CN116256727A

CN116256727A - Lidar device, vehicle with a lidar device and cleaning unit for a lidar device

Info

Publication number: CN116256727A
Application number: CN202211571636.2A
Authority: CN
Inventors: A·赫格伊; B·巴林特; J·西蒙诺维奇; M·霍恩亚克; M·纳齐; P·迪克; P·科萨拉斯; Z·瓦尔加
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2021-12-09
Filing date: 2022-12-08
Publication date: 2023-06-13
Also published as: DE102021214030A1

Abstract

A lidar device (10) is proposed, comprising at least one lidar unit (12), at least one cover unit (14) covering the lidar unit (12), and a cleaning unit (16) having at least one wiper unit (18) for mechanically cleaning the cover unit (14), wherein the wiper unit (18) has at least two at least partially bendable strip elements (20, 22) which are connected by a plurality of flexibly deformable connecting elements (24) of the wiper unit (18) which are arranged at intervals along the longitudinal extension of the strip elements (20, 22).

Description

Lidar device, vehicle with a lidar device and cleaning unit for a lidar device

Technical Field

The invention relates to a lidar device, a vehicle having a lidar device and a cleaning unit for a lidar device.

Background

Different lidar devices have been proposed.

Disclosure of Invention

A lidar device is proposed, comprising at least one lidar unit, at least one covering unit covering the lidar unit, and a cleaning unit having at least one wiper unit for mechanically cleaning the covering unit, wherein the wiper unit has at least two at least partially bendable strip elements, which are connected by a plurality of connecting elements of the wiper unit, which are arranged at intervals along the longitudinal extension of the strip elements and are flexibly deformable.

The lidar device is in particular at least part of at least one laser radar system, in particular a lidar sensor assembly, preferably at least one sub-assembly. The lidar device can in particular also comprise the entire lidar system, in particular the entire lidar sensor-structure assembly. Lidar units are provided, for example, on vehicles for in particular autonomous driving environment detection, on construction sites for measuring buildings, for scanning 3D contours and/or in laboratories for research purposes. The lidar unit comprises at least one lidar sensor element. In particular, the lidar device is provided for detecting and/or measuring objects, in particular by means of at least one lidar sensor element. The laser radar device is preferably provided for application to a vehicle, in particular it can be part of the vehicle. It is also conceivable that the lidar device can be attached to the vehicle. For example, the lidar device can be attached to the vehicle in addition to the already existing lidar system of the vehicle. A lidar device, in particular as part of a lidar system, is preferably provided for detecting objects in the surroundings, in particular of a vehicle. The lidar device is preferably coupled to the vehicle for detecting objects, preferably in a roof region, a front region and/or a rear region of the vehicle. In particular, the vehicle can have a plurality of lidar devices. "set-up" should be understood as specifically set-up, specifically designed and/or specifically equipped. By "an object is provided for a specific function" it is to be understood that the object fulfills and/or performs the specific function in at least one use state and/or operating state.

The vehicle can be configured as a road vehicle, for example a passenger car or a truck or the like, as a rail vehicle, for example a train, a motor car, a tram or the like, or as a watercraft, for example a ship, a boat or the like. Furthermore, it is conceivable for the vehicle to be configured as a cleaning vehicle, in particular as a cleaning robot, for example a wiping robot and/or a dust-collecting robot.

The covering unit covers the lidar unit in particular outwards. Preferably, the cover unit has at least one cover element. The covering element is preferably constructed transparent. It is conceivable that the covering element is at least partially and in particular at least substantially completely made of glass or the like. The covering element is configured as a window pane or the like. "at least substantially completely" is understood to mean at least 50%, preferably at least 75% and particularly preferably at least 90% of the total volume and/or the total weight of the object, in particular of the spring element. Preferably, the cover element is at least partially and particularly preferably at least substantially completely composed of plastic. The covering unit is preferably provided for protecting the lidar unit from environmental influences, such as rain, in particular rain, snow and/or ice, and/or from dust and/or dirt.

The wiper unit preferably has at least one wiper blade. The wiper blade comprises in particular at least one holding rail. The wiper blade preferably has at least one wiper strip, which is arranged in particular releasably on the holding rail. The wiper strip is configured, for example, as a wiper rubber or the like. The cover unit, in particular the cover element, preferably has a surface facing the wiper unit, in particular the wiper blade. The surface is preferably planar in configuration. Alternatively, however, a curved surface configuration is also conceivable.

The wiper unit is provided in particular for cleaning a cover unit, preferably a cover element, mechanically, more particularly by means of mechanical components. In particular, the mechanical components are configured differently from air and/or water. The cleaning unit can be provided for additionally cleaning the cover unit, in particular the cover element, by means of a cleaning fluid. It is conceivable for the cleaning unit to have at least one, and preferably a plurality of fluid nozzles, which are provided for spraying cleaning fluid onto the cover unit, preferably onto the cover element, in the operating state. For example, the fluid nozzle can be connected to a fluid supply unit already present in the vehicle. It is furthermore conceivable for the cleaning unit to have a separate fluid supply unit, which comprises, for example, at least one fluid supply line, at least one fluid reservoir and at least one fluid pump. For example, the fluid nozzle can spray cleaning fluid onto the cover unit, preferably onto the cover element, only when required. For this purpose, for example, a coupling to at least one rain sensor present at the vehicle can be provided.

In particular at least one of the strip elements is arranged between the cover unit, preferably the cover element, and the further strip element of the strip element. In particular, the wiper unit is designed such that a torsional movement between the strip elements can be envisaged. Torsional movement is preferably conceivable between the connecting element and the strap element. Preferably, the connecting element is at least partially of a curved elastic construction. It is conceivable that the strap elements can be pushed relative to each other. Preferably the strap elements are arranged opposite each other. Preferably the connecting elements are fastened at opposite inner sides of the strap element. In particular, the strip elements are preferably fixedly connected to one another next to one another in the end region of the wiper unit at an external connection point. The outer connection point is preferably arranged in front of the connection element, in particular along the longitudinal extension of the strip element, in a direction seen from the outside inwards. Preferably, the strap elements are connected to each other at the outer connection points in such a way that the strap elements form a wedge shape.

The spacing between two adjacent connecting elements is preferably less than 50 mm, preferably less than 30 mm. It is conceivable that at least one of the strap elements is constructed in one piece or in two pieces. It is conceivable for the connecting element to be constructed in one piece by means of an inner part, wherein the inner part is connected to the strap element by means of a point connection or a surface connection. For example, the inner part can be a curved metal or plastic plate, in particular in the form of a zigzag. Alternatively, it is also conceivable for the strap element to be of integral design with the connecting element. By "integrally" is understood at least a material-locking connection, for example by means of a welding process, an adhesive process, an injection molding process and/or other processes which are expedient to the skilled person, and/or by means of an advantageous shaping into one piece, for example by means of a production from a cast part and/or by means of a production in a single-component or multicomponent injection molding process and advantageously from a single blank.

In particular the strip element and the connecting element form part of a wiper blade. Preferably, the strap element and the connecting element form a holding rail. In particular, the wiper strip is arranged at the strip element. The wiper strip is preferably fastened at the strip element. The wiper strip is preferably fastened at the strip element on the side facing away from the connecting element. The wiper strip is preferably arranged releasably, in particular in a nondestructive manner, on the strip element. Alternatively, it is also conceivable for the wiper strip to be formed integrally with the strip element, in particular from the strip element.

The wiper unit, in particular the wiper blade, is preferably designed such that it is constructed according to the so-called fin-line principle. The fin line principle is derived in particular from the structure of the fin of a defined fish. According to the fin-line principle, it is preferred that at least one of the strip elements, in particular the strip element facing at least the cover unit, is arched in a direction arranged opposite to the pressure when the pressure is present on at least one of the strip elements, and in particular does not deviate in the direction of the pressure.

Alternatively, it is also conceivable for the cleaning unit to have a tensile force generating device and/or a pressure generating device. The tension generating means are connected to at least one of the strap elements in order to generate a tension force towards the at least one of the strap elements, in particular at least the strap element of the strap elements facing the cover unit, preferably along the longitudinal extension of the at least one strap element. The tension forces which can be generated at the at least one strap element by the tension generating unit can be transmitted to the further strap element preferably by the connecting element. The tension generating device can, for example, have at least one actuator for generating a length contraction, which is in particular arranged such that the length contraction acts on the strip element. The pressure generating means are connected to the further strip element in order to generate a pressure acting on the further strip element, preferably in the direction of the longitudinal extension of the further strip element. The pressure which can be generated at the further strip element by means of the pressure generating device can be transmitted to the strip element, in particular via the connecting element. The pressure generating means for example comprise at least one actuator for generating a length extension, which actuator is preferably arranged such that the length extension acts on the further strip element. It is also conceivable that the cleaning unit comprises a plurality of actuators for generating a length contraction and/or a length extension, which actuators are arranged along the longitudinal extension of the strip element. The cleaning unit comprises, for example, at least one control or regulating unit for controlling or regulating the pressure generating means, in particular the pressure generating means and/or the actuator of the tension generating means, in particular the actuator of the tension generating means, by means of an electrical signal. The control or regulation unit comprises, in particular, at least one processor and a memory element, and an operating program stored on the memory element. The storage element is preferably configured as a digital storage medium, such as a hard disk or the like.

For example, the structural information for the cover unit, in particular for the surface of the cover element, is stored on a memory element of the control or regulating unit. The structural information comprises, for example, information about the convex and/or concave curvature position of the surface of the cover unit, preferably of the cover element. Alternatively or additionally, it is also conceivable for the cleaning unit to comprise at least one sensor for detecting structural information, preferably a curvature, of the surface of the covering unit, in particular of the covering element, wherein the control or regulating unit preferably controls or regulates the pressure generating device and/or the tension generating device as a function of the sensor signals detected by means of the sensor.

A particularly good adaptation of the irregularities of the cleaning unit to the covering unit can advantageously be achieved by the embodiment according to the invention. Advantageously, the cleaning unit can be adapted to the curved design of the cover unit for particularly efficient cleaning of the cover unit. A particularly efficient cleaning of the cover unit can advantageously be achieved. Advantageously, the adaptation of the cleaning unit to the covering unit can be achieved to the greatest extent autonomously. A particularly precise adaptation of the wiper unit to the cover unit can advantageously be achieved with a simultaneously particularly high user comfort.

Furthermore, it is proposed that the connecting element be made of an elastic material. For example, the connecting element is composed of a material from the group Ethylene Propylene Diene Monomer (EPDM) or of a thermoplastic elastomer (TPE). It is conceivable that the connecting element and the strap element are composed of the same material or of different materials. It is also conceivable for the strap element to be formed in one piece with the connecting element, in particular with or without openings, as a rubber structure. For example, the connecting element has an elastic modulus of 10 kN/mm or less, in particular 0.0001 kN/mm to 1 kN/mm, in particular 0.01 kN to 50N/mm. The connecting element particularly preferably has an elastic modulus of 1000 MPa or less, for example from 2 MPa to 500 MPa, if it is constructed integrally with the belt element as a rubber structure, wherein other elastic moduli which are of interest to the skilled person are also conceivable instead. It is furthermore conceivable for the wiper unit to comprise a skeleton structure, wherein the skeleton structure is surrounded by a rubber structure. For example, the bone structure is composed of plastic, polyoxymethylene, polyamide, fiber composite, metal, steel or the like.

Furthermore, it is proposed that the cleaning unit comprises at least one transport unit for driving the wiper unit. The transport unit is provided in particular for moving the wiper unit on the cover unit, preferably the cover element, for cleaning the cover unit, in particular the cover element, more particularly in a translational, preferably linear or curved, manner. The transport unit preferably comprises a drive unit, for example an electric motor or the like, in order to drive the wiper unit for its movement in the cleaning state, in particular a wiping movement. In particular, the wiper unit mechanically cleans the cover unit in the cleaning state of the wiper unit. In the cleaning state, the transport unit preferably moves the wiper unit in a translatory, preferably linear and in particular bidirectional manner over the cover unit, in particular over the cover element, for cleaning the cover element. The transport unit particularly preferably moves the wiper unit in the cleaning state at least substantially over the entire surface along the cover unit, in particular the cover element, preferably for the entire mechanical cleaning of the cover unit, in particular the cover element. "at least substantially overall" is to be understood in particular to mean in the range of at least 50%, preferably at least 75% and particularly preferably at least 90% of the total surface area of the object, in particular of the surface of the covering element. The cleaning unit preferably has a control or regulating unit, which is used at least for controlling or regulating the transport unit, in particular as already mentioned above. The cleaning unit, in particular the transport unit, for example, comprises at least one guide unit for guiding the movement of the wiper unit during the wiping movement, in particular in the cleaning state. The guide unit comprises, for example, at least one guide rail along which the wiper unit can move. The guide rail preferably has a shape corresponding to the surface of the cover unit, preferably of the cover element, in particular of the cover element. It is particularly preferred that the guide track runs at least substantially parallel to the surface of the cover element. By "substantially parallel" is understood an orientation of the direction relative to the reference direction, in particular in a plane, wherein the direction has a deviation of in particular less than 8 °, advantageously less than 5 °, and particularly advantageously less than 2 °, relative to the reference direction. The guide rail is preferably constructed straight along its longitudinal extension. The main extension axis of the guide rail extends in particular at least substantially parallel to the main extension plane of the surface of the cover unit, preferably of the cover element. The term "main axis of extension" of an object is understood here to mean, in particular, an axis which runs parallel to the longitudinal edges of a smallest geometrical cuboid which just also completely encloses the object. A "main extension plane" of a construction element or component can be understood as a plane which extends parallel to the largest side of an imaginary cuboid which just completely encloses the construction element as well as small as possible and in particular extends through the middle point of the cuboid. Alternatively, it is conceivable for the guide rail to be configured in a curved manner along its longitudinal extension. The guide unit preferably comprises at least one guide slide, which is arranged in particular to be supported at the guide unit. The guide slide is preferably movable along the guide rail. The wiper unit is fastened in particular at the guide slide. Preferably, the wiper unit can be moved along the guide rail by a guide slider. The wiper unit can advantageously be adapted to the cover unit for particularly efficient cleaning when it is moved over the cover unit to be cleaned.

Furthermore, it is proposed that the transport unit drives the strap element for translational movement along the cover unit. It is conceivable that the translational movement of the strap element takes place linearly or curvilinearly. Preferably the transport unit drives the strip element for translational movement, which movement is at least substantially perpendicular to the longitudinal extension of the strip element. Advantageously, a single-sided, in particular punctiform, loading of the strip element can be avoided. A particularly uniform cleaning of the cover unit can advantageously be achieved.

Furthermore, it is proposed that the strap element is connected to the transport unit on one side. The strip element is preferably connected to the transport unit, as seen along the longitudinal extension of the strip element, at the ends in each case, in particular by means of a wiper arm of the wiper unit. The wiper blade is fastened in particular at the wiper arm. It is conceivable for the wiper blade to be fastened releasably, in particular with a nondestructive fastening, to the wiper arm or to be constructed integrally with the wiper arm. The respective further end of the strap element is preferably not connected to the transport unit as seen along the longitudinal extension of the strap element. The respective further end of the strap element is preferably arranged on a side of the strap element facing away from the respective end of the strap element. The respective ends of the strip element, at which the strip element is connected to the transport unit, are located in particular on the sides of the strip element facing away from the end region of the wiper unit, in which the strip elements are preferably fixedly connected to one another next to one another. The respective further end of the strip element is preferably located on the side of the end region of the wiper unit, in which the strip elements are preferably fixedly connected to one another next to one another.

It is furthermore proposed that, viewed from the connecting side of the strip element with the transport unit, the respective maximum longitudinal extension of the connecting element is reduced. In particular, the maximum longitudinal extension of the connecting element is reduced, seen from the respective end of the strip element to the respective further end of the strip element. It is advantageously possible to realize a single-sided connection of the strap element which can be moved particularly stably for particularly efficient cleaning of the cover unit.

It is furthermore proposed that the strap element is bent along its longitudinal extension in a state spaced apart from the cover unit. The strip element is preferably bent along its longitudinal extension in the state of the wiper strip, in particular of the wiper blade, spaced apart from the cover unit. It is conceivable, in particular with respect to the further strip element, for the strip element to be configured convexly or concavely in the state of the wiper blade, in particular of the wiper strip, of the strip element and/or of the further strip element spaced apart from the covering unit. It is conceivable, in particular with respect to the strip element, for the further strip element to be configured convexly or concavely in the state of the wiper blade, in particular of the wiper strip, of the strip element and/or of the further strip element spaced apart from the covering unit. The wiper unit can advantageously be arranged particularly precisely at the cover unit for cleaning the cover unit.

It is furthermore proposed that the strip element is arranged laterally with respect to the cover unit in the rest position, wherein the cleaning unit comprises a guide unit, in particular the one already mentioned above, for guiding the movement of the wiper unit, wherein the guide unit has at least one guide element for guiding the strip element onto the cover unit. In particular, the strip element, preferably the wiper blade, preferably at least the wiper strip, is arranged spaced apart from the surface of the cover unit, in particular of the cover element, in the rest position. The strap element is preferably arranged laterally in the rest position relative to the cover element, in particular the surface of the cover element. In particular, the cover unit is not cleaned by the wiper unit in the rest position of the strip element. The guide element is preferably configured as a ramp or the like. The guide element is preferably arranged laterally at the cover unit, in particular at the cover element. The guide element, which is preferably configured as a ramp, is arranged relative to the cover unit in such a way that the ramp rises in the direction of the cover unit. In particular, the guide element laterally abuts against the cover element. The guide element, which is in particular preferably configured as a ramp, is arranged flush with the cover element, in particular with the surface of the cover element. The guide element is preferably provided for guiding the movement of the strip element from the rest position onto the covering unit, in particular onto the surface of the covering element. A particularly gentle operation of the wiper unit is advantageously possible. It is advantageously possible to provide a particularly efficient and at the same time durable cleaning unit for a lidar device.

Furthermore, a vehicle, in particular the vehicle already mentioned above, having a lidar device according to the invention is proposed. The lidar device is preferably arranged at least partially at the outside of the vehicle. The lidar device is arranged, for example, on the roof of the vehicle, at a front region of the vehicle, in particular at the hood of the vehicle, or at other locations of the vehicle which are of interest to the skilled person. It is conceivable for the lidar device to be integrated into a vehicle, in particular into the roof of the vehicle. It is also conceivable to arrange the lidar device releasably, preferably with no damage, on the vehicle, in particular on the roof of the vehicle. It would be advantageous to be able to provide a vehicle with particularly reliable and durable environmental detection.

Furthermore, a cleaning unit, in particular for a lidar device according to the invention, is proposed, which has been mentioned above. It is conceivable that the cleaning unit is configured as an attachable unit for the lidar device. The cleaning unit can be installed, for example, at a commercially available lidar device. It is advantageously possible to provide a cleaning unit that is particularly durable and efficient.

The lidar device according to the invention, the vehicle according to the invention and/or the cleaning unit according to the invention should not be limited to the use and embodiments described above. In particular, the lidar device according to the invention, the vehicle according to the invention and/or the cleaning unit according to the invention can have a number different from the number mentioned herein of the individual elements, components and units in order to satisfy the functional manner described herein. Furthermore, for the value ranges specified in the present disclosure, values within the mentioned limits should also be regarded as being disclosed and can be used arbitrarily.

Drawings

Further advantages result from the following description of the drawings. Embodiments of the invention are illustrated in the accompanying drawings. The figures, description and claims include a number of combined features. The skilled person will also consider these features individually and combine them into a meaningful further combination in a suitable way.

Wherein:

figure 1 shows a vehicle according to the invention with a lidar device according to the invention in a simplified perspective view,

fig. 2 shows a lidar device in a schematic side view and

fig. 3 shows a cross-sectional view of the lidar device along the line A-A from fig. 2.

Detailed Description

Fig. 1 shows a vehicle 42. The vehicle 42 is configured as a road vehicle, in particular as a passenger vehicle. Alternatively, it is also conceivable for the vehicle 42 to be configured as a truck, as a rail vehicle, such as, for example, a train, a motor vehicle, a tram, etc., or as a watercraft, such as, for example, a ship, a boat, etc. Furthermore, it is alternatively conceivable for the vehicle 42 to be configured as a cleaning vehicle, in particular as a cleaning robot, for example a scraping robot and/or a dust-collecting robot.

The vehicle 42 has at least one lidar device 10. The lidar device 10 is connected to a vehicle 42. The lidar device 10 is at least partially arranged at the outside of the vehicle 42. The lidar device 10 is arranged on a vehicle roof 36 of a vehicle 42. Alternatively, it is also conceivable for the lidar device 10 to be arranged at a further location of the vehicle 42 which is of interest to the skilled person. The lidar device 10 is integrated into a vehicle 42, in particular into a vehicle roof 36. Alternatively, it is conceivable for the lidar device 10 to be arranged releasably, preferably vandalless, on the vehicle 42, in particular on the vehicle roof 36.

Lidar device 10 includes at least one lidar unit 12. Lidar device 10 includes at least one covering unit 14 that covers lidar unit 12. The lidar unit 12 is provided for environmental detection, in particular for autonomous driving. Lidar unit 12 includes, for example, at least one lidar sensor element (not shown here). The lidar device 10 is more precisely provided for detecting and/or measuring objects in the environment, in particular of the vehicle 42, in particular by means of at least one lidar sensor element.

Cover unit 14 covers lidar unit 12 outwardly. The cover unit 14 comprises at least one cover element 38. The covering element 38 is configured as a window pane or the like. The cover element 38 is constructed transparently. It is conceivable that the cover element 38 is constructed at least partially and in particular at least substantially completely from glass or the like, or at least partially and particularly preferably at least substantially completely from plastic. The covering unit 14 is provided for protecting the lidar unit 12 from environmental influences, such as rain, in particular rain, snow and/or ice, from dirt and/or dust etc.

The lidar device 10 comprises at least one cleaning unit 16 (see also fig. 2). The cleaning unit 16 comprises at least one wiper unit 18 for mechanically cleaning the cover unit 14. The wiper unit 18 is provided for mechanically, more precisely, in particular by means of mechanical components, cleaning the cover unit 14, in particular the cover element 38. The mechanical components are configured differently from air and/or water. The cleaning unit 16 can be provided for additionally cleaning the cover unit 14, in particular the cover element 38, by means of a cleaning fluid. It is conceivable that the cleaning unit 16 has at least one and preferably a plurality of fluid nozzles, which are provided for spraying cleaning fluid onto the cover unit 14, preferably the cover element 38, in the operating state. For example, the fluid nozzle can be connected to a fluid supply unit already present in the vehicle 42. It is furthermore conceivable for the cleaning unit 16 to have a separate fluid supply unit, which comprises, for example, at least one fluid supply line, at least one fluid reservoir and at least one fluid pump. For example, the fluid nozzle can spray cleaning fluid onto the cover unit 14, in particular the cover element 38, only when required. For this purpose, a coupling to at least one rain sensor present at the vehicle 42 can be provided, for example.

The wiper unit 18 has at least one wiper arm 44 and a wiper blade 46. The wiper blade 46 includes at least one retaining rail 48. The wiper blade 46 comprises at least one wiper strip 30 which is arranged in particular releasably on the holding rail 48. The wiper strip 30 is constructed as a wiper rubber. The cover unit 14, in particular the cover element 38, has a surface 40 facing the wiper unit 18, in particular the wiper blade 46. The surface 40 is configured flat. Alternatively, however, it is also conceivable for the surface 40 to be curved.

The cleaning unit 16 has a transport unit 26 for driving the wiper unit 18. The transport unit 26 is provided for the purpose of moving the wiper unit 18 on the cover unit 14, preferably on the cover element 38, in particular in a translational manner, for cleaning the cover unit 14, in particular the cover element 38. The transport unit 26 comprises at least one drive unit (not shown here), for example an electric motor or the like, in order to drive the wiper unit 18 into a movement, in particular a wiping movement. The transport unit 26 moves the wiper unit 18 back and forth between the two return points. The two return points are arranged at positions which correspond to the two end regions of the cover unit 14, in particular of the cover element 38, which face away from one another. The cleaning unit 16 has at least a control or regulating unit (not shown here) for controlling or regulating the transport unit 26.

The cleaning unit 16, in particular the transport unit 26, comprises at least one guide unit 32 for guiding the movement of the wiper unit 18 during the wiping movement. The guide unit 32 comprises at least one guide rail 50 along which the wiper unit 18 is movable. The guide rail 50 has a shape corresponding to the cover unit 14, preferably the cover element 38, in particular the surface 40 of the cover element 38. The guide track 50 runs at least substantially parallel to the surface 40 of the cover element 38. The guide rail 50 is constructed straight along its longitudinal extension. The main extension axis of the guide rail 50 extends at least substantially parallel to the main extension plane of the cover unit 14, preferably the surface 40 of the cover element 38. Alternatively, it is conceivable for the guide rail 50 to be configured in a curved manner along its longitudinal extension.

The guide unit 32 comprises at least one guide slide 52, which is arranged to be supported at the guide track 50. The guide slider 52 is movable along the guide rail 50. The wiper unit 18 is fastened at the guide slider 52. The wiper unit 18 can be moved along the guide rail 50 by a guide slider 52.

The wiper unit 18 has at least two at least partially

bendable strip elements

20, 22. The two

strap elements

20, 22 are connected by a plurality of flexibly deformable connecting elements 24 arranged at intervals along the longitudinal extension of the

strap elements

20, 22. The wiper unit 18 includes a connecting member 24. The strip element 20 of the

strip elements

20, 22 is arranged between the cover unit 14, in particular the cover element 38, and the further strip element 22 of the

strip elements

20, 22. The wiper unit 18 is constructed such that a torsion movement between the

strip elements

20, 22 can be envisaged. Torsional movement is preferably conceivable between the connecting element 24 and the strap element 20. The connecting element 24 is at least partially of flexural elastic construction. It is conceivable that the

strap elements

20, 22 can be pushed relative to each other. The

strap elements

20, 22 are arranged opposite each other. The connecting elements 24 are fastened at opposite inner sides of the

strap elements

20, 22. The

strip elements

20, 22 are preferably fixedly connected to one another next to one another in an outer connection point 54 in an end region 56 of the wiper unit 18. The outer connection point 54 is arranged in front of the connection element 24, in particular along the longitudinal extension of the

strap elements

20, 22, preferably in a direction seen from the outside inwards. The

strap elements

20, 22 are connected to each other at an external connection point 54 in such a way that the

strap elements

20, 22 form a wedge shape.

The distance between two adjacent connecting elements 24 is in particular less than 50 mm, preferably less than 30 mm. The

strip elements

20, 22 and the connecting element 24 form part of a wiper blade 46. The

strap elements

20, 22 and the connecting element 24 constitute a holding rail 48. The wiper strip 30 is arranged at the

strip elements

20, 22. The wiper strip 30 is fastened at the strip element 20. The wiper strip 30 is fastened at the strip element 20 on the side facing away from the connecting element 24. The wiper strip 30 is arranged releasably, in particular in a nondestructive manner, on the strip element 20. Alternatively, it is also conceivable for the wiper strip 30 to be constructed integrally with the strip element 20. The wiper blade 46 comprises at least one cover 64, which in the assembled state at least partially encloses the

strip element

20, 22 and/or the connecting element 24. Cover 64 covers

strap members

20, 22 and/or connecting member 24 outwardly.

The wiper unit 18, in particular the wiper blade 46, is designed such that it is constructed according to the so-called fin-line principle. The fin line principle is derived in particular from the structure of the fin of a defined fish. According to the fin-line principle, at least one of the

strip elements

20, 22, in particular at least the strip element 20, is arched in a direction opposite to the pressure when a pressure is applied to the at least one strip element 20, and in particular does not deviate in the direction of the pressure.

The connecting element 24 is composed of an elastic material. For example, the connecting element 24 is composed of a material from the group Ethylene Propylene Diene Monomer (EPDM) or of a thermoplastic elastomer (TPE). The

strap elements

20, 22 are integrally constructed with the connecting element 24. The

strap elements

20, 22 and the connecting element 24 are constructed as a rubber structure, in particular with openings 62. The connecting element 24, in the case of a rubber structure formed integrally with the

belt elements

20, 22, has an elastic modulus of 1000 MPa or less, for example from 2 MPa to 500 MPa, wherein other elastic moduli which are of interest to the skilled person are also conceivable instead. For example, in rubber constructions, a pressure elasticity of 30 to 60 Shore A can also be provided.

It is additionally conceivable for the wiper unit 18 to comprise a skeleton structure, wherein the skeleton structure is surrounded by a rubber structure. For example, the bone structure is composed of plastic, polyoxymethylene, polyamide, fiber composite, metal, steel or the like.

The transport unit 26 drives the

strap elements

20, 22 for translational movement along the cover unit 14. The translational movement of the

strap elements

20, 22 proceeds linearly. Alternatively, it is also conceivable, in particular in the case of a curved surface 40 of the curved cover unit 14, in particular of the cover element 38, for the translational movement of the

strap elements

20, 22 to take place in a curved manner. Preferably, the transport unit 26 drives the

strap elements

20, 22 for translational movement, which is at least substantially perpendicular to the longitudinal extension of the

strap elements

20, 22.

The

strap elements

20, 22 are connected to the transport unit 26 on one side. The

strip elements

20, 22 are each connected at the ends 58 to the transport unit 26, in particular by means of the wiper arm 44, as seen along the longitudinal extension of the

strip elements

20, 22. The wiper blade 46 is fastened at the wiper arm 44. It is conceivable that the wiper blade 46 is fastened releasably, in particular in a nondestructive manner, to the wiper arm 44 or is constructed integrally with the wiper arm 44. The respective further ends 60 of the

strap elements

20, 22 are not connected to the transport unit 26 as seen along the longitudinal extension of the

strap elements

20, 22. The respective further end 60 of the

strap element

20, 22 is preferably arranged on the side of the

strap element

20, 22 facing away from the respective end 58 of the

strap element

20, 22. The respective ends 60 of the

strip elements

20, 22, at which the

strip elements

20, 22 are connected to the transport unit 26, are located on the sides of the

strip elements

20, 22 facing away from the end region 56 of the wiper unit 18, in which the

strip elements

20, 22 are preferably fixedly connected to one another next to one another. The respective further end 60 of the

strip element

20, 22 is located on the part of the end region 56 of the wiper unit 18, in which the

strip elements

20, 22 are preferably fixedly connected to one another next to one another.

The respective maximum longitudinal extension of the connecting element 24 is reduced, seen from the connecting side 28 of the

strap elements

20, 22 with the transport unit 26. In particular, the maximum longitudinal extension of the connecting element 24 decreases as seen from the respective end 58 of the

strap element

20, 22 to the respective further end 60 of the

strap element

20, 22.

The

strap elements

20, 22 are bent along their longitudinal extension in a state spaced apart from the cover unit 14. The

strip elements

20, 22 are bent along their longitudinal extension in the state of the wiper strip 30, in particular of the wiper blade 46, spaced apart from the cover unit 14. It is conceivable that the strip element 20 is configured in a convex or concave manner, in particular with respect to the further strip element 22, in a state of the wiper blade 46, in particular of the wiper strip 30, of the strip element 20 and/or of the further strip element 22, which is spaced apart from the cover unit 14. It is conceivable that the further strip element 22 is configured convexly or concavely, in particular viewed with respect to the strip element 20, in a state of the wiper blade 46, in particular of the wiper strip 30, of the strip element 20 and/or of the further strip element 22, spaced apart from the cover unit 14.

The

strap elements

20, 22 are arranged laterally with respect to the cover unit 14 in the rest position. The guiding unit 32 comprises at least one guiding element 34 for guiding the

strap elements

20, 22 onto the cover unit 14 (see fig. 3). The

strap elements

20, 22 are arranged laterally in the rest position relative to the cover element 38, in particular the surface 40 of the cover element 38. The

strip elements

20, 22, preferably the wiper blade 46, preferably at least the wiper strip 30, are arranged at a distance from the surface 40 of the cover unit 14, in particular the cover element 38, in the rest position. The cover unit 14 is not cleaned by the wiper unit 18 in the rest position of the

strip elements

20, 22. The guide element 34 is configured as a ramp or the like. The guide element 34 is arranged laterally at the cover unit 14, in particular at the cover element 38. The guide element 34 is arranged relative to the cover unit 14 such that the ramp rises in the direction of the cover unit 14. The guide element 34 abuts laterally against the cover element 38. It is also conceivable for the guide element 34 to be arranged flush with the cover element 38, in particular with the surface 40 of the cover element 38. The guide element 34 is provided for guiding the movement of the

strap elements

20, 22 from the rest position onto the cover unit 14, in particular onto the surface 40.

Claims

1. Lidar device (10) having at least one lidar unit (12), at least one cover unit (14) covering the lidar unit (12), and a cleaning unit (16) having at least one wiper unit (18) for mechanically cleaning the cover unit (14), wherein the wiper unit (18) has at least two at least partially bendable strip elements (20, 22) which are connected by a plurality of flexibly deformable connecting elements (24) of the wiper unit (18) which are arranged at intervals along the longitudinal extension of the strip elements (20, 22).

2. The lidar device (10) according to claim 1, wherein the connecting element (24) is composed of an elastic material.

3. Lidar device (10) according to claim 1 or 2, characterized in that the cleaning unit (16) comprises at least one transport unit (26) for driving the wiper unit (18).

4. A lidar device (10) according to claim 3, characterized in that the transport unit (26) drives the strip element (20, 22) for translational movement along the covering unit (14).

5. Lidar device (10) according to claim 3 or 4, characterized in that the strap element (20, 22) is connected to the transport unit (26) on one side.

6. Lidar device (10) according to at least claim 5, characterized in that the respective maximum longitudinal extension of the connecting element (24) decreases, seen from the connecting side (28) of the strip element (20, 22) with the transport unit (26).

7. Lidar device (10) according to any of the preceding claims, characterized in that the strip element (20, 22) is bent along its longitudinal extension in a state spaced apart from the cover unit (14).

8. Lidar device (10) according to any of the preceding claims, characterized in that the strip element (20, 22) is arranged laterally with respect to the covering unit (14) in a rest position, wherein the cleaning unit (16) comprises a guiding unit (32) for guiding the movement of the wiper unit (18), wherein the guiding unit (32) has at least one guiding element (34) for guiding the strip element (20, 22) onto the covering unit (14).

9. Vehicle (42) with a lidar device (10) according to any of the preceding claims.

10. Cleaning unit (16) for a lidar device (10) according to any of claims 1 to 8.