WO2021027959A1 - 滑板车 - Google Patents

滑板车 Download PDF

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Publication number
WO2021027959A1
WO2021027959A1 PCT/CN2020/109593 CN2020109593W WO2021027959A1 WO 2021027959 A1 WO2021027959 A1 WO 2021027959A1 CN 2020109593 W CN2020109593 W CN 2020109593W WO 2021027959 A1 WO2021027959 A1 WO 2021027959A1
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WO
WIPO (PCT)
Prior art keywords
camera
depth sensor
scooter
control panel
panel box
Prior art date
Application number
PCT/CN2020/109593
Other languages
English (en)
French (fr)
Inventor
薛超
奚卫宁
郝旭昶
Original Assignee
纳恩博（北京）科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2021027959A1 publication Critical patent/WO2021027959A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J11/00—Supporting arrangements specially adapted for fastening specific devices to cycles, e.g. supports for attaching maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/42—Sensor arrangements; Mounting thereof characterised by mounting
    • B62J45/422—Sensor arrangements; Mounting thereof characterised by mounting on the handlebar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Definitions

  • the present disclosure relates to the technical field of scooters, in particular to a scooter.
  • scooters such as electric scooters have been popular with the public due to their compactness and portability, and more and more users choose scooters as a power tool for daily travel.
  • an object of the present disclosure is to provide a scooter capable of autonomous navigation and avoiding pits and obstacles on the driving road.
  • the scooter according to the embodiment of the present disclosure includes: a handlebar, a control panel box is arranged on the handlebar, and a main control circuit board is arranged in the control panel box; a camera, the camera is arranged on the control panel box.
  • the depth sensor is arranged on the control panel box and connected to the main control circuit board, and the probe of the depth sensor is connected to the main control circuit board. Face down.
  • the scooter of the embodiment of the present disclosure by arranging the camera and the depth sensor on the control panel box in the middle of the handle, the shooting range of the camera and the depth sensor is increased, and since the control panel box is far from the ground, the camera and the depth sensor The sensor is not easily damaged, thereby prolonging the service life of the camera and the depth sensor. Moreover, by connecting the camera and the depth sensor to the main control circuit board, the scooter can navigate autonomously and avoid pits and obstacles on the driving road , which greatly improves the safety performance of the scooter. In addition, by making the camera lens face down, the problem of infringing on the privacy of passersby is avoided.
  • the camera is arranged obliquely forward from top to bottom, the central axis of the depth sensor is arranged obliquely with respect to the central axis of the camera, the depth sensor is located in front of the camera, and the The depth sensor tilts toward the camera from top to bottom.
  • the included angle between the central axis of the depth sensor and the central axis of the camera is ⁇ , where the ⁇ satisfies: 0° ⁇ 10°.
  • the control panel box includes: an upper case; a lower case, the lower case is provided on the lower side of the upper case and defines a first accommodation space between the upper case, and The main control circuit board is provided in the first accommodating space; a shielding cover is provided at the bottom of the lower shell and defines a second accommodating space between the lower shell and the shielding cover.
  • the depth sensor is fixed on the lower shell through conductive adhesive.
  • control panel box further includes a transparent cover provided on the lower side of the shielding cover and connected with the lower shell, and the transparent cover is provided on the camera and the depth Below the sensor.
  • the transparent cover is snap-connected to the lower shell, and the shielding cover is sandwiched between the transparent cover and the lower shell.
  • the transparent cover is provided with a plurality of buckles arranged at intervals along the circumferential direction
  • the lower shell is provided with buckles corresponding to the plurality of buckles
  • the plurality of buckles Fitted in a plurality of the snap holes
  • a side surface of the shielding cover is formed with a plurality of escape grooves corresponding to the plurality of snaps.
  • the two through holes are a first through hole and a second through hole
  • the shielding cover includes a first shielding portion and a second shielding portion connected to each other, the first shielding portion and A side surface connected to the second shielding portion protrudes from the second shielding portion, the first through hole is formed on the first shielding portion, and the lens is exposed from the first through hole, The second through hole is formed on the second shielding portion, and the probe is exposed from the second through hole.
  • the bottom of the shielding cover is formed with a protruding portion that protrudes away from the lower shell, and the first through hole is formed on the protruding portion.
  • the two cameras are respectively arranged at the front and rear of the control panel box, the lens of the camera at the front is facing forward, and the camera at the rear is The lens is facing backward.
  • the depth sensor is provided between the two cameras, and the depth sensor is adjacent to the camera on the front side.
  • a column is provided below the handlebar, and the upper end of the column is connected to the handlebar through two connecting sections, and the upper ends of the two connecting sections are located on the control panel box. Left and right.
  • the upper ends of the two connecting sections are respectively located on the left and right sides of the control panel box, the lower ends of the two connecting sections are respectively connected to the upper ends of the uprights, and the two The lower end of the connecting section is located below the upper end surface of the upright column.
  • a “V”-shaped structure or a “U”-shaped structure is formed between the two connecting segments.
  • Figure 1 is a partial perspective view of a scooter according to an embodiment of the present disclosure
  • FIG 2 is a perspective view of the control panel box of the scooter shown in Figure 1;
  • FIG 3 is an exploded view of the control panel box shown in Figure 2;
  • Figure 4 is a perspective view of the shielding cover of the control panel box shown in Figure 3;
  • Fig. 5 is a perspective view of the shield shown in Fig. 4 from another angle;
  • Figure 6 is a perspective view of the transparent cover of the control panel box shown in Figure 3;
  • FIG. 7 is a schematic diagram of the shooting angle of view of the camera and the depth sensor of the control panel box shown in FIG. 3;
  • Figure 8 is a perspective view of a scooter according to another embodiment of the present disclosure.
  • Figure 9 is a side view of the scooter shown in Figure 8.
  • Figure 10 is an enlarged view of part A circled in Figure 9;
  • Fig. 11 is a schematic diagram of a shooting angle of view of the scooter shown in Fig. 8;
  • FIG. 12 is a schematic diagram of a shooting angle of view of the scooter shown in FIG. 9;
  • Fig. 13 is an enlarged view of part B circled in Fig. 12.
  • 112 upper shell
  • 113 lower shell
  • 1131 first accommodation space
  • 1143 first through hole
  • 1144 second through hole
  • 1145 avoidance groove
  • 1146 first shielding part
  • 1147 second shielding part
  • 1148 protruding part
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. Further, in the description of the present disclosure, unless otherwise specified, “plurality” means two or more.
  • the scooter 100 according to an embodiment of the present disclosure will be described below with reference to FIGS. 1 to 13.
  • the scooter 100 may be an electric scooter.
  • the scooter 100 is an electric scooter as an example.
  • the scooter 100 includes a handlebar 1, a camera 2 and a depth sensor 3. Among them, the left and right ends of the handlebar 1 correspond to the hands of the user, and are used for controlling direction and grasping balance.
  • the handlebar 1 is provided with a control panel box 11, the control panel box 11 is provided with a main control circuit board 111, the camera 2 is provided on the control panel box 11, and the camera 2 is connected to the main control circuit board 111.
  • the lens of 2 faces downward
  • the depth sensor 3 is arranged on the control panel box 11, and the depth sensor 3 is connected to the main control circuit board 111, and the probe of the depth sensor 3 faces downward.
  • the control panel box 11 is set in the middle of the handlebar 1
  • the main control circuit board 111 is set in the control panel box 11, which controls the entire scooter 100
  • a camera 2 and a depth sensor 3 are provided on the control panel box 11.
  • the camera 2 and the depth sensor 3 are respectively electrically connected to the main control circuit board 111.
  • the camera 2 can photograph the surrounding environment of the scooter 100 and feed the corresponding signals to the main control
  • the circuit board 111 and the main control circuit board 111 control the running of the scooter 100 so as to realize the autonomous navigation of the scooter 100.
  • the depth sensor 3 can detect the depth data of an area in front of the road surface of the scooter 100, and feedback the corresponding signal to the main control circuit board 111.
  • the main control The circuit board 111 can control the scooter 100 to avoid pits or obstacles in time.
  • the scooter 100 can realize autonomous navigation and avoid the traffic on the road.
  • the pits and obstacles improve the safety performance of the scooter 100.
  • the scooter 100 of the embodiment of the present disclosure such as an electric scooter
  • the shooting range of the camera 2 and the depth sensor 3 is increased, and because The control panel box 11 is far from the ground, and the camera 2 and the depth sensor 3 are not easily damaged, thereby prolonging the service life of the camera 2 and the depth sensor 3.
  • the scooter 100 can navigate autonomously and avoid pits and obstacles on the traveling road, which greatly improves the safety performance of the scooter 100.
  • the lens of the camera 2 face down the problem of infringing on the privacy of passersby is avoided.
  • the camera 2 is arranged obliquely from top to bottom, and the center axis of the depth sensor 3 is inclined with respect to the center axis of the camera 2, and the depth sensor 3 is located in front of the camera 2. , The depth sensor 3 tilts toward the camera 2 from top to bottom. Since the angle of view of the camera 2 is larger than the angle of view of the depth sensor 3, by arranging the camera 2 behind the depth sensor 3, the camera 2 can capture the body part of the scooter 100 and the area near the rear wheels.
  • the arrangement of the depth sensor 3 and the camera 2 is reasonable, so that the camera 2 can capture the effective area around the scooter 100 in a wide range, and by tilting the depth sensor 3 to the camera 2 from top to bottom, the depth sensor is further improved.
  • the accuracy of the detection range of 3 enables the scooter 100 to avoid pits or obstacles in time.
  • the visible range of the camera 2 in front of the scooter 100 is increased, so that the camera 2 can capture objects in front of the scooter 100 such as traffic lights, and further improve The safety performance of the scooter 100 is improved.
  • the center axis 21 of the camera 2 refers to the center line passing through the center point of the lens of the camera 2.
  • the center axis 31 of the depth sensor 3 refers to the center line passing through the center point of the probe of the depth sensor 3.
  • the probe of the depth sensor 3 includes multiple second lenses, the center axis 31 of the depth sensor 3 Through the center point of each second lens.
  • the direction "front” can be understood as the direction of the front of the scooter 100, that is, the direction facing the front of the scooter 100 when the user drives the scooter 100 in a straight line.
  • the opposite direction is defined as "rear”, that is, the direction of the rear of the scooter 100 , Which is the direction in which the user faces the front of the scooter 100 when the user drives the scooter 100.
  • the angle between the center axis 31 of the depth sensor 3 and the center axis 21 of the camera 2 is ⁇ , where ⁇ satisfies: 0° ⁇ 10°.
  • ⁇ is preferably 3°.
  • the shooting angle of view of the camera 2 is ⁇ , where ⁇ satisfies 140° ⁇ 150°.
  • ⁇ is preferably 144.8°.
  • the camera 2 can perform wide-angle shooting, and can capture the environment around the scooter 100 in a larger range, and realize autonomous navigation.
  • the shooting angle of view of the depth sensor 3 is ⁇ , where ⁇ satisfies 55° ⁇ 65°. ⁇ is preferably 60°. In this way, the depth sensor 3 can more accurately detect the depth data on the road surface the scooter 100 is traveling on, which improves the safety of the scooter 100.
  • the control panel box 11 includes an upper housing 112, a lower housing 113 and a shielding cover 114.
  • the lower shell 113 is provided on the lower side of the upper shell 112 and defines a first receiving space 1131 between the upper shell 112, the main control circuit board 111 is provided in the first receiving space 1131, and the shielding cover 114 is provided on the lower shell.
  • the bottom of the 113 and the lower shell 113 define a second accommodating space 1141, two through holes 1142 are formed on the shielding cover 114, the second accommodating space 1141 is provided with a camera 2 and a depth sensor 3, the lens and the probe are separated from Two through holes 1142 are exposed.
  • the first accommodating space 1131 is jointly defined by the upper housing 112 and the lower housing 113
  • the main control circuit board 111 is provided in the first accommodating space 1131
  • the second accommodating space 1141 is shielded
  • the cover 114 and the lower housing 113 are jointly defined, the camera 2 and the depth sensor 3 are both arranged in the second accommodation space 1141, the shielding cover 114 is arranged at the bottom of the lower housing 113, the lens of the camera 2 and the probe of the depth sensor 3 can be removed from the shielding cover
  • the two through holes 1142 of 114 are exposed to capture the surrounding environment of the scooter 100 and detect the depth data in front of the scooter 100.
  • the control panel box 11 has a simple structure and is easy to install.
  • the lens and probe are removed from the shielding cover.
  • the two through holes 1142 of 114 are exposed, which makes the appearance of the entire scooter 100 more beautiful.
  • the depth sensor 3 is fixed on the lower shell 113 by conductive adhesive.
  • the depth sensor 3 can be firmly fixed on the lower shell 113, and the cost is low.
  • the control panel box 11 further includes a transparent cover 115, which is provided on the lower side of the shielding cover 114 and connected to the lower housing 113, and the transparent cover 115 is provided on the camera 2 and the depth sensor 3.
  • a transparent cover 115 is provided on the lower side of the shielding cover 114 and connected to the lower housing 113, and the transparent cover 115 is provided on the camera 2 and the depth sensor 3.
  • the camera 2 and the depth sensor 3 are covered with a transparent cover 115. Since the transparent cover 115 is made of a fully transparent material, the camera 2 and the depth sensor 3 can pass through the transparent cover 115.
  • the transparent cover 115 is made of a fully transparent material, the camera 2 and the depth sensor 3 can pass through the transparent cover 115.
  • the transparent cover 115 is provided on the lower side of the shielding cover 114, the clarity of the camera 2 and the depth sensor 3 is ensured, and the transparent cover 115 can protect the camera 2 and prevent the camera 2 from being damaged.
  • the transparent cover 115 is snap-connected to the lower shell 113, and the shielding cover 114 is sandwiched between the transparent cover 115 and the lower shell 113. Since the transparent cover 115 is arranged on the lower side of the shielding cover 114, after the transparent cover 115 and the lower shell 113 are snap-connected, the shielding cover 114 is fixed between the transparent cover 115 and the lower shell 113. Thus, while ensuring the aesthetic appearance of the control panel box 11, the transparent cover 115 and the lower shell 113 are firmly connected.
  • the transparent cover 115 is provided with a plurality of buckles 1151 arranged at intervals along the circumferential direction, and the lower shell is provided with a hole corresponding to the plurality of buckles 1151, and the plurality of buckles 1151 are matched
  • a plurality of escape grooves 1145 corresponding to the plurality of buckles 1151 are formed on the side of the shielding cover 114 in the plurality of locking holes.
  • the transparent cover 115 is provided with four buckles 1151 arranged at intervals along the circumferential direction of the transparent cover 115, and the four buckles 1151 respectively cooperate with the holes on the lower shell 113, To fix the transparent cover 115 on the bottom of the lower case 113.
  • the side surface of the shielding cover 114 is formed with four avoiding grooves 1145 arranged at intervals along the circumferential direction of the shielding cover 114, and the four avoiding grooves 1145 correspond to the four buckles 1151 one by one.
  • FIGS 5 and 6 show four buckles 1151 and four avoidance slots 1145 for illustrative purposes, but after reading the technical solution of this application, a person of ordinary skill can obviously understand that the solution can be applied to other quantities. In the technical solutions of the buckle 1151 and the avoidance groove 1145, this also falls within the protection scope of the present invention.
  • the two through holes 1142 are the first through hole 1143 and the second through hole 1144 respectively.
  • the shielding cover 114 includes a first shielding portion 1146 and a second shielding portion 1147 that are connected to each other. A side surface of the first shielding portion 1146 connected to the second shielding portion 1147 protrudes from the second shielding portion 1147, and a first through hole 1143 is formed On the first shielding portion 1146, the lens is exposed from the first through hole 1143, the second through hole 1144 is formed on the second shielding portion 1147, and the probe is exposed from the second through hole 1144.
  • a step is formed at the connection of the first shielding portion 1146 and the second shielding portion 1147, and the connecting part of the first shielding portion 1146 and the second shielding portion 1147 protrudes from the second shielding portion 1146.
  • the bottom of the shielding cover 114 is formed with a protruding portion 1148 protruding away from the lower shell, and the first through hole 1143 is formed on the protruding portion 1148.
  • the protrusion 1148 can be used to accommodate the camera 2 so that the camera 2 can be exposed from the first through hole 1143, the structure is simple, and the protrusion 1148 occupies a small space, which is convenient for processing.
  • Figs. 8-13 there are two cameras 2, and the two cameras 2 are respectively arranged at the front and rear of the control panel box 11, and the front camera 2 has the lens facing forward.
  • the lens of the rear camera 2 faces backward.
  • the front-end camera 2 and the rear-end camera 2 have a viewing angle range of 90°, which can ensure that the images captured by the camera 2 are accurate and undistorted, and the shooting angle of the front camera 2 is a scooter The area between the front of 100 and the bottom of the scooter 100.
  • the shooting angle of the rear camera 2 is the area between the back of the scooter 100 and the bottom of the scooter 100.
  • the scooter can be realized by splicing the images taken by the two front and rear cameras 2
  • the 100's 360° unobstructed surround imaging in the front, rear, left, and right directions minimizes the blind area of the scooter.
  • the viewing angle range of the camera 2 may also be greater than 90° or less than 90°. Therefore, by arranging two cameras 2 arranged in front and rear, the area around the scooter 100 can be photographed without blind spots, and the camera 2 can be a non-wide-angle camera, which reduces the cost while ensuring the definition.
  • the depth sensor 3 is arranged between the two cameras 2, and the depth sensor 3 is adjacent to the camera 2 on the front side.
  • the shooting angle of the depth sensor 3 is a part of the area in front of the front wheel of the scooter 100, and the distance between the front edge of the shooting angle of the depth sensor 3 and the front wheel of the scooter 100 must be greater than or equal to the skateboard
  • the braking distance of the scooter 100 For example, if the braking distance of the scooter 100 is one meter, the distance between the front edge of the shooting angle of the depth sensor 3 and the front wheel of the scooter 100 must be greater than or equal to one meter to prevent the scooter 100 from driving forward Fell into a pit or hit an obstacle during the process.
  • the scooter 100 can effectively avoid pits and obstacles, and the safety performance of the scooter 100 is improved.
  • a column 4 is provided under the handlebar 1, and the upper end of the column 4 is connected to the handlebar 1 through two connecting sections 41, and the two connected The upper ends of the section 41 are respectively located on the left and right sides of the control panel box 11.
  • the upper ends of the two connecting sections 41 are respectively connected to the left and right sides of the control panel box 11 of the handlebar 1, and the lower ends of the two connecting sections 41 are connected to the upper end of the column 4 Connected, the two connecting sections 41 can form a "V"-shaped structure (as shown in Figure 1) or a "U"-shaped structure (as shown in Figures 8-13).
  • connecting section 41 The specific shape can be arranged according to actual requirements to better meet the actual application. Thus, by arranging two connecting sections 41 between the handlebar 1 and the column 4, while ensuring that the camera 2 and the depth sensor 3 will not produce shadow blind spots, the structural strength and structural stability of the scooter 100 are enhanced.
  • the upper ends of the two connecting sections 41 are respectively located on the left and right sides of the control panel box 11, and the lower ends of the two connecting sections 41 are respectively connected to the upper end of the column 4, and two The lower end of each connecting section 41 is located below the upper end surface of the column 4.
  • the upper end surface of the column 4 can protrude from between the two connecting sections 41, so that the distance between the two connecting sections 41 and the column 4 The connection is more reliable, and the structural stability of the entire scooter 100 can be further improved.
  • the camera 2 is fixed on the lower shell 113 by screws.
  • the structure is simple, and the camera 2 and the lower housing 113 can be firmly connected.
  • a via hole is formed on the lower shell 113.
  • the cable 116 such as the cable 116 of the camera 2 and the cable 116 of the depth sensor 3, can be connected to the main control circuit board 111 through the cable hole on the lower shell 113, thereby realizing autonomous navigation of the scooter 100.
  • scooter 100 such as an electric scooter
  • other configurations and operations of the scooter 100 are known to those of ordinary skill in the art, and will not be described in detail here.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种滑板车（100），包括车把（1）、摄像头（2）和深度传感器（3）。车把（1）上设有控制面板盒（11），控制面板盒（11）内设有主控电路板（111）；摄像头（2）设在控制面板盒（11）上且与主控电路板（111）相连，摄像头（2）的镜头朝下，深度传感器（3）设在控制面板盒（11）上且与主控电路板（111）相连，深度传感器（3）的探头朝下。

Description

滑板车
相关申请的交叉引用
本公开要求纳恩博(北京)科技有限公司于2019年08月15日提交的名称为“滑板车”的中国专利申请号“201921331794.4”的优先权。
技术领域
本公开涉及滑板车技术领域，尤其是涉及一种滑板车。
背景技术
近年来，滑板车如电动滑板车由于其小巧、便携等特点受到大众的欢迎，越来越多的用户选择滑板车作为日常出行的助力工具。
相关技术中，大部分电动滑板车不能自动行驶，电动滑板车的启动与刹车等都需要用户手动操作，便利性较差，当电动滑板车的行驶速度较快时，经常出现由于用户不能及时避开行人或车辆而导致的交通事故，滑板车的安全性能较差。
发明内容
本公开旨在至少解决现有技术中存在的技术问题之一。为此，本公开的一个目的在于提出一种滑板车，所述滑板车能够自主导航，且能够避开行驶路面上的凹坑和障碍物。
根据本公开实施例的滑板车，包括：车把，所述车把上设有控制面板盒，所述控制面板盒内设有主控电路板；摄像头，所述摄像头设在所述控制面板盒上且与所述主控电路板相连，所述摄像头的镜头朝下；深度传感器，所述深度传感器设在所述控制面板盒上且与所述主控电路板相连，所述深度传感器的探头朝下。
根据本公开实施例的滑板车，通过将摄像头和深度传感器设在车把中部的控制面板盒上，增大了摄像头和深度传感器的拍摄范围，且由于控制面板盒距离地面较远，摄像头和深度传感器不易被损坏，从而延长了摄像头和深度传感器的使用寿命，而且，通过使摄像头和深度传感器与主控电路板相连，使滑板车能够自主导航且能够避开行驶路面上的凹坑与障碍物，极大地提高了滑板车的安全性能。另外，通过使摄像头的镜头朝下，避免了侵犯路人隐私的问题。
根据本公开的一些示例，所述摄像头从上到下倾斜向前布置，所述深度传感器的中心轴线相对于所述摄像头的中心轴线倾斜设置，所述深度传感器位于所述摄像头的前方，所述深度传感器从上到下向所述摄像头倾斜。
根据本公开的一些示例，所述深度传感器的中心轴线与所述摄像头的中心轴线之间的夹角为α，其中所述α满足：0°＜α≤10°。
根据本公开的一些示例，所述控制面板盒包括：上壳；下壳，所述下壳设在所述上壳的下侧且与所述上壳之间限定出第一容纳空间，所述第一容纳空间内设有所述主控电路板；遮蔽罩，所述遮蔽罩设在所述下壳的底部且与所述下壳之间限定出第二容纳空间，所述遮蔽罩上形成有两个通孔，所述第二容纳空间内设有所述摄像头和所述深度传感器，所述镜头和所述探头分别从两个所述通孔处露出。
根据本公开的一些示例，所述深度传感器通过导电背胶固定在所述下壳上。
根据本公开的一些示例，所述控制面板盒进一步包括透明罩，所述透明罩设在遮蔽罩的下侧且与所述下壳相连，所述透明罩罩设在所述摄像头和所述深度传感器的下方。
根据本公开的一些示例，所述透明罩与所述下壳卡扣连接，所述遮蔽罩夹设与所述透明罩和所述下壳之间。
根据本公开的一些示例，所述透明罩上设有沿周向间隔设置的多个卡扣，所述下壳上设有与多个所述卡扣对应的卡孔，多个所述卡扣配合在多个所述卡孔内，所述遮蔽罩的侧面形成有与多个所述卡扣相对应的多个避让槽。
根据本公开的一些示例，两个所述通孔分别为第一通孔和第二通孔，所述遮蔽罩包括彼此相连的第一遮蔽部和第二遮蔽部，所述第一遮蔽部与所述第二遮蔽部相连的一侧表面凸出于所述第二遮蔽部，所述第一通孔形成在所述第一遮蔽部上，所述镜头从所述第一通孔处露出，所述第二通孔形成在所述第二遮蔽部上，所述探头从所述第二通孔处露出。
根据本公开的一些示例，所述遮蔽罩的底部形成有朝向远离所述下壳凸出的凸出部，所述第一通孔形成在所述凸出部上。
根据本公开的一些示例，所述摄像头为两个，两个所述摄像头分别设置于所述控制面板盒的前端和后端，前端的所述摄像头的所述镜头朝前，后端的所述摄像头的所述镜头朝后。
根据本公开的一些示例，所述深度传感器设在两个所述摄像头之间，且所述深度传感器邻近前侧的所述摄像头。
根据本公开的一些示例，所述车把的下方设有立柱，所述立柱的上端通过两个连接段与所述车把相连，两个所述连接段的上端分别位于所述控制面板盒的左侧和右侧。
根据本公开的一些示例，两个所述连接段的上端分别位于所述控制面板盒的左侧和右侧，两个所述连接段的下端分别连接在所述立柱的上端，且两个所述连接段的下端位于所述立柱的上端面以下。
根据本公开的一些示例，两个所述连接段之间构成“V”形结构或“U”形结构。
本公开的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
本公开的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本公开一个实施例的滑板车的局部立体图；
图2是图1中所示的滑板车的控制面板盒的立体图；
图3是图2中所示的控制面板盒的爆炸图；
图4是图3中所示的控制面板盒的遮蔽罩的立体图；
图5是图4中所示的遮蔽罩的另一个角度的立体图；
图6是图3中所示的控制面板盒的透明罩的立体图；
图7是图3中所示的控制面板盒的摄像头和深度传感器的拍摄视角示意图；
图8是根据本公开另一个实施例的滑板车的立体图；
图9是图8中所示的滑板车的侧视图；
图10是图9中圈示的A部的放大图；
图11是图8中所示的滑板车的拍摄视角示意图；
图12是图9中所示的滑板车的拍摄视角示意图；
图13是图12中圈示的B部的放大图。
附图标记：
100：滑板车；
1：车把；11：控制面板盒；111：主控电路板；
112：上壳；113：下壳；1131：第一容纳空间；
114：遮蔽罩；1141：第二容纳空间；1142：通孔；
1143：第一通孔；1144：第二通孔；1145：避让槽；
1146：第一遮蔽部；1147：第二遮蔽部；1148：凸出部；
115：透明罩；1151：卡扣；116：排线；
2：摄像头；21：摄像头的中心轴线；3：深度传感器；
31：深度传感器的中心轴线；4：立柱；41：连接段。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本公开，而不能理解为对本公开的限制。
在本公开的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的 方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
需要说明的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。进一步地，在本公开的描述中，除非另有说明，“多个”的含义是两个或两个以上。
下面参考图1-图13描述根据本公开实施例的滑板车100。滑板车100可以为电动滑板车。在本公开下面的描述中，以滑板车100为电动滑板车为例进行说明。
如图1-图3和图8-图13所示，根据本公开实施例的滑板车100例如电动滑板车，包括车把1、摄像头2和深度传感器3。其中，车把1的左右两端与用户的双手对应，用于操控方向和掌握平衡。
具体而言，车把1上设有控制面板盒11，控制面板盒11内设有主控电路板111，摄像头2设在控制面板盒11上，且摄像头2与主控电路板111相连，摄像头2的镜头朝下，深度传感器3设在控制面板盒11上，且深度传感器3与主控电路板111相连，深度传感器3的探头朝下。例如，在图1-图3和图8-图13的示例中，控制面板盒11设在车把1的中部，主控电路板111设在控制面板盒11内，是整个滑板车100的控制中心，控制面板盒11上设有摄像头2和深度传感器3，摄像头2和深度传感器3分别与主控电路板111电连接，摄像头2能够拍摄滑板车100周边的环境并将相应信号反馈给主控电路板111，主控电路板111控制滑板车100行驶，从而实现滑板车100的自主导航。深度传感器3能够检测到滑板车100行驶路面前方一个面域的深度数据，并将相应信号反馈给主控电路板111，当滑板车100在行驶过程中遇到凹坑或者障碍物时，主控电路板111能够控制滑板车100及时避开凹坑或者障碍物。由此，通过在滑板车100上设置摄像头2和深度传感器3，并且使摄像头2和深度传感器3分别与主控电路板111相连，使滑板车100实现了自主导航且能够避开行驶路面上的凹坑与障碍物，从而提升了滑板车100的安全性能。
根据本公开实施例的滑板车100例如电动滑板车，通过将摄像头2和深度传感器3设在车把1上的控制面板盒11上，增大了摄像头2和深度传感器3的拍摄范围，且由于控制面板盒11距离地面较远，摄像头2和深度传感器3不易被损坏，从而延长了摄像头2和深度传感器3的使用寿命，而且，通过使摄像头2和深度传感器3与主控电路板111相连，使滑板车100能够自主导航且能够避开行驶路面上的凹坑与障碍物，极大地提高了滑板车100的安全性能。另外，通过使摄像头2的镜头朝下，避免了侵犯路人隐私的问题。
在本公开的一些实施例中，如图7所示，摄像头2从上到下倾斜向前布置，深度传感器3的中心轴线相对于摄像头2的中心轴线倾斜设置，深度传感器3位于摄像头2的前方，深度传感器3从上到下向摄像头2倾斜。由于摄像头2的视角范围大于深度传感器3的视角范围，通过将摄像头2设在深度传感器3的后方，使摄像头2能够拍摄到滑板车100的车身部分以及后轮附近的区域。由此，深度传感器3与摄像头2的布置合理，使摄像头2能 够大范围地拍摄到滑板车100周边的有效区域，且通过使深度传感器3从上到下向摄像头2倾斜，进一步提高了深度传感器3的检测范围的准确性，从而使滑板车100能够及时避开凹坑或者障碍物。而且，通过使摄像头2从上到下倾斜向前布置，增大了摄像头2在滑板车100前方的可视范围，使摄像头2能够拍摄到例如交通信号灯等位于滑板车100前方的物体，进一步提升了滑板车100的安全性能。
其中，“摄像头2的中心轴线21”指的是通过摄像头2的镜头中心点的中心线，例如当摄像头2的镜头包括多个第一透镜时，摄像头2的中心轴线21通过每个第一透镜的中心点；“深度传感器3的中心轴线31”指的是通过深度传感器3的探头中心点的中心线，例如当深度传感器3的探头包括多个第二透镜时，深度传感器3的中心轴线31通过每个第二透镜的中心点。方向“前”可以理解为滑板车100车头的方向，也就是当用户直线驾驶滑板车100时面向滑板车100车头的方向，其相反方向被定义为“后”，即滑板车100车尾的方向，也就是当用户驾驶滑板车100时背对滑板车100车头的方向。
进一步地，参照图7，深度传感器3的中心轴线31与摄像头2的中心轴线21之间的夹角为α，其中α满足：0°＜α≤10°。α优选为3°。由此，进一步提高了深度传感器3的检测范围的准确性，使深度传感器3能够更加及时地避开凹坑或者障碍物。
可选地，如图7所示，摄像头2的拍摄视角为β，其中β满足140°≤β≤150°。β优选为144.8°。由此，摄像头2可以进行广角拍摄，能够较大范围地拍摄滑板车100周边的环境，实现自主导航。
可选地，如图7所示，深度传感器3的拍摄视角为γ，其中γ满足55°≤γ≤65°。γ优选为60°。由此，深度传感器3能够更准确地检测滑板车100行驶路面上的深度数据，提升了滑板车100的安全性。
在本公开的一些具体实施例中，参照图1-图6，控制面板盒11包括上壳112、下壳113和遮蔽罩114。具体而言，下壳113设在上壳112的下侧且与上壳112之间限定出第一容纳空间1131，第一容纳空间1131内设有主控电路板111，遮蔽罩114设在下壳113的底部且与下壳113之间限定出第二容纳空间1141，遮蔽罩114上形成有两个通孔1142，第二容纳空间1141内设有摄像头2和深度传感器3，镜头和探头分别从两个通孔1142处露出。
例如，在图1-图6的示例中，第一容纳空间1131由上壳112与下壳113共同限定出，主控电路板111设在第一容纳空间1131内，第二容纳空间1141由遮蔽罩114与下壳113共同限定出，摄像头2和深度传感器3均设在第二容纳空间1141内，遮蔽罩114设在下壳113的底部，摄像头2的镜头和深度传感器3的探头可以从遮蔽罩114的两个通孔1142处露出，以拍摄滑板车100周边的环境及检测滑板车100前方的深度数据，摄像头2和深度传感器3的未从通孔1142处露出的其它部分则被遮蔽罩114遮挡住，以保证控制面板盒11的美观性。由此，控制面板盒11的结构简单，安装方便，通过将摄像头2和深度传感器3容纳在由遮蔽罩114和下壳113共同限定出的第二容纳空间1141内且使镜头和探头从遮蔽 罩114的两个通孔1142处露出，使整个滑板车100的外形更加美观。
进一步地，深度传感器3通过导电背胶固定在下壳113上。由此，可以将深度传感器3牢靠地固定在下壳113上，且成本较低。
在本公开的进一步实施例中，控制面板盒11进一步包括透明罩115，透明罩115设在遮蔽罩114的下侧且与下壳113相连，透明罩115罩设在摄像头2和深度传感器3的下方。例如，在图1-图6的示例中，摄像头2和深度传感器3的下方罩设有透明罩115，由于透明罩115由全透明材料制成，摄像头2和深度传感器3可以透过透明罩115清晰地拍摄到滑板车100周边的环境及检测到滑板车100前方的深度数据，防止灰尘等外部杂质附着在镜头和探头上。由此，通过在遮蔽罩114的下侧设有透明罩115，保证了摄像头2和深度传感器3的清晰度，且透明罩115能够对摄像头2起到保护作用，防止摄像头2受到损坏。
可选地，参照图6，透明罩115与下壳113卡扣连接，遮蔽罩114夹设于透明罩115和下壳113之间。由于透明罩115设在遮蔽罩114的下侧，透明罩115与下壳113卡扣连接后，遮蔽罩114被固定在透明罩115与下壳113之间。由此，在保证控制面板盒11的外形美观性的同时，实现了透明罩115和下壳113的牢靠连接。
进一步地，结合图3和图6，透明罩115上设有沿周向间隔设置的多个卡扣1151，下壳上设有与多个卡扣1151对应的卡孔，多个卡扣1151配合在多个卡孔内，遮蔽罩114的侧面形成有与多个卡扣1151相对应的多个避让槽1145。例如，在图5和图6的示例中，透明罩115上设有沿透明罩115的周向间隔设置的四个卡扣1151，四个卡扣1151分别与下壳113上的卡孔配合，以将透明罩115固定在下壳113的底部。遮蔽罩114的侧面形成有沿遮蔽罩114的周向间隔设置的四个避让槽1145，四个避让槽1145与四个卡扣1151一一对应。由此，通过设置上述的多个避让槽1145，可以起到有效的避让作用，避免遮蔽罩114与卡扣1151产生干涉，使遮蔽罩114可以更加稳定地固定在透明罩115和下壳113之间，且可以使透明罩115、遮蔽罩114和下壳113的配合更加紧凑。
图5和图6中显示了四个卡扣1151和四个避让槽1145用于示例说明的目的，但是普通技术人员在阅读了本申请的技术方案之后、显然可以理解将该方案应用到其它数量的卡扣1151和避让槽1145的技术方案中，这也落入本实用新型的保护范围之内。
在本公开的一些具体实施例中，结合图3-图5，两个通孔1142分别为第一通孔1143和第二通孔1144。遮蔽罩114包括彼此相连的第一遮蔽部1146和第二遮蔽部1147，第一遮蔽部1146与第二遮蔽部1147相连的一侧表面凸出于第二遮蔽部1147，第一通孔1143形成在第一遮蔽部1146上，镜头从第一通孔1143处露出，第二通孔1144形成在第二遮蔽部1147上，探头从第二通孔1144处露出。例如，在图3-图5的示例中，第一遮蔽部1146与第二遮蔽部1147的连接处形成了台阶部，第一遮蔽部1146与第二遮蔽部1147相连的部分凸出于第二遮蔽部1147，且沿朝向远离第二遮蔽部1147的方向，第一遮蔽部1146的厚度逐渐减小。由此，通过设置上述的第一遮蔽部1146和第二遮蔽部1147，第二遮蔽部1147 的占用空间较小，从而可以减小整个遮蔽罩114的体积，使遮蔽罩114的结构可以更加紧凑，减小整个遮蔽罩114的占用空间。
在本公开的一些实施例中，参照图3和图4，遮蔽罩114的底部形成有朝向远离下壳凸出的凸出部1148，第一通孔1143形成在凸出部1148上。如此设置，凸出部1148可以用于容纳摄像头2，使摄像头2可以从第一通孔1143处露出，结构简单，且凸出部1148的占用空间较小，方便加工。
在本公开的一些实施例中，如图8-图13所示，摄像头2为两个，两个摄像头2分别设置于控制面板盒11的前端和后端，前端的摄像头2的镜头朝前，后端的摄像头2的镜头朝后。例如，在图8-图13的示例中，前端摄像头2和后端摄像头2的视角范围均为90°，可以确保摄像头2所拍摄的图像准确无畸变，前端的摄像头2的拍摄视角为滑板车100前方与滑板车100下方之间的区域，后端摄像头2的拍摄视角为滑板车100后方与滑板车100下方之间的区域，通过拼接前后两个摄像头2所拍摄的图像，可以实现滑板车100的前后左右方向360°无遮拦环绕成像，实现滑板车盲区的最小化。当然，摄像头2的视角范围还可以大于90°或小于90°。由此，通过设置两个前后布置的摄像头2，可以无死角地拍摄到滑板车100四周区域，且摄像头2可以为非广角摄像头，在保证清晰度的同时，降低了成本。
进一步地，参照图8-图13，深度传感器3设在两个摄像头2之间，且深度传感器3邻近前侧的摄像头2。例如，在图8-图13的示例中，深度传感器3的拍摄视角为滑板车100前轮前方的一部分区域，深度传感器3的拍摄视角的前边沿与滑板车100前轮的距离需大于等于滑板车100的刹车距离，例如滑板车100的刹车距离为一米，则深度传感器3的拍摄视角的前边沿与滑板车100前轮的距离需大于等于一米，以防止滑板车100在向前行驶的过程中跌落凹坑或者碰撞到障碍物。由此，通过在邻近前侧摄像头2处设置深度传感器3，使滑板车100能够有效避开凹坑和障碍物，提升了滑板车100的安全性能。
在本公开的一些实施例中，如图1、图8-图13所示，车把1的下方设有立柱4，立柱4的上端通过两个连接段41与车把1相连，两个连接段41的上端分别位于控制面板盒11的左侧和右侧。例如，在图1和图8-图13的示例中，两个连接段41的上端分别连接在车把1的控制面板盒11的左右两侧，两个连接段41的下端与立柱4的上端相连，两个连接段41可以构成“V”形结构(如图1所示)，也可以构成“U”形结构(如图8-图13所示)，可以理解的是，连接段41的具体形状可以根据实际要求具体布置，以更好地满足实际应用。由此，通过在车把1与立柱4之间设置两个连接段41，在保证摄像头2与深度传感器3不会产生阴影盲区的同时，增强了滑板车100的结构强度和结构稳定性。
在本公开的一些实施例中，参照图8，两个连接段41的上端分别位于控制面板盒11的左侧和右侧，两个连接段41的下端分别连接在立柱4的上端，且两个连接段41的下端位于立柱4的上端面以下。由此，通过使两个连接段41的下端位于立柱4的上端面以下，立 柱4的上端面可以从两个连接段41之间伸出，从而使两个连接段41与立柱4之间的连接更加牢靠，可以进一步提高整个滑板车100的结构稳定性。
可选地，摄像头2通过螺钉固定在下壳113上。由此，结构简单，且能够实现摄像头2与下壳113的牢靠连接。
可选地，下壳113上形成有过线孔。由此，排线116例如摄像头2的排线116和深度传感器3的排线116等可以通过下壳113上的过线孔与主控电路板111连接，从而实现滑板车100的自主导航。
根据本公开实施例的滑板车100例如电动滑板车的其他构成以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本公开的实施例，本领域的普通技术人员可以理解：在不脱离本公开的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本公开的范围由权利要求及其等同物限定。

Claims (15)

  1. 一种滑板车，其特征在于，包括：
    车把，所述车把上设有控制面板盒，所述控制面板盒内设有主控电路板；
    摄像头，所述摄像头设在所述控制面板盒上且与所述主控电路板相连，所述摄像头的镜头朝下；
    深度传感器，所述深度传感器设在所述控制面板盒上且与所述主控电路板相连，所述深度传感器的探头朝下。
  2. 根据权利要求1所述的滑板车，其特征在于，所述摄像头从上到下倾斜向前布置，所述深度传感器的中心轴线相对于所述摄像头的中心轴线倾斜设置，所述深度传感器位于所述摄像头的前方，所述深度传感器从上到下向所述摄像头倾斜。
  3. 根据权利要求2所述的滑板车，其特征在于，所述深度传感器的中心轴线与所述摄像头的中心轴线之间的夹角为α，其中所述α满足：0°＜α≤10°。
  4. 根据权利要求1-3中任一项所述的滑板车，其特征在于，所述控制面板盒包括：
    上壳；
    下壳，所述下壳设在所述上壳的下侧且与所述上壳之间限定出第一容纳空间，所述第一容纳空间内设有所述主控电路板；
    遮蔽罩，所述遮蔽罩设在所述下壳的底部且与所述下壳之间限定出第二容纳空间，所述遮蔽罩上形成有两个通孔，所述第二容纳空间内设有所述摄像头和所述深度传感器，所述镜头和所述探头分别从两个所述通孔处露出。
  5. 根据权利要求4所述的滑板车，其特征在于，所述深度传感器通过导电背胶固定在所述下壳上。
  6. 根据权利要求4或5所述的滑板车，其特征在于，所述控制面板盒进一步包括透明罩，所述透明罩设在遮蔽罩的下侧且与所述下壳相连，所述透明罩罩设在所述摄像头和所述深度传感器的下方。
  7. 根据权利要求6所述的滑板车，其特征在于，所述透明罩与所述下壳卡扣连接，所述遮蔽罩夹设于所述透明罩和所述下壳之间。
  8. 根据权利要求7所述的滑板车，其特征在于，所述透明罩上设有沿周向间隔设置的多个卡扣，所述下壳上设有与多个所述卡扣对应的卡孔，多个所述卡扣配合在多个所述卡孔内，所述遮蔽罩的侧面形成有与多个所述卡扣相对应的多个避让槽。
  9. 根据权利要求4-8中任一项所述的滑板车，其特征在于，两个所述通孔分别为第一通孔和第二通孔，
    所述遮蔽罩包括彼此相连的第一遮蔽部和第二遮蔽部，所述第一遮蔽部与所述第二遮蔽部相连的一侧表面凸出于所述第二遮蔽部，所述第一通孔形成在所述第一遮蔽部上，所 述镜头从所述第一通孔处露出，所述第二通孔形成在所述第二遮蔽部上，所述探头从所述第二通孔处露出。
  10. 根据权利要求9所述的滑板车，其特征在于，所述遮蔽罩的底部形成有朝向远离所述下壳凸出的凸出部，所述第一通孔形成在所述凸出部上。
  11. 根据权利要求1-10中任一项所述的滑板车，其特征在于，所述摄像头为两个，两个所述摄像头分别设置于所述控制面板盒的前端和后端，前端的所述摄像头的所述镜头朝前，后端的所述摄像头的所述镜头朝后。
  12. 根据权利要求11所述的滑板车，其特征在于，所述深度传感器设在两个所述摄像头之间，且所述深度传感器邻近前侧的所述摄像头。
  13. 根据权利要求1-12中任一项所述的滑板车，其特征在于，所述车把的下方设有立柱，所述立柱的上端通过两个连接段与所述车把相连，两个所述连接段的上端分别位于所述控制面板盒的左侧和右侧。
  14. 根据权利要求13所述的滑板车，其特征在于，两个所述连接段的上端分别位于所述控制面板盒的左侧和右侧，两个所述连接段的下端分别连接在所述立柱的上端，且两个所述连接段的下端位于所述立柱的上端面以下。
  15. 根据权利要求13或14所述的滑板车，其特征在于，两个所述连接段之间构成“V”形结构或“U”形结构。
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