JP4135744B2 - Toilet seat / toilet lid electric switchgear - Google Patents

Description

  The present invention relates to a method for opening and closing an electric opening and closing device for a toilet seat and a toilet lid.

  Conventionally, this type of toilet seat and toilet lid electric opening and closing device uses the toilet seat or toilet lid open or closed position as the origin, and changes the opening / closing drive speed according to the angle formed by the toilet lid and toilet seat (particularly By moving at a low speed near an open position or a closed position), the movement is performed smoothly (see, for example, Patent Document 1).

  Furthermore, in order to detect the open position or the closed position, the origin position is detected by rotating the toilet seat or the toilet lid to contact the toilet bowl or flush tank and stopping it, and opening and closing with this position as the origin. By changing the driving speed, it was moved smoothly (see, for example, Patent Document 2).

In addition, a Hall IC is arranged near the open position or close position to detect that the toilet seat or toilet lid is approaching and decelerate.
Japanese Utility Model Publication No. 6-33916 JP-A-10-57276

  However, in the conventional configuration described above, the load on the toilet seat / toilet lid electric opening / closing device is reduced, for example, when the cover is attached to the toilet seat or the toilet lid and the inertial mass changes, or when the sliding resistance of the opening / closing drive system changes over time. There was a case where the toilet seat / toilet lid electric switchgear could not follow the change.

  Further, when the drive motor of the toilet seat / toilet lid electric opening / closing device does not have a sufficient torque margin and does not have sufficient speed controllability, the same deceleration pattern cannot be controlled. That is, when driven by a stepping motor, the number of rotations is uniquely determined by the drive frequency, and if the drive torque is within the step-out torque, the deceleration operation can be accurately performed with a predetermined deceleration pattern. When a normal DC brush motor is used, the deceleration is determined by the balance with the load. Therefore, even if the open or closed position of the toilet seat or toilet lid is accurately detected, control is performed with a predetermined deceleration pattern. I couldn't.

  Further, the backlash of the drive system increases with aging, and there is a possibility that control may not be possible with the initial control pattern.

  In particular, the toilet seat or toilet lid is a kind of inverted pendulum and is a normal load until it reaches the self-supporting angle, but when it exceeds the self-supporting angle, it becomes a negative load that has the property of moving to the open position by itself, In the open position, there was an unstable factor in making the vehicle fully decelerated and stationary.

  Further, the toilet seat or toilet lid is set to reach the open position in about 1 to 2 seconds as the opening operation time, and the rotational speed is about 15 to 25 rpm, and the inertial force cannot be ignored. Therefore, in order to stop smoothly at the open position, it is necessary to reduce the voltage applied to the DC motor as much as possible from a position considerably before the self-standing angle.

When a control method is adopted in which the voltage applied to the DC motor is reduced as much as possible from a position substantially before the self-supporting angle, the control method is such that the self-supporting angle is exceeded, resulting in a control method with many unstable elements.

  When taking actions that exceed the self-supporting angle, the load on the toilet seat, such as when there is a toilet seat or toilet lid cover, or when the toilet is installed tilted, is the opening angle and load of the toilet lid. The problem that the toilet seat or the toilet lid does not reach the open position due to the difference in the relationship between the toilet seat and the toilet lid electric opening / closing unit varies depending on the situation.

  In order to solve the conventional problems, a driving means for opening and closing a toilet seat and / or a toilet lid, an angle detection means for each of the toilet seat and the toilet lid, and an angle obtained from the angle detection means at predetermined time intervals. An angular velocity calculating means for calculating an angular velocity by sampling and a means for determining whether or not the toilet seat or toilet lid has reached an open position, and the speed evaluation point provided near the open position of the toilet seat and toilet lid According to the deviation between the speed of the toilet seat or the lid and the target speed range having two or more levels set at the speed evaluation point, the correction amount of the output of the driving means at the next operation is determined, Control means for controlling to reach the target speed range by repeatedly opening and closing the toilet seat or toilet lid, and setting the level of the target speed range with the lowest level as the initial value When the opening / closing of the toilet seat or toilet lid is repeated, the output of the driving means is repeatedly corrected in order from the side at which the speed at the speed evaluation point increases, and when the opening position is not reached, the target speed range is set to 1 It has a learning control means that shifts to a higher level side and repeats the correction operation.

  With this configuration, it is possible to set an optimal target speed range according to the load condition of the toilet seat or the toilet lid, the installation state of the toilet, the variation of the opening / closing unit, the secular change, and the like.

  As described above, according to the present invention, by performing learning control, the toilet seat and the toilet lid can be smoothly stopped in accordance with variations in the weight of the toilet seat and the toilet lid, variations in attachment, and the like.

  The invention according to claim 1 samples the driving means for opening and closing the toilet seat and / or the toilet lid, the angle detecting means for each of the toilet seat and the toilet lid, and sampling the angle obtained from the angle detecting means at predetermined time intervals. The speed of the toilet seat or the toilet lid at the speed evaluation point provided near the open position of the toilet seat and the toilet lid is provided with the angular velocity calculating means for calculating the angular velocity by means of the above and the means for determining whether the toilet seat or the toilet lid has reached the open position. And the correction amount of the output of the driving means at the next operation is determined according to the deviation from the target speed range having two or more levels set at the speed evaluation point, and the opening / closing operation of the toilet seat or toilet lid is repeated Control means for controlling to reach the target speed range by performing the drive means when the level setting of the target speed range is set to the lowest level as the initial value and the opening and closing of the toilet seat or toilet lid is repeated The output has learning control means that repeats the correction in order from the speed increasing point at the speed evaluation point and shifts the target speed range to one level higher when the open position is not reached, and repeats the correcting operation. is there.

  With this configuration, it is possible to realize extremely smooth opening and closing of the toilet seat and toilet lid regardless of how the load on the toilet seat and toilet lid changes, and even if the load fluctuates due to installation conditions and aging. .

According to a second aspect of the present invention, a direct current motor for opening and closing the toilet seat and / or the toilet lid, a power transmission means for transmitting the power of the direct current motor to the toilet seat and / or the toilet lid, and a power transmission means are provided. Angle detection means, angular speed calculation means for calculating the angular velocity by sampling the angle obtained from the angle detection means at predetermined time intervals, a motor drive circuit for controlling the output of the DC motor, and the toilet seat or toilet lid are in the open position A target having a means for determining whether or not the vehicle has reached the speed of the toilet seat or the toilet lid at the speed evaluation point provided near the open position of the toilet seat and the toilet lid, and a level setting of two or more levels provided at the speed evaluation point The correction amount of the output of the DC motor at the next operation is determined according to the deviation from the speed range, and the target speed range is reached by repeatedly opening and closing the toilet seat or toilet lid. The control means to control the target speed range, and the target speed range is set to the lowest level as the initial value. When the correction is repeated and the open position is not reached, the learning control means is provided that shifts the target speed range one level higher and repeats the correction.

  For a target speed range set at a certain level, control is performed so that the speed at the speed evaluation point of the DC motor enters the target speed range from the higher speed side, and the setting of the target speed range itself starts from the lowest level. Thus, it is possible to find the output setting of the DC motor at which the toilet seat or the toilet lid reaches the open position and the speed at the speed evaluation point is at the lowest level.

  According to a third aspect of the present invention, the means for controlling the output of the direct current motor for opening and closing the toilet seat and / or the toilet lid includes a drive region provided in a predetermined section from the toilet seat or the closed position of the toilet lid, A brake region by a regenerative current of the DC motor is provided in a region reaching the toilet lid open position, and learning control means for controlling the output of the DC motor by changing the start position of the brake region is provided.

  In toilet seat / toilet lid opening / closing with the characteristic that the load variation of the brake depends on the rotation angle of the toilet seat or toilet lid, the brake load varies greatly depending on the rotation angle, so the start angle of the brake area is changed, By changing the brake strength, the brake can be accurately applied to the toilet seat or the toilet lid.

  According to a fourth aspect of the present invention, the initial setting of the output of the direct current motor that opens and closes the toilet seat and / or the toilet lid is set at an initial level at which the speed at the speed evaluation point of the toilet seat or the toilet lid is higher than the target speed range. It is a value.

  Since the output setting of the DC motor is set higher than the maximum value of the target speed range set to operate even for the maximum possible load of the toilet seat or toilet lid, The open position must be reached, and then learning control can be started.

  According to a fifth aspect of the present invention, the means for controlling the output of the DC motor for opening and closing the toilet seat and / or the toilet lid includes: a toilet seat or a drive region provided in a predetermined section from the closed position of the toilet lid; Alternatively, a brake area for applying a reverse voltage to the DC motor is provided in the area leading to the open position of the toilet lid, and the output of the DC motor is changed by changing the brake strength in the brake area to the reverse voltage application level to the DC motor. It has learning control means for controlling.

  Corresponding to the load fluctuation, the strength of the brake itself is directly adjusted by applying the reverse voltage of the DC motor, so that the toilet seat or the toilet lid can be smoothly stopped against the load fluctuation.

According to the sixth aspect of the present invention, when it is determined by the means for determining whether the toilet seat or the toilet lid has reached the open position that the toilet seat or the toilet lid has not reached the open position, the next toilet seat and / or the toilet lid The amount of increase in the output of the DC motor for driving is set slightly larger than the amount of increase in the output of the DC motor corresponding to the level setting shift amount of the target speed range of the toilet seat or toilet lid.

  When shifting the target speed range, the increase amount of the DC motor output is set to be equal to or slightly larger than the change amount of the DC motor output corresponding to the shift of the target speed range. Thus, since learning control is surely started and the amount of change in the output of the DC motor is not excessive, the learning speed can be reduced and the target speed range can be reached.

  According to the seventh aspect of the present invention, the means for determining that the toilet seat or the toilet lid has reached the open position during the opening operation is such that the stop position at which the toilet seat or the toilet lid has been sufficiently decelerated and stopped is Or if it exists in the open position area | region set to the vicinity including the open position of a toilet lid, it is comprised by the learning control means provided with the control sequence which determines with having reached the open position.

  In order to determine whether the toilet seat or toilet lid has reached the open position at the position where the toilet seat or toilet lid has almost stopped during the opening operation, it is possible to determine the time to be determined and whether the toilet seat or toilet lid has reached the vicinity of the open position It is possible to reliably determine whether.

  According to the eighth aspect of the present invention, the means for determining that the toilet seat or the toilet lid has not reached the open position when the toilet seat or the toilet lid is opened is a negative value indicating a direction in which the speed when the toilet seat or the toilet lid is opened is closed. Thus, when the absolute value becomes larger than a certain value, the learning control means having a control sequence for determining that the toilet seat or the toilet lid has not reached the open position is provided.

  By detecting and determining the speed in the negative direction during the opening operation, it can be quickly determined.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

(Example 1)
FIG. 1 is an external view of a sanitary washing apparatus equipped with an electric toilet seat / toilet lid electric opening / closing apparatus according to Embodiment 1 of the present invention. FIG. 2 is a configuration diagram of the drive unit of the toilet seat / toilet lid electric opening / closing device. 3 is a configuration diagram of a drive control unit of the apparatus, and FIG. 4 is an explanatory diagram of operation characteristics of the apparatus.

  The following description focuses on the electric opening and closing of the toilet seat, but the same applies to the electric opening and closing of the toilet lid.

  In the figure, reference numeral 1 denotes a toilet, a washing water tank 2 is fixed behind the toilet 1 and a sanitary washing device 3 is mounted on the toilet 1. The sanitary washing device 3 incorporates a toilet seat / toilet lid electric opening / closing device 6 that electrically opens and closes the toilet seat 4 and the toilet lid 5. The toilet seat / toilet lid electric opening / closing device 6 includes a DC motor 7 using a commutator motor on the drive side of the toilet seat 4, a power transmission means 8 constituted by a speed reduction mechanism using a gear train, and an output side of the power transmission means 8. The angle detection means 9 is composed of a potentiometer inserted into the stool, and the drive side of the toilet lid 5 similarly has a DC motor 27, a power transmission means 28, and an angle detection means 29.

  The electric opening / closing control unit 10 will explain the toilet seat 4 side. The motor driving circuit 11 that controls the DC motor 7, the output port 12 to the motor driving circuit 11, and the rotation angle corresponding to the opening angle of the toilet seat 4 are detected. It is controlled by a microcomputer 14 having an input port 13 for taking in a signal from the angle detection means 9.

  The motor drive circuit 11 has a motor output control by PWM control and a brake control function using a regenerative current by short-circuiting the terminals of the DC motor 7.

  In order to move the toilet seat 4 smoothly, drive areas GH and HA in which the output of the DC motor 7 is changed are provided corresponding to the rotation angle of the toilet seat 4. The drive area GH has a duty of 100% and the drive area HA has a duty. It is driven at 60%. Further, before the open position C, a brake region AC is provided in which the terminals of the DC motor 7 are short-circuited and a regenerative brake is applied to decelerate the toilet seat 4.

A speed evaluation point B is provided in the brake area AC, and an angular speed calculation means 15 for calculating an angular speed by sampling a signal from the angle detection means 9 by the microcomputer 14.
Is provided.

  At the speed evaluation point B, five stages of target speed ranges V1, V2, V3, V4, and V5 are provided. V1 is the lowest level setting and is the initial value of the target speed range.

  Next, the operation and action will be described. When an open signal is input to the microcomputer 14, a voltage is applied to the DC motor 7 in a predetermined routine to drive the toilet seat 4 in the opening direction. The toilet seat 4 is driven at a plurality of output levels depending on the rotation angle. In this embodiment, when the rotation angle is up to 50 degrees, it is driven with a duty of 100%. When the rotation angle exceeds 50 degrees, it is driven with a duty of 60%, and further, when the rotation angle increases and reaches 70 degrees. Then, the brake area AC is reached, the voltage application to the DC motor 7 is stopped, the terminals of the DC motor 7 are short-circuited, and the operation is decelerated in the brake mode in which the regenerative braking action is generated, and the open position is reached.

  Next, the learning control process will be described. First, the reason why a plurality of target speed ranges are required for the same open position of the toilet seat 4 will be described with reference to FIG.

  If the load on the toilet seat 4 is increased, such as when a load such as a toilet seat cover is generated on the toilet seat 4 or the toilet 1 is installed in a front-down position, the way the brakes work is affected. The toilet seat 4 is a kind of inverted pendulum, and requires a speed to drive toward the open position until the neutral point near the open position is exceeded. When the neutral point is exceeded, a force that approaches the open position is generated by its own weight. The rotation angle of the toilet seat 4 corresponding to this neutral point is the neutral position of the toilet seat 4 when the rotation angle at the open position of the toilet seat 4 is 115 degrees because the center of gravity of the toilet seat 4 is located forward with respect to the drive shaft. In some cases, the rotation angle at the position is slightly deviated to the open position side of about 110 degrees. Therefore, when a load such as a cover is applied to the toilet seat 4, the influence of this load acts on the deceleration side, that is, on the side where the brake is effective. Therefore, the brake start position is moved from the normal position Am to Ao to the open position side. It is necessary to shift and raise the target speed range from V3 to V5 in order to smoothly stop the toilet seat 4 in the open position.

  Also, when the toilet seat 4 is lightly loaded, such as when the toilet bowl 1 is installed in a front-up position or when the toilet seat 4 itself is light, the effect of the lightening of the load is the acceleration side, that is, the side where the brake does not work. Therefore, shifting the brake start position from the normal position Am away from the open position side to Au and lowering the target speed range from the normal V3 to V1 makes the toilet seat 4 smoothly in the open position. Is necessary to stop.

  Therefore, in order to cope with such a variation in load and a variation in driving force of the drive system, a target speed range of two or more levels is set as a target speed range so that the target speed range is met. To set the brake start position.

This target speed range cannot be determined in advance because it changes depending on the load state of the toilet seat 4 or the installation state of the toilet. Therefore, the target speed range is started from a low level, the speed of the toilet seat 4 is controlled so as to enter the target speed range, and when the toilet seat 4 does not reach the open position, it is determined that the target speed is low, The target speed range is gradually shifted to the higher side, and the target speed range where the toilet seat 4 reaches the open position is set as the optimum target speed range.

  Next, a specific method for setting the target speed range and the brake start position will be described with reference to FIG. First, the lowest target level V1 is set to the initial value V1. The determination of the brake start position for controlling the speed of the toilet seat 4 to the target speed range V1 starts from the brake start position a where the speed of the toilet seat 4 is higher than the target speed range V1. Then, the value of the next brake start position b is determined from the deviation between the speed of the toilet seat 4 and the target speed range V1. This operation is sequentially repeated to determine a brake start position d that reaches the target speed range V1.

  Since the correction amount of the brake start position is determined according to the deviation from the target speed range, when the speed at the speed evaluation point B of the toilet seat 4 approaches the target speed, the correction amount of the brake start position becomes small and the target speed Never overshoot the range.

  Next, the operation when a load is generated on the toilet seat 4 will be described with reference to FIG.

  The target speed range V1 is a target speed range setting assuming that the load on the toilet seat 4 is the lowest, and is set to a value that reaches the open position in a sufficiently decelerated state under this load condition. Yes.

  However, when the load on the toilet seat 4 is increased, such as when a load on the toilet seat cover or the like is generated, or when the toilet 1 is installed with the front lowered, as described above, the influence of this load is caused by the deceleration side, that is, the brake. In the setting of V1 that acts on the effective side and the target speed range described above, the deceleration until reaching the open position is too large and does not reach the open position.

  When the toilet seat 4 is opened and closed with the load on the toilet seat 4 increased, and it is determined that the toilet seat 4 does not reach the open position, the target speed range V1 is shifted to one level higher to V2, By setting the target speed range V2, the brake start position is returned from a to the open position side b, and an operation for determining the brake start position c so as to reach the target speed range V2 of the toilet seat 4 is started.

  In the target speed range V2, if it is determined that the open position has not been reached, the target speed range is further shifted to V3 by one level and the same sequence is repeated.

  According to this sequence of learning the target speed range, the optimal target speed range of the toilet seat 4 is determined in accordance with each case such as when the toilet seat 4 is in a normal installation condition or when a load such as a cover is applied, Since the toilet seat 4 is controlled within this target speed range, the toilet seat 4 can be smoothly stopped at the open position.

  The upper limit value of the target speed range is set at an upper limit value that is assumed depending on the load on the toilet seat and the installation conditions of the toilet 1.

  The correction amount of the brake start position when the target speed range is shifted from V1 to V2 will be described with reference to FIG. In the process of controlling the brake start position with the setting of the target speed range V1, when it is determined that the brake start position is a and the toilet seat 4 does not stand, the target speed range setting is changed from V1 to V2 at the next operation. While shifting to a higher level, the brake start position is set at a position where the target speed range satisfies the level V2 or higher, for example, at the position b.

The reason for setting the brake start position so that the target speed range satisfies the level of V2 or higher is that the correction amount of the brake start position does not satisfy the above condition and is small, the target speed range This is because the brake start position that satisfies the level of V2 cannot be found. If the brake start position is set too high, the brake position that satisfies the target speed V2 can be found, but the number of trials until this value is found increases. Accordingly, when the target speed range is shifted to the higher level, it is desirable that the correction amount of the brake start position is slightly larger than the correction amount of the brake start position corresponding to the shift amount of this speed range.

  A second embodiment of the present invention will be described with reference to FIG. In this embodiment, the brake start position is fixed at a predetermined position, and the motor drive circuit 11 applies a voltage to the DC motor 7 in the brake region of the toilet seat 4 and applies this voltage to the reverse by PWM control. By adjusting it, it is possible to adjust how the brake works.

  In setting the target speed range, the lowest level V1 is set as the initial value. The setting of the brake level for controlling the speed of the toilet seat 4 to the target speed range V1 starts from the brake level a on the side where the speed of the toilet seat 4 is higher than the target speed range V1. Then, the duty of the next brake level b is determined from the deviation between the speed of the toilet seat 4 and the target speed range V1. This operation is sequentially repeated to determine a brake level c that reaches the target speed range V1.

  In this embodiment, since the braking effectiveness is directly changed in response to fluctuations in the load on the toilet seat 4, the time from the start of braking to the stop can be controlled uniformly, and the toilet seat 4 can be smoothly stopped. it can.

  In the third and fourth embodiments of the present invention, determination means for determining whether the toilet seat 4 or the toilet lid 5 has reached the open position will be described.

  The determination of whether or not the toilet seat 4 has reached the open position and the determination of whether or not the toilet lid 5 has reached the open position are performed by substantially the same means.

  In the third embodiment, the determination means for determining whether the toilet seat 4 has reached the open position includes an angle detection means 9 for the toilet seat 4, an angular velocity calculation means 15 for detecting the speed when the toilet seat 4 is opened, The microcomputer 14 determines whether the toilet seat is in the open position based on the speed of the toilet seat 4 and the speed. When the toilet seat 4 is opened, when the speed of the toilet seat 4 becomes sufficiently small, it is determined that the toilet seat 4 has stopped, and the angle at this time is set to an open position region set in the vicinity including the open position, for example, When the opening angle of the toilet seat 4 is within 5 degrees from the opening position, it is determined that the opening position has been reached.

  Since it is determined that the toilet seat 4 has stopped when the speed is sufficiently reduced when the toilet seat 4 is opened, it is possible to specify the time for determining that the toilet seat 4 has reached the open position, and the position at which the toilet seat 4 has almost stopped. Thus, since it is determined whether or not the open position has been reached, it can be reliably determined whether or not the toilet seat 4 has reached the vicinity of the open position.

  In the fourth embodiment, the means for determining that the open position of the toilet seat 4 has not been reached is the same as in the third embodiment. When the toilet seat 4 is opened, the speed of the toilet seat 4 becomes negative (the toilet seat 4 moves toward the closed position), and when this value exceeds a predetermined value, it is determined that the toilet seat 4 has not stood.

  In the present embodiment, when the toilet seat 4 is opened, the reverse movement, that is, the speed of moving in the closing direction is detected, and it is determined that the toilet seat 4 has not stood when this speed exceeds the low value. Detects that the toilet seat 4 falls to the closing side and determines that the toilet seat 4 does not reach the open position. The toilet seat quickly reaches the open position without waiting for the toilet seat 4 to stop. It can be determined not to.

  In each embodiment, the DC motor is used as the driving unit, but the present invention is not limited to this. For example, when the drive means is an AC motor, the present invention can be implemented by inverter control. Further, the same control can be performed using the stepping motor as the driving means, and the toilet seat and toilet lid can be smoothly opened and closed.

  As described above, according to the present invention, since learning control is performed, the toilet seat and the toilet lid can be smoothly stopped according to variations in the weights of the toilet seat and the toilet lid, the mounting variations, and the like. Applicable to devices such as toilet seats and toilet lids that open and close with

1 is an external view of a sanitary washing device equipped with a toilet seat / toilet lid electric opening / closing device in Embodiment 1 of the present invention. FIG. 3 is a configuration diagram of a drive unit of the toilet seat / toilet lid electric opening and closing device according to the first embodiment of the present invention. Drive control part block diagram of toilet seat / toilet lid electric switchgear in embodiment 1 of the present invention Operational explanatory diagram of toilet seat / toilet lid electric switchgear in embodiment 1 of the present invention Operational explanatory diagram of toilet seat / toilet lid electric switchgear in embodiment 1 of the present invention Operation characteristic explanatory diagram of toilet seat / toilet lid electric switchgear in embodiment 1 of the present invention Operation characteristic explanatory diagram of toilet seat / toilet lid electric switchgear in embodiment 2 of the present invention

Explanation of symbols

4 Toilet seat 5 Toilet lid 6 Toilet seat / toilet lid electric switchgear 7, 27 DC motor (drive means)
8, 28 Power transmission means 9, 29 Angle detection means 10 Electric open / close control unit (learning control means)
11 Motor drive circuit

Claims (8)

Angular velocity calculation for calculating an angular velocity by sampling driving means for opening and closing the toilet seat and / or toilet lid, angle detection means for each of the toilet seat and toilet lid, and angles obtained from the angle detection means at predetermined time intervals Means and a means for determining whether the toilet seat or the toilet lid has reached the open position, the speed of the toilet seat or the toilet lid at a speed evaluation point provided near the open position of the toilet seat and the toilet lid, and the speed The correction amount of the output of the driving means at the next operation is determined according to the deviation from the target speed range having two or more levels set at the evaluation point, and the toilet seat or toilet lid opening / closing operation is repeated. Thus, the control means for controlling to reach the target speed range, and the level setting of the target speed range is set to the lowest level as an initial value, and the toilet seat or the toilet lid is opened and closed repeatedly. When returning, the output of the driving means repeats correction in order from the side where the speed at the speed evaluation point becomes higher, and when it does not reach the open position, the target speed range is shifted to the higher side by one level, A toilet seat / toilet lid opening / closing device having learning control means for repeating the correction operation. A direct current motor for opening and closing the toilet seat and / or toilet lid, a power transmission means for transmitting the power of the direct current motor to the toilet seat and / or the toilet lid, an angle detection means provided in the power transmission means, Angular velocity calculation means for calculating the angular velocity by sampling the angle obtained from the angle detection means at predetermined time intervals, a motor drive circuit for controlling the output of the DC motor, and whether the toilet seat or toilet lid has reached the open position A target speed having means for determining whether or not the speed of the toilet seat or the toilet lid at a speed evaluation point provided near an open position of the toilet seat and the toilet lid, and a level setting of two or more steps provided at the speed evaluation point In accordance with the deviation from the range, the correction amount of the output of the DC motor at the next operation is determined, and the target speed is determined by repeatedly opening and closing the toilet seat or the toilet lid. The control means for controlling to reach the range, and the level setting of the target speed range is set to the lowest level as an initial value, and when the opening / closing of the toilet seat or toilet lid is repeated, the output of the DC motor is a speed evaluation point. Toilet seat / toilet lid opening / closing device having learning control means that repeats corrections in order from the speed increasing side and shifts the target speed range to the higher one level and repeats the correction when the open position is not reached . Means for controlling the output of a direct current motor for opening and closing the toilet seat and / or the toilet lid are provided in a drive region provided in a predetermined section from the closed position of the toilet seat or the toilet lid, and an open position of the toilet seat or the toilet lid. The toilet seat / toilet lid according to claim 2, further comprising a learning control unit configured to provide a brake region by a regenerative current of the DC motor in a region to which the motor is driven, and to control an output of the DC motor by changing a start position of the brake region. Switchgear. The initial setting of the output of the direct current motor that opens and closes the toilet seat and / or the toilet lid is an initial value at a level at which the speed at the speed evaluation point of the toilet seat or the toilet lid is higher than a target speed range. The toilet seat / toilet lid opening / closing device described. The means for controlling the output of the direct current motor for opening and closing the toilet seat and / or the toilet lid includes a drive region provided in a predetermined section from the closed position of the toilet seat or the toilet lid, and an open position of the toilet seat or the toilet lid A brake region for applying a reverse voltage to the DC motor is provided in a region extending to, and the brake strength in the brake region is controlled by changing the level of application of the reverse voltage to the DC motor. The toilet seat / toilet lid opening / closing device according to claim 2, further comprising learning control means. When the means for determining whether the toilet seat or the toilet lid has reached the open position determines that the toilet seat or the toilet lid has not reached the open position, a DC motor that drives the toilet seat and / or the toilet lid next time 3. The toilet seat according to claim 2, further comprising learning control means for setting an output increase amount to be slightly larger than an output increase amount of the DC motor corresponding to a level setting shift amount of the target speed range of the toilet seat or toilet lid. Toilet lid electric switchgear. The means for determining that the toilet seat or the toilet lid has reached the open position during the opening operation is such that the stop position at which the toilet seat or the toilet lid has been sufficiently decelerated and stopped is the opening position of the toilet seat or the toilet lid. The toilet seat / toilet lid electric opening and closing device according to claim 1, wherein the learning control means includes a control sequence for determining that the open position is reached if the open position region is set in the vicinity including the position. The means for determining that the toilet seat or toilet lid did not reach the open position during the opening operation is a negative value indicating the direction in which the toilet seat or the toilet lid is opened and the absolute value is constant. The toilet seat / toilet lid electric opening and closing device according to claim 1, wherein the toilet seat / toilet lid electric opening / closing device includes a control sequence for determining that the toilet seat or the toilet lid has not reached the open position when the value exceeds the value.

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