CN117630956A - Lidar device and transport means having a lidar device - Google Patents

Abstract

Provided is a laser radar device, which: having a lidar unit; having at least one covering element covering the lidar unit; having a cleaning unit which is designed to clean the cover element, wherein the cleaning unit has at least one wiping unit for cleaning the cover element and a drive unit having at least one coupling transmission for driving the wiping unit; the cleaning device comprises a transport unit which is connected to the wiping unit in the installed state and to which at least one transport element of a coupling transmission is rotatably connected at an end region, wherein the transport unit has at least two connecting elements which are arranged offset to one another along a main direction of extension of the transport unit, wherein the transport element is connected to the transport unit in the installed state by exactly one of the connecting elements.

Description

Lidar device and transport means having a lidar device

Technical Field

The present invention relates to a lidar device and a vehicle having the lidar device.

Background

There has been proposed a lidar device which is mounted on a road conveyance and which is provided for detecting an environmental area of the conveyance. The laser radar device has a laser radar unit, at least one covering element covering the laser radar unit, and a cleaning unit configured to clean the covering element.

Disclosure of Invention

A lidar device is proposed, which: having a lidar unit; having at least one covering element covering the lidar unit; having a cleaning unit which is configured for cleaning the cover element, wherein the cleaning unit has at least one wiping unit for cleaning the cover element and a drive unit having at least one coupling transmission for driving the wiping unit; the cleaning device comprises a transport unit which is connected to the wiping unit in the installed state and to which at least one transport element of the coupling transmission is rotatably connected in the end region, wherein the transport unit has at least two connecting elements which are arranged offset from one another along the main direction of extension of the transport unit, wherein the transport element is connected to the transport unit in the installed state by exactly one of the connecting elements.

The lidar device is in particular at least one part, preferably at least one subassembly, of at least one lidar system, in particular of 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 comprises at least one lidar sensor element. The lidar sensor element is provided for environmental detection, for example on a transport vehicle, in particular for autopilot, on a construction site for measuring buildings, for scanning 3D contours and/or in a laboratory for research purposes. In particular, the lidar device and more particularly, in particular, by means of at least one lidar sensor element, is provided for detecting and/or measuring objects. The lidar device is preferably arranged for use on a vehicle, in particular the lidar device can be part of a vehicle. It is also conceivable that the lidar device can be attached to a vehicle. For example, the lidar device can be attached to a vehicle in addition to an existing lidar system of the vehicle. The lidar device is preferably provided in particular as part of a lidar system for detecting objects, in particular in the environment of a vehicle. The lidar device is preferably coupled to the vehicle for detecting objects, preferably in the roof region, the front region and/or the rear region of the vehicle. In particular, the vehicle can have a plurality of lidar devices.

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 covering element is formed at least largely and in particular entirely from glass. Preferably, the cover element is formed at least largely and in particular entirely from plastic. The covering element is provided for protecting the lidar unit, in particular against environmental influences. In particular, the covering element protects the lidar unit against at least environmental influences, such as, for example, precipitation, in particular rain and/or snow and/or ice. In particular, the cleaning unit is provided for mechanically cleaning the covering element, in particular by means of mechanical components. In particular, the mechanical component is configured differently from air and/or water. The cleaning unit can be provided for additional cleaning of the covering element by means of a cleaning fluid. It is conceivable that the cleaning unit has at least one and preferably a plurality of fluid nozzles, which are provided for spraying cleaning fluid onto the cover element in the operating state. For example, the fluid nozzle can be connected to a fluid supply unit already present on the vehicle. It is furthermore 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 sprays cleaning fluid onto the cover element only when needed. For this purpose, for example, a coupling to at least one rain sensor already present on the vehicle can be provided. In particular, at least one element of the lidar device can be configured in its design such that contamination of the covering element in the operating state is reduced, for example if the at least one element is configured as a spoiler element in its design. In particular, the lidar device can have at least one cover plate, which is in particular embodied in an opaque manner. In particular, at least some elements of the lidar device can be arranged at least partially and preferably completely behind the cover plate.

The expression "at least a majority" should be understood here to mean at least 55%, advantageously at least 65%, preferably at least 75%, particularly preferably at least 85% and particularly advantageously at least 95%. In this respect, "at least substantially" shall mean in particular that the deviation from the predefined value is in particular less than 25%, preferably less than 10% and particularly preferably less than 5% of the predefined value.

"operating state" shall mean the state in which the lidar device is ready, in particular for a detection process. In the operating state, the cleaning unit mechanically cleans the covering element. Furthermore, it is conceivable that the cleaning unit cleans the cover element only when required in the operating state, in particular when there is contamination of the cover element.

Preferably, the covering element covers the lidar unit outwards in relation to the vehicle in the installed state. The lidar device preferably has a further cover element which covers the lidar unit formed as a component. In particular if the lidar device has a further covering element, the covering element is arranged outside. In particular, the cover element is arranged externally on the vehicle and is cleaned by means of a cleaning unit. In particular, the cover element is arranged interchangeably on the vehicle. By means of this design, advantageous properties can be obtained in terms of maintenance. In particular, in the event of a damaged cover element, only the cover element can be replaced and the replacement of the entire lidar unit can be dispensed with.

For cleaning the cover element, the cleaning unit has at least one wiping unit. The cleaning unit furthermore has a drive unit for driving the wiping unit, which drive unit is provided in particular for moving the wiping unit over the cover element for cleaning the cover element and to be precise for moving it linearly over the cover element. In the operating state, the drive unit moves the wiping unit linearly and in particular bi-directionally on the cover element for cleaning the cover element. In particular, the drive unit moves the wiping unit completely along the cover element in the operating state, in particular for completely mechanically cleaning the cover element.

In the installed state, the wiping unit is detachably connected with the carrying unit. Preferably, the wiping unit is connected to the transport unit in the mounted state in a tool-less detachable manner. The wiping unit and/or the drive unit are preferably designed to enable a user of the transport means, in particular an end user, to detach the wiping unit from the transport unit without the use of tools. The transport element is connected to the transport unit in the installed state and is connected to the transport unit by exactly one of the connecting elements of the transport unit which are arranged offset to one another along the main direction of extension of the transport unit. The transport element is connected to the transport unit in the installed state, advantageously at least for transmitting tensile forces and/or at least compressive forces and/or in particular at least torque. By "connected" at least one first element to at least one further element is meant that the first element is advantageously connected to the further element by at least a force-fitting and/or at least a form-fitting connection, for example by riveting and/or snap-locking and/or tongue-and-groove connection and/or clamping connection and/or other connections which appear to be of interest to a person skilled in the art, and/or is connected to the further element by a material-fitting connection, for example by a welding process, an adhesive process, an injection molding process and/or other processes which appear to be of interest to a person skilled in the art.

The "main direction of extension" of the object shall be understood to mean the direction which runs parallel to the longest edge of the smallest geometric square which just encloses the object completely.

Preferably, the coupling transmission comprises a connecting element which is connected to the motor of the drive unit in an eccentrically rotatable manner, in particular via an eccentric element of the coupling transmission. Preferably, the drive unit has the motor, wherein the motor is in particular configured as an electric motor. The motor provides a rotational movement, in particular in the form of a torque, in the operating state, in particular during wiping operation. The connecting element is supported in particular in such a way that it can rotate eccentrically with respect to the axis of rotation of the drive shaft of the motor. In the installed state, the eccentric element is connected to the drive shaft of the motor. Advantageously, the eccentric element is connected in a rotationally fixed manner to the drive shaft of the motor in the installed state at least one first end region of the eccentric element. In the installed state, the eccentric element is connected to the connecting element, in particular at a second end region of the eccentric element. The eccentric element connects the connecting element, in particular eccentrically, to the motor, in particular to the drive shaft of the motor, in the installed state. In the installed state, the eccentric section is connected to the connecting section, in particular at a first end region of the connecting section. By means of such a design, improved properties can be obtained, in particular with respect to the drive of the wiping unit. In addition, by means of such a design, in particular the space requirements necessary for driving the wiping unit can be reduced.

The coupling transmission preferably comprises an intermediate part which is rotatably connected to the transport part in the end region and to the connecting part in the intermediate region. In particular, the intermediate link is connected to the transport link in the end region of the intermediate link. In particular, the transport element is connected to the intermediate element in the end region of the transport element. In particular, the intermediate element has a second end region in which it is connected to the rotary bearing. Preferably, the intermediate region of the intermediate link corresponds to the region between the end region and the second end region of the intermediate link. For example, the intermediate region can be a centrally located region of the intermediate link. The intermediate region is preferably arranged outside the center of the intermediate link, for example by at least 10%, particularly preferably by at least 20%, with respect to the total extent of the intermediate link.

Preferably, the coupling transmission drives the wiping unit in at least one motion reversal region in a slowing manner. In particular, the coupling transmission is provided for slowing down the transport unit in at least one movement reversal region. In particular in the linear, in particular bidirectional, operation of the wiping unit, the coupling transmission drives the wiping unit in a slow manner in two movement reversal regions. The two movement reversal regions are arranged in particular on the sides of the covering element. The two movement reversal regions are arranged opposite one another, in particular with respect to the cover element. In the case of a bidirectional wiping operation, the wiping unit is switched over in each case in the region of the reversal of motion. In particular, the transport unit follows a particularly linear sinusoidal movement, in particular by means of the arrangement of the links of the coupling mechanism. In particular, such a design can provide high reliability. In particular in the region of the reversal of motion, forces acting in particular on the wiping unit and/or the coupling gear can be reduced. In addition, a particularly rapid cleaning of the intermediate region can be ensured by such a design.

Preferably, the drive unit has a clutch for decoupling the transmission from the motor of the drive unit. Preferably, the clutch is arranged between the motor and the eccentric element. In particular, the clutch is mechanically connected to the drive shaft of the motor and in particular to the eccentric element. For example, but not limited thereto, the clutch can be configured as a slip clutch and mechanically connected to the drive shaft and to another shaft connected to the eccentric ring segments in a torque-proof manner. In particular, the clutch separates the coupling gear from the motor when a maximum torque is exceeded. For example, the clutch separates the coupling transmission from the motor when the clutch is askew, when the clutch is stuck and/or when the wiper unit and the cover element are frozen.

The lidar device preferably has a holding unit with at least one fastening point for coupling the transmission, in particular for coupling an intermediate link of the transmission. In particular, the coupling transmission is supported in the mounted state by a fastening point relative to the lidar unit, in particular relative to the cover element. The fastening point provides, in particular, a rotary bearing, by means of which the intermediate part is rotatably supported in the second end region of the intermediate part. Furthermore, the holding unit has at least one motor support point, in particular at least two motor support points, for supporting the motor in the installed state. In the installed state, the motor is connected to the holding unit via at least one motor bearing point. In particular, the holding unit, in the installed state, encloses the lidar unit at least partially on at least three sides and preferably on at least four sides. Preferably, the holding unit, in the installed state, at least partially encloses the lidar unit.

For example, the holding unit and the lidar unit can be fastened to the transport means by separate fastening points. However, the holding unit and the lidar unit can preferably be fastened to the vehicle by a common fastening point, whereby the assembly can advantageously be simplified.

The lidar device can have a flap which at least partially covers a drive unit of the cleaning unit for driving a wiping unit of the cleaning unit. In particular, high reliability and high safety can be obtained thereby. Furthermore, the baffle can provide a flow guide over the cover element. In particular, the baffle can be shaped to provide a flow guide over the cover element. The baffle can provide a flow guide over the cover element by means of at least one turbulence element of the baffle.

In this document, terms such as "first" and "second" are used merely to distinguish objects and/or allocations of objects from one another and do not imply a total number and/or order of the objects present. In particular, the "second object" does not necessarily imply the presence of the "first object".

"set-up" shall mean specially set up, specially designed and/or specially equipped. The object being provided for a specific function shall mean that the object is implemented in at least one application state and/or operating state and/or performs such a specific function.

By means of the embodiment of the lidar device according to the invention, advantageous properties can be achieved, in particular in terms of construction. In particular, can provide advantageous cleaning. In particular, the reliability of the lidar sensor can be further improved by mechanical cleaning. By means of the embodiment of the lidar device according to the invention, the covering element can be freed in particular from dirt and/or other dirt, such as, for example, rain water and/or ice and/or snow. In particular, the mechanical cleaning can be carried out reliably, in particular independently of environmental influences. In this way, in addition, the safety can be improved. In particular, the safety is advantageously improved with respect to at least one driving assistance system, such as, for example, assisted driving, in particular automatic driving. In particular, by means of such a design, it is advantageously possible to integrate at least one system which is already present in particular in the vehicle.

Furthermore, it is proposed that the lidar device comprises at least one rail guide mechanism, which has at least one first rail element, which in the installed state at least partially supports the transport unit and provides a guide for the transport unit along the cover element. In particular, the transport unit is guided on the first rail element along the cover element by at least one sliding bearing and/or by at least one ball bearing or the like. In particular, the first rail element provides a low-friction guide along the cover element for the wiping unit. In particular, the first rail element provides a guide for the wiping unit along the cover element, which guide has in particular a sliding friction coefficient of, for example, less than 0.2, advantageously less than 0.1, particularly advantageously less than 0.05, preferably less than 0.01 and particularly preferably less than 0.005. As can be seen, the first rail element is embodied as a profile, in particular as a T-profile and/or as an L-profile and/or as a U-profile, and more precisely in particular at least in a partial region of the first rail element. In particular, the first rail element is arranged parallel to the edge of the cover element, it being conceivable for the first rail element to extend over at least a large part of the total length of the cover element and preferably completely over the total length of the cover element. In particular, the first rail element is arranged parallel to the main extension direction of the cover element. The rail guide is in particular at least partially formed integrally with the holding unit. In particular, a reliable guidance of the wiping unit along the cover element can be provided by such a design. In particular, in the operating state, the wiping unit can be advantageously prevented from being skewed. By means of such a design, a particularly advantageous linear guidance can be provided. In particular, guidance of the wiper strip can be provided over the entire length of the cover element and/or over the entire width of the cover element.

It is furthermore proposed that the rail guide further has a second rail element which, in the installed state, is arranged offset relative to the first rail element with respect to the cover element and at least partially supports the transport unit. The first rail element and the second rail element preferably extend on opposite sides of the cover element and more precisely in particular parallel to the edges of the cover element, in particular parallel to the main extension direction of the cover element. By means of such a design, a reliable guidance of the wiping unit along the covering element can advantageously be provided. In particular, in the operating state, the wiping unit can be advantageously prevented from being skewed.

It is furthermore proposed that a first of the connecting elements is arranged in the installed state in an intermediate region which extends between the first rail element and the second rail element. In this way, a uniform force transmission from the transport element to the transport unit can advantageously be achieved. Preferably, the first connecting element is arranged centrally on the transport unit with respect to a main extension direction of the transport unit. It is furthermore proposed that a second of the connecting elements is arranged in the installed state outside of an intermediate region which extends between the first rail element and the second rail element. Thereby, flexibility can be advantageously improved. In particular, the transport ring can be connected to the transport unit by means of a second connecting element arranged outside the intermediate region with a small distance between the first rail element and the second rail element, whereby the assembly can be further advantageously facilitated. The second rail element is preferably designed in such a way that it can be arranged in at least two different positions relative to the first rail element and can be fastened in these positions, for example, to the holding unit. The distance between the first rail element and the second rail element can thereby be adjusted, whereby the cleaning unit can advantageously be flexibly mounted on different lidar units of different sizes.

It is furthermore proposed that the transport unit is connected in the installed state to the rail guide by means of at least one form-locking connection. By means of such a design, a reliable support of the transport unit can advantageously be achieved by means of the rail guide with simple technical measures. Preferably, the rail guide has at least one form-locking element. Preferably, the transport unit has at least one mating form-locking element which corresponds to the form-locking element of the rail guide in the installed state.

Furthermore, it is proposed that the first rail element is configured as a cylindrical form-locking element and that the transport unit has a first mating form-locking element which, in the installed state, at least partially engages around the cylindrical form-locking element in the circumferential direction. In this way, a reliable support for the transport unit and a guidance along the cover element for the transport unit can advantageously be achieved with simple technical measures.

It is furthermore proposed that the second rail element is configured as a rectangular form-locking element and that the transport unit has a second mating form-locking element which, in the installed state, at least partially engages around the rectangular form-locking element in the circumferential direction. In this way, the guidance along the cover element for the transport unit can advantageously be further improved.

It is furthermore proposed that at least one form-locking connection between the transport unit and the rail guide is designed as a dovetail connection. By means of such a design, a particularly reliable and safe guidance of the transport unit can advantageously be achieved. For example, in the installed state the second rail element of the rail guide and the transport unit are connected to one another in a form-locking manner, in particular as an alternative or in addition to a cylindrical form-locking manner, by means of at least one dovetail guide. Furthermore, as an alternative or in addition, it is conceivable that the first rail element of the rail guide and the transport unit are connected to one another in a form-locking manner, in particular as an alternative or in addition to a rectangular form-locking manner, by means of at least one dovetail guide. Furthermore, it is conceivable that the form-locking connection between the transport unit and the rail guide is formed as a multiple dovetail connection, which is also known to the person skilled in the art, in particular, under the concept "dendritic connection".

It is furthermore proposed that the first rail element in the installed state provides a higher-value support for the transport unit than the second rail element. In particular, the first rail element provides at least one less degree of freedom for the transport unit in terms of support in the installed state than the second rail element. In particular, a reliable guidance of the wiping unit along the cover element can be provided by such a design. In particular, in the operating state, the wiping unit can be advantageously prevented from being skewed. Furthermore, a simple disassembly can advantageously be ensured.

It is furthermore proposed that the rail guide has at least one wrapping element, which wraps the first rail element and/or the second rail element in the installed state. In particular, the rail guide has a plurality of wrapping elements, in particular two wrapping elements and preferably four wrapping elements, wherein in the installed state two wrapping elements are arranged on the side of the transport unit on the first rail element and in particular on the second rail element. Preferably, the at least one wrapping element is constructed flexibly. It is particularly preferred that the at least one wrapping element is configured in a bellows-like manner. The plurality of wrapping elements are preferably jointly provided for completely wrapping the rail element, in particular independently of the position of the transport unit. In this way, a particularly advantageous reliability of the rail guide can be achieved.

The invention further relates to a vehicle having at least one lidar device according to any of the preceding embodiments. Such a vehicle is distinguished in particular by its advantageous properties in terms of reliability and safety which can be achieved by the lidar device according to the above-described design. The vehicle can be configured as a road vehicle, such as a car or a truck, etc., as a rail vehicle, such as a train, locomotive, tram, etc., and/or as a water vehicle, such as, for example, a ship, a boat, etc. Furthermore, it is conceivable for the transport means to be configured as a cleaning transport means, in particular a cleaning robot, such as a wiping robot and/or a dust-collecting robot. Preferably, the lidar device is connected to the transport means. Preferably, the lidar device is arranged at least partially on the outer side of the transport means.

The inventive lidar device should not be limited to the applications and embodiments described above. In particular, the lidar device according to the invention can have a different number of individual elements, components and units than the number mentioned in this connection in order to achieve the functions described in this connection. Furthermore, for the numerical ranges described in this disclosure, numerical values that are within the limits mentioned are also considered to be disclosed and can be arbitrarily used.

Drawings

Other advantages result from the following description of the drawings. Embodiments of the invention are illustrated in the accompanying drawings. The figures, description and claims contain features in numerous combinations. Those skilled in the art will suitably also individually view the features and generalize them to other meaningful combinations.

Wherein:

fig. 1 shows a transport vehicle with a lidar device in a schematic perspective view;

fig. 2 shows the laser radar device in a schematic perspective view, with a laser radar unit and a cleaning unit, which comprises a drive unit with a coupling transmission, a wiping unit, a transport unit and a rail guide;

fig. 3 shows the drive unit with the coupling transmission, the rail guide with the two rail elements and the transport unit with the two connecting elements in a simplified schematic top view;

fig. 4 shows a schematic view of the bearing value of the first and second rail elements of the rail guide mechanism;

fig. 5 shows in a schematic perspective view four wrapping elements of the lidar device together with a rail guide; and is also provided with

Fig. 6 shows a schematic view for illustrating a dovetail connection between a transport unit and a rail guide.

Detailed Description

Fig. 1 shows a vehicle 52. The vehicle 52 includes the lidar device 10. The vehicle 52 is configured as a road vehicle, in particular as a car. The lidar device 10 is arranged in a front region of the conveyance 52. The lidar device 10 is connected to a vehicle 52, in particular in the front region.

Fig. 2 shows the lidar device in a schematic perspective view.

The lidar device 10 has a lidar unit 12. Furthermore, the lidar device 10 comprises a covering element 14 in the illustrated embodiment. The covering element 14 covers the lidar unit 12. The lidar device 10 has a cleaning unit 16. The cleaning unit 16 is configured to clean the cover element 14. The cleaning unit 16 is arranged for at least mechanically cleaning the cover element 14. For mechanically cleaning the cover element 14, the cleaning unit 16 has a wiping unit 18.

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

Furthermore, the cleaning unit 16 has a transport unit 20. The transport unit 20 moves the wiping unit 18 linearly over the cover element 14 to clean the cover element 14. The cleaning unit 16 furthermore has a drive unit 22 with at least one coupling transmission 24 for driving the wiping unit 18. And more precisely, the transport unit 20 moves the wiping unit 18 bi-directionally over the cover element 14 to clean the cover element 14. The carrying unit 20 is connected to the wiping unit 18b in the mounted state.

At least one transport element 26 of the coupling transmission 24 is rotatably connected to the transport unit 20 at an end region 28. The coupling transmission 24 further comprises a connecting element 30, which is connected in an eccentrically rotatable manner to a motor 34 of the drive unit 22, in particular via an eccentric element 32 of the coupling transmission 24.

The coupling transmission 24 further comprises an intermediate part 36 which is rotatably connected to the transport part 26 in an end region 38 and to the connecting part 30 in an intermediate region 40.

The coupling transmission 24 drives the wiping unit 18 in at least one motion reversal region 42 in a slowing manner. And more precisely in two opposite movement reversal areas 42, the wiping unit 18 is driven in a slow manner. In the two opposite movement reversal regions 42, the wiping unit 18 is driven in such a way that the wiping unit 18 follows a linear sinusoidal movement path (not shown) on the cover element 14.

The transport unit 20 has at least two connecting elements 44, 50 (see also fig. 3) which are arranged offset from one another along a main direction of extension 62 (see also fig. 3) of the transport unit 20, wherein the transport element 26 is connected in the installed state to the transport unit 20 by exactly one of the connecting elements 44, 50.

In the installed state shown in fig. 2, the transport element 26 is connected to the transport unit 20 via a first connecting element 44.

The lidar device 10 also has a holding unit 46. The holding unit 46 has a fastening point 48 for coupling the transmission 24. And more precisely the holding unit 46 has a fixing point 48 for coupling the intermediate link 36 of the transmission 24. The fixed point 48 provides a rotational bearing for coupling the intermediate link 36 of the transmission 24.

In the present exemplary embodiment, the lidar device 10 has at least one rail guide 54. The rail guide 54 has at least one rail element 56. The first rail element 56 at least partially supports the transport unit 20 in the installed state. Furthermore, the first rail element 56 provides a guide along the cover element 14 for the transport unit 20.

The track guide 54 of this embodiment also has a second track member 58. The second rail element 58 is arranged offset relative to the first rail element 56 with respect to the cover element 14 in the installed state. The second rail element 58 at least partially supports the transport unit 20. The second rail element 58 supports the transport unit 20 together with the first rail element 56 in the mounted state.

In the installed state, the transport unit 20 is connected to the rail guide 54 by means of at least one form-locking connection.

The first rail element 56 is configured as a cylindrical form-locking element 66. The transport unit 20 has a first mating form-locking element 68 which, in the installed state, at least partially engages around the cylindrical form-locking element 66 in the circumferential direction.

The second rail element 58 is configured as a rectangular form-locking element 70. The transport unit 20 has a second mating form-locking element 72 which, in the installed state, at least partially encloses the rectangular form-locking element 70 in the circumferential direction.

The first connecting element 44 of the connecting elements 44, 50 is arranged in the installed state in an intermediate region 64, which extends between the first rail element 56 and the second rail element 58.

Fig. 3 shows the drive unit 22 with the coupling gear 24, the rail guide 54 with the two rail elements 56, 58 and the transport unit with the two connecting elements 44, 50 in a simplified schematic top view. Fig. 3 shows an alternative installation state in which the transport element 26 is connected to the transport unit 20 via a second connection element 50 of the connection elements 44, 50.

The second connecting element 50 is arranged in the installed state outside a central region 64 which extends between the first rail element 56 and the second rail element 58.

Fig. 3 also shows a main extension direction 62 of the transport unit 20, along which the first connecting element 44 and the second connecting element 50 are arranged offset from one another.

It is furthermore conceivable that the second rail element 58 is designed to be movable on the holding unit 46 and to be fixable in different positions along the main extension direction 62, so that the distance between the first rail element 56 and the second rail element 58 can be varied.

Fig. 4 shows a schematic representation of the bearing value of the first rail element 56 and the second rail element 58 of the rail guide 54.

The first rail element 56 provides a higher value support for the transport unit 20 in the mounted state than the second rail element 58. And more precisely said second rail element 58 provides more degrees of freedom for the transport unit 20 than the first rail element 56.

Fig. 5 shows the lidar device 10 in a schematic perspective view. The rail guide 54 has at least one wrapping element 60, which wraps around the first rail element 56 and/or the second rail element 58 in the installed state. And more precisely, the rail guide 54 has a total of four wrapping elements 60, wherein in the installed state two wrapping elements 60 are arranged on the side of the transport unit 20 on the first rail element 56 and the second rail element 58, respectively. The wrapping element 60 is constructed flexibly. The wrapping elements 60 are collectively arranged to completely wrap the track elements 56, 58 without depending on the position of the conveyor unit 20.

Fig. 6 shows an alternative embodiment of the laser radar device 10 with a form-locking connection between the transport unit 20 'and the rail guide 54'. At least one form-locking connection between the transport unit 20 'and the rail guide 54' is configured as a dovetail connection. For this purpose, in contrast to the embodiment shown in fig. 2, the second rail element 58' of the rail guide 54' is designed as a form-locking element 74' which has a groove in the interior region with two isosceles lateral edges. The transport unit 20' has a second mating form-locking element 72' which, in the installed state, engages in a form-locking manner in a groove of the form-locking element 74 '. The carrying unit 20' is otherwise constructed as the carrying unit 20 described previously with reference to fig. 2 to 5. Also, the rail guide 54 'is otherwise constructed as the rail guide 54' previously described with reference to fig. 2 through 5. Alternatively or additionally, it is also conceivable that the form-locking connection between the first rail element 56 (see fig. 2) and the transport unit 20' is designed as a dovetail connection.

Claims (12)

1. A laser radar device (10): having a lidar unit (12); having at least one covering element (14) covering the lidar unit (12); having a cleaning unit (16) which is designed for cleaning the cover element (14), wherein the cleaning unit (16) has at least one wiping unit (18) for cleaning the cover element (14) and a drive unit (22) having at least one coupling transmission (24) for driving the wiping unit (18); comprising a transport unit (20, 20 ') which is connected to the wiping unit (18) in the installed state and to which at least one transport element (26) of the coupling transmission (24) is rotatably connected at an end region (28), wherein the transport unit (20, 20') has at least two connecting elements (44, 50) which are arranged offset from one another along a main extension direction (62) of the transport unit, wherein the transport element (26) is connected to the transport unit (20) in the installed state by exactly one of the connecting elements (44, 50).

2. Lidar device (10) according to claim 1, characterized by at least one rail guide mechanism (54, 54 ') with at least one first rail element (56) which in the mounted state at least partially supports the transport unit (20, 20 ') and provides a guide for the transport unit (20, 20 ') along the covering element (14).

3. The lidar device (10) according to claim 2, wherein the rail guide mechanism (54, 54 ') further has a second rail element (58, 58 ') which is arranged offset with respect to the first rail element (56) in relation to the cover element (14) in the installed state and at least partially supports the transport unit (20, 20 ').

4. A lidar device (10) according to claim 3, characterized in that a first connection element (44) of the connection elements (44, 50) is arranged in an intermediate region (64) in the mounted state, which intermediate region extends between the first rail element (56) and the second rail element (58, 58').

5. Lidar device (10) according to claim 3 or 4, characterized in that a second connection element (50) of the connection elements (44, 50) is arranged in the mounted state outside an intermediate region (64) which extends between the first rail element (56) and the second rail element (58, 58').

6. Lidar device (10) according to any of claims 2 to 5, characterized in that the transport unit (20, 20 ') is connected in the installed state with the rail guide (54, 54') by means of at least one form-locking connection.

7. The lidar device (10) according to claim 6, characterized in that the first rail element (56) is configured as a cylindrical form-locking element (66) and the transport unit (20, 20') has a first mating form-locking element (68) which, in the installed state, at least partially engages around the cylindrical form-locking element (66) in the circumferential direction.

8. The lidar device (10) according to claim 6 or 7, characterized in that the second rail element (58) is configured as a rectangular form-locking element (70) and the transport unit (20) has a second mating form-locking element (72) which, in the installed state, at least partially engages around the rectangular form-locking element (70) in the circumferential direction.

9. Lidar device (10) according to any of claims 6 to 8, characterized in that at least one form-locking connection between the transport unit (20 ') and the rail guide (54') is configured as a dovetail connection.

10. Lidar device (10) according to any of claims 3 to 9, characterized in that the first rail element (56) in the installed state provides a higher value support for the transport unit (20, 20 ') than the second rail element (58, 58').

11. Lidar device (10) according to any of claims 2 to 10, characterized in that the rail guide (54, 54') has at least one wrapping element (60) which wraps the first rail element (56) and/or the second rail element (58) in the installed state.

12. A vehicle (52) having a lidar device (10) according to any of the preceding claims.