CN115542288A

CN115542288A - Lidar device and method for assembling a lidar device

Info

Publication number: CN115542288A
Application number: CN202210748878.8A
Authority: CN
Inventors: G·卡斯汀格; J·希蒙诺维奇; M·霍恩亚克; P·迪克
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2021-06-29
Filing date: 2022-06-29
Publication date: 2022-12-30
Also published as: FR3124462A1; DE102021206725A1

Abstract

The invention relates to a lidar device (10 a-10 l) having a lidar unit (12 a-12 l) and at least one cover element (14 a-14 l) which covers the lidar unit (12 a-12 l), and having a cleaning unit (16 a-16 l) which is designed to clean the cover element (14 a-14 l). It is proposed that the cleaning unit (16 a-16 l) has at least one wiper unit (18 a-18 l) for cleaning the covering element (14 a-14 l) and a transport unit (20 a-20 l) for driving the wiper unit (18 a-18 l) in the assembled state, wherein the wiper unit (18 a-18 l) is detachably connected to the transport unit (20 a-20 l).

Description

Lidar device and method for assembling a lidar device

Technical Field

A lidar device has been proposed which is arranged on a road vehicle and which is provided for detecting the surrounding area of the vehicle. The lidar device has a lidar unit, at least one covering element covering the lidar unit, and a cleaning unit which is designed for cleaning a window element.

Disclosure of Invention

The invention proceeds from a lidar device having a lidar unit and at least one cover element, which covers the lidar unit, and a cleaning unit, which is designed to clean the cover element.

It is proposed that the cleaning unit has at least one wiper unit for cleaning the covering element and a transport unit for driving the wiper unit in the assembled state, wherein the wiper unit is detachably connected to the transport unit.

The lidar device is in particular at least a part of, preferably at least a subassembly of, at least one lidar system, in particular a lidar sensor assembly. The lidar device can in particular also comprise the entire lidar system, in particular the entire lidar sensor assembly. The lidar device has at least one lidar unit, which in particular comprises at least one lidar sensor element. Lidar sensor elements are provided, for example, on vehicles for environmental detection, in particular for autonomous driving, on construction sites for measuring buildings, for scanning 3D contours and/or in laboratories for research purposes. In particular, the lidar device is provided for detecting and/or measuring an object, in particular by means of the at least one lidar sensor element. Preferably, the lidar means is arranged for use on a vehicle, in particular the lidar means may be part of the vehicle. It is also conceivable for the lidar unit to be attached to a vehicle. For example, the laser radar device can be retrofitted on a vehicle in addition to an already existing laser radar system of the vehicle. Preferably, the lidar device is provided, in particular as part of a lidar system, for detecting objects, in particular objects in the surroundings of the vehicle. Preferably, the lidar device is coupled to the vehicle, preferably in the roof region, the front region and/or the rear region of the vehicle, for detecting the object. The vehicle may in particular have a plurality of lidar devices.

The vehicle may be configured as a road vehicle, such as a passenger car or truck or the like, a rail vehicle, such as a train, a rail car, a tram or the like, and/or a water vehicle, such as a boat, a yacht or the like. Furthermore, it is conceivable for the vehicle to be designed as a cleaning vehicle, in particular as a cleaning robot, for example as a wiping robot and/or a vacuum robot. Preferably the lidar means is connected to the vehicle. Preferably the lidar means is arranged at least partially on the outside of the vehicle.

The covering element covers the lidar unit, in particular outwards. In particular, the cover element is at least substantially transparent. It is conceivable that the cover element is at least largely and in particular completely made of glass. Preferably, the cover element is at least largely and in particular completely made of plastic. In particular, the cover element is provided to protect the lidar unit, in particular, from environmental influences. In particular, the covering element protects at least the lidar unit from environmental influences, such as precipitation, in particular rain and/or snow and/or ice. The cleaning unit is provided in particular for cleaning the covering element mechanically, more precisely in particular by means of mechanical components. In particular, the mechanical components are configured differently from air and/or water. The cleaning unit can be provided for additionally cleaning the covering element by means of a cleaning fluid. It is conceivable for the cleaning unit to have at least one and preferably a plurality of fluid nozzles which are provided for spraying cleaning fluid onto the covering element in the operating state. For example, the fluid nozzle may be connected to a fluid supply unit already present in the vehicle. It is also conceivable for the cleaning unit to have a separate fluid supply unit, which comprises, for example, at least one fluid supply line, at least one fluid tank and at least one fluid pump. For example, the fluid nozzle can spray cleaning fluid onto the covering element only when needed. For this purpose, for example, a coupling to at least one rain sensor present on the vehicle can be provided. In particular, at least one element of the lidar device may be designed with respect to its shape such that contamination of the covering element is reduced in the operating state, for example if the at least one element is designed as a spoiler element with respect to its shape. In particular, the lidar device may have at least one cover plate, which is designed to be opaque in particular. In particular, at least some of the elements of the lidar device may be arranged at least partially and preferably completely behind the cover plate.

The term "at least a major portion" is to be understood here as meaning at least 55%, advantageously at least 65%, preferably at least 75%, particularly preferably at least 85% and particularly advantageously at least 95%. By "at least substantially" is understood in this context that the deviation from the predetermined value is in particular less than 25%, preferably less than 10% and particularly preferably less than 5% of the predetermined value.

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 the operating state, the cleaning unit mechanically cleans the window element. It is also conceivable for the cleaning unit to clean the window element only when required in the operating state, in particular when there is contamination of the window element.

For cleaning the window element, the cleaning unit has at least one wiper unit. Furthermore, the cleaning unit has a transport unit for driving the wiping unit, which is provided in particular for moving the wiping unit over the cover element, in particular linearly, for cleaning the cover element. In particular, in the operating state, the transport unit moves the wiper unit linearly and in particular bidirectionally on the cover element for cleaning the cover element. In particular, the transport unit moves the wiping unit over the entire surface of the cover element in the operating state, in particular for the entire surface-mounted mechanical cleaning of the cover element.

In the assembled state, the wiping unit is detachably connected to the transport unit. In particular, the wiper unit is detachably connected to the transport unit in the assembled state without tools. In particular, the wiping unit and/or the transport unit are designed such that a user, in particular an end user of the vehicle, can remove the wiping unit from the transport unit without tools.

"provided" is to be understood as specially set up, specially designed and/or specially equipped. The object is provided for a specific function, which is to be understood to mean that the object fulfills and/or carries out the specific function in at least one application and/or operating state.

The design of the lidar unit according to the invention can provide improved properties, in particular with regard to construction. In particular, the properties can be improved with regard to assembly and/or disassembly and/or maintenance.

It is also proposed that the wiper unit be designed as a replaceable component. In particular, the wiper unit is designed as a component that can be exchanged without tools, to be precise, for example, for maintenance of the wiper unit and/or for replacement that is necessary due to wear. It is conceivable for the wiper unit to be constructed as a complete component and to be available in particular as a complete component. This embodiment in particular ensures that the wiper unit can be replaced, in particular serviced, particularly easily. In particular, improved properties can thereby be provided with regard to maintenance of the lidar device, in particular with regard to repairability. Furthermore, this makes it possible to optimize the cost-effectiveness for maintenance in particular. In particular, maintenance, in particular replacement of the wiping unit, can advantageously be carried out particularly quickly.

Furthermore, it is proposed that the wiper unit is connected to the carrier unit in the mounted state at an end region of the wiper unit. In particular, the wiper unit is detachably connected to the transport unit in the assembled state at an end region of the wiper unit facing the transport unit. In particular, with regard to the position of the vehicle with the laser radar device, which is intended to be driven, the wiper unit is connected in the assembled state to the transport unit at an upper end region of the wiper unit. The wiping unit is "connected" to the transport unit should be understood in particular to mean that the wiping unit is advantageously connected to the transport unit by at least one force fit and/or at least one form fit, for example by a screw connection and/or a snap connection and/or a tongue-and-groove connection and/or a clamping connection and/or another connection which is considered appropriate by the person skilled in the art. In particular, this embodiment makes it possible to achieve particularly advantageous properties with regard to assembly and/or with regard to the required space requirement.

Furthermore, it is proposed that the carrier unit is connected to the wiper unit in the mounted state at an end region of the carrier unit. In particular, the carrier unit is detachably connected to the wiper unit in the assembled state at an end region of the carrier unit facing the wiper unit. In particular, with regard to the position of the vehicle with the laser radar device, which is intended to be driven, the transport unit is connected to the wiper unit in the assembled state at the lower end region of the transport unit. In particular, this embodiment makes it possible to achieve particularly advantageous properties with regard to assembly and/or with regard to the required space requirement.

Furthermore, it is proposed that the cleaning unit has a latching unit, by means of which the wiping unit can be connected to the transport unit in a latching manner. In the assembled state, the wiping unit is connected to the transport unit in a latching manner by means of the latching unit. A "latching unit" is to be understood here as a unit having at least one latching element which is elastically deflected during the fastening process in order to then latch behind the respective latching element, in particular by means of an internal clamping force. By means of this embodiment, particularly advantageous properties can be achieved, in particular with regard to assembly and/or cost effectiveness.

In this context, it is also provided that the latching unit has at least one latching element of the wiper unit and at least one latching element receiver of the transport unit. Alternatively, it is conceivable for the detent unit to have at least one detent element receptacle of the wiper unit and at least one detent element of the transport unit. In particular, the latching element and/or the latching element receiver can be formed at least partially by a housing element of the wiping unit and/or of the transport unit. By means of this design, particularly advantageous properties can be achieved, in particular with regard to assembly and/or cost efficiency.

It is furthermore proposed that the cleaning unit has a snap lock, by means of which the wiper unit can be latched to the transport unit. For example, the cleaning unit may alternatively or additionally have a snap lock. In particular, the latch has at least one separately designed spring element. In particular, the spring element is formed separately from the housing element of the wiper unit and/or the transport unit. In particular, the wiper unit is releasably connected to the carrier unit at least in sections by snap locks in the assembled state. It is contemplated that the spring element comprises a metal spring. In particular, this embodiment makes it possible to provide a particularly easy to fit and/or particularly stable removable connection of the wiping unit to the transport unit.

Furthermore, it is proposed that the spring lock provides a pressing force for the wiper unit in the assembled state. In particular, the spring catch presses the wiper unit, more precisely in particular the wiper strip of the wiper unit, against the cover element in the assembled state. In particular, a particularly advantageous cleaning performance can thereby be achieved by the cleaning unit. In particular, this design ensures that the wiper strip rests flat against the cover element in the operating state. In addition, safety, for example with regard to autonomous driving by means of a lidar device, can thereby be increased.

It is furthermore proposed that the cleaning unit has a handling unit for handling by a user, by means of which the wiping unit can be released from the transport unit. The actuating unit is designed in particular for releasing the latching connection of the wiping unit to the transport unit by actuating. Alternatively or additionally, the actuating unit is designed to release the connection of the wiper unit to the transport unit by actuating the wiper unit by means of a snap lock. Particularly advantageous properties with regard to processing can be achieved by this configuration. In particular, the wiper unit can be exchanged particularly easily by means of such a design.

Furthermore, it is proposed that actuating the handling unit to release the wiping unit from the carrying unit causes an elastic deformation of the wiping unit and/or the carrying unit. In particular, when the wiper unit is connected to the transport unit by means of a latching unit, which is formed integrally with the actuating unit, for example, the actuation of the actuating unit causes the wiper unit to be released from the transport unit by elastic deformation of the wiper unit and/or the transport unit. It is conceivable that the actuation of the actuating unit for releasing the wiping unit from the transport unit causes an elastic deformation of the housing element of the wiping unit and/or of the housing element of the transport unit. This embodiment ensures a tool-free release of the wiping unit from the transport unit. In particular, this design makes it possible to improve the comfort with regard to the assembly and/or disassembly of the wiper unit. In particular, this makes it possible to carry out the mounting and/or dismounting of the wiper unit more quickly and/or more simply.

It is furthermore proposed that the actuating unit is at least partially formed integrally with the latch. Alternatively or additionally, the actuating unit can be formed at least partially integrally with the latching unit. "integral" is to be understood as meaning at least materially connected, for example by a welding process, an adhesive process, a spraying process and/or other processes considered to be expedient by the person skilled in the art and/or advantageously as integrally formed, for example by being produced from a casting and/or by being produced in a single-component or multi-component spraying process and advantageously from a single blank. Thereby, in particular cost efficiency and/or comfort may be improved. In particular, the number of component parts can be advantageously kept low, as a result of which the cost efficiency can be further improved.

Furthermore, it is proposed that the actuation of the actuating unit for releasing the wiper unit from the transport unit triggers an elastic deformation of the spring element of the snap lock. In particular, the actuation of the actuating unit releases the locking of the wiper unit with the transport unit via the snap lock by elastic deformation of the spring element of the snap lock. This embodiment ensures especially tool-free removability of the wiping unit and the transport unit. In particular, this design makes it possible to improve the comfort with regard to the assembly and/or disassembly of the wiper unit. In particular, the mounting and/or dismounting of the wiper unit can thereby be carried out more quickly and/or more simply.

It is furthermore proposed that the cleaning unit has at least one guide unit for guiding the wiping unit into the assembly position when the cleaning unit is mounted on the transport unit. The mounting position is in particular the position of the wiper unit with respect to the transport unit, in which the latching unit and/or the snap lock can connect the wiper unit to the transport unit. In particular, the guide unit guides the wiper unit into the installation position when the wiper unit is installed on the carrier unit, so that the catch unit can be locked in the catch connection and/or the snap lock can be locked. This embodiment can ensure particularly simple assembly. In particular, incorrect assembly and/or damage during assembly can be advantageously avoided. In particular, tolerances, in particular positional tolerances, can be compensated for during assembly, in particular during manual assembly by the user, by means of the guide unit.

In this context, it is also provided that the guide unit has at least one abutment ramp of the wiper unit and a stop element of the carrying unit, which engage with one another during assembly. In particular, the contact ramp of the wiper unit is provided for contacting a stop element of the transport unit during assembly. In the assembly by the user, in particular, guiding the wiping unit to the stop element, the abutment ramp, which abuts against the stop element, guides the wiping unit into the correct assembly position with respect to the transport unit. In particular, the contact ramp is arranged on the wiper unit, and the stop element is arranged in particular on the transport unit. Alternatively, it is conceivable for the contact ramp to be arranged on the carrying unit and for the stop element to be arranged in particular on the wiper unit. This embodiment can ensure particularly simple assembly. In particular, incorrect assembly and/or damage during assembly can be advantageously avoided. In particular, tolerances, in particular positional tolerances, can be compensated for during assembly, in particular during manual assembly by the user, by means of the guide unit.

It is furthermore proposed that the wiper unit has at least one receptacle which is provided for receiving at least one fastening element of the transport unit. The fastening element is advantageously designed as a projection and is provided for engagement in the assembled state in a receptacle comprising at least one recess. In particular, the receptacle at least partially surrounds the fastening element in the assembled state. Alternatively or additionally, the wiping unit can have at least one fastening element, in particular the fastening element, and the transport unit can have at least one receptacle, in particular the receptacle. In particular, the receptacle and the fastening element are provided for fastening the wiper unit to the carrying unit together with the catch unit and/or with the snap lock. In particular, the fastening element and/or the receptacle can be formed at least partially integrally with the latching unit, in particular with the latching element and/or with the latching element receptacle. In particular, a particularly stable construction can thereby be provided. In addition, safety can be achieved in particular with regard to vehicles having a lidar device by means of such a design.

Furthermore, it is proposed that the wiper unit, in the assembled state, is removable with respect to the cover element only in at least one maintenance position. In particular, the maintenance position corresponds to a horizontal position of the wiper unit along the cover element, more precisely, in particular, when viewed perpendicular to the main plane of extension of the cover unit. A "main plane of extension" of a structural unit is to be understood as a plane which is parallel to the largest side of the smallest imaginary cuboid which just completely encloses the structural unit and in particular extends through the center point of the cuboid. In particular, a plurality of service positions, for example at least two service positions and in particular at least three service positions, can be considered. In particular, it is conceivable for a vehicle having a lidar device to hold the wiper unit outside the maintenance position in the parked state of the vehicle. This embodiment ensures a particularly high level of safety. In particular, it can be ensured that the wiping unit does not release accidentally by first having to be brought into the maintenance position actively, in particular by a user action. In addition, theft and/or destruction of the wiper unit can be prevented particularly advantageously by means of such a design.

It is furthermore proposed that the cleaning unit has at least one rotary bearing unit which rotatably supports the wiper unit in the assembled state, wherein the wiper unit can be rotated via the rotary bearing unit between a service position and a maintenance position, and wherein the cleaning unit has at least one locking element which is provided for locking the rotatability of the wiper unit in at least one position and releasing the rotatability of the wiper unit in at least one further position by means of the rotary bearing element. Alternatively or in addition to the horizontal position of the wiper unit along the cover element, the maintenance position corresponds to a position of the wiper unit with respect to the cover element, which has a defined angle between the wiper unit and the cover element, more precisely with respect to a lateral view, in particular along a main extension plane of the cover element. In particular, the angle between the wiper unit and the cover element may be, for example, at least 10 °, advantageously at least 15 °, particularly advantageously at least 20 °, preferably at least 30 °, and particularly preferably at least 40 ° in the maintenance position. In particular, the angle between the wiper unit and the cover element in the maintenance position may be, for example, at most 90 °, advantageously at most 80 °, particularly advantageously at most 70 °, preferably at most 60 °, and particularly preferably at most 50 °. In particular, the angle between the wiper unit and the cover element, for example in at least one horizontal position of the wiper unit along the cover element, can be changed via the rotary bearing unit, and the wiper unit can thus be adjusted into a maintenance position. The locking element is provided in particular to prevent the wiper unit from rotating in the direction away from the cover element in the assembled state. In particular, the locking element has at least one toothed segment, for example a toothed disk or the like, and at least one locking pawl which engages in the toothed segment in the assembled state. In particular, the teeth of the locking element are oriented in such a way that engagement of the locking pawl in the teeth only locks the rotatability of the wiper unit in the direction away from the cover element. In particular, the rotatability of the wiper unit in the direction of the cover element is always ensured, in particular in order to be able to provide the pressing force. In particular, this ensures a particularly simple assembly and/or disassembly of the wiping unit from the transport unit. In addition, the design can improve comfort in particular.

It is further proposed that the wiper unit comprises at least one housing unit and a wiper strip, wherein the wiper strip is exchangeable in the service position. In particular, the wiper unit has at least one wiper strip, which is provided to wipe the cover element, more precisely, in particular, in the operating state. In particular, the wiper strips of the wiper unit are constructed exchangeably. For example, the wiper strip of the wiper unit can be exchanged in the maintenance position without tools, for example, in the case of worn wiper strips. In this context, a "wiping strip" is understood to be a strip which is provided for wiping the covering element. Preferably the wiper strip is constructed of a rubber material. For example, the housing unit can have at least one housing element with a receiving groove, wherein the wiper strip can be pushed into the receiving groove in an exchangeable manner. In particular, the wiper strip of the wiper unit can be removed from the housing unit in the maintenance position. In particular, this embodiment makes it possible to achieve a particularly simple assembly and/or disassembly of the wiper strip alone. In particular, this embodiment makes it possible to provide particularly cost-effective maintenance, since in particular only the wiper strip can be replaced in the event of wear.

It is furthermore proposed that the wiper unit comprises at least one end cap, which fixes the wiper strip in the assembled state relative to the housing unit at least in the maintenance position. In particular, the end cap in the assembled state also fixes the wiper strip in the operating state, in particular in a position of the wiper unit with respect to the cover element outside the maintenance position. It is conceivable that the end cap closes the receiving groove of the housing element in the assembled state, in particular in an end region of the wiper unit facing away from the carrying unit. The end cap secures the wiper strip in particular in the housing unit, in particular in the receptacle groove of the housing element. For example, it is conceivable for the wiper unit to have at least one housing element and in particular at least one end cap. For example, the at least one housing element and/or the at least one end cap can be provided for supporting the wiper strip in the assembled state. This embodiment can improve comfort in particular. This makes it possible in particular to prevent the wiper strip from falling out in the maintenance position.

A particularly advantageous characteristic in terms of construction can be provided by a vehicle having at least one lidar device.

The invention also relates to a method for assembling a lidar device having a cleaning unit with a wiper unit for mechanically cleaning a cover element of the lidar unit and a transport unit for driving the wiper unit.

It is proposed that the wiping unit be detachably connected to the transport unit. Thereby, improved properties can be provided, in particular with regard to assembly and/or disassembly, in particular with regard to maintenance.

The lidar device according to the invention should not be limited to the above-described applications and embodiments. In particular, the lidar device according to the invention can have a number which differs from the number of individual elements, components and units and method steps mentioned here in order to satisfy the operating modes described here. Furthermore, in the value ranges given in the present disclosure, the values lying within the boundaries should also be regarded as disclosed and can be used arbitrarily.

Other advantages result from the following description of the figures. Twelve embodiments of the invention are shown in the drawings. The figures, description, and claims contain many combined features. Those skilled in the art will also consider these features individually and combine them into meaningful other combinations as appropriate.

Drawings

Figure 1 shows in a simplified perspective view a vehicle with a lidar device according to the invention,

figures 2-4 show in various simplified illustrations a lidar device with a cleaning unit,

figures 5-8 show the wiping unit and the carrier unit of the cleaning unit and an exemplary assembly of the wiping unit on the carrier unit in perspective view,

figure 9 shows different maintenance positions of the wiper unit in a simplified plan view of the cover element of the laser radar device,

figure 10 shows a flow chart of a method for assembling the lidar apparatus,

fig. 11-12 show schematic views of a portion of a lidar apparatus of another embodiment of the present invention, having a snap lock of a cleaning unit of the lidar apparatus,

figure 13 shows the snap lock in a perspective view,

fig. 14-15 show schematic views of a portion of a lidar apparatus of another embodiment of the invention, having a snap lock of a cleaning unit of the lidar apparatus,

figure 16 shows the snap lock in a perspective view,

fig. 17-18 show schematic views of a portion of a lidar apparatus of another embodiment of the present invention, with a snap lock of a cleaning unit of the lidar apparatus,

fig. 19-20 show schematic views of a portion of a lidar apparatus of another embodiment of the invention, having a snap lock of a cleaning unit of the lidar apparatus,

fig. 21-22 show schematic views of a portion of a lidar apparatus of another embodiment of the invention, having a snap lock of a cleaning unit of the lidar apparatus,

fig. 23-24 show schematic views of a portion of a lidar apparatus of another embodiment of the invention, having a snap lock of a cleaning unit of the lidar apparatus,

fig. 25-26 show schematic views of a portion of a lidar apparatus of another embodiment of the invention, having a snap lock of a cleaning unit of the lidar apparatus,

fig. 27-28 show schematic views of a portion of a lidar apparatus of another embodiment of the present invention, with a snap lock of a cleaning unit of the lidar apparatus,

FIGS. 29-30 show schematic views of a portion of a lidar apparatus having a rotary support unit for a cleaning unit of the lidar apparatus, and

fig. 31-32 show schematic views of a portion of a lidar apparatus having a rotary support unit for a cleaning unit of the lidar apparatus according to another embodiment of the present invention.

Detailed Description

Fig. 1 shows a vehicle 60a. The vehicle 60a includes a laser radar device 10a. The vehicle 60a is designed as a road vehicle, in particular as a passenger car. The laser radar device 10a is arranged in a front region of the vehicle 60a. The laser radar device 10a is connected to the vehicle 60a, in particular in the front region.

The laser radar device 10a has a laser radar unit 12a (see also fig. 2 to 4). Lidar unit 12a includes at least one lidar sensor (not shown). Furthermore, laser radar device 10a comprises, in the exemplary embodiment shown, a cover element 14a.

Covering element 14a covers laser radar unit 12a. Cover element 14a is provided to protect lidar unit 12a from environmental influences and in particular to shield it from dirt and/or moisture. The laser radar device 10a has a cleaning unit 16a. The cleaning unit 16a is configured to clean the covering element 14a.

The cleaning unit 16a is provided for at least mechanically cleaning the covering element 14a. In order to mechanically clean the covering element 14a, the cleaning unit 16a has a wiper unit 18a.

It is conceivable that the cleaning unit 16a is also provided for cleaning the covering element 14a by means of a cleaning fluid. For example, the wiper unit 18a can have a fluid nozzle (not shown) for cleaning the covering element 14a with a cleaning fluid.

Further, the cleaning unit 16a has a carrying unit 20a. The transport unit 20a moves the wiper unit 18a linearly over the cover element 14a for cleaning the cover element 14a. More specifically, the carrying unit 20a moves the wiper unit 18a on the cover element 14a in both directions for cleaning the cover element 14a.

The wiper unit 18a has a wiper strip 56a for mechanically cleaning the covering element 14a. The transport unit 20a moves the wiper strip 56a on the cover element 14a in a bidirectional manner for cleaning the cover element 14a.

The wiper unit 18a is detachably connected to the carrying unit 20a. In the assembled state, the wiper unit 18a is detachably connected to the transport unit 20a. More precisely, the wiper unit 18a is configured as a replaceable component. This makes it possible to simply replace the wiper unit 18a, for example in the event of wear.

The wiper unit 18a is connected to the carrier unit 20a in the mounted state at an end region 22a of the wiper unit 18a. The carrier unit 20a is connected to the wiper unit 18a in the mounted state at an end region 22a of the carrier unit 20a.

The cleaning unit 16a has a latching unit 24a, by means of which the wiping unit 18a can be connected to the carrying unit 20a in a latching manner. The latching unit 24a has at least one latching element 26a of the wiper unit 18a and at least one latching element receiver 28a of the carrying unit 20a.

The cleaning unit 16a has a handling unit 32a for handling by a user, by means of which the wiping unit 18a can be released from the carrying unit 20a.

The manipulation of the handling unit 32a to release the wiper unit 18a from the carrying unit 20a causes elastic deformation of the wiper unit 18a and/or the carrying unit 20a.

The cleaning unit 16a has a guide unit 36a for guiding the wiper unit 18a into the fitting position when fitted on the carrying unit 20a.

The guide unit 22a has an abutment ramp 38a of the wiper unit 18a and a stop element 40a of the carrying unit 20a, which cooperate with one another during assembly.

The wiping unit 18a has a receptacle 42a, which is provided for receiving at least one fastening element 44a of the carrying unit 20a.

In the assembled state, the wiper unit 18a is removable with respect to the cover element 14a only in at least one maintenance position 46 a.

The wiper unit 18a comprises at least one housing unit 54a and a wiper strip 56a, wherein the wiper strip 56a can be replaced in the maintenance position 46 a.

Fig. 10 shows a flow chart of a method 100 for assembling the lidar apparatus 10a. In a method step 102a, a laser radar device 10a having a cleaning unit 16a is provided, which has a wiper unit 18a for mechanically cleaning the covering element 14a of the laser radar unit 12a and a transport unit 20a for driving the wiper unit 18a. In a further method step 104a of the method 100, the wiping unit 18a is detachably connected to the transport unit 20a.

Eleven further embodiments of the invention are shown in figures 11 to 32. The following description and the figures are substantially limited to the differences between the exemplary embodiments, wherein in principle reference can also be made to the figures and/or illustrations of further exemplary embodiments, in particular of the exemplary embodiments of fig. 1 to 10, with regard to identically numbered components, in particular with regard to components having the same reference numerals. To distinguish the embodiments, the letter a is provided after the reference numerals of the embodiments in fig. 1 to 10. In the embodiment of fig. 11 to 32, the letter a is replaced by the letters b to l.

Fig. 11 to 13 show a part of a laser radar apparatus 10b according to another embodiment of the present invention. Lidar device 10b includes a cover element 14b. For cleaning the cover element 14b, the laser radar device 10b comprises a cleaning unit 16b having a wiper unit 18b, which is shown in a very simplified manner in the present fig. 11 to 13.

Further, the cleaning unit 16b has a carrying unit 20b. The carrying unit 20b moves the wiping unit 18b linearly over the cover element 14b for cleaning the cover element 14b. The wiper unit 18b has a wiper strip 56b for mechanically cleaning the covering element 14b. The wiping unit 18b is detachably connected to the carrying unit 20b. In the assembled state, the wiping unit 18b is detachably connected to the carrying unit 20b.

Furthermore, the cleaning unit 16b has a latch 30b, by means of which the wiper unit 18b can be latched to the carrying unit 20b (see fig. 12 and 13). In order to release the wiping unit 18b from the carrying unit 20b, the cleaning unit 16b has a handling unit 32b. The manipulation unit 32b allows the latch 30b to be elastically deformed when manipulated by a user. When the actuating unit 32b is actuated, the actuating unit 32b unlocks the latch 30b and the wiper unit 18b can be released from the transport unit 20b.

The operating unit 32b is integral with the latch 30 b. More precisely, the operating unit 32b is part of the latch 30 b. More precisely, the end region of the latch 30b is provided for manipulation by a user.

Fig. 13 shows an exemplary configuration of the latch 30 b. The snap lock 30b has a front engagement region 62b which is provided for engaging the wiper unit 18b with the carrying unit 20b into the carrying unit 20b in order to lock the latter. A rear subregion of the latch 30b is a handling region 64b, which releases the engagement of the engagement region 62b into the transport unit 20b by elastic deformation of the latch 30 b.

Fig. 14 to 16 show a part of a laser radar apparatus 10c according to another embodiment of the present invention. Lidar device 10c includes a cover element 14c. For cleaning the cover element 14c, the laser radar device 10c comprises a cleaning unit 16c having a wiper unit 18c, which is shown in a very simplified manner in the present fig. 14 to 16.

Further, the cleaning unit 16c has a carrying unit 20c. The carrying unit 20c moves the wiping unit 18c linearly over the cover element 14c for cleaning the cover element 14c. The wiper unit 18c has a wiper strip 56c for mechanically cleaning the covering element 14c. The wiper unit 18c is detachably connected to the carrying unit 20c. In the assembled state, the wiping unit 18c is detachably connected to the carrying unit 20c.

Further, the cleaning unit 16c has a latch 30c by which the wiping unit 18c can be latched on the carrying unit 20c (see fig. 14 and 15). The latch 30c differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 16 shows an exemplary configuration of the latch 30 c. The latch 30c of the present exemplary embodiment has two oppositely arranged segments, each having four partial regions arranged at an angle to one another.

Fig. 17 and 18 show a part of a laser radar apparatus 10d of another embodiment of the present invention. Lidar device 10d includes a cover element 14d. For cleaning the cover element 14d, the laser radar device 10d comprises a cleaning unit 16d having a wiper unit 18d, which is shown in a very simplified manner in the present fig. 17 and 18.

Further, the cleaning unit 16d has a carrying unit 20d. The carrying unit 20d moves the wiping unit 18d linearly over the covering element 14d for cleaning the covering element 14d. The wiper unit 18d has a wiper strip 56d for mechanically cleaning the covering element 14d. The wiping unit 18d is detachably connected to the carrying unit 20d. In the assembled state, the wiping unit 18d is detachably connected to the carrying unit 20d.

Furthermore, the cleaning unit 16d has snap locks 30d by which the wiper unit 18d can be latched to the carrying unit 20d (see fig. 17 and 18). The latch 30d differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 18 shows an exemplary configuration of the latch 30 d. The latch 30d of the present exemplary embodiment has two oppositely disposed sections, each of which has two partial regions arranged parallel to one another and an arcuate connecting region between the partial regions arranged parallel to one another.

Fig. 19 and 20 show a part of a laser radar apparatus 10e of another embodiment of the present invention. Lidar device 10e includes a cover element 14e. For cleaning the covering element 14e, the laser radar device 10e comprises a cleaning unit 16e with a wiper unit 18e, which is shown in a very simplified manner in the present fig. 19 and 20.

Further, the cleaning unit 16e has a conveyance unit 20e. The carrying unit 20e moves the wiping unit 18e linearly over the covering element 14e for cleaning the covering element 14e. The wiper unit 18e has a wiper strip 56e for mechanically cleaning the covering element 14e. The wiper unit 18e is detachably connected to the carrying unit 20e. In the assembled state, the wiping unit 18e is detachably connected to the carrying unit 20e.

Furthermore, the cleaning unit 16e has a latch 30e, by means of which the wiping unit 18e can be latched to the transport unit 20e. The latch 30e differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 20 shows an exemplary configuration of the latch 30 e. The latch 30e of the present exemplary embodiment has two partial regions arranged parallel to one another and a helical connecting region between the partial regions arranged parallel to one another.

Fig. 21 and 22 show a part of a laser radar apparatus 10f according to another embodiment of the present invention. Lidar device 10f includes a cover element 14f. For cleaning the cover element 14f, the laser radar device 10f comprises a cleaning unit 16f having a wiper unit 18f, which is shown in a very simplified manner in the present fig. 21 and 22.

Further, the cleaning unit 16f has a conveying unit 20f. The carrying unit 20f moves the wiping unit 18f linearly over the covering element 14f for cleaning the covering element 14f. The wiping unit 18f has a wiping strip 56f for mechanically cleaning the covering element 14f. The wiper unit 18f is detachably connected to the carrying unit 20f. In the assembled state, the wiping unit 18f is detachably connected to the carrying unit 20f.

Furthermore, the cleaning unit 16f has a latch 30f, by means of which the wiper unit 18f can be latched to the transport unit 20f. The latch 30f differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 22 shows an exemplary configuration of the snap lock 30 f. The snap lock 30f of the present exemplary embodiment has two partial regions arranged parallel to one another and a helical connecting region between the partial regions arranged parallel to one another. The latch 30f has an actuating unit 32f, which actuating unit 32f has two legs which are arranged perpendicularly to partial regions of the latch 30f which are arranged parallel to one another.

Fig. 23 and 24 show a part of a laser radar apparatus 10g according to another embodiment of the present invention. The laser radar apparatus 10g includes a cover member 14g. For cleaning the cover element 14g, the laser radar device 10g comprises a cleaning unit 16g with a wiper unit 18g, which is shown in a very simplified manner in the present fig. 23 and 24.

Further, the cleaning unit 16g has a carrying unit 20g. The carrying unit 20g moves the wiping unit 18g linearly over the covering element 14g in order to clean the covering element 14g. The wiper unit 18g has a wiper strip 56g for mechanically cleaning the covering element 14g. The wiper unit 18g is detachably connected to the carrying unit 20g. In the assembled state, the wiper unit 18g is detachably connected to the carrying unit 20g.

Furthermore, the cleaning unit 16g has snap locks 30g, by means of which the wiper unit 18g can be latched to the carrier unit 20g. The latch 30g differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 24 shows an exemplary configuration of the latch 30 g.

The latch 30g of the present exemplary embodiment has two partial regions arranged at an angle to one another and a helical connecting region between the partial regions arranged parallel to one another. The latch 30g has a handling unit 32g, which is arranged in the region of the transport unit 20g in the assembled state. The snap lock 30g provides a pressing force for the wiper unit 18g in the assembled state. The snap lock 30g presses the wiper unit 18g against the cover element 14g in the assembled state. Rather, in the example shown, a spiral-shaped connecting region is used between the partial regions arranged parallel to one another.

Fig. 25 and 26 show a part of a laser radar apparatus 10h of another embodiment of the present invention. The laser radar apparatus 10h includes a cover element 14h. For cleaning the cover element 14h, the laser radar device 10h comprises a cleaning unit 16h with a wiper unit 18h, which is shown in a very simplified manner in the present fig. 25 and 26.

Further, the cleaning unit 16h has a conveyance unit 20h. The transport unit 20h moves the wiper unit 18h linearly over the cover element 14h in order to clean the cover element 14h. The wiper unit 18h has a wiper strip 56h for mechanically cleaning the covering element 14h. The wiper unit 18h is detachably connected to the carrying unit 20h. In the assembled state, the wiper unit 18h is detachably connected to the transport unit 20h.

Furthermore, the cleaning unit 16h has snap locks 30h, by means of which the wiper unit 18h can be latched to the transport unit 20h. The latch 30h differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 26 shows an exemplary configuration of the snap lock 30 h.

The latch 30h of the present embodiment has two partial springs which are constructed separately from one another. The partial springs, which are designed separately from one another, are arranged at least substantially parallel to one another.

The latch 30h also has an operating unit 32h. The actuating units 32h are each part of a partial spring which is designed separately from one another.

Fig. 27 shows a part of a laser radar apparatus 101 according to another embodiment of the present invention. The lidar device 101 includes a cover element 14i. For cleaning the cover element 14i, the laser radar device 10i comprises a cleaning unit 16i having a wiper unit 18i, which is shown in a very simplified manner in the present fig. 27.

Further, the cleaning unit 16i has a carrying unit 20i. The transport unit 20i moves the wiping unit 18i linearly over the cover element 14i for cleaning the cover element 14i. The wiping unit 18i has a wiping strip 56i for mechanically cleaning the covering element 14i. The wiping unit 18i is detachably connected to the carrying unit 20i. In the assembled state, the wiping unit 18i is detachably connected to the carrying unit 20i.

Furthermore, the cleaning unit 16i has a latch 30i, by means of which the wiper unit 18i can be latched to the transport unit 20i. The latch 30i differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 27 shows an exemplary shaping of the snap lock 30 i.

The latch 30i of the present embodiment has two partial springs which are constructed separately from one another. The partial springs, which are designed separately from one another, are arranged overlapping in the assembled state. In the example shown, the partial springs, which are designed separately from one another, are arranged crosswise.

Fig. 28 shows a part of a laser radar apparatus 10j according to another embodiment of the present invention. The laser radar device 10j includes a cover element 14j. For cleaning the cover element 14j, the laser radar device 10j comprises a cleaning unit 16j having a wiper unit 18j, which is shown in a very simplified manner in the present fig. 28.

Further, the cleaning unit 16j has a conveyance unit 20j. The transport unit 20j moves the wiper unit 18j linearly over the cover element 14j in order to clean the cover element 14j. The wiper unit 18j has a wiper strip 56j for mechanically cleaning the cover element 14j. The wiper unit 18j is detachably connected to the carrying unit 20j. In the assembled state, the wiper unit 18j is detachably connected to the transport unit 20j.

Furthermore, the cleaning unit 16j has a latch 30j, by means of which the wiper unit 18j can be latched to the transport unit 20j. The latch 30j differs from the latches of the previous embodiments of the present invention at least in terms of shape. Fig. 28 shows an exemplary configuration of the latch 30 j. The latch 30j of the present exemplary embodiment has two partial regions arranged parallel to one another and a helical connecting region between the partial regions arranged parallel to one another. The connecting region is formed in one piece with two partial regions arranged parallel to one another.

Fig. 29 and 30 show a part of a laser radar apparatus 10k according to another embodiment of the present invention. Lidar device 10k includes a cover element 14k. For cleaning the cover element 14k, the laser radar device 10k comprises a cleaning unit 16k having a wiper unit 18k, which is shown in a very simplified manner in the present fig. 29 and 30.

Further, the cleaning unit 16k has a carrying unit 20k. The transport unit 20k moves the wiper unit 18k linearly over the cover element 14k for cleaning the cover element 14k. The wiper unit 18k has a wiper strip 56k for mechanically cleaning the cover element 14k. The wiper unit 18k is detachably connected to the carrying unit 20k. In the assembled state, the wiper unit 18k is detachably connected to the transport unit 20k.

The wiper unit 18k has an end cap 58k, which fixes the wiper strip 56k in the assembled state relative to the housing unit 54k at least in the maintenance position 46 k.

The cleaning unit 16k has a rotary bearing unit 48k which rotatably supports the wiper unit 18k in the assembled state, wherein the wiper unit 18k can be rotated via the rotary bearing unit 48k between a working position 50k and a maintenance position 46k, and wherein the cleaning unit 16k has at least one locking element 52k which is provided to lock the rotatability of the wiper unit 18k in at least one position and to release the rotatability of the wiper unit in at least one further position by means of the rotary bearing element 48 k.

Fig. 31 and 32 show a part of a laser radar apparatus 10l of another embodiment of the present invention. Lidar device 10l includes a cover element 14l. For cleaning the cover element 14l, the laser radar device 10l comprises a cleaning unit 16l having a wiper unit 18l, which is shown in a very simplified manner in the present fig. 31 and 32.

The cleaning unit 16l has a rotary support unit 48l that rotatably supports the wiping unit 18l in the assembled state. The rotation support unit 48l of the present embodiment supports the wiper unit 18l with the rotation axis along the main extension plane of the wiper unit 18l.

Claims

1. Lidar device (10 a-10 l) having a lidar unit (12 a-12 l) and at least one cover element (14 a-14 l) which covers the lidar unit (12 a-12 l), and having a cleaning unit (16 a-16 l) which is designed for cleaning the cover element (14 a-14 l), characterized in that the cleaning unit (16 a-16 l) has at least one wiper unit (18 a-18 l) for cleaning the cover element (14 a-14 l) and a transport unit (20 a-20 l) for driving the wiper unit (18 a-18 l) in an assembled state, wherein the wiper unit (18 a-18 l) is detachably connected to the transport unit (20 a-20 l).

2. Lidar device (10 a-10 l) according to claim 1, characterized in that the wiper unit (18 a-18 l) is configured as a replaceable component.

3. Lidar device (10 a-10 l) according to claim 1 or 2, characterized in that the wiper unit (18 a-18 l) is connected with the carrying unit (20 a-20 l) in the assembled state on an end region (22 a-22 l) of the wiper unit (18 a-18 l).

4. Lidar device (10 a-10 l) according to any of the preceding claims, characterized in that the carrying unit (20 a-20 l) is connected with the wiper unit (18 a-18 l) in the assembled state on an end region (22 a-22 l) of the carrying unit (20 a-20 l).

5. Lidar device (10 a-10 l) according to any of the preceding claims, characterized in that the cleaning unit (16 a-16 l) has a latch unit (24 a-24 l) by means of which the wiping unit (18 a-18 l) can be latchingly connected with the carrying unit (20 a-20 l).

6. Lidar device (10 a-10 l) according to claim 5, characterized in that the latch unit (24 a-24 l) has at least one latch element (26 a-26 l) of the wiping unit (18 a-18 l) and at least one latch element receptacle (28 a-28 l) of the carrying unit (20 a-20 l).

7. Lidar device (10 b-10 j) according to any of the preceding claims, wherein the cleaning unit (16 a-16 l) has a snap lock (30 a-30 l) by which the wiper unit (18 a-18 l) can be latched on the transport unit (20 a-20 l).

8. Lidar device (10 g) according to claim 7, wherein the snap lock (30 g) provides a pressing force for the wiper unit (18 g) in the assembled state.

9. Lidar device (10 a-10 l) according to any of the preceding claims, characterized in that the cleaning unit (16 a-16 l) has a handling unit (32 a-32 l) for handling by a user, by means of which the wiper unit (18 a-18 l) can be released from the carrier unit (20 a-20 l).

10. Lidar device (10 a-10 l) according to claim 9, characterized in that manipulation of the manipulation unit (32 a-32 l) for releasing the wiper unit (18 a-18 l) from the carrying unit (20 a-20 l) causes an elastic deformation of the wiper unit (18 a-18 l) and/or the carrying unit (20 a-20 l).

11. Lidar device (10 b-10 j) according to claims 7 and 9, characterized in that the operating unit (32 a-32 l) is at least partially integrally constructed with the snap lock (30 a-30 l).

12. Lidar device (10 b-10 j) according to claim 11, characterized in that the manipulation of the manipulation unit (32 a-32 l) for releasing the wiper unit (18 a-18 l) from the carrying unit (20 a-20 l) triggers an elastic deformation of the spring element (34 a-34 l) of the snap lock (32 a-32 l).

13. Lidar device (10 a-10 l) according to any of the preceding claims, characterized in that the cleaning unit (16 a-16 l) has at least one guiding unit (36 a-36 l) for guiding the wiper unit (18 a-18 l) into a mounting position when mounted on the transport unit (20 a-20 l).

14. Lidar device (10 a-10 l) according to claim 13, characterized in that the guiding unit (22 a-22 l) has at least one abutment ramp (38 a-38 l) of the wiper unit (18 a-18 l) and a stop element (40 a-40 l) of the carrying unit (20 a-20 l), which cooperate with each other upon assembly.

15. Lidar device (10 a-10 l) according to any of the preceding claims, wherein the wiper unit (18 a-18 l) has at least one receptacle (42 a-42 l) provided for receiving at least one fixing element (44 a-44 l) of the carrier unit (20 a-20 l).

16. Lidar device (10 a-10 l) according to any of the preceding claims, characterized in that the wiper unit (18 a-18 l) is removable in the assembled state with respect to the cover element (14 a-14 l) only in at least one service position (46 a-46 l).

17. The lidar device (10k 10l) according to claim 16, wherein the cleaning unit (116k) has at least one rotary support unit (48k 48l) which, in an assembled state, rotatably supports the wiper unit (18k 18l), wherein the wiper unit (18k 18l) is rotatable between an operating position (50k 50l) and the service position (46k 46l) via the rotary support unit (48k 48l), and wherein the cleaning unit (169k) has at least one locking element (52k 52l) which is provided for locking the rotatability of the wiper unit (18k 1118l) in at least one position and releasing the rotatability of the wiper unit 11116k in at least one further position.

18. The lidar device (10k, 10l) according to claim 16 or 17, wherein the wiper unit (18k, 18l) comprises at least one housing unit (54k 54l) and a wiper strip (56k, 56l), wherein the wiper strip (56k, 56l) is replaceable in the service position (46k.

19. The lidar device (10 k) according to claim 18, characterized in that the wiper unit (18 k) comprises at least one end cap (58 k) which in the assembled state fixes the wiper strip (56 k) with respect to the housing unit (54 k) at least in a maintenance position (46 k).

20. A vehicle (60 a) having a lidar device (10 a-10 l) according to any of the preceding claims.

21. A method (100) for assembling a lidar device (10 a-10 l), in particular according to any of claims 1 to 19, having a cleaning unit (16 a-16 l) with a wiper unit (18 a-18 l) for mechanically cleaning a covering element (14 a-14 l) of a lidar unit (12 a-12 l) and a transport unit (20 a-20 l) for driving the wiper unit (18 a-18 l), characterized in that the wiper unit (18 a-18 l) is removably connected with the transport unit (20 a-20 l).