Lidar device and its operating method

Abstract

TITLE: Lidar device and its operating method. Lidar device (10a) comprising a lidar unit (12a) and a window element (16a) covering the lidar unit (12a) and equipped with a cleaning unit (14a) for cleaning the window element (16a). The cleaning unit (14a) comprises a wiping unit (18a) for cleaning the window element (16a) and a drive unit (20a) having a screw transmission (22a) for driving the wiping unit (18a). Figure 2

Description

Title of the invention: Lidar device and its operating method FIELD OF THE INVENTION

[0001] The present invention relates to a lidar device comprising a lidar unit and a window element covered by the lidar unit as well as a cleaning unit for cleaning the window element.

[0002] The invention also relates to a method of operating such a lidar device. STATE OF THE ART

[0003] A lidar device is already known which is fitted to a road vehicle and is intended to capture the vehicle's environment. The lidar device comprises a lidar unit and a window element covered by the lidar unit as well as a cleaning unit for the window element.

[0004] DISCLOSURE AND ADVANTAGES OF THE INVENTION

[0005] The subject of the invention is a lidar device comprising a lidar unit and at least one window element covering the lidar unit and provided with a cleaning unit for cleaning the window element, this device being characterized in that the cleaning unit comprises at least one wiping unit for cleaning the window element and a drive unit having a screw transmission for driving the wiping unit.

[0006] The lidar device is at least one part, preferably at least one subset of a lidar system, in particular of a lidar sensor module. The lidar device corresponds in particular to the entire lidar system, in particular to the entire lidar sensor module. The lidar device comprises a lidar unit with a lidar sensor element. The lidar sensor element is provided, for example, on the vehicle to capture the environment, in particular autonomous driving, or on construction sites for measuring constructions or for scanning 3D contours and / or for laboratory research purposes.

[0007] In particular, the lidar device is provided with a lidar sensor element for capturing and / or measuring objects.

[0008] For its application to a vehicle, the lidar device may in particular be part of the vehicle. It could also be envisaged to equip the vehicle as a retrofit with the lidar device. The lidar device may be installed in addition to a lidar system already fitted to the vehicle.

[0009] Preferably, the lidar device and in particular a part of the lidar system for capturing objects, in particular, in the environment of the vehicle. The lidar device is coupled to the vehicle, preferably, in the roof area of ​​the vehicle or the front area and / or the rear area of ​​the vehicle for capturing objects. In particular, the vehicle comprises several lidar devices.

[0010] The vehicle is a road vehicle such as a passenger vehicle or a truck or a rail vehicle such as a train, a motor vehicle, a tram or similar vehicle or a watercraft such as a boat, a ship or the like. It could also be envisaged to produce the vehicle in the form of a cleaning vehicle, in particular a cleaning robot, for example, a wiping robot and / or a vacuum robot. The lidar device is connected to the vehicle and is preferably installed at least partly on the outside of the vehicle.

[0011] The window element covers the lidar unit, in particular with respect to the outside. The window element is at least substantially transparent. The window element is at least substantially and in particular completely made of glass. The window element protects the lidar unit against environmental influences. The window element protects the lidar unit against environmental influences such as precipitation and / or snow and / or ice. In particular, the cleaning unit cleans the window element mechanically, in particular with a mechanical component, in particular with the wiping unit. The cleaning unit could be provided for cleaning the window element with a cleaning liquid. The cleaning unit may have one or more liquid dispensing nozzles for spraying the cleaning liquid onto the window element in cleaning mode.The liquid dispensing nozzles are connected to a liquid supply unit already fitted to the vehicle.

[0012] The cleaning unit may also comprise a separate liquid supply unit comprising at least one liquid supply line, a liquid reservoir and a pump. The liquid dispensing nozzles will spray cleaning liquid on demand onto the window element. This is achieved, for example, by coupling it to a rain sensor fitted to the vehicle. At least one element of the lidar device has a shape that reduces the cleaning of the window element in the operating position, for example, the element has a shape similar to a deflector element. The lidar device may also comprise a cover plate that is in particular non-transparent. In particular, at least some elements of the lidar device are at least partially and preferably completely located behind the cover plate.

[0013] The expression "at least in large part" means that it is at least 55%, advantageously at least 65%, preferably at least 75% and in a particularly preferential manner, at least 85% and in an exceptionally preferential manner at least 95%.

[0014] The expression "at least essentially" means in the present context that the deviation from a predetermined value is in particular less than 20%, preferably less than 10%, particularly preferably less than 5% of the predefined value.

[0015] The wiping unit comprises a wiping blade which is used to wipe the window element, particularly in operating mode. The wiping blade of the wiping unit is replaceable. The wiping blade of the wiping unit can be changed without the need for tools when the blade is worn.

[0016] In particular, the screw drive or transmission is a threaded spindle. The screw transmission is at least predominantly and preferably completely rotationally symmetrical, i.e. symmetrical about an axis of rotation. The axis of rotation is parallel to the main plane of extension of the screw transmission and passes in particular through the center of the section of the screw transmission. The term "main plane of extension" of a component is the plane parallel to the largest lateral surface of the smallest parallelepiped which closely surrounds the component and passes in particular through the center of the parallelepiped.

[0017] The screw drive is a rod-shaped object which preferably has a profiled groove. The groove is advantageously of a continuous helical shape. One could also envisage a profiled groove which has at least one interruption in the longitudinal direction of the screw drive. The screw drive may have an external thread and / or an internal thread. For example, the screw drive is in the form of a threaded rod. One could also envisage a screw drive having a metric thread. Similarly, one could envisage a screw drive having an inch thread. For example, the thread of the screw drive may be a super fine thread, alternatively, a fine thread, a normal thread, or a coarse thread.

[0018] The term "operating state" or "operating mode" refers to a state in which the lidar device is ready for operation, in particular for capturing. In operating mode, the cleaning unit cleans the window element, in particular mechanically using the wiping unit. It could also be envisaged that the cleaning unit cleans the window element in operating mode, only on demand, in particular in the event of soiling of the window element. The term "intended" refers to a means that is specially designed, specially made or specially equipped to perform a certain function. The fact that an object is intended to perform a certain function means that the object applies this determined function in at least one application case and / or one operating mode or state.

[0019] The embodiment of the lidar device according to the invention offers particularly advantageous properties from the point of view of reliability, in particular advantageous cleaning. Such an embodiment also offers advantageous robustness properties. The reliability of the lidar sensor will be increased by mechanical cleaning. The embodiment of the lidar device according to the invention makes it possible to clean the window element to remove dirt and / or other disturbing elements such as rainwater and / or ice and / or snow. In particular, the mechanical cleaning will be carried out reliably, in particular independently of environmental influences. This improves safety accordingly.

[0020] Safety will also be improved for a driving assistant such as, for example, assisted driving, in particular autonomous driving. Such an embodiment is advantageously integrated into a system already fitted to the vehicle. A cleaning liquid supply system can be integrated into the proposed solution. Because the embodiment of the lidar device according to the invention has a very high reliability and / or a very high efficiency in cleaning the window element, it allows the use of more sensitive sensors, which increases the precision accordingly.

[0021] According to another feature, the screw transmission is a self-reversing screw transmission. The self-reversing screw transmission is a screw transmission having two opposing threads. The self-reversing screw transmission is a screw transmission with a left-hand thread and a right-hand thread. The drive unit may also comprise several screw transmissions each implemented as a self-reversing screw transmission. In the case of a drive unit comprising several screw transmissions, all screw transmissions preferably have identical left-hand threads and right-hand threads. This embodiment improves the properties of the embodiment.

[0022] This allows in particular greater efficiency from the point of view of driving the wiping unit. In particular, since the self-reversing screw transmission does not produce any force when changing direction, this embodiment of the drive unit will have a particularly long service life. Additional components for guiding the wiping unit are also avoided. Such an embodiment advantageously avoids the electric motor of the screw drive, particularly when the wiping unit reaches the lateral edge of the window element, having to change direction of rotation, which would result in significant wear of the electric motor.

[0023] According to another feature, the screw transmission guides the wiping unit for cleaning the window element in a linear motion on the window element. In particular, in operation mode, the screw transmission drives the wiping unit for cleaning the window element in a linear motion on the window element. In particular, the screw transmission moves the screw unit in operating mode, over the entire surface along the window element, in particular, to ensure mechanical cleaning of the entire surface of the window element. This design ensures particularly reliable cleaning of the window element. This allows in particular particularly effective cleaning and in cleaning mode the cleaning will be carried out over the entire surface of the window element.

[0024] According to another feature, the screw transmission guides the cleaning unit for cleaning the window element bidirectionally on the window element. In particular, in operating mode, the screw drive guides the cleaning unit for cleaning the window element in a linear movement on the window element. In particular, for a possible mounting position of the lidar device in the front part of the vehicle, the screw transmission makes it possible to guide the cleaning unit for cleaning the window element horizontally and bidirectionally on the window element. However, it could also be envisaged that the screw transmission guides the wiping unit vertically bidirectionally on the window element, in particular relative to the mounting position.Such an embodiment also allows the wiping unit to advantageously clean the entire surface of the window element. Thus, the wiping unit will be in contact with the window element advantageously with a long linear contact.

[0025] According to another feature, the screw transmission drives the wiping unit bidirectionally. The change of direction of the bidirectionally driven wiping unit, in operating mode, is done by reversing the direction of the electric motor of the drive unit. In particular, the lidar device comprises a control and / or regulation unit which triggers the change of operating direction of the electric motor. It would also be possible to envisage a lidar device connected to a control and / or regulation unit of the vehicle and which triggers the change of direction in operating mode. It would also be possible to envisage a lidar device comprising a sensor for triggering the change of direction when the wiping unit has passed completely in one direction over the window element.

[0026] It could also be envisaged that a mechanical torque triggers the change of direction, this torque being, for example, captured by the sensor element. This torque is that which exists when the wiping unit, after having completely wiped the window element, abuts laterally against a stop element of the lidar device. The term "control and / or regulation unit" designates a unit having at least one control electronics. The term "control electronics" designates a unit having a processor and a memory as well as an operating program stored in the memory. In particular, if the screw transmission is a self-reversing screw transmission, the electric motor of the drive unit rotates advantageously from the point of view of wear, only in one direction. If the screw transmission is in the form of a self-reversing screw transmission, the change of direction of the screw drive occurs automatically, the electric motor only rotating in one direction. Such a design allows in particular the wiping unit to wipe the window element bidirectionally in operating mode. This results in a particularly advantageous wiping efficiency.

[0027] According to another feature, the lidar device comprises at least one guide rail provided in particular on the side of the window element opposite the screw drive and which constitutes a linear guide, in particular bidirectional, for the wiping unit. The wiping unit is guided by the guide rail along the window element by a plain bearing and / or a ball bearing or similar means. In particular, the guide rail constitutes a low-friction guide for the wiping unit along the window element. In particular, the guide rail constitutes a guide of the wiping unit along the window element which has a coefficient of friction, for example, less than 0.2, advantageously less than 0.1, particularly advantageously less than 0.05, in particular less than 0.01 and particularly preferably, this coefficient is less than 0.005.For example, a guide rail can be envisaged in the form of a profile, in particular a T-profile, an L-profile or a U-profile, and this in particular at least in a part of the guide rail. Such an embodiment ensures particularly reliable guidance of the wiping unit along the window element, in particular preventing the wiping unit from seizing up in operating mode.

[0028] According to another feature, the screw transmission comprises a threaded rod and a threaded sleeve installed on the threaded rod and carrying the wiping unit. The screw transmission has in particular a thread. Advantageously, the threaded sleeve has a thread corresponding to that of the threaded rod. Alternatively or in addition, the threaded sleeve comprises at least one element which, in operating mode, cooperates with the thread of the threaded rod. It is possible, in particular, to envisage that the threaded sleeve comprises at least one and advantageously several balls which, in operating mode, are guided in the thread of the threaded rod. Alternatively, a threaded sleeve is envisaged having at least, essentially, a semi-circular recess which, in operating mode, is guided in the thread of the threaded rod. This embodiment makes it possible in particular to guide the wiping unit with little play and preferably without play along the threaded rod.

[0029] According to another feature, the drive unit comprises at least one further screw transmission which drives the wiping unit on the side opposite that of the screw transmission. In particular, this further screw transmission is identical to the screw drive. This other screw drive is also designed as a self-reversing screw drive. This design ensures the regularity of the drive, in particular the even distribution of the drive forces on the wiping unit. In particular, the use of another screw drive makes it possible to avoid the guide rail.

[0030] According to another feature, the drive unit comprises at least one electric motor for driving the screw transmission. In particular, in operating mode, the electric motor of the drive unit drives the screw transmission. For example, the electric motor may be a brushless motor. Alternatively, it may also be envisaged that the electric motor is a stepper motor. The rotating element of the electric motor is connected to another element for driving the electric transmission. Alternatively, the rotating element of the electric motor may be connected directly to the screw transmission by the threaded rod of the screw drive.

[0031] This embodiment ensures a particularly efficient drive of the screw transmission. In particular, such an embodiment is a particularly quiet screw transmission drive. This also enables a long service life for the lidar device. In particular, the drive of the screw transmission is advantageously precise, in particular for the possible rotational speed of the electric motor and for the possible circulation speed of the screw transmission and thus of the wiping unit. In this embodiment, the wiping unit guides itself with a particularly precise speed on the window element.

[0032] According to another feature, the electric motor drives the other screw drive. In particular, the electric motor is connected, for example directly, to the other screw transmission. Advantageously, the other screw transmission is connected by at least one transmission element to the other screw drive. This embodiment corresponds to advantageous properties from the point of view of economic efficiency and eliminates another electric motor, which improves the economy accordingly.

[0033] According to another feature, the drive unit comprises another electric motor for driving the other screw transmission. In particular, in operating mode, the screw transmission is driven by the electric motor and the other screw transmission is driven by the other electric motor. Preferably, the other electric motor is identical. In particular, the other electric motor drives the other screw transmission at the same rotational speed as that of the electric motor which drives the screw transmission. This embodiment corresponds to a drive of the same type. In particular, this makes it possible to reduce the torque applied to the electric motor, which results in a longer service life of the drive unit.

[0034] According to another feature, the cleaning unit comprises at least one sensor element for detecting a fault, in particular a torque exceedance. In operating mode, the sensor element detects the fault condition by measuring the torque. If the sensor element detects, for example, the fault condition for a torque displacement, it initiates a further action. In particular, the further action is the emission of a fault signal and / or the switching off of the lidar device, in particular, of the entire lidar module. For example, the sensor element is integrated in the electric motor and in particular, the sensor element is part of the electric motor. Alternatively or additionally, it is envisaged that the sensor element is installed on the threaded rod of the screw drive and / or on the threaded sleeve engaged on the threaded rod. For example, in a non-limiting manner, the seizure of the threaded sleeve on the threaded rod can trigger a fault condition.Such an implementation prevents damage and increases reliability. In particular, such an implementation ensures that the input mode required, for example, for autonomous driving of the vehicle can only be carried out if the cleaning unit is functioning correctly.

[0035] The vehicle equipped with a lidar device according to the invention offers advantageous properties of reliability and safety.

[0036] The invention also relates to a method of operating a lidar device comprising a lidar unit and at least one window element covering the lidar unit and a cleaning unit for cleaning the window element.

[0037] According to the invention, the cleaning unit comprises a wiping unit which cleans the window element and a drive unit with a screw transmission for driving the cleaning unit. This embodiment enables particularly reliable cleaning and thus guarantees the proper functioning of the lidar unit. The highly reliable operation of the lidar unit advantageously ensures the safety of the vehicle equipped with the lidar device.

[0038] The lidar device according to the invention is not limited to the application and embodiment described above. In particular, the lidar device according to the invention may comprise a number of elements, components or units and method steps different from what has been described above. Brief description of the drawings

[0039] The present invention will be described below in more detail with the aid of embodiments shown in the accompanying drawings in which:

[0040] [Fig. 1] vehicle equipped with a lidar device,

[0041] [Fig.2] simplified schematic representation of a lidar device with a unit of cleaning and a drive unit,

[0042] [Fig.3] flowchart of a lidar device management method,

[0043] [Fig.4] simplified schematic representation of another embodiment of a lidar device with a drive unit comprising a screw transmission,

[0044] [Fig.5] screw transmission implemented in the form of a self-reversing screw transmission,

[0045] [Fig.6] another example of embodiment of a lidar device with a drive unit comprising a transmission according to a simplified schematic representation, and

[0046] [Fig.7] screw transmission in the form of a self-reversing screw transmission.

[0047] DESCRIPTION OF EMBODIMENTS

[0048] [Fig. 1] shows a vehicle 40a. The vehicle 40a comprises a lidar device 10a. The vehicle 40a is a road vehicle, in particular a passenger vehicle. The lidar device 10a is installed in the front area of ​​the vehicle 40a. The lidar device 10a is in particular connected to the vehicle 40a in the front area.

[0049] The lidar device 10a comprises a lidar unit 12a (see [Fig.2]). The lidar unit 12a comprises at least one lidar sensor (not shown). The lidar device 10a of the exemplary embodiment shown comprises a window element 16a. The window element 16a of the exemplary embodiment is a transparent pane of glass.

[0050] The window element 16 covers the lidar unit 12a. The window element 16a protects the lidar unit 12a against environmental influences and in particular against dirt and / or moisture. The lidar device 10a comprises a cleaning unit 14a. The cleaning unit 14a is provided for cleaning the window element 16a.

[0051] The cleaning unit 14a cleans the window element 16a mechanically. The cleaning unit 14a cleans the window element 16a with a cleaning liquid. To apply the cleaning liquid to the window element 16a, the cleaning unit 14a has liquid dispensing nozzles 36a. In the illustrated embodiment, the cleaning unit 14a has six liquid dispensing nozzles 36a. Each time three liquid dispensing nozzles 36a face each other on the window element 16a.

[0052] For mechanical cleaning of the window element 16a, the cleaning unit 14a comprises a cleaning unit 18a. The cleaning unit 18a comprises a wiping lip 38a for mechanically cleaning the window element 16a. The wiping lip 38a scrapes the cleaning liquid dispensed by the liquid nozzles 36a onto the window element 16a. Alternatively, the liquid nozzles 36a are installed on the wiper unit 18a and distribute the cleaning liquid in particular laterally onto the window element 16a.

[0053] The lidar device 10a is equipped with a drive unit 20a. The drive unit 20a is provided for driving the wiping unit 18a. The drive unit 20a according to the present exemplary embodiment comprises a transmission screw 22a. The screw transmission 22a of the drive unit 20a is provided for driving the wiping unit 18a. The screw transmission 22a has a thread, namely an external thread which, in the schematic representation, is not detailed so as not to complicate the drawing.

[0054] The screw transmission 22a guides the wiping unit 18 in a linear movement over the window element 16a to clean this window element 16a. The screw transmission 22a drives the wiping unit 18a bidirectionally over the window element 16a to clean this window element 16a. The screw transmission 22a constitutes a guide for the wiping unit 18a and in the present exemplary embodiment, it is provided on one side of the window element 16a.

[0055] The lidar device 10a of the present embodiment comprises a guide rail 24a. The guide rail 24a is on the side of the window element 16a opposite the screw transmission 22a. The guide rail 24a constitutes a linear bidirectional guide for the wiper unit 18a.

[0056] The screw transmission 22a is provided to drive the wiping unit 18a bidirectionally. The screw transmission 22a comprises a threaded rod 26a and a threaded sleeve 28a still on the threaded rod 26a. The threaded sleeve 28a is connected to the wiping unit 18a. The threaded sleeve 28a has an internal thread corresponding to the external thread of the threaded rod 26a. The rotation of the threaded rod 26a moves the threaded sleeve 28a along the threaded rod 26a.

[0057] The drive unit 20a comprises an electric motor 32a for driving the screw transmission 22a. The electric motor 32a is provided for rotating the threaded rod 26a of the screw transmission 22a in the appropriate direction for driving the wiping unit 18a by the threaded sleeve 28a.

[0058] The cleaning unit 14a comprises a sensor element (not shown) for determining a fault condition. The sensor element determines, in operating mode, the fault condition by exceeding the mechanical torque. The sensor element according to the present exemplary embodiment is integrated in the electric motor 32a. The fault condition of the present exemplary embodiment is, for example, but not limited to, the seizing of the threaded sleeve 28a on the threaded rod 26a.

[0059] [Fig. 3] shows a flowchart of the method 100a for operating the lidar device 10a. The flowchart shows a method step 100a and a further method step 104a. In the method step 102a, the lidar device 10a is provided with a lidar unit 112a and a window element 16a covering the lidar unit 12a as well as a cleaning unit 14a for cleaning the window element 16a; the cleaning unit 14a comprises a wiping unit 18a as well as a drive unit 20a provided with at least one screw transmission 22a. In the step of method 104a, the window element 16a is cleaned by the wiping unit 18a driven by the screw transmission 22a.

[0060] Figures 4 to 7 show two further embodiments of the invention. The following description and the drawings are mainly limited to the differences between the embodiments for the same components, in particular the components having the same references. For this, reference will be made to the drawings and to the description of the embodiment of Figures 1 to 3. To distinguish the embodiments, the letter (a) suffixed to the reference numerals of the embodiment of Figures 1 to 3 is replaced by the letter (b) and the letter (c) in the embodiments of Figures 4 to 7.

[0061] [Fig. 4] shows another exemplary embodiment of a lidar device 10b according to a simplified schematic representation. The lidar device 10b comprises a lidar unit 12b. The lidar unit 12b comprises at least one lidar sensor (not shown). The lidar device 10b of the exemplary embodiment shown comprises a window element 16a which covers the lidar unit 12b.

[0062] The lidar device 10b comprises a cleaning unit 14b for at least mechanically cleaning the window element 16b. The cleaning unit 14b cleans the window element 16b with a cleaning liquid. The cleaning unit 14b comprises liquid nozzles 36b for applying cleaning liquid to the window element 16b.

[0063] The cleaning unit 14b comprises a wiping lip 18b for mechanically cleaning the window element 16b. The wiping unit 18b is equipped with a wiping lip 38b for mechanically cleaning the window element 16b.

[0064] The lidar device 10b is equipped with a drive unit 20b. The drive unit 20b drives the wiping unit 18b. The drive unit 20b according to the present exemplary embodiment comprises a screw transmission 22b. The screw transmission 22b of the drive unit 20b serves to drive the wiping unit 18b.

[0065] The drive unit 20b further comprises a further screw transmission 30b. This further screw transmission 30b drives the wiping unit 18b on the side of the wiping unit 18b opposite the screw transmission 22b. The drive unit 20b further comprises an electric motor 32b for driving the screw transmission 22b. The drive unit 20b further comprises a further electric motor 34b for driving the further screw transmission 30b.

[0066] The screw transmission 22b consists of a threaded rod 26b and a threaded sleeve 28b engaged on the threaded rod 26b (see further [Fig.5]). The threaded sleeve 28b is connected to the wiping unit 18b. Upon rotation of the threaded rod 26b, the threaded sleeve 28b runs along the threaded rod 26b. The threaded sleeve 28b has a semicircular-shaped recess for cooperating with the thread of the threaded rod 26b.

[0067] The other screw transmission 30b of the present embodiment is of identical shape to that of the screw transmission 22b. The screw transmission 22b and the other screw transmission 30b are self-reversing screw transmissions.

[0068] For the bidirectional drive of the wiping unit 18b, the screw transmission 22b and the other screw transmission 30b rotate in the same direction. The change of direction of the wiping unit 18b is carried out in the operating mode in that in the end region of the threaded rod 26b, the threaded sleeve 28b changes from the left-hand thread of the threaded rod 26b into the right-hand thread of the threaded rod 26b; in the opposite end region of the threaded rod 26b, there is a corresponding change from the right-hand thread of the threaded rod 26b to its left-hand thread.

[0069] [Fig. 6] shows a simplified schematic representation of another exemplary embodiment of a lidar device 10c. The lidar device 10c comprises a lidar unit 12c. The lidar unit 12c has at least one lidar sensor (not shown). The lidar device 10c of the exemplary embodiment shown has a window element 16c which covers the lidar unit 12c.

[0070] The lidar device 10c comprises a cleaning unit 14c for mechanically cleaning the window element 16c. The cleaning unit 14c is provided for cleaning the window element 16c with a cleaning liquid. To apply the cleaning liquid to the window element 16c, the cleaning unit 14c comprises liquid dispensing nozzles 36c.

[0071] The cleaning unit 14c comprises a wiping unit 18c for mechanically cleaning the window element 16c. The cleaning unit 18c comprises a wiping lip 38c for mechanically cleaning the window element 16c.

[0072] The lidar device 10c has a drive unit 20c. The drive unit 20c drives the wiping unit 18c. The drive unit 20c according to the present exemplary embodiment comprises a screw transmission 22c. The screw transmission 22c of the drive unit 20c is provided for driving the wiping unit 18c.

[0073] The drive unit 20c comprises at least one further screw transmission 30c. This further screw transmission 30c drives the wiping unit 18c from the side of the wiping unit 18c opposite the threaded transmission 22c. The drive unit 20c comprises an electric motor 32c for driving the threaded transmission 22c. The electric motor 32c is further provided for driving the further thread 30c.

[0074] The screw transmission 22c comprises a threaded rod 26c and a threaded sleeve 28c on the threaded rod 26c (see [Fig.7]). The threaded sleeve 28c is connected to the wiping unit 18c. Rotation of the threaded rod 26c moves the threaded sleeve 28c along the thread of the threaded rod 26c. The threaded sleeve 26b comprises several balls for circulating in the threads of the threaded rod 26c.

[0075] The other screw transmission 30c of the present embodiment is identical to the screw transmission 22c. The screw transmission 22c and the residual screw transmission 30c are self-locking screw transmissions.

[0076] For the bidirectional drive of the wiping unit 18c, the screw transmission 22c and the other screw transmission 30c rotate in one direction. For the change of direction of the wiping unit 18c in operating mode, the threaded sleeve 28c arriving in the end region of the threaded rod 26c, passes from the left thread of the threaded rod 26c into the right thread of the threaded rod 26c; the same applies in the opposite end region of the threaded rod 26c, the passage being made from the right thread of the threaded rod 26c into the left thread of the threaded rod 26c.

[0077] NOMENCLATURE OF MAIN ELEMENTS

[0078] (the nomenclature is limited to the numerical references without the suffixes a, b, c)

[0079] 10 Lidar device

[0080] 12 Lidar unit

[0081] 14 Cleaning unit

[0082] 16 Window element

[0083] 18 Wiper unit

[0084] 20 Drive unit

[0085] 22 Screw transmission

[0086] 24 Guide rail

[0087] 26 Threaded rod

[0088] 28 Threaded sleeve

[0089] 32 Electric motor

[0090] 36 Liquid dispensing nozzle

[0091] 38 Wiper lip

[0092] 40 Vehicle

[0093] 100 Method of operating the lidar device

[0094] 102, 104 Process steps

Claims

Claims

1. Lidar device (10c) comprising a lidar unit (12c) and at least one window element (16c) covering the lidar unit (12c) and provided with a cleaning unit (14c) for cleaning the window element (16c), comprising a wiping unit (18c) for cleaning the window element (16c) and a drive unit (20c) characterized in that the drive unit (20c) has a self-reversing screw transmission (22c) comprising a threaded rod (26c) and a threaded sleeve (28c) with balls engaged on the threaded rod (26c), this sleeve being connected to the wiping unit (18c) to drive the wiping unit (18c).

2. Lidar device (10c) according to claim 1, characterized in that the screw transmission (22c) with threaded sleeve (28c) with balls guides the wiping unit (18c) for cleaning the window element (6c) in a bidirectional linear movement on the window element (16c).

3. Lidar device (10a) according to one of the preceding claims, characterized by at least one guide rail (24) which provides the wiping unit (18c) with linear, bidirectional guidance.

4. Lidar device (10b, 10c) according to one of the preceding claims, characterized in that the drive unit (20b, 20c) comprises a further screw transmission (30b, 30c) comprising a wiping unit (18c) for cleaning the window element (16c) and a drive unit (20c) which drives the wiping unit (18b, 18c) on the side of the wiping unit (18b, 18c) opposite the drive screw (22b, 22c).

5. Lidar device (10c) according to one of the preceding claims, characterized in that the drive unit (20c) comprises an electric motor (32c) for driving the screw transmission (22c) with threaded sleeve (280c) with balls.

6. Lidar device (10c) according to claims 4 and 5, characterized in that the electric motor (32c) also drives the other screw transmission (30c).

7. Lidar device (10b) according to claims 4 and 5, characterized in that the drive unit (20b) comprises a further electric motor (34b) for driving the further screw transmission (30b).

8. Lidar device (10c) according to one of the preceding claims, characterized in that the cleaning unit (14c) comprises a sensor element for determining a fault condition.

9. Vehicle equipped with a lidar device (10c) according to one of claims 1 to 8.

10. Method for operating a lidar device (10c) according to one of claims 1-8 comprising a lidar unit (12c) and a window element (16c) covering the lidar unit (12c) as well as a cleaning unit (14c) for cleaning the window element (16c), characterized in that the cleaning unit (14c) has a wiping unit (18c) with which it cleans the window element (16c) and a drive unit (20c) with a self-reversing screw transmission (22c) with a threaded sleeve (28c) with balls which drives the wiping unit (18c).

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