Toilet equipment
The toilet device improves operation quality by using a control unit to learn and adjust the rotational speed and torque of the electric opening/closing mechanism, addressing variations in the opening/closing member state to prevent shaking and collisions.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- TOTO LTD
- Filing Date
- 2022-02-03
- Publication Date
- 2026-06-24
Smart Images
Figure 0007879516000001 
Figure 0007879516000002 
Figure 0007879516000003
Abstract
Description
Technical Field
[0006] , ,
[0001] Aspects of the present invention generally relate to toilet devices.
Background Art
[0002] Some toilet devices may be provided with an electric opening / closing device that can open and close an opening / closing member (such as a toilet seat or lid) electrically. For example, the attachment portion (such as a shaft hole) of the opening / closing member is attached to the shaft of the electric opening / closing device by fitting or the like. The opening / closing member opens and closes by the rotation of the shaft of the electric opening / closing device. In such a toilet device, the quality of the operation can be improved by controlling the rotation speed of the electric opening / closing device.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] For example, by controlling the electric opening / closing device according to the state of the opening / closing member, the quality of the operation of the opening / closing member can be improved. On the other hand, the state of the opening / closing member may vary for each toilet device.
[0005] The present invention has been made based on the recognition of such problems, and an object thereof is to provide a toilet device capable of improving the quality of the operation of an opening / closing member.
Means for Solving the Problems
[0006] The first invention is a toilet device comprising: an openable and closable opening and closing member; an electric opening and closing device capable of electrically opening and closing the opening and closing member, the electric opening and closing device having a motor and a transmission unit connected to the opening and closing member and transmitting the rotation of the motor to the opening and closing member; rotation detection means capable of detecting at least one of the rotational speed of the transmission unit or the motor and the torque of the transmission unit or the motor, and the rotation angle of the transmission unit or the motor; and a control unit that controls the electric opening and closing device, wherein the control unit learns the state of the opening and closing member based on at least one of the rotational speed and the torque detected by the rotation detection means, and controls the rotational speed of the transmission unit based on the learning result.
[0007] In this toilet device, the control unit controls the rotation speed of the transmission unit based on the learned state of the opening and closing member. By controlling the transmission unit of the electric opening and closing device according to the learned state of the opening and closing member, the quality of the operation of the opening and closing member can be improved even if there are variations in the state of the opening and closing member.
[0008] The second invention is a toilet device in which, in the first invention, the control unit learns the rotation angle when the rotation speed of the opening / closing member becomes greater than a speed threshold during opening operation, and changes the timing of decelerating the transmission unit when opening the opening / closing member based on the learned rotation angle.
[0009] This toilet device allows the transmission unit to be decelerated in accordance with the timing at which its rotational speed increases during the opening operation of the opening / closing member. This enables, for example, deceleration of the transmission unit at a more appropriate timing.
[0010] The third invention is a toilet device in which, in the second invention, the control unit learns the rotation angle when the rotation speed of the opening / closing member becomes greater than the speed threshold during the opening operation of the toilet device when the toilet device is powered on or initialized.
[0011] This toilet device compares rotational speed with a speed threshold at times different from normal opening and closing operations, such as when the power is turned on or during initialization. This makes it easier to determine when the rotational speed of the transmission parts increases.
[0012] The fourth invention is a toilet device in which, in the second or third invention, the control unit learns the rotation angle when the rotation speed of the opening / closing member becomes greater than the speed threshold during the opening operation, within the range of 40° to 100° for the rotation angle of the transmission unit.
[0013] This toilet device can suppress mislearning by limiting the range of learning.
[0014] The fifth invention is a toilet device in which, in the first invention, the control unit learns the rotation angle at which the torque during the opening operation of the opening / closing member becomes smaller than a torque threshold, and changes the timing of decelerating the transmission unit when opening the opening / closing member based on the learned rotation angle.
[0015] This toilet device allows the transmission to be decelerated in accordance with the timing at which the torque of the transmission decreases during the opening operation of the opening / closing member. This enables, for example, deceleration of the transmission at a more appropriate timing.
[0016] The sixth invention is a toilet device in which, in the fifth invention, the control unit learns the rotation angle at which the torque of the opening / closing member becomes smaller than the torque threshold when the toilet device is powered on or initialized.
[0017] This toilet device compares torque with a torque threshold at times different from normal opening and closing operations, such as when the power is turned on or during initialization. This makes it easier to determine when the torque in the transmission parts decreases.
[0018] The seventh invention is the toilet device according to the fifth or sixth invention, wherein the control unit learns the rotation angle when the torque during the opening operation of the opening / closing member is smaller than the torque threshold value in a range where the rotation angle of the transmission unit is 40° or more and 100° or less.
[0019] According to this toilet device, by restricting the learning range, mislearning can be suppressed.
[0020] The eighth invention is the toilet device according to the first invention, wherein a gap is provided between the opening / closing member and the electric opening / closing device, and the control unit, in a state where the opening / closing member is closed, based on the change in the rotation speed or the torque, detects a first state in which the transmission unit rotates in the positive direction and abuts against the attachment portion of the opening / closing member, and a second state in which the transmission unit rotates in the negative direction and abuts against the attachment portion of the opening / closing member, learns the size of the gap based on the rotation angle in the first state and the rotation angle in the second state, and changes the timing of decelerating the transmission unit when opening the opening / closing member based on the learned size of the gap.
[0021] According to this toilet device, the transmission unit can be decelerated according to the amount of the gap between the opening / closing member and the electric opening / closing device. Thereby, for example, the transmission unit can be decelerated at a more appropriate timing.
Advantages of the Invention
[0022] According to an aspect of the present invention, a toilet device capable of improving the quality of the operation of the opening / closing member is provided.
Brief Description of the Drawings
[0023] [Figure 1] It is a perspective view illustrating a toilet device according to an embodiment. [Figure 2] It is a perspective view illustrating a part of a toilet device according to an embodiment. [Figure 3] It is a plan view illustrating an electric opening / closing device of a toilet device according to an embodiment. [Figure 4] It is a schematic diagram illustrating a part of the toilet device according to the embodiment. [Figure 5] Figs. 5(a) and 5(b) are schematic diagrams illustrating an opening / closing member and an electric opening / closing device. [Figure 6] Figs. 6(a) and 6(b) are schematic diagrams illustrating the operation of the toilet device according to the embodiment. [Figure 7] It is a flowchart illustrating the operation of the toilet device according to the embodiment. [Figure 8] Figs. 8(a) and 8(b) are schematic diagrams illustrating the operation of the toilet device according to the embodiment. [Figure 9] It is a flowchart illustrating the operation of the toilet device according to the embodiment. [Figure 10] Figs. 10(a) and 10(b) are schematic diagrams illustrating the operation of the toilet device according to the embodiment. [Figure 11] It is a flowchart illustrating the operation of the toilet device according to the embodiment. [Figure 12] Figs. 12(a) and 12(b) are schematic diagrams illustrating the operation of the toilet device according to the embodiment. [Figure 13] It is a flowchart illustrating the operation of the toilet device according to the embodiment.
Embodiments for Carrying Out the Invention
[0024] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, the same components are denoted by the same reference numerals, and detailed descriptions thereof will be omitted as appropriate. Fig. 1 is a perspective view illustrating the toilet device according to the embodiment. As shown in Figure 1, the toilet device 100 according to this embodiment has an open / close member 51 that can be opened and closed. The open / close member 51 is, for example, a toilet seat 30 or a toilet lid 50. In the example shown in Figure 1, the toilet device 100 has a casing 10, a toilet seat 30 on which the user sits, and a toilet lid 50 that covers the toilet seat 30. The casing 10, the toilet seat 30, and the toilet lid 50 are installed on top of the toilet bowl 11. The toilet seat 30 and the toilet lid 50 are each rotatably supported relative to the casing 10. In other words, the toilet seat 30 and the toilet lid 50 are each pivotally supported so as to be openable and closable. In Figure 1, the toilet seat 30 in the closed state (lowered state) is shown by a dashed line, and the toilet lid 50 in the closed state (lowered state) is shown by a solid line. When the toilet lid 50 is closed, it covers the upper surfaces of the casing 10 and the toilet seat 30 from above. Furthermore, in Figure 1, the state in which the toilet lid 50 is open (lifted) is indicated by a dashed line.
[0025] The casing 10 contains a body washing function unit that washes the user's private parts (such as their buttocks) while they are sitting on the toilet seat 30. For example, the casing 10 may contain a washing nozzle and a control circuit that controls the operation of the washing nozzle. When the user is sitting on the toilet seat 30, the washing nozzle extends forward from inside the casing 10 and discharges washing water towards the user's private parts. The casing 10 may also be appropriately equipped with various mechanisms such as a "warm air drying function" that blows warm air towards the user's buttocks while they are sitting on the toilet seat 30 to dry them, a "deodorizing unit", and an "indoor heating unit". The toilet device 100 is, for example, a toilet seat device or a sanitary washing device.
[0026] Figure 2 is a perspective view illustrating a part of the toilet device according to the embodiment. As shown in Figure 2, the toilet device 100 further includes an electric opening / closing device 80 capable of opening and closing the opening / closing member 51, a rotation detection means 90, and a control unit 20 that controls the electric opening / closing device 80. At least a part of the electric opening / closing device 80, the rotation detection means 90, and the control unit 20 are provided inside the casing 10.
[0027] The opening / closing member 51 (the toilet lid 50 in the example in Figure 2) has a mounting portion 52 to be attached to the casing 10 or the electric opening / closing device 80. The opening / closing member 51 is pivotally supported at the mounting portion 52. The mounting portion 52 is provided at the rear end of the opening / closing member 51, at least on either the left or right end. In this example, a pair of mounting portions 52 are provided, aligned in the left-right direction, with one mounting portion 52 attached to the transmission portion 81 of the electric opening / closing device 80 (see Figure 3), and the other mounting portion 52 attached to the casing 10. The mounting portion 52 is, for example, a recess (such as an axial hole or groove) located on the inside of the toilet lid 50.
[0028] Figure 3 is a plan view illustrating an electrically operated opening and closing device for a toilet according to an embodiment. The electric opening / closing device 80 includes a transmission unit 81, a motor 82, a gear mechanism 83, a spring 84, and a case 85. The electric opening / closing device 80 opens and closes the opening / closing member 51 by the driving force of the motor 82. The case 85 is fixed to the casing 10 by any fixing means such as screws or bolts. The motor 82, gear mechanism 83, and spring 84 are housed inside the case 85.
[0029] The transmission unit 81 is connected to the mounting portion 52 of the opening / closing member 51 and transmits the rotation of the motor 82 to the opening / closing member 51. For example, the transmission unit 81 is an output shaft that rotates in accordance with the rotation of the motor 82. The transmission unit 81 protrudes laterally from the case 85 and is columnar in shape with corners. For example, the transmission unit 81 protrudes from the side of the casing 10 and is inserted into the mounting portion 52 (shaft hole or groove) of the opening / closing member 51. The transmission unit 81 and the mounting portion 52 are engaged with each other, for example, by fitting. The electric opening / closing device 80 rotates the mounting portion 52 by rotating the output shaft with the torque of the motor 82, thereby rotating the opening / closing member 51. In this example, the electric opening / closing device 80 is provided on only one side of the opening / closing member 51, but it may be provided on both the left and right sides, or at least on one of the left or right sides.
[0030] The gear mechanism 83 has multiple gears that engage with each other. The gear mechanism 83 is, for example, a planetary gear mechanism. The gears are engaged with the motor shaft (rotation axis) of the motor 82. The gears rotate as the motor 82 rotates.
[0031] The gears of the gear mechanism 83 are engaged with the transmission unit 81 via the shaft 86. The rotation of the gears of the gear mechanism 83 causes the transmission unit 81 to rotate. In this way, the rotation of the motor 82 is transmitted to the transmission unit 81 via the gear mechanism 83.
[0032] The spring 84 is, for example, a torsion coil spring. One end of the spring 84 is connected to, for example, a gear mechanism 83, and the other end of the spring 84 is connected to a transmission unit 81. The spring 84 biases the transmission unit 81 in the rotational direction of the transmission unit 81. In other words, the elastic force of the spring 84 is transmitted to the opening / closing member 51 via the transmission unit 81. For example, the spring 84 biases the opening / closing member 51 in the opening direction. By providing the spring 84, the opening and closing of the opening / closing member 51 can be assisted.
[0033] The rotation detection means 90 is capable of detecting at least one of the rotational speed of the transmission unit 81 or the motor 82, and the torque of the transmission unit 81 or the motor 82. The rotation detection means 90 is also capable of detecting the rotation angle of the transmission unit 81 or the motor 82.
[0034] The rotation detection means 90 includes, for example, a rotation angle detection means for detecting the rotation angle of the transmission unit 81 or the rotation angle of the motor shaft of the motor 82. The rotation angle of the transmission unit 81 or motor 82 detected by the rotation detection means 90 may be not only the angle itself, but also a parameter indicating the rotation angle of the transmission unit 81 or motor 82. For example, the rotation detection means 90 may detect a value indicating the rotation angle of the motor shaft of the motor 82, or convert the detected value into a value indicating the rotation angle of the transmission unit 81, taking into account the gear ratio of the gear mechanism 83, etc. The range of the rotation angle of the transmission unit 81 or motor 82 may include the rotation angle (opening angle) of the opening / closing member 51, such as when detecting the load reversal angle described later.
[0035] Furthermore, the state in which the opening / closing member 51 is closed can be defined as the state in which the rotation angle is zero. In this example, the direction in which the rotation angle increases corresponds to the direction in which the opening / closing member 51 opens, and the direction in which the rotation angle decreases corresponds to the direction in which the opening / closing member 51 closes.
[0036] Furthermore, the rotation detection means 90 includes, for example, a rotation speed detection means for detecting the rotation speed of the transmission unit 81 or the rotation speed of the motor shaft of the motor 82. The rotation speed of the transmission unit 81 or motor 82 detected by the rotation detection means 90 may be not only the speed itself, but also a parameter indicating the rotation speed of the transmission unit 81 or motor 82. For example, the rotation detection means 90 may detect a value indicating the rotation speed of the motor shaft of the motor 82, or convert the detected value into a value indicating the rotation speed of the transmission unit 81, taking into account the gear ratio of the gear mechanism 83, etc. The range of the rotation speed of the transmission unit 81 or motor 82 may include the rotation speed (opening speed) of the opening / closing member 51, for example, when detecting the load reversal angle, which will be described later.
[0037] In this example, a positive sign for the rotational speed corresponds to movement of the opening / closing member 51 in the opening direction, and a negative sign for the rotational speed corresponds to movement of the opening / closing member 51 in the closing direction.
[0038] Furthermore, the rotation detection means 90 includes a torque detection means for detecting, for example, the torque generated in the transmission unit 81 or the torque generated in the motor shaft of the motor 82. The torque of the transmission unit 81 or motor 82 detected by the rotation detection means 90 may be not only the torque itself, but also a parameter indicating the torque of the transmission unit 81 or motor 82. The torque detected by the rotation detection means 90 corresponds to the load generated on the electric opening and closing device 80 (for example, the transmission unit 81 or motor 82) by the opening and closing member 51. The torque detected by the rotation detection means 90 corresponds to, for example, the torque that the transmission unit 81 applies to the opening and closing member 51. Alternatively, the torque detected by the rotation detection means 90 corresponds to, for example, the torque that the motor 82 applies to the opening and closing member 51 via the gear mechanism 83 and the transmission unit 81.
[0039] For example, when the transmission unit 81 and motor 82 apply an opening force to the opening / closing member 51, the torque has a positive sign, and when the transmission unit 81 and motor 82 apply a closing force to the opening / closing member 51, the torque has a negative sign.
[0040] The rotation detection means 90 may consist of a rotation angle detection means, a rotation speed detection means, and a torque detection means, which are provided separately, or at least a portion of the rotation angle detection means, rotation speed detection means, and torque detection means may be provided in common. At least a portion of the rotation detection means 90 may be included in the electric opening and closing device 80.
[0041] More specifically, for example, the rotation angle detection means and the rotation speed detection means can use elements including a Hall IC provided in the electric switch 80. For example, the element including a Hall IC outputs a pulse signal corresponding to the rotation speed of the motor shaft. The rotation angle can be detected from the integrated value of the number of pulses. The rotation speed can also be detected from the rotation angle and time (pulse width). The rotation angle detection means and the rotation speed detection means may be magnetic rotary encoders such as Hall ICs, or photoelectric rotary encoders such as photointerrupters. For the torque detection means, for example, a circuit that detects the current value flowing through the motor 82 can be used. The magnitude of the load (torque) can be estimated from the current value of the motor 82. However, the rotation detection means 90 is not limited to the rotation angle detection means, rotation speed detection means, and torque detection means described above, but may be any configuration capable of detecting at least one of the rotation speed and torque, and the rotation angle. For example, a sensor that detects the angle of the transmission unit 81 may be used.
[0042] Figure 4 is a schematic diagram illustrating a part of the toilet device according to the embodiment. Figure 4 illustrates the cross-section along line AA shown in Figure 2. The opening / closing member 51 (toilet lid 50) is provided with a shaft hole as a mounting portion 52. The transmission portion 81 (output shaft) of the electric opening / closing device 80 is inserted into this mounting portion 52.
[0043] A gap G (play) exists between the opening / closing member 51 and the electric opening / closing device 80. The gap between the opening / closing member 51 and the electric opening / closing device 80 includes the gap (fitting play) between the mounting portion 52 of the opening / closing member 51 and the transmission portion 81. Furthermore, the range of the gap between the opening / closing member 51 and the electric opening / closing device 80 may also include the gap between the motor shaft and the transmission portion 81. In this case, the gap between the opening / closing member 51 and the electric opening / closing device 80 is the total amount of rotational play from the motor shaft to the mounting portion 52, including backlash (the total amount of play in the gears inside the electric opening / closing device 80). The amount of the gap between the opening / closing member 51 and the electric opening / closing device 80 can be expressed by the rotation angle of the motor 82 (or the rotation angle of the transmission portion 81). For example, the opening angle of the opening / closing member 51 is the same as the rotation angle of the transmission portion 81, excluding the amount of the gap between the transmission portion 81 and the mounting portion 52.
[0044] Figures 5(a) and 5(b) are schematic diagrams illustrating an opening / closing member and an electric opening / closing device. These diagrams schematically illustrate the positional relationship between the mounting portion 52 (shaft hole) of the opening / closing member 51 and the motor shaft 82a and transmission portion 81 of the electric opening / closing device 80 during the opening operation of the opening / closing member 51. In the state shown in Figure 5(a), the transmission portion 81 abuts against the opening side of the mounting portion 52 (shaft hole) of the opening / closing member 51, applying an opening force to the opening / closing member 51. At this time, a gap G1 (fitting play) between the transmission portion 81 and the mounting portion 52 occurs on the closing side of the transmission portion 81. Also in the state shown in Figure 5(a), the motor shaft 82a applies an opening force to the transmission portion 81. At this time, a gap G2 (gap due to backlash, etc.) between the motor shaft 82a and the transmission portion 81 occurs on the closing side of the motor shaft 82a.
[0045] Due to the amount of gap between the opening / closing member 51 and the electric opening / closing device 80, the load on the electric opening / closing device 80 may reverse during the opening operation of the opening / closing member 51. That is, during the opening operation of the opening / closing member 51, the torque of the transmission unit 81 or the motor 82 reverses from positive to negative. Figure 5(b) shows an example of the state after the opening / closing member 51 has opened further from the state in Figure 5(a) and the load on the electric opening / closing device 80 has reversed. In the state of Figure 5(b), the transmission unit 81 is in contact with the opposite side (closing direction side) of the shaft hole of the opening / closing member 51, and is applying a closing force to the opening / closing member 51. At this time, the gap G1 between the transmission unit 81 and the mounting unit 52 is on the opening direction side of the transmission unit 81. Also in the state of Figure 5(b), the motor shaft 82a is applying a closing force to the transmission unit 81. At this time, the gap G2 between the motor shaft 82a and the transmission unit 81 is on the opening direction side of the motor shaft 82a.
[0046] The rotation angle of the transmission unit 81 or motor 82 when the torque of the transmission unit 81 or motor 82 reverses is called the load reversal angle (load reversal point). When the opening / closing member 51 opens, the direction of the torque that the transmission unit 81 applies to the opening / closing member 51 reverses at the load reversal angle. The load reversal angle changes depending on the center of gravity of the opening / closing member 51 and the torque of the spring 84.
[0047] The control unit 20 is electrically and communicatively connected to the electric opening / closing device 80 and the rotation detection means 90. For example, when a user operates a remote control to operate the toilet device 100, or when a human body detection sensor installed in the toilet device 100 detects a user, a signal is transmitted from the control unit 20 to the electric opening / closing device 80. Based on the signal from the control unit 20, the electric opening / closing device 80 rotates the motor 82 to open and close the opening / closing member 51. The control unit 20 also receives the detection result from the rotation detection means 90. Based on the detection result from the rotation detection means 90, the control unit 20 can control the operation of the electric opening / closing device 80.
[0048] More specifically, the control unit 20 can use an electrical circuit such as an IC (Integrated Circuit). For example, the control unit 20 may include a microcontroller. The control unit 20 may be provided integrally on a single circuit board, or it may be divided into multiple parts and arranged separately. For example, at least a part of the control unit 20 may be provided on at least one of the electric opening / closing device 80 and the rotation detection means 90.
[0049] During the opening and closing operation of the opening / closing member 51, if the opening / closing member 51 shakes (for example, bounces), the quality of the operation of the opening / closing member 51 may decrease. Therefore, by controlling the rotational speed of the transmission unit 81, the shaking of the opening / closing member 51 is suppressed and the quality is improved. For example, when the opening / closing member 51 is opened, the opening / closing member 51 may collide with other members such as panels or tanks located behind the open end (fully open position) of the opening / closing member 51, causing the opening / closing member 51 to bounce. Therefore, during the opening operation of the opening / closing member 51, the control unit 20 controls the rotational speed of the transmission unit 81 of the electric opening / closing device 80 to control the opening / closing member 51 (for example, decelerate it). This suppresses the bouncing of the opening / closing member 51 and improves the quality.
[0050] Furthermore, the control unit 20 learns the state of the opening / closing member 51 based on at least one of the rotational speed and torque detected by the rotation detection means 90, and controls the rotational speed of the transmission unit 81 based on the learned result. In this way, by controlling the transmission unit 81 of the electric opening / closing device 80 according to the learned state of the opening / closing member 51, the quality of the operation of the opening / closing member can be improved even if there is variation in the state of the opening / closing member 51.
[0051] For example, the control unit 20 has a learning mode for learning (measuring) the state of the opening / closing member 51. In the learning mode, the control unit 20 operates the electric opening / closing device 80 to measure the state of the opening / closing member 51 in the opening and closing state. Based on the measurement result (learning result), the control unit 20 controls the electric opening / closing device 80 in the operation mode for normal opening operation. The state of the opening / closing member 51 that the control unit 20 learns is, for example, the amount of gap between the opening / closing member 51 and the electric opening / closing device 80. Alternatively, the state of the opening / closing member 51 that the control unit 20 learns is, for example, the load reversal angle at which the load on the opening / closing member 51 is reversed. More specific examples of learning will be described later with reference to Figures 6 to 13.
[0052] The state of the opening / closing member 51 may vary from one toilet unit to another. For example, due to manufacturing tolerances or deterioration over time, the gap between the opening / closing member 51 and the electric opening / closing device 80, and the load reversal angle of the opening / closing member 51, may vary from toilet unit to toilet unit. The control unit 20 learns the state of the opening / closing member 51 and controls the timing of the deceleration of the transmission unit 81 based on the learning results. This improves the quality of the operation of the opening / closing member 51. For example, it can suppress the shaking (e.g., bouncing) of the opening / closing member 51 to achieve smooth opening and closing operation. Also, for example, if the shaking of the opening / closing member 51 could cause it to collide with other members, potentially resulting in damage or abnormal noise, the control unit can suppress the occurrence of damage or abnormal noise.
[0053] Near the open end after the opening member 51 has finished opening by the electric opening / closing device 80, the opening / closing member 51 is prone to shaking due to the gap between the opening / closing member 51 and the electric opening / closing device 80, and the reaction to the torque change (load reversal) of the electric opening / closing. Furthermore, for example, because a gap exists between the opening / closing member 51 and the electric opening / closing device 80, it becomes difficult for the transmission unit 81 to control the opening / closing member 51 at the point of load reversal, making it difficult to sufficiently reduce the speed of the opening / closing member 51, which may cause shaking.
[0054] Therefore, one possible method is to move the transmission unit 81 to the opposite side (closing direction) during the opening operation of the opening / closing member 51, quickly closing the gap between the opening / closing member 51 and the electric opening / closing device 80, and bringing the transmission unit 81 into contact with the opposite side of the opening / closing member 51 to decelerate the opening / closing member 51. This can suppress shaking. However, as mentioned above, the load reversal angle and the amount of the gap change for each toilet device 100. Due to this change, the appropriate timing for decelerating the opening / closing member 51 by the transmission unit 81 may be off, which could lead to increased shaking. In contrast, according to this embodiment, the load reversal angle or the amount of the gap can be learned for each toilet device 100 and reflected in the opening / closing operation. Therefore, even if there are variations in the toilet seat 30 and toilet lid 50 due to manufacturing errors or aging, etc., a dignified opening and closing operation with suppressed shaking can be performed.
[0055] The following describes an example of the learning mode of the control unit 20 with reference to Figures 6 to 13. In this embodiment, the example mainly describes the case where the opening / closing member 51 is the toilet lid 50. However, the opening / closing member 51 is not limited to the toilet lid 50 and may be the toilet seat 30. In this embodiment, the electric opening / closing device 80 may open and close the toilet seat 30. The toilet lid 50 may be provided as needed or omitted. This embodiment may be applied to the opening and closing of either the toilet lid 50 or the toilet seat 30, or it may be applied to the opening and closing of both the toilet lid 50 and the toilet seat 30.
[0056] Figures 6(a) and 6(b) are schematic diagrams illustrating the operation of a toilet device according to an embodiment. Figure 6(a) is a graph showing the relationship between the opening angle and torque. For example, the opening angle on the horizontal axis is the rotation angle detected by the rotation detection means 90, and the torque on the vertical axis is the torque detected by the rotation detection means 90.
[0057] The opening / closing member 51 operates with a desired torque (for example, a positive torque) until it reaches the load reversal angle. The load applied to the transmission unit 81 is reduced when the load reverses. Therefore, when the load reverses, the torque of the transmission unit 81 decreases sharply and becomes smaller than the desired torque. Thus, the angle of the transmission unit 81 when the torque of the transmission unit 81 becomes smaller than the desired torque is determined to be the load reversal point. This allows for deceleration of the transmission unit at an appropriate timing.
[0058] Specifically, as shown in Figure 6(b), state a1 is when the opening angle is zero and the opening / closing member 51 is closed. When the opening / closing member 51 opens from state a1 to state b1, the torque increases as shown in Figure 6(a).
[0059] When the opening / closing member 51 opens further from state b1, the torque decreases sharply between state c1 and state d1, and the load on the electric opening / closing device 80 reverses. When the opening / closing member 51 opens further from state d1, the torque decreases, and the device reaches state e1. State e1 is when the opening / closing member 51 is fully open.
[0060] When the opening / closing member 51 opens, the control unit 20 compares a preset threshold (torque threshold) with the torque detected by the rotation detection means 90 (the value on the vertical axis in Figure 6(a)). The torque threshold is a predetermined value that can be appropriately determined to determine load reversal, and in this example it is zero. The control unit 20 determines the rotation angle (the value on the horizontal axis in Figure 6(a)) when the torque becomes smaller than the torque threshold as the load reversal angle. The control unit 20 changes the timing of deceleration of the transmission unit according to that load reversal angle.
[0061] Figure 7 is a flowchart illustrating the operation of the toilet device according to this embodiment. Figure 7 shows an example of the operation of the toilet device described in relation to Figures 6(a) and 6(b). When the control unit 20 starts the learning mode (step S101), it controls the electric opening and closing device 80 to start the operation of opening the closed opening and closing member 51 (toilet lid 50) (step S102).
[0062] During the opening operation of the opening / closing member 51, the rotation detection means 90 measures the operating speed (rotational speed), torque, and rotational angle, and the control unit 20 acquires the measurement results from the rotation detection means 90 (step S103). The control unit 20 may adjust the operating speed as appropriate based on the measurement results from the rotation detection means 90.
[0063] If the positive and negative signs of the torque measured by the rotation detection means 90 do not reverse, the opening / closing member 51 opens to, for example, the fully open position, and the opening operation ends (step S104).
[0064] On the other hand, if the positive and negative signs of the torque measured by the rotation detection means 90 are reversed, the control unit 20 stores the rotation angle at which the positive and negative signs of the torque were reversed as the load reversal angle (step S105). The control unit 20 updates the target speed for the opening operation in accordance with the detected load reversal angle (step S106). With the above, the control unit 20 terminates the learning mode (step S107).
[0065] The control unit 20 learns the load reversal point from the torque change due to load reversal during opening and closing operations, and reflects the learning result in the target trajectory (target angle and speed in the opening and closing operation of the opening and closing member). In the normal operation mode after the learning mode, updated speed control is performed reflecting the learning result.
[0066] As explained above, for example, the control unit 20 learns the rotation angle at which the torque of the opening / closing member 51 becomes smaller than the torque threshold during opening operation, and changes the timing of decelerating the transmission unit when opening the opening / closing member 51 based on the learned rotation angle. This allows the transmission unit 81 to be decelerated in accordance with the timing at which the torque of the transmission unit 81 decreases. Therefore, for example, the transmission unit 81 can be decelerated at a more appropriate timing.
[0067] For example, when the toilet device 100 is powered on or initialized, the control unit 20 learns the rotation angle at which the torque during the opening operation becomes smaller than a torque threshold. In normal opening and closing operations (when a user uses the toilet device 100), for example, a fluctuating speed control is performed after learning. Therefore, it can be difficult to determine the load reversal angle due to changes in torque. In contrast, this toilet device compares torque with a threshold at timings different from normal opening and closing operations, such as when the power is turned on or during initialization (for example, immediately after). This makes it easier to determine the timing when the torque of the transmission part decreases. For example, the load reversal angle can be determined more reliably.
[0068] For example, the circuit including the control unit has a memory unit that stores setting information and learning results for the operation of the toilet device 100. During initialization, at least a portion of the setting information and learning results for the operation of the toilet device 100 stored in the memory unit are initialized. A suitable storage device such as ROM (Read Only Memory) or RAM (Random Access Memory) can be used for the memory unit.
[0069] For example, the control unit learns the load reversal angle (the rotation angle at which the torque during the opening operation of the opening / closing member becomes smaller than the torque threshold) within the range of 40° to 100° for the rotation angle of the transmission unit. In other words, the control unit 20 compares the torque (torque detected by the rotation detection means 90) when the rotation angle of the transmission unit 81 is between 40° and 100° with the threshold. As a result, the control unit 20 determines the rotation angle (rotation angle detected by the rotation detection means 90) when the rotation angle of the transmission unit 81 is between 40° and 100° as the load reversal angle.
[0070] In this way, limiting the learning range can suppress erroneous learning. For example, by limiting the reading range of the load reversal angle, transient torque changes at the start of opening can be eliminated, preventing false detection and erroneous learning. Therefore, the load reversal angle can be learned more reliably.
[0071] Figures 8(a) and 8(b) are schematic diagrams illustrating the operation of a toilet device according to an embodiment. Figure 8(a) is a graph showing the relationship between the opening angle and the rotation speed. For example, with respect to the solid line in Figure 8(a), the value on the horizontal axis is the rotation angle of the transmission unit 81 detected by the rotation detection means 90, and the value on the vertical axis is the rotation speed of the transmission unit 81 detected by the rotation detection means 90.
[0072] The opening / closing member 51 operates at the desired rotational speed (target rotational speed) until it reaches the load reversal angle. The load applied to the transmission unit 81 is reduced when the load reverses. Therefore, when the load reverses, the speed of the transmission unit 81 increases rapidly and becomes greater than the desired rotational speed. Thus, the angle of the transmission unit when the rotational speed of the transmission unit 81 becomes greater than the desired rotational speed is determined to be the load reversal point. This allows for deceleration of the transmission unit at the appropriate timing.
[0073] Specifically, as shown in Figure 8(b), state a2 is when the opening angle is zero and the opening / closing member 51 is closed. When the opening / closing member 51 opens from state a2 to state b2, the rotational speed increases as shown in Figure 8(a), approaching a constant target rotational speed indicated by the dotted line.
[0074] As the opening / closing member 51 opens further from state b2, the rotational speed increases sharply between state c2 and state d2, and the load on the electric opening / closing device 80 reverses. For example, in state c2, the load reversal begins, and the opening / closing member 51 accelerates according to the gap between the opening / closing member 51 and the electric opening / closing device 80. Then, for example, in state c21 after c2 as shown in Figure 8(a), the transmission unit 81 collides with the opposite side (closing direction side) of the shaft hole of the opening / closing member 51. Between state c21 and state d2, the speed temporarily decreases due to the reaction of the collision. In state d2, the rotational speed approaches a constant rotational speed again, and as the opening / closing member 51 opens further, the rotational speed decreases, resulting in state e2. State e2 is when the opening / closing member 51 is open to the fully open position.
[0075] When the opening / closing member 51 opens, the control unit 20 compares a preset threshold (speed threshold) with the rotation speed detected by the rotation detection means 90 (the value on the solid vertical axis in Figure 8(a)). The speed threshold is a predetermined value that is appropriately determined so as to determine the reversal of the load. The control unit 20 determines the rotation angle (the value on the solid horizontal axis in Figure 8(a)) when the rotation speed becomes greater than the speed threshold as the load reversal angle. The control unit 20 changes the timing of deceleration of the transmission unit according to that load reversal angle.
[0076] Figure 9 is a flowchart illustrating the operation of the toilet device according to this embodiment. Figure 9 shows an example of the operation of the toilet device described in relation to Figures 8(a) and 8(b). When the control unit 20 starts the learning mode (step S201), it controls the electric opening and closing device 80 to start the operation of opening the closed opening and closing member 51 (toilet lid 50) (step S202).
[0077] During the opening operation of the opening / closing member 51, the rotation detection means 90 measures the operating speed (rotational speed) and rotational angle, and the control unit 20 acquires the measurement results from the rotation detection means 90 (step S203). The control unit 20 may adjust the operating speed as appropriate based on the measurement results from the rotation detection means 90.
[0078] If the rotation speed measured by the rotation detection means 90 does not exceed a threshold, the opening / closing member 51 is opened, for example, to the fully open position, and the opening operation ends (step S204).
[0079] On the other hand, if the rotation speed measured by the rotation detection means 90 exceeds a threshold, the control unit 20 stores the rotation angle at which the rotation speed exceeded the threshold as the load reversal angle (step S205). The control unit 20 updates the target speed for the opening operation in accordance with the detected load reversal angle (step S206). With the above, the control unit 20 terminates the learning mode (step S207). The control unit 20 learns the load reversal point from the change in rotational speed due to load reversal during the opening and closing operation, and reflects the learning result in the target trajectory (the target angle and speed in the opening and closing operation of the opening and closing member). After the learning mode, in the normal operation mode, updated speed control is performed reflecting the learning result.
[0080] As explained above, for example, the control unit 20 learns the rotation angle when the rotation speed of the opening / closing member 51 becomes greater than a speed threshold during opening operation, and changes the timing of decelerating the transmission unit 81 when opening the opening / closing member 51 based on the learned rotation angle. This makes it possible to decelerate the transmission unit 81 in accordance with the timing when the rotation speed of the transmission unit 81 etc. increases. Therefore, for example, the transmission unit 81 can be decelerated at a more appropriate timing.
[0081] For example, when the toilet device 100 is powered on or initialized, the control unit 20 learns the rotation angle at which the rotation speed during the opening operation exceeds a speed threshold. In normal opening and closing operations (when a user uses the toilet device 100), for example, a fluctuating speed control is performed after learning. Therefore, it can be difficult to determine the load reversal angle due to changes in rotational speed. In contrast, this toilet device compares the rotational speed with a threshold at timings different from normal opening and closing operations, such as when the power is turned on or during initialization (for example, immediately after). This makes it easier to determine when the rotational speed of the transmission part, etc., increases. For example, the load reversal angle can be determined more reliably.
[0082] For example, the control unit learns the load reversal angle (the rotation angle at which the rotation speed during the opening operation of the opening / closing member exceeds the speed threshold) within the range of 40° to 100° for the rotation angle of the transmission unit. In other words, the control unit 20 compares the rotation speed (the rotation speed detected by the rotation detection means 90) when the rotation angle of the transmission unit 81 is between 40° and 100° with the threshold. As a result, the control unit 20 determines that the rotation angle (the rotation angle detected by the rotation detection means 90) when the rotation angle of the transmission unit is between 40° and 100° is the load reversal angle.
[0083] In this way, limiting the learning range can suppress mislearning. For example, by limiting the reading range of the load reversal angle, transient speed changes at the start of opening can be eliminated, preventing false detection and mislearning. Therefore, the load reversal angle can be learned more reliably.
[0084] In the above example, the load reversal angle was measured in a learning mode, which is different from the normal operating mode. However, the embodiment is not limited to the above, and for example, the load reversal angle may be measured in the normal operating mode, and the rotational speed of the transmission unit 81 may be controlled based on the measurement result.
[0085] Figures 10(a) and 10(b) are schematic diagrams illustrating the operation of a toilet device according to an embodiment. These figures illustrate an example of a learning mode for learning the size of the gap (gap amount) between the opening / closing member 51 and the electric opening / closing device 80. Figure 10(b) is a graph showing the relationship between time and the rotational speed of the motor shaft. For example, the rotational speed on the vertical axis is the rotational speed detected by the rotation detection means 90. Figure 10(a) is a schematic diagram illustrating the positional relationship between the mounting portion 52 (shaft hole) of the opening / closing member 51 and the motor shaft 82a and transmission portion 81 of the electric opening / closing device 80 in each of the states a3 to f3 shown in Figure 10(b).
[0086] This learning mode is performed by moving the motor shaft 82a and the transmission unit 81 within the gap between the opening / closing member 51 and the electric opening / closing device 80 while the opening / closing member 51 is in the closed position.
[0087] In state a3, the control unit 20 starts the learning mode and begins rotating the motor shaft 82a in the forward direction. As shown in Figure 10(a), in state a3, the transmission unit 81 is in contact with the opening side of the mounting portion 52 (shaft hole) of the opening / closing member 51. The gap between the transmission unit 81 and the mounting portion 52 is on the closing side of the transmission unit 81. Also, in state a3, a gap is created between the motor shaft 82a and the transmission unit 81 on the opening side of the motor shaft 82a.
[0088] Subsequently, the control unit 20 rotates the motor shaft 82a in the forward direction at, for example, a constant rotational speed, as in state b3.
[0089] In state c3, the gap between the motor shaft 82a and the transmission unit 81 on the opening side is closed, and a gap is created on the closing side. State c3 is when the transmission unit 81 is colliding with the inner wall of the mounting unit 52 on the opening side due to the force received from the motor shaft 82a. Therefore, when state c3 is reached, the rotational speed decreases. When the control unit 20 detects such a change in rotational speed, it stops the rotation of the motor shaft 82a (states c3-d3).
[0090] Subsequently, the control unit 20 further rotates the motor shaft 82a in the negative direction, for example, at a constant rotational speed, as in state d3. In state e3, the gap on the closed side between the motor shaft 82a and the transmission unit 81 is closed, and the motor shaft 82a applies a closing force to the transmission unit 81. Therefore, in state e3, the transmission unit 81 rotates in the closed direction.
[0091] In state f3, the gap on the closing side between the transmission unit 81 and the mounting unit 52 becomes blocked, and the transmission unit 81 collides with the inner wall of the mounting unit 52 on the closing side. As a result, the rotational speed decreases when state f3 is reached. When the control unit 20 detects such a change in rotational speed, it stops the rotation of the motor shaft 82a.
[0092] The control unit 20 learns the amount of gap between the opening / closing member 51 and the electric opening / closing device 80 from the rotation angle in state c3-d3 (first state) detected by the rotation detection means 90 and the rotation angle in state f3 (second state) detected by the rotation detection means 90. Specifically, it learns the difference between the rotation angle in state c3-d3 and the rotation angle in state f3 as a quantity indicating the amount of gap.
[0093] The control unit 20 changes the timing at which it decelerates the transmission unit 81 when opening the opening / closing member 51, based on the learned gap amount.
[0094] Figure 11 is a flowchart illustrating the operation of a toilet device according to an embodiment. Figure 11 shows an example of the operation of the toilet device described in relation to Figures 10(a) and 10(b). When the control unit 20 starts the learning mode (step S301), it controls the electric opening and closing device 80 to rotate the motor shaft 82a in the opening direction while the opening and closing member 51 remains closed (step S302).
[0095] While the motor shaft 82a is rotating, the rotation detection means 90 measures the operating speed (rotational speed) and rotational angle, and the control unit 20 acquires the measurement results from the rotation detection means 90 (step S303). The control unit 20 may adjust the operating speed as appropriate based on the measurement results from the rotation detection means 90.
[0096] When the gap on the opening side between the opening / closing member 51 and the electric opening / closing device 80 is filled and the transmission unit 81 comes into contact with the opening side of the mounting unit 52, the rotation speed becomes zero (step S304).
[0097] When the control unit 20 detects the change in speed in step S304, it terminates the rotation of the motor shaft 82a in the opening direction (step S305) and rotates the motor shaft 82a in the closing direction (step S306).
[0098] While the motor shaft 82a is rotating, the rotation detection means 90 measures the operating speed (rotational speed) and rotational angle, and the control unit 20 acquires the measurement results from the rotation detection means 90 (step S307). The control unit 20 may adjust the operating speed as appropriate based on the measurement results from the rotation detection means 90.
[0099] When the gap on the closing side between the opening / closing member 51 and the electric opening / closing device 80 is filled and the transmission unit 81 comes into contact with the closing side of the mounting unit 52, the rotational speed becomes zero (step S308).
[0100] When the control unit 20 detects a change in speed in step S308, it terminates the rotation of the motor shaft 82a in the closing direction (step S309). Furthermore, the control unit 20 calculates and stores the amount of gap between the opening / closing member 51 and the electric opening / closing device 80 based on the rotation angle in the state of step S305 and the rotation angle in the state of step S309.
[0101] The control unit 20 updates the target speed of the opening operation according to the stored gap amount (step S310). As a result, the control unit 20 exits the learning mode (step S311).
[0102] In this way, before the electric opening and closing operation of the opening and closing member 51, the control unit 20 rotates only the shaft (motor shaft 82a and transmission unit 81) to learn the amount of backlash and fitting play, and reflects the learning results in the target trajectory. In the normal operation mode after the learning mode, updated speed control is performed reflecting the learning results.
[0103] As explained above, for example, when the opening / closing member 51 is closed, the control unit 20 detects a first state in which the transmission unit 81 rotates in the positive direction and contacts the mounting portion 52 of the opening / closing member 51 (for example, the state shown in (c3-d3) in Figure 10(b)) and a second state in which the transmission unit 81 rotates in the positive direction and contacts the mounting portion 52 of the opening / closing member 51 (for example, the state shown in f3 in Figure 10(b)) based on the change in rotational speed. The control unit 20 learns the size of the gap based on the rotation angle in the first state and the rotation angle in the second state, and changes the timing of decelerating the transmission unit 81 when opening the opening / closing member 51 based on the learned size of the gap.
[0104] This allows the transmission unit 81 to be decelerated according to the amount of gap between the opening / closing member 51 and the electric opening / closing device 80. Therefore, for example, the transmission unit 81 can be decelerated at a more appropriate timing. For example, the bouncing of the opening / closing member 51 can be reduced, a decrease in quality can be suppressed, damage and abnormal noises can be suppressed, and smooth opening and closing operation can be achieved.
[0105] Figures 12(a) and 12(b) are schematic diagrams illustrating the operation of a toilet device according to an embodiment. These figures illustrate an example of a learning mode for learning the size of the gap (gap amount) between the opening / closing member 51 and the electric opening / closing device 80. Figure 12(b) is a graph showing the relationship between time and the torque of the motor shaft. For example, the torque on the vertical axis is the torque detected by the rotation detection means 90. Figure 12(a) is a schematic diagram illustrating the positional relationship between the mounting portion 52 (shaft hole) of the opening / closing member 51 and the motor shaft 82a and transmission portion 81 of the electric opening / closing device 80 in each of the states a4 to f4 shown in Figure 12(b).
[0106] This learning mode is performed by moving the motor shaft 82a and the transmission unit 81 within the gap between the opening / closing member 51 and the electric opening / closing device 80 while the opening / closing member 51 is in the closed position.
[0107] In state a4, the control unit 20 starts the learning mode and begins rotating the motor shaft 82a in the forward direction. As shown in Figure 12(a), in state a4, the transmission unit 81 is in contact with the opening side of the mounting portion 52 (shaft hole) of the opening / closing member 51. The gap between the transmission unit 81 and the mounting portion 52 is on the closing side of the transmission unit 81. Also, in state a4, a gap is created between the motor shaft 82a and the transmission unit 81 on the opening side of the motor shaft 82a.
[0108] Subsequently, the control unit 20 rotates the motor shaft 82a in the forward direction with, for example, a constant torque, as in state b4.
[0109] In state c4, the gap between the motor shaft 82a and the transmission unit 81 on the opening side is closed, and a gap is created on the closing side. State c4 is when the transmission unit 81 is colliding with the inner wall of the mounting unit 52 on the opening side due to the force received from the motor shaft 82a. Therefore, when state c3 is reached, the torque increases and exceeds a predetermined threshold. When the control unit 20 detects such a change in torque, it stops the rotation of the motor shaft 82a (states c3-d3).
[0110] Subsequently, the control unit 20 further rotates the motor shaft 82a in the negative direction with, for example, a constant torque, as in state d4. In state e4, the gap on the closing side between the motor shaft 82a and the transmission unit 81 is closed, and the motor shaft 82a applies a closing force to the transmission unit 81. Therefore, in state e4, the transmission unit 81 rotates in the closing direction.
[0111] In state f4, the gap on the closing side between the transmission unit 81 and the mounting unit 52 becomes blocked, and the transmission unit 81 collides with the inner wall of the mounting unit 52 on the closing side. As a result, when state f4 is reached, the torque decreases and falls below a predetermined threshold. When the control unit 20 detects such a change in torque, it stops the rotation of the motor shaft 82a.
[0112] The control unit 20 learns the amount of gap between the opening / closing member 51 and the electric opening / closing device 80 from the rotation angles detected by the rotation detection means 90 in the c4-d4 state (first state) and the rotation angle detected by the rotation detection means 90 in the f4 state (second state). Specifically, it learns the difference between the rotation angles in the c4-d4 state and the rotation angles in the f4 state as the amount corresponding to the gap.
[0113] The control unit 20 changes the timing at which it decelerates the transmission unit 81 when opening the opening / closing member 51, based on the learned gap amount.
[0114] Figure 13 is a flowchart illustrating the operation of the toilet device according to this embodiment. Figure 13 shows an example of the operation of the toilet device described in relation to Figures 12(a) and 12(b). When the control unit 20 starts the learning mode (step S401), it controls the electric opening and closing device 80 to rotate the motor shaft 82a in the opening direction while the opening and closing member 51 remains closed (step S402).
[0115] While the motor shaft 82a is rotating, the rotation detection means 90 measures the operating speed (rotational speed), torque, and rotational angle, and the control unit 20 acquires the measurement results from the rotation detection means 90 (step S403). The control unit 20 may adjust the operating speed as appropriate based on the measurement results from the rotation detection means 90.
[0116] When the gap on the opening side between the opening / closing member 51 and the electric opening / closing device 80 is filled and the transmission unit 81 comes into contact with the opening side of the mounting unit 52, the torque becomes greater than a predetermined threshold (step S404).
[0117] When the control unit 20 detects the change in speed in step S404, it terminates the rotation of the motor shaft 82a in the opening direction (step S405) and rotates the motor shaft 82a in the closing direction (step S406).
[0118] While the motor shaft 82a is rotating, the rotation detection means 90 measures the operating speed (rotational speed), torque, and rotational angle, and the control unit 20 acquires the measurement results from the rotation detection means 90 (step S407). The control unit 20 may adjust the operating speed as appropriate based on the measurement results from the rotation detection means 90.
[0119] When the gap on the closing side between the opening / closing member 51 and the electric opening / closing device 80 is filled and the transmission unit 81 comes into contact with the closing side of the mounting unit 52, the torque becomes smaller than a predetermined threshold (step S408).
[0120] When the control unit 20 detects a change in speed in step S408, it terminates the rotation of the motor shaft 82a in the closing direction (step S409). Furthermore, the control unit 20 calculates and stores the amount of gap between the opening / closing member 51 and the electric opening / closing device 80 based on the rotation angle in the state of step S405 and the rotation angle in the state of step S409.
[0121] The control unit 20 updates the target speed of the opening operation according to the stored gap amount (step S410). As a result, the control unit 20 terminates the learning mode (step S411).
[0122] In this way, before the electric opening and closing operation of the opening and closing member 51, the control unit 20 rotates only the shaft (motor shaft 82a and transmission unit 81) to learn the amount of backlash and fitting play, and reflects the learning results in the target trajectory. In the normal operation mode after the learning mode, updated speed control is performed reflecting the learning results.
[0123] As explained above, for example, the control unit 20 detects, based on the change in torque, a first state in which the transmission unit 81 rotates in the positive direction and contacts the mounting portion 52 of the opening / closing member 51 (for example, the state (c4-d4) shown in Figure 12(b)) and a second state in which the transmission unit 81 rotates in the positive direction and contacts the mounting portion 52 of the opening / closing member 51 (for example, the state f4 shown in Figure 12(b)). The control unit 20 learns the size of the gap based on the rotation angle in the first state and the rotation angle in the second state, and changes the timing of decelerating the transmission unit 81 when opening the opening / closing member 51 based on the learned size of the gap.
[0124] This allows the transmission unit 81 to be decelerated according to the amount of gap between the opening / closing member 51 and the electric opening / closing device 80. Therefore, for example, the transmission unit 81 can be decelerated at a more appropriate timing. For example, the bouncing of the opening / closing member 51 can be reduced to suppress a decrease in quality, prevent damage and abnormal noise, and achieve smooth opening and closing operation.
[0125] The control unit 20 controls the rotation speed of the transmission unit 81 by controlling the rotation speed of the motor 82 based on the learning results. The control unit 20 can change the rotation trajectory of the transmission unit 81 (relationship between rotation angle and rotation speed) so that the oscillation (e.g., bouncing) of the opening / closing member 51 is reduced, according to the learned load reversal angle or gap size. For example, the memory unit of the toilet device 100 stores a table of combinations of load reversal angle or gap size and rotation trajectory of the transmission unit 81 or motor shaft 82a, which are determined to reduce oscillation. The control unit 20 refers to this table and controls the rotation trajectory of the transmission unit 81 or motor shaft 82a so that it becomes a rotation trajectory corresponding to the learned load reversal angle or gap size. The table can be obtained, for example, by pre-measuring the relationship between the load reversal angle or gap size, the rotation trajectory, and the oscillation of the opening / closing member. However, it is not limited to this, and for example, the relationship between the load reversal angle or gap size, the rotation trajectory, and the oscillation of the opening / closing member may be measured at an appropriate timing and fed back.
[0126] Furthermore, depending on the specifications of the toilet equipment, for example, the rotational speed of the transmission unit 81 may be increased, decreased, the rotational angle at which the transmission unit 81 is decelerated may be decreased, or the rotational angle at which the transmission unit 81 is decelerated may be increased, depending on the learned load reversal angle or the size of the gap. In some cases, the transmission unit 81 may be decelerated at an earlier timing than the load reversal angle (a rotational angle smaller than the load reversal angle), or at a later timing than the load reversal angle (a rotational angle larger than the load reversal angle).
[0127] Embodiments of the present invention have been described above. However, the present invention is not limited to these descriptions. Modifications made by those skilled in the art to the above-described embodiments are also included within the scope of the present invention, as long as they retain the features of the present invention. For example, the shape, dimensions, materials, arrangement, and installation configuration of each element of the toilet device are not limited to those exemplified and can be modified as appropriate. Furthermore, the elements of each of the embodiments described above can be combined to the extent technically possible, and these combinations are also included within the scope of the present invention insofar as they include the features of the present invention. [Explanation of symbols]
[0128] 10 Casing 11 Toilet 20 Control Unit 30 toilet seats 50 toilet lid 51 Opening / closing member 52 Mounting part 80 Electric switchgear 81 Transmission section 82 Motor 82a Motor shaft 83 Gear Mechanism 84 Springs 85 cases 86 shaft 90 Rotation detection means 100 toilet equipment G1, G2 gap
Claims
1. A movable opening and closing member, An electric opening and closing device capable of electrically opening and closing the opening and closing member, comprising a motor and a transmission unit connected to the opening and closing member and transmitting the rotation of the motor to the opening and closing member, Rotation detection means capable of detecting at least one of the rotational speed of the transmission unit or the motor and the torque of the transmission unit or the motor, and the rotational angle of the transmission unit or the motor, A control unit measures the state of the opening / closing member based on at least one of the rotational speed and torque detected by the rotation detection means, and controls the rotational speed of the transmission unit based on the measurement result. Equipped with, The control unit performs learning control, In the learning control described above, the control unit measures the rotation angle when the rotation speed of the opening / closing member becomes greater than a speed threshold during the opening operation, and based on the measured rotation angle, changes the timing of decelerating the transmission unit when opening the opening / closing member, and performs speed control that reflects the change in the next opening / closing operation, making it a toilet device.
2. The toilet device according to claim 1, characterized in that the control unit measures the rotation angle when the rotation speed of the opening / closing member becomes greater than the speed threshold during the opening operation of the toilet device when the toilet device is powered on or initialized.
3. The toilet device according to claim 1 or 2, characterized in that the control unit measures the rotation angle when the rotation speed during the opening operation of the opening / closing member becomes greater than the speed threshold, within a range of 40° to 100° for the rotation angle of the transmission unit.
4. A movable opening and closing member, An electric opening and closing device capable of electrically opening and closing the opening and closing member, comprising a motor and a transmission unit connected to the opening and closing member and transmitting the rotation of the motor to the opening and closing member, Rotation detection means capable of detecting at least one of the rotational speed of the transmission unit or the motor and the torque of the transmission unit or the motor, and the rotational angle of the transmission unit or the motor, A control unit measures the state of the opening / closing member based on at least one of the rotational speed and torque detected by the rotation detection means, and controls the rotational speed of the transmission unit based on the measurement result. Equipped with, The control unit performs learning control, In the learning control described above, the control unit measures the rotation angle when the torque of the opening / closing member becomes smaller than a torque threshold during the opening operation, and based on the measured rotation angle, changes the timing of decelerating the transmission unit when opening the opening / closing member, and performs speed control that reflects the change in the next opening / closing operation, making it a toilet device.
5. The toilet device according to claim 4, characterized in that the control unit measures the rotation angle when the torque of the opening / closing member becomes smaller than the torque threshold during the opening operation of the toilet device when the toilet device is powered on or initialized.
6. The toilet device according to claim 4 or 5, characterized in that the control unit measures the rotation angle at which the torque during the opening operation of the opening / closing member becomes smaller than the torque threshold, within a range of 40° to 100° for the rotation angle of the transmission unit.
7. A movable opening and closing member, An electric opening and closing device capable of electrically opening and closing the opening and closing member, comprising a motor and a transmission unit connected to the opening and closing member and transmitting the rotation of the motor to the opening and closing member, Rotation detection means capable of detecting at least one of the rotational speed of the transmission unit or the motor and the torque of the transmission unit or the motor, and the rotational angle of the transmission unit or the motor, A control unit measures the state of the opening / closing member based on at least one of the rotational speed and torque detected by the rotation detection means, and controls the rotational speed of the transmission unit based on the measurement result. Equipped with, A gap is provided between the opening / closing member and the transmission part. The control unit performs learning control, In the learning control described above, when the opening / closing member is in the closed position, a first state is detected in which the transmission unit rotates in the positive direction and contacts the mounting portion of the opening / closing member, and a second state is detected in which the transmission unit rotates in the negative direction and contacts the mounting portion of the opening / closing member, based on a change in the rotational speed or torque. The toilet device is characterized in that the control unit measures the size of the gap based on the rotation angle in the first state and the rotation angle in the second state, changes the timing of decelerating the transmission unit when opening the opening / closing member based on the measured size of the gap, and performs speed control that reflects the change in the next opening / closing operation.