Road inspection device and road inspection vehicle

Abstract

The utility model relates to a road inspection device and a road inspection vehicle. The road inspection device is mounted on a road inspection vehicle and comprises a main control case, a positioning module and a plurality of camera modules, and the positioning module and the camera modules are arranged on the main control case; the camera modules are located on the two sides of the main control case in the left-right direction, the camera module on the left side is back to the camera module on the right side, all the camera modules on the left side face different directions, all the camera modules on the right side face different directions, and the left-right direction is perpendicular to the front-back direction of driving of the road inspection vehicle. According to the road inspection vehicle, two-way collection and recognition can be carried out on parking spaces on the two sides of a road, round-trip collection and recognition are not needed, efficiency is improved, the camera modules on the two sides face different directions, and inspection can be effectively carried out on various parking spaces; in addition, the positioning module and the camera module are designed in a distributed mode, the installation height of the positioning module can be reduced, the device can be safely installed on the electric two-wheel vehicle, and the application range of the device can be expanded.

Description

Technical Field

[0001] The present application relates to the technical field of parking space detection, and in particular to a road inspection device and a road inspection vehicle. Background Art

[0002] With the rapid increase in the number of urban motor vehicles, especially passenger cars, in order to alleviate the problem of parking difficulties, most cities in China have generally adopted on-street parking. The business process of roadside parking consists of parking space occupation and charging. Among them, parking space occupation includes parking space search, parking detection, photo evidence collection, timing and other links, and charging settlement includes billing, payment, clearing and settlement and other links. Accurate detection and timing of parking space occupancy are key links in on-street parking charges. In non-intelligent parking scenarios, all statistics are completed manually, which not only has a huge workload, but also may cause evasion and arrears due to human negligence. At the same time, the cost of manual timekeeping and charging is high, resulting in low efficiency in comprehensive urban traffic management.

[0003] In the related technology, a road inspection device is provided, which is installed on a road inspection vehicle and includes a positioning module, a camera module, a box and a body mounting bracket. The camera module is connected to the box through a camera mounting rod support, and the positioning module is arranged above the camera module and fixed to the top of the camera housing of the camera module through a GPS mounting flange. The camera module includes a plurality of cameras, each of which corresponds to a parking direction of a parking space on one side of the road, and each camera is equipped with a fill light in the corresponding parking direction.

[0004] However, when there are parking spaces on both sides of the road, the road inspection device can only collect and identify parking spaces on one side, requiring road inspection vehicles to go back and forth for collection, which is inefficient; and the installation height of the positioning module is relatively high, making the device impossible to install on a two-wheeled electric vehicle. Summary of the invention

[0005] Based on this, it is necessary to provide a road inspection device and a road inspection vehicle to address the problem that the existing road inspection devices are inefficient and cannot be installed on two-wheeled electric vehicles.

[0006] A road inspection device is installed on a road inspection vehicle, comprising: a main control chassis, a positioning module and a plurality of camera modules, wherein the positioning module and the camera modules are arranged on the main control chassis;

[0007] The multiple camera modules are located on both sides of the main control chassis in the left-right direction, the camera module on the left side faces away from the camera module on the right side, and all the camera modules on the left side have different orientations, and all the camera modules on the right side have different orientations, wherein the left-right direction is perpendicular to the front-rear direction of the road inspection vehicle.

[0008] In one embodiment, three camera modules are arranged on the left side of the main control chassis, namely a first left camera module, a second left camera module and a third left camera module. The first left camera module is located on the front side of the main control chassis and faces the left front of the road inspection vehicle. The third left camera module is located on the rear side of the main control chassis and faces the left rear of the road inspection vehicle. The second left camera module is located between the first left camera module and the third left camera module and faces the left center of the road inspection vehicle.

[0009] In one embodiment, it is characterized in that the first left camera module is offset to the left by a first angle α1 of 20° to 80° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° in front of the left side of the road inspection vehicle;

[0010] The second left camera module is offset to the left by a second angle α2 of 90° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° of the left middle of the road inspection vehicle;

[0011] The third left camera module is offset to the left by a third angle α3 of 100° to 180° relative to the front-rear direction of the road inspection vehicle, and its field of view covers an area within 120° behind the left side of the road inspection vehicle.

[0012] In one embodiment, three camera modules are arranged on the right side of the main control chassis, namely a first right camera module, a second right camera module and a third right camera module. The first right camera module is located on the front side of the main control chassis and faces the right front of the road inspection vehicle, the third right camera module is located on the rear side of the main control chassis and faces the right rear of the road inspection vehicle, and the second right camera module is located between the first right camera module and the third right camera module and faces the right center of the road inspection vehicle.

[0013] In one embodiment, the first right camera module is offset to the right by a fourth angle α4 of 20° to 80° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° to the right front of the road inspection vehicle;

[0014] The second right camera module is offset to the right by a fifth angle α5 of 90° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° of the right middle of the road inspection vehicle;

[0015] The third right camera module is offset to the right by a sixth angle α6 of 100° to 180° relative to the front-rear direction of the road inspection vehicle, and its field of view covers an area within 120° behind the right side of the road inspection vehicle.

[0016] In one embodiment, the camera module and the positioning module are arranged on the outer surface of the upper side of the main control chassis, and the positioning module is located between the camera module on the left and the camera module on the right.

[0017] In one embodiment, the main control box includes a box body and a box cover, the box cover is detachably mounted on the box body, and the positioning module and the camera module are arranged on the outside of the box cover.

[0018] In one embodiment, the corners of the box body and the box cover are both provided with rounded corners.

[0019] A road inspection vehicle comprises an inspection vehicle body and a road inspection device as described in any one of the above items, wherein a main control box of the road inspection device is arranged on the inspection vehicle body.

[0020] In one embodiment, the inspection vehicle body includes a frame, a seat, front wheels and rear wheels, the seat is arranged on the frame, the front wheels and the rear wheels are respectively arranged on the front and rear sides of the frame, and the main control box is arranged on the frame and located behind the seat.

[0021] The above-mentioned road inspection device and road inspection vehicle, by arranging multiple camera modules on the left and right sides of the main control chassis, can perform two-way collection and identification of parking spaces on both sides of the road, without the need for round-trip collection and identification, thereby improving efficiency, and the camera modules on each side have different orientations, which can effectively inspect a variety of parking spaces. Among them, each camera module can work independently, and multiple camera modules can also work at the same time. Users can selectively expand the use of camera modules according to actual application scenarios and application requirements, which can save costs. In addition, by arranging the positioning module on the main control chassis instead of on the camera module, that is, distributing the positioning module and the camera module, the installation height of the positioning module can be reduced, so that the device can be safely installed on the electric two-wheeled vehicle, which can expand the scope of application of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the three-dimensional structure of a road inspection device provided in an embodiment of the present utility model viewed from a first angle.

[0023] Figure 2 A schematic diagram of the three-dimensional structure of the road inspection device provided in an embodiment of the present utility model viewed from a second angle.

[0024] The reference numerals in the accompanying drawings are described as follows:

[0025] 10. Road inspection device; 100. Main control box; 110. Box body; 120. Box cover; 200. Positioning module; 300. Camera module; 310. First left camera module; 320. Second left camera module; 330. Third left camera module; 340. First right camera module; 350. Second right camera module; 360. Third right camera module. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0027] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0028] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0030] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0032] With the rapid increase in the number of urban motor vehicles, especially passenger cars, in order to alleviate the problem of parking difficulties, most cities in China have generally adopted on-street parking. The business process of roadside parking consists of parking space occupation and charging. Among them, parking space occupation includes parking space search, entry detection, photo evidence collection, timing and other links, and charging settlement includes billing, payment, clearing and settlement and other links. Accurate detection and timing of parking space occupancy are key links in on-street parking charges. In non-intelligent parking scenarios, it is all done by manual statistics, which not only has a huge workload, but also may cause evasion and arrears due to human negligence. At the same time, the cost of manual timekeeping and charging is high, resulting in low efficiency in comprehensive urban traffic management. In this regard, in the relevant technology, a road inspection device is provided, which can replace manual labor to realize intelligent management of road parking spaces.

[0033] As described in the background technology, existing road inspection devices can only collect and identify parking spaces on one side. When there are parking spaces on both sides of the road, road inspection vehicles are required to go back and forth to collect information, which is inefficient. In addition, the installation height of the positioning module is relatively high, making the device impossible to install on a two-wheeled electric vehicle.

[0034] Based on this, Figure 1 As shown, an embodiment of the present application provides a road inspection device 10, which is installed on a road inspection vehicle and includes: a main control chassis 100, a positioning module 200 and a plurality of camera modules 300, wherein the positioning module 200 and the camera module 300 are arranged on the main control chassis 100.

[0035] The camera module 300 has 8 million pixels, including a camera, a fill light, a data processing unit, etc. It can be installed on the main control chassis 100 through a mounting bracket, and connected to the power supply module interface of the main control chassis 100 through a power cord. It is used to collect and identify vehicle information and parking numbers of parking spaces, and can also capture and collect evidence of illegally parked vehicles that are not in parking spaces.

[0036] The positioning module 200 may include a GPS (Global Positioning System) antenna for providing position information in real time.

[0037] The main control box 100 is provided with a central control processing module, which can identify the vehicle information and berth number collected by the camera module 300 in real time, and match it with the position information provided by the positioning module 200 to determine the specific berth information; if the berth information is identified to match the positioning information and is determined to be a parking space, and there is a vehicle parked in the parking space, the data will be transmitted to the background to calculate the parking time, and the same operation will be performed the next time the position is inspected, until the vehicle is not detected, it is determined that the vehicle has left the parking space.

[0038] Among them, Figure 1 As shown, the main control box 100 may include a box body 110 and a box cover 120, the box cover 120 is detachably mounted on the box body 110, the central control processing module is arranged in the box body 110, and the positioning module 200 and the camera module 300 are arranged outside the box cover 120. The main control box 100 is arranged in an openable and closable structure, which is convenient for disassembly and maintenance of the central control processing module in the box body 110. Among them, a lock can be arranged between the box body 110 and the box cover 120, and the lock can protect the internal structure of the main control box 100 and play an anti-theft role. The corners of the box body 110 and the box cover 120 can be provided with rounded corners, which can avoid scratching the operator and also play a protective role for the main control box 100.

[0039] Further, in this embodiment, if Figure 1As shown, multiple camera modules 300 are located on both sides of the main control chassis 100 in the left-right direction, the camera module 300 on the left is facing away from the camera module 300 on the right, and all the camera modules 300 on the left have different orientations, and all the camera modules 300 on the right have different orientations, wherein the left-right direction is perpendicular to the front-rear direction of the road inspection vehicle.

[0040] The road inspection device 10, by providing multiple camera modules 300 on the left and right sides of the main control chassis 100, can perform two-way collection and identification of parking spaces on both sides of the road, without the need for round-trip collection and identification, thereby improving efficiency, and the camera modules 300 on each side have different orientations, which can effectively inspect a variety of parking spaces. Among them, each camera module 300 can work independently, and multiple camera modules 300 can also work at the same time. Users can selectively expand the use of camera modules 300 according to actual application scenarios and application requirements, which can save costs. It should be noted that when multiple camera modules 300 work at the same time, the central control processing module in the main control chassis 100 can fuse the data sent by multiple camera modules 300, filter the same parking space number and license plate identified at the same time, and finally output only one piece of data.

[0041] In addition, the road inspection device 10 also sets the positioning module 200 on the main control box 100 instead of setting it on the camera module 300, that is, the positioning module 200 and the camera module 300 are designed in a distributed manner, which can reduce the installation height of the positioning module 200, so that the device can be safely installed on the electric two-wheeled vehicle, thereby expanding the scope of application of the device.

[0042] like Figure 2 As shown, in some embodiments, three camera modules 300 are arranged on the left side of the main control chassis 100, namely, a first left camera module 310, a second left camera module 320 and a third left camera module 330. The first left camera module 310 is located at the front side of the main control chassis 100 and faces the left front of the road inspection vehicle. The third left camera module 330 is located at the rear side of the main control chassis 100 and faces the left rear of the road inspection vehicle. The second left camera module 320 is located between the first left camera module 310 and the third left camera module 330 and faces the left middle of the road inspection vehicle. By arranging one camera module 300 in the front, rear and middle areas of the left side of the main control chassis 100, various parking spaces on the left side of the road inspection can be effectively inspected, and the number of camera modules 300 can be reduced, thereby reducing the cost and weight of the device.

[0043] Among them, Figure 2As shown, the first left camera module 310 is offset to the left by a first angle α1 of 20° to 80° relative to the front and rear direction of the road inspection vehicle, and the field of view covers the area within 120° of the left front of the road inspection vehicle; the second left camera module 320 is offset to the left by a second angle α2 of 90° relative to the front and rear direction of the road inspection vehicle, and the field of view covers the area within 120° of the left middle of the road inspection vehicle; the third left camera module 330 is offset to the left by a third angle α3 of 100° to 180° relative to the front and rear direction of the road inspection vehicle, and the field of view covers the area within 120° of the left rear of the road inspection vehicle. By setting the installation directions and field of view coverage of the first left camera module 310, the second left camera module 320 and the third left camera module 330 in this way, all types of parking spaces (including parallel parking spaces, vertical parking spaces and oblique parking spaces) on the left side of the road can be inspected, and can be widely used in all on-road parking space scenarios to meet the needs of various scenarios. Among them, the first left camera module 310 and the third left camera module 330 are mainly used to collect and identify vehicles and berth numbers in parallel parking spaces, and the second left camera module 320 is mainly used to collect and identify vehicles and berth numbers in vertical parking spaces. It also monitors urban management violations such as garbage overflow and occupying the road for business.

[0044] like Figure 2 As shown, in some embodiments, three camera modules 300 are arranged on the right side of the main control box 100, namely, a first right camera module 340, a second right camera module 350 and a third right camera module 360. The first right camera module 340 is located at the front side of the main control box 100 and faces the right front of the road inspection vehicle. The third right camera module 360 ​​is located at the rear side of the main control box 100 and faces the right rear of the road inspection vehicle. The second right camera module 350 is located between the first right camera module 340 and the third right camera module 360 ​​and faces the right middle of the road inspection vehicle. By arranging one camera module 300 in the front, rear and middle areas of the right side of the main control box 100, various parking spaces on the right side of the road inspection can be effectively inspected, and the number of camera modules 300 can be reduced, thereby reducing the cost and weight of the device.

[0045] Among them, Figure 2As shown, the first right camera module 340 is offset to the right by a fourth angle α4 of 20° to 80° relative to the front and rear direction of the road inspection vehicle, and the field of view covers the area within 120° in front of the right side of the road inspection vehicle; the second right camera module 350 is offset to the right by a fifth angle α5 of 90° relative to the front and rear direction of the road inspection vehicle, and the field of view covers the area within 120° in the middle right side of the road inspection vehicle; the third right camera module 360 ​​is offset to the right by a sixth angle α6 of 100° to 180° relative to the front and rear direction of the road inspection vehicle, and the field of view covers the area within 120° in the right rear of the road inspection vehicle. By setting the installation directions and field of view coverage of the first right camera module 340, the second right camera module 350 and the third right camera module 360 ​​in this way, all types of parking spaces (including parallel parking spaces, vertical parking spaces and oblique parking spaces) on the right side of the road can be inspected, and can be widely used in all on-road parking space scenarios to meet the needs of various scenarios. Among them, the first right camera module 340 and the third right camera module 360 ​​are mainly used to collect and identify vehicles and berth numbers in parallel parking spaces, and the second right camera module 350 is mainly used to collect and identify vehicles and berth numbers in vertical parking spaces. It also monitors urban management violations such as garbage overflow and occupying the road for business.

[0046] like Figure 1 As shown, in some embodiments, the camera module 300 and the positioning module 200 are arranged on the outer surface of the upper side of the main control box 100, and the positioning module 200 is located between the left camera module 300 and the right camera module 300. By setting the installation positions of the camera module 300 and the positioning module 200 in this way, the structure of the road inspection device 10 can be compacted, the volume of the device can be reduced, and the device can be easily installed on the inspection vehicle.

[0047] On the other hand, another embodiment of the present application further provides a road inspection vehicle, including a patrol vehicle body and a road inspection device 10 as described in any one of the above items, wherein a main control box 100 of the road inspection device 10 is disposed on the patrol vehicle body.

[0048] The road inspection vehicle, by arranging a plurality of camera modules 300 on the left and right sides of the main control box 100 of the road inspection device 10, can perform two-way collection and identification of parking spaces on both sides of the road, without the need for round-trip collection and identification, thereby improving efficiency, and the camera modules 300 on each side have different orientations, which can effectively inspect a variety of parking spaces. Among them, each camera module 300 can work independently, and multiple camera modules 300 can work at the same time and can be integrated with each other. Users can selectively expand the use of the camera modules 300 according to actual application scenarios and application requirements, which can save costs. In addition, by arranging the positioning module 200 on the main control box 100 instead of on the camera module 300, that is, by distributing the positioning module 200 and the camera module 300, the installation height of the positioning module 200 can be reduced, so that the device can be safely installed on the electric two-wheeled vehicle, and the scope of application of the device can be expanded.

[0049] The inspection vehicle body may be a two-wheeled vehicle, such as a two-wheeled bicycle or a two-wheeled electric vehicle. Specifically, the inspection vehicle body may include a frame, a seat, a front wheel and a rear wheel. The seat is disposed on the frame, and the front wheel and the rear wheel are disposed on the front and rear sides of the frame, respectively. The main control box 100 is disposed on the frame and is located behind the seat. Installing the road inspection device 10 behind the seat is convenient for installing the road inspection device 10 and for the operator to ride.

[0050] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A road inspection device, characterized in that: Installed on a road inspection vehicle, it includes: a main control chassis, a positioning module and a plurality of camera modules, wherein the positioning module and the camera module are arranged on the main control chassis; The multiple camera modules are located on both sides of the main control chassis in the left-right direction, the camera module on the left side faces away from the camera module on the right side, and all the camera modules on the left side have different orientations, and all the camera modules on the right side have different orientations, wherein the left-right direction is perpendicular to the front-rear direction of the road inspection vehicle.

2. The road inspection device according to claim 1, characterized in that: Three camera modules are arranged on the left side of the main control chassis, namely a first left camera module, a second left camera module and a third left camera module. The first left camera module is located on the front side of the main control chassis and faces the left front of the road inspection vehicle, the third left camera module is located on the rear side of the main control chassis and faces the left rear of the road inspection vehicle, and the second left camera module is located between the first left camera module and the third left camera module and faces the left middle of the road inspection vehicle.

3. The road inspection device according to claim 2, characterized in that: The first left camera module is offset to the left by a first angle α1 of 20° to 80° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° to the left front of the road inspection vehicle; The second left camera module is offset to the left by a second angle α2 of 90° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° of the left middle of the road inspection vehicle; The third left camera module is offset to the left by a third angle α3 of 100° to 180° relative to the front-rear direction of the road inspection vehicle, and its field of view covers an area within 120° behind the left side of the road inspection vehicle.

4. The road inspection device according to claim 1, characterized in that: Three camera modules are arranged on the right side of the main control chassis, namely a first right camera module, a second right camera module and a third right camera module. The first right camera module is located on the front side of the main control chassis and faces the right front of the road inspection vehicle, the third right camera module is located on the rear side of the main control chassis and faces the right rear of the road inspection vehicle, and the second right camera module is located between the first right camera module and the third right camera module and faces the right middle of the road inspection vehicle.

5. The road inspection device according to claim 4, characterized in that: The first right camera module is offset to the right by a fourth angle α4 of 20° to 80° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° to the right front of the road inspection vehicle; The second right camera module is offset to the right by a fifth angle α5 of 90° relative to the front-rear direction of the road inspection vehicle, and the field of view covers an area within 120° of the right middle of the road inspection vehicle; The third right camera module is offset to the right by a sixth angle α6 of 100° to 180° relative to the front-rear direction of the road inspection vehicle, and its field of view covers an area within 120° behind the right side of the road inspection vehicle.

6. According to the road inspection device according to any one of claims 1 to 5, the camera module and the positioning module are arranged on the outer surface of the upper side of the main control chassis, and the positioning module is located between the camera module on the left and the camera module on the right.

7. The road inspection device according to claim 6, characterized in that: The main control box comprises a box body and a box cover, wherein the box cover is detachably mounted on the box body, and the positioning module and the camera module are arranged outside the box cover.

8. The road inspection device according to claim 7, characterized in that: Corners of the box body and the box cover are both provided with rounded corners.

9. A road inspection vehicle, characterized in that: It comprises a patrol vehicle body and a road patrol device as claimed in any one of claims 1 to 8, wherein a main control box of the road patrol device is arranged on the patrol vehicle body.

10. The road inspection vehicle according to claim 9, characterized in that: The inspection vehicle body includes a frame, a seat, front wheels and rear wheels. The seat is arranged on the frame, the front wheels and the rear wheels are arranged on the front and rear sides of the frame respectively, and the main control box is arranged on the frame and located behind the seat.

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