Lidar device and vehicle having a lidar device

Abstract

The invention relates to a lidar device (10a; 10b), comprising a lidar unit (12a; 12b), which covers the lidar unit (12a; 14b) of at least one covering element (14a; 14b) and a cleaning unit (16a; 16b) for cleaning the covering element (14a; 18b) of the wiper arm (14a; 18b) for providing a drive force, a drive unit (20a; 20b) for transmitting the driving force from the drive unit (20a; 20b) to the wiper arm (18a; 18b), a transfer unit (22a; 22b) for a motor vehicle. It is proposed that the transfer unit (22a; 22b) has at least one compensation element (24a; 24b) for transmitting a driving force to the wiper arm (18a; 18b) and for compensating for the driving unit (20a; 20b) for driving a drive shaft (26a; 26b) and the wiper arm (18a; 18b), which varies during the scraping movement.

Description

Background Art

[0001] A laser radar device has been proposed, which has a laser radar unit, at least one covering element covering the laser radar unit, and a cleaning unit, which includes a scraping arm for cleaning the covering element, a driving unit for providing a driving force, and a transmission unit for transmitting the driving force from the driving unit to the scraping arm. Summary of the invention

[0002] The present invention relates to a laser radar device, which has a laser radar unit, at least one covering element covering the laser radar unit, and a cleaning unit, wherein the cleaning unit includes at least one scraping arm for cleaning the covering element, a driving unit for providing a driving force, and a transmission unit for transmitting the driving force from the driving unit to the scraping arm.

[0003] It is proposed that the transmission unit has at least one compensating element which serves to transmit the drive force to the wiper arm and to compensate for a distance between a drive shaft of the drive unit and the wiper arm which changes during the wiper movement.

[0004] The laser radar device is at least a part of a laser radar system, in particular a laser radar sensor-structure assembly, preferably at least one sub-structure assembly. The laser radar device can also include the entire laser radar system, in particular the entire laser radar sensor-structure assembly. The laser radar device has at least one laser radar unit, which includes at least one laser radar sensor element. The laser radar sensor element is provided, for example, at a vehicle for surrounding detection, in particular for autonomous driving; at a construction site for measuring buildings, for scanning 3D contours; and / or in a laboratory for scientific research purposes. In particular, the laser radar device is more precisely provided for detecting and / or measuring objects, in particular by means of at least one laser radar sensor element. Preferably, the laser radar device is provided for use at a vehicle, in particular, the laser radar device can be part of a vehicle. In addition, it is conceivable that the laser radar device can be retrofitted to the vehicle. In addition to the laser radar system already existing in the vehicle, the laser radar device can be retrofitted to the vehicle, for example. Preferably, the laser radar device, in particular as part of the laser radar system, is provided for detecting objects in the surrounding environment, in particular of the vehicle. Preferably, the laser radar device is coupled to the vehicle for detecting objects, preferably in the roof region, the front region and / or the rear region of the vehicle. In particular, the vehicle can have a plurality of laser radar devices.

[0005] The covering element covers the laser radar unit in particular outwardly. Preferably, the covering element is at least substantially transparent. It is conceivable that the covering element is at least mostly and especially completely composed of glass. Preferably, the covering element is at least mostly and especially completely composed of plastic. In particular, the covering element is provided to protect the laser radar unit in particular from environmental influences. Preferably, the covering element protects the laser radar unit at least from environmental influences, such as precipitation, in particular rain and / or snow and / or ice. Preferably, the cleaning unit is provided to clean the covering element mechanically, more precisely, in particular by means of a mechanical component, wherein the mechanical component is constructed differently from air and / or water. The cleaning unit can be provided to additionally clean the covering element by means of a cleaning fluid. It is conceivable that the cleaning unit has at least one and preferably a plurality of fluid nozzles, which are provided to spray a cleaning fluid onto the covering element in an operating state. The fluid nozzle can be connected, for example, to a fluid supply unit already present in the vehicle. In addition, it is conceivable that the cleaning unit has an independent fluid supply unit, which, for example, includes at least one fluid supply line, at least one fluid storage tank and at least one fluid pump. The fluid nozzle can, for example, spray a cleaning fluid onto the cover element only when necessary. For this purpose, for example, a coupling to at least one rain sensor present on the vehicle can be provided. In particular, at least one element of the lidar device can be designed in its shape so that, for example, if at least one element is designed in its shape as a flow guide element, contamination of the cover element is reduced in the operating state. The lidar device can have at least one cover plate, which is in particular designed to be opaque.

[0006] The expression "at least predominantly" is to be understood here as meaning at least 55%, advantageously at least 65%, preferably at least 75%, particularly preferably at least 85% and particularly advantageously at least 95%. "At least substantially" is to be understood in this context as meaning that the deviation from the predefined value is in particular less than 25%, preferably less than 10% and particularly preferably less than 5% of the predefined value.

[0007] An "operating state" is to be understood as a state in which the lidar device is ready for operation, in particular for a detection process. In the operating state, the cleaning unit mechanically cleans the window element. It is also conceivable that the cleaning unit cleans the window element in the operating state only when necessary, in particular in the case of current soiling of the window element.

[0008] In order to clean the covering element, the cleaning unit has at least one scraping arm. Preferably, the cleaning unit has at least one scraping lip coupled to the scraping arm. In addition, the cleaning unit has a drive unit for driving the scraping arm. In at least one operating state of the laser radar device, the drive unit provides a driving force for driving the scraping arm. In the operating state, the scraping arm uses the scraping lip coupled thereto to move along the surface to be cleaned of the covering element by means of the driving force provided by the drive unit for cleaning the covering element. Preferably, the drive unit has a motor, wherein the motor is advantageously configured as an electric motor. The motor provides a driving force in the operating state, in particular in the scraping operation of the cleaning unit, and transmits the driving force to the drive shaft of the drive unit. Preferably, the drive unit provides a driving force in the operating state in the form of a driving torque, preferably in the form of a torque that can be obtained by the drive shaft.

[0009] An "operating state" is to be understood as a state in which the lidar device is ready for operation, in particular for a detection process. In the operating state, the cleaning unit mechanically cleans the cover element. It is also conceivable that the cleaning unit cleans the cover element in the operating state only when necessary, in particular if the cover element is currently contaminated.

[0010] The laser radar device includes a transmission unit for transmitting a driving force, especially a driving torque, from a drive unit to a scraper arm. The transmission unit includes at least one compensating element for transmitting a driving force from the drive unit to the scraper arm. The compensating element can be coupled to the scraper arm directly or indirectly through at least one other element of the transmission unit, especially a bearing element, for transmitting the driving force. The compensating element is also provided for compensating the spacing between the drive shaft of the drive unit and the scraper arm that changes during the scraping motion. The spacing between the drive shaft and the scraper arm that changes during the scraping motion refers to the shortest spacing between the main extension direction of the drive shaft and the main extension direction of the scraper arm that changes according to the current position of the scraper arm. The "main extension direction of the object" should be understood as the following direction in this article, which extends parallel to the longest side of the smallest geometric cuboid that just completely surrounds the object. The compensating element has at least one variable length subsection for compensating the spacing between the drive shaft of the drive unit and the scraper arm that changes during the scraping motion, and the length of the main extension of the compensating element along the compensating element is variably changed by means of the subsection. The variable-length subsection of the compensating element can be designed, for example, as an elastic element. It is also conceivable that the entire compensating element is designed as an elastic element. An "elastic element" is to be understood here as an element which can be deformed repeatedly without mechanical damage or destruction of the element and which, after deformation, automatically returns to its basic shape. Preferably, however, the variable-length subsection of the compensating element is designed by a movable subelement which is movably, preferably slidably, mounted on the compensating element, in particular on a subelement of the compensating element which is fixed with respect to the main extension direction of the compensating element.

[0011] In this article, the numerals in front of a specific term, such as "first" and "second", are only used to distinguish objects and / or for the relationship between objects, and do not mean the total number and / or priority of the objects. In particular, "second object" does not necessarily mean the existence of a "first object".

[0012] “Provided” is to be understood as specially set up, specially designed and / or specially equipped. “An object is provided for a specific function” is to be understood as meaning that the object fulfills and / or performs this specific function in at least one application state and / or operating state.

[0013] By means of the design according to the invention, a laser radar device having advantageous structural properties can be provided. Reliable cleaning can be achieved in particular, thereby advantageously improving the reliability of the laser radar sensor. By means of the design according to the invention of the laser radar device, the cover element can be kept free of dirt and / or other impurities, such as rain and / or ice and / or snow, in particular. In particular, mechanical cleaning can be performed reliably, in particular independently of environmental influences. In particular, safety can be improved thereby in particular. In particular, safety in at least one driving assistance, such as assisted driving, in particular autonomous driving, can be advantageously improved. In particular, at least one system, in particular already present in the vehicle, can be advantageously integrated by means of such a design. Since the transmission unit has at least one compensation element, the risk of tilting and / or blocking of the wiper arm during the wiping movement can be advantageously reduced, in particular minimized.

[0014] It is further proposed that the compensating element is provided for converting the rotational movement of the drive shaft into an at least substantially translational scraping movement of the scraper arm. This can advantageously improve efficiency. The conversion of the rotational movement of the drive shaft into an at least substantially translational movement of the scraper arm can be achieved, in particular, by simple technical means and a small number of components required for this purpose. The conversion of the rotational movement of the drive shaft caused by the compensating element into an at least substantially translational movement of the scraper arm is achieved by changing the length of a variable-length subelement of the compensating element. The compensating element is provided for transmitting the driving force provided by the rotational movement of the drive shaft to the scraper arm and for moving the scraper arm, with the scraper lip coupled thereto, linearly and in particular bidirectionally along the cover element for cleaning the cover element.

[0015] In addition, it is proposed that the compensation element is telescopically constructed. Through this type of design, it is possible to advantageously use particularly easy technical means to achieve compensation for the distance between the drive shaft and the scraper arm that changes during the scraping movement. For this purpose, the compensation element has at least one sub-element fixed with respect to its main extension direction, and the movable sub-element of the compensation element is movably, preferably slidably supported in the fixed sub-element. The fixed sub-element and the movable sub-element constitute a telescopic stage here. The fixed sub-element can be constructed as a sleeve, for example, and the movable sub-element is constructed as a piston, which is movably, especially slidably supported in the sleeve. It is conceivable that the telescopic compensation element has a plurality of, at least two, telescopic stages connected to each other in succession, wherein at least one other movable sub-element is movably, especially slidably supported in a movable sub-element that can be constructed as a hollow piston, for example. As a result, even in the case of large changes, for example, in the case of a laser radar unit with a particularly large width extension, the distance between the drive shaft and the scraper arm that changes during the scraping movement can be advantageously compensated.

[0016] Furthermore, it is proposed that the transmission unit has at least one rotary joint, which is connected to the compensation element. This makes it possible to advantageously use simple technical means to achieve the transmission of the driving force to the compensation element. The transmission unit can have a plurality of rotary joints.

[0017] In an advantageous design of the present invention, it is proposed that the transmission unit has at least one sliding joint in order to transmit the driving force from the drive shaft to the compensating element. This advantageously enables a flexible arrangement of the drive shaft relative to the compensating element. The sliding joint is preferably configured to place the compensating element in a rotational motion by means of the driving force provided by the drive shaft. The main extension direction of the sliding joint is preferably oriented at an angle to the main extension direction of the compensating element for this purpose. The sliding joint can be directly connected to the drive shaft. Preferably, the sliding joint is indirectly connected to the drive shaft, more precisely via at least one other component of the transmission unit, for example, via a crank or the like.

[0018] Furthermore, it is proposed that the rotary joint is arranged at a distance from the drive shaft and is provided for supporting the rotary movement of the compensating element generated by the sliding joint. This makes it possible to further improve the flexibility in the arrangement of the drive shaft.

[0019] In an alternative advantageous embodiment of the invention, it is proposed that the revolute joint is connected to the drive shaft for transmitting the drive force directly to the compensation element. This advantageously enables a particularly compact embodiment of the transmission unit. Furthermore, if the revolute joint is connected to the drive shaft for transmitting the drive force directly to the compensation element, the number of components of the transmission unit can be advantageously reduced, in particular minimized. Thus, a particularly efficient, in particular space-efficient and cost-effective lidar device can advantageously be provided.

[0020] In addition, it is proposed that the transmission unit has a bearing element for holding the scraper arm, which is coupled to the scraper arm and the compensation element. Through this type of design, it is advantageously possible to achieve particularly easy assembly and disassembly of the scraper arm. It is possible to achieve in particular easy replacement of the scraper arm. The bearing element can be configured, for example, as a guide slide, etc., without being limited thereto. Preferably, the scraper arm can be connected to the bearing element in an assembled state, in particular without tools, detachably, for example, by a latching mechanism and / or a clamping mechanism and / or other shape-locking and / or force-locking connections that are meaningful to those skilled in the art. The bearing element can also be connected to the compensation element in an assembled state, in particular without tools, detachably, for example, by a suitable shape-locking and / or force-locking connection, for example, by a threaded connection. It is also conceivable that the bearing element is constructed integrally with the compensation element. “Integrally” is to be understood as being connected in a materially bonded manner, such as for example by welding and / or adhesive bonding processes etc., and particularly advantageously as being formed, such as by production from casting and / or by production in a single-component or multi-component injection molding process.

[0021] In addition, it is proposed that the transmission unit has at least one guide rail for guiding the scraper arm, wherein the carrier element is connected to the guide rail in a form-locking manner and movably. Thus, reliable guidance of the scraper arm along the guide rail can be advantageously achieved. The carrier element can be connected to the guide rail in a form-locking manner and movably by at least one sliding bearing and / or by at least one ball bearing, etc. Preferably, the guide rail provides low-friction guidance of the carrier element so as to guide the scraper arm along the cover element, in particular along a guide rail extending at least substantially parallel to the surface of the cover element to be cleaned by the cleaning unit. "At least substantially parallel" should be understood in this article as an orientation of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation of less than 8°, advantageously less than 5° and particularly advantageously less than 2° relative to the reference direction. Preferably, the guide rail provides guidance for the carrier element, and the guide rail has a sliding friction coefficient of, for example, less than 0.2, advantageously less than 0.1, particularly advantageously less than 0.05, preferably less than 0.01 and particularly preferably less than 0.005. Preferably, the guide rail is arranged substantially parallel to the edge of the cover element. It is conceivable that the guide rail extends over at least a large part of the covering element and preferably completely over the entire width extension of the covering element. Preferably, the guide rail is arranged parallel to the main extension direction of the covering element.

[0022] It is further proposed that the laser radar device has a holding unit for connecting to the laser radar unit, wherein at least the transmission unit is supported at the holding unit. This type of design can advantageously achieve particularly easy assembly. Preferably, the holding unit is arranged to be connected to the laser radar unit, in particular to be releasable without tools. Preferably, the holding unit is configured as a pre-assembled unit, on which the transmission unit and in particular other units of the laser radar device, such as a drive unit, can be pre-assembled before the holding unit is connected to the laser radar unit. The holding unit can be composed, for example, of an aluminum casting, an injection-molded plastic or a sheet composed of steel and / or a steel alloy and / or aluminum, wherein the choice of the material for the holding unit can be selected according to load requirements and / or weight and / or design and / or cost and / or the like.

[0023] In addition, it is proposed that the transmission unit has at least one other compensating element, wherein the compensating element is arranged to transmit the driving force to the first end of the scraper arm, and the other compensating element is arranged to transmit the driving force to the second end of the scraper arm. This type of design can advantageously achieve a particularly accurate and uniform transmission of the driving force from the drive shaft to the scraper arm. The risk of tilting and / or blocking of the scraper arm can be further reduced in particular. The compensating element and the other compensating element of the transmission unit are preferably constructed substantially identically to each other. The transmission unit preferably has another revolute joint, which is connected to the drive shaft of the drive unit for directly transmitting the driving force to the other compensating element. The compensating element and the other compensating element are preferably arranged on opposite sides of the laser radar unit in the assembled state of the laser radar device. The main extension direction of the preferred compensating element and the main extension of the other compensating element are preferably oriented at least substantially parallel to each other in the assembled state.

[0024] In an advantageous design of the present invention, it is proposed that the drive shaft and the wiper arm are arranged at opposite sides of the laser radar unit in the assembled state. This makes it possible to advantageously achieve a particularly compact design of the laser radar device, especially in terms of the width extension of the laser radar device. In this design, the wiper arm is preferably arranged at the front side of the laser radar unit in the assembled state, and the main extension direction of the wiper arm is arranged at least substantially parallel to the surface of the cover element to be wiped. Correspondingly, in this design, the drive shaft is arranged at the rear side of the laser radar unit opposite to the front side. It is thus possible to provide a laser radar device with a small width extension. Advantageously, when the drive shaft and the wiper arm are arranged at opposite sides of the laser radar unit in the assembled state, the width extension of the entire laser radar device corresponds to the width extension of the laser radar unit.

[0025] In an alternative advantageous design of the present invention, it is proposed that the drive shaft and the wiper arm are arranged at the adjacent side of the laser radar unit in the assembled state. This makes it possible to achieve a particularly compact design of the laser radar device, especially in terms of the depth extension of the laser radar device. In this design, the wiper arm is also preferably arranged at the front side of the laser radar unit in the assembled state, and the main extension direction of the wiper arm is arranged at least substantially parallel to the surface of the cover element to be wiped. In this design, the drive shaft can be arranged at the left side of the laser radar unit adjacent to the front side or at the right side of the laser radar unit adjacent to the front side. It is thus possible to provide a laser radar device with a small depth extension.

[0026] The invention further relates to a vehicle having at least one laser radar device according to one of the previously described embodiments. Such a vehicle is distinguished in particular by its advantageous properties in terms of reliability and safety that can be achieved by a laser radar device according to the previously described embodiment. The vehicle can be designed as a road vehicle, such as a passenger car or a truck, etc., as a rail vehicle, such as a train, a motor vehicle, a tram, etc., and / or as a water vehicle, such as, for example, a ship, a boat, etc. It is also conceivable that the vehicle is designed as a cleaning vehicle, in particular a cleaning robot, such as a scraping robot and / or a vacuuming robot. Preferably, the laser radar device is connected to the vehicle. Preferably, the laser radar device is at least partially arranged on the outside of the vehicle.

[0027] The laser radar device according to the invention is not to be restricted to the above-described use scenarios and embodiments. In particular, the laser radar device according to the invention can have a number of individual elements, components and units that differs from the number mentioned here in order to fulfill the functional mode described here. In addition, with respect to the range of values ​​specified in the present disclosure, the values ​​within the mentioned boundaries are also to be regarded as public and can be used arbitrarily. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Further advantages are obtained from the following description of the drawings. Two embodiments of the invention are shown in the drawings. The drawings, the description and the claims contain a large number of combined features. A person skilled in the art will also consider these features individually in an appropriate manner and combine them into meaningful further combinations.

[0029] in:

[0030] Figure 1 A schematic perspective view of a vehicle with a lidar device is shown,

[0031] Figure 2 A LiDAR device is shown in a schematic perspective view,

[0032] Figure 3A schematic top view of a lidar device is shown,

[0033] Figure 4 A further embodiment of a lidar device is shown in a schematic perspective view, and

[0034] Figure 5 A schematic top view shows Figure 4 A lidar device of an embodiment. DETAILED DESCRIPTION

[0035] Figure 1 A vehicle 50a is shown in a schematic perspective view. The vehicle 50a comprises a lidar device 10a. The vehicle 50a is designed here as a road vehicle, in particular as a passenger car. The lidar device 10a is arranged in the front region of the vehicle 50a.

[0036] The laser radar device 10a has a laser radar unit 12a (see also Figure 2 ). The lidar unit 12a comprises at least one lidar sensor (not shown). Furthermore, the lidar device 10a comprises a cover element 14a in the illustrated embodiment.

[0037] The cover element 14a covers the lidar unit 12a. The cover element 14a is provided to protect the lidar unit 12a from environmental influences and in particular to shield it from dirt and / or moisture.

[0038] exist Figure 2 and Figure 3 A lidar device 10a is shown in FIG. Figure 2 The lidar device 10a is shown in a schematic perspective view. Figure 3 The lidar device 10a is shown in a schematic top view.

[0039] The lidar device 10a has a cleaning unit 16a. The cleaning unit 16a is designed to clean the cover element 14a of the lidar unit 12a. The cleaning unit 16a comprises a scraper arm 18a for cleaning the cover element 14a.

[0040] The cleaning unit 16a further comprises a drive unit 20a. The drive unit 20a is provided for providing a driving force. The drive unit 20a has a drive motor 52a for providing a driving force, which can be configured as an electric motor, for example. The drive unit 20a further comprises a drive shaft 26a for transmitting a driving force in the form of a torque in this context.

[0041] The cleaning unit 16a further comprises a transmission unit 22a for transmitting the driving force from the drive unit 20a to the scraper arm 18a.

[0042] The transmission unit 22a has at least one compensating element 24a. The compensating element 24a is provided for transmitting the drive force to the scraper arm 18a. The compensating element 24a is also provided for compensating for the distance between the drive shaft 26a of the drive unit 20a and the scraper arm 18a which changes during the scraping movement.

[0043] The compensating element 24a is provided for converting a rotational movement of the drive shaft 16a into an at least substantially translational scraping movement of the scraper arm 18a.

[0044] In this article, the compensation element 24a is telescopically constructed. The compensation element 24a comprises a compensation piston 54a and a sleeve 56a, in which the compensation piston 54a is slidably supported. In order to compensate for the distance between the drive shaft 26a and the scraper arm 18a that changes during the scraping movement, the compensation piston 54a can partially slide out of the sleeve and slide back into the sleeve. In this article, the telescopically constructed compensation element 24a has a telescopic stage in the form of a compensation piston 54a slidably supported in the sleeve 56a. However, it is also conceivable that the compensation element 24a has a plurality of telescopic stages (not shown) connected one after another with a plurality of compensation pistons slidably supported in each other, so as to be able to compensate for large changes in the distance between the drive shaft 26a and the scraper arm 18a.

[0045] The transmission unit 22a has at least one rotary joint 28a, which is connected to the compensation element 24a. In the present embodiment, the rotary joint 28a is connected to the drive shaft 26a for directly transmitting the driving force to the compensation element 24a.

[0046] The transmission unit 22a has a support element 32a for holding the scraper arm 18a, which is coupled to the scraper arm 18a and the compensation element 24a. The transmission unit 22a has at least one guide rail 34a for guiding the scraper arm 18a, wherein the support element 32a is connected to the guide rail 34a in a form-locking and movably manner. In this context, the support element 32a is configured as a slide and is connected to the guide rail 34a in a form-locking and movably manner.

[0047] In the present embodiment, the transmission unit 22a has at least one additional compensating element 38a. The additional compensating element 38a is constructed in the same manner as the compensating element 24a in this article. In this article, the compensating element 24a is provided for transmitting the driving force to the first end 40a of the scraper arm 18a, and the additional compensating element 38a is provided for transmitting the driving force to the second end 42a of the scraper arm 18a. The transmission unit 22a also has an additional rotary joint 62a, which is connected to the additional compensating element 38a. The additional rotary joint 62a is connected to the drive shaft 26a of the drive unit 20a for directly transmitting the driving force to the additional compensating element 38a.

[0048] In this context, the compensating element 24a is connected to the first end 40a, in this context the upper end, of the wiper arm 18a via a supporting element 32a. The further compensating element 38a is connected to the second end 42a, in this context the lower end, of the wiper arm 18a via a further supporting element 58a. The transfer unit 22a has in this context a further guide rail 60a, wherein a further supporting element 58a, which is also configured as a slide, is connected to the further guide rail 60a in a form-locking and movably manner. The guide rail 34a is arranged along the upper edge of the cover element 14a of the laser radar unit 12a. The further guide rail 60a is arranged along the lower edge of the cover element 14a of the laser radar unit and extends substantially parallel to the guide rail 34a.

[0049] In this context, the scraper arm 18a and the drive shaft 26a are arranged at the opposite sides 44a, 46a of the laser radar unit 12a in the assembled state. Here, the scraper arm 18a at the front side 44a of the laser radar unit 12a is arranged substantially parallel to the surface to be cleaned of the cover element 14a. The drive unit 20a is arranged at the rear side 46a of the laser radar unit 12a in the assembled state. In the operating state of the cleaning unit 16a, the driving force provided by the drive unit 20a is partially transmitted from the drive shaft 26a to the compensation element 24a through the rotary joint 28a and from the compensation element 24a to the scraper arm 18a through the supporting element 32a. At the same time, the driving force provided by the drive unit 20a is partially transmitted from the drive shaft 26a to the other compensation element 38a through the other rotary joint 62a and from the other compensation element 38a to the scraper arm through the other supporting element 58a.

[0050] exist Figure 4 and Figure 5 The following description and drawings are essentially limited to the differences between the exemplary embodiments, wherein, for identically represented components, in particular for components with the same reference numerals, reference can in principle also be made to the drawings and / or other exemplary embodiments, in particular Figures 1 to 3In order to distinguish the embodiments, Figures 1 to 3 The reference numerals of the embodiments in the drawings are followed by the letter a. Figure 4 and Figure 5 In the embodiment, the letter a is replaced by the letter b.

[0051] exist Figure 4 and Figure 5 A further embodiment of a lidar device 10b is shown in FIG. Figure 4 The laser radar device 10b is shown in a schematic perspective view. Figure 5 , a lidar device 10 b is shown in a schematic top view.

[0052] Similar to the above-described embodiment, the lidar device 10b has a lidar unit 12b including at least one lidar sensor (not shown) and a cover element 14b.

[0053] The laser radar device 10b further has a cleaning unit 16b for cleaning the covering element 14b, which includes a scraper arm 18b for cleaning the covering element 14b, a drive unit 20b for providing a driving force, and a transmission unit 22b for transmitting the driving force from the drive unit 20b to the scraper arm 18b.

[0054] Similar to the above-described embodiment, the transmission unit 22b has at least one compensating element 24b. The compensating element 24b is used to set the transmission of the driving force to the scraper arm 18b. The compensating element 24b is also provided to compensate for the distance between the drive shaft 26b of the drive unit 20b and the scraper arm 18b that changes during the scraping movement.

[0055] The compensating element 24 b is in turn provided for converting a rotational movement of the drive shaft 26 b into an at least substantially translational scraping movement of the scraper arm 18 b .

[0056] The compensating element 24b is of telescopic design and, similar to the previous exemplary embodiment, has a compensating piston 54b and a sleeve 56b in which the compensating piston 54b is mounted in a sliding manner. The transmission unit 22b has at least one swivel joint 28b, which is connected to the compensating element 24b.

[0057] Unlike the above-described embodiment, the transmission unit 22b has at least one sliding joint 30b in order to transmit the drive force from the drive shaft 26b to the compensation element 24b. A further difference of the laser radar device 10b with respect to the laser radar device 10a from the above-described embodiment is that the rotary joint 28b is arranged spaced apart from the drive shaft 26b and is provided for supporting the rotational movement of the compensation element 24b generated by the sliding joint 30b.

[0058] Similar to the above-described embodiment, the transmission unit 22b has a support element 32b for holding the scraper arm 18b, which is coupled to the scraper arm 18b and the compensation element 24b. The transmission unit 22b also has at least one guide rail 34b for guiding the scraper arm 18b, wherein the support element 32b is connected to the guide rail 34b in a form-locking and movable manner. In this context and in contrast to the above-described embodiment, the transmission unit has exactly one rotary joint 28b, exactly one compensation element 24b, exactly one support element 32b and exactly one guide rail 34b.

[0059] A further difference with respect to the lidar device 10a from the above-described embodiment is that the lidar device 10b has a holding unit 36b for connection to the lidar unit 12b, wherein at least the transmission unit 22b is supported at the holding unit 36b. In this context, in addition to the transmission unit 22b, the drive unit 20b is also supported at the holding unit 36b.

[0060] The laser radar device 10b also differs from the laser radar device 10a from the above-described embodiment in that the scraper arm 18b and the drive shaft 26b are arranged at the adjacent side parts 44b, 48b of the laser radar unit 12b in the assembled state. Here, the scraper arm 18b at the front side 44b of the laser radar unit 12b is arranged substantially parallel to the surface to be cleaned of the cover element 14b. The drive unit 20b is arranged at the adjacent left side 48b of the laser radar unit 12b. In the operating state of the cleaning unit 16b, the driving force provided by the drive unit 20b is transmitted from the drive shaft 26b to the compensation element 24b via the sliding joint 30b and from the compensation element 24b to the scraper arm 18b via the support element 32b.

Claims

1. A laser radar device (10a; 10b), comprising a laser radar unit (12a; 12b), at least one covering element (14a; 14b) covering the laser radar unit (12a; 12b), and a cleaning unit (16a; 16b), the cleaning unit comprising at least one scraping arm (18a; 18b) for cleaning the covering element (14a; 14b), a driving unit (20a; 20b) for providing a driving force, and a transmission unit (22a; 22b) for transmitting the driving force from the driving unit (20a; 20b) to the scraping arm (18a; 18b), characterized in that: The transmission unit (22a; 22b) has at least one compensating element (24a; 24b) for transmitting the driving force to the scraper arm (18a; 18b) and for compensating for a distance between a driving shaft (26a; 26b) of the drive unit (20a; 20b) and the scraper arm (18a; 18b) that changes during a scraping movement.

2. The laser radar device (10a; 10b) according to claim 1, characterized in that The compensating element (24a; 24b) is provided for converting a rotational movement of the drive shaft (26a; 26b) into an at least substantially translational scraping movement of the scraping arm (18a; 18b).

3. The laser radar device (10a; 10b) according to claim 1 or 2, characterized in that: The compensating element (24a; 24b) is of telescopic design.

4. The laser radar device (10a; 10b) according to any one of the preceding claims, characterized in that The transmission unit (22a; 22b) has at least one pivot joint (28a; 28b) which is connected to the compensation element (24a; 24b).

5. The laser radar device (10b) according to any one of claims 1 to 4, characterized in that: The transmission unit (22b) has at least one sliding joint (30b) in order to transmit the drive force from the drive shaft (26b) to the compensation element (24b).

6. The laser radar device (10b) according to claims 4 and 5, characterized in that The rotary joint (28b) is arranged at a distance from the drive shaft (26b) and is provided for supporting the rotary movement of the compensating element (24b) generated by the sliding joint (30b).

7. The laser radar device (10a) according to claim 4, characterized in that The rotary joint (28a) is connected to the drive shaft (26a) for directly transmitting the drive force to the compensation element (24a).

8. The laser radar device (10a; 10b) according to any one of the preceding claims, characterized in that The transmission unit (22a; 22b) has a supporting element (32a; 32b) for holding the scraper arm (18a; 18b), which is coupled to the scraper arm (18a; 18b) and the compensation element (24a; 24b).

9. The laser radar device (10a; 10b) according to claim 8, characterized in that The transfer unit (22a; 22b) has at least one guide rail (34a; 34b) for guiding the scraper arm (18a; 18b), wherein the support element (32a; 32b) is connected to the guide rail (34a; 34b) in a form-fitting and movably manner.

10. The laser radar device (10b) according to any one of the preceding claims, characterized in that A holding unit (36b) for connecting to the lidar unit (12b), wherein at least the transmission unit (22b) is supported on the holding unit (36b).

11. The laser radar device (10a) according to any one of the preceding claims, characterized in that The transmission unit (22a) has at least one further compensating element (38a), wherein the compensating element (24a) is configured to transmit the driving force to a first end (40a) of the scraper arm (18a), and the further compensating element (38a) is configured to transmit the driving force to a second end (42a) of the scraper arm (18a).

12. The laser radar device (10a) according to any one of the preceding claims, characterized in that The scraper arm (18a) and the drive shaft (26a) are arranged on opposite sides (44a, 46a) of the lidar unit (12a) in the assembled state.

13. The laser radar device (10b) according to any one of claims 1 to 11, characterized in that: The scraper arm (18b) and the drive shaft (26b) are arranged on adjacent sides (44b, 48b) of the lidar unit (12b) in an assembled state.

14. A vehicle (50a) having at least one lidar device (10a; 10b) according to any one of the preceding claims.

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