The present invention relates to a device for cleaning at least one optical surface of a vehicle, including at least one rod which extends mainly along a longitudinal elongation axis. The rod including an element for spraying a cleaning fluid and a wiper blade configured to wipe the optical surface. The device further including at least one actuation means driven to move the rod in a first longitudinal direction of movement parallel to the longitudinal elongation axis, and in a second longitudinal direction of movement opposite to the first longitudinal direction of movement. The device additionally includes at least one means for limiting and/or compensating for at least one return force exerted on the rod.