MODULAR CLEANING SYSTEM FOR CLEANING A SENSOR WINDOW OF AN OPTICAL SENSING DEVICE OF A MOTOR VEHICLE

Abstract

The invention relates to a cleaning system for cleaning a sensor window of an optical sensing device of a motor vehicle. More particular, the invention relates to a cleaning system for cleaning a sensor window of an optical distance measuring device, such as a LiDAR sensing device, of a motor vehicle. The system comprises a housing module for holding the sensing device, comprising a window opening, that defines a sensor window plane, for receiving therein the sensor window of the optical sensing device; a wiper module including a wiper for wiping the sensor window; a drive module, having a rotary output organ; and a kinematic transformer module interconnected between the drive module and the wiper module and configured for transforming a rotation of the rotary output organ of the drive module into a cyclic wiper trajectory of the wiper.

Claims

1. A cleaning system for cleaning a sensor window of an optical sensing device of a motor vehicle, the system comprising a housing module for cooperating with the sensing device, comprising a window opening, that defines a sensor window plane, for receiving therein the sensor window of the optical sensing device; a wiper module including a wiper for wiping the sensor window; a drive module, having a rotary output organ; and a kinematic transformer module interconnected between the drive module and the wiper module and configured for transforming a rotation of the rotary output organ of the drive module so as to drive the wiper in a cyclic wiper trajectory.

2. The system according to claim 1, wherein the cyclic wiper trajectory comprises a wiping section in which the wiper is driven substantially in the sensor window plane so as to wipe the sensor window, and a non-wiping section in which the wiper is driven at a distance away from the sensor window plane without wiping the sensor window.

3. The system according to claim 1, wherein the system is arranged to move the wiper along a first section of the wiper trajectory having a directional component parallel to the sensor window plane, and wherein the system is arranged to move the wiper along a second section of the wiper trajectory having a directional component transverse to the sensor window plane.

4-5. (canceled)

6. The system according to claim 2, wherein the wiper trajectory includes an initial point in which the wiper assumes an initial position at or near an edge of the window opening, and wherein the system is arranged to drive the wiper from the initial position, along the wiper trajectory, firstly through the non-wiping section and secondly through the wiping section.

7. (canceled)

8. The system according to claim 1, comprising a moistening device arranged for selectively releasing a cleaning medium.

9. The system according to claim 8, wherein the moistening device comprises one or more nozzles which are movably arranged relative to the housing module, and wherein the system is arranged for moving the one or more nozzles over the sensor window so as to deposit the cleaning medium onto the sensor window.

10-12. (canceled)

13. The system according to claim 8, wherein the system is arranged to release, in use with the moistening device, the cleaning medium when the wiper is driven along the non-wiping section of the wiper trajectory.

14. The system according to claim 8, wherein the system is arranged to release, in use with the moistening device, 2-20 mL of liquid cleaning medium in a single wiper trajectory cycle.

15. The system according to claim 1, comprising a shielding cover for at least partly shielding the window opening, wherein the system is arranged to move the shielding cover relative to the housing module between a closed state in which the shielding cover at least partly covers the window opening, and an open state, in which the shielding has uncovered the window opening.

16. The system according to claim 15, wherein the shielding cover is slidably receivable in a cavity of the housing module, the system being arranged to move the shielding cover relative to the housing module between the closed state, in which the shielding cover extends substantially parallel to the sensor window plane so as to cover the sensor window, and the open state, in which the shielding cover is slidably received in the cavity and extends substantially transverse to the sensor window plane.

17. (canceled)

18. The system according to claim 15, wherein the system is arranged to at least partly cover the sensor window, with the shielding cover when, in use, the cleaning medium is deposited onto the sensor window.

19. The system according to claim 1, the wiper module comprising a wiper frame, wherein the wiper frame includes a first guide member arranged for cooperating with the housing module for guiding a movement of the wiper frame in a direction substantially parallel to the sensor window plane, and a second guide member arranged for cooperating with the wiper for guiding a movement of the wiper relative to the wiper frame in a direction transverse to the sensor window plane.

20-22. (canceled)

23. The system according to claim 1, the wiper comprising a wiper blade and a wiper blade holder for holding the wiper blade, wherein the wiper blade is spring-loadedly movable relative to the wiper blade holder in a direction transverse to the sensor window plane.

24-25. (canceled)

26. The system according to claim 1, comprising a control unit arranged for controlling a rotary motion of the rotary output organ of the drive module.

27. The system according to claim 26, comprising a position sensor for sensing a position of the wiper in the wiper trajectory, wherein the control unit is operatively connected to the position sensor.

28. The system according to claim 26 wherein the control unit is arranged for controlling the moistening device.

29. The system according to claim 28, wherein the control unit is programmed to include a control mode in which the cleaning medium is released, by the moistening device, while the wiper is in the non-wiping section of the wiper trajectory, and/or in which the moistening device refrains from releasing the cleaning medium while the wiper is in the wiping section of the wiper trajectory.

30. The system according to claim 29, wherein the control unit is programmed to include a control mode in which a motion of the wiper is intermitted for a predetermined soaking time, after release of the cleaning medium.

31. The system according to claim 28, wherein the control unit is programmed to include a control mode in which the cleaning medium is released from the one or more nozzles of the moistening device, while the nozzles face a scraping unit of the cleaning system.

32. The system according to claim 28, wherein the control unit is programmed to include a control mode in which the moistening device refrains from releasing a cleaning medium during at least an entire cycle of the wiper trajectory.

33-62. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The invention will further be elucidated on the basis of exemplary embodiments which are represented in a drawing. The exemplary embodiments are given by way of non-limitative illustration. It is noted that the figures are only schematic representations of embodiments of the invention that are given by way of non-limiting example.

[0082] In the drawings:

[0083] FIG. 1 shows an exploded view of a cleaning system;

[0084] FIGS. 2A and 2B show a perspective view of a cleaning system;

[0085] FIG. 3 shows a frontal view of a cleaning system;

[0086] FIGS. 4-9 show a cross sectional view of a cleaning system in different states;

[0087] FIG. 10A shows a wiper of a cleaning system

[0088] FIG. 10B shows a detailed cross sectional view of the wiper of FIG. 10A;

[0089] FIG. 11 shows a schematic example of a kinematic transformer module for a cleaning system;

[0090] FIG. 12A shows a perspective view of pivotable snap connection;

[0091] FIG. 12B shows a cross sectional view of the snap connection of FIG. 12A;

[0092] FIG. 13 shows a perspective view of a drive module for a cleaning system;

[0093] FIGS. 14A and 14B shows a frontal view of the drive module.

DETAILED DESCRIPTION

[0094] FIG. 1 shows an exploded view of a modular cleaning system 100 for cleaning a sensor window of an optical sensing device, in this particular example a LiDAR sensor 10. The LiDAR sensor 10 comprises a sensor window 11, which is typically formed by an optically transmissive material, for sending and receiving optical signals therethrough. The modular cleaning system 100 comprises several modules that can be manufactured separately and assembled to form the cleaning system 100.

[0095] The cleaning system 100 comprises a housing module 110 that includes a provision for receiving the LiDAR sensor 10. The housing module 110 comprises a window opening 111 that defines a sensor window plane for receiving therein the sensor window 11 of the LiDAR sensor 10. When installed, the sensor window 11 of the LiDAR sensor 10 extends in the sensor window opening 111 of the housing module 110, wherein the sensor window plane defined by the sensor window opening 111 and the sensor window 11 coincide.

[0096] The cleaning system 100 further comprises a wiper module 120 for wiping the sensor window 11 of the LiDAR sensor 10, which wiper module 120 in turn comprises a wiper 121 and a wiper frame 122. The wiper module 120 is movably arranged relative to the housing module 110 so as to move across and wipe the sensor window 11 of the LiDAR sensor 10. The wiper 121 is in turn movably coupled to the wiper frame 122. The wiper 121 comprises a wiper blade 125 and a wiper blade holder 126, wherein the wiper blade 125, in use of the cleaning system, extends between two lateral ends of the sensor window 11, and substantially spans the entire width of the sensor window 11. The wiper module 120 is driven over the sensor window 11 in a direction perpendicular to the direction in which the wiper blade extends 125.

[0097] The wiper module 120 further comprises an array of nozzles 123 of a moistening device, supported by the wiper frame 122, on a side of the wiper module 120 that faces the sensor window opening 111, when assembled. The array of nozzles 123 also extends between two lateral ends of the sensor window 11, and substantially spans the entire width of the sensor window 11. The nozzles 123 are arranged to deposit a predefined dose of cleaning medium onto the sensor window of the LiDAR sensor.

[0098] The cleaning system 100 further comprises a drive module 130 for driving the wiper module 120 over the sensor window 11 of the LiDAR sensor 10. The drive module 130 has rotary output organ 133 that is arranged for coupling to a drive shaft 131. The drive shaft 131 can be received through a shaft opening 112 in the housing module 110. Moreover, the drive shaft can be received through a through hole in the drive module 130, such that the drive shaft 131 protrudes from either side of the drive module 130. The drive shaft 131 rotationally couples to the rotary output organ 133 of the drive module 130.

[0099] Interconnected between the drive module 130 and the wiper module 120, is provided a kinematic transformer module, here embodied as linkage mechanisms 140. It will be appreciated that other kinematic transformer units are also envisioned, such as arrangements with a spindle, a cam, belt drive, chain, guiding tracks, etc.. In the example of FIG. 1, the kinematic transformer module comprises a first linkage mechanism 140A and a second linkage mechanism 140B, which is arranged on opposite side of the housing module 110, laterally from the LiDAR sensor 10. The first and second linkage mechanisms 140A, 140B are mirrored with respect to one another. It will be appreciated that the system may comprise only a single linkage mechanism, or more than two linkage mechanisms. The linkage mechanisms 140A, 140B each have an input 145A, 145B that is connected to a rotary output organ of the drive module 130, and an output 146A, 146B that is connected to the wiper 121. The linkage mechanisms 140A, 140B are arranged to transform a rotary output motion of the drive module 130 at the input of the linkage mechanisms 145A, 145B to a cyclic endless closed wiper trajectory of the wiper 121 at the output of the linkage mechanism 146A, 146B. More specific, the linkage mechanisms 140A, 140B are configured in such a way to impose a predefined trajectory to the output 146A, 146B of the linkage mechanisms 140A, 140B, e.g. to the wiper 121.

[0100] The kinematic transformer unit, here the linkage mechanisms 140A, 140B, is configured in such a way that the wiper 121 trajectory includes a wiping section and a non-wiping section, to enable unidirectional wiping of the sensor window 11. The kinematic transformer unit is particularly configured in such a way that the wiper 121 trajectory includes a section in which the wiper 121 is moved in a direction substantially transverse to the sensor window plane defined by the sensor window opening 11. Hence, the wiper 121 can be disengaged from the sensor window 11, to be returned to an initial position through the air, without wiping the sensor window 11 of the LiDAR sensor 10.

[0101] The cleaning system 100 further comprises a shielding cover 150. The shielding cover 150 is here coupled to the wiper module 120, and is movable between a closed state in which the shielding cover covers the sensor window opening 111, and an open state in which the shielding cover 150 uncovers the sensor window opening 111.

[0102] The cleaning system 100 further comprises a protection frame 160, that is provided on an outside of the cleaning system 100, for shielding the various components of the cleaning system 100 from the environment. The protection frame 160 comprises a central opening 161 that aligns, when assembled, with the window opening 111 of the housing module 110, such that the LiDAR sensor 10 can have an unobstructed view of the environment. It will be appreciated that the protection frame 160, and/or the housing module 110, can be integrated with the vehicle.

[0103] FIGS. 2A and 2B show two respective perspective views of the cleaning system 100 of FIG. 1 in an assembled state. In this example the LiDAR sensor 10 is supported in the housing module 110, and the drive module 130, here coupled to the housing module 110, drives the drive shaft 131, which drive shaft 131 extends in axial direction parallel to the sensor window opening, through the housing module 110. Either end of the drive shaft 131 couples to a linkage mechanism 140A, 140B, wherein the linkage mechanisms 140A, 140B in turn secure to the housing module by means of a securing organ 147A, 147B that snaps behind a cooperating securing organ of the housing module. The securing organs 147A, 147B only axially secures the linkage mechanisms 140A, 140B to the housing module 110 while allowing rotational motion of the links of the linkage mechanisms 140A, 140B.

[0104] The wiper module 120 is movably coupled to the housing module 110, particularly slidably relative to the housing module 110, by means of cooperating linear guide members. Hereto, the wiper module 120 comprises first linear guide members 124A, 124B provided on opposite sides of the wiper frame 122, and the housing module 110 comprises linear guide members 114A, 114B provided on opposite lateral sides of the sensor window opening 111.

[0105] FIG. 3 shows a frontal view of the cleaning system 100, wherein the shielding cover 150 assumes a closed position in which it covers the entire sensor window opening 111. The cleaning system 100 can be brought in this particular state for example when the sensor device is not operative, e.g. when the vehicle is parked. It can also be seen that the shielding cover 150 covers substantially the entire central opening 161 of the protection frame 160. This way, the front side of the cleaning system 100, forming the outside of the cleaning system and facing outwardly from the vehicle, is entirely closed.

[0106] FIGS. 4-9 show a cross sectional view of the cleaning system 100, wherein each of FIGS. 4-9 depicts the cleaning system 100 in a different state. FIGS. 4-9 particularly depict several instances of the wiper module 120 while being driven to wipe the sensor window. As best seen in FIGS. 4-9, the sensor window plane 113, defined by the sensor window opening 111, coincides with the plane in which the sensor window 11 of the LiDAR sensor 10 extends.

[0107] The wiper module 120 is coupled to the kinematic transformer module 140, yet more specifically, the wiper 121 is coupled to a linkage mechanism 140, which linkage mechanism 140 imposes a predefined cyclic trajectory on the wiper 121, for unidirectionally wiping the sensor window 11. The wiper trajectory includes wiping section in which the sensor window is wiped by the wiper, here from top end of the sensor window 11 to a bottom end of the sensor window 11, in a direction of the gravity vector. A non-wiping section, in which the wiper 121 is returned from the bottom end to the top end while refraining from wiping the sensor window 11, is generally in the opposite direction, from the bottom end towards the top end. The linkage mechanism 140 is not shown in FIGS. 4-9 for clarity. The wiper frame 122, however, is imposed a linear reciprocating motion parallel to the sensor window plane 113, by means of a linear guide. The wiper frame 122 is hereto provided with the first linear guide members 124A, 124B, and the housing module 110 with cooperating guide members 114A, 114B. To accommodate for a movement of the wiper 121 in a direction transverse to the sensor window plane 113, the wiper frame 122 further comprises a second linear guide member 128. The second linear guide member 128 rotationally locks the wiper 121 such that the wiper 121 is maintained in a substantially constant orientation relative to the sensor window plane 113.

[0108] Cleaning of the sensor window 11 involves wiping off contaminants, optionally along with a cleaning medium that has been deposited on the sensor window 11, by means of the nozzles 123 of the moistening device. The nozzles 123 are oriented at an angle with respect to the sensor window plane 113, such that cleaning medium can be evenly deposited on the sensor window 11. The nozzles 123 are provided on the wiper frame 122, below the wiper 121, wherein the nozzles 123 are moved, in a scanning motion, equidistantly across the sensor window 11 for efficiently depositing a film of cleaning medium on the sensor window 11. The nozzles 123 are arranged in an array that extends perpendicular to the plane of the FIGS. 4-9. The nozzles 123 are separated from one another by partition walls 127, which are positioned between adjacent nozzles 123. This reduces an overlap of deposited cleaning medium on the sensor window 11, by respective nozzles, and hence a uniform layer of cleaning medium can be achieved using minimal volumes of cleaning medium.

[0109] As further seen in FIGS. 4-9, the wiper 121 comprises a wiper blade 125 of a resilient material, e.g. rubber or the like, and a wiper blade holder 126 holding the wiper blade 125.

[0110] FIGS. 4-9 further show, several instances of the shielding cover 150 covering and uncovering the sensor window opening 111. The shielding cover 150 is hingedly connected, at a top side, to the wiper module 120, particularly to the wiper frame 122, and is hence entrained with the movement of the wiper module 120, between an open state in which the shielding cover 150 uncovers the sensor window opening 111, and a closed state in which the shielding cover 150 covers the sensor window opening 111. At a bottom side, the shielding cover 150 is slidably connected to the housing module 110, wherein the housing module 110 comprises a cavity 116 for slidingly receiving therein the shielding cover 150. The cavity 116, here, is located under the provision where the LiDAR sensor 10 is received, and extends substantially transverse to the sensor window plane 113. This results in a very compact setup.

[0111] The nozzles 123 are here positioned between the shielding cover 150 and the sensor window plane 113, such that the nozzles 123 are in the lee of the shielding cover 150, which is beneficial for efficiently moistening the sensor window 11, with a minimal release of cleaning medium.

[0112] FIG. 4 shows a first instance where the wiper 121 is positioned at an initial position near a bottom side of the sensor window, outside of the sensor window opening 111 to avoid obstructing the field of view of the LiDAR sensor 10. At the initial position, the wiper blade 125 does not engage the sensor window 11. The shielding cover 150 is received in the cavity 116 of the housing module 110, and extends substantially transverse to the sensor window plane 113.

[0113] FIG. 5 shows a second instance where the wiper 121 has advanced along the wiper trajectory towards a top side of the sensor window opening 111 opposite the initial position. The wiper 121 has been driven from the initial position in a direction transverse and away from the sensor window 11, as well as in a direction parallel and towards a top side of the sensor window 11, wherein the second linear guide member 128 has accommodated for the transverse movement of the wiper 121 relative to the wiper frame 122. In the second instance as shown in FIG. 5, the wiper does not engage the sensor window 11. Hence, in the second instance, the wiper 121 is at a non-wiping section of the wiper trajectory. It is further seen that the shielding cover 150, being hingedly coupled to the wiper module 120, is entrained with the movement of the wiper module 120.

[0114] FIG. 6 shows a third instance where the wiper 121 has advanced further, with respect to the instance of FIG. 5, towards the top side of the sensor widow opening 111. At the third instance, the sensor window 11 has come in a spraying range of the nozzles 123, and hence, nozzles may release a cleaning medium to moisten the sensor window 11 of the LiDAR sensor 10. To avoid wasting cleaning medium, the system is arranged to refrain from releasing the cleaning medium when the sensor window 11 is not in a spraying range of the nozzles 123, for example in first and second the instances. It is further seen, that the nozzles 123 are shielded from (apparent) wind by the shielding cover 150, as well as the wiper frame 122.

[0115] FIG. 7 shows a fourth instance where the wiper 121 has advanced and reached the top side of the sensor window opening 111. Towards the top side of the sensor window opening 111, the wiper 121 is driven in a direction transverse and towards the sensor window plane 113. In the fourth instance, as shown in FIG. 7, the wiper blade 125 engages the sensor window 11 of the LiDAR sensor 10. It is further seen that in the fourth instance, the shielding cover 150, being entrained by the wiper module 150, assumes a closed position in which the shielding cover extends substantially parallel to the sensor window plane 113, and in which the shielding cover 150 covers sensor window opening 111. Moreover, the shielding cover 150 covers the central opening 161 of the protection frame 160, such that the front side of the cleaning system is entirely closed. The system is preferably brought, and maintained, in the state of the fourth instance, as shown in FIG. 7, when the LiDAR sensor 10 in not operative, for instance when the vehicle is parked. To protect the cleaning system 100, and the LiDAR sensor 10 from an impact from the environment, the housing module comprises an abutment surface 117 for opposing a movement of the shielding cover 150 in a direction towards to the sensor window plane 113. The abutment surface 117 is particularly arranged at a bottom side of the sensor window opening 111 so as to oppose a movement of a bottom side of the shielding cover 150, in a direction towards the sensor window 11.

[0116] FIG. 8 shows a fifth instance where the wiper 121 has advanced from the top side towards the bottom side of the sensor window opening 111. In the fifth instance, the wiper 121 is driven along a wiping section of the wiper trajectory, in which the wiper 121 wipes the sensor window 11. The wiper section is, in this example at least, substantially rectilinear to follow the straight shape of the sensor window 11. It will be appreciated that the kinematic transformer unit 140 can be configured in such a way to adapt the wiper trajectory to a particular shape of the sensor window 11 of the LiDAR sensor. The wiper blade 125, being of a resilient material, is resiliently deformed to effectively wipe the sensor window 11. It is further seen that the shielding cover 150 is driven, by a motion of the wiper module 120 into the cavity 116 of the housing module 110. The nozzles 123 optionally release cleaning medium in the wiping section of the wiper trajectory.

[0117] FIG. 9 shows a sixth instance where the wiper 121 has reached the bottom end of the sensor window 11. Below the bottom end of the sensor window 11, there is provided a scraper unit 170 for scraping contaminants off the wiper blade 125. The wiper trajectory extends beyond the bottom end of the sensor window 11, across the stationary scraper unit 170, to the first instance as shown in FIG. 4. The scraper unit 170 comprises blade scraper 171 configured for scraping the wiper blade 125 and a nozzle scraper 172 configured for scraping the nozzles 123. Scraping the nozzles 123 clean with the nozzle scraper 172 prevents occlusions of the nozzles 123.

[0118] FIG. 10A shows a wiper 121 of the wiper module 120. The wiper 121 comprises a wiper blade 125 and a wiper blade holder 126. The wiper blade holder 126 extends between two opposing ends, wherein each end includes a guide member 118A, 118B for cooperating with the second linear guide member 128 of the wiper frame 122 of the wiper module 120.

[0119] FIG. 10B a detailed cross sectional view of the wiper 121 of FIG. 10A. It can be seen that the wiper blade 125 is springloadingly coupled to the wiper blade holder 126, by means of a spring element, in this example a leaf spring 129 that is clamped by the wiper blade holder. The wiper blade 125 can be brought in engagement with the sensor window under spring tension to effectively wipe the sensor window 11. This further allows for a movement of the wiper blade 125 relative to the wiper blade holder 126 in a direction transverse the sensor window 11 in order to adapt to a minor, e.g. unintentional, offset between the sensor window plane and the wiping section of the wiper trajectory. Such offset can for instance occur due dimension tolerances of the components of the cleaning system 100.

[0120] At the end of the wiper blade holder 126 is provided a coupling member, here a female coupling organ 119, for coupling to an output of the kinematic transformer module, e.g. the linkage mechanism 140. The wiper blade holder 126 is particularly, rotationally freely coupled to the linkage mechanism 140.

[0121] FIG. 11 shows a schematic representation of an exemplary linkage mechanism 140 as a kinematic transformer module. The linkage mechanism 140 is configured for imposing a predefined cyclic trajectory on an output 146 of the linkage mechanism 140. The linkage mechanism 140 is in particular configured to impose a kidney-shaped trajectory on the output 146. The exemplary linkage mechanism 140 as shown in FIG. 11 is a four-link mechanism, but it will be appreciated that otherwise configured linkage mechanism are also envisioned. The linkage mechanism 140 comprises a first link body 141, defining a first link, having an input 145 that is arranged to be rotationally driven, for instance by drive module 130 via the drive shaft 131. A second link body 142, defining a second link, is pivotally connected to the first link body 141, and comprise an output 146, for example for connecting to the wiper 121. The linkage mechanism 140 further comprises a third link body 143, defining a third link, that is pivotally connected to the second link body 142. A fourth link is defined between the input 146 and a free end of the third link body 143. The free end of the third link body 143, opposite the connection between the second and third links, can be arranged for pivotally connecting to the housing module 110. In the particular example of FIG. 11, often referred to as a Chebyshev Lambda mechanism, the first link has a length A, the second link a length 5 A, the third link length 2.5 A, and the fourth link 2 A. The second link body 142 and the third link body 143 connect at a distance from the output 146 of 2.5 A. A rotation of the first link body 141 about the input, e.g. as indicated by the arrow in FIG. 11, imposes a closed endless trajectory 180 of the output as indicated by the dashed line in FIG. 11. When connected to the wiper 121, the trajectory is referred to the wiper trajectory 180 as described herein. The wiper trajectory 180 comprises a wiping section 181 and a non-wiping section 182. In this example, the wiping trajectory 180 is rectilinear but it will be appreciated that the linkage mechanism 140 can be adapted to impose a curved wiping section 141, e.g. by changing the relative dimensions of the links. The wiping section 181 is preferably substantially parallel to, or may coincide with, the sensor window plane 113. The non-wiping section 182 is curved.

[0122] FIGS. 12A and 12B show a detailed view of a snap connection, in this case a first snap connection 190A between the second link body 142 and the first link body 141 and a second snap connection 190B between the second link body 142 and the third link body 143. FIG. 12B shows a cross sectional view of the snap connection shown in FIG. 12A. A snap connection is a particularly easy and fast assembly action. Here, the first link body 141 comprises, integrally formed therewith, a male connector organ 193A, which extends in axial direction outward from the first link body 141 to an open end. Similarly, the third link body 141 comprises, integrally formed therewith, a male connector organ 193B, which extends in axial direction outward from the third link body 143 to an open end. At or near the open end, the male connector organ 193A, 193B, comprises a circumferential edge 195A, 195B, here formed by an indentation which extends circumferentially around the male connector organ 193A, 193B.

[0123] The male connector organ 193A, 193B is inserted into a female connector organ 197A, 197B, here a through respective holes through the second link body 142. A radial bearing interface 199A, 199B is formed where the male connector organ 193A, 193B and the female connector organ 197A, 197B make contact, wherein radial bearing interface 199A, 199B allows for a rotation of the male connector organ 193A, 193B relative to the female connector organ 197A, 197B. The male connector organ 193A, 193B, is furthermore axially blocked by means of a blocking organ, here embodied as flaps 192A, 194A, 192B, 194B which flaps 192A, 194A, 192B, 194B are integrally formed with the second link body 142. The flaps 192A, 194A, 192B, 194B interact with the circumferential edge 195A, 195B to prohibit an axial movement of the male connector organ 193A, 193B. Where the flaps 192A, 194A, 192B, 194B and the circumferential edge 195A, 195B interact, there is defined an axial blocking interface 196A, 196B.

[0124] The radial bearing interface 199A, 199B and the axial blocking interface 196A, 196B are separated from each other, particularly in axial direction, to obtain a robust and sturdy connection that allows for low friction relative rotation of the link bodies.

[0125] The snap connection 190A, 190B also comprises a ridge 191A, 191B, which extends circumferentially around the male connector organ 193A, 193B. The ridge 191A, 191B is here integrally formed with the first link body 141 and the third link body 143 respectively, but it is clear that the ridge 191A, 191B may also be formed integrally with the second link body 142. The ridge 191A, 191B spaces the second link body 142 apart from the first link body 141 and the third link body 143 so as to facilitate a relative rotation of the link bodies 141, 142, 143. The ridge 191A, 191B comprises a bearing surface 198A 198B for facilitating the relative rotation.

[0126] FIG. 13 shows a schematic view of the drive module 130. The drive module 130 comprises a housing 139, which housing 139 is particularly sealed against ingress of contaminants. The housing 139 can be particularly water-tight housing and/or dust-tight. The housing 139, here, contains a motor 132, here a DC motor, and a rotary output organ 133 that is coupled to the motor through a transmission 134, which includes several gears. Only half of the housing 139 is transparently depicted in FIG. 13 to show the internal components contained by the housing 139.

[0127] Fixedly coupled to the rotary output organ 133 is provided a rotary position sensor 135 for sensing a rotary position of the rotary output organ 133. The rotary position sensor 135 is coupled to the rotary output organ through a fixed 1:1 transmission ratio, such that single full rotation of the rotary output organ 133 corresponds to a single full rotation of the rotary position sensor 135. The rotary position sensor 135 is here an endless potentiometer, but it will be appreciated that alternative types of rotary position sensors can be employed. For calibrating the rotary position sensor, and to facilitate assembly of the drive unit, a calibration notch or tooth 136 may be provided, to ensure a unique relative configuration between the rotary output organ 133 and the rotatory position sensor 135.

[0128] The drive module 130 further comprises a control unit 200, here formed by a printed circuit board. The control unit 200 is operatively connected to the rotary position sensor 135, and is arranged to control a movement of the rotary output organ 133 based on the rotary position of the rotary output organ 133, by activating the motor 132.

[0129] The drive module 130 further includes a clutch 138, particularly a friction clutch, arranged in the transmission 134, for allowing a decoupling of the motor from the rotary output organ 133.

[0130] The drive module 130 also comprises a communication port 137 for communicating with a vehicle communication network, such as LIN bus and/or CAN bus. The control unit 200 is arranged to control a motion of the rotary output organ 133 on the basis of information received from the vehicle communication network.

[0131] The control unit 200 contains one or more control programs, particularly relating to cleaning programs for cleaning the sensor window 11 of the LiDAR sensor 10.

[0132] FIGS. 14A and 14B show a frontal view of the drive module 130. In FIG. 14A, part of the housing 139 is omitted to show the interior of the drive module 130. It can be seen that the drive module 130 comprises a through hole 201 for receiving therethrough the drive shaft 131. The rotary output organ 133 rotationally couples with the drive shaft 131 by means of a form-fitted coupling. The drive shaft 131 when coupled to the rotary output organ 133 extends through the drive module 130 to protrude on either side of the housing 139. This way, a kinematic transformer module, e.g. a linkage mechanism 140, can be coupled to either end of the drive shaft 131.

[0133] Herein, the invention is described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications, variations, alternatives and changes may be made therein, without departing from the essence of the invention. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, alternative embodiments having combinations of all or some of the features described in these separate embodiments are also envisaged and understood to fall within the framework of the invention as outlined by the claims. The specifications, figures and examples are, accordingly, to be regarded in an illustrative sense rather than in a restrictive sense. The invention is intended to embrace all alternatives, modifications and variations which fall within the spirit and scope of the appended claims. Further, many of the elements that are described are functional entities that may be implemented as discrete or distributed components or in conjunction with other components, in any suitable combination and location.

[0134] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other features or steps than those listed in a claim. Furthermore, the words ‘a’ and ‘an’ shall not be construed as limited to ‘only one’, but instead are used to mean ‘at least one’, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage.

[0135] The disclosure will now be further described by the following numbered Embodiments which are to be read in connection with the preceding paragraphs and which do not limit the disclosure. The features and preferences as described hereinabove apply also to the following Embodiments.

[0136] Embodiment 1. Cleaning system for cleaning a sensor window of an optical sensing device of a motor vehicle, the system comprising [0137] a housing module for cooperating with the sensing device, comprising a window opening, that defines a sensor window plane, for receiving therein the sensor window of the optical sensing device; [0138] a wiper module including a wiper for wiping the sensor window; [0139] a drive module, having a rotary output organ,; and [0140] a kinematic transformer module interconnected between the drive module and the wiper module and configured for transforming a rotation of the rotary output organ of the drive module so as to drive the wiper in a cyclic wiper trajectory.

[0141] Embodiment 2. System according to Embodiment 1, wherein the cyclic wiper trajectory comprises a wiping section in which the wiper is driven substantially in the sensor window plane so as to wipe the sensor window, and a non-wiping section in which the wiper is driven at a distance away from the sensor window plane without wiping the sensor window.

[0142] Embodiment 3. System according to Embodiment 1 or 2, wherein the system is arranged to move the wiper along a first section of the wiper trajectory having a directional component parallel to the sensor window plane, and wherein the system is arranged to move the wiper along a second section of the wiper trajectory having a directional component transverse to the sensor window plane.

[0143] Embodiment 4. System according to any preceding Embodiment, wherein the wiping section of the wiper trajectory is substantially rectilinear.

[0144] Embodiment 5. System according to any preceding Embodiment, wherein the kinematic transformer module comprises a linkage mechanism, having an input connected to the rotary output organ of the drive module and an output connected to the wiper module, for imposing a motion on the wiper along the wiper trajectory.

[0145] Embodiment 6. System according to Embodiment 2, wherein the wiper trajectory includes an initial point in which the wiper assumes an initial position at or near an edge of the window opening, and wherein the system is arranged to drive the wiper from the initial position, along the wiper trajectory, firstly through the non-wiping section and secondly through the wiping section.

[0146] Embodiment 7. System according to Embodiment 6, wherein, in the initial position, the wiper is positioned at or on a housing module part outside of the sensor window opening.

[0147] Embodiment 8. System according to any preceding Embodiment, comprising a moistening device arranged for selectively releasing a cleaning medium.

[0148] Embodiment 9. System according to Embodiment 8, wherein the moistening device comprises one or more nozzles which are movably arranged relative to the housing module, and wherein the system is arranged for moving the one or more nozzles over the sensor window so as to deposit the cleaning medium onto the sensor window.

[0149] Embodiment 10. System according to Embodiment 9, wherein the system is arranged to move the one or more nozzles parallel to the sensor window plane.

[0150] Embodiment 11. System according to any of Embodiments 8-10, wherein the one or more nozzles are oriented at an angle relative to the sensor window plane.

[0151] Embodiment 12. System according to any of Embodiments 8-11, wherein the one or more nozzles are arranged on the wiper module.

[0152] Embodiment 13. System according to any of Embodiments 8-12, wherein the system is arranged to release, in use with the moistening device, the cleaning medium when the wiper is driven along the non-wiping section of the wiper trajectory.

[0153] Embodiment 14. System according to any of Embodiments 8-13, wherein the system is arranged to release, in use with the moistening device, 2-20 mL of liquid cleaning medium in a single wiper trajectory cycle.

[0154] Embodiment System according any preceding Embodiment, comprising a shielding cover for at least partly shielding the window opening, wherein the system is arranged to move the shielding cover relative to the housing module between a closed state in which the shielding cover at least partly covers the window opening, and an open state, in which the shielding has uncovered the window opening.

[0155] Embodiment 16. System according to Embodiment 15, wherein the shielding cover is slidably receivable in a cavity of the housing module, the system being arranged to move the shielding cover relative to the housing module between the closed state, in which the shielding cover extends substantially parallel to the sensor window plane so as to cover the sensor window, and the open state, in which the shielding cover is slidably received in the cavity and extends substantially transverse to the sensor window plane.

[0156] Embodiment 17. System according to Embodiment 16, wherein the shielding cover is hingedly coupled to the wiper module.

[0157] Embodiment 18. System according to any of Embodiments 15-17 when dependent on Embodiment 8, wherein the system is arranged to at least partly cover the sensor window, with the shielding cover when, in use, the cleaning medium is deposited onto the sensor window.

[0158] Embodiment 19. System according to any preceding Embodiment, the wiper module comprising a wiper frame, wherein the wiper frame includes a first guide member arranged for cooperating with the housing module for guiding a movement of the wiper frame in a direction substantially parallel to the sensor window plane, and a second guide member arranged for cooperating with the wiper for guiding a movement of the wiper relative to the wiper frame in a direction transverse to the sensor window plane.

[0159] Embodiment 20. System according to Embodiment 19, wherein the wiper is connected to an output of the kinematic transformer module, and comprises an entrainment surface for entraining the wiper frame along with a movement of the wiper.

[0160] Embodiment 21. System according to any preceding Embodiment wherein the wiper rotationally freely couples to an output of the kinematic transformer module.

[0161] Embodiment 22. System according to any of Embodiments 19-21, wherein the wiper frame is arranged to rotationally lock the wiper.

[0162] Embodiment 23. System according to any preceding Embodiment, the wiper comprising a wiper blade and a wiper blade holder for holding the wiper blade, wherein the wiper blade is spring-loadedly movable relative to the wiper blade holder in a direction transverse to the sensor window plane.

[0163] Embodiment 24. System according to Embodiment any of Embodiments 19-23, wherein the wiper is releasably coupled to the wiper frame.

[0164] Embodiment 25. System according to Embodiment 23 or 24, wherein the wiper blade is made of a resilient material.

[0165] Embodiment 26. System according to any preceding Embodiment, comprising a control unit arranged for controlling a rotary motion of the rotary output organ of the drive module.

[0166] Embodiment 27. System according to Embodiment 26, comprising a position sensor for sensing a position of the wiper in the wiper trajectory, wherein the control unit is operatively connected to the position sensor.

[0167] Embodiment 28. System according to Embodiment 26 or 27 when dependent on Embodiment 8, wherein the control unit is arranged for controlling the moistening device.

[0168] Embodiment 29. System according to Embodiment 28, wherein the control unit is programmed to include a control mode in which the cleaning medium is released, by the moistening device, while the wiper is in the non-wiping section of the wiper trajectory, and/or in which the moistening device refrains from releasing the cleaning medium while the wiper is in the wiping section of the wiper trajectory.

[0169] Embodiment 30. System according to Embodiment 29, wherein the control unit is programmed to include a control mode in which a motion of the wiper is intermitted for a predetermined soaking time, after release of the cleaning medium.

[0170] Embodiment 31. System according to any of Embodiments 28-30 when dependent on Embodiment 9, wherein the control unit is programmed to include a control mode in which the cleaning medium is released from the one or more nozzles of the moistening device, while the nozzles face a scraping unit of the cleaning system.

[0171] Embodiment 32. System according to any of Embodiments 28-31, wherein the control unit is programmed to include a control mode in which the moistening device refrains from releasing a cleaning medium during at least an entire cycle of the wiper trajectory.

[0172] Embodiment 33. System according to any of Embodiments 28-32, wherein the control unit is programmed to include a control mode in which the cleaning medium is released with the moistening device while the wiper is at the wiping section of the wiper trajectory, particular in case the sensor window is dry.

[0173] Embodiment 34. System according to any of Embodiments 28-33, wherein the control unit is programmed to include a control mode in which 2-20 mL of liquid cleaning medium is released with the moistening device per cycle of the wiper trajectory.

[0174] Embodiment 35. System according to any of Embodiments 28-34 when dependent on Embodiment 15, wherein the control unit is programmed to include a control mode in which the sensor window opening is at least partly covered by the shielding cover while the cleaning medium is released with the moistening device.

[0175] Embodiment 36. Rotatable snap connection between a first link body and a second link body, wherein the first link body comprises a male connector organ extending in an axial direction outward from the first link body, and a second link body comprises a female connector organ, and wherein the male connector organ is insertable into the female connector organ to snappingly connect the first link body and the second link body with each other, wherein, when connected, the female connector organ radially bears the male connector organ at a radial bearing interface between the male connector organ and the female connector organ such that the first link body and the second link body are pivotable relative to each other in a plane transverse to the axial direction, and the female connector organ blocks an axial movement of the male connector organ at a blocking interface between the male connector organ and the second connector member, wherein the blocking interface and the radial bearing interface are axially separated from one another.

[0176] Embodiment 37. Snap connection according to Embodiment 36, wherein the male connector organ is integrally formed therewith the first link body, and/or wherein the female connector organ is integrally formed with the second connector organ.

[0177] Embodiment 38. Snap connection according to Embodiment 36 or 37, wherein the female connector organ comprises a blocking organ for blocking the axial movement of the male connector organ, the blocking organ comprising a flap that cooperates with an indentation in the male connector organ.

[0178] Embodiment 39. Snap connection according to any of Embodiments 36-38, comprising, between the first and second link body, a spacer for spacing the first link body and the second link body apart, when connected.

[0179] Embodiment 40. Snap connection according to any of Embodiments 36-39, wherein the first link body and the second link body are injection moulded.

[0180] Embodiment 41. Kinematic transformer module, in particular for a cleaning system according to any of Embodiments 1-35, comprising a linkage mechanism configured for transforming a rotational motion of a rotary output organ of a drive module into a cyclic wiper trajectory of a wiper.

[0181] Embodiment 42. Kinematic transformer unit according to Embodiment 41, wherein the linkage mechanism includes a snap connection according to any of Embodiments 36-39.

[0182] Embodiment 43. Kinematic transformer module according to Embodiment 41 or 42 wherein the first link body has an input connector arranged for connecting to an rotary output organ of the drive module, and wherein first link body is rotatably arranged around a drive axis, the second link body comprising an output connector for connecting to the wiper, wherein the linkage mechanism is configured for transforming a rotational motion of the first link body around the drive axis to a cyclic wiper trajectory of the output connector of the second link body, the wiper trajectory including a rectilinear section.

[0183] Embodiment 44. Kinematic transformer module according to Embodiment 43, wherein the linkage mechanism further comprises a third link body, which third link body comprises a male or female connector organ for pivotably connecting to a complementary male or female connector organ of the second link body, and a housing connector for pivotally connecting to a housing module of the cleaning system.

[0184] Embodiment 45. Kinematic transformer module according to any of Embodiments 41-44, comprising a securing organ for axially securing the linkage mechanism to the housing module of the cleaning system.

[0185] Embodiment 46. Kinematic transformer module according to Embodiment 45, wherein the securing organ is integrally formed with any one or more of the first link body, the second link body and the third link body.

[0186] Embodiment 47. Drive module for driving an object along a cyclic trajectory, in particular for a modular cleaning system according to any of Embodiments 1-35, the drive module comprising a driver housing, the driver housing containing a motor, a rotary output organ connected to the motor through a transmission, and an endless rotary position sensor for determining an rotary position of the output organ, the endless rotary position sensor being connected to the rotary output organ in a fixed relation such that a one or more full rotations of the rotary output organ corresponds to one or more full rotations sensed by the rotary position sensor, and a control unit connected to the rotary position sensor and arranged for controlling a rotation of the rotary output organ.

[0187] Embodiment 48. Drive module according to Embodiment 47, comprising a fluid port for connection to a fluid conduit, and wherein the drive module comprises a valve for selectively opening and closing a fluid conduit.

[0188] Embodiment 49. Drive module according to Embodiment 48, comprising a fluid pump for pumping a fluid through the fluid conduit.

[0189] Embodiment 50. Drive module according to any of Embodiments 48 or 49, wherein the control unit is arranged for controlling a the pump and/or the valve for selectively supplying fluid to the fluid conduit.

[0190] Embodiment 51. Drive module according to any of Embodiments 48-50, wherein the housing module comprises a through hole for receiving a drive shaft therethrough.

[0191] Embodiment 52. Drive module according to any of Embodiments 48-51, wherein the transmission includes a clutch.

[0192] Embodiment 53. Drive module according to any of Embodiments 48-52, wherein the control unit comprises a communication port via which the control unit is configured to send and receive information to and from a vehicle communication network.

[0193] Embodiment 54. Drive module according to Embodiment 53, wherein the control unit contains one or more control programs, and wherein the control unit is arranged to execute any of said control programs based on information received from the vehicle communication network.

[0194] Embodiment 55. Drive module according to Embodiment 54, wherein the control unit contains a cleaning program in which the cleaning medium is released, by the moistening device, while the wiper is in the non-wiping section of the wiper trajectory, and/or in which the moistening device refrains from releasing the cleaning medium while the wiper is in the wiping section of the wiper trajectory.

[0195] Embodiment 56. Drive module according to Embodiment 55, wherein the cleaning program includes intermitting a motion of the wiper for a predetermined soaking time, after release of the cleaning medium.

[0196] Embodiment 57. Drive module according to Embodiment 55 or 56, wherein the cleaning program includes at least partly covering the sensor window opening while releasing the cleaning medium.

[0197] Embodiment 58. Drive module according to any of Embodiments 55-57, wherein the cleaning program includes cycling the wiper multiple consecutive times through the wiper trajectory.

[0198] Embodiment 59. Drive module according to any of Embodiments 55-58, wherein the cleaning program includes releasing 2-20 mL of liquid cleaning medium in a single cycle of the wiper trajectory.

[0199] Embodiment 60. Drive module according to any of Embodiments 55-59, wherein the control unit contains a start-up program in which the cleaning medium is released with the moistening device while the wiper is in the wiping section of the wiper trajectory, particular in case the sensor window is dry.

[0200] Embodiment 61. Drive module according to any of Embodiments 55-60, wherein the control unit contains a rain-program in which the moistening device refrains from releasing a cleaning medium during at least an entire cycle of the wiper trajectory.

[0201] Embodiment 62. Drive module according to any of Embodiments 55-61, wherein the control unit contains a self-cleaning program in which the cleaning medium is released from the one or more nozzles of the moistening device, while the nozzles face a scraping unit of the cleaning system.

LIST OF REFERENCE NUMBERS

[0202] 100 cleaning system [0203] 10 lidar sensor [0204] 11 sensor window [0205] 110 housing module [0206] 111 sensor window opening [0207] 112 shaft opening [0208] 113 sensor window plane [0209] 114A, 114B guide members [0210] 116 cavity [0211] 117 abutment surface [0212] 118A, 118B guide members [0213] 119 coupling organ [0214] 120 wiper module [0215] 121 wiper [0216] 122 wiper frame [0217] 123 nozzles [0218] 124A, 124B first linear guide members [0219] 125 wiper blade [0220] 126 wiper blade holder [0221] 127 partition walls [0222] 128 second linear guide member [0223] 129 leaf spring [0224] 130 drive module [0225] 131 drive shaft [0226] 132 motor [0227] 133 rotary output organ [0228] 134 transmission [0229] 135 rotary position sensor [0230] 136 calibration notch [0231] 137 communication port [0232] 138 clutch [0233] 139 driver housing [0234] 140A, 140B linkage mechanisms [0235] 141 first link body [0236] 142 second link body [0237] 143 third link body [0238] 145 input of linkage mechanism [0239] 146 output of linkage mechanism [0240] 147A, 147B securing organs [0241] 150 shielding cover [0242] 160 protection frame [0243] 161 central opening [0244] 170 scraper unit [0245] 171 wiper blade scraper [0246] 172 nozzle scraper [0247] 180 wiper trajectory [0248] 181 wiping section [0249] 182 non-wiping section [0250] 190A, 190B snap connection [0251] 191A, 191B ridge [0252] 192A, 192B flaps [0253] 193A, 193B male connector organ [0254] 194A, 194B flaps [0255] 195A, 195B edge [0256] 196A, 196B axial blocking interface [0257] 197A, 197B female connector organ [0258] 198A, 198B bearing surface [0259] 199A, 199B radial bearing interface [0260] 200 control unit [0261] 201 through hole