pivot shaft 3a when a certain period of time T has elapsed after the drive command unit 20 stops the PWM control, and the output shaft rotation angle acquisition unit 25 After the command unit 20 stops the PWM control, the rotation angle θO of the output shaft O when a certain period of time T has elapsed is obtained (step S112).

Next, the correction amount calculation unit 26 calculates the difference between the rotation angle θP of the pivot shaft 3a and the rotation angle θO of the output shaft O as a correction amount (step S113).
Next, the learning unit 23 corrects the rotation angle θ obtained in step S111 using the correction amount calculated by the correction amount calculation unit 26 in step S113, and obtains the corrected rotation angle θ′ (step S114 ).
Next, the learning unit 23 learns by storing the corrected rotation angle θ' as the upper inversion position in the storage unit 12 (step S115).

When the rotation angle θ' is stored in the storage unit 12 as the upper reversal position in step S115, the drive command unit 20 controls the electric motor 5 to move the wiper blades 2a and 2b to the storage position (step S116). . After the movement, the process advances to step S117.
If the process proceeds to step S117, the learning mode ends (step S117).

As described above, the wiper device 100 according to the present embodiment includes wiper blades 2a, 2b arranged on the wiping surface, wiper blades 2a, 2b attached to one end, and pivot shafts 3a, 3b attached to the other end. The wiper arms 1a and 1b to be mounted, a link mechanism 4 connected to the pivot shafts 3a and 3b, and an electric motor 5 that rotationally drives the output shaft O and rotates the pivot shafts 3a and 3b in forward and reverse directions via the link mechanism 4. , a position detection section 9 that detects the positions of the wiper blades 2a and 2b, and a control section 13 that controls the drive of the electric motor 5. Then, when a learning mode for learning the specified positions of the wiper blades 2a, 2b with respect to the wiped surface is executed, the control unit 13 includes a drive command unit that drives the electric motor 5 until the wiper blades 2a, 2b reach the specified positions. 20, a stop determination unit 21 that determines that the wiper blades 2a and 2b have stopped at a specified position during execution of the learning mode, and a stop determination unit 21 that determines that the wiper blades 2a and 2b have stopped at a specified position during execution of the learning mode, and a The pivot shaft rotation angle acquisition section 24 acquires the rotation angle of the pivot shaft 3a, and the rotation angle of the output shaft O of the electric motor 5 is acquired between the start of the learning mode and the stop determination by the stop determination section 21. A stop determination is performed by an output shaft rotation angle acquisition unit 25, a correction amount calculation unit 26 that calculates a correction amount from the difference between the rotation angle of the pivot shaft 3a and the rotation angle of the output shaft O, and a stop determination unit 21. and a learning section 23 that learns the angle of the output shaft O when the angle is corrected by the correction amount as the specified position.

With this configuration, the wiper device 100 not only prevents the angle of the output shaft O from shifting due to deflection of the wiper arms 1a and 1b when the wiper blades 2a and 2b stop at the specified positions during execution of the learning mode. , it is possible to learn a prescribed position that takes into consideration the possibility that the angle of the output shaft O may shift due to bending of the link mechanism 4.
Therefore, the wiper device 100 according to the present embodiment makes it possible to learn the prescribed position of the wiper blade with higher accuracy.
In this way, improving the accuracy of the prescribed position of the wiper blade in the wiper device 100 can contribute to efficient operation of a vehicle equipped with the wiper device 100. This will make it possible to contribute to Goal 7 of the Sustainable Development Goals (SDGs) led by the United Nations: "Ensure access to affordable, reliable, sustainable, and modern energy for all."

<4. Modified example>
The embodiments of the present invention have been described above. Next, a modification of the embodiment of the present invention will be described. Note that each modification described below may be applied to the embodiment of the present invention singly, or may be applied to the embodiment of the present invention in combination. Further, each modification may be applied instead of the configuration described in the embodiment of the present invention, or may be applied in addition to the configuration described in the embodiment of the present invention.

(Modification 1)
In the above-described embodiment, the learning unit 23 takes into consideration that the wiper arms 1a and 1b are bent after the wiper blade 2a contacts the contact member G, and the learning unit 23 controls the wiper arms 1a and 1b after the PWM control to the electric motor 5 is stopped. Although the rotation angle θ after a predetermined time T has elapsed to eliminate the deflection of 1a and 1b is acquired as a specified position and corrected before learning, the present invention is not limited to this. For example, the learning unit 23 takes into consideration that the wiper arms 1a, 1b are deflected after the wiper blade 2a contacts the contact member G, and calculates the amount of deflection of the wiper arms 1a, 1b corresponding to the recognized rotation angle. A rotation angle obtained by offsetting the rotation angle θ0 (eg, specified rotation angle - rotation angle θ0) may be obtained as the specified position.
Further, even after the predetermined time T has elapsed, if the deflection of the wiper arms 1a, 1b has not been completely resolved and some deflection has occurred, the learning unit 23, for example, A rotation angle that is later and offset by a predetermined angle corresponding to the above-mentioned slight deflection (for example, predetermined rotation angle - predetermined angle) may be obtained as the predetermined position.

According to such a configuration, even if the wiper arms 1a, 1b bite into the abutting member G and the wiper arms 1a, 1b are deflected, causing the output shaft O to rotate excessively, the rotation corresponding to the deflection is Since the wiper blades 2a and 2b are offset by an angle (the above-described predetermined angle), the prescribed positions of the wiper blades 2a and 2b can be learned more accurately.

(Modification 2)
Further, in the above-described embodiment, the control unit 13 shifts to the learning mode when a predetermined operation is performed on the wiper switch 7, but the present invention is not limited to this. That is, the control unit 13 of the present invention is not particularly limited in the method of shifting to the learning mode, and can shift to the learning mode in various ways. For example, the control unit 13 may be able to execute the learning mode only when a predetermined condition is satisfied. That is, even if the control unit 13 acquires the learning mode signal, if the predetermined condition is not satisfied, the control unit 13 does not shift to the learning mode. Here, for example, the predetermined condition is at least one of the following: the state of the electric motor 5 and the vehicle is not abnormal, the communication such as LIN is not abnormal, and the wiper blades 2a and 2b are stopped at the retracted position. It is.

(Modification 3)
Further, in the above-described embodiment, even if the control unit 13 is in the learning mode, if the release condition is satisfied, the control unit 13 may end the learning mode even if the prescribed position has not been learned. For example, the release condition is that an abnormality has occurred in the state of the electric motor 5 or the vehicle, or that a normal mode signal has been obtained. Note that, when an abnormality occurs in the electric motor 5 or the vehicle as a cancellation condition, the control unit 13 may terminate the learning mode and notify the learning result in the learning mode together with the details of the abnormality. This notification may be to display the learning results and abnormality details in the learning mode on an external display device, or may be to transmit them to an external notification device.

(Modification 4)
Further, in the above-described embodiment, the stop determination unit 21 determines that the duty ratio D has increased when determining that the average value Dave has increased continuously b times or more in the increase determination. is not limited to this. For example, the stop determination unit 21 may determine that the duty ratio D has increased when it is determined that the average value Dave has increased continuously b times or more and the duty ratio D has exceeded a predetermined value. .
Thereby, the influence of noise etc. can be removed and the accuracy of the rise determination can be improved.
In addition, when determining that the duty ratio D exceeds the predetermined value, the stop determination unit 21 determines whether at least one duty ratio D exceeds the predetermined value when the average value Dave increases continuously. For example, it may be determined that the duty ratio D has increased.

(Modification 5)
In the above-described embodiment, the position C (rotation angle θC) of the second rotational speed data is the rotation angle θA corresponding to the lower inversion position A, and the position C further toward the A-pillar side than the upper inversion position B. This is data in which target speeds are stored for each rotation angle between rotation angle θC corresponding to . However, the position C (rotation angle θC) may be set to a value larger than the upper limit of the predetermined determination area.

(Modification 6)
Further, the drive command unit 20 may set the speed at which the wiper blades 2a, 2b are retracted in step S116 to be the same as the speed at which the wiper blades 2a, 2b are moved toward the A-pillar in the learning mode.

(Modification 7)
Further, in the above-described embodiment, a method using the contact member G was described as a means for detecting that the wiper blades 2a, 2b are located at a predetermined position, but the present invention is not limited thereto. For example, the following can be considered as other means for detecting that the wiper blades 2a, 2b are located at the specified positions.
First, the following methods can be mentioned as means using sensors.
(1) A sensor is installed on the windshield F to detect the blade position (presence of specified position).
(2) Install the sensor on the body side.
(3) Install the sensor on the jig.
(4) Sensors are installed on wiper arms 1a, 1b or wiper blades 2a, 2b.
In this case, various types of sensors such as optical and magnetic sensors can be used as long as they can detect that the wiper blades 2a, 2b are close to the specified position.
Next, the following methods can be mentioned as means using images.
(5) The surface of the windshield F is photographed with a camera, and the wiper blade position is detected through image processing.
(6) A camera is installed on the wiper arms 1a, 1b or the wiper blades 2a, 2b, and the wiper blade position is detected from the image.
In addition, in the case of the means (1) to (6), in order to prevent the wiper blades 2a and 2b from operating beyond the expected operating range during the learning process, a stopper member is provided on the body side to prevent the wiper blades from operating beyond the expected operating range. Install.

(Modification 8)
In the above-described embodiment, the learning unit 23 calculates the rotation angle θ by using the correction amount calculated by the correction amount calculation unit 26 as the difference between the rotation angle θP of the pivot shaft 3a and the rotation angle θO of the output shaft O. Although an example of correcting has been described, the present invention is not limited to this. For example, the learning unit 23 may use a correction amount calculated also taking into account the rigidity of the link mechanism 4. The link mechanism 4 may be made of different materials depending on the type of vehicle or wiper device. The deflection of the link mechanism 4 changes depending on the stiffness of the materials, and can also change due to variations in stiffness. Therefore, by calculating the correction amount according to the rigidity of the material used for the link mechanism 4, the rotation angle θ can be corrected with higher accuracy.

(Modification 9)
Furthermore, in the above-described embodiment, an example was described in which the learning unit 23 stores the rotation angle θ' after correcting the rotation angle θ by the correction amount in the storage unit 12 (see step S115). The invention is not limited to this. For example, the learning unit 23 may store in the storage unit 12 the angle after moving the output shaft O by the amount of correction as the upper reversal position. Specifically, after calculating the correction amount (step S113), the drive command unit 20 controls the electric motor 5 to rotate the output shaft O by the angle indicated by the correction amount from the rotation angle θ detected by the position detection unit 9. move (reverse) Then, the learning section 23 stores the angle of the output shaft O after being moved by the drive command section 20 in the storage section 12 as an upper reversal position.

The embodiments of the present invention have been described above. Note that part or all of the functions of the wiper device in the embodiments described above may be realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed. Note that the "computer system" herein includes hardware such as an OS and peripheral devices. Furthermore, the term "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems. Furthermore, a "computer-readable recording medium" refers to a storage medium that dynamically stores a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include a device that retains a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client in that case. Further, the above-mentioned program may be one for realizing a part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system. It may be realized using a programmable logic device such as an FPGA (Field Programmable Gate Array).

Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and includes designs within the scope of the gist of the present invention.

1a, 1b... Wiper arm, 2a, 2b... Wiper blade, 3a, 3b... Pivot shaft, 4... Link mechanism, 5... Electric motor, 6... Rotation angle sensor, 7... Wiper switch, 8... Control device, 9... Position detection Part, 10...Speed calculation unit, 11...Drive unit, 12...Storage unit, 13...Control unit, 14...Pivot axis measurement unit, 15...Output axis measurement unit, 20...Drive command unit, 21...Stop determination unit, 22 ...Area determination section, 23..Learning section, 24..Pivot shaft rotation angle acquisition section, 25..Output shaft rotation angle acquisition section, 26..Correction amount calculation section, 100..Wiper device, O..Output shaft

Claims (3)

a wiper blade placed on the wiping surface;
a wiper arm having the wiper blade attached to one end and a pivot shaft attached to the other end;
a link mechanism connected to the pivot shaft;
an electric motor that rotationally drives an output shaft and rotates the pivot shaft in forward and reverse directions via the link mechanism;
a position detection unit that detects the position of the wiper blade;
a control unit that controls driving of the electric motor;
Equipped with
The control unit includes:
a drive command unit that drives the electric motor until the wiper blade reaches the specified position when a learning mode for learning a specified position of the wiper blade with respect to the wiped surface is executed;
a stop determination unit that determines that the wiper blade has stopped at the prescribed position during execution of the learning mode;
a pivot shaft rotation angle acquisition unit that acquires the rotation angle of the pivot shaft from when the learning mode is started until the stop determination unit makes a stop determination;
an output shaft rotation angle acquisition unit that acquires a rotation angle of the output shaft of the electric motor from the start of the learning mode until the stop determination unit makes a stop determination;
a correction amount calculation unit that calculates a correction amount from a difference between a rotation angle of the pivot shaft and a rotation angle of the output shaft;
a learning unit that learns, as the prescribed position, an angle obtained by correcting the angle of the output shaft when the stop determination unit makes the stop determination by the correction amount;
A wiper device comprising: the prescribed position is an upper inversion position;
A wiper device according to claim 1. a wiper blade disposed on the wiping surface, a wiper arm having the wiper blade attached to one end and a pivot shaft attached to the other end, a link mechanism connected to the pivot shaft, and an output shaft rotationally driven; Controlling a wiper device comprising: an electric motor that rotates the pivot shaft in forward and reverse directions via the link mechanism; a position detection section that detects the position of the wiper blade; and a control section that controls driving of the electric motor. A method for controlling a wiper device, the method comprising:
a drive command step in which, when a learning mode is executed in which the drive command section learns a prescribed position of the wiper blade with respect to the wiping surface, the electric motor is driven until the wiper blade reaches the prescribed position;
a stop determination step in which a stop determination unit determines that the wiper blade has stopped at the prescribed position during execution of the learning mode;
a pivot shaft rotation angle acquisition step in which a pivot shaft rotation angle acquisition unit acquires a rotation angle of the pivot shaft from the start of the learning mode until the stop determination unit makes a stop determination;
an output shaft rotation angle acquisition step in which the output shaft rotation angle acquisition unit acquires the rotation angle of the output shaft of the electric motor from the start of the learning mode until the stop determination unit makes a stop determination; and,
a correction amount calculation step in which a correction amount calculation unit calculates a correction amount from a difference between a rotation angle of the pivot shaft and a rotation angle of the output shaft;
a learning process in which a learning unit learns, as the specified position, an angle obtained by correcting the angle of the output shaft when the stop determination unit made the stop determination by the correction amount;
A method for controlling a wiper device, comprising:

Images