Lidar device, and vehicle comprising a lidar device

Abstract

The invention relates to a lidar device (10a; 10b) comprising: a lidar unit (12a; 12b); at least one cover element (14a; 14b) that covers the lidar unit (12a; 12b); and a cleaning unit (16a; 16b) that comprises a wiper arm (18a; 18b) for cleaning the cover element (14a; 14b), a drive unit (20a; 20b) for furnishing a driving force, and a transmission unit (22a; 22b) for transmitting the driving force from the drive unit (20a; 20b) to the wiper arm (18a; 18b). According to the invention, the transmission unit (22a; 22b) includes at least one compensation element (24a; 24b) for transmitting the driving force to the wiper arm (18a; 18b) and compensating for a varying distance between a drive shaft (26a; 26b) of the drive unit (20a; 20b) and the wiper arm (18a; 18b) during a wiping movement.

Description

[0001] Description

[0002] State of the art

[0003] A lidar device has already been proposed, comprising a lidar unit, at least one cover element covering the lidar unit, and a cleaning unit comprising a wiper arm for cleaning the cover element, a drive unit for providing a drive force, and a transmission unit for transmitting the drive force from the drive unit to the wiper arm.

[0004] Disclosure of the invention

[0005] The invention is based on a lidar device with a lidar unit, with at least one cover element which covers the lidar unit, and with a cleaning unit which comprises at least one wiper arm for cleaning the cover element, a drive unit for providing a drive force and a transmission unit for transmitting the drive force from the drive unit to the wiper arm.

[0006] It is proposed that the transmission unit has at least one compensating element for transmitting the drive force to the wiper arm and for compensating a distance between a drive shaft of the drive unit and the wiper arm that varies during a wiping movement.

[0007] The lidar device is at least one part, preferably at least one subassembly, of a lidar system, in particular a lidar sensor assembly. The lidar device can also comprise the entire lidar system, in particular the entire lidar sensor assembly. The lidar device has at least one lidar unit, which comprises at least one lidar sensor element. The lidar sensor element is provided, for example, on a vehicle for environmental detection, in particular for autonomous driving, on construction sites for surveying buildings, for scanning 3D contours and / or in the laboratory for research purposes. In particular, the lidar device, in particular by means of the at least one lidar sensor element, is provided for detecting and / or measuring objects. The lidar device is preferably provided for use on a vehicle; in particular, the lidar device can be part of the vehicle.It would also be conceivable for the lidar device to be retrofitted to the vehicle. For example, the lidar device could be retrofitted to the vehicle in addition to an existing lidar system of the vehicle. Preferably, the lidar device, in particular as part of the lidar system, is provided for detecting objects, in particular in the surroundings of the vehicle. Preferably, the lidar device is coupled to the vehicle for detecting objects, preferably in a roof area, a front area, and / or a rear area of ​​the vehicle. In particular, the vehicle could have multiple lidar devices.

[0008] The cover element covers the lidar unit, in particular towards the outside. Preferably, the cover element is at least substantially transparent. It would be conceivable for the cover element to be made at least largely and in particular entirely from glass. Preferably, the cover element is made at least largely and in particular entirely from a plastic. In particular, the cover element is provided to protect the lidar unit, in particular from environmental influences. Preferably, the cover element protects the lidar 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 cover element mechanically, in particular by means of a mechanical component, wherein the mechanical component is designed differently from air and / or water.The cleaning unit could be provided for additional cleaning of the cover element using a cleaning fluid. It would be conceivable for the cleaning unit to have at least one and preferably a plurality of fluid nozzles, which are provided to spray the cleaning fluid onto the cover element in the operating state. For example, the fluid nozzles could be connected to a fluid supply unit already present in the vehicle. It would also be conceivable for the cleaning unit to have a separate fluid supply unit, which, for example, comprises at least one fluid supply line, at least one fluid tank, and at least one fluid pump. For example, the fluid nozzles could spray the cleaning fluid onto the cover element only when needed. For this purpose, a coupling to at least one rain sensor present on the vehicle could be provided, for example.In particular, at least one element of the lidar device could be designed in such a way that, in the operating state, contamination of the cover element is reduced, for example, if at least one element is designed as a spoiler element. The lidar device could have at least one cover plate, which is, in particular, non-transparent.

[0009] The expression "at least to a large extent" is to be understood 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" in this context is to be understood as meaning that a deviation from a predetermined value deviates in particular by less than 25%, preferably less than 10%, and particularly preferably less than 5% of the predetermined value.

[0010] An "operating state" is understood to mean a state in which the lidar device is ready for operation, in particular, ready for a detection process. In this operating state, the cleaning unit mechanically cleans the window element. It would also be conceivable for the cleaning unit to clean the window element only when necessary, particularly when the window element is dirty.

[0011] To clean the cover element, the cleaning unit has at least one wiper arm. Preferably, the cleaning unit has at least one wiper lip coupled to the wiper arm. In addition, the cleaning unit has a drive unit for driving the wiper arm. In at least one operating state of the lidar device, the drive unit provides a drive force for driving the wiper arm. In this operating state, the wiper arm with the wiper lip coupled thereto is moved along a surface of the cover element to be cleaned by means of the drive force provided by the drive unit in order to clean the cover element. Preferably, the drive unit has a motor, wherein the motor is advantageously designed as an electric motor. In this operating state, in particular during wiping operation of the cleaning unit, the motor provides the drive force and transmits it to a drive shaft of the drive unit.In the operating state, the drive unit preferably provides the drive force in the form of a drive torque, preferably in the form of a torque, which can be tapped via the drive shaft.

[0012] An "operating state" is understood to mean a state in which the lidar device is ready for operation, in particular for a detection process. In this operating state, the cleaning unit mechanically cleans the cover element. It would also be conceivable for the cleaning unit to clean the cover element only when necessary, in particular when the cover element is contaminated.

[0013] The lidar device comprises a transmission unit for transmitting the drive force, in particular the drive torque, from the drive unit to the wiper arm. The transmission unit comprises at least one compensating element for transmitting the drive force from the drive unit to the wiper arm. The compensating element can be coupled to the wiper arm either directly or indirectly via at least one further element, in particular a support element, of the transmission unit. The compensating element is also provided to compensate for the distance between the drive shaft of the drive unit and the wiper arm, which varies during a wiping movement.The distance between the drive shaft and the wiper arm, which varies during the wiping movement, refers to the shortest distance between a main extension direction of the drive shaft and a main extension direction of the wiper arm, which varies depending on the current position of the wiper arm. In this document, a "main extension direction" of an object is understood to mean a direction that runs parallel to a longest edge of a smallest geometric cuboid that just completely encloses the object. In order to compensate for the distance between the drive shaft of the drive unit and the wiper arm, which varies during the wiping movement, the compensating element has at least one length-variable subsection, by means of which a length of the compensating element can be variably changed along a main extension of the compensating element.The length-variable section of the compensating element could, for example, be designed as an elastic element. It is also conceivable for the entire compensating element to be designed as an elastic element. An "elastic element" is understood to mean an element that can be repeatedly deformed without causing mechanical damage or destruction to the element, and that automatically returns to its basic shape after deformation. Preferably, however, the length-variable section of the compensating element is formed by a movable sub-element that is movably, preferably slidingly, mounted on the compensating element, in particular on a sub-element of the compensating element that is stationary with respect to the main direction of extension of the compensating element.

[0014] In this document, numerals such as "first" and "second," which precede certain terms, serve only to distinguish between objects and / or to correlate objects with each other and do not imply a total number and / or ranking of the objects. In particular, a "second object" does not necessarily imply the presence of a "first object."

[0015] “Intended” should be understood to mean specially set up, specially designed and / or specially equipped. The fact that an object is intended for a specific function should be understood to mean that the object fulfills and / or performs this specific function in at least one application and / or operating state. The configuration according to the invention makes it possible to provide a lidar device with advantageous properties in terms of construction. In particular, reliable cleaning can be enabled, which can advantageously increase the reliability of a lidar sensor. The configuration of the lidar device according to the invention makes it possible to keep the cover element free of dirt and / or other contaminants, such as rainwater and / or ice and / or snow. In particular, the mechanical cleaning can be carried out reliably, in particular independently of environmental influences.This can further improve safety. In particular, safety with respect to at least one driving assistant, such as assisted driving, in particular autonomous driving, can be advantageously improved. In particular, such a configuration can advantageously integrate at least one system, in particular one already present in the vehicle. Furthermore, because the transmission unit has the at least one compensating element, the risk of the wiper arm becoming jammed and / or blocked during the wiping movement can be advantageously reduced, in particular minimized.

[0016] It is further proposed that the compensating element be provided to translate a rotational movement of the drive shaft into an at least substantially translational wiping movement of the wiper arm. This can advantageously improve efficiency. In particular, a translation of the rotational movement of the drive shaft into the at least substantially translational movement of the wiper arm can be made possible using simple technical means and a small number of required components. The translation of the rotational movement of the drive shaft into the at least substantially translational movement of the wiper arm by the compensating element is achieved by varying the length of the length-variable sub-element of the compensating element.The compensating element is provided to transmit the drive force provided by the rotational movement of the drive shaft to the wiper arm and to move the wiper arm with the wiper lip coupled thereto linearly, and in particular bidirectionally, along the cover element to clean the cover element. It is also proposed that the compensating element be designed telescopically. With such a design, compensation for the distance between the drive shaft and the wiper arm, which varies during the wiping movement, can be advantageously implemented using particularly simple technical means. For this purpose, the compensating element has at least one partial element that is fixed with respect to its main direction of extension, in which the movable partial element of the compensating element is movably, preferably slidingly, mounted. The fixed partial element and the movable partial element form a telescopic stage.The fixed sub-element can be designed, for example, as a sleeve, and the movable sub-element as a piston that is movably, in particular slidingly, mounted in the sleeve. It is conceivable for the telescopic compensating element to have a plurality of at least two telescopic stages arranged one behind the other, with at least one further movable sub-element being movably, in particular slidingly, mounted in the movable sub-element, which can then be designed, for example, as a hollow piston. This advantageously enables compensation for the distance between the drive shaft and the wiper arm that varies during the wiping movement, even in the case of large variations, for example in the case of lidar units with a particularly large width.

[0017] Furthermore, it is proposed that the transmission unit have at least one rotary joint connected to the compensating element. This advantageously allows the drive force to be transmitted to the compensating element using simple technical means. The transmission unit can have a plurality of rotary joints.

[0018] In an advantageous embodiment of the invention, it is proposed that the transmission unit has at least one sliding joint in order to transmit the drive force from the drive shaft to the compensating element. This advantageously enables a flexible arrangement of the drive shaft in relation to the compensating element. The sliding joint is preferably provided to set the compensating element in a rotary movement by means of the drive force provided via the drive shaft. For this purpose, a main extension direction of the sliding joint is preferably aligned at an angle to a main extension direction of the compensating element. The sliding joint could be connected directly to the drive shaft. Preferably, the sliding joint is connected indirectly to the drive shaft, via at least one further component of the transmission unit, for example via a crank or the like.

[0019] Furthermore, it is proposed that the rotary joint be arranged at a distance from the drive shaft and be designed to support a rotary movement of the compensating element generated by the sliding joint. This can further improve flexibility with regard to the arrangement of the drive shaft.

[0020] In an alternative advantageous embodiment of the invention, it is proposed that the rotary joint be connected to the drive shaft for the direct transmission of the drive force to the compensating element. This advantageously enables a particularly compact design of the transmission unit. Furthermore, the number of components of the transmission unit can be advantageously reduced, in particular minimized, if the rotary joint is connected to the drive shaft for the direct transmission of the drive force to the compensating element. Therefore, a particularly efficient, in particular space-efficient and cost-effective, lidar device can be advantageously provided.

[0021] It is further proposed that the transmission unit comprise a support element for holding the wiper arm, which support element is coupled to the wiper arm and the compensating element. Such a configuration advantageously enables particularly simple assembly and disassembly of the wiper arm. In particular, it enables simple replacement of the wiper arm. The support element can, without being limited thereto, be designed, for example, as a guide carriage or the like. Preferably, in the assembled state, the wiper arm is detachably connected to the support element, in particular without tools, for example via a locking mechanism and / or a clamping mechanism and / or another positive and / or non-positive connection that appears appropriate to a person skilled in the art.In the assembled state, the support element could also be detachably connected to the compensating element, particularly without tools, for example via a suitable positive and / or non-positive connection, such as a screw connection. It is also conceivable for the support element to be formed integrally with the compensating element. "Integral" is understood to mean a materially bonded connection, such as by a welding process and / or adhesive process, etc., and particularly advantageously, a molded connection, such as by production from a single casting and / or by production using a single- or multi-component injection molding process.

[0022] It is also proposed that the transmission unit have at least one guide rail for guiding the wiper arm, wherein the carrier element is positively and movably connected to the guide rail. This advantageously enables reliable guidance of the wiper arm along a guide track. The carrier element can be positively and movably connected to the guide rail, for example, via at least one plain bearing and / or via at least one ball bearing or the like. The guide rail preferably provides low-friction guidance of the carrier element in order to guide the wiper arm along the cover element, in particular along a guide track which runs at least substantially parallel to a surface of the cover element to be cleaned by means of the cleaning unit.In this document, “at least substantially parallel” is to be understood as an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation from the reference direction of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°. Preferably, the guide rail provides a guide for the support element which has a coefficient of sliding friction 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 an edge of the cover element. It would be conceivable for the guide rail to extend over at least a large part and preferably completely over the entire width of the cover element.Preferably, the guide rail is arranged parallel to a main extension direction of the cover element. Furthermore, it is proposed that the lidar device have a mounting unit for connection to the lidar unit, wherein at least the transmission unit is mounted on the mounting unit. Such a configuration can advantageously enable particularly simple assembly. Preferably, the mounting unit is provided for a detachable connection to the lidar unit, in particular without tools. Preferably, the mounting unit is designed as a pre-assembly unit on which the transmission unit and in particular further units, for example the drive unit, of the lidar device can be pre-assembled before the mounting unit is connected to the lidar unit.The support unit may be formed, for example, from die-cast aluminum, injection-molded plastic, or sheet metal made of steel and / or a steel alloy and / or aluminum, wherein a choice of the material used for the support unit may be selected depending on load requirements and / or weight and / or design and / or costs and / or the like.

[0023] Furthermore, it is proposed that the transmission unit have at least one further compensating element, wherein the compensating element is provided for transmitting the drive force to a first end of the wiper arm and the further compensating element is provided for transmitting the drive force to a second end of the wiper arm. Such a configuration can advantageously achieve a particularly precise and uniform transmission of the drive force from the drive shaft to the wiper arm. In particular, the risk of tilting and / or blocking of the wiper arm can be further reduced. Preferably, the compensating element and the further compensating element of the transmission unit are designed to be substantially identical to one another. Preferably, the transmission unit has a further rotary joint which is connected to the drive shaft of the drive unit for the direct transmission of the drive force to the further compensating element.Preferably, the compensating element and the further compensating element are arranged on opposite sides of the lidar unit in an assembled state of the lidar device. Preferably, the main extension direction of the compensating element and the main extension of the further compensating element are aligned at least substantially parallel to one another in the assembled state. In an advantageous embodiment of the invention, it is proposed that the drive shaft and the wiper arm are arranged on opposite sides of the lidar unit in an assembled state. This advantageously enables a particularly compact design of the lidar device, in particular with regard to the width of the lidar device.In this embodiment, the wiper arm is preferably arranged on a front side of the lidar unit in the assembled state, and the main extension direction of the wiper arm is arranged at least substantially parallel to a surface of the cover element to be wiped. Accordingly, in this embodiment, the drive shaft is arranged on a rear side of the lidar unit opposite the front side. Thus, a lidar device with a small width can be provided. Advantageously, the width of the entire lidar device corresponds to a width of the lidar unit when the drive shaft and the wiper arm are arranged on opposite sides of the lidar unit in an assembled state.

[0024] In an alternative advantageous embodiment of the invention, it is proposed that the drive shaft and the wiper arm are arranged on adjacent sides of the lidar unit in an assembled state. This advantageously enables a particularly compact design of the lidar device, in particular with regard to the depth extension of the lidar device. In this embodiment, too, the wiper arm is preferably arranged on a front side of the lidar unit in the assembled state, and the main extension direction of the wiper arm is arranged at least substantially parallel to a surface of the cover element to be wiped. In this embodiment, the drive shaft can be arranged on a left side of the lidar unit adjacent to the front side or on a right side of the lidar unit adjacent to the front side. A lidar device with a small depth extension can thus be provided.

[0025] The invention further relates to a vehicle having at least one lidar device according to one of the previously described embodiments. Such a vehicle is characterized in particular by its advantageous properties with regard to reliability and safety, which can be achieved by the lidar device according to the previously described embodiments. The vehicle can be designed as a road vehicle, for example a car or a truck or the like, as a rail vehicle such as a train, a railcar, a tram or the like, and / or as a watercraft such as a ship, a boat or the like. It would also be conceivable for the vehicle to be designed as a cleaning vehicle, in particular a cleaning robot, for example a mopping robot and / or a vacuuming robot. The lidar device is preferably connected to the vehicle.Preferably, the lidar device is arranged at least partially on an outer side of the vehicle.

[0026] The lidar device according to the invention is not intended to be limited to the application and embodiment described above. In particular, the lidar device according to the invention may have a number of individual elements, components, and units that differs from the number stated herein to fulfill a function described herein. Furthermore, in the value ranges specified in this disclosure, values ​​within the stated limits are also to be considered disclosed and can be used arbitrarily.

[0027] drawing

[0028] Further advantages will become apparent from the following description of the drawings. The drawings illustrate two exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into useful further combinations.

[0029] They show:

[0030] Fig. 1 shows a vehicle with a lidar device in a schematic perspective view,

[0031] Fig. 2 shows the lidar device in a schematic perspective view, Fig. 3 shows the lidar device in a schematic plan view,

[0032] Fig. 4 shows another embodiment of a lidar device in a schematic perspective view and

[0033] Fig. 5 shows the lidar device of the embodiment of Figure 4 in a schematic plan view.

[0034] Description of the embodiments

[0035] Figure 1 shows a vehicle 50a in a schematic perspective view. The vehicle 50a includes a lidar device 10a. The vehicle 50a is embodied as a road vehicle, in particular a passenger car. The lidar device 10a is arranged in a front region of the vehicle 50a.

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

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

[0038] Figures 2 and 3 show the lidar device 10a. Figure 2 shows the lidar device 10a in a schematic perspective view. Figure 3 shows the lidar device 10a 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 includes a wiper arm 18a for cleaning the cover element 14a.

[0040] The cleaning unit 16a also includes a drive unit 20a. The drive unit 20a is provided for providing a driving force. To provide the driving force, the drive unit 20a has a drive motor 52a, which can be designed, for example, as an electric motor. The drive unit 20a also has a drive shaft 26a for transmitting the driving force, in this case in the form of a torque.

[0041] The cleaning unit 16a further comprises a transmission unit 22a for transmitting the drive force from the drive unit 20a to the wiper 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 wiper arm 18a. The compensating element 24a is also provided for compensating for a distance that varies between the drive shaft 26a of the drive unit 20a and the wiper arm 18a during a wiping movement.

[0043] The compensating element 24a is provided to translate a rotational movement of the drive shaft 16a into an at least substantially translational wiping movement of the wiper arm 18a.

[0044] In the present case, the compensating element 24a is telescopically designed. The compensating element 24a comprises a compensating piston 54a and a sleeve 56a in which the compensating piston 54a is slidably mounted. To compensate for the varying distance between the drive shaft 26a and the wiper arm 18a during a wiping movement, the compensating piston 54a can slide partially out of the sleeve and back into the sleeve. In the present case, the telescopically designed compensating element 24a has a telescopic stage in the form of the compensating piston 54a slidably mounted in the sleeve 56a. However, it would also be conceivable alternatively for the compensating element 24a to have several telescopic stages connected in series with several compensating pistons slidably mounted within one another (not shown) in order to be able to compensate for larger variations in the distance between the drive shaft 26a and the wiper arm 18a.

[0045] The transmission unit 22a has at least one rotary joint 28a, which is connected to the compensating element 24a. In the present exemplary embodiment, the rotary joint 28a is connected to the drive shaft 26a for directly transmitting the drive force to the compensating element 24a. The transmission unit 22a has a carrier element 32a for holding the wiper arm 18a, which is coupled to the wiper arm 18a and the compensating element 24a. The transmission unit 22a has at least one guide rail 34a for guiding the wiper arm 18a, wherein the carrier element 32a is positively and movably connected to the guide rail 34a. In the present case, the carrier element 32a is designed as a carriage and is positively and movably connected to the guide rail 34a.

[0046] In the present embodiment, the transmission unit 22a has at least one further compensating element 38a. The further compensating element 38a is designed essentially identically to the compensating element 24a. In this case, the compensating element 24a is provided for transmitting the drive force to a first end 40a of the wiper arm 18a, and the further compensating element 38a is provided for transmitting the drive force to a second end 42a of the wiper arm 18a. The transmission unit 22a further has a further pivot joint 62a, which is connected to the further compensating element 38a. The further pivot joint 62a is connected to the drive shaft 26a of the drive unit 20a for directly transmitting the drive force to the further compensating element 38a.

[0047] In the present case, the compensating element 24a is connected via the carrier element 32a to the first end 40a, in this case an upper end, of the wiper arm 18a. The further compensating element 38a is connected via a further carrier element 58a to the second end 42a, in this case a lower end, of the wiper arm 18a. The transmission unit 22a in the present case has a further guide rail 60a, wherein the further carrier element 58a, which is also designed as a carriage, is positively and movably connected to the further guide rail 60a. The guide rail 34a is arranged along an upper edge of the cover element 14a of the lidar unit 12a. The further guide rail 60a is arranged along a lower edge of the cover element 14a of the lidar unit and runs essentially parallel to the guide rail 34a.In the present case, the wiper arm 18a and the drive shaft 26a are arranged in an assembled state on opposite sides 44a, 46a of the lidar unit 12a. The wiper arm 18a is arranged on a front side 44a of the lidar unit 12a essentially parallel to a surface of the cover element 14a to be cleaned. The drive unit 20a is arranged in the assembled state on a rear side 46a of the lidar unit 12a. In an operating state of the cleaning unit 16a, the drive force provided by the drive unit 20a is transmitted partly from the drive shaft 26a via the rotary joint 28a to the compensating element 24a and from the compensating element 24a via the carrier element 32a to the wiper arm 18a.At the same time, the drive force provided by the drive unit 20a is partly transmitted from the drive shaft 26a via the further rotary joint 62a to the further compensating element 38a and from the further compensating element 38a via the further support element 58a to the wiper arm.

[0048] Figures 4 and 5 show a further embodiment of the invention. The following descriptions and the drawings are essentially limited to the differences between the embodiments, whereby with regard to components with the same designation, in particular with regard to components with the same reference numerals, reference can in principle also be made to the drawings and / or the description of the other embodiments, in particular Figures 1 to 3. To distinguish the embodiments, the letter a is placed after the reference numerals of the embodiment in Figures 1 to 3. In the embodiment of Figures 4 and 5, the letter a is replaced by the letter b.

[0049] Figures 4 and 5 show a further embodiment of a lidar device 10b. Figure 4 shows the lidar device 10b in a schematic perspective view. Figure 5 shows the lidar device 10b in a schematic top view.

[0050] Analogous to the previous embodiment, the lidar device 10b has a lidar unit 12b, which comprises at least one lidar sensor (not shown) and a cover element 14b. The lidar device 10b also has a cleaning unit 16b for cleaning the cover element 14b, which includes a wiper arm 18b for cleaning the cover element 14b, a drive unit 20b for providing a drive force, and a transmission unit 22b for transmitting the drive force from the drive unit 20b to the wiper arm 18b.

[0051] Analogous to the previous embodiment, the transmission unit 22b has at least one compensating element 24b. The compensating element 24b is provided for transmitting the drive force to the wiper arm 18b. The compensating element 24b is also provided for compensating for a distance that varies between a drive shaft 26b of the drive unit 20b and the wiper arm 18b during a wiping movement.

[0052] The compensating element 24b is in turn provided to translate a rotational movement of the drive shaft 26b into an at least substantially translational wiping movement of the wiper arm 18b.

[0053] The compensating element 24b is telescopically designed and, similar to the previous embodiment, has a compensating piston 54b and a sleeve 56b in which the compensating piston 54b is slidably mounted. The transmission unit 22b has at least one pivot joint 28b connected to the compensating element 24b.

[0054] In contrast to the previous embodiment, the transmission unit 22b has at least one sliding joint 30b to transmit the drive force from the drive shaft 26b to the compensating element 24b. A further difference between the lidar device 10b and the lidar device 10a from the previous embodiment is that the rotary joint 28b is arranged at a distance from the drive shaft 26b and is intended to support a rotational movement of the compensating element 24b generated by the sliding joint 30b.

[0055] Analogous to the previous embodiment, the transmission unit 22b has a support element 32b for holding the wiper arm 18b, which is coupled to the wiper arm 18b and the compensating element 24b. The transmission unit 22b also has at least one guide rail 34b for guiding the wiper arm 18b, wherein the support element 32b is positively and movably connected to the guide rail 34b. In the present case, and in contrast to the previous embodiment, the transmission unit has exactly one pivot joint 28b, exactly one compensating element 24b, exactly one support element 32b, and exactly one guide rail 34b.

[0056] A further difference from the lidar device 10a of the previous embodiment is that the lidar device 10b has a mounting unit 36b for connection to the lidar unit 12b, with at least the transmission unit 22b being mounted on the mounting unit 36b. In the present case, in addition to the transmission unit 22b, the drive unit 20b is also mounted on the mounting unit 36b.

[0057] The lidar device 10b also differs from the lidar device 10a of the preceding embodiment in that the wiper arm 18b and the drive shaft 26b are arranged on adjacent sides 44b, 48b of the lidar unit 12b in an assembled state. The wiper arm 18b is arranged on a front side 44b of the lidar unit 12b, substantially parallel to a surface of the cover element 14b to be cleaned. The drive unit 20b is arranged on an adjacent left side 48b of the lidar unit 12b. In an operating state of the cleaning unit 16b, the drive force provided by the drive unit 20b is transmitted from the drive shaft 26b via the sliding joint 30b to the compensating element 24b and from the compensating element 24b via the carrier element 32b to the wiper arm 18b.

Claims

Claims 1 . Lidar device (10a; 10b) with a lidar unit (12a; 12b), with at least one cover element (14a; 14b) which covers the lidar unit (12a; 12b), and with a cleaning unit (16a; 16b) which comprises at least one wiper arm (18a; 18b) for cleaning the cover element (14a; 14b), a drive unit (20a; 20b) for providing a drive force and a transmission unit (22a; 22b) for transmitting the drive force from the drive unit (20a; 20b) to the wiper arm (18a; 18b), characterized in that the transmission unit (22a; 22b) has at least one compensation element (24a; 24b) for transmitting the drive force to the wiper arm (18a; 18b) and for compensating for a varying distance between a drive shaft (26a; 26b) of the drive unit (20a; 20b) and the wiper arm (18a; 18b).

2. Lidar device (10a; 10b) according to claim 1, characterized in that the compensating element (24a; 24b) is provided to translate a rotational movement of the drive shaft (26a; 26b) into an at least substantially translational wiping movement of the wiper arm (18a; 18b).

3. Lidar device (10a; 10b) according to claim 1 or 2, characterized in that the compensating element (24a; 24b) is telescopically designed.

4. Lidar device (10a; 10b) according to one of the preceding claims, characterized in that the transmission unit (22a; 22b) has at least one rotary joint (28a; 28b) which is connected to the compensating element (24a; 24b).

5. Lidar device (10b) according to one of claims 1 to 4, characterized in that the transmission unit (22b) has at least one thrust joint (30b) to transmit the drive force from the drive shaft (26b) to the compensating element (24b).

6. Lidar 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 to support a rotary movement of the compensating element (24b) generated by the sliding joint (30b).

7. Lidar device (10a) according to claim 4, characterized in that the rotary joint (28a) is connected to the drive shaft (26a) for the direct transmission of the drive force to the compensating element (24a).

8. Lidar device (10a; 10b) according to one of the preceding claims, characterized in that the transmission unit (22a; 22b) has a carrier element (32a; 32b) for holding the wiper arm (18a; 18b), which is coupled to the wiper arm (18a; 18b) and the compensating element (24a; 24b).

9. Lidar device (10a; 10b) according to claim 8, characterized in that the transmission unit (22a; 22b) has at least one guide rail (34a; 34b) for guiding the wiper arm (18a; 18b), wherein the carrier element (32a; 32b) is positively and movably connected to the guide rail (34a; 34b).

10. Lidar device (10b) according to one of the preceding claims, characterized by a mounting unit (36b) for connection to the lidar unit (12b), wherein at least the transmission unit (22b) is mounted on the mounting unit (36b).

11. Lidar device (10a) according to 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 provided for transmitting the driving force to a first end (40a) of the wiper arm (18a) and the further compensating element (38a) is provided for transmitting the driving force to a second end (42a) of the wiper arm (18a). arms (18a). Lidar device (10a) according to one of the preceding claims, characterized in that the wiper arm (18a) and the drive shaft (26a) are arranged on opposite sides in an assembled state (44a, 46a) of the lidar unit (12a). The lidar device (10b) according to one of claims 1 to 11, characterized in that the wiper arm (18b) and the drive shaft (26b) are arranged on adjacent sides (44b, 48b) of the lidar unit (12b) in an assembled state. A vehicle (50a) having at least one lidar device (10a; 10b) according to one of the preceding claims.

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