An electro-hydraulic steering system with remote control and automatic return-to-center function and a control method thereof

Abstract

This invention discloses an electro-hydraulic steering system and control method with remote control and automatic return-to-center functions, applicable to vehicles with heavy loads. It features electric and hydraulic steering gears, hydraulic cylinder power steering, and mechanical linkage power steering. Employing a redundant design, it is safer and more reliable. Through a differential mechanism design, it detects the angle of the angular displacement sensor 4 and the signals from the angle and torque sensors within the electric power steering unit 2. This redundancy design ensures high safety and reliability. It can provide power steering at low speeds and improve stability at high speeds. By detecting vehicle speed, it achieves high torque power steering at low speeds, facilitating simultaneous operation and driving, with power steering stopping at high speeds. It reduces steering clearance, improving high-speed stability. It enables low-speed return-to-center, using vehicle speed detection and angular displacement sensor signals to perform steering power steering return-to-center, achieving true zero-position return-to-center functionality. It also features a remote steering mode for remote steering operation at different speeds.

Description

Technical Field

[0001] This invention patent relates to the fields of engineering machinery and vehicles, and in particular to an electro-hydraulic steering system and control method with remote control and automatic return-to-center functions. Background Technology

[0002] Most wheeled construction machinery vehicles use hydraulic power steering because the front wheels of these vehicles bear a heavy load, making it difficult to achieve steering return to center. This affects driver comfort, requires significant operating force, and causes driver fatigue, further impacting comfort. Simply changing the flow and pressure of the hydraulic steering system results in light steering at low speeds but unstable steering at high speeds, compromising steering safety. Remote steering for construction machinery and road vehicles typically uses a fully hydraulic steering system, but this is insufficient for high-speed driving. Another solution is to use an electronically controlled steering pump for remote steering. Therefore, designing a reliable and suitable combined electric and hydraulic power steering system is crucial. This system improves driver control, allows for both driving and steering while performing operational tasks, enhances operating comfort, and provides remote steering and automatic return-to-center functionality. Improving overall vehicle comfort and safety is of paramount importance.

[0003] Currently, most engineering vehicles designed for unmanned remote steering use hydraulic solenoid valves to control the steering direction. This approach cannot balance high-speed steering stability and low-speed maneuverability, resulting in easy low-speed steering but unstable high-speed steering, which has certain limitations.

[0004] The existing technical solutions have the following shortcomings:

[0005] (1) Fully hydraulic steering remote control is only suitable for low-speed engineering vehicles; it is prone to drifting at high speeds.

[0006] (2) The steering angle sensor at the steering wheel position cannot guarantee the absolute straightening of the wheels;

[0007] (3) It is only applicable to vehicles with light loads and cannot achieve remote steering for vehicles with heavy loads;

[0008] (4) It can provide steering assistance, but the steering feels floaty when it is assisted;

[0009] (5) The vehicle can return to center, but overshoot will occur during the return to center. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of the prior art and provide an electro-hydraulic steering system and control method with remote control and automatic return-to-center functions.

[0011] To address the problems of existing technologies, this invention discloses an electro-hydraulic steering system with remote control and automatic return-to-center functions, comprising: a hydraulic steering gear, an electric power steering gear, a motor controller, an angular displacement sensor, a hydraulic cylinder, a wheel speed sensor, an ABS controller, a main controller, a steering column, a first steering drive shaft, a second steering drive shaft, a third steering drive shaft, a steering rocker arm, and a steering tie rod;

[0012] The motor controller is connected to the electric power steering unit and the main controller respectively. The electric power steering unit is connected to the steering column through the first steering drive shaft and the second steering drive shaft. The electric power steering unit is also connected to the hydraulic steering unit through the third steering drive shaft. The hydraulic steering unit is connected to the steering knuckle arm through the steering rocker arm and the steering tie rod. The hydraulic cylinder is connected to the steering knuckle arm. The ABS controller and the angular displacement sensor are connected to the main controller respectively. The wheel speed sensor is connected to the ABS controller.

[0013] Furthermore, it also includes a pump connected to a hydraulic steering gear.

[0014] Accordingly, a control method for an electro-hydraulic steering system with remote control and automatic return-to-center functions is as follows: the ABS controller detects the wheel speed sensor signal and feeds it back to the main controller and the motor controller. When the wheel speed is lower than a certain threshold, the electric power steering is activated; when the wheel speed is higher than a certain threshold, the electric power steering is deactivated, and the steering force is provided entirely by the hydraulic steering system.

[0015] Furthermore, when low-speed driving is required, the main controller detects the wheel speed sensor signal. When the vehicle speed is below a certain threshold, the motor controller performs return-to-center control based on the angular displacement sensor on the axle and the torque and angle signals inside the electric power steering system to obtain a larger return-to-center torque. When the angular displacement sensor detects that the angle has reached zero, the power steering is stopped, allowing the tires to return to center. When the vehicle speed is above a certain threshold, the motor controller performs return-to-center control based on the angular displacement sensor on the axle and the torque and angle signals inside the electric power steering system to obtain a smaller return-to-center torque. When the angular displacement sensor detects that the angle has reached zero, the power steering is stopped, allowing the tires to return to center.

[0016] Furthermore, when the vehicle requires remote control operation, the remote control handle controller transmits radio signals to the main controller of the vehicle, which in turn transmits signals to the motor controller. The motor controller controls the electric power steering to rotate, which in turn drives the steering knuckle arm to move sequentially through the third steering drive shaft, hydraulic steering gear, steering rocker arm, steering tie rod, and hydraulic cylinder, thereby controlling the wheel steering. The remote control handle controller is then operated by detecting the turning angle of the wheel speed sensor using the video feedback function.

[0017] Furthermore, when manually steering, the main controller receives the speed signal transmitted from the wheel speed sensor to the ABS controller and detects the vehicle speed signal. When the steering column is turned under different road conditions, the electric power steering is de-energized through the first and second steering drive shafts. At this time, the electric power steering is equivalent to an angle transmission device, mechanically transmitting the force from the second steering drive shaft to the hydraulic steering device. The hydraulic steering device then transmits torque to the steering knuckle arm through the steering rocker arm and steering tie rod, while the pump generates oil pressure through the hydraulic steering device and transmits it to the hydraulic cylinder to provide hydraulic power to the steering knuckle arm.

[0018] Furthermore, when manually steering, the main controller receives speed signals from the wheel speed sensor and speed signals from the ABS controller and angular displacement sensor. When the detected vehicle speed is below a certain threshold, the electric power steering system, which contains angle and torque sensors, rotates the steering column. Through the first and second steering drive shafts, the electric power steering system is powered, generating assistance and driving the hydraulic steering system to rotate. The hydraulic steering system then transmits torque to the steering knuckle arm through the steering rocker arm and steering tie rod. Meanwhile, the pump generates oil pressure through the hydraulic steering system and transmits it to the hydraulic cylinder to provide hydraulic assistance to the steering knuckle arm.

[0019] Furthermore, when the vehicle speed exceeds a certain threshold, the main controller receives speed signals from the wheel speed sensor and speed signals from the ABS controller and angular displacement sensor. When the detected vehicle speed exceeds a certain threshold, the electric power steering system, which contains angle and torque sensors, rotates the steering column. Through the first and second steering drive shafts, the electric power steering system is powered. At this time, the electric power steering system does not generate assist torque, but drives the hydraulic steering system to rotate. The hydraulic steering system then transmits torque to the steering knuckle arm through the steering rocker arm and steering tie rod. Meanwhile, the pump generates oil pressure through the hydraulic steering system and transmits it to the hydraulic cylinder to provide hydraulic assistance to the steering knuckle arm.

[0020] Accordingly, a computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform any of the methods described above.

[0021] Accordingly, a computing device is characterized by comprising:

[0022] One or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing any of the methods described above.

[0023] The beneficial effects of this invention are as follows:

[0024] (1) Remote steering can take into account both low-speed steering and easy steering, so that it can be used for both driving and steering and operation; and it can also take into account high-speed drifting.

[0025] (2) The design adopts redundancy and multiple controllable points to ensure that the steering wheel returns to center and eliminates steering clearance;

[0026] (3) It can be applied to vehicles with large loads. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the present invention;

[0029] Figure 3 This is a partial structural diagram of the present invention;

[0030] Figure 4 This is a partial structural diagram of the present invention.

[0031] Figure label:

[0032] 1. Hydraulic steering gear; 2. Electric power steering gear; 3. Motor controller; 4. Angular displacement sensor; 5. Hydraulic cylinder; 6. First hydraulic cylinder; 7. Wheel speed sensor; 8. ABS controller; 9. Main controller; 10. Steering column; 11. First steering drive shaft; 12. Second steering drive shaft; 13. Third steering drive shaft; 14. Pump; 15. Steering rocker arm; 16. Steering tie rod. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0034] like Figure 1-2 As shown, an electro-hydraulic steering system with remote control and automatic return-to-center functions according to the present invention includes: a hydraulic steering gear 1, an electric power steering gear 2, a motor controller 3, an angular displacement sensor 4, a hydraulic cylinder 5, a wheel speed sensor 7, an ABS controller 8, a main controller 9, a steering column 10, a first steering drive shaft 11, a second steering drive shaft 12, a third steering drive shaft 13, a steering rocker arm 15, and a steering tie rod 16.

[0035] The motor controller 3 is connected to the electric power steering unit 2 and the main controller 9. The electric power steering unit 2 is connected to the steering column 10 via the first steering drive shaft 11 and the second steering drive shaft 12. The electric power steering unit 2 is also connected to the hydraulic steering unit 1 via the third steering drive shaft 13. The hydraulic steering unit 1 is connected to the steering knuckle arm via the steering rocker arm 15 and the steering tie rod 16. The hydraulic cylinder 5 is connected to the steering knuckle arm. The ABS controller 8 and the angular displacement sensor 4 are connected to the main controller 9, and the wheel speed sensor 7 is connected to the ABS controller 8. A pump 14 is also included, which is connected to the hydraulic steering unit 1.

[0036] like Figure 3-4 As shown, in order to increase the driving force of the steering knuckle arm, it is preferable to set two hydraulic cylinders, including hydraulic cylinders 5 set on the left and right and a first hydraulic cylinder 6.

[0037] This invention employs a combination of an advanced electric power steering system 2 and a hydraulic steering system 1. The electric power steering system 2 utilizes a motor-worm gear reducer mechanism and a differential mechanism. The motor-worm gear reducer mechanism primarily provides a large torque to the steering transmission system, while the differential mechanism ensures normal steering rotation even without electric power assistance. When electric power assistance is available, the motor acts as an aid in the entire steering mechanism. The electric power steering system 2 contains an angle sensor and a torque sensor. The torque sensor primarily collects and provides feedback on the steering torque, playing a control role. The entire device features a redundant design; even if the electric power steering motor is unavailable, the entire electric power steering system 2 functions as an angle steering system, enabling steering.

[0038] When the ABS controller 8 detects the signal from the wheel speed sensor 7 and sends feedback to the main controller 9 and the motor controller 10, electric motor power assist is applied when the vehicle speed is below a certain threshold; when it exceeds a certain threshold, power assist is stopped, and the entire system operates in hydraulic power assist mode. The advantage of this is that without electric motor assistance, good road feel can be achieved at high speeds, improving high-speed stability. Additionally, when the electric power steering 2 is engaged, the torsion bar clearance inside the electric power steering 2 is relatively large, affecting the overall high-speed stability of the vehicle. If the electric power steering 2 is de-energized at this time, the free travel is essentially the same as that of the hydraulic steering 1, allowing the driver to obtain excellent road feel. Furthermore, when the ABS controller 8 detects the signal from the wheel speed sensor 7 and sends feedback to the main controller 9 and the motor controller 10, if the vehicle speed exceeds a certain threshold, the motor controller 10 controls the electric power steering 2 to stop assisting, reducing the free travel of the steering wheel and steering column 10, resulting in better road feel.

[0039] When low-speed driving is required, the main controller 9 detects the signal from the wheel speed sensor 7. When the vehicle speed is below a certain threshold, the motor controller performs return-to-center control based on the torque and angle signals from the angular displacement sensor 4 on the axle and the electric power steering 2, obtaining a larger return-to-center torque. When the angular displacement sensor 4 detects that the angle has reached zero, the power steering is stopped, allowing the tires to return to center. When the vehicle speed is above a certain threshold, the motor controller performs return-to-center control based on the torque and angle signals from the angular displacement sensor 4 on the axle and the electric power steering 2, obtaining a smaller return-to-center torque. When the angular displacement sensor 4 detects that the angle has reached zero, the power steering is stopped, allowing the tires to return to center. The advantage is that the zero position of the angle sensor inside the electric power steering is not the zero position of the entire vehicle. Because of the steering clearance, including the assembly clearance between the steering tie rod 16 and the hydraulic steering gear 1, as well as the torsion bar free travel of the hydraulic steering gear 1 itself, the entire vehicle cannot return to the true zero position. The main controller 9 and the motor controller 3 need to detect the angular displacement sensor 4 on the axle to control the electric power steering 2 to return to center, which will return to the zero position very accurately.

[0040] The hydraulic steering gear 1 provides a large torque and hydraulic power source. When the steering wheel is turned, the steering column 10 is rotated. Through the transmission of force via the steering drive shaft 11 and steering drive shaft 12, the electric power steering gear 2 and steering drive shaft 13, the force is transmitted to the hydraulic steering gear 1. Overcoming the force of the torsion bar of the hydraulic steering gear 1, the valve core rotates, the valve port opens, and the steering gear body generates a large torque. This torque is transmitted through the steering drop arm to the steering rocker arm 15 and the steering tie rod 16. The oil pressure of the hydraulic steering gear 1 enters the steering cylinder 5. The force of the steering cylinder 5 and the force of the steering tie rod 16 together drive the steering knuckle arm to rotate, which in turn drives the tire to rotate, thus realizing the steering function.

[0041] The entire machine operates by the driver operating the steering wheel, which drives the first steering drive shaft 11 and the second steering drive shaft 12 to rotate via the steering column 10. These drive shafts then drive the electric power steering unit 2. At low speeds, the vehicle speed information provided to the ABS controller 8 by the wheel speed sensor 7 is transmitted to the main controller 9 via the CAN network, and subsequently to the motor controller 3. When the vehicle speed is below a certain threshold, a large assist torque is provided to ensure easy driver operation. When the vehicle speed detected by the main controller 9 exceeds a certain threshold, the motor controller 3 deactivates the electric power steering unit 2, cutting off the power to the electric power steering and canceling the assist. During operation, the entire machine transmits the vehicle speed information provided to the ABS controller 8 by the wheel speed sensor 7 to the main controller 9 via the CAN network... The signals are transmitted to the motor controller 3, and the angular displacement sensor 4 controls the wheels to return to center based on vehicle speed and turning angle, greatly reducing the driver's operating force and reducing driving fatigue. When the vehicle needs to be remotely operated, the remote control handle controller transmits the signal to the main controller 9 via radio. The main controller 9 then transmits the signal to the motor controller 3, which controls the electric power steering 2 to rotate. This, in turn, drives the steering knuckle arm through the third steering drive shaft 13, hydraulic steering gear 1, steering rocker arm 15, steering tie rod 16, and steering cylinder 5, thereby controlling the wheel steering. Through the video feedback function, the turning angle is detected by the wheel speed sensor 7. The operator then operates the handle according to the video to make certain turning angle corrections, thus realizing remote driving.

[0042] The specific implementation effects of this invention are as follows:

[0043] When performing a turning operation, the following 5 modes will occur:

[0044] (1) Manual steering mode, electric power steering 2 malfunctions and has no power.

[0045] When manually steering, the main controller 9 receives the speed signal from the wheel speed sensor 7 and transmits it to the ABS controller 8. Upon detecting the vehicle speed, the steering column 10 is turned under different road conditions. Through the first steering drive shaft 11 and the second steering drive shaft 12, the electric power steering 2 is de-energized. At this time, the electric power steering 2 acts as an angle actuator, mechanically transmitting the force from the second steering drive shaft 12 to the hydraulic steering unit 1. The hydraulic steering unit 1 then transmits torque to the steering knuckle arm through the steering rocker arm 15 and the steering tie rod 16. Meanwhile, the pump 14 generates hydraulic pressure through the hydraulic steering unit 1 and transmits it to the hydraulic cylinder 5, providing hydraulic assistance to the steering knuckle arm. The mechanical rocker arm and steering tie rod perform mechanical steering. This combined mechanical and hydraulic action allows for steering under heavy loads, ensuring easy low-speed steering and stable high-speed steering.

[0046] (2) Manual steering mode, low-speed electric power steering assist.

[0047] When manually steering, the main controller 9 receives speed signals from wheel speed sensor 7 and signals from ABS controller 8 and angular displacement sensor 4. When the detected vehicle speed is below a certain threshold, the electric power steering 2, which contains angle and torque sensors, is powered by the steering column 10, which transmits power through the first steering drive shaft 11 and the second steering drive shaft 12. At this time, the electric power steering 2 generates a large assist effect, thereby driving the hydraulic steering 1 to rotate. The hydraulic steering 1 then transmits torque to the steering knuckle arm through the steering rocker arm 15 and steering tie rod 16. Meanwhile, the pump 14 generates oil pressure through the hydraulic steering 1 and transmits it to the hydraulic cylinder 5 to provide hydraulic assistance to the steering knuckle arm. The mechanical rocker arm and steering tie rod perform mechanical steering. Steering is achieved through the combined action of motor, mechanical, and hydraulic systems, providing high torque steering assistance and making steering easier.

[0048] (3) Manual steering mode, high-speed electric power steering does not assist.

[0049] When the vehicle speed exceeds a certain threshold, the main controller 9 receives the speed signal from the wheel speed sensor 7 and the speed signal from the ABS controller 8 and the angular displacement sensor 4. When the detected vehicle speed exceeds a certain threshold, the electric power steering 2 contains an angle sensor and a torque sensor. When the driver passes the steering column 10, the electric power steering 2 is powered through the first steering drive shaft 11 and the second steering drive shaft 12. At this time, the electric power steering 2 does not generate power assist torque, but drives the hydraulic steering 1 to rotate. The hydraulic steering 1 then transmits torque to the steering knuckle arm through the steering rocker arm 15 and the steering tie rod 16. Meanwhile, the pump 14 generates oil pressure through the hydraulic steering 1 and transmits it to the hydraulic cylinder 5 to provide hydraulic power assist to the steering knuckle arm. The mechanical rocker arm and the steering tie rod perform mechanical steering. At this time, steering is performed through the combined action of mechanical and hydraulic systems. Only the hydraulic steering system is active, and the steering wheel and steering column 10 are heavy, providing a greater road feel and ensuring driving safety.

[0050] (4) Manual steering mode, with return-to-center function enabled.

[0051] When low-speed driving is required, the main controller 9 detects the signal from the wheel speed sensor 7. When the vehicle speed is below a certain threshold, the motor controller 3 performs return-to-center control based on the angular displacement sensor 4 on the axle and the torque and angle signals inside the electric power steering 2 to obtain a larger return-to-center torque. When the angular displacement sensor 4 detects that the angle has reached zero, the power steering is stopped to return the tires to center. When the vehicle speed is above a certain threshold, the motor controller performs return-to-center control based on the angular displacement sensor 4 on the axle and the torque and angle signals inside the electric power steering 2 to obtain a smaller return-to-center torque. When the angular displacement sensor 4 detects that the angle has reached zero, the power steering is stopped to return the tires to center. The advantage is that the zero position of the angle sensor inside the electric power steering is not the zero position of the entire vehicle. Because of the steering clearance, including the assembly clearance between the steering tie rod 16 and the hydraulic steering gear 1 and the free travel of the torsion bar of the hydraulic steering gear 1 itself, the entire vehicle cannot return to the true zero position. Using the angular displacement sensor 4 on the axle will return to the zero position very accurately.

[0052] (5) Remote steering mode, the electric power steering system is powered.

[0053] When remote steering is activated, the main controller 9 detects the vehicle speed signal and the signal from the angular displacement sensor 4. The electric power steering unit 2 contains angle and torque sensors. When steering is required, the main controller 9 receives the signal from the remote control handle and transmits it to the motor controller 3. The main controller 9 communicates with the motor controller 3 to control the output torque and speed of the electric power steering unit 2, thereby driving the mechanical and hydraulic steering of the hydraulic steering unit 1. At low vehicle speeds, high torque steering assistance is provided. At high vehicle speeds, corresponding torque steering assistance is provided, achieving remote driving. Furthermore, through the video feedback function, by detecting the turning angle of the wheel speed sensor 7, the operator manipulates the handle based on the video, thus making certain angle corrections and achieving remote driving.

[0054] This invention is applicable to vehicles with heavy loads and features electric and hydraulic steering systems, hydraulic cylinder power steering, and mechanical linkage power steering. It adopts a redundant design for enhanced safety and reliability. Through a differential mechanism design, it can detect the angle of the angular displacement sensor 4 and the signals from the angle and torque sensors inside the electric power steering unit 2. The redundant design ensures high safety and reliability.

[0055] It can provide power steering at low speeds and improve stability at high speeds. By detecting vehicle speed, it can provide high torque power steering at low speeds, making it convenient to work and drive at the same time. Power steering can be stopped at high speeds. It reduces steering clearance and improves stability at high speeds. It can also return to center at low speeds. By detecting vehicle speed and using the angular displacement sensor signal, it can perform steering power return to center, achieving true zero-position return to center. It also has a remote steering mode, which can perform remote steering operation at different speeds.

[0056] A computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform a control method for an electro-hydraulic steering system with remote control and automatic return-to-center functions.

[0057] A computing device includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing a control method for an electro-hydraulic steering system having remote control and automatic return-to-center functions.

[0058] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0059] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0060] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0061] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0062] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A control method for an electro-hydraulic steering system with remote control and automatic return-to-center functions, characterized in that, The electro-hydraulic steering system includes: a hydraulic steering gear (1), an electric power steering gear (2), a motor controller (3), an angular displacement sensor (4), a hydraulic cylinder (5), a wheel speed sensor (7), an ABS controller (8), a main controller (9), a steering column (10), a first steering drive shaft (11), a second steering drive shaft (12), a third steering drive shaft (13), a steering rocker arm (15), and a steering tie rod (16). The motor controller (3) is connected to the electric power steering (2) and the main controller (9) respectively. The electric power steering (2) is connected to the steering column (10) through the first steering drive shaft (11) and the second steering drive shaft (12). The electric power steering (2) is also connected to the hydraulic steering (1) through the third steering drive shaft (13). The hydraulic steering (1) is connected to the steering knuckle arm through the steering rocker arm (15) and the steering tie rod (16). The hydraulic cylinder (5) is connected to the steering knuckle arm. The ABS controller (8) and the angular displacement sensor (4) are connected to the main controller (9) respectively. The wheel speed sensor (7) is connected to the ABS controller (8). It also includes a pump (14) connected to a hydraulic steering gear (1); When low-speed driving is required, the main controller (9) detects the wheel speed sensor (7) signal. When the vehicle speed is lower than a certain threshold, the motor controller (3) performs return-to-center control based on the torque and angle signals inside the angular displacement sensor (4) on the bridge and the electric power steering (2) to obtain a larger return-to-center torque. When the angular displacement sensor (4) detects that the angle has reached zero, the power steering is stopped to return the tires to center. When the vehicle speed is higher than a certain threshold, the motor controller (3) performs return-to-center control based on the torque and angle signals inside the angular displacement sensor (4) on the bridge and the electric power steering (2) to obtain a smaller return-to-center torque. When the angular displacement sensor (4) detects that the angle has reached zero, the power steering is stopped to return the tires to center. When the vehicle needs to be remotely operated, the remote control handle controller transmits the radio signal to the main controller (9) of the whole machine. The main controller (9) transmits the signal to the motor controller (3). The motor controller (3) controls the electric power steering (2) to rotate, and then drives the steering knuckle arm to move through the third steering drive shaft (13), hydraulic steering gear (1), steering rocker arm (15), steering tie rod (16), and hydraulic cylinder (5) in sequence, thereby controlling the wheel steering. The remote control handle controller is operated by detecting the turning angle of the wheel speed sensor (7) using the video feedback function. When manually steering, the main controller (9) receives the speed signal transmitted from the wheel speed sensor (7) to the ABS controller (8) and detects the vehicle speed signal. When the steering column (10) is turned under different road conditions, the first steering drive shaft (11) and the second steering drive shaft (12) are driven. The electric power steering (2) is not powered. At this time, the electric power steering (2) is equivalent to an angle transmission device, which mechanically transmits the force from the second steering drive shaft (12) to the hydraulic steering device (1). Then, the hydraulic steering device (1) transmits the torque to the steering knuckle arm through the steering rocker arm (15) and the steering tie rod (16). The pump (14) generates oil pressure through the hydraulic steering device (1) and transmits it to the hydraulic cylinder (5) to provide hydraulic power to the steering knuckle arm. When manually steering, the main controller (9) receives the speed signal from the wheel speed sensor (7) and the angular displacement sensor (4) from the ABS controller (8). When the detected vehicle speed is below a certain threshold, the electric power steering (2) contains an angle sensor and a torque sensor. The steering column (10) is rotated, and the first steering drive shaft (11) and the second steering drive shaft (12) are driven. The electric power steering (2) is powered, and at this time, the electric power steering (2) generates power assistance, which in turn drives the hydraulic steering (1) to rotate. The hydraulic steering (1) then transmits torque to the steering knuckle arm through the steering rocker arm (15) and the steering tie rod (16), while the pump (14) generates oil pressure through the hydraulic steering (1) and transmits it to the hydraulic cylinder (5) to provide hydraulic power assistance to the steering knuckle arm. When the vehicle speed is higher than a certain threshold, the main controller (9) receives the speed signal and the angular displacement sensor (4) transmitted from the wheel speed sensor (7) to the ABS controller (8). When the detected vehicle speed is higher than a certain threshold, the electric power steering 2 contains an angle sensor and a torque sensor. The steering column 10 is rotated and transmitted through the first steering drive shaft (11) and the second steering drive shaft (12). The electric power steering 2 is powered. At this time, the electric power steering 2 does not generate power assist torque and drives the hydraulic steering 1 to rotate. Then the hydraulic steering 1 transmits torque to the steering knuckle arm through the steering rocker arm (15) and the steering tie rod (16). The pump (14) generates oil pressure through the hydraulic steering 1 and transmits it to the hydraulic cylinder (5) to provide hydraulic power assist to the steering knuckle arm.

2. The control method for an electro-hydraulic steering system with remote control and automatic return-to-center functions according to claim 1, characterized in that, The ABS controller (8) detects the signal from the wheel speed sensor (7) and feeds it back to the main controller (9) and the motor controller (3). When the wheel speed is lower than a certain threshold, the electric power steering (2) is activated; when the wheel speed is higher than a certain threshold, the electric power steering (2) is deactivated and all steering force is provided by the hydraulic steering system (1).

3. A computer-readable storage medium for storing one or more programs, characterized in that: The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform any of the methods according to claim 1 or 2.

4. A computing device, characterized in that, include: One or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods according to claim 1 or 2.

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