A steering wheel control method for improving the operability of a multidirectional forklift truck

Abstract

The application provides a steering wheel control method for improving the operation of a multi-directional running forklift, which is realized through the cooperation of a steering wheel, a main controller, a steering motor and wheels installed on the multi-directional running forklift. The driver rotates the steering wheel, and the rotation direction of the wheels is controlled through the main controller program, so as to control the turning or deflection direction of the whole vehicle. The turning or deflection of the multiple wheels makes the running direction of the multi-directional running forklift the same as the rotation direction of the steering wheel. The application replaces the traditional mechanical transmission mode with an electric transmission mode. In the four running modes of forward running, backward running, lateral running and oblique running, especially in the lateral running and oblique running modes, the technical defect that the turning direction of the vehicle body is inconsistent with the actual driving intuition direction of the driver caused by the existing mechanical transmission mode is overcome, and the operability and safety of the vehicle body are improved. In particular, the probability of operation errors in emergency situations can be effectively reduced, and the safety of goods, the vehicle body and the operator is ensured. The application is suitable for wide promotion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of forklift steering methods, in particular to a steering wheel control method capable of improving the operability of a multi-directional forklift. BACKGROUND

[0002] A multi-directional forklift refers to a forklift having at least two driving modes, i.e., straight driving and lateral driving. The lateral driving mode is a stacking mode in a lane, and the operability of lateral driving directly determines the difficulty of operation by a driver, the stacking efficiency and safety.

[0003] In the current market, when a traditional mechanical transmission type forklift is laterally driven, the steering control of the steering wheel and the vehicle body is consistent in one driving direction (generally the side with better visibility), and inconsistent in the other driving direction. However, in actual operation, lateral driving is different from straight driving. When straight driving backward, a driver generally observes the rear through a rearview mirror, while when laterally driving, the driver can directly observe the front by adjusting the posture, which is similar to forward driving. At this time, the steering control should also be consistent. However, in the lateral driving process using the traditional mechanical transmission method, the vehicle body follows different directions in the consistent and inconsistent states of the steering wheel, which is inconsistent with the intuition of the driver, thereby affecting the safety of operation and easily causing misoperation to affect the safety of goods and personnel.

[0004] For example, the forklift steering control device and method disclosed in the prior art with the publication number "CN113910899A" includes a base plate, two front drive wheel assemblies and rear drive wheel assemblies are rotatably arranged on the base plate, and the rear drive wheel assemblies and the front drive wheel assemblies include a wheel frame and a rotating wheel. The wheel frame is rotatably connected to the base plate, one end of the wheel frame is rotatably provided with a rotating wheel, the rotating wheel is coaxially fixedly connected with a second driven bevel gear, the wheel frame is rotatably nested with a rotating shaft, the wheel frame is coaxially fixedly connected with a rotating wheel driving gear, the lower end of the rotating shaft is coaxially fixedly connected with a second driving bevel gear, and the front drive and the rear drive are respectively connected with the rotating shafts of the front drive wheel assemblies and the rear drive wheel assemblies. A front transverse rack, a rear transverse rack and a transmission rack are slidably arranged on the base plate, and a driving gear, a transmission gear and a driven gear are rotatably arranged on the base plate. The above device can realize the rotation and lateral movement of the forklift, and the operation is convenient and fast. The "forklift steering control device and method" is a common steering method using the traditional mechanical transmission method.

[0005] In summary, the present application aims to provide a steering wheel control method capable of improving the operability of a multi-directional forklift. The control method solves the problem that the traditional mechanical steering transmission method is inconsistent with the intuition of the driver in the lateral driving and diagonal driving modes, so as to improve the safety of operation. SUMMARY

[0006] The purpose of this invention is to provide a steering wheel control method that can improve the operability of multi-directional forklifts, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A steering wheel control method to improve the operability of a multi-directional forklift is disclosed. This method utilizes the coordinated operation of a steering wheel, main controller, steering motor, and wheels mounted on the forklift. The driver rotates the steering wheel, and the main controller program correspondingly controls the rotation direction of the wheels, thereby controlling the turning or yaw direction of the entire vehicle. The multi-directional forklift includes multiple independently steering-controlled wheels, enabling the forklift to operate in four modes: forward, backward, sideways, and diagonal.

[0009] In straight, side and diagonal driving modes, when the driver operates the steering wheel to turn, multiple wheels turn or deflect so that the following direction of the multi-directional forklift is the same as the direction of steering wheel rotation.

[0010] In reverse mode, when the driver operates the steering wheel to turn, multiple wheels turn or deflect, causing the multi-directional forklift to travel in the opposite direction to the steering wheel rotation.

[0011] Preferably, the number of wheels under independent steering control is L≥3.

[0012] Preferably, the multi-directional forklift is also equipped with a steering wheel encoder, a steering motor controller, a steering motor, a steering wheel encoder, and a handle. The steering wheel encoder is used to determine the position and rotation angle of the steering wheel. The steering motor controller is electrically connected to the main controller and controls the rotation angle of the steering motor through the main controller. The steering motor drives each wheel to turn or deflect in the direction of turning through the steering transmission mechanism. Each wheel is equipped with a steering wheel encoder to determine its position and deflection angle.

[0013] Preferably, the algorithm for wheel turning or deflection of a multi-directional forklift in both forward and reverse travel modes is as follows:

[0014] A SE =(P SE -X1)*(Y2-Y1) / (X2-X1)+Y1; where P SE ∈[-θ, θ], θ∈[3000, 4000], X1=-θ, X2=

[0015] θ, Y1=γ, Y2=-γ, γ∈[0°, 30°].

[0016] Preferably, the algorithm in the forward movement mode further includes:

[0017] ①A LF =3*A SE ;where A SE ∈[-γ°, γ°];

[0018] ②A RF =arctan(D / (D / tan(3*A)) SE *π / 180°)+D1))*180° / π;

[0019] ③A LB =-arctan(D / (D / tan(3*A)) SE *π / 180°)+(D1-D2) / 2))*180° / π;

[0020] ④A RB =-arctan(D / (D / tan(3*A)) SE *π / 180°)+(D1+D2) / 2))*180° / π.

[0021] Preferably, the algorithm in the backward movement mode also includes:

[0022] ①A LF =A SE ;where A SE ∈[-γ°, γ°];

[0023] ②A RF =arctan(D / (D / tan(A)) SE *π / 180°)-D1))*180° / π;

[0024] ③A LB = -arctan(D / (D / tan(A) SE *π / 180°)+(D2-D1) / 2))*180° / π;

[0025] ④A RB = -arctan(D / (D / tan(A) SE *π / 180°)-(D1+D2) / 2))*180° / π.

[0026] Preferably, the algorithm for wheel turning or deflection of a multi-directional forklift in lateral movement mode is as follows:

[0027] A SE =(P SE *S SE -X1)*(Y2-Y1) / (X2-X1)+Y1; where P SE∈[-θ, θ], θ∈[3000, 4000], X1=-θ, X2=

[0028] θ, Y1 = γ, Y2 = -γ, S SE ∈{1,-1}, γ∈[0°, 30°], A SE ∈[-γ°, γ°];

[0029] The algorithm for side-step reversal is as follows:

[0030] ①A LF =90°+A SE ;

[0031] ②A RF =90°-A SE ;

[0032] ③A LB =90°+arctan(D2 / 2 / ((D1 / 2 / tan(A SE *π / 180°))-2*D))*180° / π;

[0033] ④A RB =90°-arctan(D2 / 2 / ((D1 / 2 / tan(A SE *π / 180°))-2*D))*180° / π;

[0034] The algorithm for side-stepping and clockwise rotation is as follows:

[0035] ①A LF =90°-3*A SE ;

[0036] ②A RF =90°+3*A SE ;

[0037] ③A LB =arctan(((D1 / 2 / |tan(3*ASE*π / 180°)|)+2*D) / (D2 / 2))*180° / π; where A SE ∈[0°, γ°];

[0038] ④A RB =180°-arctan(((D1 / 2 / |tan(3*A SE *π / 180°)|)+2*D) / (D2 / 2))*180° / π.

[0039] Preferably, the algorithm for wheel turning or deflection of a multi-directional forklift in diagonal mode is as follows:

[0040] A SE =(PSE -X1)*(Y2-Y1) / (X2-X1)+Y1; where P SE ∈[-θ, θ], θ∈[3000, 4000θ], X1=-θ, X2=

[0041] θ, Y1 = 75, Y2 = -75;

[0042] The oblique translation algorithm also includes:

[0043] ①A LF =90°+A SE ;where A SE ∈[-75°, 75°];

[0044] ②A RF =90°+A SE ;where A SE ∈[-75°, 75°];

[0045] ③A LB =90°+A SE ;where A SE ∈[-75°, 75°];

[0046] ④A RB =90°+A SE ;where A SE ∈[-75°, 75°].

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] This invention replaces the traditional mechanical transmission method with an electrically adjustable transmission method. In four driving modes—forward, backward, sideways, and diagonal—especially in the sideways and diagonal modes, it overcomes the technical defect of the existing mechanical transmission method, which causes the vehicle's steering to be inconsistent with the driver's actual driving intuition. This improves the vehicle's operability and safety, and in particular, it can effectively reduce the probability of operational errors in emergency situations, thereby ensuring the safety of goods, the vehicle, and the operators. It is suitable for widespread application. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0050] Figure 2 This is a schematic diagram of the control element of the present invention;

[0051] Figure 3 This is a schematic diagram of the forward steering principle of the present invention;

[0052] Figure 4 This is a schematic diagram of the backward steering principle of the present invention;

[0053] Figure 5 This is a schematic diagram illustrating the principle of leftward turning in the side-driving mode of the present invention.

[0054] Figure 6 This is a schematic diagram illustrating the principle of right-turning in the side-driving mode of the present invention.

[0055] Figure 7 This is a schematic diagram illustrating the principle of leftward turning in the diagonal driving mode of the present invention.

[0056] Figure 8 This is a schematic diagram illustrating the principle of rightward turning in the diagonal mode of the present invention.

[0057] In the diagram: 1. Multi-directional forklift, 2. Steering wheel, 3. Main controller, 4. Steering motor, 5. Wheel, 6. Steering wheel encoder, 7. Steering motor controller, 8. Steering wheel encoder, 9. Handle, 10. Steering transmission mechanism. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Please see Figures 1-8 The present invention provides a technical solution:

[0060] Example:

[0061] A steering wheel control method to improve the operability of a multi-directional forklift is achieved through the coordinated operation of a steering wheel 2, a main controller 3, a steering motor 4, and wheels 5 installed on the multi-directional forklift 1. The driver rotates the steering wheel 2, and the main controller 3 program accordingly controls the rotation direction of the wheels 5, thereby controlling the turning or yaw direction of the entire vehicle. The multi-directional forklift 1 includes multiple independently steering-controlled wheels 5, enabling the multi-directional forklift 1 to have four driving modes: forward, backward, sideways, and diagonal.

[0062] In straight, side and diagonal driving modes, when the driver operates the steering wheel 2 to turn, multiple wheels 5 turn or deflect so that the following direction of the multi-directional forklift 1 is the same as the rotation direction of the steering wheel 2.

[0063] In reverse mode, when the driver operates the steering wheel 2 to turn, multiple wheels 5 turn or deflect, causing the direction of travel of the multi-directional forklift 1 to be opposite to the direction of rotation of the steering wheel 2.

[0064] Among them, the number of wheels 5 with independent steering control is L≥3.

[0065] Furthermore, the multi-directional forklift 1 is also equipped with a steering wheel encoder 6, a steering motor controller 7, a steering motor 4, a steering wheel encoder 8, and a handle 9. The steering wheel encoder 6 is used to determine the position and rotation angle of the steering wheel 2. The steering motor controller 7 is electrically connected to the main controller 3 and controls the rotation angle of the steering motor 4 through the steering motor controller 7 via the main controller 3. The steering motor 4 drives each wheel 5 to turn or deflect in the direction of turning via the steering transmission mechanism 10. Each wheel 5 is equipped with a steering wheel encoder 8 to determine its position and deflection angle. The handle 9 is used to switch between four steering modes.

[0066] The algorithm for making the wheels 5 of the multi-directional forklift 1 turn or deflect in both forward and reverse travel modes is as follows:

[0067] A SE =(P SE -X1)*(Y2-Y1) / (X2-X1)+Y1; where P SE ∈[-θ, θ], θ∈[3000, 4000], X1=-θ, X2=

[0068] θ, Y1=γ, Y2=-γ, γ∈[0°, 30°].

[0069] Furthermore, the algorithm in the forward movement mode also includes:

[0070] ①A LF =3*A SE ;where A SE ∈[-γ°, γ°];

[0071] ②A RF =arctan(D / (D / tan(3*A)) SE *π / 180°)+D1))*180° / π;

[0072] ③A LB =-arctan(D / (D / tan(3*A)) SE *π / 180°)+(D1-D2) / 2))*180° / π;

[0073] ④A RB =-arctan(D / (D / tan(3*A)) SE *π / 180°)+(D1+D2) / 2))*180° / π;

[0074] When the multi-directional forklift 1 is in forward mode, and the steering wheel 2 is turned clockwise, P SE Monotonically increasing, A SEMonotonically decreasing, the vehicle's forward rotation algorithm, with the vehicle's instantaneous center of gravity on the right side, achieves smooth vehicle movement when the driver looks forward, as the steering wheel 2 rotates forward. When the steering wheel 2 rotates backward, P... SE Monotonically decreasing, A SE The monotonically increasing, vehicle reversal algorithm, the instantaneous center point of the vehicle is on the left side of the vehicle. When the driver looks forward, the steering wheel 2 reverses and the whole vehicle follows in reverse. Finally, when the driver operates the steering wheel 2 to turn the multi-directional forklift 1 in forward mode, multiple wheels 5 turn or deflect so that the following direction of the multi-directional forklift 1 is the same as the rotation direction of the steering wheel 2.

[0075] Furthermore, the algorithm in the backward movement mode also includes:

[0076] ①A LF =A SE ;where A SE ∈[-γ°, γ°];

[0077] ②A RF =arctan(D / (D / tan(A)) SE *π / 180°)-D1))*180° / π;

[0078] ③A LB = -arctan(D / (D / tan(A) SE *π / 180°)+(D2-D1) / 2))*180° / π;

[0079] ④A RB = -arctan(D / (D / tan(A) SE *π / 180°)-(D1+D2) / 2))*180° / π;

[0080] When the multi-directional forklift 1 is in reverse mode, and the steering wheel 2 is turned clockwise, P SE Monotonically increasing, A SE Monotonically decreasing, the vehicle's clockwise rotation algorithm, with the vehicle's instantaneous center of gravity on the right side, achieves this when the driver observes the rear through mirrors, resulting in the steering wheel 2 turning clockwise and the entire vehicle following in reverse. When the steering wheel 2 reverses direction, P... SE Monotonically decreasing, A SE The monotonically increasing, vehicle operation reversal algorithm, when the driver observes the rear through the rearview mirror, etc., the steering wheel 2 reverses and the whole vehicle follows, and finally realizes that when the driver operates the steering wheel 2 to turn the multi-directional forklift 1 in reverse mode, multiple wheels 5 turn or deflect, so that the following direction of the multi-directional forklift 1 is opposite to the rotation direction of the steering wheel 2.

[0081] Furthermore, the algorithm for turning or deflecting wheels 5 of the multi-directional forklift 1 in side-moving mode is as follows:

[0082] A SE =(P SE *S SE -X1)*(Y2-Y1) / (X2-X1)+Y1; where P SE ∈[-θ, θ], θ∈[3000, 4000], X1=-θ, X2=

[0083] θ, Y1 = γ, Y2 = -γ, S SE ∈{1,-1}, γ∈[0°, 30°], A SE ∈[-γ°, γ°];

[0084] The algorithm for side-step reversal is as follows:

[0085] ①A LF =90°+A SE ;

[0086] ②A RF =90°-A SE ;

[0087] ③A LB =90°+arctan(D2 / 2 / ((D1 / 2 / tan(A SE *π / 180°))-2*D))*180° / π;

[0088] ④A RB =90°-arctan(D2 / 2 / ((D1 / 2 / tan(A SE *π / 180°))-2*D))*180° / π;

[0089] The algorithm for side-stepping and clockwise rotation is as follows:

[0090] ①A LF =90°-3*A SE ;

[0091] ②A RF =90°+3*A SE ;

[0092] ③A LB =arctan(((D1 / 2 / |tan(3*A)) SE *π / 180°)|)+2*D) / (D2 / 2))*180° / π;

[0093] ④A RB =180°-arctan(((D1 / 2 / |tan(3*A SE *π / 180°)|)+2*D) / (D2 / 2))*180° / π;

[0094] When the multi-directional forklift 1 is traveling to the left in a sideways direction, when the steering wheel 2 is turned clockwise, P SE Monotonically increasing, S SE Value A is 1. SE Monotonically decreasing, the vehicle's forward rotation algorithm, with the vehicle's instantaneous center of gravity at the front, achieves smooth vehicle movement when the driver looks to the left, resulting in the steering wheel 2 turning forward and the entire vehicle following smoothly. When the steering wheel 2 reverses direction, P... SE Monotonically decreasing, S SE Value A is 1. SE The monotonically increasing, vehicle operation reversal algorithm, the instantaneous center point of the vehicle is at the rear of the vehicle. When the driver looks to the left, the steering wheel 2 reverses and the whole vehicle follows in reverse. Therefore, when the multi-directional forklift 1 moves to the left, multiple wheels 5 turn or deflect so that the following direction of the multi-directional forklift 1 is the same as the rotation direction of the steering wheel 2.

[0095] When the multi-directional forklift 1 is traveling to the right in a sideways direction, when the steering wheel 2 is turned clockwise, P SE Monotonically increasing, S SE Value -1, A SE Monotonically increasing, vehicle reversal algorithm, the instantaneous center point of the vehicle is at the rear of the vehicle. When the driver looks to the right, steering wheel 2 turns clockwise and the whole vehicle follows; when steering wheel 2 reverses, P... SE Monotonically decreasing, S SE Value -1, A SE The monotonically decreasing, vehicle operation clockwise algorithm, the instantaneous center point of the vehicle is on the front side of the vehicle. When the driver looks to the right, the steering wheel 2 reverses and the whole vehicle follows in reverse. Therefore, when the multi-directional forklift 1 moves to the right, the multiple wheels 5 turn or deflect so that the following direction of the multi-directional forklift 1 is the same as the rotation direction of the steering wheel 2.

[0096] Furthermore, the algorithm for making the wheels 5 of the multi-directional forklift 1 turn or deflect in the diagonal mode is as follows:

[0097] A SE =(P SE -X1)*(Y2-Y1) / (X2-X1)+Y1; where P SE ∈[-θ, θ], θ∈[3000, 4000], X1=-θ, X2=

[0098] θ, Y1 = 75, Y2 = -75;

[0099] The oblique translation algorithm also includes:

[0100] ①A LF =90°+A SE ;where A SE ∈[-75°, 75°];

[0101] ②A RF =90°+ASE ;where A SE ∈[-75°, 75°];

[0102] ③A LB =90°+A SE ;where A SE ∈[-75°, 75°];

[0103] ④A RB =90°+A SE ;where A SE ∈[-75°, 75°];

[0104] When the multi-directional forklift 1 is traveling diagonally to the left, and the steering wheel 2 is turned clockwise, P SE Monotonically increasing, A SE Monotonically decreasing, the instantaneous center of gravity of the vehicle is at the vehicle center, the whole vehicle moves horizontally to the left and forward. When the driver looks to the left, the whole vehicle follows the steering wheel when turning the steering wheel clockwise. When the steering wheel turns counterclockwise, P SE Monotonically decreasing, A SE Monotonically increasing, the instantaneous center point of the vehicle is at the center of the vehicle, the whole vehicle moves to the left and rear. When the driver looks to the left, the steering wheel 2 reverses and the whole vehicle follows in reverse. Therefore, when the multi-directional forklift 1 moves diagonally to the left, multiple wheels 5 turn or deflect, making the following direction of the multi-directional forklift 1 the same as the rotation direction of the steering wheel 2.

[0105] When the multi-directional forklift 1 is traveling diagonally to the right, and the steering wheel 2 is turned clockwise, P SE Monotonically increasing, A SE Monotonically decreasing, the instantaneous center of gravity of the vehicle is at the vehicle center, the whole vehicle moves to the right rear, when the driver looks to the right, the whole vehicle follows the steering wheel 2 clockwise, when the steering wheel 2 reverses, P SE Monotonically decreasing, A SE Monotonically increasing, the instantaneous center point of the vehicle is at the center of the vehicle, the whole vehicle moves horizontally to the right front. When the driver looks to the right, the steering wheel 2 reverses and the whole vehicle follows in reverse. Therefore, when the multi-directional forklift 1 moves diagonally to the right, the multiple wheels 5 turn or deflect, so that the following direction of the multi-directional forklift 1 is the same as the rotation direction of the steering wheel 2.

[0106] In the above embodiments, P SE Incremental values ​​of steering wheel pulses, S SE For the incremental value of the steering wheel pulse, the sign of the characteristic variable value, A SE X1 is the steering wheel angle command output value, X2 is the steering wheel pulse acquisition calibration value (lower limit), Y1 is the steering wheel angle command output calibration value (lower limit), Y2 is the steering wheel angle command output calibration value (upper limit), and A is the steering wheel angle command output calibration value (lower limit). LF Output value of left front wheel angle command, A RFOutput value for right front wheel angle command, A LB Output value for left rear wheel angle command, A RB The output value is the right rear wheel angle command value, D is half of the vehicle wheelbase, D1 is the distance between the two front wheels, and D2 is the distance between the two rear wheels.

[0107] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A steering wheel control method to improve the operability of a multi-directional forklift, which is achieved through the coordinated operation of a steering wheel, a main controller, a steering motor, and wheels installed on the multi-directional forklift. The driver rotates the steering wheel, and the main controller program controls the rotation direction of the wheels accordingly, thereby controlling the turning or yaw direction of the entire vehicle. Its features are: The multi-directional forklift includes multiple independently steering-controlled wheels, which enable the multi-directional forklift to have four travel modes: forward, backward, sideways, and diagonal. In forward, side and diagonal modes, when the driver operates the steering wheel to turn, multiple wheels turn or deflect so that the following direction of the multi-directional forklift is the same as the direction of steering wheel rotation. In reverse mode, when the driver operates the steering wheel to turn, multiple wheels turn or deflect, causing the following direction of the multi-directional forklift to be opposite to the direction of steering wheel rotation. The number of wheels for independent steering control is L≥3.

2. The steering wheel control method for improving the operability of a multi-directional forklift according to claim 1, characterized in that: The multi-directional forklift is also equipped with a steering wheel encoder, a steering motor controller, a steering motor, a steering wheel encoder, and a handle. The steering wheel encoder is used to determine the position and rotation angle of the steering wheel. The steering motor controller is electrically connected to the main controller and controls the rotation angle of the steering motor through the main controller. The steering motor drives each wheel to turn or deflect in the direction of turning through the steering transmission mechanism. Each wheel is equipped with a steering wheel encoder to determine its position and deflection angle.

3. A steering wheel control method for improving the operability of a multi-directional forklift according to claim 1, characterized in that, The algorithm for enabling the wheels of a multi-directional forklift to turn or veer in both forward and reverse travel modes is as follows: A SE =(P SE -X1)*(Y2-Y1) / (X2-X1)+Y1; amongP SE ∈[-θ,θ],θ∈[3000,4000],X1=-θ,X2= θ, Y1=γ, Y2=-γ, γ∈[0°, 30°].

4. A steering wheel control method for improving the operability of a multi-directional forklift according to claim 3, characterized in that, The algorithm in the forward movement mode also includes: ①A LF =3*A SE ; among themA SE ∈[-γ°,γ°]; ②A RF =arctan(D / (D / tan(3*A SE *π / 180°)+D1))*180° / π; ③A LB =-arctan(D / (D / tan(3*A SE *π / 180°)+(D1-D2) / 2))*180° / π; ④A RB =-arctan(D / (D / tan(3*A SE *π / 180°)+(D1+D2) / 2))*180° / π。 5. A steering wheel control method for improving the operability of a multi-directional forklift according to claim 3, characterized in that, The algorithm in backward movement mode also includes: ①A LF =A SE ; among themA SE ∈[-γ°,γ°]; ②A RF =arctan(D / (D / tan(A SE *π / 180°)-D1))*180° / π; ③A LB =-arctan(D / (D / tan(A SE *π / 180°)+(D2-D1) / 2))*180° / π; ④A RB =-arctan(D / (D / tan(A SE *π / 180°)-(D1+D2) / 2))*180° / π。 6. A steering wheel control method for improving the operability of a multi-directional forklift according to claim 1, characterized in that, The algorithm for wheel turning or deflection of a multi-directional forklift in lateral movement mode is as follows: A SE =(P SE *S SE -X1)*(Y2-Y1) / (X2-X1)+Y1; amongP SE ∈[-θ,θ],θ∈[3000,4000],X1=-θ,X2= θ, Y1=γ, Y2=-γ, S SE ∈{1,-1}、γ∈[0°,30°],A SE ∈[-γ°,γ°]; The algorithm for side-step reversal is as follows: ①A LF =90°+A SE ; ②A RF =90°-A SE ; ③A LB =90°+arctan(D2 / 2 / ((D1 / 2 / tan(A SE *π / 180°))-2*D))*180° / π; ④A RB =90°-arctan(D2 / 2 / ((D1 / 2 / tan(A SE *π / 180°))-2*D))*180° / π; The algorithm for side-stepping and clockwise rotation is as follows: ①A LF =90°-3*A SE ; ②A RF =90°+3*A SE ; ③A LB =arctan(((D1 / 2 / |tan(3*ASE*π / 180°)|)+2*D) / (D2 / 2))*180° / π; ④A RB =180°-arctan(((D1 / 2 / |tan(3*A SE *π / 180°)|)+2*D) / (D2 / 2))*180° / π。 7. A steering wheel control method for improving the operability of a multi-directional forklift according to claim 1, characterized in that, The algorithm for making the wheels of a multi-directional forklift turn or deflect in diagonal mode is as follows: A SE =(P SE -X1)*(Y2-Y1) / (X2-X1)+Y1; amongP SE [-θ,θ],θ∈[3000,4000],X1=-θ,X2=θ,Y1=75,Y2=-75; The oblique translation algorithm also includes: ①A LF =90°+A SE ;Among them A SE ∈[-75°, 75°]; ②A RF =90°+A SE ;Among them A SE ∈[-75°, 75°]; ③A LB =90°+A SE ;Among them A SE ∈[-75°, 75°]; ④A RB =90°+A SE ;Among them A SE ∈[-75°, 75°].

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