Lid Actuator

Abstract

The present invention provides a lid actuator capable of resolving the cause of any abnormalities that occur during the closing operation of the lid. [Solution] A lid actuator 10 that performs an opening operation to open an inlet 6 for introducing a fluid with a lid, and a closing operation to close the inlet 6 with a lid, comprising a drive mechanism 22 for driving the lid 3, and a control device 1 that controls the opening and closing operations of the lid 3 by the drive mechanism 22 between a closed position where the inlet 6 is closed and an open position where the inlet 6 is open, wherein the control device 1 comprises a closing operation abnormality detection unit 17 that detects abnormalities during the closing operation of the lid 3, and an abnormality resolution unit 19 that opens the lid 3 when an abnormality is detected by the closing operation abnormality detection unit 17.

Description

Technical Field

[0001] The present invention relates to a lid actuator.

Background Art

[0002] Regarding the technology of opening and closing a lid by a lid actuator, for example, in Patent Document 1, when a lid, which is a charging cover plate for opening and closing a charging port, is pushed, the moving direction is determined based on a movement command of the lid, and a control system for a charging cover plate that controls a cover plate motor based on the moving direction to drive the opening and closing of the lid is disclosed.

[0003] Further, Patent Document 1 discloses a technology in which a change result of the lid is obtained based on a hall signal output by a hall sensor attached to a cover plate motor, and when an abnormality is detected in the operating state of the lid based on the change result, the closing operation of the lid is stopped. According to the technology of Patent Document 1, it is possible to prevent damage to the cover plate motor and the like during the closing operation of the lid.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the technology disclosed in Patent Document 1, when an abnormality is detected in the operating state of the lid, simply stopping the closing operation of the lid, for example, the state where a charging cable or a fuel nozzle of a charging port or a fuel filling port of an automobile is sandwiched by the lid continues. Therefore, it is difficult to immediately remove the charging cable or the fuel nozzle, and there is room for improvement in that pulling it out while being sandwiched by the lid may cause further abnormal situations.

[0006] The present invention aims to provide a lid actuator that can resolve the cause of any abnormalities that occur during the closing operation of the lid. [Means for solving the problem]

[0007] A lid actuator according to one aspect of the present invention is A lid actuator that performs an opening operation to open an inlet for introducing a fluid with a lid, and a closing operation to close the inlet with the lid, A drive mechanism for driving the lid, The system includes a control device that controls the opening and closing of the lid by the drive mechanism within a range from a closed position that closes the inlet to the maximum open position, The control device is A closing operation abnormality detection unit that detects abnormalities during the closing operation of the lid, The system includes an abnormality resolution unit that opens the lid when the abnormality is detected by the closing operation abnormality detection unit. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a lid actuator that can resolve the cause of any abnormality that occurs when the lid is closed. [Brief explanation of the drawing]

[0009] [Figure 1] This is an example of an explanatory diagram showing the open and closed states of a lid actuator. [Figure 2] This is an example of an explanatory diagram showing the operating state of the lid. [Figure 3] This is an explanatory diagram showing an example of the structure of a drive mechanism. [Figure 4] This is an example of an electrical block diagram for a control device. [Figure 5] This is an example of a flowchart for a lid operation program. [Figure 6]This is an example of a flowchart for the lid closing operation process. [Figure 7] This is an example of an explanatory diagram showing the relationship between the lid closing speed and the lid position. [Figure 8] This is an example of an explanatory diagram showing a modified example of the relationship between the lid closing speed and the lid position. [Figure 9] This is an example of an explanatory diagram showing a modified method of closing the lid. [Figure 10] This is an example of an explanatory diagram showing a modified version of opening the lid. [Figure 11] This is a schematic diagram showing the measured and reference values ​​of the pulse count when the lid is closed. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[0011] (Lid actuator 10) Figure 1 is an example of an explanatory diagram showing the open and closed states of the lid actuator 10. As shown in Figure 1, the lid actuator 10 is configured to perform an open operation, which opens the inlet 6 with the lid 3, and a closed operation, which closes the inlet 6 with the lid 3. Furthermore, if an abnormality is detected during the closing operation of the lid 3, the lid actuator 10 is configured to operate the lid 3 in the opposite direction to the operating direction of the lid 3, i.e., to open it. In this way, if an abnormality is detected during the closing operation of the lid 3, the lid actuator 10 can return the lid 3 from the state in which the abnormality occurred to the state before the abnormality occurred, thereby eliminating the cause of the abnormality.

[0012] Note that the lid actuator 10 may be configured to close the lid 3 when an abnormality is detected during the opening operation of the lid 3. In this case, when an abnormality is detected during the closing or opening operation of the lid 3, the lid actuator 10 causes the lid 3 to operate in the direction opposite to the operating direction of the lid 3, that is, to open during the closing operation and to close during the opening operation. As a result, the lid 3 can be restored from the abnormal state to the state before the occurrence of the abnormality, and the cause of the abnormality can be eliminated.

[0013] Here, the "inlet 6" is an opening for allowing a fluid or electricity to flow in. For example, in addition to the fuel filler and power supply port of an automobile, it includes the fuel supply port of a generator, the fuel supply port of a ship, the fuel supply port of an aircraft, the replenishment port of the fertilizer / pesticide tank of agricultural machinery, the fuel supply port of a fuel tank, the lubricating oil supply port of industrial machinery, the coolant replenishment port, the connection port for connecting a gas cylinder such as a household gas stove or gas stove, the replenishment port of the cleaning liquid tank of a household washing machine, the fuel tank supply port of construction machinery, the battery charging port of a robot, and the chemical solution tank replenishment port of medical equipment. Further, the "fluid" includes, in addition to liquids and gases such as fuel, coolant, oils, compressed air, natural gas, hydrogen gas, cleaning liquid, pesticide / fertilizer solution, etc., an electric current which is a flow of electrons flowing through a conductor.

[0014] The "lid 3" is used in a wide variety of applications, such as vehicles like automobiles and motorcycles, as well as generators, chargers, ships, factory equipment, and houses. The lid 3 is classified into a hinged lid form and a slide lid form depending on the opening and closing mode of the inlet 6. The hinged lid form is a form in which the lid 3 is rotated around a hinge provided at the peripheral edge of the inlet 6 so that the lid 3 is rotated perpendicular to the opening surface of the inlet 6. Thereby, in the hinged lid form, when the lid 3 is rotated in the opening direction, the inlet 6 is completely exposed, so that the installation work of the fluid supply device can be facilitated. The slide lid form is a form in which the lid 3 is moved forward and backward parallel to the opening surface of the inlet 6 (including both the forward and backward movement of rotating the lid 3 so as to be parallel to the opening surface of the inlet 6 and the forward and backward movement of linearly moving the lid 3 so as to be parallel to the opening surface of the inlet 6). Thereby, in the slide lid form, when the lid 3 opens the inlet 6, it waits at a position along the wall surface around the inlet 6, so that it can be used efficiently even in a narrow space. In this embodiment, the slide lid form is taken as an example for explanation, but it may also be applied to the hinged lid form.

[0015] <t (Lid actuator 10: Details) A specific example of the lid actuator 10 will be described with reference to FIGS. 1 and 2. FIG. 2 is an example of an explanatory diagram showing the operating state of the lid 3.

[0016] As shown in FIG. 1, the lid actuator 10 has a drive unit 2 including a drive mechanism 22 for driving the lid 3, and a control device 1 for controlling the opening and closing operations of the lid 3 by the drive mechanism 22 within the range between the closed position for closing the inlet 6 and the maximum open position.

[0017] Here, the "closed position" refers to one end of the operating range (the physically operable operating range) of the lid 3, and is the position where the control device 1 completes the closing operation of the lid 3. In the slide lid configuration, the closed position is the final position of parallel movement when the lid 3 is moved parallel to the opening surface of the inlet 6, and is the position where the opening surface of the inlet 6 is completely covered by the lid 3. This is because, as shown in Figure 2, in the slide lid configuration, the lid 3 is movable perpendicular to the opening surface of the inlet 6 at the position where the opening surface of the inlet 6 is completely covered by the lid 3. During the closing operation in the linear motion region, which is the area from the closed position to the sealed position, the lid 3 is moved towards the inlet 6 to the sealed position, while during the opening operation in the linear motion region, the lid 3 is moved away from the sealed position to the closed position, which is the position where parallel movement is possible. In other words, in the hinged lid configuration, the inlet 6 is closed and opened by positioning at two locations: a closed position and a fully open position, whereas in the sliding lid configuration, the inlet 6 is closed and opened by positioning at three locations: a closed position, a fully open position, and a sealed position.

[0018] The "maximum open position" indicates the other end of the operating range (the physically operable operating range) of the lid 3, and is the position where the control device 1 stops opening the lid 3. In other words, the maximum open position is the position where the lid 3 completely opens the inlet 6, allowing fluid to flow in and out.

[0019] In this embodiment, the control device 1 controls the operation of the lid 3 between the closed position and the fully open position, but is not limited to this. For example, the control device 1 may control the operation of the lid 3 between the closed position and a predetermined open position other than the fully open position (for example, a position close to the fully open position). In other words, when refueling, it is not always necessary to open the lid 3 to the fully open position; it is sufficient for the inlet 6 to be opened to the extent that fuel can be refueled.

[0020] In this embodiment, in a sliding lid configuration in which the lid 3 moves forward and backward in a rotational direction, the opening / closing angle is defined as 0° when the lid 3 is in the closed position, and as 120° when the lid 3 is in the maximum open position. However, the maximum open position is not limited to these. For example, an opening / closing angle of 150° or 160° may be used as the maximum open position. Furthermore, in a sliding lid configuration in which the lid 3 moves linearly so as to be parallel to the opening surface of the inlet 6, the opening / closing distance is defined as 0 mm when the lid 3 is in the closed position, and for example, an opening / closing distance of 150 mm or 160 mm may be used when the lid 3 is in the maximum open position.

[0021] (Lid actuator 10: Drive mechanism 22) Figure 3 is an explanatory diagram showing an example of the structure of the drive mechanism 22. As shown in Figure 3, the drive mechanism 22 has a motor as a drive source, for example, a DC motor whose rotational driving force is controlled by DC power. A DC motor has a configuration in which it rotates in the forward direction with positive polarity DC power and rotates in the reverse direction with negative polarity DC power. Examples of DC motors include brushed DC motors, brushless DC motors, coreless DC motors, servo motors, and stepping motors. DC motors suitable for PWM control include brushed DC motors, brushless DC motors, coreless DC motors, and servo motors.

[0022] In this embodiment, the case using a DC motor is described, but it is not limited to this, and an AC motor in which the rotation direction is switched by the phase of the power may also be used. As for the method of controlling the rotation direction of an AC motor, in the case of a three-phase AC motor, this is achieved by switching the phase sequence of the three-phase power supply using a relay or inverter. In the case of a single-phase AC motor, the rotation direction is switched by manipulating the phase difference of the start winding.

[0023] Specifically, when the drive mechanism 22 is driven by an AC motor that rotates using AC power, the control device 1 will have a power supply unit that can switch the phase of AC power supply to the AC motor in order to switch the direction of rotation. Furthermore, when an abnormality is detected in the closing operation of the lid 3 and the lid 3 is to be switched to an open operation, the control device 1 will have a power supply control unit (lid operation program of the calculation unit 14 and storage unit 15 in Figure 4) that controls the power supply to rotate the motor in the forward direction to close the lid 3, and then switches the power supply to rotate the motor in the reverse direction to open the lid 3. It will also have an abnormality resolution unit 19 that, when an abnormality is detected by the closing operation abnormality detection unit 17 in Figure 1, switches the phase of power supply to the power supply control unit so that the motor rotates in the reverse direction and opens the lid 3.

[0024] The drive unit 2 (lid actuator 10) includes a drive mechanism 22 that drives the lid by the drive of a DC motor. The drive mechanism 22 is housed in a housing 26. The drive mechanism 22 has an axial support member 25. The lid 3 is provided at one end of the support member 25. The other end of the support member 25 is connected to a housing drive mechanism (not shown) inside the housing 26.

[0025] The drive mechanism 22 includes a linear motion conversion means that converts the rotational motion of the DC motor into linear motion of the support member 25. The drive mechanism 22 also includes a rotation means that rotates the support member 25 using the rotation of the DC motor. The linear motion conversion means and the rotation means can be any known means as appropriate, for example, one or more gears or cam mechanisms for transmitting the rotational motion of the DC motor can be used.

[0026] When the driving force of the DC motor rotates the rotating means of the drive mechanism 22, the support member 25 rotates, causing the lid 3 to rotate (close and open) via the support member 25. Also, when the driving force of the DC motor is converted into linear motion by the linear motion conversion means, the support member 25 moves back and forth from the housing 26, causing the lid 3 to move back and forth via the support member 25. The drive mechanism 22 configured in this way is attached to a device body (not shown) such that the lid 3 moves back and forth in the rotational direction between the closed position and the maximum open position shown in Figure 2, and also moves back and forth in the linear direction between the closed position and the sealed position (linear motion region).

[0027] (Lid actuator 10: Drive unit 2) Figure 4 is an example of an electrical block diagram of the control device 1. Although lid 3 does not constitute the lid actuator 10, it is shown in Figure 4 for convenience.

[0028] As shown in Figure 4, the drive mechanism 22 configured as described above constitutes a part of the drive unit 2. The drive unit 2 includes the drive mechanism 22, an open / close button 21, and a pulse signal generator 23. The open / close button 21, although not specifically shown, can be attached to the outer wall surface of the lid 3 or, in the case of a vehicle, to an operation panel. The open / close button 21 is electrically connected to the control device 1, which will be described later, and can output a lid open / close signal to the control device 1 when the operator touches the lid 3 to support the opening and closing of the lid 3. The lid open / close signal, for example, is a signal that closes the lid 3 when the lid 3 is in its maximum open state, and a signal that opens the lid 3 when the lid 3 is in its closed state or in any open state other than the maximum open state.

[0029] Furthermore, the drive unit 2 is equipped with a lid angle detector for detecting the opening and closing angle of the lid 3. Specifically, the drive unit 2 has a pulse signal generator 23 as the lid angle detector, which detects the rotational speed of the DC motor and the rotational speed of the drive mechanism 22. An example of the pulse signal generator 23 is an encoder provided on the rotating shaft of the DC motor. An encoder is a device for accurately detecting the rotational angle and rotational speed of a DC motor, and examples include an optical encoder that uses an optical disc and an optical sensor to detect rotation, and a magnetic encoder that uses a magnetic sensor and a magnetic disc to detect rotation.

[0030] Furthermore, the pulse signal generator 23 may be a Hall sensor mechanism that measures the rotational speed of a DC motor by attaching a magnet to the rotating shaft of the DC motor and detecting changes in the magnetic field, or by detecting the gear tip of the drive mechanism 22 by changes in the magnetic field. In addition, the pulse signal generator 23 may be a photointerrupter mechanism that attaches a slitted disk to the rotating shaft of the DC motor or the gear of the drive mechanism 22 and detects the slit between the light source and a phototransistor. With such a configuration, the pulse signal generator 23 can indirectly detect the opening and closing angle of the lid 3 based on the pulse signal by associating the pulse signal with the opening and closing angle of the lid 3.

[0031] The lid angle detector may also directly detect the opening and closing angle of the lid 3. Specifically, a pulse signal generator 23 with the above configuration may be provided on the support member 25 that supports the lid 3, and the opening and closing angle of the lid 3 may be directly detected based on the pulse signal from this pulse signal generator 23. Furthermore, the pulse signal generator 23 can also detect the opening and closing speed of the lid 3 based on the number of pulse signals output per unit time.

[0032] (Lid actuator 10: control device 1: position detection unit 11, lid opening / closing operation unit 12) As shown in Figures 1 and 4, the control device 1 includes a position detection unit 11 (see Figure 1) that detects the opening and closing angle (opening and closing position) of the lid 3 based on a pulse signal from the drive mechanism 22, and a lid opening and closing operation unit 12 (see Figure 1) that supplies DC power controlled by PWM with a duty cycle corresponding to the opening and closing angle of the lid 3 to a DC motor to open and close the lid 3.

[0033] The position detection unit 11 (see Figure 1) has the function of accurately detecting the opening and closing angle (open / closed position) of the lid 3 based on the pulse signal sent from the drive mechanism 22. In other words, the position detection unit 11 receives the pulse signal generated when the DC motor of the drive mechanism 22 rotates, and by analyzing the amount of change in that signal, it is possible to determine the current position of the lid 3 in real time.

[0034] The lid opening / closing actuation unit 12 (see Figure 1) controls the rotation direction (forward rotation, reverse rotation) and rotation speed of the DC motor, thereby controlling the closing operation of the lid 3 so that when the lid 3 is closed, the closing speed of the lid 3 in the first actuation region is lower than the closing speed of the lid 3 just before it reaches the first actuation region (described later). As a result, the lid actuator 10 makes it possible to shorten the closing operation time by keeping the closing speed of the lid 3 high until the first actuation region just before it reaches the closed position, while also reducing the load on the mechanism that supports the lid 3 when the lid 3 is stopped in the closed position.

[0035] Here, "lid 3 closing speed" is the speed at which lid 3 moves toward the closed position of the inlet 6. Specifically, it is the speed at which lid 3 moves toward the inlet 6 as driven by the drive mechanism 22. "First operating region" is a specific range just before lid 3 reaches the closed position when lid actuator 10 closes lid 3. Specifically, it is the final stage before lid 3 reaches the closed position where it completely covers the inlet 6, and is the final stage region for adjusting the closing speed in the closing direction. "The closing operation of lid 3 can be controlled so that the closing speed of lid 3 in the first operating region is lower than the closing speed of lid 3 just before reaching the first operating region" can be achieved by controlling the lid actuator 10 to decelerate its closing speed when lid 3 enters (before or after entering) the first operating region, which is the final stage when lid 3 completely covers the inlet 6. This reduces the load on lid 3 as it decelerates when it reaches the closed position, compared to when lid 3 comes to a sudden stop. The closing speed in the "first operating region" may be a constant speed or it may gradually decrease.

[0036] Furthermore, the lid opening / closing actuation unit 12 controls the rotation direction (forward rotation, reverse rotation) and rotation speed of the DC motor so that when the lid 3 is opened, the opening speed of the lid 3 in the second operating region (described later) is lower than the opening speed of the lid 3 just before reaching the second operating region. In other words, the control device 1 enables the opening operation of the lid 3 so that when the lid 3 is opened, the opening speed of the lid 3 in the second operating region until the lid 3 reaches the maximum open position is lower than the opening speed of the lid 3 just before reaching the second operating region. As a result, the lid actuator 10 can shorten the opening operation time by keeping the opening speed of the lid 3 high until the second operating region just before reaching the maximum open position, while also reducing the load on the mechanism that supports the lid 3 when the lid 3 is stopped at the maximum open position.

[0037] Here, "lid 3 opening speed" refers to the speed at which lid 3 moves to its maximum open position. Specifically, it is the speed at which lid 3 moves toward the maximum open position as driven by the drive mechanism 22. The "second operating region" is a specific range immediately before lid 3 reaches the maximum open position when lid 3 is opened by the lid actuator 10. Specifically, it is the final stage before lid 3 completely opens the inlet 6, and is the final stage region for adjusting the opening speed. "The opening operation of lid 3 can be controlled so that the opening speed of lid 3 in the second operating region is lower than the opening speed of lid 3 immediately before reaching the second operating region" means that control is performed to reduce the opening speed before lid 3 enters the second operating region, which is the final stage when lid 3 reaches the maximum open position. The opening speed in the "second operating region" may be a constant speed or may gradually decrease. Also, the closing speed of lid 3 in the first operating region and the opening speed of lid 3 in the second operating region may be the same or different.

[0038] The lid opening / closing operation unit 12 of the control device 1 controls the rotation direction (forward rotation, reverse rotation) and rotation speed of the DC motor by controlling the DC power supplied to the DC motor using PWM control.

[0039] Here, "PWM control" is an abbreviation for Pulse Width Modulation control, which converts DC power into on and off pulses and adjusts the average power by changing the width (duty cycle) of these pulses. With PWM control, the higher the duty cycle, the higher the average voltage, and the lower the duty cycle, the lower the average voltage. As a result, the control device 1 can precisely control the rotational driving force of the DC motor and precisely control the rotational speed of the rotating shaft by supplying DC power set by the duty cycle of the PWM control to the DC motor. This makes it possible to precisely supply power while taking into account the influence of the force acting on the lid 3 during closing and opening operations, and as a result, the opening and closing speed (opening speed and closing speed) and behavior of the lid 3 can be freely set.

[0040] Furthermore, the lid opening / closing operating unit 12 of the control device 1 divides the range between the closed position and the maximum open position into multiple sections, and controls the closing speed and opening speed of the lid 3 according to the duty cycle set for each section. As a result, the control device 1 controls the closing speed and opening speed of the lid 3 according to the duty cycle set for each of the multiple sections of the range between the closed position and the maximum open position, making it easy to control the closing and opening speeds by PWM control of the DC motor.

[0041] (Lid actuator 10: Control device 1: Closing operation abnormality detection unit 17, Opening operation abnormality detection unit 18, Abnormality resolution unit 19) As shown in Figure 1, the control device 1 has a closing operation abnormality detection unit 17 that detects abnormalities during the closing operation of the lid 3. Here, "abnormality" refers to an unexpected event or trouble that occurs during the normal operation of the lid actuator 10, and means that the lid 3 behaves differently than usual or malfunctions during the closing or opening operation of the lid 3. An example of an abnormal situation is when the lid 3 stops midway due to contact with and getting caught in the lid 3 during the closing operation of the lid 3, such as a fuel nozzle, charging gun, finger, twig, or pebble. In the sliding lid configuration, finger pinching is particularly likely to occur in the linear motion region where the lid 3 moves at a constant speed. Here, the "linear motion region" is the region from the closed position to the sealed position of the lid 3, as shown in Figure 2.

[0042] The closing operation abnormality detection unit 17 has the function of detecting an abnormality in the lid 3 when the lid 3 is closed by a predetermined operation such as the open / close remote control button 4 or the open / close button 21 shown in Figure 4, and the opening / closing speed based on the change in the pulse signal per unit time at the current position of the lid 3 detected by the position detection unit 11 is greater than or equal to a predetermined first speed difference compared to the speed difference based on the change in the pulse signal per unit time under normal conditions. As a result, the closing operation abnormality detection unit 17 can quickly detect an abnormality if the lid 3 hits an obstacle or if an abnormal force is applied that hinders its operation while it is closing. Furthermore, because the abnormality detection process is based on the change in the pulse signal, it can react faster than a process that detects an abnormality based on the speed change of the lid 3 and then drives the lid 3 in the opening direction.Therefore, for example, if it comes into contact with a charging gun (rigid body), damage to the lid 3 by the charging gun can be sufficiently prevented.

[0043] Furthermore, the closing operation abnormality detection unit 17 has the function of detecting an abnormality in the lid 3 when the lid 3 is closed due to contact by an operator with the lid 3, and the amount of change of the pulse signal per unit time at the current position of the lid 3 detected by the position detection unit 11 is greater than or equal to a second speed difference different from the first speed difference compared to the amount of change of the pulse signal per unit time under normal conditions. As a result, the closing operation abnormality detection unit 17 can quickly detect and respond to abnormal behavior of the lid 3 even when it exhibits abnormal behavior due to an unexpected external force.

[0044] The control device 1 may also have an opening operation abnormality detection unit 18 that detects abnormalities when the lid 3 is opened. In this case, abnormalities during closing and opening operations can be detected, and an abnormality response can be performed by moving the lid in the opposite direction to the operating direction.

[0045] The opening operation abnormality detection unit 18 has the function of detecting an abnormality in the lid 3 when the lid 3 is opened by a predetermined operation such as the opening / closing remote control button 4 or the opening / closing button 21 shown in Figure 4, and the opening / closing speed based on the change in the pulse signal per unit time at the current position of the lid 3 detected by the position detection unit 11 is greater than or equal to a predetermined third speed difference compared to the speed difference based on the change in the pulse signal per unit time under normal conditions. As a result, the opening operation abnormality detection unit 18 can quickly detect an abnormality if the lid 3 hits an obstacle or if an abnormal force is applied that hinders its operation while it is being opened. The first speed difference and the third speed difference may be the same or different. In addition, the speed difference, the first speed difference, the second speed difference, and the third speed difference may be determined based on the opening / closing speed of the lid 3, or they may be determined based on the rotational speed of the DC motor.

[0046] Furthermore, the control device 1 has an abnormality resolution unit 19 that reverses the operation of the lid 3 (operating to open the lid if it is closed, and operating to close the lid if it is opened) when an abnormality is detected in at least one of the closing operation abnormality detection unit 17 and the opening operation abnormality detection unit 18. In other words, the abnormality resolution unit 19 has the function of opening the lid 3 when an abnormality is detected in the closing operation abnormality detection unit 17, and closing the lid 3 when an abnormality is detected in the opening operation abnormality detection unit 18. Specifically, the abnormality resolution unit 19, when an abnormality is detected by the closing operation abnormality detection unit 17, switches the DC power to the lid opening / closing operation unit 12 from positive to negative polarity, reversing the rotation direction of the DC motor (for example, in reverse rotation) to open the lid 3. On the other hand, when an abnormality is detected by the opening operation abnormality detection unit 18, it switches the DC power to the lid opening / closing operation unit 12 from negative to positive polarity, reversing the rotation direction of the DC motor (for example, in forward rotation) to open the lid 3.

[0047] In this embodiment, abnormalities are detected based on the opening / closing speed calculated from the pulse signal, but this is not the only method. For example, the abnormality detection process may monitor multiple parameters such as the pulse signal, the current position of the lid 3, the current value of the DC motor driving the lid 3, and the opening / closing speed of the lid 3 to determine whether the operation of the lid 3 is normal or not. When abnormalities are detected based on multiple parameters, subtle abnormalities and complex troubles that cannot be detected by a single parameter can be grasped quickly and accurately, and when an abnormality is detected, it becomes easier to identify the specific cause of the abnormality, thereby reducing the risk that sensor failure or false detection will affect the entire device.

[0048] Furthermore, the control device 1 may be equipped with a function to detect signs of failure or abnormality in advance by accumulating and analyzing the operation data and abnormality detection history of the lid 3. Specifically, the control device 1 may be equipped with a function to machine-learn using multiple parameters and the history of abnormality detection as training data, and to detect abnormalities using this machine learning model. In this case, it becomes possible to significantly improve the abnormality detection accuracy and response capability of the lid actuator 10 to abnormalities.

[0049] Specifically, the control device 1 monitors multiple parameters in real time, such as pulse signals, the current position of lid 3, the current value of the DC motor, and the opening and closing speed of lid 3, and collects this data. Next, based on the collected data, it analyzes in detail the behavior when an anomaly occurs and the patterns of normal operation. Based on the results of this analysis, a training dataset is created, including historical data on anomaly detection. This training dataset includes both parameter values ​​under normal conditions and parameter values ​​under abnormal conditions, and this data is learned by a machine learning algorithm.

[0050] Machine learning models learn anomaly detection rules and patterns based on training datasets. For example, they incorporate typical parameter fluctuation patterns when anomalies occur, or stable parameter ranges during normal operation. This machine learning model can then apply the patterns learned from past data to newly collected data, enabling rapid and accurate anomaly detection.

[0051] The control device 1, equipped with the machine learning model described above, can detect subtle abnormalities that deviate from normal operating patterns by monitoring multiple parameters in real time, such as pulse signals, the current position of lid 3, the current value of the DC motor, and the opening and closing speed of lid 3. In other words, the control device 1 can quickly and accurately grasp complex abnormalities that might be overlooked with a single parameter. For example, if lid 3 is subjected to an unexpected external force while closing, the control device 1 can immediately detect the effect and take appropriate action.

[0052] Furthermore, the control device 1 accumulates historical data on anomaly detection and uses this as training data to train a model using a machine learning algorithm, thereby improving the accuracy of anomaly prediction. As a result, the control device 1 can continuously learn from past data and constantly improve the accuracy of anomaly detection. For example, if lid 3 repeatedly exhibits anomalies within a specific angular range, learning this pattern makes it possible to predict similar anomalies in the future and issue warnings in advance. Moreover, by using a machine learning model, the control device 1 can easily identify the cause of anomalies. When an anomaly occurs, analyzing the pattern of the anomaly and related parameters allows for the rapid identification of the specific cause. This enables the rapid implementation of appropriate corrective measures, minimizing the downtime of the entire system.

[0053] (Lid actuator 10: control device 1: hardware configuration) As shown in Figure 4, the control device 1 includes an input / output unit 13, a calculation unit 14, a storage unit 15, and a power supply unit 16. The input / output unit 13 is connected to the open / close button 21 and pulse signal generator 23 of the drive unit 2, and is also connected to the open / close remote control button 4. The open / close remote control button 4 is connected to the control device 1 via wireless communication, and a lid open / close signal for instructing the opening and closing of the lid 3 can be output to the control device 1 by the operator touching the open / close button 21. The lid open / close signal from the open / close remote control button 4, like that from the open / close button 21, is a signal to close the lid 3 when the lid 3 is in its maximum open state, and a signal to open the lid 3 when the lid 3 is in the closed state and in open states other than the maximum open state.

[0054] The calculation unit 14 is capable of executing various programs, such as the lid operation program shown in Figure 5, which will be described later. The lid operation program controls the DC power output from the power supply unit 16 based on the pulse signals input to the input / output unit 13, thereby realizing the functions of the lid opening / closing operation unit 12, the closing operation abnormality detection unit 17, the opening operation abnormality detection unit 18, and the abnormality resolution unit 19 shown in Figure 1.

[0055] The memory unit 15 stores various programs, such as lid operation programs, as well as various data and information, such as lid opening and closing data for closing and opening lid 3. The power supply unit 16 has the function of supplying PWM-controlled DC power to the DC motor based on the lid opening and closing data.

[0056] Specifically, the power supply unit 16 has a rectifier and smoothing circuit 166 connected to a power source 5 that outputs AC power. The rectifier and smoothing circuit 166 has the function of converting AC power into DC power and generating a stable DC voltage for supply to a DC motor. When the power source 5 outputs DC power, a DC / DC converter that transforms the voltage to a predetermined DC voltage is provided instead of the rectifier and smoothing circuit 166. This ensures that appropriate power conversion is performed according to the type of power source, and the DC power required for the DC motor is supplied.

[0057] The DC power that has passed through the rectifier-smoothing circuit 166 is controlled via a switching unit 162 equipped with switching elements. The switching unit 162 adjusts the output voltage by rapidly switching the DC power on and off based on a PWM signal, with the switching elements controlled by the PWM control unit 163. Specifically, the PWM control unit 163 generates a PWM signal using a DAC (digital-to-analog converter) 164 and a triangular wave generator 165 to set the duty cycle corresponding to the opening and closing operation of the lid 3. This PWM signal controls the duty cycle of the DC power from the rectifier-smoothing circuit 166 by switching the switching elements in the switching unit 162 on and off. Once the DC power with a duty cycle is output from the switching unit 162, it is smoothed by the smoothing circuit 167. The smoothed DC power is supplied to the DC motor of the drive mechanism 22. This allows for precise adjustment of the rotational speed and torque of the DC motor.

[0058] Furthermore, a detection circuit 161 is incorporated into the power supply unit 16. The detection circuit 161 monitors the current and voltage of the DC power supplied to the DC motor. The monitoring data is then fed back to the PWM control unit 163, which allows the PWM control unit 163 to adjust the rotational operation of the DC motor in real time.

[0059] In this embodiment, the method for changing the opening and closing speed of the lid 3 is described as changing the duty cycle of the DC power supplied to the DC motor using PWM control, but the method is not limited to this. That is, by using PWM control, the rotational speed and torque of the DC motor can be precisely adjusted and the opening and closing speed of the lid 3 can be efficiently controlled, but similar effects can be obtained by other methods as well.

[0060] For example, the opening and closing speed of the lid 3 can be controlled by equipping the drive mechanism 22 with a variable gear mechanism or a brake mechanism. When using a variable gear mechanism, the control device 1 can change the opening and closing speed of the lid 3 by adjusting the number of gears. Specifically, a low-speed gear is used when low-speed and precise operation is required, and a high-speed gear is used when high-speed and rapid operation is required. By utilizing the variable gear mechanism in this way, the opening and closing operation of the lid 3 can be controlled seamlessly and efficiently.

[0061] Furthermore, by incorporating a braking mechanism into the drive mechanism 22, it is possible to control the opening and closing speed of the lid 3. The control device 1 can adjust the braking force of the braking mechanism to slow down the movement of the lid 3 or, if necessary, to bring it to a sudden stop. This reduces the impact when the lid 3 stops and reduces the mechanical load.

[0062] (Lid actuator 10: Lid operation program) Next, the lid operation program executed by the control device 1 (more specifically, the calculation unit 14 as described above) will be explained with reference to Figures 5 and 6. Figure 5 is an example of a flowchart of the lid operation program. Figure 6 is an example of a flowchart of the lid operation process executed in S1 of the lid operation program.

[0063] In the lid operation program shown in Figure 5, the lid closing operation process (S1) and the lid opening operation process (S2) are executed seemingly in parallel through multitasking control.

[0064] In the lid operation program, the lid closing operation process (S1) is performed first. In this process, the operation to close the lid 3 is performed. The control device 1 monitors the current position and opening / closing speed of the lid 3 and controls the operation until the lid 3 completely closes the inlet 6. When the lid 3 approaches the closed position, the control device 1 slows down the opening / closing speed of the lid 3, mitigating the impact on the mechanism supporting the lid 3, and stops the lid 3 in the closed position. After that, it smoothly moves from the closed position to the sealed position to seal the inlet 6. If an abnormality is detected during the closing operation of the lid 3, such as when the lid's operation is different from normal or when the lid 3 comes into contact with an obstacle, the control device 1 immediately moves the lid 3 in the opening direction and emits an alarm sound to alert the operator to the occurrence and resolution of the abnormality. The distance moved in the opening direction may be the distance to reach the maximum open position, or it may be a predetermined retraction distance of a few centimeters.

[0065] Next, the lid opening operation process (S2) is executed. In this process, the operation to open the lid 3 is performed. The control device 1 monitors the opening and closing speed and position of the lid 3 in real time and controls the operation until the lid 3 reaches the maximum open position. As the lid approaches the open position, the opening and closing speed is reduced to mitigate the impact on the mechanism supporting the lid 3 and allow it to stop at the maximum open position. If an abnormality in the lid 3 is detected during the opening operation of the lid 3, the control device 1 immediately moves the lid 3 in the closing direction and emits an alarm sound to alert the operator to the occurrence and resolution of the abnormality. The distance moved in the closing direction may be the distance to reach the closed position, or it may be a predetermined retraction distance of a few centimeters.

[0066] (Lid actuator 10: Lid operation program: Lid closing operation process) Next, referring to Figure 6, the lid closing operation process (S1) will be explained in detail. In the lid closing operation process (S1), it is first determined whether or not a closing operation has been performed. Specifically, it is determined whether or not the operator has operated the switch (operated the open / close remote control button 4 or the open / close button 21), or whether or not the DC motor is stopped and a pulse has been detected (i.e., whether or not the lid 3 has moved even if the DC motor is stopped) (S11). If no closing operation has been performed (a NO determination is made in S11), S11 is repeated. On the other hand, if a closing operation has been performed (a YES determination is made in S11), the DC motor is driven in the closing direction (S12). As a result, the lid 3 moves in the closing direction. Thus, in the process of S11, even if no switch operation has been performed, a YES determination is made when the lid 3 moves due to an external force acting on the lid 3, such as when the lid 3 is touched. Furthermore, if the operator performs a switch operation, the DC motor will drive the lid 3 to move in the opposite direction to the operating direction, even if the lid 3 is in the closing or opening operation.

[0067] Next, it is determined whether the drive area of ​​lid 3 is within the linear motion area (S13). If the drive area of ​​lid 3 is within the linear motion area, that is, the area from the closed position to the sealed position (YES in S13), it is then determined whether there is a linear motion area abnormality. Specifically, at the current position of lid 3, the opening and closing speed based on the change in pulse signal per unit time and the change in pulse signal per unit time under normal conditions (reference opening and closing speed) are compared with the first speed difference. In this comparison, for example, a moving average speed difference is used to prevent false detection of abnormalities (S14). If the moving average speed difference is greater than the first speed difference, that is, if the deceleration of lid 3 is greater than or equal to a specified value (YES in S14), it is determined that the closing operation of lid 3 is abnormal, and the rotation direction of the DC motor is reversed to the opening direction to open lid 3 (S16). On the other hand, if the closing operation of lid 3 is not abnormal (i.e., if NO is determined in S14), S13 is executed again.

[0068] The S14 process is designed to detect when the lid 3 moves from the closed position to the sealed position and detects the pinching of soft objects such as fingers or cloth. As mentioned above, finger pinching is more likely to occur in the linear motion region. As shown in Figure 7, which will be described later, in the linear motion region the DC motor operates on a fixed duty cycle, so if there is no pinching, the rotational speed of the DC motor changes linearly. On the other hand, if there is pinching of a soft object, the rotational speed of the DC motor decreases in a curved manner. Therefore, in the S14 process, it is preferable to set the threshold for detection to gradually decrease so that it can be determined that the rotational speed of the DC motor is gradually and continuously decreasing.

[0069] In S13, if the drive region of lid 3 is not the linear motion region (resulting in a NO judgment in S13), that is, if it is the region from the maximum open position to the closed position, then it is determined whether or not there is an abnormality outside the linear motion region. Specifically, if it is not the linear motion region, lid 3 and the DC motor are in an accelerating / deceleration or constant speed state, so for example, the opening / closing speed of lid 3 and the rotational speed of the DC motor at an intermediate point in the accelerating / deceleration or constant speed region are determined. Then, the speed difference between the opening / closing speed based on the change in pulse count per unit time due to the pulse signal at the intermediate point and the change in pulse signal per unit time under normal conditions (reference opening / closing speed) is compared with the first speed difference defined in the current region of lid 3. Note that in the comparison, in order to prevent false detection of abnormalities, the moving average speed difference before and after the intermediate point is used (S15). If the moving average speed difference is greater than the first speed difference, that is, if the change in the pulse count is greater than the change defined in the current region, or if the pulse count value remains the same for a specified number of consecutive times (resulting in a YES judgment in S15), it is determined that the closing operation of lid 3 is abnormal, and the rotation direction of the DC motor is reversed to the opening direction, causing lid 3 to open (S16). On the other hand, if the closing operation of lid 3 is not abnormal (resulting in a NO judgment in S15), S13 is executed again.

[0070] In the S15 process, the determination of whether the change in pulse count is greater than the change defined for the current region is explained using Figure 11. Figure 11 shows, as an example, the measured value and reference value of the pulse count in areas 2 and 3 (details will be described later), which are the driving range of the lid actuator. A threshold value for the change is set for each area 2 and 3, and abnormality is determined using this threshold value. The difference between the measured value shown by the dotted line and the reference value shown by the solid line is calculated as the change amount, and if it exceeds the threshold value set in advance for each area, it can be determined that there is an abnormality. Here, the threshold value used for abnormality determination in each area can be set for each area, for example, the threshold value for the deceleration region can be set to be larger than that for the constant speed region.

[0071] Note that the S15 process is performed when the lid's drive range is not the linear motion range. When the lid 3's drive range is not the linear motion range, pinching by the lid 3 is expected to occur when pinching objects that do not deform or are difficult to deform, such as a fuel nozzle or a power supply gun. When the lid 3 closes, the pulse count decreases over time, but when the lid 3 hits, for example, a fuel nozzle or a power supply gun, the lid 3 stops operating from the moment of impact. Therefore, in S15, if the amount of change in the pulse count is larger than the amount of change defined for the current range, or if the pulse count value remains the same for a specified number of consecutive times, it is determined that the closing operation of the lid 3 is abnormal. In particular, compared to comparing the amount of change in the pulse count, detection of whether the pulse count value remains the same for a specified number of consecutive times is performed more quickly, so it is possible to immediately detect when the lid has hit a rigid body such as a fuel nozzle or a power supply gun, and damage to the lid can be further suppressed.

[0072] Thus, in this embodiment, the abnormality detection of the closing operation of the lid 3 (S13, S15) is performed differently depending on whether the drive region of the lid is a linear motion region or not. This makes it possible to perform abnormality detection with higher accuracy.

[0073] In S16, when the lid 3 is opened, it is determined whether the drive range of the lid 3 has reached the fully open range, i.e., whether the lid 3 has reached the maximum open position (S17). If the lid 3 has not reached the maximum open position (a NO determination in S17), S17 is executed again and the opening operation of the lid 3 continues. If the lid 3 has reached the maximum open position (a YES determination in S17), the DC motor is stopped (S18) and this process ends. Note that the lid opening operation process is almost the same as the lid closing operation process, so its explanation is omitted.

[0074] Next, the lid closing operation process (S1) will be explained in more detail using Figure 7. Figure 7 is an example of an explanatory diagram showing the relationship between the lid position and the closing speed in the lid closing operation region. Note that the motor output (duty cycle) used is the result of voltage correction. On the left side of the figure, a schematic diagram showing the opening and closing range of lid 3 is shown. This schematic diagram shows the range in which the drive range of the lid actuator is divided into areas 1 to 3.

[0075] The right side of Figure 7 shows the closing speed, lower limit closing speed, and upper limit closing speed according to the opening and closing angle range of the lid 3. The closing speed represents the relative speed when the lid 3 moves towards the closed position outside the linear motion region and the sealed position within the linear motion region, and different speeds are set for each region (acceleration region, constant speed region, deceleration region, linear motion region). The lower limit closing speed indicates the lower limit for abnormality detection, and the upper limit closing speed indicates the upper limit for abnormality detection in relation to the closing speed.

[0076] For example, within the range of area 1 for opening and closing angles, the duty cycle can be set to 40%. The closing speed range of lid 3 is the acceleration range. Within this range, the speed of lid 3 gradually accelerates from low to high. If the speed is within the range of the lower and upper speed limits, it is determined to be operating normally, while if it is outside this range, it is determined to be operating abnormally. The lower and upper closing speed limits are set appropriately within a range that allows for abnormality detection relative to the reference speed.

[0077] Within the opening and closing angle range of Area 2, for example, the duty cycle can be set to 80%. The closing speed range is a constant speed range. Within this range, it means that lid 3 moves at high speed, and if it is within the range of the lower limit speed and the upper limit speed, it is determined to be operating normally, while if it is outside the above range, it is determined to be operating abnormally. The lower limit closing speed and the upper limit closing speed are set appropriately within the range in which abnormality can be determined relative to the reference speed.

[0078] Within the range of Area 3, the opening and closing angle can, for example, have a duty cycle of 20%. The closing speed range is a deceleration range. Within this range, lid 3 is gradually decelerated from high speed to low speed. If the closing speed is within the range of the lower limit closing speed and the upper limit closing speed, it is determined to be operating normally, while if it is outside this range, it is determined to be operating abnormally. The lower limit closing speed and the upper limit closing speed are set appropriately within the range in which abnormality can be determined relative to the reference speed. In the deceleration range, the closing speed of the lid is gradually reduced, eventually becoming very slow or stopped, thereby mitigating the impact on the mechanism supporting lid 3 when it reaches the closed position.

[0079] Within the linear motion range, the opening and closing angle can, for example, have a duty cycle of 10%. The closing speed range is a constant speed range. Within this range, lid 3 moves at a low speed. If the closing speed is within the range of the lower and upper closing speed limits, it is determined to be operating normally, while if it is outside this range, it is determined to be operating abnormally. The lower and upper closing speed limits are set appropriately within a range that allows for abnormality detection relative to the reference speed.

[0080] As described above, the duty cycle and closing speed are set for each region, and the operation of lid 3 is controlled to ensure smooth operation.

[0081] Furthermore, in the deceleration region, it is preferable that the rate at which the upper limit closing speed decreases becomes slower than the rate at which the closing speed decreases, and the range of abnormality detection tends to expand. This is because, during the process of the lid 3 speed decreasing, there is a higher possibility of unexpected external influences and minute variations in operation. In such situations, if the range of abnormality detection is too narrow, the risk of false positives, where abnormalities are detected more than necessary, increases. Therefore, by gradually expanding the range of abnormality detection, it is possible to appropriately control the operation of the lid 3 while tolerating operational variations and minute fluctuations.

[0082] Then, after reaching the closed position, in the linear motion region, the lid 3 moves perpendicular to the opening surface of the inlet 6 (closing movement), and by reaching the sealed position, the inlet 6 is closed to a sealed state.

[0083] In this embodiment, the abnormality determination is performed using the first speed difference as the comparison target regardless of whether the lid 3 is closed by operating the open / close remote control button 4 or the open / close button 21 by the operator, or by touching the stationary lid 3 by the operator. However, the system is not limited to this. That is, the speed difference used as the comparison target may be different depending on the operation instruction method used to close the lid 3. Specifically, in the case of operation instruction methods where the open / close remote control button 4 or the open / close button 21 is operated by the operator, the comparison target for abnormality determination may be the first speed difference, and in the case of operation instruction methods where the operator touches the stationary lid 3 by the operator, the comparison target for abnormality determination may be a second speed difference different from the first speed difference. In this case, malfunctions of the lid 3 can be sufficiently prevented by quickly detecting minute abnormalities or effects of external forces that occur during the operation of the lid 3. Specifically, for example, in Figure 11, the threshold value for the position closer to the closed position in area 3 than the position on the area 2 side can be increased.

[0084] Furthermore, in this embodiment, the first operating region is set to an opening / closing angle range that is one division, but it is not limited to this and may be set to one or more divisions. For example, the first operating region may be set to an opening / closing angle range that is two divisions, or it may be set to three divisions. Also, this angle range may be divided in units of approximately 10°, or it may be divided in predetermined angle units such as 1° or 5°.

[0085] In Figure 7, the closing speed of the linear motion region is set to a constant value. However, as shown in Figure 8, the closing speed of the linear motion region may be increased in the latter half, and the lower and upper closing speeds may also be increased in response to this increase. In this case, in order to completely close the lid 3 and ensure a sealed state, a higher duty cycle can be used in the final stage of reaching the sealed position to push the lid 3 in. In this case, in a configuration where a zero-position detection switch that detects the sealed position (zero position) is provided at the end of the sealed rubber around the lid 3, it becomes possible to press this zero-position detection switch with sufficient force. Furthermore, the timing for increasing the duty cycle in the final stage of reaching the sealed position can be set to the point when the distance between the sealed position and the lid is smaller than the diameter of a child's finger, thereby ensuring safety while pushing in the sealed rubber.

[0086] Next, a modified example of the lid closing operation process (S1) will be explained using Figure 9. Figure 9 shows an example illustrating the relationship of the duty cycle in the lid closing operation region. The duty cycle represents the proportion of DC power supplied when lid 3 is closed, and indirectly indicates the lid closing speed. Note that the motor output (duty cycle) used is the result of voltage correction.

[0087] Figure 9 shows the duty cycle according to the opening and closing angle range of lid 3. The duty cycle represents the relative speed when lid 3 moves towards the closed position outside the linear motion region and the sealed position within the linear motion region, and different values ​​are set for each region (acceleration region, constant speed region, deceleration region, and linear motion region).

[0088] For example, within the range of Area 1, the duty cycle X1 can be set to 68%. Area 1 can be defined as the range in which the lid 3 moves a predetermined amount towards the closed side from its open end (maximum open position). In Area 1, it is sufficient to set the duty cycle necessary to move the lid 3 towards the closed side.

[0089] Within the range of Area 2, the opening and closing angle can be set to, for example, 64% duty cycle X2. Area 2 can be defined as the range from the position where lid 3 has moved a predetermined amount towards the closed side (the boundary position between Area 1 and Area 2) to the position where it moves a predetermined amount towards the closed side. In Area 2, the velocity increases due to gravity compared to Area 1, so the duty cycle X2 is set to be lower than the duty cycle X1 in Area 1. This suppresses the rapid acceleration of lid 3.

[0090] Within the range of Area 3, the opening and closing angle can be set to, for example, 62% duty cycle X2. Area 3 can be defined as the range from the position where lid 3 has moved a predetermined amount towards the closed side (the boundary position between Area 2 and Area 3) to the closed position. In Area 3, the velocity increases further due to gravity compared to Area 2, so the duty cycle X3 is set to be lower than the duty cycle X2 in Area 2. This reduces the velocity difference between Area 1, Area 2, and Area 3, and prevents lid 3 from accelerating rapidly.

[0091] Within the range of Area 4, the duty cycle X4 can be set to 70%, for example. Area 4 can be defined as the range from the closing end of Area 3 (the boundary between Area 3 and Area 4) to the closed position (the sealed position of the linear motion region). In this case, to ensure a sealed state by closing the lid 3 completely, a higher duty cycle is applied in the final stage before reaching the sealed position, allowing the lid 3 to be pushed in. In this case, in a configuration where a zero-position detection switch that detects the sealed position (zero position) is provided after the sealing rubber around the lid 3 has been pushed in, it becomes possible to press this zero-position detection switch with sufficient force. Furthermore, the timing for increasing the duty cycle in the final stage before reaching the sealed position is set to the point when the distance between the sealed position and the lid is smaller than the diameter of a child's finger, thereby ensuring safety while pushing in the sealing rubber. In the modified example shown in Figure 9, the structure of the lid actuator 10 and the lid 3 allows the lid 3 to be closed smoothly even when gravity affects the opening and closing of the lid 3.

[0092] Next, a modified example of the lid opening process (S2) will be explained using Figure 10. Figure 10 shows an example illustrating the relationship of the duty cycle in the lid opening region. The duty cycle represents the proportion of DC power supplied when the lid 3 is opened, and indirectly indicates the opening speed of the lid 3. Note that the motor output (duty cycle) used is the result of voltage correction.

[0093] Figure 10 shows the duty cycle according to the opening and closing angle range of lid 3. The duty cycle represents the relative speed when lid 3 moves from the sealed position to the closed position and from the closed position to the maximum open position in the linear motion region, and different values ​​are set for each region (acceleration region, constant speed region, deceleration region, linear motion region). The opening angle range is divided into areas 11, 12, and 13, which are different area ranges from when lid 3 is closed.

[0094] For example, within the range of area 11, the duty cycle X5 can be set to 57%. Area 11 can be defined as the range in which the lid 3 moves a predetermined amount towards the open side from the position where it is sealed (closed position in the linear motion region). Within area 11, it is sufficient to set the duty cycle necessary to move the lid 3 towards the open side.

[0095] Within the range of area 12, the opening and closing angle can be set to, for example, a duty cycle of X6 of 90%. Area 12 can be defined as the range in which the lid 3 moves a predetermined amount further towards the open side from the position where it has moved a predetermined amount towards the open side (the boundary position between area 11 and area 12). In area 2, since it is affected by gravity compared to area 11, the duty cycle is set to X6, which is higher than the duty cycle of X5 in area 11. This allows the lid 3 to open smoothly.

[0096] Within the range of area 13, the duty cycle X6 can be set to 70%, for example. Area 13 can be defined as the range from the open end of area 12 (the boundary between area 12 and area 13) to the open position. In area 3, the duty cycle X7 is set to be lower than the duty cycle X6 in area 2. This prevents damage to the lid actuator 10 components and the lid 3 due to sudden stopping at the open end (maximum open position). In the modified example shown in Figure 10, the structure of the lid actuator 10 and the lid 3 allows the lid 3 to open smoothly even when gravity affects its opening and closing.

[0097] Furthermore, the lid operation program may be distributed on a computer-readable recording medium such as a CD-ROM or USB memory, or it may be distributed via two-way communication networks or communication lines such as the internet, or one-way communication networks or lines such as television broadcasting.

[0098] (summary) The lid actuator 10 according to one embodiment of the present invention has been described above, and the lid actuator 10 of the above embodiment mainly has the following configuration.

[0099] (1) As shown in Figure 1, the lid actuator 10 performs an opening operation to open the inlet for introducing a fluid with the lid 3, and a closing operation to close the inlet with the lid 3, The drive mechanism 22 that drives the lid 3, The system includes a control device 1 that controls the opening and closing of the lid 3 by the drive mechanism 22 between a closed position where the inlet 6 is closed and an open position where the inlet is open, The control device 1 is A closing operation abnormality detection unit 17 detects abnormalities during the closing operation of the lid 3, When the closing operation abnormality detection unit 17 detects the abnormality, the abnormality resolution unit 19 opens the lid 3, A lid actuator 10 having the following features.

[0100] According to the lid actuator 10 described in (1) above, if an abnormality is detected when the lid 3 is closing, the lid 3 is opened, restoring the lid 3 from the state in which the abnormality occurred to the state before the abnormality occurred, thereby eliminating the cause of the abnormality. This eliminates the possibility of causing further abnormal situations that could not be resolved by simply stopping the lid 3 when an abnormality occurs, such as pulling out a charging cable or fuel nozzle while it is trapped in the lid 3.

[0101] (2) As shown in Figure 4, the drive mechanism 22 is It is driven by a motor (DC motor) that rotates in the forward direction with positive DC power and rotates in the reverse direction with negative DC power. The control device 1 is A power supply unit 16 that supplies the motor with switchable positive DC power and negative DC power, The system includes a power supply control unit (calculation unit 14, storage unit 15's lid operation program) which closes the lid 3 by making the DC power positive and rotating the motor in the forward direction, and opens the lid 3 by making the DC power negative and rotating the motor in the reverse direction, The abnormality resolution unit 19 is, When the closing operation abnormality detection unit 17 detects the abnormality, it instructs the power supply control unit to switch the DC power from positive to negative polarity to open the lid 3. The lid actuator 10 as described in (1) above.

[0102] According to the lid actuator 10 described in (2) above, by switching the positive and negative polarity of the motor, the lid 3 which is in closing operation can be quickly switched to opening operation, thus eliminating the abnormal condition during closing operation in a short period of time.

[0103] (3) The drive mechanism 22 is It is driven using a motor that rotates using AC power (including three-phase AC motors and single-phase AC motors) as the drive source. The control device 1 is A power supply unit (not shown) capable of switching the phase of the AC power supply to switch the rotation direction of the motor, The system includes a power supply control unit (calculation unit 14, lid operation program of storage unit 15) that controls the power supply to rotate the motor in the forward direction to close the lid 3, and switches the power supply to rotate the motor in the reverse direction to open the lid 3. The abnormality resolution unit 19 is, When the closing operation abnormality detection unit 17 detects the abnormality, the power supply control unit is instructed to switch the phase of the power supply to reverse the rotation of the motor and open the lid 3. The lid actuator 10 as described in (1) above.

[0104] According to the lid actuator 10 in (3) above, by switching the phase of the AC power supplied to the motor, the lid 3 which is in closing operation can be quickly switched to opening operation, thus the abnormal condition during closing operation can be resolved in a short period of time.

[0105] (4) The motor moves the lid 3 along the opening surface of the inlet, thereby performing the opening and closing operations. It has a pulse signal output unit (pulse signal generator 23) that outputs pulse signals indicating the rotation direction and rotation speed of the motor, The control device 1 is A closing operation execution unit (S12 in the lid closing operation process in Figure 6) is capable of performing a closing operation of the lid 3 by a predetermined operation and a closing operation of the lid 3 by contact with the lid 3, It includes a position detection unit 11 that detects the current position of the lid 3 based on the pulse signal, The closing operation abnormality detection unit 17 is, In the case of closing the lid 3 by the predetermined operation, if the opening / closing speed based on the rate of change of the pulse signal per unit time at the current position of the lid 3 detected by the position detection unit 11 is greater than or equal to a predetermined first speed difference compared to the speed difference based on the rate of change of the pulse signal per unit time under normal conditions, then an abnormality of the lid 3 is detected. In the case of the lid 3 being closed by contact with the lid 3, if the amount of change of the pulse signal per unit time at the current position of the lid 3 detected by the position detection unit 11 is greater than or equal to a second threshold different from the first threshold compared to the amount of change of the pulse signal per unit time under normal conditions, an abnormality of the lid 3 is detected. The lid actuator 10 as described in (2) or (3) above.

[0106] According to the lid actuator 10 described in (4) above, malfunctions of the lid 3 can be sufficiently prevented by quickly detecting minute abnormalities and effects of external forces that occur during the operation of the lid 3. Furthermore, by performing different abnormality detection (S13, S15) for the closing operation of the lid 3 depending on whether the drive region of the lid 3 is in the linear motion region or not, more accurate abnormality detection can be achieved.

[0107] As described above, within the scope of the concept of the present invention, a person skilled in the art can conceive of various modifications and alterations. Therefore, these modifications and alterations are understood to fall within the scope of the present invention. For example, any addition, deletion, or design change of components, or addition, omission, or modification of processes, made by a person skilled in the art to the above-described embodiments, is also included within the scope of the present invention, as long as it retains the gist of the present invention. [Explanation of Symbols]

[0108] 1. Control device 2 Drive Unit 3 Lid 4. Open / Close Remote Control Button 5 Power supply 6 Inlet 10 Lid Actuators 11 Position detection unit 12 Lid opening and closing mechanism 13 Input / output section 14 Arithmetic section 15 Storage section 16 Power supply section 17. Closing operation abnormality detection unit 18 Open operation abnormality detection unit 19. Abnormality Resolution Unit 21 Open / Close Buttons 22 Drive mechanism 23. Pulse signal generator

Claims

1. A lid actuator that performs an opening operation to open an inlet for introducing a fluid with a lid, and a closing operation to close the inlet with the lid, A drive mechanism for driving the lid, The system includes a control device that controls the opening and closing of the lid by the drive mechanism between a closed position where the inlet is closed and an open position where the inlet is open, The control device is A closing operation abnormality detection unit that detects abnormalities during the closing operation of the lid, The system includes an abnormality resolution unit that opens the lid when the abnormality is detected by the closing operation abnormality detection unit. Lid actuator.

2. The aforementioned drive mechanism is The motor is driven by a motor that rotates in the forward direction with positive polarity power and rotates in the reverse direction with negative polarity power. The control device is A power supply unit that supplies the motor with switchable power between positive and negative polarity, The system includes a power supply control unit that closes the lid by applying positive polarity power to rotate the motor in the forward direction, and opens the lid by applying negative polarity power to rotate the motor in the reverse direction. The aforementioned abnormality resolution unit is When the closing operation abnormality detection unit detects the abnormality, the power supply control unit is instructed to switch the power from positive polarity to negative polarity and open the lid. The lid actuator according to claim 1.

3. The aforementioned drive mechanism is It is driven by a motor that rotates using AC power, The control device is A power supply unit capable of switching the phase of the AC power supply to the motor in order to switch the direction of rotation, The system includes a power supply control unit that controls the power supply to rotate the motor in the forward direction to close the lid, and switches the power supply to rotate the motor in the reverse direction to open the lid. The aforementioned abnormality resolution unit is When the closing operation abnormality detection unit detects the abnormality, the power supply control unit is instructed to switch the phase of the power supply to reverse the rotation of the motor and open the lid. The lid actuator according to claim 1.

4. The motor moves the lid along the opening surface of the inlet, thereby performing the opening and closing operations. It has a pulse signal output unit that outputs pulse signals indicating the rotation direction and rotation speed of the motor, The control device is A closing operation execution unit capable of performing a closing operation of the lid by a predetermined operation and a closing operation of the lid by contact with the lid, It includes a position detection unit that detects the current position of the lid based on the pulse signal, The closing operation abnormality detection unit is, In the case of closing the lid by the predetermined operation, if the opening / closing speed based on the rate of change of the pulse signal per unit time at the current position of the lid detected by the position detection unit is greater than or equal to a predetermined first speed difference compared to the speed difference based on the rate of change of the pulse signal per unit time under normal conditions, then an abnormality of the lid is detected. In the case of the lid closing due to contact with the lid, if the amount of change per unit time of the pulse signal at the current position of the lid detected by the position detection unit is greater than or equal to a second speed difference different from the first speed difference compared to the amount of change per unit time of the pulse signal under normal conditions, an abnormality of the lid is detected. The lid actuator according to claim 2 or 3.

Images