WO2007094040A1

WO2007094040A1 - Seatbelt retractor and seatbelt device

Info

Publication number: WO2007094040A1
Application number: PCT/JP2006/302480
Authority: WO
Inventors: Yukinori Midorikawa
Original assignee: Autoliv Development Ab
Priority date: 2006-02-13
Filing date: 2006-02-13
Publication date: 2007-08-23
Also published as: CN101370692B; CN101370692A

Abstract

A seatbelt retractor (100) has collision prediction means (120) for predicting a collision possibility and also has operation environment detection means for detecting an operation environment of an electric motor (110) for taking up a webbing. When a collision is avoidable, the amount of electricity supply to the electric motor (110) is controlled to a predetermined current value based on the operation environment detected by the operation environment detection means. Also, when a collision is not avoidable, the amount of electricity supply to the electric motor (110) is controlled to a value greater than the predetermined current value without based on the operation environment detected by the operation environment detection means.

Description

Specification

Seat belt retractor and seat belt device

Technical field

The present invention relates to a seat belt retractor and a seat belt device.

Background art

[0002] Conventional retractors for seat belts are known in which a spindle is rotated by a motor when necessary to wind up a seat belt and restrain an occupant to a seat (for example, Patent Document 1 and Patent See reference 2.) ₀

[0003] The electric retractors described in Patent Document 1 and Patent Document 2 include a frame, and a reel shaft that winds up a seat belt is rotatably installed in the frame. The frame is fixed with a lock mechanism that locks the withdrawal of the seat belt when a predetermined deceleration acts on the vehicle or when the seat belt is pulled out at a predetermined acceleration. The central axis of the reel shaft is connected to the central axis of the reel shaft pulley, and the reel shaft pulley is connected to the DC motor pulley via a power transmission belt. The central axis of the DC motor pulley is connected to the DC motor.

[0004] Furthermore, the direct current motor has a configuration in which various controls are performed by a pulse width modulation (PWM) signal having a power of MPU (micro processing unit) through a direct current motor driving unit. The MPU has a vehicle speed detection unit that detects the traveling speed of the host vehicle, a collision prediction detection unit that detects whether or not there is a possibility of a collision, and whether or not a user connects a knock belt. Connected to the detector, the DC motor is driven based on each detection result.

[0005] The electric retractors described in Patent Document 1 and Patent Document 2 are controlled so as to always give a predetermined slack to the webbing, or the webbing force gradually decreases as the webbing is wound. It is designed to provide a comfortable seat belt installation environment. If it is detected that a collision is inevitable, the PWM signal is input to the DC motor drive unit, and the DC motor is rotated to the seat belt retracting side.

Patent Document 1: Japanese Patent Laid-Open No. 2000-38110 Patent Document 2: Japanese Patent Laid-Open No. 2001-334913

Disclosure of the invention

Problems to be solved by the invention

[0006] However, when the motor is driven by pulse width modulation (PWM) control, the generated power of the motor is not only the PWM value, but the fluctuation of the voltage supplied to the motor, the cumulative usage time of the motor, or Force that fluctuates due to factors such as changes in motor temperature When the motor is driven at the specified PWM value regardless of fluctuations in these factors, the webbing is not wound with the desired winding force, and the winding force is large. There is a concern that a comfortable seat belt mounting environment cannot be obtained because it is too small or too small.

[0007] The present invention has been made in view of the above-described problems, and its purpose is to wind up webbing so that there is no possibility of a collision and normally an extra burden is not placed on the occupant. An object of the present invention is to provide a seatbelt retractor and a seatbelt device that can generate a large amount of power and enable high-speed webbing in an emergency where a collision is predicted. Means for solving the problem

[0008] The above object of the present invention is achieved by the following constitution.

(1) Spind Nore who turns webbing,

Power generating means for generating power for rotating the spindle in a desired direction, and power generated by the power generating means when the power generating means generates the power for rotating the spindle in the scraping direction of the rubbing. Can be transmitted to the spindle.

Power transmission means for making it impossible to transmit the power of the power generation means to the spindle when the power generation means generates power in a direction opposite to the power for rotating the spindle in the scraping direction;

A seat belt retractor comprising: a control unit that drives and controls the power generation unit;

A collision prediction means for determining the possibility of collision;

An operating environment detecting means for detecting an operating environment of the power generating means, and the control means detects the operating environment detecting means when determining that the collision predicting means is in a collision avoidable state. Based on the determined operating environment. Controlling the amount of current supplied to the force generating means to a predetermined current value;

When it is determined that the collision prediction unit is in a state where collision cannot be avoided, the current supply amount to the power generation unit is set to the predetermined current without being based on the operation environment detected by the operation environment detection unit. A retractor for a seat belt, which is controlled to be larger than the value.

(2) The power generation means is driven by pulse width modulation control,

When the control means determines that the collision prediction means is in a collision avoidable state, the control means changes the pulse width modulation control value based on the operating environment detected by the operating environment detection means, The retractor for a seat belt according to (1), wherein the amount of current supplied to the power generation means is controlled to a predetermined current value.

(3) The operating environment detecting means includes: a supply voltage detecting means for detecting a supply voltage to the power generating means; a temperature detecting means for detecting a temperature in the vicinity of the power generating means; and At least one of the accumulated usage time detection means for detecting the accumulated usage time,

When the control means determines that the collision prediction means is in a collision avoidable state, the voltage fluctuation detected by the supply voltage detection means, and the temperature change of the power generation means detected by the temperature detection means And a current supply amount to the power generation means is controlled to a predetermined current value based on at least one of the cumulative use times of the power generation means detected by the cumulative use time detection means. The retractor for a seat belt according to (1) or (2).

(4) A seat belt apparatus comprising the seat belt retractor according to any one of (1) to (3).

The invention's effect

According to the seatbelt retractor and the seatbelt device of the present invention, the control of the power generating means for scooping up the webbing is based on the operating environment detected by the operating environment detecting means at the normal time when there is no possibility of collision. Then, the amount of current supplied to the power generation means is controlled to a predetermined current value. As a result, regardless of the change in the operating environment, the power generating means generates a predetermined power to wind up the webbing and apply an appropriate tension to the webbing. Provide a comfortable and comfortable seat belt wearing environment. In an emergency where a collision is predicted, the webbing can be controlled by controlling the current supply amount to the power generation means to be larger than the predetermined current value without being based on the operating environment detected by the operation environment detection means. Wind up quickly to protect the passengers.

Brief Description of Drawings

圆 1] It is a schematic configuration diagram of a seat belt device of the present invention.

2 is a schematic configuration diagram of the seatbelt retractor in FIG. 1. FIG.

FIG. 3 is a basic control flowchart of a seat belt retractor.

FIG. 4 is a flowchart of initial parameter setting.

FIG. 5 is a flowchart of stored origin set driving.

FIG. 6 is a flowchart of stop detection.

FIG. 7 is a flowchart of clutch release.

FIG. 8 is a flowchart of drawer detection.

FIG. 9 is a flowchart of timer interrupt.

FIG. 10 is a flowchart of door opening / closing detection.

FIG. 11 is a flowchart of buckle wearing detection.

FIG. 12 is a flowchart of collision prediction control.

13] A flowchart of drive unit failure diagnosis.

FIG. 14 is a flowchart of pre-mounting control.

FIG. 15 is a flowchart of winding availability detection.

FIG. 16 is a flowchart of storage control.

圆 17] Flow chart of initial mounting control.

FIG. 18 is a flowchart of stop driving.

FIG. 19 is a flowchart of control during mounting.

FIG. 20 is a flowchart for detecting whether the seat moves back and forth.

FIG. 21 is a flowchart for detecting whether there is a change in seatback angle.

FIG. 22 is a flowchart of sleep IN control.

FIG. 23 is a flowchart of sleep OUT control. FIG. 24 is a longitudinal sectional view of the power transmission means, (A) showing the clutch engaged state, and (B) showing the clutch released state.

Explanation of symbols

1 Seat benoret equipment

100 Seat belt retractor

103 Spin Donore

104 Power transmission means

110 Electric motor (Power generation means)

120 Collision prediction means

121 Temperature detection means

122 Supply voltage detection means

123 Cumulative usage time detection means

200 Control means

302 u bing

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of a seat belt retractor and a seat belt device according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a seat belt apparatus according to an embodiment of the present invention, and FIG. 2 is a schematic configuration diagram of a seat belt retractor in FIG. 3 to 23 are control flowcharts of the seat belt retractor. FIG. 24 is a longitudinal sectional view of the power transmission means, where (A) shows the clutch engaged state and (B) shows the clutch released state.

As shown in FIG. 1, the seatbelt device 1 includes a seatbelt retractor 100 and a webbing 302 of the present invention in which one end side of a webbing 3 02 for restraining the passenger 2 to the seat 301 is fixed in the vicinity of the shoulder of the passenger. Folding through anchor 303, webbing 302, tuck plate 305 engaged with buckle 304 placed at waist, anchor plate 306 fixed on the other end of webbing 302, buckle 304 built in buckle 304 It includes a bag switch 307 for detecting

As shown in FIG. 2, the seatbelt retractor 100 of the present invention includes a frame 101. The The frame 101 is provided with a spindle 103 for winding the webbing 302 and a spindle shaft 103 a that is coupled to the left end side of the spindle 103 and serves as a rotation center axis of the spindle 103. On the right end side of the spindle shaft 103a, there is provided a drawer preventing means 102 for locking the bow of the web 302. The pull-out prevention means 102 is a conventionally known means, and when a deceleration greater than a predetermined value is applied to the vehicle 3, the VSI operation that locks the bow I of the rubbing 302 and the acceleration at which the rubbing 302 is greater than the predetermined value. It has a WSI action that locks the bow of the webbing 302 when pulled out. The bow I sticking prevention means 102 is configured so that the webbing 302 can be taken up by the electric motor 110 which is the power generation means of the present invention even in the webbing drawer lock state.

[0016] When necessary, the spindle 103 is driven by the electric motor 110 via the power transmission means 104 and rotates in the webbing scraping direction. Further, the spindle 103 is connected to the scraping spring 111, and a rotational force in the scraping direction of the webbing 302 is always applied.

The seatbelt retractor 100 includes a control unit 200 that controls the electric motor 110, and the electric motor 110 moves in the forward and reverse directions based on a command from a drive circuit 201 described later in the control unit 200. For example, a DC motor that can rotate. In addition, the electric motor 110 is rotated by an electric motor stop state detecting means (stop state detecting means) 118 that detects that no drive signal is input from the drive circuit 201 to the electric motor 110, and the electric motor 110. An electric motor drawing direction rotation detecting means (drawing direction rotation detecting means) 119 for detecting that the electric motor 110 is rotated in the drawing direction of the webbing 302 by an electromotive force generated when the electric motor 110 is generated is connected. Further, the electric motor 110 is supplied with temperature detecting means 121 for detecting the temperature in the vicinity of the motor as an operating environment detecting means for detecting the operating environment of the electric motor 110 and a battery (not shown) force. Supply voltage detection means 122 for detecting the voltage to be detected and cumulative use time detection means 123 for detecting the cumulative use time of the electric motor 110 are provided.

[0018] The power transmission means 104 includes a spindle-side pulley 115 fixed to the spindle shaft 103a, a motor-side pulley 106 fixed to the rotating shaft 110a of the electric motor 110, and a timing belt 107 disposed between both pulleys. And a later-described clutch 150 (see FIG. 24) built in the spindle-side pulley 115. And the electric motor 110 is the webbing 302 When rotating in the scraping direction, a clutch 150 built in the spindle-side pulley 115 is engaged, and the power of the electric motor 110 is transmitted to the spindle 103 to rotate, and the webbing 302 is scraped off. Further, when the electric motor 110 rotates in the pulling direction of the webbing 302, the engagement of the clutch is released, and the power of the electric motor 110 cannot be transmitted to the spindle 103. Further, the power transmission means 104 accommodates the clutch 150 and receives the force of the spindle side pulley 115 and the spindle shaft 103a configured in the spindle side pulley 115 that cushions the spindle shaft 103a only on the winding side. A fixed power transmission buffer (not shown).

[0019] In addition, a magnetic disk 116 in which N poles and S poles are alternately formed is fixed to the spindle shaft 103a, and further, a magnetic field detecting means 117 is fixed to the frame 101, and as the spindle shaft 103a rotates. By detecting the changing magnetic field of the magnetic disk 116 by the magnetic field detection means 117, the rotation direction and the rotation speed (rotation angle) of the spindle shaft 103 a are detected, and the detection signal is transmitted to the control means 200.

[0020] Specifically, the magnetic disk 116 provided on the spindle shaft 103a and the lZ

The rotation of the spindle 103 is detected by two Hall sensors (not shown) arranged so as to generate an output whose phase is shifted by four periods, and two-phase pulse trains φ 1 and φ 2 are generated, and the rotation direction The rotation number (rotation angle) is transmitted to the control means 200. The pulse trains φ 1 and φ 2 are digitized by an up / down counter (not shown) in the input / output interface (not shown) of the control means 200 and converted into an output corresponding to the amount of webbing 302 drawn. .

[0021] A buckle switch 307, which is a seat belt wearing presence / absence detecting means of the present invention, is built in the buckle 304, detects whether or not the seat belt 302 is worn, and supplies a signal corresponding to the wearing or not to the control means 200. . The collision prediction unit 120 is a detection unit that determines the possibility of collision with an obstacle (not shown) in front of the vehicle 3 and Z or behind the vehicle 3 and Z or side of the vehicle 3. (Not shown) detects the distance to the obstacle, calculates the relative speed obtained from the time change of the distance, and the time from the distance to the obstacle to the collision. It is determined that the vehicle is in an unavoidable state, and a signal corresponding to the collision unavoidable state is supplied to the control means 200. [0022] The control means 200 includes, for example, a microcontroller including a CPU that executes a control program, a RAM that stores processing data, a ROM that stores programs, a built-in timer, an input / output interface that performs signal conversion, and the like (see FIG. And a drive circuit 201 that drives the electric motor 110 in accordance with the output from the microcontroller. In accordance with signals from the buckle switch 307 and the collision prediction means 120, the input / output interface sets a belt attachment flag and a collision flag in a flag register (or RAM), not shown. The CPU also monitors the webbing drawer amount via the I / O interface and sets various flags in the flag register.

[0023] For example, based on the webbing drawer amount monitored periodically, the withdrawal flag indicating the withdrawal of the webbing 302 or the winding of the webbing 302 is calculated from the difference between the previous value at the previous monitoring and the current value at the current monitoring. A winding flag shown or a stop flag where the webbing 302 is not pulled out or wound is set in the flag register. By referring to various flags, the control unit 200 can determine whether the webbing 302 is pulled out, wound up, stopped, whether or not a seat belt is attached, and the possibility of collision. The control means 200 controls the electric motor 110 based on such information. The electric motor 110 is controlled by comparing the amplitude of the input signal and the amplitude of the carrier signal (triangular wave) with a comparator and binarizing them.

Pulse width modulation control (hereinafter also referred to as “PWM control”).

Next, the control of the seatbelt retractor 100 by the control means 200 will be described in detail based on the flowcharts shown in FIGS.

The control means 200 and the electric motor 110 are also supplied with the power of the notch line force of the vehicle 3. The basic control flow shown in FIG. 3 is executed when the retractor 100 of the present invention is assembled to the vehicle 3 or when the control means 200 is connected to the battery line for repair or the like. Therefore, the initial parameter set S1 and the timer interrupt enable S3 are not normally performed, but only when the vehicle is assembled at the initial stage or when the battery is removed and reattached for repair or the like.

[0025] The initial parameter set S1 is a control for setting an initial parameter. As shown in FIG. 4, various status flags related to belt operation are cleared (S51), and then a failure flag is cleared (S 53), each threshold value is then set to a predetermined value (S55), and then a storage origin setting drive (S57) for setting the storage origin is performed.

As shown in FIG. 5, the retracted origin set drive (S57) first sets the drive force of the electric motor 110 so that the tension of the webbing 302 at the shoulder of the occupant 2 is equivalent to ION, as shown in FIG. (S101). Note that the PWM duty ratio that gives a predetermined amount of tension to the webbing 302 differs depending on the electric motor 110 used and the reduction ratio of the power transmission unit from the electric motor 110 to the spindle 103. The PWM duty ratio that gives 10N equivalent tension to the webbing 3 02 at the shoulder is about 5%. Next, the winding drive signal is turned ON (S103), and the motor is wound up with a predetermined winding force. Then, considering the delay time of the drive unit, for example, after a predetermined time of 200 ms has elapsed (S105), stop detection (S107) (FIG. 6) described later is performed. Next, it is determined whether or not the stop flag is set (S109). If it is not set (S109: No), the process returns to before stop detection (S107), and if it is set (S109: Yes) stops the motor drive (S111), performs clutch release (S113) (Fig. 7) described later, releases the clutch, and stores the amount of rotation of the spindle 103 detected by the rotation sensor at that position. Set the stored origin as the origin (S115) and return

Returning to FIG. 3, the timer interrupt is then permitted (S3). For example, the timer interrupt time is 20 ms, an interrupt is generated every 20 ms, and the processing shown in FIG. 9 is performed. First, door opening / closing detection (S 151) is performed. Here, depending on how many times the door closing is detected until the door opening / closing detection counter reaches a predetermined number of times, the door opening / closing detection is performed and a predetermined flag is set.

In the door opening / closing detection (S151), as shown in FIG. 10, first, the door opening / closing detection counter is incremented (S61). This door open / close detection counter is installed at a predetermined location in the RAM and is incremented every time door open / close detection is performed. Next, the door opening / closing signal from the door switch mounted on the vehicle 3 is read (S63), and it is determined whether or not the door opening / closing detection counter has reached 5 (S65). If the door open / close detection counter reaches 5 (S6 5: No), the door open / close signal from the door switch determines whether the door is closed (S67). If the door is closed (S67: Yes), the door is closed. The counter is incremented (S69) and the process returns. door The closed counter is installed at a predetermined location in the RAM. If door closing is not detected (S67: No), the process returns. If the door open / close detection counter has reached 5 (S65: Yes), it is determined whether the door close counter is 3 or more (S71). If it is 3 or more (S71: Yes), the door close flag is set ( If it is not 3 or more (S71: No), the door close flag is cleared (S75). Then, the door opening / closing detection counter is cleared (S77), the door closing counter is cleared (S79), and the process returns.

Returning to FIG. 9, next, buckle wearing detection (S 153) is performed based on a signal from the seat belt wearing presence / absence detecting means 307. Here, it is determined how many times the buckle wearing counter has been detected as being attached to the buckle until it reaches the predetermined number of times, detects whether the buckle is attached to Z, and compares this detection result with the previous result. Judge whether there is a change in the wearing of the buckle and set a predetermined flag.

As shown in FIG. 11, the buckle wearing detection (S 153) is first incremented by a buckle wearing counter force installed at a predetermined location in the RAM (S 161), from the seat belt wearing presence / absence detecting means 307. A buckle mounting presence / absence signal is measured (S163). Next, it is determined whether or not the buckle mounting counter has reached 5 (S165), and if the buckle mounting counter has not reached 5, whether or not the buckle mounting force is determined from the measured buckle mounting presence / absence signal ( S167). If the buckle is mounted (S167: Yes), the buckle mounting counter is incremented (S169) and the process returns. If the buckle is not mounted (S167: No), the process returns. When the bucket mounting counter reaches 5, it is determined whether the knock mounting counter is 3 or more (S 171), and when it is 3 or more (S 171: Yes), the buckle mounting flag is set (S 1 73). Then, compared with the previous buckle mounting flag (S175), if it is different (S175: Yes), the mounting transition flag is also set for the buckle non-mounting force (S177), and the door open / close detection counter is reset (S179). Further, the buckle mounting counter is cleared (S181) and the process returns. If it is the same as the previous buckle wearing flag (S175: No), the knocking continuation flag is set (S183) and the process returns.

[0031] If the knocker mounting counter is not 3 or more (S171: No), the knocker mounting flag is cleared (S185), then compared with the previous buckle mounting flag (S187), and different (S187: Yes). ) Will also return with the buckle wearing power set to the non-wearing transition flag (S189) If it is the same as the previous buckle wearing flag (S187: No), the buckle non-wearing continuation flag is set (S191) and the process returns.

Returning to FIG. 9 again, next, collision prediction control (S155) is performed. Collision prediction control (S155) is one of the main parts of the present invention. As shown in FIG. 12, the control flow first determines whether the knocking continuation flag is set (S201). If it is not set (S201: No), it returns. If it is set (S201: Yes), a collision prediction signal is read from the collision prediction means 120 (S203), and whether the signal force is also an inevitable collision force is determined (S205). Here, collision unavoidable means that a collision cannot be avoided by a passenger operation. If it is determined that the collision is inevitable (S205: Yes), for example, for 3 seconds, the seat belt is driven to take up at a high speed (S207) with a large power, for example, 90% of the maximum driving force, and then returns. This operation is performed with priority over other operations. In addition, the time of 3 seconds is an example, and it is desirable to set it to a time that requires occupant restraint in a collision unavoidable state.

[0033] If it is determined that collision avoidance is possible (no collision unavoidable! 衝突) (S205: No), it is determined whether a warning signal is input (S209), and it is determined that a warning signal is input. If it is determined (S209: Yes), the intermittent removal driving (S211) of the seat belt 302 is performed. This informs passenger 2 of the danger and returns. If it is determined that the warning signal is not input (S209: No), it is determined whether the release signal is input (S213), and if it is determined that the release signal is input (S213: If “Yes”, the scraping drive at the maximum driving force and the clutch release described later (S215) are performed to release the clutch, and the process returns.

[0034] Here, the take-off drive (including intermittent take-off drive) of the electric motor 110 is constant-current controlled by PWM control in all other cases than the case where it is determined that the collision is inevitable. The PWM duty ratio is changed so as to generate the power that gives the webbing 302 the tension corresponding to the predetermined scene. Specifically, the step of “PWM duty set and winding signal ON における in retracted origin set drive (Fig. 5), the step of 〃 PWM duty set and pull-out drive signal ON クラッチ in clutch release (Fig. 7), collision “Preliminary control” (Fig. 12) “Intermittent take-up drive rod step” and initial mounting control (Fig. 17) “Take-up drive rod step” Each control of the “winding drive” step in the storage control (FIG. 16) and the “winding drive” step in the detection of whether or not winding (FIG. 15) determines the current supply amount to the electric motor 110. The constant current control is performed by PWM control so that a predetermined amount of power is generated.

[0035] Changing the PWM duty ratio is one of the main parts of the present invention, and will be described in detail below.

When the electric motor 110 is controlled with a predetermined PWM duty ratio, the power generated by the electric motor 110 is not limited to a notch (not shown) force, the voltage fluctuation of the electric power supplied to the electric motor 110, the temperature change of the electric motor 110, It also varies depending on the operating environment of the electric motor 110, such as the cumulative usage time of the electric motor 110. Therefore, the PWM duty ratio needs to be changed in consideration of these fluctuations in order to make the generated power to a predetermined magnitude.

That is, with respect to the voltage fluctuation of the electric power supplied also with the knottery force, the constant current control is performed by changing the PWM duty ratio based on the voltage value detected by the supply voltage detecting means 122. Specifically, when the voltage changes so as to increase, the PWM duty ratio is made smaller than the PWM duty ratio before the change, and when the voltage changes so as to decrease, the PWM duty ratio is changed from the PWM duty ratio before the change. Increase the power and control to obtain a predetermined power.

[0037] In addition, the electric motor 110 has a temperature characteristic, and the generated power changes depending on the temperature of the electric motor 110 even if constant current control is performed. For example, if the electric motor 110 is a DC motor that operates with a permanent magnet such as a bright magnet and a coil magnet (a magnet that generates a magnetic force by passing a current through the coil), the magnetic force of the permanent magnet decreases at a high temperature. It has a temperature characteristic that magnetic force increases at low temperatures. Therefore, the power of the electric motor 110 decreases as the temperature of the electric motor 110 (permanent magnet) increases, and increases as the temperature decreases. For example, based on the generated power when the temperature of the electric motor 110 is 25 ° C, it decreases by about 10% at 80 ° C and increases by about 10% at -30 ° C. The temperature characteristic of the electric motor 110 is corrected by measuring the temperature of the electric motor 110 by the temperature detecting means 121 and changing the PWM duty ratio based on the measured temperature. That is, when the temperature detected by the temperature detecting means 121 changes so as to increase, the PWM duty ratio before the change If the WM duty ratio is increased and the temperature changes so as to decrease, the PWM duty ratio is controlled to be smaller than the PWM duty ratio before the change so that a predetermined power can be obtained. Specifically, for example, in the case of an electric motor 110 set to have a tension equivalent to 10 N when the PWM duty ratio is 5% and the temperature is 25 ° C, the PWM is detected when the detected temperature force of the temperature detecting means 121 is ¾0 ° C. Set the duty ratio to 5.5% and change the PWM duty ratio to 4.5% at 30 ° C to perform temperature compensation.

[0038] Further, it is known that the electric power generated by the electric motor 110 decreases in proportion to the cumulative usage time. This is thought to be due to the fact that the brush of the DC motor is worn with use, which increases the electrical resistance of the brush part. For example, when the cumulative usage time reaches 150 hours, the power decreases by about 30%. The fluctuation of the power accompanying the accumulated usage time is corrected by changing the PWM duty ratio based on the accumulated usage time detected by the accumulated usage time detecting means 123, and constant current control is performed. That is, as the accumulated usage time of the electric motor 110 increases, the PWM duty ratio is increased so that predetermined power is obtained.

Note that a current detection circuit (not shown) is used as the operating environment detection means, and the current value flowing through the electric motor 110 is detected by the current detection circuit, and the PWM duty ratio is set so as to obtain a current supply amount of a predetermined current value. It is also possible to change the to perform constant current control.

[0039] Returning to FIG. 9, when the collision prediction control (S155) ends, it is determined whether 500 ms has passed next.

(S157). This is done by setting a 500 ms counter in the RAM (register) and incrementing every 20 ms timer interrupt. This count value determines whether 500 ms has been reached. If it is determined that 500 ms has elapsed (S157: Yes), a drive unit failure diagnosis (S159) is performed and the process returns. If 500ms has not elapsed (S157: No), the drive unit failure diagnosis is not performed and the process returns.

As shown in FIG. 13, the drive unit failure diagnosis (S159) is detected based on whether or not the motor is continuously driven for a predetermined time or more. First, the current flowing through the electric motor 110 is detected by a current detection circuit (not shown) to detect whether or not the motor is driven (S267). Depending on whether or not the current exceeds a predetermined value (5A), the motor is detected. The driving force is determined (S269). If the motor drive is not determined (S269: No), the drive set in the RAM Clear the abnormal part flag (S271) and return. If it is determined that the motor is driven (S269: Yes), it is determined whether the drive has continued for 10 seconds or longer (S273), and if it has continued for 10 seconds or longer (S273: Yes), the drive unit abnormality flag is set ( S275) and return. If it has not continued for more than 10 seconds (S273: No), it returns. Here, 10 seconds is an example, and it is desirable to set it to be longer than the maximum duration of drive performed by normal motor drive.

[0041] Returning to Fig. 3 again, the state power of the buckle is determined by the buckle attachment detection performed for each timer interrupt (S5), and the flag is cleared accordingly (S15, S17, S19, S21). After this, each control of pre-mounting control (S23), initial mounting control (S25), in-mounting control (S27) or storage control (S29) is executed. In buckle attachment detection (S5), the state of the buckle is detected according to the set state of each flag indicating the state of the knock.

When it is determined that buckle non-continuation is continued (S7), the pre-mounting control (S23) shown in FIG. 14 is performed after the flag is cleared (S15). When it is determined that the buckle non-mounting force shifts to mounting (S9), the flag is cleared (S17), and then the initial mounting control (S25) shown in FIG. 17 is performed. When it is determined that the knocking is to be continued (S11), the flag is cleared (S19), and then the mounting control (S27) shown in FIG. 19 is performed. In other cases (shifting to non-attachment of the buckle attachment force, the door signal changes and the all-stored unachieved flag set, the door opened and all-stored unachieved flag set, and winding detection is detected) (S13) After the flag is cleared (S21), the storage control (S29) shown in FIG. 16 is performed.

First, in the pre-mounting control (S 23), as shown in FIG. 14, first, a drawer detection (S 251) for detecting whether or not the webbing 302 is pulled out is performed. As shown in FIG. 8, the drawer detection (S251) reads the rotation of the spindle 103 by the rotation sensor (magnetic disk 116 and magnetic field detection means 117) (S301), and the read value is compared to the previous reading. Then, it is determined whether or not the force has moved to the drawer side for a predetermined amount (for example, 5 mm) (S303). If it is determined that a predetermined amount or more has been pulled out (S303: Yes), the drawer flag is set (S305), then the rotation sensor reading is recorded in a predetermined location in the RAM (S307) and the process returns. If it is determined that there is no withdrawal exceeding the specified amount (S303: No), the withdrawal flag is (S309), the reading value of the rotation sensor is recorded in a predetermined location in the RAM (S307), and the process returns.

Referring back to FIG. 14, after detection by the drawer detection (S251), it is determined whether or not the drawer flag is set (S253). If the drawer flag is set (S253: No), the pre-mounting control (S23) is returned. On the other hand, when the drawer flag is set (S253: Yes), the stop detection (S107) shown in FIG. 6 is executed. As shown in FIG. 6, the stop detection (S107) detects whether or not the webbing 302 is stopped (a state where the drawer is not pulled out or wound up). First, the output of the rotation sensor that detects the amount of rotation of the spindle is read (S351). Next, the read rotation amount is compared with the previous rotation amount, and it is determined whether or not a predetermined amount (for example, 5 mm) has changed (S353). If there is a difference between the previous rotation amount and the current rotation amount (S353: Yes), it is determined that the webbing 302 has not stopped, and the stop flag is cleared (S355). On the other hand, if there is a difference between the previous rotation amount and the current rotation amount (S353: No), it is determined that the webbing 302 has stopped, the stop flag is set (S357), and the rotation sensor The read value is recorded in a predetermined location in the RAM (S359), and the process returns.

Returning again to FIG. 14, after detection by stop detection (S107), it is determined whether the stop flag is set to V or not (S257). If the stop flag is not set (S257: NO), it is determined whether the knock non-mounting continuation flag is set (S259), and if it is set (S259: Yes), the stop detection is performed again. Return to (S107). If not set (S259: No), return. When the stop flag is set (S257: Yes), after waiting for a predetermined time (S261), the winding availability detection (S263) shown in FIG. 15 is performed.

In the winding availability detection (S263), as shown in FIG. 15, the winding drive (S401) is first performed with a force equivalent to 10N, and then the rotation sensor is read (S403). In the winding drive (S401), the electric motor 110 is subjected to PWM control in which the voltage fluctuation, the temperature change of the electric motor 110 and the accumulated usage time are corrected as described above. Next, it is determined whether or not winding has been performed for a predetermined value (for example, 30 mm) or more (S405). If it is determined that winding has been performed for a predetermined value or more (S405: Yes), the drive is stopped (S407) and then wound. The enable flag is set (S409) and the process returns. It is judged that it has been wound up more than a predetermined value. If it is determined (S405: No), it is determined whether 500 ms has passed (S411). If 500 ms has not passed (S411: No), the process returns to reading of the rotation sensor (S403). On the other hand, if 500 ms has elapsed (S411: Yes), the drive is stopped (S413), then the clutch release (S113) shown in Fig. 7 is performed, the saddle removal enable flag is cleared (S417) and the process returns. To do.

In the clutch release (S113), as shown in FIG. 7, first, the duty ratio of the PWM signal applied to the electric motor 110 that sets the force by the electric motor 110 to be equivalent to 10 N is set (S4 51). Thereafter, the drawer drive signal is turned on (S453). As described above, the duty ratio set (S451) is performed in consideration of voltage fluctuation, temperature change of the electric motor 110, and correction for the accumulated usage time. Then, for example, wait for 0.3 seconds (S455) so that the drawer is not detected until the pretension is released. Next, the drawer detection (S251) already described in FIG. 8 is performed, and it is determined whether the drawer flag is set (S459). If it is determined that the drawer flag is set (S459: Yes), the duty ratio of the PWM signal is increased (S461), and the process returns to the drawer detection (S251). If it is determined that the drawer flag is not set (S459: No), it is determined whether the drawer driving force has elapsed for 0.5 seconds (S463), and if 0.5 seconds has not elapsed (S463: No) Return to the drawer detection (S25 1). On the other hand, if it is determined that 0.5 seconds have elapsed (S463: Yes), the drive signal is turned off (S465) and the process returns.

Here, with reference to FIG. 24, the clutch 150 incorporated in the spindle pulley 115 will be described. The clutch 150 includes a gear 151, a clutch housing 152, a pawl 153, a friction spring 154, and a rotating shaft 155. The gear 151 includes a gear 151 a that is driven in mesh with a motor-side gear (not shown) driven by the electric motor 110, and rotates with the rotation of the electric motor 110. The clutch housing 152 is coupled to the spindle 103, and an internal gear 152a is formed on the inner diameter surface. A guide portion 15 lb for allowing the pawl 153 to be slidably fitted is provided on a portion of the gear 151 disposed on the inner diameter side of the clutch housing 152. An engaging tooth 153 a that engages with the internal gear 152 a of the clutch housing 152 is formed at the tip of the pole 153. In addition, an intermediate portion of a friction spring 154 disposed with the rotation shaft 155 interposed therebetween is engaged with the projecting portion 153b of the pole 153, so that a resistance in the rotational direction is applied to the pole 153. It is. Then, when the pawl 153 slides along the guide portion 151b and the engaging tooth 153a protrudes from the gear 151, the protrusion portion 153a is engaged with the internal gear 152a and the clutch is engaged (FIG. 24 (A )), When the engaging tooth 153a is buried in the gear 151, the engagement is released and the clutch is released (see FIG. 24 (B)).

That is, in the clutch disengaged state shown in FIG. 24 (B), when the electric motor 110 rotates the gear 151 force S-sub 302 in the scraping direction (clockwise in the figure), the pole 153 also tries to rotate. Force The friction of the friction spring 154 suppresses the rotation of the pole 153, gradually moves in the outer circumferential direction, and eventually the engaging tooth 153a engages with the internal gear 152a of the clutch housing 152, and the rotation of the gear 151 causes the clutch housing to rotate. To 152. That is, when the motor electric 110 rotates in the scraping direction of the web 302, the clutch 150 built in the spindle pulley 115 is turned on, and the power of the motor electric 110 is transmitted to the spindle 103 for rotation. Wind up Webbing 302.

Next, in the clutch engagement state shown in FIG. 24 (A), the electric motor 110 causes the gear 151 force S-subbing 302 to move away from the scraping direction (that is, the dubbing pull-out direction, opposite in the figure). If the pole 153 is rotated in the clockwise direction, the force of the pole 153 trying to rotate in the opposite direction is also controlled by the friction spring 154. Therefore, the rotation of the pole 153 is suppressed, and the pole 153 gradually moves to the inside of the gear 151. Thus, the engagement between the engagement teeth 153a and the internal gear 152a of the clutch housing 152 is released, and the clutch 150 is released.

[0051] Returning to FIG. 14, after detecting whether or not winding is possible (S263), it is determined whether or not winding is possible (S265) depending on whether the take-up flag is set, and winding is not possible (S265: No). If there is, the process returns to the stop detection (S107), and if it is determined that winding is possible (S265: Yes), the storage control (S29) shown in FIG. 16 is performed and the process returns.

In the storage control (S29), as shown in FIG. 16, first, the winding drive (S501) is performed, and after the stop detection (S107) shown in FIG. 6 is performed, the stop flag is set. It is determined whether or not (S505). If the stop flag is set (S505: Yes), the process proceeds to drive stop (S549) described later. When it is determined that the stop flag has not been set (S 505: No), it is determined whether a predetermined amount (Xmm) has been wound (S507), and the predetermined amount (Xmm) has not been wound (S507: No) Return to the winding drive (S501). Predetermined amount (Xmm ) If it is determined that the door has been wiped off (S507: Yes), it is determined whether or not the door closing flag is set (S509). When the door close flag is set (S509: Yes), the winding drive at the time of door closing (low-speed winding drive) (S511) is performed and the door closing flag is not set (S509: No) Winding drive when the door is open (medium speed winding drive) (S513) is performed. Note that both the low-speed winding drive (S511) and the medium-speed winding drive (S513) are performed by PWM control that takes into account the corrections for the voltage fluctuation, temperature change of the electric motor 110, and cumulative usage time. Is called. This is to prevent the webbing 302 from being caught in the door. When the door is open, the storage is completed when the door is closed, and the webbing 302 in the state is prevented from being caught in the door. It is.

[0053] After the winding drive (S511) or (S513) is performed, detection by the rotation sensor (S515) is performed, and it is determined whether or not the force has reached a predetermined amount (Ymm) to the storage origin (S517). Is done. Here, it is desirable that the position of the predetermined amount (Ymm) is a position where the webbing pulling amount force from the storage origin cannot be inserted into the webbing. This action can cause damage to the interior material during the retracting webbing take-up, which can be caused by the tinder plate 305 moving with the webbing 302 and hitting the interior of the vehicle at a certain speed. To prevent this, the purpose is to stop winding at one position and prevent it from hitting. However, just when the winding is stopped, if the twelve plate 305 and the webbing 302 happen to exist outside the vehicle, and the door is tightened, the webbing 302 will be caught in the door. There is a risk that the webbing 302 may be scratched, which is not preferable in terms of the subsequent webbing strength. In order to prevent this, as described above, it is desirable that the predetermined position where the one-stop operation is performed is a position where at least the webbing 302 is not sandwiched by the door.

[0054] If the position of the predetermined amount (Ymm) has not been reached to the storage origin (S517: No), whether the stop flag is set after the above-mentioned stop detection (S107) shown in FIG. 6 is detected. Is judged (S521). If the stop flag is not set (S521: No), the process returns to the determination of the door close flag set (S509). When the stop flag is set (S521: Yes), the stop flag counter 1 is incremented (S523), the drive is stopped (S525) and the webbing is stopped. S113) is performed. Next, stop flag Whether counter 1 is 10 is determined (S529). If stop flag counter 1 is not 10 (S529: No), the process returns to determination of door closing flag setting (S509). If the stop flag counter 1 is 10 (S529: Yes), the stop flag counter 1 is cleared (S531), the all storage unreachable flag is set (S533), and the process returns.

[0055] On the other hand, in step S517, when the position reaches the predetermined amount (Ymm) to the storage origin (S517: Yes), the driving is stopped (S535) and the web winding is stopped. Thereafter, the above-described clutch release (S113) shown in FIG. 7 is performed. Then, after the drive is stopped for another T seconds (S539), the winding drive (S541) is performed, and it is determined whether or not the storage origin has been reached (S543). If it is determined that the storage origin has been reached (S543: Yes), the stop flag counters 1 and 2 are cleared (S545), the all storage unachieved flags are reset (S547), and the drive is stopped (S549). Next, the above-described clutch release (S113) shown in FIG. 7 is performed, and it is determined whether the force has been wound from the storage origin (S553). If it has not been wound from the storage origin (S553: No) Return as it is. If it is wound from the storage origin (S553: Yes), the spindle rotation amount detected by the rotation sensor at that position is set again as the storage origin (S555) and the process returns.

[0056] In step S543, if the storage origin has not been reached (S543: No), it is determined whether or not the stop flag is set after the above-described stop detection (S107) shown in FIG. 6 is performed (S559). ) When the stop flag is set, the flow returns to (S559: No) and the winding drive (S541). If the stop flag is set (S559: Yes), the stop flag counter 2 is incremented (S561), the drive is stopped (S563) and the webbing is stopped. S113) is performed. Next, it is determined whether or not the stop flag counter 2 is 3 (S567). If the stop flag counter 2 is not 3 (S567: No), the process returns to the winding drive (S541). If the stop flag counter 2 is 3 (S567: Yes), the stop flag counter 2 is cleared (S569), the all storage unreachable flag is set (S571), and the process returns.

[0057] Returning to FIG. 3, if it is determined that the flag indicating that the knock state flag force buckle non-mounting force has also shifted to mounting is set (S9), the flag is cleared (S17), Thereafter, initial mounting control (S25) is performed. In the initial mounting control (S25), as shown in FIG. 17, first, the winding drive (S601) is performed with a force equivalent to 20N, and the system waits for 2 seconds (S603). Wind up the web 302 with a force equivalent to 20N. Then, stop driving (S605) is performed to stop winding 302, and then the clutch is released (S113) shown in FIG. 7 to return.

[0058] As shown in FIG. 18, in the stop drive (S605), the PWM duty ratio is duty-down every 20ms (S681), and it is determined whether or not the PWM duty ratio has become a predetermined value or less (S683). If it is determined that it is not less than the predetermined value (S683: No), it returns to before the duty down (S681), and if it is determined that it is less than the predetermined value (S683: Yes), the motor drive signal is turned off. Stop driving (S685) and return. Here, each numerical value is an example, and it is desirable to set the value so that the spindle 103 rotating in the winding direction can be stopped slowly so that it does not lock by WSI. The reason for stopping slowly is to prevent malfunction of WSI, which is part of the main lock. The WSI is known in the art, and locks the rotation of the spindle 103 so that the pulling of the rubbing 302 is prevented when the rubbing 302 is pulled out at a predetermined acceleration or more.

Returning to FIG. 3, when it is determined that the buckle mounting continuation flag is set in the buckle state (Sl l), the flag is cleared (S19), and the mounting control (S27) is performed. In the mounting control (S27), first, through anchor movement presence / absence detection (S651) is performed as shown in FIG. In the detection of the presence or absence of a single anchor movement, a sliding potentiometer is used to detect the movement of the shoulder in the downward direction above the vehicle, and the control means 200 reads and detects the output. This detection is performed at predetermined intervals by a timer interrupt. Next, it is determined whether or not the through anchor movement flag is set (S653), and if it is set! /, (S653: Yes), the initial mounting control already explained in FIG. 17 (S25) Execute and return. On the other hand, if the through-anchor movement flag is set (S653: No), the seat back-and-forth movement presence / absence detection (S655) is performed.

[0060] As shown in FIG. 20, the seat back-and-forth movement presence / absence detection (S655) is performed by detecting the seat back-and-forth position (S663) and determining whether the seat is moving (S665). If it is done (S665: Yes), the process returns to the position before the seat front / rear position detection (S663). If it is determined that the seat is not moving! Or (stopped) (S665: No), the seat back-and-forth movement flag is set (S667) and the process returns. Returning to Fig. 19, it is checked if the seat back-and-forth movement flag is set. If it is determined (S657) and set (S657: Yes), the above-described initial mounting control (S25) shown in FIG. 17 is executed, and the process returns.

On the other hand, if the seat back-and-forth movement flag is not set (S657: No), seat back angle change presence / absence detection (S659) is performed. As shown in FIG. 21, the seat back angle change presence / absence detection (S659) detects the angle between the seat seat surface and the seat back using an angle detection potentiometer, and outputs a signal corresponding to the angle to the control means 200 ( S671), the control means 200 reads the output at every predetermined timer interrupt, determines whether there is a difference between the angle of the previous timer interrupt and the angle of the current timer interrupt, and determines whether the angle is changing (S673). If it is determined that the angle is changing (S673: Yes), it returns to the position before the seat back angle detection (S671), and if it is determined that the angle change has stopped (S673: No), the seat back angle change flag. Set (S675) and return.

Returning to FIG. 19 again, it is determined whether or not the seatback angle change flag is set (S66 1). If it is set (S661: Yes), the above-described initial mounting control (S66) shown in FIG. If 25) is done and return, if it is set to! / ヽ (S661: No), return as it is. These series of operations are performed so as not to give extra slack to the working 302.

[0063] Returning to FIG. 3, the knocking state shifts from knocking force to non-mounting, the door signal changes and the all-stored unsatisfied flag set, or the door open and all-stored unsatisfied flag set and winding detection are performed. When the flag force corresponding to any of the knowledge is also determined (S13), the flag is cleared (S21), and the storage control (S29) shown in FIG. 16 is performed.

[0064] Then, as shown in FIG. 3, after the control in each buckle state is performed, the sleep IN control (S31) is performed. As shown in Fig. 22, the sleep IN control (S31) determines whether the drawer detection flag is set (S361), and if it is set (S361: Yes), clears the sleep IN flag (S363) And return. If it is set! / ヽ (S361: No), it is judged whether the door of the target seatbelt is closed based on whether the door close flag is set (S365), and the door close flag is not set. If it is determined that the door is open (S365: No), the sleep IN flag is cleared (S363) and the process returns. If it is determined that the door close flag is set (S365: Yes), for example, 5 minutes or more have passed since the IG was turned off. If it is determined (S367) and 5 minutes have not passed (S367: No), the sleep IN flag is cleared (S363).

And return. If more than 5 minutes have passed (S367: Yes), set the sleep IN flag (S369) and return. That is, if the webbing 302 is not pulled out, the target door is closed, and, for example, 5 minutes or more have passed after the IG is turned off, the sleep IN flag is set. Otherwise, the sleep IN flag is cleared.

[0065] Returning to Fig. 3, after the sleep IN control (S31), it is determined whether the sleep IN flag is set (S33). If it is not set (S33: No), the buckle state determination ( Return to S5). If it is set (S33: Yes), it shifts to the sleep mode (S35). This is done for the purpose of reducing current consumption by making no preparations other than to prepare for returning to sleep mode. Next, a sleep OUT determination (S37) is performed. As shown in FIG. 23, the sleep OUT control (S37) determines whether the drawer detection flag is set (S381), and if it is set (S381: Yes), sets the sleep OUT flag (S383). And return. If it is not set (S381: No), it is determined whether the door close flag is set (S385), and if it is determined that the door close flag is not set (door open) (S385: No), Set the sleep OUT flag (S383) and return. If it is determined that the door close flag is set (S385: Yes), it is determined whether the IG has been turned on (S387).

If it is V (S387: Yes), the sleep OUT flag is set (S383) and the process returns. When it is ON and V ヽ is (S387: No), the sleep OUT flag is cleared (S389) and the process returns. That is, if any drawer detection, door open or IG ON is detected, the sleep output flag is set, otherwise the sleep output flag is cleared.

[0066] Returning to FIG. 3, it is determined whether or not the sleep OUT flag is set (S39). If it is not set (S39: No), it returns to the sleep OUT determination (S37) and is set. (S39: Yes) returns to the buckle state determination (S5) again, and the same control is performed thereafter.

Therefore, according to the seatbelt retractor 100 of the present embodiment, the spindle 103 that rotates the webbing 302 and the electric power that generates the power for rotating the spindle 103 in a desired direction. When the motor 110 and the electric motor 110 generate power to rotate the spindle 103 in the webbing 302 take-off direction, the power of the electric motor 110 can be transmitted to the spindle 103, and the electric motor 110 takes up the spindle 103. A power transmission unit 104 that disables transmission of the power of the electric motor 110 to the spindle 103 when power in the direction opposite to the direction of rotation is generated, and a control unit 200 that drives and controls the electric motor 110. Further, the seat belt retractor 100 detects the operating environment of the electric motor 110 as the operating environment detecting means, the supply voltage detecting means 122 for detecting the supply voltage to the electric motor 110, and detects the temperature in the vicinity of the electric motor 110. At least one of temperature detection means 121 for detecting the accumulated use time of the electric motor 110, and a collision prediction means 120 for determining the possibility of collision.

Then, based on the collision prediction signal from the collision prediction unit 120, the control unit 200 determines whether the current state is a collision avoidance state or a collision avoidance state, and the situation The electric motor 110 is optimally driven and controlled according to the conditions. That is, when the collision avoidance is possible, the electric power supplied to the power generation means 110 is detected by the voltage fluctuation detected by the supply voltage detection means 122 and the temperature change of the electric motor 110 detected by the Z or temperature detection means 121. , And Z or based on the accumulated usage time of the electric motor 110 detected by the accumulated usage time detecting means 123, the pulse width modulation control value is changed so that the current supply amount to the electric motor 110 becomes a predetermined current value. Constant current control. Thus, the electric motor 110 always generates a predetermined amount of power according to the situation by correcting the power fluctuation associated with each fluctuation factor. Further, when the collision avoidance is impossible, the electric motor 110 is controlled so that the current supply amount to the electric motor 110 becomes larger than a predetermined current value without performing the pulse width modulated constant current control. 110 generates more power than the predetermined size

[0069] Therefore, at normal times, the electric motor 110 always generates a predetermined amount of power regardless of voltage fluctuation, temperature change of the electric motor 110, and accumulated usage time. Wind up. In an emergency where a collision is expected, the electric motor 110 generates power larger than a predetermined magnitude and winds the web 302 at a high speed.

[0070] Further, according to the seat belt apparatus 1 using the seat belt retractor 100 as described above, In normal times, the webbing 302 is always wound with a predetermined take-up force, and a comfortable seat belt wearing environment can be obtained. In an emergency where a collision is predicted, the webbing 302 is wound at a high speed with a power larger than a predetermined magnitude, for example, the maximum power to protect the occupant 2.

It should be noted that the present invention is not limited to the above-described embodiment, and can be appropriately modified, improved, and the like.

Further, the seatbelt retractor and seatbelt device of the present invention can be applied to any vehicle, and the same effects as described above can be obtained even in the case of V and deviation.

[0072] This application is based on a Japanese patent application filed on November 19, 2004 (Japanese Patent Application No. 2004-335544), the contents of which are incorporated herein by reference.

Claims

The scope of the claims

[1] Spin Donore, who turns webbing,

Power generating means for generating power for rotating the spindle in a desired direction, and power generated by the power generating means when the power generating means generates the power for rotating the spindle in the scraping direction of the rubbing. Can be transmitted to the spindle, and the power generating means cannot transmit the power of the power generating means to the spindle when the power generating means generates power in a direction opposite to the power for rotating the spindle in the scraping direction. Power transmission means to

A collision prediction means for determining the possibility of collision;

An operating environment detecting means for detecting an operating environment of the power generating means, and the control means detects the operating environment detecting means when determining that the collision predicting means is in a collision avoidable state. A current supply amount to the power generation means is controlled to a predetermined current value based on the generated operating environment;

[2] The power generation means is driven by pulse width modulation control,

When the control means determines that the collision prediction means is in a collision avoidable state, the control means changes the pulse width modulation control value based on the operating environment detected by the operating environment detection means, 2. The seatbelt retractor according to claim 1, wherein a current supply amount to the power generation means is controlled to a predetermined current value.

[3] The operating environment detecting means includes a supply voltage detecting means for detecting a supply voltage to the power generating means, a temperature detecting means for detecting a temperature in the vicinity of the power generating means, and an accumulated usage time of the power generating means. Is at least one of the accumulated usage time detection means for detecting When the control means determines that the collision prediction means is in a collision avoidable state, the voltage fluctuation detected by the supply voltage detection means, and the temperature change of the power generation means detected by the temperature detection means And a current supply amount to the power generation means is controlled to a predetermined current value based on at least one of the cumulative use times of the power generation means detected by the cumulative use time detection means. The retractor for seatbelts according to claim 1 or 2.

A seatbelt device comprising the seatbelt retractor according to any one of claims 1 to 3.