Walking control structure of road marking machine

Abstract

The utility model discloses a walking control structure of a road marking machine. The walking control structure of the road marking machine has the technical problem of insufficient control precision. 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] This utility model relates to the technical field of road marking equipment, and in particular to a walking control structure for a road marking machine. Background Technology

[0002] Road marking machines are widely used for applying road traffic markings, and their performance directly affects the accuracy and efficiency of the markings. The machine's travel control structure, as a key component, determines its direction of travel, speed adjustment, and adaptability to complex construction environments. Currently, road marking machines typically employ a single operation method for their travel control structure, such as lever control or knob control. While these methods have some applicability in different scenarios, they also reveal significant limitations.

[0003] Existing lever control methods are widely used for adjusting the direction and speed of road marking machines due to their simple structure and intuitive operation. However, this method is insufficient in high-precision operation scenarios, especially in construction tasks requiring fine adjustments, where it is prone to directional deviations or uneven speeds.

[0004] Therefore, the existing road marking machine walking control structure suffers from insufficient control accuracy. Utility Model Content

[0005] This utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, one objective of this utility model is to provide a road marking machine travel control structure. This road marking machine travel control structure is used to precisely control the road marking machine so as to draw high-standard road traffic markings. The road marking machine travel control structure includes:

[0006] The main walking structure is used to assemble the main body of the road marking machine;

[0007] An omnidirectional walking controller is connected to the walking structure body and is used to control the walking speed and direction of the walking structure body;

[0008] A fine-tuning knob, connected to the omnidirectional walking controller, is used to finely adjust the walking direction of the walking structure body.

[0009] A control handle, which is connected to the omnidirectional walking controller, is used to quickly adjust the walking speed and direction of the walking structure body.

[0010] In some examples of this utility model, the walking structure body includes:

[0011] Two independent drive motors are connected to two drive wheels respectively to drive the main body of the walking structure.

[0012] At least one omnidirectional wheel is provided for auxiliary support and to improve walking stability.

[0013] In some examples of this utility model, the omnidirectional walking controller is connected to two drive motors respectively, and the omnidirectional walking controller adjusts the speed difference between the two drive motors respectively.

[0014] In some examples of this utility model, the omnidirectional walking controller includes:

[0015] A motor controller, which is used to adjust the speed of the two drive motors respectively;

[0016] An automatic walking controller, which is used to automatically adjust the walking direction according to a path control signal;

[0017] A multi-function controller is connected to the fine-tuning knob and the operating handle. The multi-function controller is used to coordinate the linkage between the input signals of the operating handle and the fine-tuning knob and the motor controller.

[0018] In some examples of this invention, a GPS controller is also included, which is connected to an omnidirectional walking controller.

[0019] In some examples of this invention, the GPS controller is connected to a GNSS controller, which is used to improve the accuracy of the GPS controller.

[0020] In some examples of this utility model, the fine-tuning knob is used to make small-range directional adjustments with an angle range of 0.1° to 5° to meet the requirements of high-precision scribing.

[0021] In some examples of this utility model, the drive motor is a DC brushless motor.

[0022] In some examples of this utility model, the omnidirectional walking controller includes a wireless communication module, which is used to receive instructions from a remote control device to achieve remote walking speed and direction control.

[0023] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. This invention, through the combination of a control handle and a fine-tuning knob, significantly improves the ease of operation and accuracy of the road marking machine under various working conditions. The control handle enables a wide range of rapid speed and direction adjustments, suitable for marking scenarios requiring frequent speed changes and turns; the fine-tuning knob focuses on small-range direction adjustments, particularly suitable for fine line drawing needs, such as parking space edges, guide lines at turns, and complex traffic symbols.

[0024] Through the aforementioned combined control design, this invention can quickly adapt to different road surfaces and drawing requirements, significantly improving the equipment's flexibility in complex paths. Simultaneously, the equipment can be easily and precisely adjusted during the drawing process, reducing rework caused by directional errors in traditional equipment, thereby effectively improving work efficiency and line marking quality. Furthermore, this design optimizes the operating process, reducing reliance on operator skills, enabling ordinary technicians to easily complete high-quality line marking tasks. For road traffic marking drawing, the flexibility and accuracy of this invention are also reflected in its ability to adapt to the construction needs of different types of markings, such as straight lines, curves, discontinuous lines, and special symbols. Its design ensures high consistency in marking width, edge straightness, and position, providing crucial support for improving road traffic safety and standardization. The improved operating efficiency and reduced work time make this invention more efficient and practical in high-traffic environments, while minimizing traffic impact. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a first-view structural diagram of a road marking machine travel control structure provided by the present invention;

[0027] Figure 2 This is a second-view structural diagram of a road marking machine travel control structure provided by this utility model.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100 - Main walking structure; 110 - Drive motor; 120 - Drive wheel;

[0030] 200 - Omnidirectional walking controller; 210 - Motor controller; 220 - Automatic walking controller; 230 - Multifunctional controller;

[0031] 300- Fine-tuning knob;

[0032] 400 - Control handle;

[0033] 500-GPS controller;

[0034] 600-GNSS controller. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0036] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0037] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0039] Figure 1 This is a first-view structural diagram of a road marking machine travel control structure provided by the present invention; Figure 2 This is a second-view structural diagram of a road marking machine travel control structure provided by this utility model.

[0040] The following is for reference. Figures 1-2 Description of embodiments of the present invention: One objective of the present invention is to provide a road marking machine travel control structure. This road marking machine travel control structure is used to precisely control the road marking machine so as to draw high-standard road traffic markings. The road marking machine travel control structure includes:

[0041] The main body of the walking structure 100 is used to assemble the main body of the road marking machine;

[0042] An omnidirectional walking controller 200 is connected to the walking structure body 100 and is used to control the walking speed and direction of the walking structure body 100.

[0043] A fine-tuning knob 300 is connected to the omnidirectional walking controller 200 and is used to finely adjust the walking direction of the walking structure body 100.

[0044] A control handle 400 is connected to the omnidirectional walking controller 200 and is used to quickly adjust the walking speed and direction of the walking structure body 100.

[0045] Specifically, the aforementioned structure, through the integrated control of the omnidirectional travel controller 200, achieves precise control of the speed and direction of the main traveling structure 100. The control handle 400 provides a wide range of rapid adjustments, while the fine-tuning knob 300 is responsible for small-range, precise directional adjustments, thus meeting the needs of different application scenarios. Furthermore, the main traveling structure 100, as the load-bearing and traveling platform of the road marking machine, provides structural support for the stable operation of the equipment.

[0046] Furthermore, this embodiment significantly improves the ease of operation and accuracy of the road marking machine under various working conditions. By combining the control handle 400 with the fine-tuning knob 300, flexible switching between coarse and fine adjustments is achieved, enhancing adaptability to complex paths. Simultaneously, it simplifies the operation process and improves the equipment's efficiency and safety.

[0047] It is worth noting that the main body 100 of the walking structure can be made of aluminum alloy or high-strength composite materials to reduce the overall weight of the equipment and improve its durability. The form of the control handle 400 can be adjusted to a joystick or slider design according to the usage scenario to optimize ergonomics. The control precision range of the fine-tuning knob 300 can be extended from 0.05° to 10° to adapt to different precision requirements.

[0048] Please continue reading Figure 1 As shown, according to one embodiment of the present invention, the walking structure main body 100 includes:

[0049] Two independent drive motors 110 are connected to two drive wheels 120 respectively, and are used to drive the walking structure body 100 to move.

[0050] At least one omnidirectional wheel is provided for auxiliary support and to improve walking stability.

[0051] Specifically, two independent drive motors 110 drive two drive wheels 120 to rotate, realizing the basic motion capability of the main body of the walking structure 100. At least one omnidirectional wheel plays a supporting and balancing role in the structure, while providing additional flexibility, enabling the main body of the walking structure 100 to have higher stability and adaptability in steering and complex road conditions. The drive motors 110 can independently adjust their speed through a precise motor control system, thereby achieving flexible motion control.

[0052] Furthermore, by using two independent drive motors 110, this embodiment achieves more efficient and flexible drive control, making it suitable for various complex working conditions. The auxiliary support design of the casters improves overall stability, reduces swaying caused by uneven road surfaces, and improves marking accuracy and equipment lifespan. In addition, the independent drive design makes the equipment more flexible when turning in small radii and operating in confined spaces.

[0053] It is worth noting that the two drive motors 110 can be selected with different power levels to adapt to light and heavy load requirements. The number of casters can be increased to two or more depending on the actual application scenario to further improve the stability of the equipment in complex terrain. The connection method of the drive wheels 120 can be changed from direct drive to connection via a transmission system to optimize torque output and reduce operating noise.

[0054] Please continue reading Figure 1-2 As shown, according to one embodiment of the present invention, the omnidirectional walking controller 200 is connected to two drive motors 110 respectively, and the omnidirectional walking controller 200 adjusts the speed difference between the two drive motors 110 respectively.

[0055] Specifically, the omnidirectional travel controller 200 achieves differential steering by controlling the speed difference between two independent drive motors 110. When the speeds of the two drive motors 110 are not synchronized, the main body of the travel structure 100 can turn around a certain center point. This differential steering function enables the equipment to efficiently adapt to the marking requirements of narrow sections or complex routes while maintaining stability. By precisely controlling the speed difference, the steering angle can also be adjusted, thereby meeting the flexible operation requirements in different scenarios.

[0056] Furthermore, this embodiment significantly improves the equipment's handling performance in confined spaces and complex paths through differential steering design. Compared to traditional steering methods, this solution eliminates the need for additional mechanical steering structures, simplifying equipment design and reducing maintenance costs. Simultaneously, the steering process is smoother, further enhancing lane marking accuracy.

[0057] It is worth noting that the differential adjustment range of the omnidirectional travel controller 200 can be adjusted according to needs to achieve greater steering flexibility. The differential control logic can be implemented using hardware-based digital circuit design or software algorithms to adapt to the performance requirements of different equipment. Furthermore, to improve steering accuracy, a gyroscope or accelerometer can be incorporated to achieve real-time steering angle feedback control.

[0058] Please continue reading Figure 1-2 As shown, according to one embodiment of the present invention, the omnidirectional walking controller 200 includes:

[0059] Motor controller 210, which is used to adjust the speed of the two drive motors 110 respectively;

[0060] An automatic walking controller 220 is used to automatically adjust the walking direction according to a path control signal;

[0061] A 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.

[0062] Specifically, the motor controller 210 receives signals from the multi-function controller 230 in real time and independently adjusts the speed of the two drive motors 110, thereby achieving precise control of the walking speed and direction. The automatic walking controller 220, based on preset path control signals, can automatically calculate the optimal walking direction and adjust the motor output in real time to ensure the equipment travels along the predetermined trajectory. The multi-function controller 230, as the core of the system, comprehensively processes the input signals from the control handle 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.

[0063] Furthermore, this embodiment achieves efficient integration of manual control and automatic path walking through the modular design of the omnidirectional walking controller 200. The collaborative work of the motor controller 210 and the automatic walking controller 220 improves the accuracy and stability of equipment operation. The introduction of the multi-functional controller 230 enhances the flexibility of user operation, supports switching between multiple control modes, simplifies equipment operation procedures, and improves user experience and work efficiency.

[0064] It is worth noting that the motor controller 210 can employ different speed control technologies, such as pulse width modulation (PWM) or vector control, to accommodate different types of drive motors 110. The automatic walking controller 220 can be combined with sensors such as depth cameras or LiDAR to improve path recognition and navigation capabilities. The input device of the multi-function controller 230 can be expanded to a touchscreen or a wireless remote control, further optimizing the user experience.

[0065] Please continue reading Figure 1-2 As shown, according to one embodiment of the present invention, it further includes a GPS controller 500, which is connected to the omnidirectional walking controller 200.

[0066] Specifically, the GPS controller 500 acquires real-time geographic location data of the walking structure 100 by receiving satellite signals and transmits this data to the omnidirectional walking controller 200. Based on the received geographic location data and a preset path planning algorithm, the omnidirectional walking controller 200 adjusts the walking speed and direction of the walking structure 100 in real time. The path planning guidance function generates the optimal walking path based on the location of the target point and performs path tracking through the automatic walking controller 220, thereby ensuring that the equipment can accurately complete the line marking operation.

[0067] Furthermore, by incorporating a GPS controller 500, this embodiment enables the equipment to achieve real-time positioning and path planning capabilities, significantly improving automation and operational efficiency. In complex or unknown environments, the path planning guidance function helps the equipment avoid obstacles or adjust its path, greatly reducing the need for manual intervention. In addition, the provision of real-time geographic location information facilitates operators' monitoring of equipment status and progress, enhancing the accuracy and reliability of operations.

[0068] It's worth noting that the GPS controller 500 can be combined with other sensors (such as inertial navigation systems or magnetometers) to enhance the device's positioning capabilities in areas with poor signal. The path planning algorithm can employ A*, Dijkstra's algorithm, or machine learning techniques to improve planning efficiency and adaptability. Communication between controllers can be either wired or wireless to optimize data transmission speed and system flexibility.

[0069] Please continue reading 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.

[0070] Specifically, the GPS controller 500 is responsible for receiving satellite signals from 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 cases of signal obstruction or weak signals from a single satellite system, the GNSS controller 600 can compensate using signals from other systems to ensure the positioning accuracy of the walking structure 100. The omnidirectional walking controller 200 utilizes the fused positioning data to achieve more precise path planning and real-time adjustments, improving the equipment's adaptability in complex environments.

[0071] Furthermore, this embodiment significantly enhances the device's positioning capabilities and navigation reliability by combining GPS with the GNSS controller 600. Multi-source data fusion technology solves the positioning inaccuracy problem caused by signal obstruction in complex environments, thus ensuring the continuity and accuracy of line marking operations. In addition, improved positioning accuracy helps optimize path planning and equipment scheduling, reducing energy consumption and operation time.

[0072] It is worth noting that the GNSS controller 600 can optionally support Real-Time Kinematic (RTK) positioning to further improve positioning accuracy. To reduce costs, software-based GNSS data fusion algorithms can be used to reduce hardware dependence. Furthermore, the system can be combined with auxiliary equipment such as ground base stations or wireless beacons to further enhance signal coverage and positioning capabilities.

[0073] Please continue reading Figure 1-2 As shown, according to one embodiment of the present invention, the fine-tuning knob 300 is used for small-range directional adjustment with an angle range of 0.1° to 5° to meet the requirements of high-precision scribing.

[0074] Specifically, the fine-tuning knob 300 inputs a precise control signal to the omnidirectional travel controller 200, enabling minute directional adjustments to the main body 100 of the traveling structure. Based on the angle offset command input by the knob, the omnidirectional travel controller 200 fine-tunes the speed difference between the two drive motors 110, thereby allowing the main body 100 of the traveling structure to achieve a small range of directional changes. This adjustment range (0.1° to 5°) meets the requirements of high-precision line marking operations, performing particularly well when accurately marking narrow lines or complex patterns.

[0075] Furthermore, this embodiment achieves precise directional control through the fine-tuning knob 300, providing a reliable guarantee for high-precision line marking operations. The optimized angle range design not only improves the line marking quality but also reduces the accumulation of errors caused by multiple adjustments, significantly improving overall work efficiency. In addition, this design simplifies the operation steps, allowing operators to complete fine adjustments more intuitively.

[0076] It is worth noting that the adjustment range of the fine-tuning knob 300 can be extended from 0.05° to 10° according to specific operational needs, to accommodate different precision requirements. The input method of the fine-tuning knob 300 can be replaced with a touchscreen or electronic joystick to improve user experience and operational comfort. Simultaneously, an integrated feedback display can show the current adjustment angle to the user in real time, further enhancing operational accuracy.

[0077] According to one embodiment of the present invention, the drive motor 110 is a DC brushless motor.

[0078] Specifically, the drive motor 110 is a brushless DC motor, and its speed is regulated by the omnidirectional travel controller 200 through pulse width modulation (PWM) or other speed control technologies. The brushless motor design eliminates the mechanical friction problems of traditional brushed motors, making the motor more efficient and longer-lasting. The omnidirectional travel controller 200 dynamically adjusts the motor speed according to the operation input signal or path planning requirements, thereby achieving stepless speed regulation. This stepless adjustment characteristic allows the equipment to flexibly adapt to different road conditions and marking requirements.

[0079] Furthermore, this embodiment improves the power output efficiency of the main walking structure 100 by employing a brushless DC motor, while reducing operating noise and maintenance costs. The stepless speed regulation function provides the equipment with a wider speed range and a smoother speed adjustment process, enabling it to adapt to various complex working conditions, including high-precision slow line marking and long-distance rapid movement. The overall performance improvement enhances the equipment's versatility and operational stability.

[0080] It's worth noting that brushless DC motors can be replaced with stepper motors or servo motors to meet the demands for higher precision or greater power. Speed ​​control technology can be expanded from pulse width modulation to vector control or adaptive control algorithms to further optimize motor performance. Depending on the specific application scenario, the motor's power rating can be adjusted from a low-power model (e.g., 50W) to a high-power model (e.g., 500W) to adapt to different equipment loads and operating environments.

[0081] According to one embodiment of the present invention, the omnidirectional walking controller 200 includes a wireless communication module, which is used to receive instructions from a remote control device to realize remote walking speed and direction control.

[0082] Specifically, the omnidirectional walking controller 200's built-in wireless communication module establishes a data connection with a remote control device (such as a handheld remote control or mobile terminal) via Wi-Fi, Bluetooth, or a dedicated wireless communication protocol. The remote control device sends speed and direction adjustment commands, and the wireless communication module transmits the received commands to the omnidirectional walking controller 200. The omnidirectional walking controller 200 then adjusts the speed and direction of the drive motor 110 according to the commands, thereby achieving remote control of the walking structure body 100. This function makes the equipment operation more flexible and not limited by the operator's location.

[0083] Furthermore, this embodiment, through the introduction of a wireless communication module, enables remote control of the equipment, significantly improving operational convenience and safety. In complex working conditions or hazardous environments, operators can remotely control the equipment, thereby reducing risks. In addition, the remote control function helps improve work efficiency, especially in large-area line marking operations, by quickly adjusting the path to reduce manual intervention.

[0084] It's worth noting that wireless communication modules can support multiple communication protocols to adapt to different usage scenarios. For example, for long-distance operation requirements, modules supporting cellular networks (such as 4G / 5G) can be selected. In complex environments, multi-antenna designs or signal enhancement technologies can be employed to ensure communication stability. Remote control devices can also incorporate visualization features (such as real-time video feedback) to improve control accuracy and user experience.

[0085] Please continue reading Figure 1-2As shown, according to one embodiment of the present invention, the surface of the drive wheel 120 is provided with a high coefficient of friction anti-slip texture.

[0086] Specifically, the anti-slip texture on the surface of the drive wheel 120 adopts a regular or irregular concave-convex structure design, and its material is selected from high-friction coefficient rubber or polyurethane, which can effectively enhance the contact area and friction between the tire and the road surface. On wet or uneven road surfaces, the anti-slip texture reduces the risk of slipping by increasing surface friction, thereby ensuring the stable movement of the main body of the walking structure 100. This design enables the equipment to maintain good grip performance under various road surface conditions, ensuring the accuracy and safety of line marking operations.

[0087] Furthermore, this embodiment significantly improves the adaptability and stability of the equipment under various road conditions by setting a high-friction coefficient anti-slip texture on the surface of the drive wheel 120. The anti-slip design effectively reduces slippage of the equipment on steep slopes or slippery surfaces, improving operational safety. At the same time, the good grip ensures the straight-line travel performance of the main walking structure 100, thereby improving the accuracy and efficiency of line marking.

[0088] It is worth noting that the design of the anti-slip texture can be optimized according to actual road conditions, for example, by using different texture depths or shapes (such as diamond, corrugated, and grid patterns) to adapt to special environments. The material of the drive wheel 120 surface can also be a composite material with higher wear resistance to extend its service life.

[0089] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0090] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A walking control structure for a road marking machine, characterized in that, The application relates to a road marking machine, which comprises the following parts: a walking structure body for assembling the road marking machine body; an omnidirectional walking controller connected with the walking structure body, used for controlling the walking speed and direction of the walking structure body; a fine adjustment knob connected with the omnidirectional walking controller, used for finely adjusting the walking direction of the walking structure body; a handle connected with the omnidirectional walking controller, used for quickly adjusting the walking speed and direction of the walking structure body.

2. The road marking machine travel control structure according to claim 1, wherein The walking structure body comprises: two independent driving motors connected with two driving wheels respectively, used for driving the walking of the walking structure body; at least one universal wheel used for auxiliary support and improving walking stability.

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

4. The road marking machine travel control structure according to claim 3, wherein The omnidirectional walking controller comprises: a motor controller used for adjusting the rotating speed of the two driving motors respectively; an automatic walking controller used for automatically adjusting the walking direction according to a path control signal; a multifunctional controller connected with the fine adjustment knob and the handle, used for coordinating the input signals of the handle and the fine adjustment knob with the linkage of the motor controller.

5. The road marking machine travel control structure according to claim 4, wherein A GPS controller is further included, which is connected with the omnidirectional walking controller.

6. The road marking machine travel control structure according to claim 5, wherein The GPS controller is connected with a GNSS controller, which is used for improving the precision of the GPS controller.

7. The travel control structure of the road marking machine according to claim 5, wherein The fine adjustment knob is used for small-range direction adjustment with an angle range of 0.1-5 DEG, so as to adapt to high-precision marking requirements.

8. The walk control structure of the road marking machine according to any one of claims 2 to 7, characterized in that, The driving motor is a direct-current brushless motor.

9. The walk control structure of the road marking machine according to any one of claims 4 to 7, characterized in that, The omnidirectional walking controller comprises a wireless communication module, which is used for receiving the instructions of a remote control device and realizing remote walking speed and direction control.

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