Sensor module with environmental sensor and cleaning device

Abstract

Sensor module (18) comprising a sensor viewing area (20), an environment sensor (22) configured to detect a vehicle environment through the sensor viewing area (20), and a cleaning device (24) with a wiping device (26), wherein the cleaning device (24) has a multi-link kinematics (28) by which the wiping device (26) can be caused to perform a translational and also partially rotational wiping movement in order to clean the sensor viewing area (20) at least partially, wherein the multi-link kinematics (28) is movable by a rotating drive (30), wherein the rotating drive (30) is arranged in a dry area (32) of the sensor module (18), wherein the translational and also partially rotational wiping movement of the wiping device (26) has a rotational movement component about at least two fixed bearing points (36, 38) provided on the sensor module (18),wherein the multi-link kinematics (28) comprises a four-link kinematics comprising two guide levers (44, 46) which are each rotatably connected at one lever end to one of the two fixed bearing points (36, 38), and each at the other lever end are rotatably connected to the wiping device (26) via floating bearing points, wherein the wiping device (26) comprises a wiper lip (34) which extends along the wiping device (26) between the floating bearing points, and wherein one of the two guide levers (44, 46) is coupled at one of the two fixed bearing points (36, 38) to a guide lever (48, 50) of the rotating drive (30) (Fig. 12).

Description

[0001] The invention relates to a sensor module, in particular a roof sensor module (RSM) for a passenger car, comprising a sensor viewing area, an environment sensor configured to detect the vehicle's surroundings through the sensor viewing area, and a cleaning device with a wiping mechanism. The invention further relates to a roof sensor module with such a sensor module. The invention also relates to a motor vehicle with such a sensor module and / or such a roof sensor module.

[0002] Vehicle roofs and sensor modules for vehicles are well-known in practice. A vehicle roof, for example, can be designed as a roof sensor module with a multitude of sensor modules, which can be mounted as a separate unit onto the body shell of a passenger car. The vehicle body includes roof rails as an interface to the roof, which can be designed as longitudinal and / or transverse rails and constitute a support structure within the vehicle body shell. The vehicle roof comprises a roof skin that forms an outer visible surface and has sensor viewing areas through which environmental sensors, located beneath the roof skin and used to detect the vehicle's surroundings, can perceive the vehicle's environment.

[0003] Autonomous or semi-autonomous vehicles include, for example, a roof designed as a sensor roof module or Roof Sensor Module (RSM), which is equipped with a large number of sensor modules or with a large number of environmental sensors.

[0004] To ensure the proper functioning of the environmental sensors, it is necessary to clean the sensor's viewing area, through which the sensor detects the vehicle's surroundings. The development of cleaning systems for this purpose focuses on removing water droplets from the sensor's viewing area and integrating wiper systems. The challenge lies not only in finding effective cleaning solutions but also in ensuring that these can be integrated into the vehicle in a visually appealing way.

[0005] Currently, compressed air systems are primarily being developed to remove water droplets or moisture from the sensor's viewing area. However, these compressed air-based cleaning devices reach their limits in certain applications. Alternative windshield wiper solutions currently lack the possibility of aesthetically integrating them into the vehicle in a way that meets the demands of vehicle design.

[0006] Further state of the art can be found in the publications US 5 634 234 A, DE 23 62 786 A, CN 1 14 132 293 A, JP 2 602 985 Y2, DE 32 11 794 A1, DE 33 33 763 A1, DE 33 34 011 A1, DE 198 37 021 A1 and US 11 919 486 B2.

[0007] One objective of the invention is to provide an improved sensor module.

[0008] The problem is solved in the present case by a sensor module with the features of claim 1. The problem is solved in the present case by a roof sensor module with the features of claim 6. The problem is solved in the present case by a motor vehicle with the features of claim 7.

[0009] Advantageous embodiments of the invention are the subject of the dependent claims. The scope of the invention encompasses all combinations of at least two features disclosed in the description, the claims, and / or the figures. It is understood in particular that linguistic transformations and / or the meaningful substitution of respective terms within the framework of usual linguistic practice, especially the use of synonyms supported by generally accepted linguistic literature, are included in the present disclosure without being explicitly mentioned in their respective formulations.

[0010] A sensor module, particularly for a passenger car, is proposed here. The sensor module comprises a sensor viewing area, an environment sensor configured to detect the vehicle's surroundings through the sensor viewing area, and a cleaning device with a wiping mechanism. The cleaning mechanism features a multi-link kinematic system that enables the wiping mechanism to perform a substantially translational wiping movement in order to clean at least part of the sensor viewing area.

[0011] The present cleaning device, and in particular the present wiper assembly, provides an efficient and effective cleaning alternative to compressed air cleaning. Since no compressor or other compressed air components are required, the cleaning device can be manufactured more cost-effectively. Furthermore, the present cleaning device can be aesthetically integrated beneath a sensor module cover and / or under a roof panel. This allows the cleaning device to disappear from view when inactive or at rest, thus avoiding any visual obstruction. This contributes to a visually appealing overall appearance of a vehicle equipped with such a sensor module. The multi-link kinematics also allow the wiper assembly to have a single wiper element instead of several smaller rotating wipers.This is particularly advantageous for large sensor viewing areas. Furthermore, the multi-joint kinematics provide a covering function, which will be described in more detail below. This can be achieved, in particular, by a parallel displacement of the wiping device or wiper element during the essentially translational wiping movement.

[0012] The sensor viewing area can be formed in a cover and / or a housing part of the sensor module. The sensor viewing area can be provided as a window in an opening of such a cover and / or housing part. The sensor viewing area can also be formed as a single unit with such a cover and / or housing part. The sensor viewing area is particularly transparent for a wavelength range between 300 nm and 2000 nm. Furthermore, it is advantageous if the sensor viewing area is transparent to radar beams.

[0013] The vehicle roof's environmental sensor can be designed in various ways, utilizing electromagnetic radiation and / or acoustic waves, and may include, for example, a lidar sensor, a radar sensor, an optical sensor such as a camera, an ultrasonic sensor, an antenna system, and / or similar devices. If the environmental sensor is a lidar sensor, it preferably operates in a wavelength range of approximately 905 nm or approximately 1550 nm. A camera used as an environmental sensor can operate in the visible light wavelength range and / or in the infrared range.

[0014] The environmental sensor can be movably arranged on the sensor module, at least between the retracted and extended positions. Preferably, the environmental sensor can be moved into a plurality of intermediate positions between the retracted and extended positions. Alternatively, the environmental sensor can be fixed or rigidly arranged on the sensor module. The sensor module can, for example, be part of a roof sensor module.

[0015] The sensor module in question has at least one cleaning device. This cleaning device is designed to keep the sensor's viewing area clean and preferably to remove dirt and / or obstructions that could impair sensor performance.

[0016] The cleaning device includes a wiping device. This wiping device is preferably a mechanical system designed to mechanically clean the sensor's viewing area.

[0017] The cleaning device features a multi-link kinematic system. This means it has several joints and / or levers and / or mechanical connections that enable it to perform complex movements. In this case, the multi-link kinematic system is preferably used to set the wiping device into a translational and preferably also a partially rotational wiping motion. The wiping motion is primarily linear, which corresponds to a parallel displacement of the wiping device or a wiper element contained therein relative to the sensor's viewing area.

[0018] The essentially translational wiping motion of the wiping device serves to at least partially clean the sensor's field of view. This means that the wiping device is used to remove dirt and / or obstructions from at least one area of ​​the environmental sensor's field of view within the sensor's field of view, through which the sensor detects the environment.

[0019] In a preferred embodiment, the multi-link kinematics are movable by a rotating drive. The rotating drive is arranged in a dry area of ​​the sensor module.

[0020] The wiping device is moved by a rotating drive, located in a dry area of ​​the sensor module, to clean the sensor's viewing area via a multi-link kinematic system. This helps ensure the functionality and / or longevity of the rotating drive and protects it from moisture and / or corrosion. The multi-link kinematic system is moved by a rotating drive, meaning that its movement is generated by a rotating mechanism. The rotating drive can be, for example, an electrically, pneumatically, or hydraulically operated motor that generates the rotary motion. The rotating drive is located in a dry area of ​​the sensor module, meaning that the area housing the rotating drive is preferably free of liquids or moisture.This is advantageous to ensure that the drive functions properly and is protected from environmental influences.

[0021] In a preferred embodiment, the essentially translational wiping movement of the wiping device has a rotational movement component about at least two fixed bearing points provided on the sensor module, in particular caused by the rotating drive.

[0022] Particularly preferred is the primary movement performed by the wiping device or wiper element, a translational (linear) movement in the form of a parallel displacement relative to the sensor's field of view. The wiping movement primarily serves to wipe and / or clean the sensor's field of view. Despite the predominant translational movement, particularly in the form of a parallel displacement, the wiping movement exhibits an additional rotational component. In other words, during the parallel displacement, the wiper element does not move linearly along a vehicle height direction relative to the sensor's field of view. Rather, a movement component also predominates along a longitudinal extent of the wiper element, which is caused by the multi-link kinematics. At least a portion of the multi-link kinematics preferably performs a movement that causes the rotational component of the wiping movement.The rotational component is generated by the rotation of levers within the multi-link kinematics around their respective fixed bearing points, particularly by the rotating drive. There are at least two fixed bearing points on the sensor module where or around which the rotational component of the wiping motion occurs or is influenced. These fixed bearing points serve to control, steer, or guide the rotational movement. In an active state of the wiping mechanism, the wiper element moves up and / or down relative to the sensor's field of view. Due to the multi-link kinematics, the movement speed is sinusoidal.

[0023] In a preferred embodiment, the wiping device cannot be tilted during the essentially translational wiping movement.

[0024] The predominant movement of the wiping device is preferably a linear, translational movement. This means that the wiping device moves mainly in a straight line along the sensor's field of view, without performing any significant lateral or oblique movement. In this preferred embodiment, the wiping element of the device is not tiltable during the translational wiping movement. This means that the wiping element remains in a stable, in particular substantially horizontal, and non-tilted position during the wiping movement.

[0025] In a preferred embodiment, the wiping device has a wiper lip which is in contact with the sensor viewing area in such a way that the sensor viewing area can be mechanically cleaned by the wiper lip during the essentially translational wiping movement.

[0026] The wiping device has a wiping lip. The wiping lip is preferably a part of the wiping device that is in contact with the sensor viewing area to be cleaned. During the essentially translational wiping movement of the wiping device, the wiping lip comes into contact with the sensor viewing area and cleans it mechanically. This means that the wiping lip removes dirt, dust, or contaminants from the surface of the sensor viewing area by physically sliding or wiping over it.

[0027] In a preferred embodiment, the wiping device has a cover which is configured to cover an opening in which the cleaning device is arranged in a rest position of the cleaning device, and to provide a covering function in a cleaning position of the cleaning device by which the impact of liquid on the sensor viewing area can be reduced or minimized.

[0028] The wiping device has a cover. This cover preferably fulfills two main functions. In the cleaning device's rest position, the cover conceals an opening in which the cleaning device itself is located. This means that the cleaning device is neither visible nor exposed in this position. In the rest position, the wiping device is located below a cover of the sensor module or below a roof panel of a vehicle roof on which the sensor module is located, and is in an inactive position. The wiping device is concealed by at least one cover segment. The cover is preferably flush with a surrounding cover segment. The cover is preferably designed to seal the opening in which the cleaning device is located.When the cleaning unit is moved during the wiping motion, the cover, in at least one of the cleaning positions, provides a function that prevents or minimizes liquid from coming into contact with the sensor's viewing area. In other words, the cover protects the sensor's viewing area from moisture or liquid during the cleaning process. Such a cleaning position could, for example, be a fully extended position of the wiping unit, so that the cover is preferably flush or substantially flush and / or substantially level with an upper edge of the sensor's viewing area. The cover's function is to reduce or minimize the impact of liquid on the sensor's viewing area. This is important to ensure that the sensor's viewing area is not affected by moisture or liquid.In other words, when the wiper mechanism is extended, the cover acts as a lid, preventing any water flowing out and / or coming in from hitting the sensor's viewing area and / or the cover of the sensor module.

[0029] In a preferred embodiment, the cleaning device is configured to be adjusted to the cleaning position depending on the vehicle speed, and in particular to remain in this position until cleaning of the sensor viewing area is required.

[0030] The cleaning device is preferably designed so that, depending on the vehicle speed, it can be moved into a position in which the cover protects the sensor's viewing area from liquid when not in use for cleaning. Once the cleaning device has been moved into this position based on a predetermined vehicle speed, it remains there until a cleaning function in the form of a wiping motion is required. The cleaning device remains in this position until cleaning of the sensor's viewing area is necessary. At low vehicle speeds and in rain, the wiper element or cover can remain in an upper position, particularly at the level of or above the sensor's viewing area, thereby preventing raindrops from flowing over or touching the sensor surface.At higher vehicle speeds, this "lid function" can be deactivated again, especially if this "lid function" is no longer available due to a higher airflow associated with the higher vehicle speed.

[0031] In a preferred embodiment, the multi-link kinematics feature a four-link kinematics. The four-link kinematics comprises two guide levers, each rotatably connected at one end to one of the two fixed bearing points. The two guide levers are each rotatably connected at their other end to the wiping device. One of the two guide levers is coupled at or via one of the two fixed bearing points to a guide lever of the rotating drive.

[0032] The multi-link kinematics in this embodiment is a four-bar linkage. This means it has four joints or connection points that allow movements in specific directions. The four-bar linkage includes two guide levers. These guide levers are parts of the kinematics, each connected at one end to one of the two fixed bearing points and capable of rotating around these points. The two guide levers are each connected at the other end to the wiping mechanism. This means they can control or transmit the movements of the wiping mechanism. One of the two guide levers is coupled to a guide lever of the rotating drive, either directly at one of the fixed bearing points or via a connection. This coupling allows the rotating drive to control or influence the movements of the wiping mechanism.

[0033] A roof sensor module for forming a vehicle roof is also claimed here. The roof sensor module can be arranged as a pre-assembled unit on a vehicle body. The roof module comprises a surface component that functions at least partially as a roof skin, and such a roof module. The sensor module is arranged on the surface component. The roof sensor module preferably forms an integrated unit that accommodates components designed for autonomous or semi-autonomous driving of the vehicle in question. The roof sensor module, in which a plurality of functional elements can preferably be integrated, represents a compact unit that can be pre-assembled so that a vehicle manufacturer only needs to connect it to a vehicle body or a vehicle body shell. The roof sensor module is preferably connected to roof rails, such as side roof rails and / or longitudinal roof rails.The roof sensor module (RSM) enables autonomous or semi-autonomous driving of the vehicle in question. A motor vehicle equipped with such a roof sensor module and designed as an autonomous vehicle preferably drives itself in autonomous driving mode, i.e., at least without significant driver intervention. In semi-autonomous driving mode, the roof sensor module according to the invention, for example, forms part of a driver assistance system. The roof sensor module can be designed with a transparent fixed roof section and / or a roof opening system and a roof opening. In particular, the roof sensor module forms at least part of the roof of a passenger car. However, it can also be the roof of a commercial vehicle, such as a delivery van, a bus, an autonomous minibus (like a so-called people mover), or a truck tractor.

[0034] The present claim also includes a motor vehicle that has at least one such sensor module and / or at least one such roof sensor module. The roof sensor module can be arranged as a pre-assembled unit on the vehicle body of the motor vehicle. In other words, a vehicle body shell can be connected to a prefabricated or pre-assembled roof sensor module, which is designed as a roof sensor module.

[0035] Further advantages and advantageous embodiments of the subject matter of the invention can be found in the description, the drawing and the patent claims.

[0036] Exemplary embodiments of a motor vehicle with a vehicle roof according to the invention are shown schematically simplified in the drawing and are explained in more detail in the following description. It shows: Fig. 1 a schematic view of a motor vehicle with a vehicle roof and an embodiment of a sensor module; Fig. 2 a schematic view of a sensor module according to one embodiment; Fig. 3 a schematic view of a sensor module according to one embodiment; Fig. 4 a schematic view of a sensor module according to one embodiment; Fig. 5 a schematic view of a sensor module according to one embodiment; Fig. 6 a schematic view of a sensor module according to one embodiment; Fig. 7 a schematic view of a sensor module according to one embodiment; Fig. 8 a schematic view of a sensor module according to one embodiment; Fig. 9 a schematic view of a sensor module according to one embodiment; Fig. 10 a schematic view of a sensor module according to one embodiment; Fig. 11 a schematic view of a sensor module according to one embodiment; Fig. 12 a schematic view of a sensor module according to one embodiment; Fig. 13 a schematic view of a sensor module according to one embodiment; Fig. 14 a schematic view of a sensor module according to one embodiment; and Fig. 15 A schematic view of a sensor module according to one embodiment.

[0037] In Fig. Figure 1 schematically shows a motor vehicle 1000, which has a vehicle body 1002. Furthermore, the motor vehicle 1000 has a roof sensor module 10, which is arranged as a pre-assembled unit on the vehicle body 1002 and forms at least a portion of the vehicle roof 100 of the motor vehicle 1000. The roof sensor module 10 extends along a longitudinal direction x and a transverse direction y of the vehicle.

[0038] In alternative versions, the vehicle roof 100 can also refer to a vehicle roof that is not configured as a roof sensor module. Therefore, all versions also refer to such a vehicle roof 100.

[0039] The roof sensor module 10 comprises a surface component 12, which at least partially forms a roof skin 14 of the vehicle roof 100. The roof sensor module 10 comprises, according to Fig. 1. A fixed roof element 16, which forms at least a partially transparent viewing area of ​​the vehicle roof 100. The roof sensor module 10 may, in other or supplementary versions, have a roof opening system comprising a cover element that can be moved to selectively open or close a roof opening.

[0040] The roof sensor module 10 (see Fig. 1) or the vehicle roof 100 has a sensor module 18. The sensor module 18 has a sensor viewing area 20. Furthermore, the sensor module 18 has at least one environment sensor 22, which is configured to detect the vehicle's surroundings through the sensor viewing area 20.

[0041] Referring to the Fig. 2 to 15 the sensor module 18 further includes a cleaning device 24 with at least one wiping device 26.

[0042] The cleaning device 24 has a multi-joint kinematic mechanism 28, by which the wiping device 26 can be caused, or is caused, to perform a substantially translational wiping movement in order to clean the sensor's viewing area 20 at least partially, preferably completely. The multi-joint kinematic mechanism 28 is moved by a rotating drive 30. The rotating drive 30 is arranged in a dry area 32 of the sensor module 18 and is thus protected from moisture. The drive 30 can be an electric motor. The wiping device 26 cannot be tilted during the substantially translational wiping movement.

[0043] The wiping device 26 has a wiper lip 34 which is in contact with the sensor viewing area 20, or is brought into contact with it, at least during the wiping movement, such that the sensor viewing area 20 can be mechanically cleaned by the wiper lip 34 during the essentially translational wiping movement.

[0044] The essentially translational wiping movement of the wiping device 26 has a rotational movement component about at least two fixed bearing points 36, 38 provided on the sensor module 18 due to the design of the multi-joint kinematics.

[0045] The wiping device 26 further comprises a cover 40, which is designed to cover an opening 42 in which the cleaning device 24 is located when the device is in its rest position. In at least one cleaning position B or operating position of the cleaning device 24, the cover 40 provides a covering function that reduces the impact of liquid on the sensor viewing area 20. The cover 40 can be one or more parts. The cleaning device 24 is designed to be moved into cleaning position B depending on the vehicle speed.

[0046] The multi-link kinematics 28 is, in this case, a four-link kinematics. The four-link kinematics has two guide levers 44, 46. The guide levers 44, 46 are each rotatably connected at one end to one of the two fixed bearing points 36, 38. In other words, the guide lever 44 is rotatably connected at one end to the fixed bearing point 36, while the guide lever 46 is rotatably connected at one end to the fixed bearing point 38. The guide levers 44, 46 are each rotatably connected at their other ends to at least a part of the wiping device 26. The guide lever 46 is coupled at one of the two fixed bearing points 38 to at least one guide lever 48, 50 of the rotating drive 30.

[0047] With reference to Fig. The swiping motion is explained in sections 10 to 13 below. Fig. 10, Fig. 12 and Fig.Figure 13 shows the wiping device 26 in both its rest position A and its cleaning position B. The wiping movement is initiated by the drive 30 as follows: By rotating the drive 30, which can be designed as a stepping or actuating drive, the guide lever 50, which is mounted eccentrically on the drive 30, is moved. The guide lever 50 is rotatably coupled to the guide lever 48. The guide lever 48 is coupled to the guide lever 46 at or via the fixed bearing point 38, transmitting movement. The guide lever 46 is rotatably coupled to the wiping device 26. The wiping device 26 comprises the wiper lip 34 and is preferably essentially rod-shaped. The guide lever 46 is rotatably connected to one end of the wiping device 26. The guide lever 44 is rotatably connected to the other end of the wiping device 26.Due to the fixed bearing points 36, 38, the rotation of the drive 30 is transmitted via the guide levers 48, 50 to the guide lever 46. In this way, the cleaning device 24 or the wiping device 26 can be caused to move in a substantially translational manner, in particular in the form of a parallel displacement relative to the sensor viewing area 20. Reference symbol list 10 Roof sensor module 12 Surface component 14 Roof membrane 16 fixed roof elements 18 Sensor module 20 Sensor viewing area 22 Environmental sensor 24 cleaning equipment 26 Wiping device 28 Multi-link kinematics 30 drive 32 Dry area 34 wiper lip 36 Fixed bearing point 38 Fixed bearing point 40 Coverage 42 Opening 44 guide levers 46 guide levers 48 guide levers 50 guide levers 100 vehicle roof 1000 motor vehicles 1002 Vehicle body A resting position B Cleaning position x Vehicle longitudinal direction y Vehicle width direction

Claims

[1] Sensor module (18) comprising a sensor viewing area (20), an environment sensor (22) configured to detect a vehicle environment through the sensor viewing area (20), and a cleaning device (24) with a wiping device (26), wherein the cleaning device (24) has a multi-link kinematics (28) by which the wiping device (26) can be caused to perform a translational and also partially rotational wiping movement in order to clean the sensor viewing area (20) at least partially, wherein the multi-link kinematics (28) is movable by a rotating drive (30), wherein the rotating drive (30) is arranged in a dry area (32) of the sensor module (18), wherein the translational and also partially rotational wiping movement of the wiping device (26) has a rotational movement component about at least two fixed bearing points (36, 38) provided on the sensor module (18),wherein the multi-link kinematics (28) comprises a four-link kinematics comprising two guide levers (44, 46) which are each rotatably connected at one lever end to one of the two fixed bearing points (36, 38), and each at another lever end are rotatably connected to the wiping device (26) via floating bearing points, wherein the wiping device (26) comprises a wiper lip (34) which extends along the wiping device (26) between the floating bearing points, and wherein one of the two guide levers (44, 46) is coupled at one of the two fixed bearing points (36, 38) to a guide lever (48, 50) of the rotating drive (30) (, Fig. 12). [2] Sensor module (18) according to claim 1, characterized by , that the wiping device (26) cannot be tilted during the translational and also partially rotational wiping movement. [3] Sensor module (18) according to any one of the preceding claims, characterized by, that the wiper lip (34) is in contact with the sensor viewing area (20) in such a way that the sensor viewing area (20) can be mechanically cleaned by the wiper lip (34) during the translational and also partially rotational wiping movement. [4] Sensor module (18) according to any one of the preceding claims, characterized by , that the wiping device (26) has a cover (40) which is configured to cover an opening (42) in which the cleaning device (24) is arranged in a rest position (A) of the cleaning device (24), and to provide a covering function in a cleaning position (B) of the cleaning device (24) by which an impact of liquid on the sensor viewing area (20) can be reduced. [5] Sensor module (18) according to claim 4, characterized by , that the cleaning device (24) is designed to be moved into the cleaning position (B) depending on the vehicle speed. [6] Roof sensor module (10) for forming a vehicle roof (100) which can be arranged as a pre-assembled unit on a vehicle body (1002), the roof sensor module (10) comprising a surface component (12) which functions at least partially as a roof skin (14), and a sensor module (18) according to one of the preceding claims, wherein the sensor module (18) is arranged immovably or retractably on the surface component (12). [7] Motor vehicle (1000) comprising a vehicle body (1002) and a sensor module (18) according to any one of claims 1 to 5 and / or a roof sensor module (10) according to claim 6, wherein the sensor module (18) and / or the roof sensor module (10) is arranged on the vehicle body (1002).

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