Bidirectional driving control method and system for concentrated transportation machine

Abstract

The invention discloses a bidirectional driving control method and system for a concentrated transportation machine, and belongs to the technical field of engineering machinery. The method aims at solving the safety problem of the two-way concentrated transportation vehicle during forest farm operation. The method comprises the steps that a starting signal is obtained after an engine is started; triggering detection of road condition information and seat direction based on the starting signal; if the direction of the seat is the forward direction, a control signal of the driving unit is generated to activate an operation handle and a front accelerator pedal of the vehicle; if the direction of the seat is reverse, a control signal of the driving unit is generated to activate a rear accelerator pedal of the vehicle; selecting a driving mode according to the road condition information; according to the driving mode and the direction of the seat, a control signal of a steering unit is generated so as to adjust vehicle steering. The driving mode, steering control and driving control related execution mechanisms can be automatically switched according to the seat direction and the road condition information, the manual operation complexity is reduced, various terrain requirements are met, and the safety of forest land driving is improved.

Description

Technical Field

[0001] The invention relates to a bidirectional driving control method and system for a forwarder, belonging to the technical field of engineering machinery. Background Art

[0002] At present, large-scale forest farms at home and abroad tend to mechanized and intelligent production, and their production process is roughly divided into three parts: felling, timber collection and transportation. In the process of timber collection and transportation, a variety of engineering vehicles are needed to realize the transfer of materials; therefore, the mechanized operation and production of large-scale forest farms require a lot of equipment costs, and due to the terrain constraints of different forest farms, the collection and transportation vehicles required are also different. Modern forestry engineering vehicles usually use rail-mounted collection locomotives and engineering vehicles for forest farm transportation; rail locomotives have high initial investment costs and poor transportation mobility, and their tracks are easily damaged by sudden factors, so engineering vehicles have a wider application in terms of cost, mobility and flexibility.

[0003] When using the existing engineering vehicle driving system to operate in forest farms, the transportation tasks are often affected by factors such as different slopes, different ground surfaces, and different geology. In order to improve this phenomenon, an engineering vehicle with a two-way driving system has been invented, which enables the vehicle to flexibly adjust and reverse in narrow forest passages or complex terrains. However, the existing two-way driving system only adds opposite driving positions and independent control systems to a single driving system, so the system requires two drivers to control the front and rear ends of the vehicle respectively to complete collaborative driving. If the driving skills and coordination of the two drivers are inconsistent, they will not be able to cope with emergencies and complex terrains. Therefore, the existing two-way driving container trucks have great safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a two-way driving control method and system for a forwarder, with accelerator pedals and service brake pedals provided in the front and rear directions. Through the method and system of the present invention, the driving mode, steering control and related actuators of travel control can be flexibly switched according to the seat orientation and road condition information, thereby reducing the complexity of manual operation, meeting various terrain requirements, and improving the safety of forest driving.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] In a first aspect, the present invention provides a bidirectional driving control method for a forwarder, comprising: After the engine is started, a start signal is obtained; Based on the start signal, the detection of road condition information and seat direction is triggered; If the direction of the seat is forward, a control signal of the travel unit is generated to activate the working handle and the front accelerator pedal of the vehicle; If the direction of the seat is reverse, a control signal of the travel unit is generated to activate the rear accelerator pedal of the vehicle; Select driving mode based on road conditions; Depending on the driving mode and seat orientation, control signals for the steering unit are generated to adjust the vehicle steering.

[0007] Optionally, after obtaining the start signal, the method further includes triggering the detection of the brake system pressure of the brake unit and the duration of the stop filling signal according to the start signal; if the brake system pressure is less than or equal to the lower pressure limit, generating a brake system filling signal; If the brake system pressure is greater than or equal to the upper pressure limit, a brake system filling stop signal is generated; and when the duration exceeds a set time range, a parking brake unlocking signal of the brake unit is generated.

[0008] Optionally, after generating the filling signal of the brake system, the method further includes: Get the filling time of the brake system; If the duration is less than or equal to the minimum time of 15S, a fault message is generated, driving is prohibited and an alarm is sounded.

[0009] Optionally, after generating the parking brake unlocking signal of the brake unit, the method further includes: Detecting the parking brake unlocking pressure of the brake unit; When the unlocking pressure is within the unlocking pressure range, it is judged that the brake unit has been unlocked normally, the parking switch has been turned on, and the engine has started normally; When the unlocking pressure is not within the unlocking pressure range, it is determined that the brake unit is not unlocked, and an alarm signal prohibiting walking is generated and output visually.

[0010] Optionally, the driving mode includes a high-speed driving mode and a low-speed off-road mode, wherein the high-speed driving mode is suitable for flat ground, and the low-speed off-road mode is suitable for ordinary woodlands and rocky steep slopes; When the driving mode is high-speed driving mode, the vehicle driving characteristics are low torque and high speed; When the driving mode is low-speed off-road mode, the vehicle's driving characteristics are high torque and low speed.

[0011] Optionally, according to the driving mode and the seat direction, a control signal of the steering unit is generated to adjust the vehicle steering, including: When the driving mode is high-speed driving mode, an activation signal of the dual-channel small steering wheel is generated, the second steering solenoid valve in the steering unit is opened and the rotation direction of the steering cylinder is controlled according to the seat direction; When the driving mode is the low-speed off-road mode, a combined activation signal of the steering rocker and the steering switch is generated, the first steering solenoid valve in the steering unit is opened and the rotation direction of the steering cylinder is controlled according to the seat direction.

[0012] In a second aspect, the present invention provides a forwarder bidirectional driving control system, comprising: a control unit, a braking unit, a driving unit, a steering unit and a data acquisition unit; The control unit is used to execute the steps of the above method; The brake unit is used for brake system filling, service braking and parking braking; The steering unit is used to adjust the steering cylinder; The travel unit is used to control the travel of the vehicle; The data acquisition unit is used to obtain road condition information, a start signal, a brake system pressure, a parking brake release pressure and a seat direction.

[0013] Optionally, a main controller is provided in the control unit, and the main controller is electrically connected to the braking unit, the travel unit and the data acquisition unit respectively; The brake unit comprises a rear driving brake pedal, a front driving brake pedal, a brake system, and a working pump and an accumulator connected via an oil circuit; The steering unit includes a small dual-channel steering wheel, a steering rocker and a steering switch; The travel unit includes an engine controller, a travel motor, a travel main pump, a front accelerator pedal and a rear accelerator pedal; The data acquisition unit includes a seat direction sensor, a brake system pressure sensor, a parking brake pressure sensor, and a road condition information acquisition device.

[0014] Optionally, the control unit is also connected to a parking switch, a driving direction switch, a driving mode switch, an operating handle, a speed sensor and an electronic monitor; The parking switch is used to release the parking brake; The driving direction switch is used to control the driving direction of the vehicle; The driving mode switch is used to manually select the driving mode; The operating handle is used to adjust the upper limit of the driving speed; The speed sensor is installed on the travel motor or the drive axle to detect the vehicle's travel speed; The electronic monitor is used for vehicle driving information and vehicle preset parameters, wherein the vehicle preset parameters include accelerator pedal sensitivity, maximum speed of each driving mode and engine speed limit.

[0015] Optionally, the dual-channel small steering wheel is used to control the second steering solenoid valve; The combination of the steering rocker and the steering switch is used to control the first steering solenoid valve; The first steering solenoid valve and the second steering solenoid valve are connected in parallel to jointly control the extension and retraction of the steering cylinder; When the driving mode is the low-speed off-road mode, a combined activation signal of the steering rocker and the steering switch is generated, and the first steering solenoid valve in the steering unit is turned on to control the vehicle to turn sharply; When the driving mode is high-speed driving mode, an activation signal for the dual-channel small steering wheel is generated, and the second steering solenoid valve in the steering unit is opened to control the vehicle's micro-steering.

[0016] Optionally, the system also includes a two-way driver's seat; A rotating device is provided at the bottom of the two-way driving seat for adjusting the direction of the driving seat so that the two-way driving seat can be rotated between the front accelerator pedal and the front driving brake pedal and the rear accelerator pedal and the rear driving brake pedal; The steering unit is arranged on a bidirectional driving seat and is used for flexibly switching a dual-channel small steering wheel or a steering rocker and a steering switch as the seat rotates in both directions.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The driving control system provided by the present invention can be driven in both directions, automatically switches the relevant actuators of the steering unit and the driving unit according to the direction of the seat, and matches and activates the corresponding driving mode according to the collected road condition information, thereby reducing the complexity of manual operation and meeting the requirements of various terrains, improving the safety of forest driving, and avoiding driving and steering errors caused by human operation errors.

[0018] 2. The actuator related to the steering unit consists of two subsystems. The first one is controlled by a dual-channel small steering wheel and is used in high-speed driving mode; the second one is controlled by a steering rocker and a steering switch and is used in low-speed off-road mode. The steering unit can be flexibly adjusted according to the driving mode and the direction of the seat. The small steering wheel controls small steering when driving at high speed, and the steering rocker and steering switch control large steering when driving at low speed off-road. If any steering circuit fails, the other circuit can be used for emergency steering, which improves safety and controllability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of the bidirectional driving control system of the forwarder of the present invention; Figure 2 It is a schematic diagram of the bidirectional driving control system of the forwarder of the present invention; Figure 3 It is a flow chart of the bidirectional driving control method of the forwarder of the present invention; Figure 4 It is a flow chart of the method for controlling the filling of a forwarder in two-way driving according to the present invention; Figure 5 It is a flow chart of a method for starting a bidirectional driving control system for a forwarder according to the present invention; Figure 6This is a flow chart of the forwarder bidirectional driving control low-speed mode steering of the present invention; Figure 7 The present invention is a flow chart of the forwarder bidirectional driving control high-speed mode steering.

[0020] In the figure: 1 is the main controller, 2 is the front accelerator pedal, 3 is the engine controller, 4 is the driving seat, 5 is the dual-channel small steering wheel, 6 is the driving direction switch, 7 is the electronic monitor, 8 is the rear driving brake pedal, 9 is the steering switch, 10 is the steering rocker, 11 is the travel motor, 12 is the rear accelerator pedal, 13 is the second steering solenoid valve, 14 is the seat direction sensor, 15 is the travel main pump, 16 is the first steering solenoid valve, and 17 is the front driving brake pedal. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example

[0022] The present embodiment provides a bidirectional driving control system for a forwarder, including: a control unit, a braking unit, a driving unit, a steering unit and a data acquisition unit; the control unit is used to execute the steps of the control method; the braking unit is used to fill the brake system with fluid, service brake and parking brake; the steering unit is used to adjust the steering unit; the driving unit is used to control the vehicle driving; the data acquisition unit is used to obtain road condition information, start signal, brake system pressure, parking brake unlocking pressure and seat direction.

[0023] Optional, such as Figure 1 and Figure 2 The control unit shown is provided with a main controller 1, which is electrically connected to the braking unit, the travel unit and the data acquisition unit respectively; The brake unit includes a rear service brake pedal 8, a front service brake pedal 17, a brake system, and a working pump and an accumulator connected via an oil circuit; The steering unit includes a small dual-channel steering wheel 5, a steering rocker 10 and a steering switch 9; The travel unit includes an engine controller 3, a travel motor 11, a travel main pump 15, a front accelerator pedal 2 and a rear accelerator pedal 12; The data collection unit includes a seat direction sensor 14, a brake system pressure sensor, a parking brake pressure sensor, and a road condition information collection device.

[0024] The road condition information collection device in this embodiment is a combination of multiple sensors, cameras and GPS modules, which can perform real-time road condition prediction and detection through radar, images and satellite data to identify relevant road condition information of ordinary woodlands, rocky steep slopes and flat roads.

[0025] Optionally, the control unit is also connected to a parking switch, a driving direction switch 6, a driving mode switch, an operating handle, a speed sensor and an electronic monitor 7; the parking switch is used to release the parking brake, the driving direction switch 6 is used to control the vehicle's driving direction, and the driving mode switch is used to manually select the driving mode; the operating handle is used to adjust the upper limit of the driving speed; the speed sensor is installed on the travel motor 11 or the drive axle to detect the vehicle's driving speed; the electronic monitor 7 is used for vehicle driving information and vehicle preset parameters, wherein the vehicle preset parameters include accelerator pedal sensitivity, the maximum speed of each driving mode and the engine speed limit.

[0026] Optionally, the dual-channel small steering wheel 5 is used to control the second steering solenoid valve 13; The combination of the steering rocker 10 and the steering switch 9 is used to control the first steering solenoid valve 16; The first steering solenoid valve 16 is connected in parallel with the second steering solenoid valve 13 to jointly control the extension and retraction of the steering cylinder; Optional, such as Figure 1 The system shown also includes a two-way driving seat 4; a rotating device is provided at the bottom of the two-way driving seat 4 for adjusting the direction of the driving seat 4 so that the two-way driving seat 4 rotates toward the front accelerator pedal 2 and the front service brake pedal 17 or toward the rear accelerator pedal 12 and the rear service brake pedal 8; The steering unit is arranged on the bidirectional driving seat 4, and is used for flexibly switching the dual-channel small steering wheel 5 or the steering rocker 10 and the steering switch 9 as the seat rotates in both directions. Example

[0027] This embodiment provides a two-way driving control method for a forwarder, such as Figure 3 Shown include: Step 1: After the engine is started, obtain the start signal; Step 2: Based on the start signal, trigger the detection of road condition information and seat direction; Step 2.1: If the direction of the seat is forward, a control signal of the travel unit is generated to activate the operating handle and the front accelerator pedal of the vehicle, and the operating handle is used to adjust the maximum driving speed; Step 2.2: If the direction of the seat is reverse, a control signal of the travel unit is generated to activate a rear accelerator pedal of the vehicle; Step 3: Select driving mode according to road conditions; Step 4: Generate a control signal for the steering unit to adjust the vehicle steering based on the driving mode and seat orientation.

[0028] After the parking brake is released in this embodiment, the whole machine has no faults, so the driving engine is allowed to start and based on the start signal, the detection of road condition information and seat direction is triggered, and finally the driving direction switch is selected according to the seat direction and driving mode.

[0029] When the direction of the seat is forward and the driving mode is selected, the driving direction switch signal is received. If the driving direction switch is in F gear, the travel motor is controlled to rotate forward according to the pedaling stroke of the front accelerator pedal and the driving mode; if the driving direction switch is in R gear, the travel motor is controlled to rotate reversely according to the pedaling stroke of the front accelerator pedal and the driving mode.

[0030] When the direction of the seat is reverse and the driving mode is selected, the driving direction switch signal is received. If the driving direction switch is in F gear, the travel motor is controlled to reverse according to the pedaling stroke of the rear accelerator pedal and the driving mode; if the driving direction switch is in R gear, the travel motor is controlled to rotate forward according to the pedaling stroke of the rear accelerator pedal and the driving mode.

[0031] Optionally, after obtaining the start signal in step 1, the step also includes triggering the detection of the brake system pressure of the brake unit and the duration of the stop filling signal according to the start signal; Figure 4 As shown, if the brake system pressure is less than or equal to the lower pressure limit P1, a brake system filling signal is generated; If the brake system pressure is greater than or equal to the upper pressure limit value P2, a brake system filling stop signal is generated; and if the duration exceeds a set time range, a parking brake unlocking signal of the brake unit is generated.

[0032] Optionally, after generating the filling signal of the brake system, the method further includes: Get the filling time of the brake system; If the duration is less than or equal to the minimum time of 15S, a fault message is generated, driving is prohibited and an alarm is sounded.

[0033] Optional, such as Figure 5 After the parking brake unlocking signal of the brake unit is generated, the method further includes: Detecting the parking brake unlocking pressure of the brake unit; When the unlocking pressure is within the unlocking pressure range, it is judged that the brake unit has been unlocked normally, the parking switch has been turned on, and the engine has started normally; When the unlocking pressure is not within the unlocking pressure range, it is determined that the brake unit is not unlocked, and an alarm signal prohibiting walking is generated and output visually.

[0034] Optional driving modes include high-speed driving mode and low-speed off-road mode. The high-speed driving mode is suitable for flat ground, and the low-speed off-road mode is suitable for ordinary woodlands and rocky steep slopes. When the driving mode is high-speed driving mode, the vehicle's driving characteristics are low torque and high speed. When the driving mode is low-speed off-road mode, the vehicle's driving characteristics are high torque and low speed; This embodiment can make the engine work more efficiently on flat ground by combining low torque with high speed to provide the necessary power output to meet the vehicle's needs for rapid acceleration and high-speed driving, while reducing fuel consumption and engine wear.

[0035] On ordinary woodlands and rocky steep slopes, high torque combined with low speed can provide strong traction at low speed, helping the vehicle to easily cope with complex terrain and obstacles, such as climbing between woodlands, crossing muddy and sandy land, etc. At the same time, low speed can reduce the load on the engine and transmission system, and improve the durability and reliability of the vehicle. By setting different driving modes, it is ensured that the vehicle can play the best performance in different driving environments and different seat direction controls.

[0036] Optionally, according to the driving mode and the seat direction, a control signal of the steering unit is generated to adjust the vehicle steering, including: When the driving mode is high-speed driving mode, an activation signal of the dual-channel small steering wheel is generated, the second steering solenoid valve in the steering unit is opened and the rotation direction of the steering cylinder is controlled according to the seat direction; When the driving mode is the low-speed off-road mode, a combined activation signal of the steering rocker and the steering switch is generated, the first steering solenoid valve in the steering unit is opened and the rotation direction of the steering cylinder is controlled according to the seat direction.

[0037] In this embodiment, Figure 6 and Figure 7 As shown, when the driving mode is the low-speed off-road mode, a combined activation signal of the steering rocker and the steering switch is generated, the first steering solenoid valve in the steering unit is turned on and controls the rotation direction of the steering cylinder according to the seat direction to control the vehicle to turn sharply; specifically, after the engine is started, if the steering rocker and the steering switch are to the left and the seat direction is forward, the first steering solenoid valve controls the steering cylinder to turn sharply to the left; if the steering rocker and the steering switch are to the left and the seat direction is not forward, the first steering solenoid valve controls the steering cylinder to turn sharply to the right; If the steering rocker and steering switch are to the right and the seat is in the positive direction, the first steering solenoid valve controls the steering cylinder to turn sharply to the right; if the steering rocker and steering switch are to the right and the seat is not in the positive direction, the first steering solenoid valve controls the steering cylinder to turn sharply to the left.

[0038] Similarly, when the driving mode is the high-speed driving mode, an activation signal of the dual-channel small steering wheel is generated, and the second steering solenoid valve in the steering unit is opened to control the vehicle's micro-steering; specifically, after the engine is started, if the dual-channel small steering wheel turns counterclockwise and the seat direction is positive, the second steering solenoid valve controls the steering cylinder to micro-steer to the left; if the dual-channel small steering wheel turns counterclockwise and the seat direction is not positive, the second steering solenoid valve controls the steering cylinder to micro-steer to the right.

[0039] If the dual-channel small steering wheel turns clockwise and the seat direction is positive, the second steering solenoid valve controls the steering cylinder to slightly steer to the right; if the dual-channel small steering wheel turns clockwise and the seat direction is not positive, the second steering solenoid valve controls the steering cylinder to slightly steer to the left.

[0040] In summary, the driving control system provided by the present invention can be driven in both directions, automatically switch the relevant actuators of the steering unit and the driving unit according to the direction of the seat, and match and activate the corresponding driving mode according to the collected road condition information, reduce the complexity of manual operation and meet the needs of various terrains, improve the safety of forest driving, and avoid driving and steering errors caused by human operation errors. The actuator related to the steering unit is composed of two subsystems. The first one is controlled by a dual-channel small steering wheel for high-speed driving mode; the second one is controlled by a steering rocker and a steering switch for low-speed off-road mode. The steering unit is flexibly adjusted according to the driving mode and the direction of the seat. When driving at high speed, the small steering wheel controls small steering. When driving at low speed off-road, the steering rocker and the steering switch control large steering. If any one of the steering circuits fails, the other can be used for emergency steering, which improves safety and controllability.

[0041] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0042] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0043] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0044] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0045] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A two-way driving control method for a forwarder, characterized in that: include: After the engine is started, a start signal is obtained; Based on the start signal, the detection of road condition information and seat direction is triggered; If the direction of the seat is forward, a control signal of the travel unit is generated to activate the working handle and the front accelerator pedal of the vehicle; If the direction of the seat is reverse, a control signal of the travel unit is generated to activate the rear accelerator pedal of the vehicle; Select driving mode based on road conditions; Based on the seat orientation, a control signal for the steering unit is generated to adjust the vehicle steering.

2. The forwarder bidirectional driving control method according to claim 1 is characterized in that: After obtaining the start signal, the method also includes triggering the detection of the brake system pressure of the brake unit and the duration of the stop filling signal according to the start signal; if the brake system pressure is less than or equal to the lower pressure limit, generating a brake system filling signal; If the brake system pressure is greater than or equal to the upper pressure limit, a brake system filling stop signal is generated; When the duration exceeds the set time range, a parking brake unlocking signal of the brake unit is generated.

3. The forwarder bidirectional driving control method according to claim 2 is characterized in that: After generating the brake system filling signal, it also includes: Get the filling time of the brake system; If the duration is less than or equal to the minimum time value, a fault message is generated, driving is prohibited and an alarm is sounded.

4. The forwarder bidirectional driving control method according to claim 2 is characterized in that: After generating the parking brake unlocking signal of the brake unit, it also includes: Detecting the parking brake unlocking pressure of the brake unit; When the unlocking pressure is within the unlocking pressure range, it is judged that the brake unit has been unlocked normally, the parking switch has been turned on, and the engine has started normally; When the unlocking pressure is not within the unlocking pressure range, it is determined that the brake unit is not unlocked, and an alarm signal prohibiting walking is generated and output visually.

5. The forwarder bidirectional driving control method according to claim 1 is characterized in that: The driving modes include a high-speed driving mode and a low-speed off-road mode. The high-speed driving mode is suitable for flat ground, and the low-speed off-road mode is suitable for ordinary woodlands and rocky steep slopes.

6. The forwarder bidirectional driving control method according to claim 1, characterized in that: Generates control signals for the steering unit to adjust vehicle steering based on driving mode and seat orientation, including: When the driving mode is high-speed driving mode, an activation signal of the dual-channel small steering wheel is generated to control the micro-steering of the vehicle; When the driving mode is low-speed off-road mode, a combined activation signal of the steering rocker and the steering switch is generated to control the vehicle to turn sharply.

7. A two-way driving control system for a forwarder, characterized in that: include: Control unit, brake unit, travel unit, steering unit and data acquisition unit; The control unit is used to execute the steps of the method according to claim 1; The brake unit is used for brake system filling, service braking and parking braking; The steering unit is used to adjust the steering cylinder; The travel unit is used to control the travel of the vehicle; The data acquisition unit is used to obtain road condition information, a start signal, a brake system pressure, a parking brake release pressure and a seat direction.

8. The forwarder bidirectional driving control system according to claim 7 is characterized in that: The control unit is provided with a main controller, which is electrically connected to the braking unit, the travel unit and the data acquisition unit respectively; The brake unit comprises a rear driving brake pedal, a front driving brake pedal, a brake system, and a working pump and an accumulator connected via an oil circuit; The steering unit includes a small dual-channel steering wheel, a steering rocker and a steering switch; The travel unit includes an engine controller, a travel motor, a travel main pump, a front accelerator pedal and a rear accelerator pedal; The data acquisition unit includes a seat direction sensor, a brake system pressure sensor, a parking brake pressure sensor, and a road condition information acquisition device.

9. The forwarder bidirectional driving control system according to claim 7, characterized in that: The control unit is also connected to a parking switch, a driving direction switch, a driving mode switch, an operating handle, a speed sensor and an electronic monitor; The parking switch is used to release the parking brake; The driving direction switch is used to control the driving direction of the vehicle; The driving mode switch is used to manually select the driving mode; The operating handle is used to adjust the upper limit of the driving speed; The speed sensor is installed on the travel motor or the drive axle to detect the vehicle's travel speed; The electronic monitor is used for vehicle driving information and vehicle preset parameters, wherein the vehicle preset parameters include accelerator pedal sensitivity, maximum speed of each driving mode and engine speed limit.

10. The forwarder bidirectional driving control system according to claim 8, characterized in that: The dual-channel small steering wheel is used to control the second steering solenoid valve; The combination of the steering rocker and the steering switch is used to control the first steering solenoid valve; The first steering solenoid valve and the second steering solenoid valve are connected in parallel to jointly control the extension and retraction of the steering cylinder; When the driving mode is the low-speed off-road mode, a combined activation signal of the steering rocker and the steering switch is generated, and the first steering solenoid valve in the steering unit is turned on to control the vehicle to turn sharply; When the driving mode is high-speed driving mode, an activation signal for the dual-channel small steering wheel is generated, and the second steering solenoid valve in the steering unit is opened to control the vehicle's micro-steering.

11. The forwarder bidirectional driving control system according to claim 8, characterized in that: The system also includes a two-way driver's seat; A rotating device is provided at the bottom of the two-way driving seat for adjusting the direction of the driving seat so that the two-way driving seat can be rotated between the front accelerator pedal and the front service brake pedal and the rear accelerator pedal and the rear service brake pedal; The steering unit is arranged on a bidirectional driving seat and is used for flexibly switching a dual-channel small steering wheel or a steering rocker and a steering switch as the seat rotates in both directions.

Images