CN116265299A

CN116265299A - Lidar device, vehicle with a lidar device and cleaning unit for a lidar device

Info

Publication number: CN116265299A
Application number: CN202211612718.7A
Authority: CN
Inventors: M·朔伊布勒; G·萨博; J·西蒙诺维奇; M·霍恩亚克; P·迪克; Z·哲涅吕
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2021-12-16
Filing date: 2022-12-15
Publication date: 2023-06-20
Also published as: DE102021214532A1

Abstract

The invention relates to a lidar device (10 a;10 b) having: at least one lidar unit (12 a;12 b); at least one covering unit (14 a;14 b) covering the lidar unit (12 a;12 b); and a cleaning unit (16 a;16 b) having at least one wiper unit (18 a;18 b) for mechanically cleaning the cover unit (14 a;14 b), wherein the cleaning unit (16 a;16 b) comprises at least one lifting unit (20 a;20 b) for lifting the wiper unit (18 a;18 b) from the cover unit (14 a;14 b) in at least one operating state.

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 with a lidar device and a cleaning unit for a lidar device.

Background

Various lidar devices have been proposed.

Disclosure of Invention

A lidar device is proposed, which has: at least one lidar unit; at least one covering unit covering the lidar unit; and a cleaning unit having at least one wiper unit to mechanically clean the cover unit, wherein the cleaning unit includes at least one lifting unit to lift the wiper unit from the cover unit in at least one operating state.

The lidar device is in particular at least one lidar system, in particular at least part of a lidar sensor structural component, preferably at least one sub-structural component. 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, at vehicles for detecting the surroundings, in particular for autonomous driving, at sites for measuring buildings, scanning 3D contours and/or in laboratories for research purposes. The lidar unit comprises at least one lidar sensor element. The lidar device is more precisely provided in particular for detecting and/or measuring objects, in particular by means of at least one lidar sensor element. The lidar device is preferably provided for use at a vehicle, which can in particular be part of the vehicle. It is furthermore conceivable that the lidar device can be installed at the vehicle. In addition to the existing lidar systems of the vehicle, the lidar device can also be installed at the vehicle, for example. The lidar device is preferably provided, in particular as part of a lidar system, for detecting objects, in particular in the surroundings of the vehicle. The lidar device is preferably coupled to the vehicle for detecting objects, preferably in the roof region, in the front region and/or in the rear region of the vehicle. The vehicle can in particular have a plurality of lidar devices.

The vehicle can be configured as a road vehicle, for example as a private car or a truck or the like, as a rail vehicle, for example as a train, a motor car, a subway or the like, or as a water vehicle, for example as a ship, a boat or the like. It is furthermore conceivable for the vehicle to be configured as a cleaning vehicle, in particular as a cleaning robot, for example as a wiping robot and/or a dust-collecting robot.

The covering unit covers the lidar unit in particular outwards. The cover unit preferably has at least one cover element. The covering element is preferably transparent. It is conceivable that the covering element is formed at least partially and in particular at least substantially entirely of glass or the like. The covering element is configured as a window pane or the like. By "at least substantially completely" is understood at least 50%, preferably at least 75% and particularly preferably at least 90% of the total volume and/or total mass of the object, in particular of the spring element. The cover element is preferably formed at least partially and particularly preferably at least substantially completely from plastic. The cover unit is preferably provided for protecting the lidar unit from the environment, for example from precipitation, 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 a particularly detachable manner at 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. Alternatively, however, it is also conceivable for the surface to be curved.

The wiper unit is provided in particular for cleaning the cover unit, preferably the cover element, mechanically, more precisely, in particular by means of mechanical components. The mechanical components are in particular designed 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 the cleaning fluid onto the cover unit, preferably onto the cover element, in the operating state. The fluid nozzle can be connected, for example, 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. The fluid nozzle can, for example, spray cleaning fluid onto the cover unit, preferably the cover element, only when required. For this purpose, a coupling to at least one rain sensor present at the vehicle can be provided, for example.

The cleaning unit preferably has a transport unit for driving the wiper unit, which transport unit is provided in particular for moving the wiper unit on the cover unit, preferably the cover element, for cleaning the cover unit, particularly 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 movement, in particular wiping movement, in the cleaning state of the wiper unit. In particular in the cleaning state of the wiper unit, the wiper unit mechanically cleans the cover unit. The transport unit preferably moves the wiper unit in a translatory, preferably linear and in particular bi-directional manner on the cover unit, in particular on the cover element, for cleaning the cover element in the cleaning state. The transport unit particularly preferably moves the wiper unit in a 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" shall mean in particular 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 lifting unit is preferably configured such that the lifting unit lifts the wiping unit from the cover unit by a movement, in particular a wiping movement, produced by the transport unit. In the operating state of the lifting unit in which the wiper unit is lifted from the cover unit, the wiper unit is, for example, in a rest state or in a cleaning state in which the wiper unit is in a return point of the wiper unit, which can be moved by the transport unit. The wiper unit is preferably in a stationary state at a return point. It is also conceivable to construct the lifting unit such that the lifting unit lifts the wiping unit from the cover unit in the region of the folding point. The extent of the region around the folding point, in which the lifting unit lifts the wiper unit from the cover unit, is preferably dependent on the design and/or arrangement of the actuating element of the lifting unit, against which the wiper unit strikes during the wiping movement and lifts the wiper unit from the cover unit. It is also conceivable for the lifting unit to have a drive unit, for example an electric motor or the like, in order to lift the wiper unit from the cover unit, in particular independently of the starting element, preferably at any point of the wiper unit, in particular of the cover element. Furthermore, it is alternatively conceivable for the transport unit to move the wiper unit in a lifted state from the cover unit. The lidar unit is preferably ready for the detection process, in particular in the cleaning state of the wiper unit and in the stationary state of the wiper unit. The lifting unit preferably moves the wiper blade in the operating state relative to the cover unit, in particular relative to a surface of the cover unit. The lifting unit preferably moves the wiper blade in the operating state relative to the cover unit in such a way that the wiper strip is lifted from the cover unit. In the operating state in which the wiper unit is lifted from the cover unit, in particular the cover element, is preferably not cleaned by the wiper unit.

The transport unit comprises, for example, at least one guide unit for guiding the movement of the wiper unit during the wiping movement, in particular in a 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 the cover element, in particular the cover element. The guide track is particularly preferably oriented at least substantially parallel to the surface of the cover element. "substantially parallel" can mean in this case an orientation of the direction in particular in a plane relative to a reference direction, 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 "main axis of extension" of an object can be understood here to mean, in particular, an axis which runs parallel to the longest edge of a smallest geometrical cuboid which just also completely encloses the object. The "main extension plane" of a structural unit or of an element can refer to a plane which runs parallel to the largest side of an imaginary cuboid which just surrounds the structural unit completely as well as possible and in particular extends through the midpoint of the cuboid. Alternatively, it is conceivable for the guide rail to be of curved design along its longitudinal extension.

The guide unit preferably comprises at least one guide slide, which is arranged in particular in a bearing manner on the guide unit. The guide slide is preferably movable along the guide rail. The wiper unit is fastened in particular to the guide slide. The wiper unit is preferably movable along the guide rail on the guide slide.

A particularly durable wiping unit can advantageously be realized by the embodiment of the lidar device according to the invention. A particularly small loading of the wiper unit can advantageously be achieved, in particular in the rest state of the wiper unit. The redistribution of the fluid and/or dirt which has been scraped off by means of the wiper unit on the cover unit can advantageously be prevented in a particularly simple and effective manner. A particularly high cleaning efficiency, in particular with regard to the transmittance of the lidar unit, can thus advantageously be achieved.

It is furthermore proposed that the lifting unit in the operating state moves the wiper unit in a translational manner away from the cover unit. In particular, in the operating state, the lifting unit moves at least the wiper blade, preferably the holding rail and/or the wiper strip in a translational manner away from the cover unit, in particular the cover element. The lifting unit preferably moves the wiper unit linearly away from the cover unit in the operating state. Alternatively, it is conceivable for the lifting unit to move the wiper unit away from the cover unit in a curved manner in the operating state. Furthermore, it is alternatively also conceivable for a rotational movement, preferably a tilting movement, of the wiper unit relative to the cover unit to be able to be produced by the lifting unit, in particular in order to lift the wiper unit from the cover unit. Advantageously, the contact of the wiper unit with the cover unit can be interrupted particularly uniformly. The application of a load to the wiper strip on one side, in particular point by point, can advantageously be avoided when the contact of the wiper unit with the cover unit is interrupted. A particularly uniform cleaning of the cover unit can advantageously be achieved.

It is furthermore proposed that the lifting unit, in the operating state, lifts the wiping unit from the cover unit in the above-mentioned folding point of the wiping movement. It is conceivable for the lifting unit to lift the wiper unit from the cover unit in the region of the return point of the wiping movement of the wiper unit. The transport unit in particular moves the wiper unit for cleaning the cover unit between two return points, preferably between the return point and the further return point. The two fold-back points are preferably located at positions corresponding to two end regions of the cover unit, in particular of the cover element, facing away from each other. The lifting unit preferably lifts the wiper unit off the cover unit in two return points of the wiper movement of the wiper unit. The cleaning unit preferably has a control or regulating unit at least for controlling or regulating the transport unit. 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 embodied as a digital storage medium, for example as a hard disk or the like. It is advantageously possible to prevent the redistribution of the fluid and/or dirt which has been scraped off by means of the wiper unit in a particularly simple and effective manner. A particularly effective cleaning of the cover unit can advantageously be achieved.

It is furthermore proposed that the lifting unit has a starting element, which has been mentioned in particular before, against which the wiper unit strikes during the wiping movement and which lifts the wiper unit off the cover unit. The position of the at least one return point corresponds in particular to the position of the starting element. Alternatively, it is also conceivable for the starting element to be arranged at a position different from the return point. The actuating element preferably interacts with the wiper unit in order to lift the wiper unit from the cover unit, in particular the cover element. The wiper unit preferably strikes the actuating element in the region of the return point of the wiper movement, in particular such that the wiper unit is lifted from the cover unit, preferably the cover element. The further actuating element of the lifting unit is preferably arranged at the location of the further folding point of the wiping movement. The starting element and/or the further starting element are preferably arranged on the guide rail. The starting element and/or the further starting element are preferably formed integrally with the guide rail. By "integrally" it is meant that the at least material-locking connection is made, for example, by a welding process, an adhesive process, an injection molding process and/or other processes which are deemed reasonable by the person skilled in the art, and/or is advantageously formed in one piece, such as, for example, by manufacture from castings and/or by manufacture in a single-component or multicomponent casting process and advantageously from the manufacture of a single blank. Alternatively, it is conceivable for the starting element to be arranged in a manner that is movable, in particular rotatable, relative to the guide rail, preferably in a manner that is movable, in particular rotatable, relative to the guide rail. Alternatively, it is conceivable that the starting element and/or the further starting element is/are detachably, in particular nondestructively, arranged on the guide rail. Alternatively, it is also conceivable for the guide rail to have a plurality of fastening elements, in particular spaced apart from one another, for example latching positions or the like, for the variable arrangement of at least one actuating element. The starting element is preferably arranged in a fixed position relative to the guide rail at least in the operating state. Advantageously, a lifting unit for lifting the wiper unit from the cover unit can be realized in a simple manner in terms of its structural design. Advantageously, the cleaning efficiency and the service life of the wiper unit can be improved in terms of structural design in a simple manner.

Furthermore, it is proposed that the starting element is configured in the manner of a ramp or a roller. The actuating element is preferably configured as a ramp or a roller. The actuating element has, in particular, an actuating surface which preferably cooperates with the wiper unit to lift the wiper unit from the cover unit, preferably the cover element. It is conceivable that the starting surface is at least partially planar and/or at least partially curved. In particular, it is conceivable that the starting surface preferably has the shape of the circumferential side of a cylinder in the case of a roller-like starting element. The ramp-shaped actuating element is not movable relative to the guide rail at least in the operating state. The roller-like starting element can be moved, in particular rotated, relative to the guide rail at least in the operating state. The axis of rotation of the roller-like actuating element is preferably at least substantially perpendicular to the movement of the wiper unit that can be produced by the transport unit, in particular the wiping movement. By "substantially perpendicular" is meant an orientation of the direction relative to a reference direction, wherein the direction and the reference direction enclose an angle of 90 ° as seen in particular in the projection plane, and the angle has a maximum deviation of in particular less than 8 °, advantageously less than 5 ° and particularly advantageously less than 2 °. The lifting axis of the wiper unit along which the wiper unit can be moved by the lifting unit is preferably at least substantially perpendicular to the movement of the wiper unit which can be produced by the transport unit, preferably the wiping movement. The actuating surface of the actuating element, in particular of ramp-like configuration, preferably extends at an angle and preferably at a non-right angle to the axis of movement of the wiper unit, which can be produced by the transport unit, preferably the wiper movement. Alternatively, it is also possible to envisage that the starting surface is at least substantially perpendicular to the movement of the wiper unit which can be produced by the transport unit, preferably the wiping movement or the movement of the wiper unit which can be produced by the lifting unit. The starting element and the further starting element are preferably at least substantially identical in construction. "at least substantially identical" can mean in particular identical up to mirror image, preferably point image, particularly preferably up to axis image. Alternatively, it is also conceivable for the starting element to be configured differently from the further starting element. The wiper unit preferably comprises at least one contact surface which cooperates with the actuating element for lifting the wiper unit from the cover unit. It is conceivable that the contact surface is configured flat or curved. The contact surface preferably extends at an angle and in particular at a non-right angle to the axis of movement of the wiper unit, which can be produced by the transport unit, preferably the wiping movement. The contact surface extends in particular at an angle and preferably at a non-right angle to the movement of the wiper unit that can be produced by the lifting unit. Alternatively, it is also conceivable for the contact surface to extend at least substantially perpendicularly to the movement axis of the wiper unit, which can be produced by the transport unit, preferably the wiping movement, or perpendicularly to the movement of the wiper unit, which can be produced by the lifting unit, along the lifting axis. Advantageously, the wiper unit can be lifted from the cover unit in a simple manner and in a particularly reliable manner or in a particularly gentle manner in terms of design.

Furthermore, it is proposed that the cleaning unit has a sliding sleeve in which the sliding element of the wiper unit is mounted, which sliding element strikes the starting element during the wiping movement. The contact surface of the wiper unit is preferably formed by a sliding element. The sliding sleeve is preferably formed by a guide slide. The wiper unit preferably has a wiper arm. The wiper blade is fastened in particular at the wiper arm. It is conceivable that the wiper blade is detachably, in particular non-destructively, fastened to the wiper arm, or that at least the retaining rail of the wiper blade is constructed in one piece with the wiper arm. The wiper arm and the wiper blade, in particular at least the holding rail, are preferably rigidly connected to one another at least in the operating state. The sliding element is formed in particular by a wiper arm. Alternatively, it is also conceivable for the cleaning unit to have a sliding element on which the sliding sleeve of the wiper unit is mounted, wherein the sliding sleeve strikes the starting element during the wiping movement. The sliding element is alternatively formed, for example, by a guide slide, and the sliding sleeve is formed by a wiper arm of a wiper unit, wherein the contact surface is formed in particular by the sliding sleeve. Advantageously, a lifting unit for lifting the wiper unit from the cover unit can be provided in a simple manner in terms of design.

It is furthermore proposed that the cleaning unit comprises an elastic element which at least partially loads the wiper unit with a force oriented in the direction of the cover unit in at least the operating state. The elastic element is preferably provided for applying a force to the wiper unit, which is oriented in the direction of the cover unit, at least in part in the lifted state from the cover unit, which can be produced by means of the lifting unit, in particular in order to move the wiper unit in the direction of the cover unit and into contact with the cover unit for cleaning the same. The elastic element preferably acts on the wiper unit at least partially during the wiping movement, in particular in the cleaning state, with a force oriented in the direction of the cover unit. A particularly effective cleaning of the cover unit can advantageously be achieved thereby. The elastic element acts in particular with a force oriented in the direction of the cover unit to at least load the wiper blade, preferably the holding rail and/or the wiper strip. The elastic element is preferably configured as a spring, in particular a coil spring or the like. Alternatively, it is also conceivable for the elastic element to be configured as a rubber band or other elastic element which is considered reasonable by the person skilled in the art. The elastic element is preferably arranged at the transport unit and the wiper unit. The elastic element is preferably arranged between the transport unit and the wiper unit. The elastic element is preferably arranged at the sliding sleeve and at the sliding element. A particularly reliable and effective cleaning of the cover unit can advantageously be achieved. The wiper unit can advantageously be brought into contact again with the cover unit in the lifted state from the cover unit in a particularly simple and reliable manner.

It is furthermore proposed that a tensile force is generated by the elastic element in the operating state. The elastic element extends through the lifting unit, in particular when the wiper unit is lifted from the cover unit. Alternatively, it is also conceivable to generate a pressure force by the spring element in the operating state, wherein lifting of the wiper unit from the cover unit compresses the spring element. The wiper unit can advantageously be brought into contact again with the cover unit in the lifted state from the cover unit reliably and simultaneously in a particularly compact manner.

Furthermore, a vehicle, in particular a vehicle as already mentioned above, having a lidar device according to the invention is proposed. Preferably the lidar device is connected to the vehicle. The lidar device is preferably arranged at least partially at the outside of the vehicle. The lidar device is for example arranged on the roof of the vehicle, at a front region of the vehicle, in particular at the hood of the vehicle or at other positions of the vehicle which are perceived as reasonable by the person skilled in the art. It is conceivable for the lidar device to be integrated into a vehicle, in particular into the roof of a vehicle. It is also conceivable for the lidar device to be arranged detachably, in particular nondestructively, on the vehicle, in particular on the roof. It would be advantageous to be able to provide a vehicle with particularly reliable and durable ambient detection.

Furthermore, a cleaning unit for a lidar device according to the invention, in particular the cleaning unit already mentioned above, is proposed. 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 laser radar device commercially available. A particularly durable and efficient cleaning unit can be provided.

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 above-described application and embodiments. The lidar device according to the invention, the vehicle according to the invention and/or the cleaning unit according to the invention can in particular have a number different from the number mentioned here of the individual elements, components and units in order to satisfy the functional manner described here. Furthermore, for the value ranges specified in this disclosure, values within the limits mentioned are also to be regarded as disclosed and can be used arbitrarily.

Drawings

Further advantages are obtained from the following description of the drawings. Two embodiments of the present invention are shown in the drawings. The figures, description and claims contain a number of combined features. Those skilled in the art will also consider these features individually and generalize them to reasonable additional combinations in a suitable manner.

Wherein:

fig. 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 with a cleaning unit according to the invention in two different operating positions in a schematic top view;

fig. 3a shows a lidar device in a schematic side view;

FIG. 3b shows a cross-sectional view of the lidar device along line A-A of FIG. 3 a; and is also provided with

Fig. 4 shows in a schematic side view a lidar device according to the invention with a cleaning unit according to the invention in an alternative embodiment.

Detailed Description

Fig. 1 shows a vehicle 30a. The vehicle 30a is configured as a road vehicle, in particular as a personal car. Alternatively, it is also conceivable for the vehicle 30a to be configured as a truck, as a rail vehicle, such as, for example, a train, a motor car, a subway or the like, or as a watercraft, such as, for example, a ship, a boat or the like. Furthermore, it is alternatively conceivable for the vehicle 30a to be configured as a cleaning vehicle, in particular as a cleaning robot, such as, for example, a wiping robot and/or a dust-collecting robot.

The vehicle 30a includes a lidar device 10a. The lidar device 10a is connected to a vehicle 30a. The lidar device 10a is at least partially arranged at the outside of the vehicle 30a. The lidar device 10a is arranged on the roof 32a of the vehicle 30a. Alternatively, it is also conceivable for the lidar device 10a to be arranged at a position of the vehicle 30a which is otherwise known to the person skilled in the art to be reasonable. The lidar device 10a is integrated into a vehicle 30a, in particular into a roof 32 a. Alternatively, it is conceivable for the lidar device 10a to be arranged detachably, preferably vandalless, on the vehicle 30a, in particular on the roof 32 a.

The lidar device 10a has a lidar unit 12a and a covering unit 14a (see also fig. 2, 3a and 3 b) covering the lidar unit 12a. The lidar unit 12a is provided for detecting the surroundings, in particular for autonomous driving. Lidar unit 12a includes, for example, at least one lidar sensor element (not shown here). The lidar device 10a is provided, in particular by means of at least one lidar sensor element, for detecting and/or measuring objects, in particular in the surroundings of the vehicle 30 a.

Covering unit 14a covers lidar unit 12a outward. The cover unit 14a comprises at least one cover element 34a. The cover element 34a is configured as a window pane or the like. The cover element 34a is configured to be transparent. It is conceivable that the cover element 34a is at least partially and in particular at least substantially completely formed from glass or the like or at least partially and particularly preferably at least substantially completely formed from plastic. The covering unit 14a is provided for protecting the lidar unit 12a from the environment, for example from precipitation, in particular rain, snow and/or ice, dirt and/or dust or the like.

The lidar device 10a comprises at least one cleaning unit 16a. The cleaning unit 16a comprises at least one wiper unit 18a for mechanically cleaning the cover unit 14 a. The wiper unit 18a is provided for mechanically, more precisely, in particular by means of mechanical components, cleaning the cover unit 14a, in particular the cover element 34a. The mechanical component is configured differently from air and/or water. The cleaning unit 16a can be provided for cleaning the cover unit 14a, in particular the cover element 34a, by means of a cleaning fluid. It is conceivable for the cleaning unit 16a to have at least one and preferably a plurality of fluid nozzles which are provided for spraying the cleaning fluid onto the cover unit 14a, preferably the cover element 34a, in one operating state. For example, the fluid nozzle can be connected to a fluid supply unit already present in the vehicle 30 a. It is furthermore conceivable for the cleaning unit 16a 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. The fluid nozzle can, for example, spray cleaning fluid onto the cover unit 14a, in particular the cover element 34a, only when required. For this purpose, a coupling to at least one rain sensor present at the vehicle 30a can be provided, for example.

The wiper unit 18a has at least one wiper arm 54a and a wiper blade 38a. The wiper blade 38a includes at least one retention rail 40a. The wiper blade 38a comprises at least one wiper strip 42a, which is in particular detachably arranged at the holding rail 40a. The wiper strip 42a is configured as a wiper rubber. The cover unit 14a, in particular the cover element 34a, has a surface 36a facing the wiper unit 18a, in particular the wiper blade 38a. The surface 36a is configured flat. Alternatively, however, it is also conceivable to configure the surface 36a curved.

The cleaning unit 16a has a transport unit 44a for driving the wiper unit 18 a. The transport unit 44a is provided for moving the wiper unit 18a on the cover unit 14a, preferably the cover element 34a, for cleaning the cover unit 14a, in particular the cover element 34a, more precisely in a translational manner. The transport unit 44a comprises at least one drive unit (not shown here), for example an electric motor or the like, in order to drive the wiper unit 18a for movement, in particular for wiping movement. The transport unit 44a moves the wiper unit 18a back and forth between two return points. The two return points are arranged at positions which correspond to two end regions of the cover unit 14a, in particular of the cover element 34a, which end regions face away from one another. The cleaning unit 16a has a control or regulating unit (not shown here) at least for controlling or regulating the transport unit 44a.

The cleaning unit 16a comprises at least one lifting unit 20a to lift the wiper unit 18a from the cover unit 14a, preferably along a lifting axis 62a of the wiper unit 18a, in at least one operating state. The lifting unit 20a moves the wiper blade 38a in at least one operating state relative to the cover unit 14a, in particular relative to the surface 36a of the cover unit 14a. The lifting unit 20a moves the wiper blade 38a relative to the cover unit 14a in at least one operating state in such a way that the wiper strip 42a is lifted from the cover unit 14a. In the operating state in which the wiper unit 18a is lifted from the cover unit 14a, in particular from the cover element 34a, the cover unit 14a, in particular the cover element 34a, is not cleaned by the wiper unit 18 a. The lifting unit 20a moves the wiper unit 18a in translation away from the cover unit 14a in the operating state. In the operating state, the lifting unit 20a moves at least the wiper blade 38a, preferably the holding rail 40a and/or the wiper strip 42a in a translational manner away from the cover unit 14a, in particular the cover element 34a. The lifting unit 20a moves the wiper unit 18a linearly away from the cover unit 14a in the operating state. Alternatively, it is conceivable for the lifting unit 20a to move the wiper unit 18a away from the cover unit 14a in a curved manner in the operating state. It is furthermore alternatively also conceivable that a rotational movement, preferably a tilting movement, of the wiper unit 18a relative to the cover unit 14a can be produced by the lifting unit 20a in order to lift the wiper unit 18a from the cover unit 14a.

The lifting unit 20a lifts the wiper unit 18a from the cover unit 14a in the operating state in two folding points of the wiper movement. In the operating state of the lifting unit 20a in which the wiper unit 18a is lifted from the cover unit 14a, the wiper unit 18a is in a stationary or cleaning state in which the wiper unit 18a is in one of the two folding points of the wiper unit 18a, which folding points can be produced by the transport unit 44a, for the wiping movement. The wiper unit 18a is in one of two return points in the rest state. It is also conceivable to construct the lifting unit 20a such that the lifting unit 20a lifts the wiping unit 18a from the cover unit 14a in the respective regions of the two return points. The lifting unit 20a has two actuating elements 22a, against which the wiper unit 18a strikes during the wiping movement, and which lift the wiper unit 18a from the cover unit 14 a. The extension of the respective region of the two return points, in which the lifting unit 20a lifts the wiper unit 18a from the cover unit 14a, is dependent on the design and/or arrangement of the respective one 22a of the two actuating elements 22 a. It is additionally conceivable to configure the actuating element 22a as a signal transmitter in order to signal the position of the wiper unit 18a to a control unit, in particular a control or regulating unit, of the cleaning unit 16a, in particular when the wiper unit 18a contacts one of the actuating elements 22 a.

The positions of the two return points correspond to the positions of the two actuating elements 22a, respectively. Alternatively, it is also conceivable for at least one of the two actuating elements 22a to be arranged at a position different from the two return points. The two actuating elements 22a cooperate with the wiper unit 18a in order to lift the wiper unit 18a from the cover unit 14a, in particular the cover element 34 a. The wiping unit 18a in each case strikes the respective one 22a of the two actuating elements 22a in the region of the fold-back point of the wiping movement, in particular such that the wiping unit 18a is lifted from the cover unit 14a, preferably the cover element 34 a.

The transport unit 44a comprises at least one guide unit 46a for guiding the movement of the wiper unit 18a during the wiping movement. The guide unit 46a comprises at least one guide rail 48a along which the wiper unit 18a can move. The guide rail 48a has a shape corresponding to the cover unit 14a, preferably the cover element 34a, in particular the surface 36a of the cover element 34 a. The guide track 48a runs at least substantially parallel to the surface 36a of the cover element 34 a. The guide rail 48a is constructed straight along its longitudinal extension. The main extension axis of the guide rail 48a extends at least substantially parallel to the main extension plane of the surface 36a of the cover unit 14a, preferably of the cover element 34 a. Alternatively, it is conceivable for the guide rail 48a to be of curved design along its longitudinal extension.

The guide unit 46a comprises at least one guide slide 50a, which is arranged in a supported manner on the guide rail 48a. The guide slider 50a is movable along the guide rail 48a. The wiper unit 18a is fastened at the guide slider 50 a. The wiper unit 18a can be moved along the guide rail 48a by a guide slider 50 a. The guide unit 46a comprises at least one guide rod 68a, on which the guide slide 50a is additionally mounted in a movable manner. The main extension axis of the guide rod 68a extends at least substantially parallel to the main extension axis of the guide rail 48a.

The two actuating elements 22a are arranged at the guide rail 48a. The two actuating elements 22a are arranged in a fixed position relative to the guide rail 48a at least in the operating state. The two actuating elements 22a are formed integrally with the guide rail 48a. Alternatively, it is conceivable for at least one of the two actuating elements 22a to be arranged in a movable, in particular rotatable, manner relative to the guide rail 48a, preferably in a movable, in particular rotatable, manner, on the guide rail 48a. Alternatively or additionally, it is also conceivable for at least one of the two actuating elements 22a to be arranged on the guide rail 48a in a detachable, in particular nondestructive, manner. Furthermore, it is alternatively conceivable for the guide rail 48a to have a plurality of fastening elements, in particular spaced apart from one another, for example latching positions or the like, for the variable arrangement of the two actuating elements 22a.

The two actuating elements 22a are configured in a ramp-like manner. The two actuating elements 22a are configured as ramps. The two actuating elements 22a have, in particular, actuating surfaces 52a which cooperate with the wiper unit 18a to lift the wiper unit 18a from the cover unit 14a, preferably the cover element 34 a. The starting surface 52a is configured flat. Alternatively, it is conceivable for at least one of the actuating surfaces 52a of the two actuating elements 22a to be at least partially planar and/or at least partially curved. The two actuating elements 22a of ramp-like design cannot move relative to the guide rail 48a at least in the operating state. The lifting axis 62a of the wiper unit 18a along which the wiper unit 18a can be moved by the lifting unit 20a preferably runs at least substantially perpendicularly to the movement axis 60a of the wiper unit 18a (along which the wiper unit 18a can be moved by the transport unit 44 a) during a wiping movement of the wiper unit 18 a. The actuating surfaces 52a of the two actuating elements 22a extend at an angle and in particular at a non-right angle to the axis of motion 60a of the wiper unit 18a, which axis of motion can be produced by the transport unit 44a, preferably a wiper motion. Alternatively, it is also conceivable that at least one actuating surface 52a of the two actuating elements 22a extends at least substantially perpendicularly to a movement of the wiper unit 18a which can be produced by the transport unit 44a, preferably a wiping movement. The two actuating elements 22a are at least substantially identical in design. Alternatively, it is also conceivable for the two actuating elements 22a to be designed differently from one another.

The wiper unit 18a comprises at least one contact surface 56a and further contact surfaces 58a, which interact with the two actuating elements 22a in order to lift the wiper unit 18a from the cover unit 14 a. The contact surface 56a and the further contact surface 58a are configured flat. Alternatively, it is also conceivable for the contact surface 56a and/or the further contact surface 58a to be at least partially curved and/or at least partially flat. The contact surface 56a and/or the further contact surface 58a extend at an angle and preferably at a non-right angle to the axis of motion 60a of the wiper unit 18a, which axis of motion can be produced by the transport unit 44a, preferably a wiping motion. The contact surface 56a and/or the further contact surface 58a extend at an angle and preferably at a non-right angle to the lifting axis 62a of the wiper unit 18 a. Alternatively, it is also conceivable for the contact surface 56a and/or the further contact surface 58a to extend at least substantially perpendicularly to the movement axis 60a of the wiper unit 18a, which movement can be produced by the transport unit 44a, preferably the wiping movement, or to the movement of the wiper unit 18a along the lifting axis 62a, which movement can be produced by the lifting unit 20 a. The contact surface 56a cooperates with one of the two actuating elements 22a, and the other contact surface 58a cooperates with the other of the two actuating elements 22 a.

It is contemplated that the material used to form contact surface 56a and/or additional contact surface 58a is softer than the material used to form the corresponding start surface 52 a. Alternatively, it is also conceivable that the material used for forming the contact surface 56a and/or the further contact surface 58a is harder than the material used for forming the respective starting surface 52a or is identical to the material used for forming the contact surface 56a and/or the further contact surface 58 a.

It is also conceivable that the wiper strip 42a is rotatably supported at the holding rail 40 a. The wiper unit 18a can be lifted in particular by the lifting unit 20a in such a way that the wiper strip 42a is spaced apart from the cover unit 14a, in particular the surface 36a, in any rotational position relative to the holding rail 40a in the lifted state of the wiper unit 18a from the cover unit 14 a.

In the cleaning state of the wiper unit 18a, the wiper unit 18a mechanically cleans the cover unit 14a, preferably the cover element 34a. In the cleaning state, the transport unit 44a moves the wiper unit 18a translationally, preferably linearly and in particular bi-directionally, over the cover unit 14a, in particular over the cover element 34a, for cleaning the cover element 34a. The transport unit 44a moves the wiper unit 18a in the cleaning state at least substantially over the cover unit 14a, in particular the cover element 34a, in order to mechanically clean the cover element 34a over all. The lidar unit 12a is ready in particular for the detection process in the cleaning state of the wiper unit 18a and in the stationary state of the cleaning unit 16 a.

The cleaning unit 16a has at least one sliding sleeve 24a in which a sliding element 26a of the wiper unit 18a is mounted, which sliding element strikes the two actuating elements 22a during the wiping movement. The contact surface 56a and the further contact surface 58a are formed by the slide element 26 a. The sliding sleeve 24a is formed by a guide slider 50 a. The wiper unit 18a has a wiper arm 54a. The wiper blade 38a is fastened at the wiper arm 54a. It is conceivable for the wiper blade 38a to be fastened to the wiper arm 54a in a detachable, in particular nondestructive, manner or to be constructed in one piece with the wiper arm 54a. The wiper arm 54a and the wiper blade 38a, in particular at least the holding rail 40a, are rigidly connected to one another at least in the operating state. The slide element 26a is formed by a wiper arm 54a. Alternatively, it is also conceivable for the cleaning unit 16a to have a sliding element on which the sliding sleeve of the wiper unit 18a is mounted, wherein the sliding sleeve strikes against the two actuating elements 22a during the wiping movement. The sliding element is alternatively formed, for example, by a guide slide 50a and the sliding sleeve is formed by a wiper arm 54a of the wiper unit 18a.

Fig. 2 shows the wiper unit 18a in two different positions. The wiper unit 18a shown in solid lines shows the case of the wiper unit 18a in the lifted state of the wiper unit 18a from the cover unit 14a, wherein the wiper unit 18a interacts with the starting element 22a, for example in the stationary state of the wiper unit 18a or in the cleaning state of the wiper unit 18a, wherein the wiper unit 18a is in one of two return points. The wiper unit 18a shown in dashed lines shows the wiper unit 18a in the cleaning state when the cover unit 14a, in particular the cover element 34a, is mechanically cleaned, wherein the wiper strip 42a rests against the surface 36a of the cover element 34 a.

The cleaning unit 16a comprises at least one elastic element 28a. The elastic element 28a acts at least partially in the operating state on the wiper unit 18a with a force oriented in the direction of the cover unit 14 a. The elastic element 28a is provided for loading the wiper unit 18a with a force oriented in the direction of the cover unit 14a at least in part in the state of being raised from the cover unit 14a by means of the lifting unit 20a, in particular in order to move the wiper unit 18a in the direction of the cover unit 14a and into contact with the cover unit 14a for cleaning the cover unit 14 a. The elastic element 28a acts at least partially on the wiper unit 18a with a force oriented in the direction of the cover unit 14a during a wiping movement, in particular in the cleaning state. The elastic element 28a acts with a force directed in the direction of the cover unit 14a at least on the wiper blade 38a, preferably on the retaining rail 40a and/or on the wiper strip 42a. The elastic element 28a is configured as a spring, in particular a coil spring. Alternatively, it is also conceivable for the elastic element 28a to be configured as a rubber band or other elastic element 28a which is considered reasonable by the person skilled in the art. The elastic element 28a is arranged at the transport unit 44a and the wiper unit 18a. The elastic element 28a is arranged between the transport unit 44a and the wiper unit 18a. The elastic element 28a is arranged at the sliding sleeve 24a and at the sliding element 26 a.

The elastic element 28a generates a tensile force in the operating state. The elastic element 28a extends through the lifting unit 20a when the wiper unit 18a is lifted from the cover unit 14 a. Alternatively, it is also conceivable to generate a pressure by the elastic element 28a in the operating state, wherein lifting of the wiper unit 18a from the cover unit 14a compresses the elastic element 28a.

Another embodiment of the present invention is shown in fig. 4. The following description and the figures are essentially limited to the differences between the embodiments, wherein reference can in principle also be made to the illustrations and/or the descriptions of other embodiments, in particular of fig. 1 to 3b, with regard to components marked with the same reference numerals, in particular with regard to components marked with the same reference numerals. To distinguish between the embodiments, the letter a is arranged after the reference numerals of the embodiments of fig. 1 to 3 b. In the embodiment of fig. 4 the letter a is replaced by the letter b.

Fig. 4 shows a lidar device 10b. The lidar device 10b has a lidar unit 12b and a covering unit 14b that covers the lidar unit 12 b. The lidar device 10b comprises at least one cleaning unit 16b. The cleaning unit 16b comprises at least one wiper unit 18b for mechanically cleaning the cover unit 14b.

The wiper unit 18b has at least one wiper blade 38b. The wiper blade 38b includes at least one retaining rail 40b. The wiper blade 38b comprises at least one wiper strip 42b, which is in particular detachably arranged at the holding rail 40b. The wiper strip 42b is configured as a wiper rubber. The cover unit 14b, in particular the cover element 34b of the cover unit 14b, has a surface 36b facing the wiper unit 18b, in particular the wiper blade 38b.

The cleaning unit 16b comprises at least one lifting unit 20b to lift the wiper unit 18b from the cover unit 14b in at least one operating state, preferably along a lifting axis 62b of the wiper unit 18 b. The lifting unit 20b moves the wiper unit 18b in translation away from the cover unit 14b in the operating state. The lifting unit 20b lifts the wiper unit 18b off the cover unit 14b in the operating state at the folding point of the wiper movement. The lifting unit 20b has two actuating elements 22b (only one of the two actuating elements 22b is shown here), against which the wiper unit 18b strikes during the wiping movement, and which lifts the wiper unit 18b off the cover unit 14b.

The two starting elements 22b are configured in the shape of a roller. The two actuating elements 22b are configured as rollers. The actuating elements 22b each have an actuating surface 52b, which each has the shape of a circumferential surface of a cylinder. The two roller-like actuating elements 22b are movable, in particular rotatable, at least in the operating state relative to the guide rail 48b of the guide unit 46b of the transport unit 44b of the cleaning unit 16 b. The respective axis of rotation 64b of the roller-like actuating element 22b is at least substantially perpendicular to the movement of the wiper unit 18b which can be produced by the transport unit 44b, in particular the wiping movement.

The cleaning unit 16b has at least one sliding sleeve 24b in which a sliding element 26b of the wiper unit 18b is mounted, which sliding element strikes the actuating element 22b during the wiping movement. The cleaning unit 16b includes an elastic member 28b. The elastic element 28b acts at least partially in the operating state on the wiper unit 18b with a force oriented in the direction of the cover unit 14 b. The elastic element 28b generates a tensile force in the operating state.

The lifting unit 20b comprises at least one handling element 66b. The actuating element 66b is arranged at the wiper unit 18b. The actuating element 66b is configured, for example, as a keyboard or the like. The wiper unit 18b can be removed from the transport unit 44b, in particular from the guide slide 50b of the transport unit 44b, by actuating the actuating element 66b, preferably by a user. For example, the actuation of the actuating element 66b releases the connection of the wiper unit 18b to the spring element 28b or the connection of the spring element 28b to the transport unit 44 b. It is also conceivable that the elastic element 28b can be manually detached from the transport unit 44b and/or from the wiper unit 18b. It is particularly conceivable that the lifting unit 20b is configured without an actuating element 66b for detaching the wiper unit 18b from the transport unit 44 b.

It is conceivable that the cleaning unit 16b comprises a latching element (not shown here) which generates an acoustic signal when the wiper unit 18b is mounted on the transport unit 44b in a defined manner, in particular in order to signal to the user a defined connection of the wiper unit 18b to the transport unit 44 b. It is furthermore conceivable that an electrical and/or fluidic connection (not shown here) is arranged at the guide slide 50b, which connection can be released by actuating the actuating element 66b.

The lifting unit 20b comprises at least one cover cap 70b for covering the actuating element 66b. The cover 70b is provided in particular for counteracting an unintentional actuation of the actuating element 66b. Alternatively, it is also conceivable for the lifting unit 20b to be constructed without a cover cap 70b for covering the actuating element 66b. The axis of movement 72b of the actuating element 66b during actuation is preferably different from the axis of movement of the wiper unit 18b during wiping movement, preferably at least substantially perpendicular to the axis of movement of the wiper unit 18b during wiping movement.

Claims

1. A lidar device (10 a;10 b) having:

at least one lidar unit (12 a;12 b);

at least one covering unit (14 a;14 b) covering the lidar unit (12 a;12 b); and

A cleaning unit (16 a;16 b) having at least one wiper unit (18 a;18 b) for mechanically cleaning the cover unit (14 a;14 b),

wherein the cleaning unit (16 a;16 b) comprises at least one lifting unit (20 a;20 b) for lifting the wiper unit (18 a;18 b) from the cover unit (14 a;14 b) in at least one operating state.

2. Lidar device (10 a;10 b) according to claim 1, characterized in that the lifting unit (20 a;20 b) moves the wiper unit (18 a;18 b) in translation away from the covering unit (14 a;14 b) in the operating state.

3. Lidar device (10 a;10 b) according to claim 1 or 2, characterized in that the lifting unit (20 a;20 b) lifts the wiping unit (18 a;18 b) from the covering unit (14 a;14 b) in the operating state in a return point of the wiping movement.

4. Lidar device (10 a;10 b) according to any of the preceding claims, characterized in that the lifting unit (20 a;20 b) has a starting element (22 a;22 b) against which the wiper unit (18 a;18 b) hits during the wiping movement and which lifts the wiper unit (18 a;18 b) off the covering unit (14 a;14 b).

5. Lidar device (10 a;10 b) according to claim 4, characterized in that the starting element (22 a;22 b) is configured in the form of a ramp or a roller.

6. Lidar device (10 a;10 b) according to claim 4 or 5, characterized in that the cleaning unit (16 a;16 b) has a sliding sleeve (24 a;24 b) in which a sliding element (26 a;26 b) of the wiper unit (18 a;18 b) is supported, which sliding element hits the starting element (22 a;22 b) during a wiping movement.

7. Lidar device (10 a;10 b) according to any of the preceding claims, characterized in that the cleaning unit (16 a;16 b) comprises an elastic element (28 a;28 b) which, at least in part, in the operating state, loads the wiper unit (18 a;18 b) with a force directed in the direction of the covering unit (14 a;14 b).

8. Lidar device (10 a;10 b) according to claim 7, characterized in that the elastic element (28 a;28 b) generates a pulling force in the operating state.

9. Vehicle (30 a;30 b) with a lidar device (10 a;10 b) according to any of the preceding claims.

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