DE102020203596A1 - Swivel device and sensor system - Google Patents

Abstract

The present invention relates to a pivoting device (10) for a sensor system (20), comprising: a first pivotable element (11) and a second pivotable element (12); and a coupling element (14) for mechanically coupling the second pivotable element (12) to the first pivotable element (11), the pivoting device (10) being designed when the first pivotable element (11) is pivoted via the coupling element (14) to transmit to the second pivotable element (12) a pivoting force which causes pivoting of the second pivotable element (12) as a function of the pivoting of the first pivotable element (11); and the first pivotable element (11) is designed to accommodate a first detection unit (21) of the sensor system (20) and / or the second pivotable element (12) is designed to accommodate a second detection unit (22) of the sensor system. The present invention also relates to a sensor system (20) and a lidar measuring device (10).

Description

The present invention relates to a pivoting device for a sensor system. The present invention also relates to a sensor system and a lidar measuring device with a sensor system.

Modern vehicles (cars, vans, trucks, motorcycles, etc.) have a large number of systems that provide the driver with information and control individual functions of the vehicle in a partially or fully automated manner. The surroundings of the vehicle and other road users are recorded via sensors (radar, lidar, ultrasound, camera, etc.). Based on the recorded data, a model of the vehicle environment can be generated and changes in this vehicle environment can be reacted to.

For example, in the WO 2017/081294 A1 an improved method for optical distance measurement is proposed, according to which only subsets of the transmission elements of the transmission matrix are activated using a transmission matrix for transmitting measurement pulses and a reception matrix for receiving them.

In sensor systems with pivotable components, it may be necessary to pivot several of the components at the same time. A pivoting movement defines a rotational movement along a pivoting or rotational axis of the pivotable components, a pivoting range of the rotational movement being limited. A respective swivel direction is set accordingly when swiveling.

The simultaneous pivoting of pivotable components can be implemented, for example, by respective drives for executing the pivoting movement on the components. For this, however, many drives may have to be provided, so that high costs and a large amount of installation space are required. Swiveling components can be installed in LIDAR systems (light detection and ranging; German: light-based localization and distance measurement), in which the available installation space is limited.

The object of the invention is to provide a swivel device for a sensor system which enables swiveling elements to be swiveled at the same time. In particular, the installation space required for the pivoting device is to be reduced and / or a solution that can be implemented in a cost-effective manner is to be created.

• einem ersten schwenkbaren Element und einem zweiten schwenkbaren Element; und
• einem Koppelelement zum mechanischen Koppeln des zweiten schwenkbaren Elements mit dem ersten schwenkbaren Element, wobei
• die Schwenkvorrichtung ausgebildet ist, bei einem Schwenken des ersten schwenkbaren Elements über das Koppelelement auf das zweite schwenkbare Element eine Schwenkkraft zu übertragen, die ein Schwenken des zweiten schwenkbaren Elements in Abhängigkeit von dem Schwenken des ersten schwenkbaren Elements bewirkt; und
• das erste schwenkbare Element zum Aufnehmen einer ersten Erfassungseinheit des Sensorsystems ausgebildet ist und/oder das zweite schwenkbare Element zum Aufnehmen einer zweiten Erfassungseinheit des Sensorsystems ausgebildet ist.

To achieve this object, the present invention relates in a first aspect to a pivoting device for a sensor system, with:

• a first pivotable member and a second pivotable member; and
• a coupling element for mechanically coupling the second pivotable element to the first pivotable element, wherein
• the pivoting device is designed to transmit a pivoting force upon pivoting of the first pivotable element via the coupling element to the second pivotable element, which causes pivoting of the second pivotable element as a function of the pivoting of the first pivotable element; and
• the first pivotable element is designed to accommodate a first detection unit of the sensor system and / or the second pivotable element is designed to accommodate a second detection unit of the sensor system.

• einer Schwenkvorrichtung wie zuvor beschrieben;
• einer ersten Erfassungseinheit zum Erfassen eines Fernfelds, wobei die erste Erfassungseinheit in dem ersten schwenkbaren Element aufgenommen ist; und einer zweiten Erfassungseinheit zum Erfassen eines Nahfelds, wobei die zweite Erfassungseinheit in dem zweiten schwenkbaren Element aufgenommen ist.

In a further aspect, the present invention relates to a sensor system for measuring a distance to an object, with:

• a pivot device as previously described;
• a first detection unit for detecting a far field, the first detection unit being received in the first pivotable element; and a second detection unit for detecting a near field, wherein the second detection unit is received in the second pivotable element.

In a further aspect, the present invention relates to a lidar measuring device with a sensor system as described above, the first detection unit and the second detection unit each comprising a lidar sensor, in particular a solid-state lidar sensor.

Preferred configurations of the pivoting device and the sensor system are described in the dependent claims. It goes without saying that the sensor system and the lidar measuring device can be designed in accordance with the configurations described for the pivoting device and the sensor system in the dependent claims.

A pivoting device for a sensor system is provided. The pivoting device comprises at least a first and a second pivotable element. The pivoting device further comprises a coupling element for mechanically coupling the second pivotable element to the first pivotable element. The two pivotable elements can each accommodate detection units of the sensor system, that is to say units that include the actual sensor. In this context, a recording is understood to mean, in particular, a firm connection. The detection units received in the pivotable elements are preferably firmly connected to the pivotable elements and are thereby moved in a corresponding manner when the pivotable elements are moved or pivoted.

By means of a mechanical coupling by means of the coupling element, the pivoting device is designed to transmit a pivoting force to the second pivotable element via the coupling element when the first pivotable element is pivoted. The pivoting force causes the second pivotable element to pivot in dependence on the pivoting of the first pivotable element. For example, pivoting the first element in a first direction (and / or a second direction opposite to the first) can bring about a corresponding pivoting of the second element in the first (or second) direction. In contrast, the mechanical coupling between the pivotable elements is preferably designed in such a way that pivoting the second pivotable element does not necessarily cause a corresponding pivoting of the first pivotable element.

The first pivotable element can be pivoted about a pivot axis or rotation axis in the first and second directions by a drive (for example an electric motor drive) or an actuator system, for example by a respective change in an elevation angle. A degree or an extent of the pivoting movement of the second pivotable element depends on the extent of the pivoting movement of the first pivotable element due to the mechanical coupling.

The swivel device can be designed with little space requirements and can also be used in systems of limited size.

Because the two pivotable elements can accommodate the detection units of the sensor system, these detection units can be mounted independently of the swivel mechanism. The pivoting function is independent of the registration units. In particular, it is not necessary to attach parts of the swivel device to the detection units themselves. Such attachment can lead to a more fragile construction and damage. In particular, the manufacturing process can thus be made more complex. Due to the pivotable elements designed to accommodate the registration units, it is in particular not necessary to attach the registration units for a functional test of the pivoting mechanism. The function of the pivoting device or the interaction of the pivotable elements can be checked and tested regardless of whether the detection units are included. In most cases, the detection units represent the comparatively most expensive components of the sensor system, so that wear and tear on these components during the manufacturing process should be avoided as far as possible. By using the pivotable elements in such a way that they can accommodate the detection units, a waste of detection units in the manufacture of the sensor system or the lidar measuring device can be avoided or reduced.

In one embodiment, the coupling element comprises a spacer. The coupling element is arranged on the first pivotable element or on the second pivotable element. A spacer can in particular be a scanner which defines a distance through its dimensions and through contact with a corresponding counterpart.

In a preferred embodiment, the pivoting device comprises a restoring element for exerting a restoring force on the second pivotable element. Furthermore, the pivoting device comprises a contour surface with which the coupling element is in operative connection due to the restoring force, the contour surface being arranged on the pivotable element without a coupling element. In this respect, the contour surface represents the counterpart to the coupling element. The contour surface makes contact with the coupling element. The coupling of the pivotable elements can be achieved through the contact or the operative connection between the coupling element and the contoured surface. The movements are coupled. The restoring element can in particular be designed as an elastic restoring element. Due to the restoring force exerted by the restoring element, the coupling element and the contour surface are in operative connection with one another, at least in one operating state of the pivoting device. In other words, the coupling element or at least a part of the coupling element is pressed against the contoured surface by the restoring force. The mechanical contact between the coupling element, which is arranged on the one pivotable element, and the contour surface, which is arranged on the other pivotable element, a mechanical coupling of the pivotable elements and a power transmission between achieved this. This realizes the coupling of the movement.

The extent of the pivoting movement of the second pivotable element can also depend on the contour surface and / or on an absolute pivot angle. When the elements are pivoted, the coupling element slides over the contour surface. Depending on the swivel angle achieved, the coupling element is located at different positions on the contour surface, which can result in a difference between the swivel angles, e.g. elevation angles. For example, a change in the pivot angle of the second pivotable element can be smaller or greater than a change in the pivot angle of the first pivotable element. A difference between the two pivoting movements can depend on the positioning of the coupling element and / or the contour surface with respect to a respective pivot axis of the respective pivotable element. In other words, due to the geometric arrangement of the coupling element and / or the contour surface and the pivot axes, a second pivoting movement of the second pivotable element, which is different from the first, can result in a first pivoting movement of the first pivotable element, since the contour surface and the coupling element can bring about a translation . For example, the pivot angle of the first element can be different from the pivot angle of the second element. This effect can be compensated for in the pivoting device so that the pivoting angles of the pivotable elements change uniformly, or it can be consciously exploited so that the pivoting angles of the pivotable elements change unevenly.

This results in the advantage that the pivoting movement of the second pivotable element is dependent both on a pivoting movement of the first pivotable element and on the geometry of the contoured surface. The pivoting of the second pivotable element can thus be better influenced.

In a preferred embodiment, the contour surface has an inclination with respect to a pivoting device and / or a pivot axis of the pivotable element on which the contour surface is arranged. In this way, the pivoting movement of the second pivotable element can be better influenced in relation to the pivoting movement of the first pivotable element.

The pivot direction is aligned in particular orthogonally to the pivot axis and can denote the direction in which a front side of the pivotable element points. As a result of the inclination or slope of the contour surface with respect to the pivoting direction, it can be achieved that a pivoting movement of the second pivotable element is equal to the pivoting movement of the first pivotable element regardless of a pivoting angle. Alternatively, the inclination can be configured such that a pivot angle of the second pivotable element is greater or smaller than a corresponding pivot angle of the first pivotable element. A pivoting ratio between the two pivotable elements can therefore be given by the geometry of the contoured surface. This can result in the advantage of being able to provide either a synchronous pivoting of the pivotable elements or a different pivoting of the pivotable elements, depending on the shape of the contour surface. An example of a synchronous pivoting movement can be that the pivoting direction of the first pivotable element is changed from e.g. 0 ° to 10 ° and the pivoting direction of the second pivotable element is thereby changed from e.g. 15 ° to 25 °. In the case of a synchronous swivel movement, a transmission ratio, that is to say the ratio of the respective change in swivel angle, of at least approximately 1 to 1 can be achieved.

An inclination of the contour surface with respect to the pivot axis can make it possible to provide a transfer of the pivoting movement to the second pivotable element even if, for example, the two pivot axes of the pivotable elements are not arranged parallel but with an angular offset. The strength of the inclination with respect to the pivot axis can be dependent, for example, on the angular offset.

In a preferred embodiment, a pivot ratio between the two pivotable elements is predetermined by the geometry of the contour surface. For example, at least a partial area of the contour surface can be designed in the shape of a parabolic. It is also possible for the contour surface or a partial area of the contour surface to be shaped generally non-linearly or following an angle function. Furthermore, the contour surface can be designed to be wave-shaped. An improved swivel ratio can advantageously result, for example synchronous swiveling within a larger angular range. For example, with different geometries of different partial areas of the contour surface, a swivel angle-dependent transmission ratio between the swiveling elements can be implemented and set in a controlled manner.

The contour surface can have a plastic surface and / or a metal surface, e.g. a steel surface, and / or a low-friction surface.

For example, it is possible to provide a pivoting device with a plurality of, for example three, pivotable elements or a plurality of pivotable elements. A main element can be pivoted by a drive. A respective pivoting force can be transmitted from the main element to further pivotable elements. For example, a pivoting device with a plurality of pivotable elements can have a single return element. For example, different transmission ratios or pivoting movements can be provided between different elements. The pivoting ratios between the plurality of pivotable elements can therefore advantageously be set individually.

In a preferred embodiment, the restoring element comprises a spring. The spring preferably comprises a leaf and / or torsion spring. A spring can in particular comprise a torsion spring, a compression spring, a tension spring, a coil spring, a leaf spring and / or another elastic element which exerts a mechanical force in a direction of rotation of the second pivotable element. The mechanical spring can comprise metal and / or plastic, which can result in the advantage of a long service life and / or a low weight of the mechanical spring. The spring preferably comprises a leaf spring and / or torsion spring, which is arranged in particular on an axis of rotation or rotation of the pivotable element. The leaf and / or torsion spring can press the second pivotable element, for example, in a direction of rotation opposite to the first element, for example until it comes to a stop of the pivoting device, by which a maximum pivoting angle is determined, if no counterforce acts against the restoring force. The advantage can be that the leaf and / or torsion spring can be attached to a pivot bearing or a holder of the pivotable element in a space-saving manner.

Alternatively or additionally, a tension spring can be arranged on the second pivotable element in such a way that it pulls the pivotable element up to the stop of the pivoting device. For example, the tension spring is disposed between the first and second pivotable members. Alternatively or additionally, a compression spring can also be arranged on the second pivotable element, e.g. on a side opposite the first pivotable element. The compression spring can for example be arranged on a housing or another mechanical element so that it presses the second pivotable element in the direction of the first pivotable element. For example, two different types of elastic restoring elements can be provided which bring about a redundancy so that the restoring force is exerted even if one of the elastic restoring elements fails.

For example, the restoring element is designed such that a restoring force emanating from it is so great that a mechanical coupling between the second pivotable element and the first pivotable element is maintained even when vibrations occur against the direction of the restoring force. In this way, for example, functionality of the swivel device can advantageously also be ensured in vehicles during driving operation in which vibrations can occur. It is also possible that the restoring force can prevent backlash between gears of a transmission of the drive, which is designed to pivot the first pivotable element, and thus a pivot angle can be set more precisely by means of the drive.

In a preferred embodiment, the coupling element comprises a spacer, which is smooth and / or rounded at an end facing the contour surface for sliding over the contour surface or has a rolling element which is designed to allow the coupling element to slide over low-friction in contact with the contour surface to effect the contour surface. The spacer is preferably configured in the shape of a segment of a sphere for sliding over the contoured surface.

The spacer can for example be a pin or a bolt which is arranged on the respective pivotable element. A minimum distance between the pivotable elements can be maintained by the spacer when the elastic restoring element presses the second pivotable element against the first pivotable element. The smooth or rounded surface of the spacer can enable improved sliding over the contoured surface, as a result of which, for example, jerking movements when pivoting the second pivotable element are reduced.

As an alternative or in addition, the coupling element can have a rolling body which, in contact with the contour surface, causes the coupling element to slide over the contour surface with particularly low friction. For example, a mounted ball or a mounted roller can be arranged at the end of the coupling element, which can roll over the contoured surface.

In a preferred embodiment, the coupling element comprises a belt which is arranged on a respective receiving wheel of a pivot axis of the two pivotable elements. A pivot ratio of the two pivotable Elements is dependent on a transmission ratio set by means of the receiving wheels.

The belt can in particular be arranged on the circumferential side around the pivot axes of the pivotable elements. In particular, the belt can be designed as a toothed belt and the receiving wheels as toothed wheels. The belt is therefore arranged on both pivotable elements on their respective pivot axis. A mechanical coupling of the two pivotable elements can be provided by the belt, thus, for example, a return element and a spacer can be dispensed with. The pivot axes of the pivotable elements can each have a take-up wheel to which the belt is attached, a pivoting ratio being predetermined by a transmission ratio between the take-up wheels. For example, an axial offset between the two pivot axes can also be implemented with a coupling by means of a belt, since the belt can be rotated at least within limits.

In a preferred embodiment, the first pivotable element and / or the second pivotable element comprises a cooling body for cooling the detection unit. Particularly in the area of lidar sensors, there is strong heating of the corresponding lidar detection units. Because the heat sink is arranged on the pivotable elements and, in so far, on the holder of the detection units, it may be possible to dispense with a heat sink on the detection units themselves. This results in advantages with regard to the required installation space and with regard to the manufacturing costs.

The swivel device can be used in particular in distance measuring systems such as radar or LIDAR systems. Alternatively, the pivoting device can also be used in other mechanical or electromechanical systems in which, for example, only little installation space is available between pivotable elements and / or in which a pivoting ratio is to be set between the pivotable elements.

The sensor system comprises in particular a first detection unit for detecting a far field and a second detection unit for detecting a near field. For example, the pivoting device is designed to bring about a pivoting movement of the pivotable element with the first detection unit dependent thereon upon a pivoting movement of the pivotable element with the second detection unit. It is also possible for a pivoting movement of the first acquisition unit to cause a pivoting movement of the second acquisition unit that is dependent thereon. The pivoting movement of the first detection unit can, for example, be synchronous with the pivoting movement of the second detection unit by a corresponding shaping of the contour surface of the pivoting device. In other words, the first acquisition unit can also be pivoted through the first angle by pivoting the second acquisition unit through a first angle. For example, only one detection unit of the sensor system has a swivel drive, e.g. an actuator, and the second detection unit is swiveled or carried along by the mechanical coupling.

For example, a pivot axis of the first pivotable element with the first detection unit is offset from a pivot axis of the second pivotable element with the second detection unit by a predetermined angle, so that a main detection direction of the first detection unit deviates from a main detection direction of the second detection unit by the predetermined angle. Correspondingly, the pivot axis of the second pivotable element of the pivoting device can be arranged offset by a predetermined angle to the pivot axis of the first pivotable element. As a result, different detection areas can advantageously be provided by the different detection units. For example, both pivot axes can be arranged horizontally so that the pivot direction or main detection direction is adjusted vertically when pivoting. The pivoting device makes it possible, despite the pivotable elements that are not arranged axially parallel, to enable synchronous pivoting, e.g. a vertical adjustment of the pivoting direction at the same angle and thus a vertical detection range of both pivotable elements, by appropriate shaping of the contour surface. Alternatively, the change angles of both pivotable elements can be the same, whereas absolute pivot angles can be different.

The lidar measuring device comprises, in particular, detection units, each with a lidar receiving unit and a lidar transmitting unit, which are designed in a focal plane array configuration. The elements of the respective unit are essentially arranged in one plane, advantageously on a chip. The respective unit is preferably arranged within the lidar measuring device in a focal point of a corresponding optic, transmitting optic or receiving optic. In particular, the sensor elements or the emitter elements are arranged at the focal point of the receiving optics. Such an optical system can be formed, for example, by an optical lens system.

The lidar receiving unit has several sensor elements, which are preferably designed as SPAD, single photon avalanche diodes. The lidar transmission unit preferably has a plurality of emitter elements for transmitting laser light, advantageously laser pulses. The emitter elements are advantageously designed as VCSELs, vertical cavity surface emitting lasers.

The lidar transmission unit has emitter elements which are distributed over an area of the transmission chip. The lidar receiving unit has sensor elements which are distributed over an area of the receiving chip. Sending optics are assigned to the sending chip and receiving optics are assigned to the receiving chip. The optics depict light arriving from a spatial area onto the respective chip. The spatial area corresponds to the viewing area of the lidar measuring device that is examined or sensed for objects.

The spatial area of the lidar transmitting unit and the lidar receiving unit are essentially identical. The transmission optics images an emitter element onto a solid angle that represents a sub-area of the spatial area. The emitter element accordingly emits laser light in this solid angle. The emitter elements together cover the entire room area.

The receiving optics images a sensor element onto a solid angle that represents a sub-area of the spatial area. The number of all sensor elements covers the entire room area. Emitter elements and sensor elements that consider the same solid angle map onto one another and are accordingly assigned to one another. A laser light from an emitter element normally always images onto the associated sensor element. If necessary, several sensor elements are arranged within the solid angle of an emitter element.

To determine objects within the spatial area or to determine a distance to an object, the lidar measuring device carries out a measuring process. Such a measuring process comprises one or more measuring cycles, depending on the design of the measuring system and its electronics.

The time correlated single photon counting method, TCSPC, is preferably used. In this case, individual incoming photons are detected, in particular by SPAD, and the time at which the sensor element was triggered, including the time of detection, is stored in a memory element. The time of detection is related to a reference time at which the laser light is emitted. The time of flight of the laser light can be determined from the difference, from which the distance to the object can be determined.

A sensor element can be triggered on the one hand by the laser light and on the other hand by the ambient radiation. A laser light always arrives at a certain distance from the object at the same time, whereas the ambient radiation always provides the same probability of triggering a sensor element. When a measurement is carried out several times, in particular several measuring cycles, the triggering of the sensor element add up at the detection time, which corresponds to the transit time of the laser light in relation to the distance from the object, whereas the triggering by the ambient radiation is evenly distributed over the measuring duration of a measuring cycle. A measurement corresponds to the emission and subsequent detection of the laser light. The data of the individual measuring cycles of a measuring process stored in the memory element allow an evaluation of the detection times determined several times in order to infer the distance of the object.

A sensor element is expediently connected to a time to digital converter, TDC, which stores the time at which the sensor unit was triggered in the memory element. Such a storage element can be designed, for example, as a short-term memory or as a long-term memory. For a measurement process, the TDC fills a memory element with the times at which the sensor elements detected an incoming photon. This can be represented graphically by a histogram based on the data of the storage element. In a histogram, the duration of a measurement cycle is divided into short periods of time, so-called bins. If a sensor element is triggered, the TDC increases the value of a bin by one. The bin is filled which corresponds to the transit time of the laser pulse, i.e. the difference between the detection time and the reference time.

One aspect of the invention relates to a vehicle or motor vehicle, for example a passenger car, which comprises a sensor system and in particular a lidar measuring device.

Further developments of the sensor system or the lidar measuring device relate to features of further developments as they have already been described in connection with the pivoting device. A corresponding description is therefore dispensed with and the corresponding features also apply as disclosed in connection with the sensor system or with the lidar measuring device.

• 1 eine schematische Seitenansicht eines Sensorsystems mit einer Schwen kvorrichtu ng;
• 2 eine schematische Seitenansicht des Sensorsystems mit erkennbarem Rückstellelement;
• 3 eine schematische Darstellung des Einbringens der Erfassungseinheiten in die schwenkbaren Elemente;
• 4 eine schematische Frontansicht des Sensorsystems;
• 5 eine schematische Seitenansicht eines Sensorsystems mit einer Zugfeder; und
• 6 eine schematische Seitenansicht eines Sensorsystems mit riemengekoppelter Schwenkvorrichtung.

The invention is illustrated below with the aid of a few selected exemplary embodiments Connection with the accompanying drawings described and explained in more detail. Show it:

• 1 a schematic side view of a sensor system with a Schwen kvorrichtu ng;
• 2 a schematic side view of the sensor system with a recognizable reset element;
• 3 a schematic representation of the introduction of the detection units into the pivotable elements;
• 4th a schematic front view of the sensor system;
• 5 a schematic side view of a sensor system with a tension spring; and
• 6th a schematic side view of a sensor system with a belt-coupled swivel device.

In the 1 and 2 Figure 3 is a schematic side view of a sensor system 20th with a swivel device 10 shown, whereby in the 2 in comparison to 1 a side cover is shown hidden. The swivel device 10 has a first pivotable element 11 on, the above a second pivotable element 12th is arranged. In the first pivotable element 11 is a first registration unit 21 recorded, which is designed, for example, as a far-field detection unit for detecting a far field. In the second pivotable element 12th is a second registration unit 22nd of the sensor system 20th recorded, which is designed, for example, as a near-field detection unit for detecting a near-field. The registration units 21 , 22nd can for example in the pivotable elements 11 , 12th screwed in, clamped or glued in. The swiveling elements 11 , 12th are designed as receiving units.

In the illustrated embodiment, the sensor system is 20th designed as a lidar measuring device. The first registration unit 21 and the second detection unit 22nd each include a lidar sensor or a lidar transmitting unit and a lidar receiving unit. Objects can be detected by means of the lidar measuring device and, in particular, a distance to objects can be measured.

The first pivotable element 11 is on a first bearing bracket 11 a pivotally arranged. The second pivotable element 12th is on a second bearing bracket 12a pivotally arranged. On the second bearing bracket 12a , the one pivot axis or axis of rotation of the second pivotable element 12th is a reset element 13th arranged (cf. 2 , in which a side cover to show the reset element is hidden). In the illustrated embodiment, the reset element is 13th designed as a pretensioned leaf spring which is arranged inside a housing or behind a side cover. The spring pushes the second pivotable element 12th , more precisely a front area of the second pivotable element 12th , up towards the first pivotable element 11 and clamps the two rotatably mounted pivotable elements 11 , 12th thus to each other. Through a coupling element 14th , which is hemispherical in the illustrated embodiment as a spacer and can also be referred to as a scanner, a minimum distance between the pivotable elements 11 , 12th adhered to or specified. The coupling element 14th touches a contour surface 15th of the first pivotable element 11 or is by the return element 13th on the contour surface 15th pressed. The contour surface 15th is on the first pivotable element on one of the second pivotable element 12th facing side arranged.

The contour surface 15th or a surface direction 15a the contour surface 15th points opposite to a pivoting direction 16 of the first pivotable element 11 at least in sections an inclination α. The pan direction 16 describes, for example, a main detection direction of the first detection unit 21 . Through the shaping or the geometric design of the contour surface 15th is the pivoting movement of the second pivotable element 12th set or specified. For example, an offset can be compensated and an approximately synchronous movement between the two pivotable elements 11 , 12th getting produced. By the geometry, for example the inclination α of the contour surface 15th , a relative movement of the second pivotable element 12th with respect to the first pivotable element 11 can be set. In the example shown, the surface direction varies 15a opposite to the swivel direction 16 along the contour surface 15th .

For example, is a first pivot axis 17th or axis of rotation of the first pivotable element 11 compared to a second pivot axis 18th of the second pivotable element 12th not axially parallel, but arranged at an angular offset. By providing the contour surface 15th and the coupling element sliding over it 14th is a coupling between the two swiveling elements 11 , 12th for the transmission of the pivoting force and / or for the synchronous pivoting of the second pivotable element 12th nevertheless possible. For example, the contour surface 15th compared to the first pivot axis 17th be inclined. An example of an inclination of a contour surface with respect to the first pivot axis is shown in FIG 1 and 2 shown schematically.

In the 3 is a schematic of the recording of the acquisition units 21 , 22nd in the swiveling elements 11 , 12th shown. In the exemplary embodiment shown, the pick-up takes place by screwing on by means of screws 25. It is also shown that on the two pivotable elements 11 , 12th one heat sink each 23 is provided. The heat sink 23 is used for the registration units 21 , 22nd to cool. The heat sink 23 is in direct contact with the registration units 21 , 22nd arranged. Heat is dissipated.

It can also be seen that the contour surface 15th opposite to the swivel direction 16 partially has a slope or a slope. The pan direction 16 is orthogonal to the first pivot axis 17th aligned. The slope of the contour surface 15th varies in the example shown over the contour surface 15th along the pan direction 16 . The contour surface 15th has a continuous course or has a bend.

It goes without saying that in an alternative embodiment (not shown) the coupling element 14th also on the first swiveling element 11 can be attached and the contour surface 15th on the second pivotable element 12th can be arranged. In this case, the contour surface can then be inclined with respect to the second pivot axis 18th be designed to, for example, an axial offset between the first pivot axis 17th and the second pivot axis 18th To be able to compensate and despite the axial offset, for example, a synchronous pivoting movement of the two pivotable elements 11 , 12th to enable.

In the 4th Figure 3 is a schematic front view of the sensor system 20th with the swivel device 10 shown. The position of the pivot axes 17th , 18th of the swiveling elements 11 , 12th or the registration units 21 , 22nd as well as the position of the swivel direction 16 is recognizable.

In the 5 is a sensor system 20th with a swivel device 10 shown in which the restoring element 13th is designed in the form of a tension spring. While in the previous examples the restoring element on the second bearing bracket 12a or another housing part, the tension spring in the example shown is on the first pivotable element 11 attached. The tension spring is therefore between the first pivotable element 11 and the second pivotable member 12th arranged and each on both pivotable elements 11 , 12th attached. The coupling element is created by the tension spring 14th to the contour surface 15th drawn. For example, the tension spring can run between a front side and the pivot axis of the respective pivotable element. This can result in an improved restoring effect or a longer service life of the restoring element, since, for example, strong expansions and / or loads on the tension spring can be avoided. The tension spring can, for example, in the 2 Replace the leaf spring shown.

In the 6th is schematically an alternative embodiment of the pivoting device 10 of the sensor system 20th shown. The mechanical coupling for transmitting the pivoting force is established by means of a belt or toothed belt. The coupling element 14th is designed as a toothed belt. This toothed belt is around the first pivot axis 17th and the second pivot axis 18th guided so that the pivoting movement of the first pivotable element 11 on the second pivotable element 12th is transmitted. As shown, the toothed belt engages accordingly in two receiving wheels designed as toothed wheels 17a , 18a on the pivot axes 17,18. By a ratio of the teeth of the first receiving wheel, which is designed as a gear 17a to the second receiving wheel designed as a gear 18a a swivel ratio is set. With a transmission ratio of the take-up wheels of 1: 1, synchronous swiveling can be provided. Alternatively, non-synchronous swiveling can be achieved using other transmission ratios.

By means of the pivoting device according to the invention or the illustrated concepts for transmitting a pivoting movement, it is possible to achieve an improved transmission of pivoting movements in a space-saving manner. Since the coupling element continuously scans the contour surface, a geometry of the contour surface enables a swivel transmission to the second swivel element to be better controlled and adjusted independently of structural geometric specifications.

The invention has been comprehensively described and explained with reference to the drawings and the description. The description and explanation are to be understood as an example and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art using the present invention and a careful analysis of the drawings, the disclosure, and the following claims.

In the claims, the words “comprising” and “having” do not exclude the presence of further elements or steps. The undefined article “a” or “an” does not exclude the presence of a plural. A single element or a single unit can perform the functions of several of the units mentioned in the patent claims. The mere mention of a few Measures in several different dependent patent claims should not be understood to mean that a combination of these measures cannot also be used advantageously. Reference signs in the patent claims are not to be understood as restrictive.

List of reference symbols

10

Swivel device

11

first pivotable element

11 a

first bearing bracket

12th

second pivotable element

12a

second bearing bracket

13th

Reset element

14th

Coupling element

15th

Contour surface

15a

Surface direction

16

Swivel direction

17th

first pivot axis

17a

first pickup wheel

18th

second pivot axis

18a

second pick-up wheel

20th

Sensor system

21

first registration unit

22nd

second registration unit

23

Heat sink

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• WO 2017/081294 A1 [0003]

Claims (12)

Swivel device (10) for a sensor system (20), with: a first pivotable element (11) and a second pivotable element (12); and a coupling element (14) for mechanically coupling the second pivotable element (12) to the first pivotable element (11), the pivoting device (10) being formed when the first pivotable element (11) is pivoted via the coupling element (14) the second pivotable element (12) to transmit a pivoting force which causes pivoting of the second pivotable element (12) in response to the pivoting of the first pivotable element (11); and the first pivotable element (11) is designed to accommodate a first detection unit (21) of the sensor system (20) and / or the second pivotable element (12) is designed to accommodate a second detection unit (22) of the sensor system. Swivel device (10) after Claim 1 wherein the coupling element (14) comprises a spacer; and is arranged on the first pivotable element (11) or on the second pivotable element (12). Pivoting device (10) according to one of the preceding claims, with: a restoring element (13) for exerting a restoring force on the second pivotable element (12); and a contour surface (15) with which the coupling element (14) is in operative connection due to the restoring force, the contour surface (15) being arranged on the pivotable element (11, 12) without a coupling element (14). Swivel device (10) after Claim 3 wherein the contour surface (15) has an inclination with respect to a pivoting direction (16) and / or a pivot axis (17) of the pivotable element on which the contour surface (15) is arranged. Pivoting device (10) according to one of the preceding claims, a pivoting ratio between the two pivotable elements (11, 12) being predetermined by a geometry of the contoured surface (15). Swivel device (10) according to one of the Claims 3 until 5 , wherein the restoring element (13) comprises a spring; and the spring preferably comprises a leaf and / or torsion spring. Swivel device (10) according to one of the Claims 3 until 6th , wherein the coupling element (14) comprises a spacer which is smooth and / or rounded at an end facing the contour surface (15) for sliding over the contour surface (15) or has a rolling element which is designed to be in contact with the Contour surface (15) to bring about low-friction sliding of the coupling element (14) over the contour surface (15); and the spacer is preferably designed in the shape of a segment of a sphere for sliding over the contoured surface. Pivoting device (10) according to one of the preceding claims, wherein the coupling element (14) comprises a belt which is arranged on a respective receiving wheel (17a, 18a) of a pivot axis (17, 18) of the two pivotable elements (11, 12), wherein a pivoting ratio of the two pivotable elements (11, 12) is dependent on a transmission ratio set by means of the receiving wheels (17a, 18a). Pivoting device (10) according to one of the preceding claims, wherein the first pivotable element (11) and / or the second pivotable element (12) comprises a heat sink (23) for cooling the detection unit. Sensor system (20) for measuring a distance to an object, comprising: a pivoting device (10) according to any one of the preceding claims; a first detection unit (21) for detecting a far field, the first detection unit being received in the first pivotable element (11); and a second detection unit (22) for detecting a near field, the second detection unit being received in the second pivotable element (12). Sensor system (20) Claim 10 , wherein a pivot axis (18) of the first pivotable element (11) is offset from a pivot axis (17) of the second pivotable element (12) by a predetermined angle, so that a main detection direction of the first detection unit (21) from a main detection direction of the second detection unit (22) deviates by the predetermined angle. Lidar measuring device with a sensor system (20) according to one of the Claims 10 and 11 , wherein the first detection unit (21) and the second detection unit (22) each comprise a lidar sensor, in particular a solid-state lidar sensor.

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