Lidar sensor unit
By designing a lidar sensor unit with a cover frame, the problem of difficulty in protecting the internal components of the lidar sensor system in the prior art is solved, effective protection of the slider elements and cleaning arms is achieved, the stability and aerodynamic characteristics of the system are improved, and production costs are reduced.
Patent Information
- Application Number
- CN202411499618.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-10-26
- Filing Date
- 2024-10-25
- Publication Date
- 2025-04-29
AI Technical Summary
Existing lidar sensor systems are difficult to effectively protect their internal components, especially slider elements and cleaning arms, from external influences and damage in automated driving environments in road traffic.
A lidar sensor unit with a cover frame is designed, the cover frame surrounds the measurement surface and covers the slider element, the cleaning arm protrudes beyond a part of the cover frame, the slider element achieves linear motion through the seal and the drive device, and the nozzle is integrated into the cover frame for cleaning.
Effectively protect the internal components of the lidar sensor unit, especially the slider elements and cleaning arms, avoid external influences and intentional damage, improve the stability and aerodynamic characteristics of the system, while achieving a low-cost and easy-to-manufacturing design.
Smart Images
Figure CN119902227A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a laser radar sensor unit and also to a vehicle having such a laser radar sensor unit. Background Art
[0002] Vehicles for moving in road traffic are being continuously further developed, with one direction of development being automated driving. For the automated operation of the vehicle, reliable monitoring of the surroundings is particularly necessary. This can be performed in particular by means of lidar sensor systems.
[0003] Cleaning is necessary for the lidar sensor system to function reliably, for example by means of compressed air and / or by spraying cleaning fluid. Summary of the invention
[0004] The lidar sensor unit according to the invention has a cover frame which can be manufactured easily and inexpensively and which performs multiple functions. On the one hand, the cover frame can be designed aesthetically independently of the other components of the lidar sensor unit. On the other hand, the cover frame serves to at least partially protect the lidar sensor unit from external influences.
[0005] The lidar sensor unit has a measuring surface, through which optical signals can be transmitted and / or received. The measuring surface is, for example, a cover that is permeable to optical signals, behind which one or more lidar sensors are located.
[0006] Furthermore, the laser radar sensor unit has a slider element which can be moved by a drive. The drive serves in particular to move the slider element along a track. A cleaning arm of the laser radar sensor unit is fastened to the slider element and can be moved along the measuring surface in order to clean the measuring surface. To this end, the cleaning arm rests against the measuring surface, in particular with the cleaning lip. The slider element thus serves to move the cleaning arm along the measuring surface, wherein the cleaning arm moves linearly, i.e. does not perform a rotational or pivoting movement as with conventional windshield wipers. However, the measuring surface can be curved so that the cleaning arm can be moved along a curved track.
[0007] The lidar sensor unit has a cover frame which is designed to surround the measuring surface and to cover the slider element. The cleaning arm protrudes beyond a partial area of the cover frame. The slider is thus at least partially protected from external influences. Preferably, the slider itself has a seal, wherein the seal is supported by the cover frame. In particular, the cleaning arm protrudes beyond the cover frame at least during the cleaning movement.
[0008] The dependent claims indicate preferred developments of the invention.
[0009] The cover frame has at least one nozzle for delivering a cleaning fluid onto the measuring surface. The nozzle can be connected in particular to a cleaning fluid supply system of a vehicle that receives the lidar sensor unit. The nozzle, in particular together with the cleaning arm, enables a reliable cleaning of the measuring surface. By integrating the nozzle into the cover frame, the nozzle can be provided easily and cost-effectively.
[0010] The cover frame can advantageously be fastened to the body of the vehicle that receives the lidar sensor unit. Thus, it is possible to securely arrange the cover frame on the vehicle body.
[0011] Preferably, the relative movement of the cover frame and the vehicle body is minimized. Thus, the cover frame enables the lidar sensor unit to be integrated into the vehicle body. Preferably, the lidar sensor unit can be fastened to other components of the vehicle by additional means.
[0012] In an advantageous embodiment, the cover frame is a visible component. This means in particular that the cover frame is visible during normal use of the lidar sensor unit. In particular, the cover frame is made of a visually high-quality material and / or is shaped in a visually appealing manner. Furthermore, the shape of the cover frame is particularly adapted to the body of a vehicle that receives the lidar sensor unit.
[0013] Advantageously, the covering frame has a first edge region and a second edge region adjacent to the first edge region. Preferably, the first edge region is arranged to cover the slider element and preferably extends along a first side of the measuring surface. Preferably, the second edge region is perpendicular to the first edge region and / or extends along a second side of the measuring surface. The second edge region is particularly configured to cover the cleaning arm when the cleaning arm is in a static position outside the measuring surface. Therefore, the cleaning arm is protected from external influences in the static position. It is also avoided that the cleaning arm is damaged or at least made difficult due to vandalism or similar acts. In addition, aerodynamic advantages are achieved by hiding the cleaning arm behind the second edge region.
[0014] In an alternative design, the covering frame has a first edge region and a second edge region adjacent to the first edge region. Preferably, the first edge region is provided for covering the slider element and preferably extends along a first side of the measuring surface. Preferably, the second edge region is perpendicular to the first edge region and / or extends along a second side of the measuring surface. When the cleaning arm is in a rest position outside the measuring surface, the second edge region is preferably configured as a stop for the cleaning arm. By resting the cleaning arm against the second edge region, the cleaning arm is supported in the rest position. This increases its stability, especially under external influences.
[0015] Particularly advantageously, the second edge region has a transition without gaps and / or projections relative to the cleaning arm when the cleaning arm is in a rest position outside the measuring surface. As a result, the cleaning arm is not immediately recognizable as a separate element, but rather appears visually to cover part of the frame. This results in a visually high-quality appearance. In addition, the aerodynamic properties are also improved.
[0016] Preferably, the cover frame is a plastic component. It is easy and inexpensive to manufacture the cover frame from plastic. In addition, the cover frame has a particularly low weight.
[0017] The invention also relates to a vehicle. The vehicle has a lidar sensor unit as described above. It is provided that the cover frame is fastened to the body of the vehicle. A reliable fixing of the cover frame is thus achieved. In particular, relative movements between the cover frame and the body are minimized. It is particularly advantageous to provide further fastening means in order to achieve the actual fastening of the lidar sensor unit to the vehicle component.
[0018] Advantageously, the cover frame and the vehicle body have a transition without play and / or projections. This leads, on the one hand, to advantageous aerodynamic properties of the vehicle and, on the other hand, enables an aesthetic integration of the cover frame into the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.
[0020] Figure 1 A schematic diagram of a vehicle according to an embodiment of the present invention is shown;
[0021] Figure 2 A schematic diagram of a laser radar sensor unit according to an embodiment of the present invention is shown;
[0022] Figure 3 shows a further schematic diagram of a lidar sensor unit according to an embodiment of the present invention;
[0023] Figures 4a to 4e shows various schematic diagrams of a lidar sensor unit according to an embodiment of the present invention in a first alternative during different cleaning states; and
[0024] Figure 5a and Figure 5b Various schematic diagrams of a lidar sensor unit according to an embodiment of the present invention in a second alternative are shown during different cleaning states. DETAILED DESCRIPTION
[0025] All identical components, elements and / or units in all figures are preferably provided with the same reference symbols.
[0026] Figure 1 A vehicle 10 is schematically shown with a lidar sensor unit 2 . The vehicle 10 is designed in particular for automated driving. In this case, the lidar sensor unit 2 provides reliable monitoring of the surroundings.
[0027] exist Figure 2 as well as Figure 3 Schematically shows a lidar sensor unit 2 according to an embodiment. The lidar sensor unit 2 has a measuring surface 3, via which optical signals can be output and received. The measuring surface 3 covers in particular at least one lidar sensor in an optically transparent manner. In order for the lidar sensor unit 2 to operate reliably, cleaning is provided by a cleaning arm 6, which performs cleaning of the measuring surface 3.
[0028] The cleaning arm 6 is fastened to the slider element 4, wherein the slider element 4 can be moved by a drive device 5. The cleaning arm 6 can be moved along the measuring surface 3 by the slider element 4 in order to clean the measuring surface 3. For this purpose, the cleaning arm 6 rests on the measuring surface 3, for example, with a cleaning lip. The cleaning arm 6 is moved linearly along the measuring surface 3 by the slider element 4 and does not perform a rotational or pivoting movement like conventional windshield wipers.
[0029] The lidar sensor unit 2 further comprises a cover frame 1. The cover frame 1 is provided for enclosing the measuring surface 3 and covering the slider element 4. For this purpose, the cover frame 1 has a first edge region 8 extending along the long sides of the measuring surface 3. The first edge region 8 is provided for covering the slider element 4. Below the first edge region 8, the cleaning arm 6 protrudes relative to the cover frame 1 when the cleaning arm 6 is guided along the measuring surface 3.
[0030] The slider element 4 is moved linearly for moving the cleaning arm 6. This movability requires a seal 12, by means of which the drive device 5 is protected from external influences. However, this seal 12 must allow the linear movement of the slider element 4, whereby there is a conflict of objectives. Covering the seal 12 is achieved by the first edge region 8, whereby a portion of external influences are already kept away from the seal 12, thereby improving the effectiveness of the seal 12.
[0031] The covering frame 1 furthermore has a second edge region 9. The second edge region 9 is designed to adjoin the first edge region 8 and is, in particular, oriented substantially perpendicularly to the first edge region 8. The second edge region 9 can be designed in different variants.
[0032] Figures 4a to 4e A lidar sensor unit 2 according to a first variant is shown. The figures show the lidar sensor unit in different states. Figure 4a, the ready-to-operate state is shown, with the cleaning arm 6 in a rest position outside the measuring surface 3 . Figures 4b to 4e Different states during cleaning are shown.
[0033] In a first variant of the lidar sensor unit 2, the second edge region 9 is designed to cover the cleaning arm 6 when the cleaning arm 6 is in the rest position. Figure 4a In this way, the cleaning arm 6 is protected by the second edge region 9. This protection is preferably used on the one hand against external environmental influences and on the other hand against damage caused by vandalism. In addition, the aerodynamic properties of the lidar sensor unit 2 are enhanced.
[0034] The cleaning arm 6 can be moved along the measuring surface 3 to clean it. During the movement of the cleaning arm 6, the slider element 4 remains covered by the first edge region 8 and the cleaning arm 6 protrudes beyond a partial region of the covering frame 1, namely the first edge region 8. Figure 4b The cleaning arm 6 is shown when it leaves the area covered by the second edge area 9. Figure 4c The cleaning arm 6 is shown during a cleaning process on the measuring surface 3 .
[0035] The cover frame also has at least one nozzle 7, wherein Figure 3 4 and 5 always show two nozzles 7. The nozzles 7 are used to spray the cleaning fluid onto the measuring surface 3. By integrating the nozzles 7 into the cover frame 1, the nozzles 7 are easily and inexpensively provided and can be optimally adjusted. Figure 4d The lidar sensor unit 2 is shown during the injection of a fluid through the nozzle 7 . Figure 4e The lidar sensor unit 2 is shown during the time when the sprayed fluid is wiped off by the cleaning arm 6. Thus, the cleaning effect of the cleaning arm 6 is improved by the nozzle 7.
[0036] Figure 5a and Figure 5b FIG. 2 shows a lidar sensor unit 2 according to a second alternative. In the second alternative, in contrast to the first alternative, the cleaning arm 6 is not covered by the second edge region 9 when the cleaning arm 6 is arranged in the rest position. Instead, the second edge region 9 is provided as a stop for the cleaning arm 6 when the cleaning arm 6 is in the rest position. This state is Figure 5a Shown in. Figure 5b The cleaning arm 6 is shown during cleaning on the measurement surface 3 .
[0037] In particular, the second edge region 9 has a gap-free and / or protrusion-free transition relative to the cleaning arm 6 when the cleaning arm 6 is in the rest position. This means in particular that the surface of the second edge region 9 is configured in a manner that is substantially aligned with the surface of the cleaning arm 3. Furthermore, it is preferably provided that the cleaning arm 6 rests against the second edge region 9 without gap. The cleaning arm 6 is supported in particular by the second edge region 9 and is thereby stabilized in the rest position. In addition, the aerodynamic properties of the lidar sensor unit 2 are improved.
[0038] In all variants, the cover frame 1 is a visible component, preferably made of plastic. This means that the cover frame 1 can be seen from the outside of the vehicle 10. The cover frame has an aesthetic shape in particular. In addition, the cover frame 1 serves to integrate the lidar sensor unit 2 into the appearance of the vehicle 10. In particular, the cover frame 1 is fastened to the body 11 of the vehicle 10 in order to avoid or minimize relative movements between the body 11 and the cover frame 1. In addition, the cover frame 1 has a transition section with no gaps and / or protrusions relative to the body 11. As a result, on the one hand, a high-quality visual appearance is obtained, and on the other hand, the aerodynamic properties of the vehicle 10 are optimized.
Claims
1. A laser radar sensor unit (2), comprising: a measuring surface (3), via which optical signals can be sent and / or received, - a slider element (4) which can be moved by a drive device (5), a cleaning arm (6) which is fastened to the slider element (4) and which can be moved along the measuring surface (3) in order to clean the measuring surface (3), a covering frame (1) which is provided for surrounding the measuring surface (3) and for covering the slider element (4), wherein: The cleaning arm (6) protrudes beyond a partial area of the covering frame (1).
2. The laser radar sensor unit (2) according to claim 1, characterized in that The cover frame (1) has at least one nozzle (7) for delivering a cleaning fluid onto the measuring surface (3).
3. The lidar sensor unit (2) according to any one of the preceding claims, characterized in that The cover frame (1) can be fastened to a body (11) of a vehicle (10) that receives the lidar sensor unit (2).
4. The lidar sensor unit (2) according to any one of the preceding claims, characterized in that The covering frame (1) is a visible component.
5. The lidar sensor unit (2) according to any one of the preceding claims, characterized in that The covering frame (1) has a first edge region (8) and a second edge region (9) which adjoins the first edge region (8), wherein the first edge region (8) is provided for covering the slider element (4), and wherein the second edge region (9) is designed for covering the cleaning arm (6) when the cleaning arm (6) is in a rest position outside the measuring surface (3).
6. The laser radar sensor unit (2) according to any one of claims 1 to 5, characterized in that The covering frame (1) has a first edge region (8) and a second edge region (9) which adjoins the first edge region (8), wherein the first edge region (8) is provided for covering the slider element (4), and wherein the second edge region (9) is configured as a stop for the cleaning arm (6) when the cleaning arm (6) is in a rest position outside the measuring surface (3).
7. The laser radar sensor unit (2) according to claim 6, characterized in that When the cleaning arm (6) is in a rest position outside the measuring surface (3), the second edge region (9) has a transition with respect to the cleaning arm (6) without play and / or without projection.
8. The lidar sensor unit (2) according to any one of the preceding claims, characterized in that The covering frame (1) is a plastic component.
9. A vehicle (10) having a lidar sensor unit (2) according to any one of claims 1 to 8, wherein: The covering frame (1) is fastened to a body (11) of the vehicle (10).
10. The vehicle (10) according to claim 9, wherein: The cover frame (1) and the vehicle body (11) have a transition without play and / or projection.