Walking control structure of road marking machine and using method of walking control structure

Abstract

The invention discloses a walking control structure of a road marking machine and a using method of the walking control structure. The walking control structure of the road marking machine is used for solving the technical problem of insufficient control precision in the prior art. The walking control structure of the road marking machine comprises a walking structure main body, wherein the walking structure main body is used for assembling a road marking machine main body; the omnidirectional walking controller is connected with the walking structure main body and is used for controlling the walking speed and direction of the walking structure main body; the fine tuning knob is connected with the omni-directional walking controller and is used for finely adjusting the walking direction of the walking structure main body; and the control handle is connected with the omni-directional walking controller and is used for quickly adjusting the walking speed and direction of the walking structure main body.

Description

Technical Field

[0001] The present invention relates to the technical field of road marking equipment, and in particular to a travel control structure of a road marking machine and a use method thereof. Background Art

[0003] Road marking machines are widely used in road traffic marking, and their performance directly affects the marking accuracy and construction efficiency. As a key component, the travel control structure of the equipment determines the travel direction, speed adjustment, and adaptability of the road marking machine to complex construction environments. At present, the travel control structure of road marking machines usually adopts a single operation mode, such as lever control or knob control. These methods have certain applicability in different scenarios, but also expose obvious limitations.

[0004] The existing pull rod control method is widely used for the direction and speed adjustment of road marking machines due to its simple structure and intuitive operation. However, this method is not good enough in high-precision operation scenarios, especially in construction tasks that require fine adjustments, and it is easy to cause direction deviation or uneven speed.

[0005] Therefore, the travel control structure of the road marking machine in the prior art has the technical problem of insufficient control accuracy. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a travel control structure for a road marking machine. The travel control structure for a road marking machine is used to accurately control the road marking machine so as to draw high-standard road traffic markings. The travel control structure for a road marking machine includes: A walking structure body, the walking structure body is used to assemble the road marking machine body; An omnidirectional walking controller, which is connected to the walking structure body and is used to control the walking speed and direction of the walking structure body; A fine-tuning knob, the fine-tuning knob is connected to the omnidirectional walking controller and is used to finely adjust the walking direction of the walking structure body; A manipulation handle is connected to the omnidirectional walking controller and is used to quickly adjust the walking speed and direction of the walking structure body.

[0008] In some examples of the present invention, the walking structure body includes: Two independent driving motors are connected to two driving wheels respectively, and are used to drive the walking structure body to move forward; At least one universal wheel is used to provide auxiliary support and improve walking stability.

[0009] In some examples of the present invention, the omnidirectional walking controller is connected to two driving motors respectively, and the omnidirectional walking controller adjusts the speed difference of the two driving motors respectively.

[0010] In some examples of the present invention, the omnidirectional walking controller includes: A motor controller, the motor controller is used to adjust the rotation speeds of the two drive motors respectively; An automatic walking controller, the automatic walking controller is used to automatically adjust the walking direction according to the path control signal; A multi-function controller is connected to the fine-tuning knob and the operating handle, and is used to coordinate the linkage between the input signals of the operating handle and the fine-tuning knob and the motor controller.

[0011] In some examples of the present invention, a GPS controller is further included, and the GPS controller is connected to the omnidirectional walking controller.

[0012] In some examples of the present invention, the GPS controller is connected to a GNSS controller, and the GNSS controller is used to improve the accuracy of the GPS controller.

[0013] In some examples of the present invention, the fine-tuning knob is used to perform a small-range directional adjustment with an angle range of 0.1° to 5° to meet the needs of high-precision marking.

[0014] In some examples of the present invention, the drive motor is a brushless DC motor.

[0015] In some examples of the present invention, the omnidirectional walking controller includes a wireless communication module, and the wireless communication module is used to receive instructions from a remote control device to achieve remote walking speed and direction control.

[0016] One object of the present invention is to provide a method for using a travel control structure of a road marking machine, comprising: Path planning and parameter setting: obtain the target travel path, input the target path information into the omnidirectional walking controller, and set the initial walking speed and direction parameters; Travel speed and direction control: The travel speed and direction can be quickly adjusted by the joystick to make the road marking machine move along the predetermined path; Fine direction adjustment: The travel direction can be adjusted in a small range by the fine-tuning knob to improve the marking accuracy and meet the needs of high-precision operations; Positioning and navigation: Start the GPS controller and combine it with the GNSS controller to improve positioning accuracy and automatically adjust the direction of travel based on real-time path deviation information; Remote control operation: receive instructions from the remote control device through the wireless communication module, adjust the walking speed and direction in real time, and realize remote control; Automatic path following: The automatic walking controller is activated according to the path control signal to realize the autonomous walking of the road marking machine; Stop and reset: After completing the marking operation, the omnidirectional travel controller is controlled to stop the drive motor, and the universal wheel is used to assist in stabilizing the movement of the main body of the walking structure.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. The present invention significantly improves the ease of operation and accuracy of the road marking machine under various working conditions through the combined use of a joystick and a fine-tuning knob. The joystick can achieve a wide range of rapid speed and direction adjustments, which is suitable for line drawing scenarios that require frequent speed changes and turns; the fine-tuning knob focuses on a small range of direction adjustments, which is particularly suitable for fine line drawing needs, such as parking space edges, guide lines at turns, and complex traffic symbols.

[0018] Through the above-mentioned combined control design, the present invention can quickly adapt to different road surfaces and drawing requirements, greatly improving the flexibility of the equipment in complex paths. At the same time, the equipment can be easily and accurately adjusted during the drawing process, reducing the rework caused by directional errors of traditional equipment, thereby effectively improving the operating efficiency and marking quality. In addition, the design optimizes the operating process, reduces the dependence on operator skills, and enables ordinary technicians to easily complete high-quality marking drawing tasks. For the drawing of road traffic markings, the flexibility and accuracy of the present invention are also reflected in the ability to adapt to the construction requirements of different types of markings, such as straight lines, curves, intermittent lines, and special symbols. Its design can ensure a high degree of consistency in marking width, edge straightness, and position, providing important support for improving road traffic safety and standardization. The improvement in operating efficiency and the reduction in operating time make the use of the present invention more efficient and practical in high traffic flow environments, while reducing the impact on traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a structural schematic diagram of a travel control structure of a road marking machine provided by the present invention from a first viewing angle; Figure 2 It is a structural schematic diagram of a travel control structure of a road marking machine provided by the present invention from a second viewing angle; Figure 3 The present invention provides a flow chart of a method for using a travel control structure of a road marking machine.

[0022] Description of reference numerals: 100- walking structure body; 110- driving motor; 120- driving wheel; 200-omnidirectional walking controller; 210-motor controller; 220-automatic walking controller; 230-multi-function controller; 300-fine adjustment knob; 400- joystick; 500-GPS controller; 600-GNSS controller. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be understood that 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" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0027] Figure 1 It is a structural schematic diagram of a travel control structure of a road marking machine provided by the present invention from a first viewing angle; Figure 2 It is a structural schematic diagram of a travel control structure of a road marking machine provided by the present invention from a second viewing angle; Figure 3 The present invention provides a flow chart of a method for using a travel control structure of a road marking machine.

[0028] Reference below Figure 1-Figure 2 Description One object of the present invention according to an embodiment of the present invention is to provide a road marking machine travel control structure. The road marking machine travel control structure is used to accurately control the road marking machine so as to draw high-standard road traffic markings. The road marking machine travel control structure includes: A walking structure body 100, wherein the walking structure body 100 is used to assemble the road marking machine body; An omnidirectional walking controller 200, which is connected to the walking structure main body 100 and is used to control the walking speed and direction of the walking structure main body 100; A fine-tuning knob 300, which is connected to the omnidirectional walking controller 200 and is used to finely adjust the walking direction of the walking structure body 100; A manipulation handle 400 , which is connected to the omnidirectional walking controller 200 , is used to quickly adjust the walking speed and direction of the walking structure body 100 .

[0029] Specifically, the above structure realizes precise control of the speed and direction of the walking structure main body 100 through the integrated control of the omnidirectional walking controller 200. The operating handle 400 provides a large range of rapid adjustment capabilities, and the fine adjustment knob 300 is responsible for a small range of fine direction adjustment, thereby meeting the needs of different application scenarios. In addition, the walking structure main body 100 serves as a load-bearing and walking platform for the road marking machine, providing structural support for the stable operation of the equipment.

[0030] Furthermore, this embodiment can significantly improve the convenience and accuracy of operation of the road marking machine under various working conditions. By using the operating handle 400 and the fine adjustment knob 300 in combination, the flexible switching between coarse adjustment and fine adjustment is achieved, and the adaptability to complex paths is enhanced. At the same time, the operation process is simplified, and the working efficiency and safety of the equipment are improved.

[0031] It is worth noting that the material of the walking structure body 100 can be aluminum alloy or high-strength composite material to reduce the overall weight of the equipment and improve durability. The form of the joystick 400 can be adjusted to a rocker or slider design according to the usage scenario to optimize ergonomic performance. The control accuracy range of the fine-tuning knob 300 can be expanded to 0.05° to 10° to meet different accuracy requirements.

[0032] Please continue to see Figure 1 As shown, according to one embodiment of the present invention, the walking structure body 100 includes: Two independent driving motors 110 are respectively connected to two driving wheels 120 to drive the walking structure body 100 to move forward; At least one universal wheel is used to provide auxiliary support and improve walking stability.

[0033] Specifically, two independent drive motors 110 drive two drive wheels 120 to rotate respectively, thus realizing the basic movement capability of the walking structure main body 100. At least one universal wheel plays a supporting and balancing role in the structure, while providing additional flexibility, so that the walking structure main body 100 has higher stability and adaptability in turning and complex road conditions. The drive motor 110 can independently adjust the speed through a precise motor control system, thereby realizing flexible movement control.

[0034] Furthermore, by setting up two independent drive motors 110, this embodiment can achieve more efficient and flexible drive control and is applicable to a variety of complex working conditions. The auxiliary support design of the universal wheel improves the overall stability, reduces the shaking caused by uneven road surface, and improves the marking accuracy and service life of the equipment. In addition, the independent drive design makes the equipment more flexible when operating in small radius turns and narrow spaces.

[0035] It is worth noting that the two drive motors 110 can select different power levels to meet light load and heavy load requirements. The number of universal wheels can be increased to two or more according to the actual application scenario to further improve the stability of the equipment in complex terrain. The connection method of the drive wheel 120 can be changed from direct drive to connection through a transmission system to optimize torque output and reduce operating noise.

[0036] Please continue to see Figure 1-2 As shown, according to one embodiment of the present invention, the omnidirectional walking controller 200 is connected to two driving motors 110 respectively, and the omnidirectional walking controller 200 adjusts the speed difference of the two driving motors 110 respectively.

[0037] Specifically, the omnidirectional walking controller 200 realizes differential steering by controlling the speed difference of the two independent drive motors 110. When the speeds of the drive motors 110 on both sides are not synchronized, the walking structure body 100 can turn around a certain center point. This differential steering function enables the device to efficiently adapt to the marking requirements of narrow sections or complex routes while maintaining stability. By accurately controlling the speed difference, the steering angle can also be adjusted to meet the flexible operation requirements in different scenarios.

[0038] Furthermore, this embodiment significantly improves the handling performance of the equipment in narrow spaces and complex paths through the differential steering design. Compared with the traditional steering method, this solution eliminates the need for additional mechanical steering structures, simplifies equipment design, and reduces maintenance costs. At the same time, the steering process is smoother, further improving the marking accuracy.

[0039] It is worth noting that the differential adjustment range of the omnidirectional walking controller 200 can be adjusted according to demand to achieve greater steering flexibility. The differential control logic can be implemented using hardware-based digital circuit design or software algorithm to adapt to different equipment performance requirements. In addition, in order to improve steering accuracy, a gyroscope or acceleration sensor can be combined to achieve real-time steering angle feedback control.

[0040] Please continue to see Figure 1-2 As shown, according to one embodiment of the present invention, the omnidirectional walking controller 200 includes: A motor controller 210, wherein the motor controller 210 is used to adjust the rotation speeds of the two drive motors 110 respectively; An automatic walking controller 220, wherein the automatic walking controller 220 is used to automatically adjust the walking direction according to the path control signal; The multi-function controller 230 is connected to the fine-tuning knob 300 and the operating handle 400 . The multi-function controller 230 is used to coordinate the linkage between the input signals of the operating handle 400 and the fine-tuning knob 300 and the motor controller 210 .

[0041] Specifically, the motor controller 210 independently adjusts the rotation speed of the two drive motors 110 by receiving signals from the multi-function controller 230 in real time, thereby achieving precise control of the walking speed and direction. The automatic walking controller 220 can automatically calculate the optimal walking direction and adjust the motor output in real time according to the preset path control signal to ensure that the equipment travels along the predetermined trajectory. As the core of the system, the multi-function controller 230 comprehensively processes the input signals of the joystick 400, the fine-tuning knob 300 and other control devices, and works in conjunction with the motor controller 210 and the automatic walking controller 220 to achieve seamless switching between manual and automatic control modes.

[0042] Furthermore, this embodiment realizes efficient integration of manual control and automatic path walking through the modular design of the omnidirectional walking controller 200. The coordinated work of the motor controller 210 and the automatic walking controller 220 improves the accuracy and stability of the equipment operation. The introduction of the multi-function controller 230 enhances the flexibility of user operation, supports switching of multiple control modes, simplifies the equipment operation process, and improves user experience and work efficiency.

[0043] It is worth noting that the motor controller 210 can use different speed regulation technologies, such as pulse width modulation (PWM) or vector control, to adapt to different types of drive motors 110. The automatic walking controller 220 can be combined with sensors such as depth cameras or laser radars to improve path recognition and navigation capabilities. The input device of the multi-function controller 230 can be expanded to a touch screen or a wireless remote control to further optimize the user operation experience.

[0044] Please continue to see Figure 1-2 As shown, according to one embodiment of the present invention, it also includes a GPS controller 500, and the GPS controller 500 is connected to the omnidirectional walking controller 200.

[0045] Specifically, the GPS controller 500 obtains the real-time geographic location data of the walking structure body 100 by receiving satellite signals, and transmits the data to the omnidirectional walking controller 200. The omnidirectional walking controller 200 adjusts the walking speed and direction of the walking structure body 100 in real time based on the received geographic location data and the preset path planning algorithm. The path planning guidance function can generate the optimal walking path according to the location of the target point, and perform path tracking through the automatic walking controller 220, thereby ensuring that the equipment can accurately complete the marking operation.

[0046] Furthermore, this embodiment enables the device to have real-time positioning and path planning capabilities by adding the GPS controller 500, significantly improving the degree of automation and operating efficiency. In complex or unknown environments, the path planning guidance function can help the device avoid obstacles or adjust the path, greatly reducing the need for manual intervention. In addition, the provision of real-time geographic location information facilitates operators to monitor the status and progress of the equipment, and improves the accuracy and reliability of the operation.

[0047] It is worth noting that the GPS controller 500 can be combined with other sensors (such as an inertial navigation system or a magnetometer) to enhance the positioning capability of the device in areas with poor signals. The path planning algorithm can use A*, Dijkstra or machine learning-based technologies to improve planning efficiency and adaptability. The communication method between controllers can be wired or wireless to optimize data transmission speed and system flexibility.

[0048] Please continue to see Figure 1-2 As shown, according to one embodiment of the present invention, the GPS controller 500 is connected to the GNSS controller 600 , and the GNSS controller 600 is used to improve the accuracy of the GPS controller 500 .

[0049] Specifically, the GPS controller 500 is responsible for receiving satellite signals of the global positioning system, while the GNSS controller 600 can integrate signals from multiple satellite navigation systems (such as Beidou, GLONASS and Galileo) to form multi-source data fusion. In the case of signal obstruction or weak signal of a single satellite system, the GNSS controller 600 can compensate by using signals from other systems to ensure the positioning accuracy of the walking structure body 100. The omnidirectional walking controller 200 uses the fused positioning data to achieve more accurate path planning and real-time adjustment, improving the adaptability of the equipment in complex environments.

[0050] Furthermore, this embodiment significantly enhances the positioning capability and navigation reliability of the device by combining GPS with the GNSS controller 600. The multi-source data fusion technology solves the problem of inaccurate positioning caused by signal shielding in complex environments, thereby ensuring the continuity and accuracy of the marking operation. In addition, the improved positioning accuracy helps to optimize path planning and equipment scheduling, and reduce energy consumption and operation time.

[0051] It is worth noting that the GNSS controller 600 can optionally support the differential positioning (RTK) function to further improve the positioning accuracy. In order to reduce costs, a software-based GNSS data fusion algorithm can be used to reduce hardware dependence. In addition, the system can also be combined with auxiliary equipment such as ground base stations or wireless beacons to further enhance signal coverage and positioning capabilities.

[0052] Please continue to see Figure 1-2 As shown, according to one embodiment of the present invention, the fine-tuning knob 300 is used to perform a small-range directional adjustment within an angle range of 0.1° to 5° to meet the needs of high-precision marking.

[0053] Specifically, the fine-tuning knob 300 inputs a precise control signal to the omnidirectional walking controller 200 to achieve a slight directional adjustment of the walking structure main body 100. The omnidirectional walking controller 200 fine-tunes the speed difference of the two drive motors 110 according to the angle offset command input by the knob, so that the walking structure main body 100 can achieve a small range of direction change. This adjustment range (0.1° to 5°) can meet the needs of high-precision marking operations, especially when narrow lines or complex patterns need to be accurately marked.

[0054] Furthermore, this embodiment achieves fine control of the direction through the fine-tuning knob 300, providing reliable guarantee for high-precision marking operations. The optimized design of the angle range not only improves the marking quality, but also reduces the error accumulation caused by multiple adjustments, significantly improving the overall operation efficiency. In addition, the design simplifies the operation steps, allowing operators to complete fine adjustments more intuitively.

[0055] It is worth noting that the adjustment range of the fine-tuning knob 300 can be expanded to 0.05° to 10° according to specific operation requirements to meet different accuracy requirements. The input method of the fine-tuning knob 300 can be replaced with a touch screen or an electronic joystick to improve user experience and operating comfort. At the same time, the current adjustment angle can be displayed to the user in real time through an integrated feedback display to further improve operating accuracy.

[0056] According to an embodiment of the present invention, the driving motor 110 is a brushless DC motor.

[0057] Specifically, the drive motor 110 adopts a brushless DC motor, and its speed regulation is achieved by the omnidirectional travel controller 200 through pulse width modulation (PWM) or other speed regulation technologies. The design of the brushless motor eliminates the mechanical friction problem in the traditional brushed motor, making the motor more efficient and longer-lasting. The omnidirectional travel controller 200 dynamically adjusts the speed of the motor according to the operation input signal or path planning requirements, thereby realizing the stepless speed regulation function. The stepless regulation feature enables the equipment to flexibly adapt to different road conditions and marking requirements.

[0058] Furthermore, this embodiment improves the power output efficiency of the walking structure main body 100 by adopting a DC brushless motor, while reducing operating noise and maintenance costs. The stepless speed regulation function provides the device with a larger speed range and a smoother speed regulation process, enabling it to adapt to a variety of complex working conditions, including high-precision slow marking and long-distance fast movement. The improvement of overall performance enhances the versatility and operational stability of the device.

[0059] It is worth noting that brushless DC motors can be replaced with stepper motors or servo motors to meet the needs of higher precision or greater power. Speed ​​regulation technology can be expanded from pulse width modulation to vector control or adaptive control algorithms to further optimize motor performance. Depending on the actual application scenario, the power level of the motor can be adjusted from a low-power model (such as 50W) to a high-power model (such as 500W) to adapt to different equipment loads and working environments.

[0060] According to an embodiment of the present invention, the omnidirectional walking controller 200 includes a wireless communication module, and the wireless communication module is used to receive instructions from a remote control device to achieve remote walking speed and direction control.

[0061] Specifically, the wireless communication module built into the omnidirectional walking controller 200 establishes a data connection with a remote control device (such as a handheld remote control or a mobile terminal) through Wi-Fi, Bluetooth or a dedicated wireless communication protocol. The remote control device sends speed and direction adjustment instructions, and the wireless communication module transmits the received instructions to the omnidirectional walking controller 200. The omnidirectional walking controller 200 adjusts the speed and direction of the drive motor 110 according to the instructions, thereby realizing remote control of the walking structure body 100. This function makes the device operation more flexible and is not limited by the operator's position.

[0062] Furthermore, this embodiment realizes the remote control function of the equipment through the introduction of the wireless communication module, which significantly improves the convenience and safety of operation. In complex working conditions or dangerous environments, operators can operate through remote control equipment to reduce risks. In addition, the remote control function helps to improve work efficiency, especially in large-area marking operations, by quickly adjusting the path to reduce manual intervention.

[0063] It is worth noting that wireless communication modules can support multiple communication protocols to adapt to different usage scenarios. For example, if long-distance operation is required, a module that supports cellular networks (such as 4G / 5G) can be selected. In complex environments, multi-antenna design or signal enhancement technology can be used to ensure communication stability. Remote control devices can also be combined with visualization functions (such as real-time video feedback) to improve control accuracy and user experience.

[0064] Please continue to see Figure 1-2As shown, according to one embodiment of the present invention, the surface of the driving wheel 120 is provided with an anti-skid texture with a high friction coefficient.

[0065] Specifically, the anti-skid texture on the surface of the driving wheel 120 adopts a regular or irregular concave-convex structure design, and its material is rubber or polyurethane with a high friction coefficient, which can effectively enhance the contact area and friction between the tire and the road surface. On a slippery or uneven road surface, the anti-skid texture increases the surface friction and reduces the risk of slipping, thereby ensuring the stable movement of the walking structure body 100. This design enables the equipment to maintain good grip performance under various road conditions, ensuring the accuracy and safety of the marking operation.

[0066] Furthermore, this embodiment significantly improves the adaptability and stability of the equipment under various road conditions by setting an anti-skid texture with a high friction coefficient on the surface of the driving wheel 120. The anti-skid design effectively reduces the slippage of the equipment on a steep slope or slippery road, and improves the safety of the operation. At the same time, the good gripping ability ensures the straight-line travel performance of the walking structure body 100, thereby improving the accuracy and efficiency of marking.

[0067] See also Figure 3 Another object of the present invention is to provide a method for using a travel control structure of a road marking machine, including: path planning and parameter setting: obtaining a target travel path, inputting the target path information into an omnidirectional travel controller 200, and setting initial travel speed and direction parameters; travel speed and direction control: quickly adjusting the travel speed and direction by operating a handle 400 to move the road marking machine along a predetermined path; fine direction adjustment: adjusting the travel direction in a small range of angles by a fine-tuning knob 300 to improve the marking accuracy and meet the requirements of high-precision operations; positioning and navigation: starting a GPS controller 500, combining with a GNSS controller 600 to improve positioning accuracy, and automatically adjusting the travel direction according to real-time path deviation information; remote control operation: receiving instructions from a remote control device through a wireless communication module, adjusting the travel speed and direction in real time, and realizing remote control; automatic path following: starting the automatic travel controller 220 according to the path control signal to realize autonomous travel of the road marking machine; stop and reset: after completing the marking operation, controlling the omnidirectional travel controller 200 to stop driving the motor 110, and at the same time using the universal wheel to assist in the stable stop of the movement of the walking structure body 100.

[0068] In this embodiment, the walking parameters are set after the target travel path is obtained by the omnidirectional walking controller 200 to ensure the initial positioning of the road marking machine is accurate. The walking speed and direction are adjusted by the joystick 400, which is convenient for the operator to quickly adapt to different road conditions. The walking direction is further accurately adjusted by the fine-tuning knob 300, which effectively improves the marking accuracy and ensures the linearity of the marking. When high-precision path following is required, the GPS controller 500 is started and combined with the GNSS controller 600 to achieve real-time direction adjustment by receiving high-precision satellite signals, overcoming the problem of limited accuracy of traditional manual adjustment. The remote control device sends instructions through the wireless communication module, which can flexibly change the walking speed and direction of the marking machine to adapt to complex construction environments. The automatic walking controller 220 takes over the walking task under the guidance of the path control signal, realizes the automatic path following function, and reduces the burden of manual operation. After the marking operation is completed, the omnidirectional walking controller 200 is controlled to stop the drive motor 110, and combined with the auxiliary effect of the universal wheel, the walking structure body 100 is quickly stopped to ensure the safety of operation and the stability of the equipment.

[0069] Furthermore, by combining the fine-tuning knob 300 with the GPS and GNSS controller 600, the straightness and accuracy of the marking path are greatly improved, effectively reducing human errors. The design of the joystick 400 and the wireless communication module simplifies the speed and direction control process, making it convenient for operators to quickly respond to different construction conditions. Automatic path following is achieved through the automatic travel controller 220, which reduces the need for manual intervention, improves work efficiency and the accuracy of marking operations. The universal wheel assisted stop design ensures that the marking machine is stable and reliable when stopped, reduces the risk of accidental sliding, and improves the safety of equipment use. In addition, the road marking machine can flexibly adjust the travel parameters according to the target path, adapt to various construction needs, and improve overall efficiency.

[0070] Specifically, in the setting of the target travel path, a path planning method based on laser radar scanning can be used to replace the initial path acquisition method of the omnidirectional walking controller 200, and the wireless communication module can be replaced by a Bluetooth communication module to save power consumption during close-range operation; or a 5G communication module can be used to enhance the real-time and stability of remote control. The joystick 400 can be replaced by a foot-operated controller to adapt to the operating habits in certain special scenarios. In addition, the combined accuracy improvement function of GPS and GNSS can be replaced by an accuracy compensation function based on inertial navigation to reduce dependence on external satellite signals.

[0071] It is worth noting that the design of the anti-skid texture can be optimized according to the actual road conditions, for example, different texture depths or shapes (such as diamond, corrugated, grid) can be used to adapt to special environments. The surface material of the driving wheel 120 can also be a composite material with higher wear resistance to extend the service life.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0073] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A travel control structure for a road marking machine, characterized in that: include: A walking structure body, the walking structure body is used to assemble the road marking machine body; An omnidirectional walking controller, which is connected to the walking structure body and is used to control the walking speed and direction of the walking structure body; A fine-tuning knob, which is connected to the omnidirectional walking controller and is used to finely adjust the walking direction of the walking structure body; A manipulation handle is connected to the omnidirectional walking controller and is used to quickly adjust the walking speed and direction of the walking structure body.

2. The travel control structure of the road marking machine according to claim 1, characterized in that: The walking structure main body comprises: Two independent driving motors are connected to two driving wheels respectively, and are used to drive the walking structure body to move forward; At least one universal wheel is used to provide auxiliary support and improve walking stability.

3. The travel control structure of the road marking machine according to claim 2 is characterized in that: The omnidirectional walking controller is connected to the two driving motors respectively, and the omnidirectional walking controller adjusts the speed difference of the two driving motors respectively.

4. The travel control structure of the road marking machine according to claim 3 is characterized in that: The omnidirectional walking controller comprises: A motor controller, the motor controller is used to adjust the rotation speeds of the two drive motors respectively; An automatic walking controller, the automatic walking controller is used to automatically adjust the walking direction according to the path control signal; A multi-function controller is connected to the fine-tuning knob and the operating handle, and is used to coordinate the linkage between the input signals of the operating handle and the fine-tuning knob and the motor controller.

5. The travel control structure of the road marking machine according to claim 4, characterized in that: It also includes a GPS controller, which is connected to the omnidirectional walking controller.

6. The travel control structure of the road marking machine according to claim 5, characterized in that: The GPS controller is connected to a GNSS controller, and the GNSS controller is used to improve the accuracy of the GPS controller.

7. The travel control structure of the road marking machine according to claim 5 or 6, characterized in that: The fine-tuning knob is used to perform small-range directional adjustment within an angle range of 0.1° to 5° to meet the needs of high-precision marking.

8. The travel control structure of the road marking machine according to any one of claims 2 to 7, characterized in that: The driving motor is a brushless DC motor.

9. The travel control structure of the road marking machine according to any one of claims 4 to 8, characterized in that: The omnidirectional walking controller comprises a wireless communication module, and the wireless communication module is used to receive instructions from a remote control device to achieve remote walking speed and direction control.

10. A method for using a travel control structure of a road marking machine, characterized in that: include: Path planning and parameter setting: obtain the target travel path, input the target path information into the omnidirectional walking controller, and set the initial walking speed and direction parameters; Travel speed and direction control: The travel speed and direction can be quickly adjusted by the joystick to make the road marking machine move along the predetermined path; Fine direction adjustment: The travel direction can be adjusted in a small range by the fine-tuning knob to improve the marking accuracy and meet the needs of high-precision operations; Positioning and navigation: Start the GPS controller and combine it with the GNSS controller to improve positioning accuracy and automatically adjust the direction of travel based on real-time path deviation information; Remote control operation: receive instructions from the remote control device through the wireless communication module, adjust the walking speed and direction in real time, and realize remote control; Automatic path following: The automatic walking controller is activated according to the path control signal to realize the autonomous walking of the road marking machine; Stop and reset: After completing the marking operation, the omnidirectional travel controller is controlled to stop the drive motor, and the universal wheel is used to assist in stabilizing the movement of the main body of the walking structure.

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