JPH11301411A - Method and device for controlling opposite wipe-out type wiper device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maintain a desirable wiping speed even in the case where equal load is applied to a right and a left wiper blades by separately driving a first and a second motor so that a difference between the target angle difference and a real angle difference between a first and a second viper blades is reduced so as to reduce a difference between the real speed and the target speed. SOLUTION: A device is provided with a first wiper blade side real angle difference computing means for computing a real position angle difference between both wiper blades 2a, 2b of a DR side and an AS side on the basis of the real position angle of the wiper blades 2a, 2b and for correcting that value at need so as to compute the DR side real angle difference, and provided with a second wiper blade side real angle difference computing means for similarly computing the AS side real angle difference. The target angle difference between both the wiper blades 2a, 2b and the real angle difference at the real position angle are compared with each other, and the output of each motor 3a, 3b is separately computed so that a difference between the both is reduced so as to reduce a difference between the target speed and the real speed, and the computed output is indicated to each motor driving device 10a, 10b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control technique for a wiper device for a vehicle, and more particularly to a technology effective when applied to a wiper device of an opposite wiping type.

[0002]

2. Description of the Related Art In order to increase the wiping area and improve the visibility in the lateral direction due to an increase in the size of a windshield, the center of rotation of a wiper arm is arranged on both left and right sides of the windshield, and the wipers are moved from both sides of the windshield toward the center. A so-called opposite wiping type wiper device in which a blade operates has been adopted.

In this opposed wiping-type wiper device, a wiper driving motor is arranged at the center of the vehicle, and the left and right wiper blades are opposed to each other via a link mechanism.
That is, the crank arm is attached to the rotation shaft of the motor, and an intermediate link is provided at the upper and lower intermediate positions, and one end of the intermediate link is connected to the crank arm by a connecting rod. Thus, the rotational motion of the motor is converted into a reciprocating swing motion of the intermediate link. Then, the upper and lower ends of the intermediate link are connected to the drive levers of the left and right wiper shafts projecting from the lower ends of the front glass via drive rods,
The left and right wiper arms are operated to face each other.

However, in order to drive the opposed wiping type wiper device with one motor in this way, a drive mechanism substantially equal to the entire width of the vehicle is required as described above, and the mechanism becomes large and its weight is large. There was a problem of becoming larger. In order to solve such a problem, a method has been developed in which the left and right wiper blades are separately driven by motors.

In this case, it is difficult to arrange motors having completely the same characteristics on the right and left wiper blades, and it is also impossible to eliminate load fluctuations on the motors. Therefore, the left and right motors are likely to be asynchronously operated, and the left and right movements are scattered, causing a problem that the wiper blades interfere with each other.

Therefore, although not a known method, the position angle of the right and left wiper arms is detected, and the position angle of the wiper arm on the other side is subtracted from the position angle of the wiper arm on the reference side to obtain a difference in position angle between the two. And a method of controlling the operation of both wiper arms based on the above has been developed.

[0007] First, for example, the driver's seat side (hereinafter, D
Position angle difference = DR side wiper arm position angle−passenger seat side (hereinafter abbreviated as AS side) wiper arm position angle with reference to (R side). At this time, the position angle difference is the absolute value of the calculation result, and when the calculation result is +, DR
The angle on the AS side is large, and when-, the angle on the AS side is large. When the obtained value is +, the output of the DR-side motor is increased, the output of the AS-side motor is reduced, or both of them are performed in accordance with the absolute value to eliminate the position angle difference. When the operation result is "-", the operation is reversed to return to the normal operation.

[0008]

However, when the wiper operation is controlled based only on such a positional angle difference, when the left and right wiper blades and wiper arms are subjected to a load equal to the left and right due to a running wind pressure or the like, the wiper blades are not moved. The wiping speed similarly decreases or increases on the left and right.
At this time, since there is no difference between the left and right position angles,
No feedback control is performed for this speed change. For this reason, the cycle of one wiping of the wiper blade fluctuates, and there is a problem that a desired wiping effect cannot be obtained.

An object of the present invention is to provide a method of controlling a facing wiper device capable of maintaining a desired wiping speed even when equal loads are applied to left and right wiper blades and the like.

[0010]

According to the present invention, there is provided a method for controlling an opposed wiping type wiper apparatus, comprising: a first wiper blade driven by a first motor; and a second wiper blade driven by a second motor.
A method for controlling an opposing wiping type wiper device having a wiper blade, comprising detecting a position angle of each of a first wiper blade and a second wiper blade, and measuring a difference between the actual position angles between the two wiper blades. Is calculated, and a first value corresponding to the position angle of the first and second wiper blades is set as a target value of the position angle difference between the first and second wiper blades.
A first wiper blade side target angle difference and a second wiper blade side target angle difference are separately set for each of the wiper blade side and the second wiper blade side, and the actual speed of one or both of the first and second wiper blades is set. Is calculated, and the measured speed is compared with a target speed which is an average value of the speeds of the first and second wiper blades. It is characterized by being individually driven by the first and second motors so as to reduce the difference between the second wiper blade side target angle difference and the measured angle difference and to reduce the difference between the measured speed and the target speed.

Further, the control device of the opposed wiping wiper device of the present invention is an opposed wiping wiper having a first wiper blade driven by a first motor and a second wiper blade driven by a second motor. A control device for an apparatus, comprising: first and second wiper blade position angle calculating means for calculating respective position angles of first and second wiper blades; position angle of the first wiper blade and position angle of the second wiper blade A first wiper blade side actual measurement angle difference indicating an actual position angle difference between the first wiper blade and the second wiper blade based on the position angle of the first wiper blade based on the first wiper blade side actual measurement An angle difference calculating unit configured to calculate a position angle of the second wiper blade based on the position angle of the second wiper blade and the position angle of the first wiper blade; The second wiper blade as a quasi the first
A second wiper blade-side measured angle difference calculating means for calculating a second wiper blade-side measured angle difference indicating an actual position angle difference between the first wiper blade and the second wiper blade;
A first preset value corresponding to the position angle of the first wiper blade is set as a target value of the position angle difference between the wiper blades.
First wiper blade-side angle difference information calculating means for calculating first wiper blade-side angle difference information indicating a difference between the wiper blade-side target angle difference and the first wiper blade-side actually measured angle difference; A second value indicating the difference between the target angle difference between the second wiper blade and the actually measured angle difference between the second wiper blade, which is set in advance in accordance with the position angle of the second wiper blade as the target value of the position angle difference between the wiper blades. (2) second wiper blade-side angle difference information calculating means for calculating wiper blade-side angle difference information; and actual wiper blade speed for calculating the actual speed of the wiper blade from the actual speed of one or both of the first and second wiper blades. A speed difference information calculating means for calculating speed difference information by comparing a target speed, which is an average value of the first and second wiper blades, with an actually measured speed; And reducing the difference between the first wiper blade-side target angle difference and the first wiper blade-side measured angle difference based on the first wiper blade-side angle difference information and the speed difference information, and calculating the difference between the target speed and the measured speed. First motor output calculating means for calculating the output of the first motor so as to reduce the angle, and a second wiper blade side target angle difference and a second wiper blade side actual measurement based on the second wiper blade side angle difference information and the speed difference information. And a second motor output calculating means for calculating an output of the second motor so as to reduce the difference between the angle difference and the difference between the target speed and the actually measured speed.

With the above configuration, the operation of the first and second wiper blades is controlled in consideration of not only the angle difference between the two wiper blades but also the speed fluctuation of the wiper blade. As a result, not only the variation in the angle difference due to the external force load fluctuation but also the speed fluctuation can be suppressed.
Therefore, even when an equal load is applied to the right and left wiper blades and the wiper arm, a desired wiping speed can be maintained, and a change in one wiping cycle of the wiper blade can be prevented.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view schematically showing a configuration of a facing wiping type wiper device and a control system thereof. The wiper control method is to monitor the speed fluctuation in addition to the angle difference fluctuation between the wiper blades, thereby suppressing the fluctuation in the speed difference and the angle difference due to the external force load fluctuation.

In FIG. 1, reference numeral 1 denotes a wiper device to which a wiper control method according to the present invention is applied. The wiper device 1 includes a DR side wiper blade (first wiper blade) 2a and an AS side wiper blade (second wiper blade) 2b (hereinafter abbreviated as wiper blades 2a and 2b). It has a so-called opposite wiping type configuration in which the upper and lower sides are overlapped at the lower inversion position. In the wiper device 1, a DR side motor (first motor) 3a and an AS side motor (second motor) 3 are provided on the DR side and the AS side, respectively.
b (hereinafter abbreviated as motors 3a and 3b) are provided separately, and the motor rotation angle and the angle θa,
The wiper blades 2a and 2b are individually controlled based on the position angles of the wiper blades 2a and 2b represented by θb. Note that “a, b” in the reference numerals indicates members and portions related to the DR side and the AS side, respectively.

A blade rubber member (not shown) is attached to the wiper blades 2a and 2b. And
By moving the blade rubber member in close contact with the windshield of the vehicle, water droplets and the like existing in the wiping regions 4a and 4b indicated by the two-dot chain line in FIG. 1 are wiped. The wiper blades 2a, 2b are connected to the wiper shafts 5a, 5b.
Arms 6a and 6b that swing right and left around the center
It is supported by. Drive levers 7a and 7b are arranged on the wiper arms 6a and 6b symmetrically with the wiper shafts 5a and 5b. Further, connecting rods 8a, 8b are attached to ends of the driving levers 7a, 7b. The other ends of the connecting rods 8a, 8b are connected to tip ends of crank arms 9a, 9b rotated by motors 3a, 3b. Then, the crank arms 9a, 9b rotate with the rotation of the motors 3a, 3b, and this movement is transmitted to the drive levers 7a, 7b via the connecting rods 8a, 8b, and the rotational movement of the motors 3a, 3b is changed. 6a,
6b.

The motors 3a and 3b are each provided with a separately provided drive circuit, that is, a DR side motor drive device 10a
And the AS-side motor drive device 10b. Further, the motors 3a and 3b are provided with a DR side pulse detecting device 11a which is a pulse detecting means using a rotary encoder or the like.
And the AS-side pulse detector 11b are connected so that the rotation angle thereof can be detected. In this case, the motor drive devices 10a and 10b are controlled by the wiper drive control device 12, and the pulse detection devices 11a and
The detected value of 11b is also sent to the wiper drive control device 12.

FIG. 2 is a block diagram showing a circuit configuration of the wiper drive control device 12 according to one embodiment of the present invention. As shown in FIG. 2, the wiper drive control device 12
The microcomputer comprises a CPU 21, a microcomputer in which an I / O interface 22, a timer 23, a ROM 24 and a RAM 25 are connected to each other via a bus line 26, and its peripheral circuits. Then, it processes signals from the respective pulse detectors 11a and 11b and sends control signals to the respective motor driving devices 10a and 10b.

The I / O interface 22 includes a DR-side pulse detector 11a and an AS-side pulse detector 11
b, the DR side motor drive unit 10a and the AS side motor drive unit 10b are connected. The ROM 24 stores a control program and fixed data for various controls. The RAM 25 stores output signals to the motor driving devices 10a and 10b after data processing and data processed by the CPU 21. You. Then, the CPU 21 controls the driving of the wiper device 1 according to the control program stored in the ROM 24.

FIG. 3 is a block diagram showing the main functional configuration of the CPU 21. Hereinafter, the wiper device control method according to the present invention will be specifically described through the functions of the CPU 21 including the processing procedure.

As shown in FIG. 3, the CPU 21
DR side position angle calculating means (the first position angle calculating means) for calculating the current position angles θa, θb of the wiper blades 2a, 2b based on the pulses acquired from the DR side pulse detecting device 11a and the AS side pulse detecting device 11b via the O interface 22. 1
Wiper blade side position angle calculating means) 31a and AS
A side position angle calculating means (second wiper blade side position angle calculating means) 31b and a control output for each of the motors 3a and 3b are calculated based on the obtained position angles and sent to each of the motor driving devices 10a and 10b. The configuration includes a DR side motor control unit 32a and an AS side motor control unit 32b.

In this case, each position and angle calculating means 31a, 3
1b respectively accumulates the pulses acquired from each of the pulse detectors 11a and 11b and accumulates the current wiper blades 2a and 2b.
The position angle of 2b is calculated. The CPU 21 treats the cumulative number of pulses as it is as the position angle,
The following processing is performed based on the number of pulses. However, the number of pulses and the position angles θa, θ of the wiper blades 2a, 2b
b (deg) in advance in the ROM 24 using a map or the like.
And the following processing may be performed according to the angle (deg). Further, since one rotation of the motor (360 °) corresponds to one reciprocation of the wiper arm, the rotation angles of the motors 3a and 3b are obtained from the cumulative number of pulses, and are obtained as the position angle x °.
And the following processing may be performed based on this.

In the CPU 21, each of the motor control means 32a and 32b has the following function means. First, from the current position angles of the wiper blades 2a and 2b, the actual position angle difference between the wiper blades 2a and 2b viewed from the respective positions on the DR side and the AS side is calculated, and if necessary, The DR side actual angle difference calculating means (first wiper blade side actual angle difference calculating means) 33a which corrects the value to calculate the DR side actual angle difference information, and the AS side which calculates the AS side actual angle difference similarly. Measured angle difference calculating means (measured angle difference calculating means on second wiper blade side) 33
b.

In this case, the difference between the actually measured angles viewed from the respective positions on the DR side and the AS side is, for example, the difference between the position angle of the AS side wiper blade 2b on the DR side with reference to the position angle of the DR side wiper blade 2a. This is the angle difference obtained by calculating the difference. That is, for example, the DR side is “10”
When the AS side is at the position angle of the “3” pulse when the pulse is at the position angle of the pulse (the rotation angle of the motor 3a is 20 °), the DR-side measured angle difference (first wiper blade-side measured angle difference) is The position angle on the AS side is subtracted from the position angle to obtain (10-3) “+7”. On the other hand, when viewed from the AS side, on the basis of the position angle of the AS-side wiper blade 2b, the AS-side measured angle difference (the second wiper blade-side measured angle difference) is calculated from the AS-side position angle to the DR-side position angle. Is subtracted from (3-10) to be "-7".

Next, the actual angle difference calculating means 33a, 33
In the subsequent stage of b, the target angle difference, which is the target value of the position angle difference between the wiper blades 2a and 2b at the current position angle, is compared with the previously obtained measured angle difference, and the actual measured angle difference at the current time is compared with the actual measured angle difference. DR side angle difference information calculating means (first wiper blade side angle difference information calculating means) 34a for calculating angle difference information indicating a difference from the target angle difference, and AS side angle difference information calculating means (second wiper blade side angle difference) Information calculation means) 34b
Are provided respectively.

Here, the target angle difference to be compared is R
DR side target angle difference map 36 stored in advance in OM 24
a and the AS-side target angle difference map 36b. 4 and 5 show these configurations. FIG. 4 is a DR side target angle difference map 36a showing a target angle difference (first wiper blade side target angle difference) based on the DR side position angle.
FIG. 5 is an AS-side target angle difference map 36b showing a target angle difference (second wiper blade-side target angle difference) based on the AS-side position angle.

In this case, looking at the DR-side target angle difference map 36a in FIG. 4, for example, when the DR-side position angle is "10" pulses, the AS-side position angle target is "5" pulses. It can be seen that the target angle difference between is “+5”. Therefore, for example, as in the previous example, “DR = 10, A
When the position information corresponding to the actually measured angle difference “+3” is obtained at “S = 7”, the DR-side angle difference information calculating unit 34 a calculates “+2” ((+5) − (+ 3)) for the target angle difference. ) Is calculated (first wiper blade-side angle difference information). This is AS from the DR side ahead
The state in which the side is advanced (approached) by “2” pulses from the target position angle is shown.

On the other hand, in the AS side target angle difference map 36b of FIG. 5, the case of the above example (“DR = 10, AS =
7)), when the AS side position angle is “7” pulses, the DR side position angle target is “14” pulses, and the target angle difference between the two is “−7”. On the other hand, in the above example, the actually measured angle difference is “−3” (7−10), and the AS-side angle difference information calculation unit 34b calculates “−” with respect to the target angle difference.
AS side angle difference information (second wiper blade side angle difference information) of “4” ((−7) − (− 3)). This represents a state where the DR side is delayed (approached) by "4" pulses from the target position angle when viewed from the following AS side.

By the way, each target angle difference map 36a, 3
In 6b, the leading side has a coarser pulse data distribution than the following side. This is because, when controlling the wiper blade so as not to collide with the leading side, it is necessary to make the control on the trailing side finer. At this time, the pulse division on the leading side may be coarse. Looking at this in each map, for example, in FIG. 4, the target position angle on the AS side is 1 pulse when the target position angle on the DR side is 1 to 3 pulses, and the AS side is stepwise with respect to the DR side. Is set to the target position angle. In other words, the DR side has three pulses of movement with respect to the following AS side pulse, and accordingly the DR side has coarse data. In FIG. 5, the target value is set so that the AS side advances one pulse at the time of initial movement and the DR side advances two pulses at the time of initial movement. This means that the DR side has a movement corresponding to two pulses with respect to the following AS side pulse, and the preceding DR side data is coarse as in the case described above.

For this reason, even if the DR and AS sides have the same position angle, the control form may be different. For example, when position angle data of “DR = 3, AS = 1” is obtained, according to FIG. 4, the DR-side measured angle difference “2” (3- (3)
1) coincides with the target angle difference “2” and becomes OK data. However, in FIG. 5, the target angle difference is "-1" for AS = 1, and NG for the actually measured angle difference "-2" (1-3) in this case. For this reason,
On the DR side, normal control is performed, whereas on the AS side, follow-up control is performed to recover the delay.

Further, in the wiper device 1, the leading side and the following side are reversed at the upper reversing position. That is, on the return path, the AS side precedes the DR side. Therefore,
Also in each of the target angle difference maps 36a and 36b, although not shown, the pulse A exceeds the pulse 90 and the pulse 124 and subsequent pulses are A
The S side is ahead. It should be noted that the maps in FIGS. 4 and 5 are merely examples, and it goes without saying that the map form and the numerical values in the maps are not limited to those in FIGS.

As described above, in the wiper control device of the present invention, each of the DR side and the AS side is provided with a map corresponding to the other party, and the wiper blades 2a and 2b having different moving speeds are used by themselves. The control is performed in consideration of not only the position angle of the above but also the other position angle. In addition,
Therefore, when a pulse from the motor 3a or 3b is input to one of the sides, the control of both motors 3a and 3b is started.

Here, in addition to such information on the position and angle, the CPU 21 adds the wiper blades 2a and 2a.
The wiper control is performed by also grasping information on the speed b. That is, the CPU 21 includes each motor control unit 3.
In addition to 2a and 32b, a wiper blade actual measured speed calculating means 37 and a speed difference information calculating means 38 are provided.

The wiper blade actual speed calculation means 37 includes:
The actual speed of the wiper blades 2a, 2b at the present time is calculated.
The time required for 2b to move by one pulse, that is, the time required for one pulse, is obtained as the actually measured speed of the wiper blade. Therefore, the wiper blade actual measured speed calculating means 37 first calculates the position and angle calculating means 31a and 31b.
The position angles of the wiper blades 2a and 2b are obtained from the following.
Next, the required time per one pulse of the wiper blades 2a and 2b is calculated based on the acquired position angle and the time measured by the timer 23. At this time, the CPU 21 uses the average value of the speeds of the respective wiper blades 2a and 2b as the actually measured speed, but any one of the values may be used as the representative value. This is sent to the next-stage speed difference information calculating means 38 as the actual measured speed of the wiper blade.

Next, in the speed difference information calculating means 38, the actual measured speed of the wiper blade which has been sent is stored in advance in the ROM 24.
The speed difference information is created by comparing with the target speed of the wiper blade stored in. In this case, the target speed of the wiper blade is obtained by dividing the average value T of one wiping cycle of the wiper blades 2a and 2b by the total number of pulses P required for one wiping operation, and the average time T / P per pulse. Corresponds to this. Then, the speed difference information calculating means 38 calculates the difference between the target speed and the actually measured speed of the wiper blade, and creates speed difference information indicating the difference between the two. Note that the target speed is LO
Different values are set depending on the operation mode of the wiper, such as W or HIGH. In the case of HIGH, a value obtained by multiplying the value of LOW by a constant is set.

On the other hand, angle difference information calculating means 34a, 34b
Further, at the subsequent stage of the speed difference information calculating means 38, each motor 3a,
A DR-side motor output calculating means (first motor output calculating means) 35a for calculating and determining the output of the motor 3b and an AS-side motor output calculating means (second motor output calculating means) 35b are provided. Here, each of the motors 3a, 3b, which reduces the difference between the target angle difference and the actually measured angle difference and reduces the difference between the target speed and the actually measured speed, based on the previous angle difference information and the speed difference information. The output of the motor 3b is calculated, and the output is instructed to each of the motor driving devices 10a and 10b. At this time, values calculated on the DR side and the AS side are used as the angle difference information.
The same value is used for b.

That is, the DR side motor output calculating means 35
In a, first, in consideration of the angle difference information, for example, a value of “+2” is acquired as the DR side angle difference information in the above example, and the DR side motor 3
Calculate the output of a. Therefore, the new output of the motor 3a is
"New output = a.times. (Target angle difference-actual measured angle difference) + b.times. (Target speed-actual measured speed), a and b are coefficients". In this case, with respect to the angle difference, it is recognized from the obtained angle difference information that the AS side is closer to the target value by “2” pulses, and in accordance with this recognition, the DR side expands the position angle difference and approaches the target value. Is higher than the current output (rotational speed). Then, a control signal is sent to the DR side motor drive device 10a so as to realize this output.

In the AS-side motor output calculating means 35b, according to the above example, "-4" is used as the AS-side angle difference information.
Is obtained, and the output of the AS-side motor 3b is calculated based on this value and the speed difference information. In this case, regarding the angle difference, it is recognized from the obtained angle difference information that the DR side is closer to the target value by “4” pulses, and in accordance with this recognition, the AS side increases the position angle difference to approach the target value. , A lower output (rotational speed) is calculated. Then, a control signal is sent to the AS-side motor drive device 10b so as to realize this output.

As described above, in the wiper control device of the present invention, the wiper control is performed by monitoring the speed fluctuation in addition to the angle difference fluctuation, so that the actually measured angle difference between the wiper blades 2a and 2b approaches the target angle difference. In addition to controlling the motors 3a and 3b independently, both motors 3a and 3b are controlled such that the measured speed of the wiper blades 2a and 2b approaches the target speed.

That is, when the positional angle difference between the wiper blades 2a and 2b becomes smaller than the target (when approaching), the output on the leading side is increased and the output on the following side is decreased as in the above-described example. The difference from the target position angle is reduced. When the position angle difference is larger than the target (when the position angle difference is larger), the output on the leading side is reduced, the output on the follower side is increased, and the difference from the target position angle is reduced. Further, when the speed of the wiper blades 2a, 2b is higher than the target speed, the output of the motors 3a, 3b is increased.
The outputs of a and 3b are lowered.

For this reason, even if the positional angle difference between the wiper blades 2a, 2b is changed due to a change in the external force load or the like, the output of both motors 3a, 3b can be changed successively in response to the change. It quickly converges to the indicated target position angle difference. Therefore, the wiper blades 2a,
It is possible to suppress the variation in the position angle difference of 2b. Further, since the outputs of the motors 3a and 3b can be changed based on the speed difference information, it is possible to suppress speed fluctuations due to external force load fluctuations.

The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the scope of the invention.

For example, regarding the speed difference information, a predetermined threshold value may be provided for the difference between the target speed and the actually measured speed, and the speed difference information may be involved in the motor output control only when the difference is exceeded.
Also, the speed difference information is not the average value of the DR side and the AS side,
It is also possible to calculate individually on the DR side and the AS side and control each of the motors 3a and 3b individually. further,
The average value T of one wiping cycle may be used as the target speed, and this may be compared with the actually measured one cycle time of the wiper blade.

[0043]

According to the present invention, the operation of the wiper blade is controlled in consideration of not only the angular difference between the wiper blades but also the speed fluctuation of the wiper blade, so that the external force load fluctuation It is possible to suppress not only the variation in the angle difference but also the speed fluctuation. Therefore, even when an equal load is applied to the left and right wiper blades and the wiper arm, the desired wiping speed can be maintained, and the cycle of one wiping of the wiper blade can be prevented from fluctuating.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram schematically showing a configuration of a facing wiping type wiper device and a control system thereof.

FIG. 2 is a block diagram showing a circuit configuration of a wiper drive control device according to one embodiment of the present invention.

FIG. 3 is a block diagram illustrating a main functional configuration of a CPU.

FIG. 4 is a DR side target angle difference map in which a target angle difference is set based on a DR side position angle.

FIG. 5 is an AS-side target angle difference map in which a target angle difference is set based on the AS-side position angle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Wiper device 2a DR side wiper blade 2b AS side wiper blade 3a DR side motor 3b AS side motor 4a, 4b Wiping area 5a, 5b Wiper shaft 6a, 6b Wiper arm 7a, 7b Drive lever 8a, 8b Connecting rod 9a, 9b Crank arm 10a DR side motor drive device 10b AS side motor drive device 11a DR side pulse detection device 11b AS side pulse detection device 12 Wiper drive control device 22 I / O interface 23 Timer 26 Bus line 31a DR side position angle calculation means (first wiper) Blade side position angle calculation means 31b AS side position angle calculation means (second wiper blade side position angle calculation means) 32a DR side motor control means 32b AS side motor control means 33a DR side actually measured angle difference calculation means (first wiper blade) Side measurement Degree difference calculation means) 33b AS-side measured angle difference calculation means (second wiper blade-side measured angle difference calculation means) 34a DR-side angle difference information calculation means (first wiper blade-side angle difference information calculation means) 34b AS-side angle difference Information calculation means (second wiper blade side angle difference information calculation means) 35a DR side motor output calculation means (first motor output calculation means) 35b AS side motor output calculation means (second motor output calculation means) 36a DR side target angle Difference map 36b AS side target angle difference map 37 Wiper blade actual measured speed calculating means 38 Speed difference information calculating means

Claims (2)

[Claims] 1. A method for controlling an opposing wiping-type wiper device comprising a first wiper blade driven by a first motor and a second wiper blade driven by a second motor, wherein the first and the second Detecting the position angle of each of the two wiper blades and calculating an actually measured angle difference that is a difference between the actual position angles between the two wiper blades, as a target value of the position angle difference between the first and second wiper blades, A first wiper blade side target angle difference and a second wiper blade side target angle difference are separately provided on the first wiper blade side and the second wiper blade side, respectively, corresponding to the position angles of the first and second wiper blades. The actual speed of one or both of the first and second wiper blades is calculated, and the actual speed and the first and second wipers are calculated. The first and second wiper blades are compared with a target speed that is an average value of the speeds of the wiper blades, and the first and second wiper blades are compared with the actually measured angle difference between the first wiper blade side target angle difference and the second wiper blade side target angle difference. A method of controlling an opposing wiping-type wiper device, wherein the first and second motors are individually driven so as to reduce a difference and reduce a difference between the measured speed and the target speed. 2. A control device for an opposing wiping-type wiper device comprising a first wiper blade driven by a first motor and a second wiper blade driven by a second motor, wherein First and second wiper blade position angle calculating means for calculating a position angle of the second wiper blade, and a position angle of the first wiper blade based on the position angle of the first wiper blade and the position angle of the second wiper blade. A first wiper blade-side measured angle difference calculating means for calculating a first wiper blade-side measured angle difference indicating an actual position angle difference between the first wiper blade and the second wiper blade based on a position angle; Based on the position angle of the second wiper blade and the position angle of the first wiper blade, the position angle of the second wiper blade is used as a reference. A second wiper blade-side measured angle difference calculating means for calculating a second wiper blade-side measured angle difference indicating an actual position angle difference between the second wiper blade and the first wiper blade; A target angle difference between a first wiper blade and a first target angle difference which is set in advance as a target value of a position angle difference between the wiper blade and the second wiper blade in accordance with the position angle of the first wiper blade and the first wiper blade side actual measurement First wiper blade-side angle difference information calculating means for calculating first wiper blade-side angle difference information indicating a difference from the angle difference; and a target value of a position angle difference between the second wiper blade and the first wiper blade. The difference between the target angle difference between the second wiper blade and the actually measured angle difference between the second wiper blade, which is set in advance corresponding to the position angle of the second wiper blade, is shown. (2) second wiper blade-side angle difference information calculating means for calculating wiper blade-side angle difference information; and wiper blade actual measurement for calculating an actual measured speed of the wiper blade from an actual speed of one or both of the first and second wiper blades. Speed calculation means; speed difference information calculation means for calculating speed difference information by comparing a target speed, which is an average value of the speeds of the first and second wiper blades, with the actually measured speed; Based on the angle difference information and the speed difference information, a difference between the first wiper blade side target angle difference and the first wiper blade side actually measured angle difference is reduced, and a difference between the target speed and the actually measured speed is reduced. First motor output calculating means for calculating the output of the first motor so as to reduce the motor speed, and based on the second wiper blade side angle difference information and the speed difference information. An output of the second motor that reduces a difference between the second wiper blade side target angle difference and the second wiper blade side measured angle difference, and reduces a difference between the target speed and the measured speed. And a second motor output calculating means for calculating the motor output.