Remote driving steering synchronization system and method

Abstract

The application provides a remote driving steering synchronization system and method, and relates to the field of remote driving, and specifically comprises a remote control end and a loader body end connected with each other: the remote control end collects the rotation angle of a remote steering wheel in real time, and generates a control signal; the loader body end controls the steering of a local steering wheel based on the control signal; the synchronization control comprises zero correction when the loader is straight driving and full rotation correction when the remote steering wheel is full rotation; the zero correction is zero correction of a servo motor of the loader body end and a damping motor of the remote control end; the full rotation correction is automatic correction of the full rotation angle of the remote steering wheel based on real-time collection of the hydraulic oil temperature, so that the full rotation angle of the remote steering wheel is consistent with the full rotation angle of the local steering wheel; the application corrects the steering corresponding to the rotation angle of the actual machine cockpit of the remote control end by quantifying the influence of the hydraulic oil temperature on the steering, so that precise steering of the loader is realized.

Description

Technical Field

[0001] This invention belongs to the field of remote driving, and particularly relates to a remote driving steering synchronization system and method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of technology, remote driving of construction machinery has become a trend. With the help of modern communication and Internet of Things technologies, drivers can remotely operate construction machinery such as loaders from outside the machine, gaining a wider field of vision, performing operations more precisely, reducing the risk of injury in dangerous work sites such as demolition, steep slopes, and areas with toxic substances, improving emergency response capabilities, solving labor shortage problems, and increasing production efficiency.

[0004] Currently, fully hydraulic steering systems are widely used in construction machinery such as loaders to achieve steering. For medium and large loaders, an additional flow amplification valve is installed to meet the requirements of high-flow hydraulic oil during steering. The core component of the fully hydraulic steering system is the fully hydraulic steering gear, which consists of a follow-up rotary valve, a metering motor, and a combined slider. The function of the metering motor is to ensure that the amount of oil entering the steering cylinder is proportional to the steering wheel angle. In small loaders, the metering motor directly sends high-pressure hydraulic oil into the steering cylinder through the rotation of the rotor to achieve steering. In medium and large loaders, the high-pressure oil flowing out of the metering motor flows into the flow amplification valve and then into the steering cylinder. The flow rate of the oil flowing out of the flow amplification valve is in a certain proportion to the flow rate of the oil flowing in. Since construction machinery such as loaders mostly operate under conditions of variable working conditions and environments, it is difficult to maintain a constant hydraulic oil temperature. The physical and chemical properties of the hydraulic oil will change accordingly. Therefore, the change in hydraulic oil temperature causes the steering wheel to be turned to full angle from one end to the other without a fixed angle. This phenomenon is common in loaders.

[0005] Therefore, during remote driving of a loader, if the full-angle setting of the remote steering wheel is fixed, it cannot synchronize with the rotation angle of the local steering wheel of the loader. That is, the full-angle of the remote steering wheel will be higher or lower than the actual full-angle of the local steering wheel, causing the steering wheel to be unable to be turned to its full extent or to have empty travel, resulting in a delayed return to center, and thus failing to achieve precise steering control. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention provides a remote driving steering synchronization system and method. By quantifying the influence of hydraulic oil temperature on steering, the system corrects the steering angle of the remote control end steering wheel corresponding to the loader body end, thereby achieving precise steering of the loader.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0008] The first aspect of the present invention provides a remote driving steering synchronization system.

[0009] A remote driving steering synchronization system includes a connected remote control terminal and a loader body terminal:

[0010] The remote control terminal is configured to: collect the remote steering wheel angle in real time, and receive the hydraulic oil temperature, local steering wheel angle and the angle between the front and rear frames of the loader sent by the loader body terminal, and generate control signals through calculation;

[0011] The loader body is configured to: synchronously control the steering of the local steering wheel based on control signals;

[0012] The synchronous control includes zero-position correction when the loader is traveling straight without turning and full-rotation correction when the remote steering wheel is fully turned. The zero-position correction is performed on the servo motor at the loader body and the damping motor at the remote control end. The full-rotation correction is based on the real-time collected hydraulic oil temperature and automatically corrects the full-rotation angle of the remote steering wheel by changing the rotation resistance that increases with the rotation angle, so that the full-rotation angle of the remote steering wheel is consistent with the full-rotation angle of the local steering wheel.

[0013] Furthermore, it also includes a temperature sensor, a first angle sensor, a second angle sensor, and a third angle sensor;

[0014] The temperature sensor is installed between the hydraulic oil pump and the hydraulic steering device at the end of the loader body to measure the hydraulic oil temperature in real time.

[0015] The first steering angle sensor is installed on the remote steering wheel and is used to collect the steering angle of the remote steering wheel in real time;

[0016] The second steering angle sensor is installed on the local steering wheel and is used to collect the steering angle of the local steering wheel in real time;

[0017] The third angle sensor is installed at the connecting pin of the front and rear frames of the loader and is used to collect the angle between the front and rear frames of the loader in real time.

[0018] Furthermore, the loader travels straight without turning, specifically as follows:

[0019] The third corner sensor collects the angle between the front and rear frames of the loader. When the angle is 180 degrees, it is determined that the loader is going straight and not turning.

[0020] Furthermore, the zero-position correction specifically includes:

[0021] Set the rotation angle of the third rotation sensor to zero;

[0022] Set the first angle sensor to zero;

[0023] Set the second angle sensor to zero.

[0024] Furthermore, the hydraulic oil temperature is collected in real time by a temperature sensor, and the collected current hydraulic oil temperature is uploaded to the local controller. The local controller uses a pre-calibrated first MAP that shows the change of the local steering wheel full rotation angle with the hydraulic oil temperature to obtain the local steering wheel full rotation angle at the current hydraulic oil temperature.

[0025] Furthermore, the automatic correction of the full-turn angle of the remote steering wheel specifically involves:

[0026] Using a pre-calibrated first MAP that shows the change of the remote steering wheel full rotation angle with hydraulic oil temperature, the remote steering wheel full rotation angle at the current hydraulic oil temperature is obtained.

[0027] Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, and the first MAP, a second MAP is plotted showing the full rotation angle and the corresponding resistance curve changes corresponding to different hydraulic oil temperatures.

[0028] Adjust the rotational resistance of the remote steering wheel within its full rotation angle. When the full rotation angle of the first MAP is reached, the resistance of the second MAP increases sharply, and the driver can no longer turn in the direction of increasing angle, so that the full rotation angle of the remote steering wheel is consistent with the full rotation angle of the local steering wheel.

[0029] Furthermore, the specific calibration process for the first MAP (Modular Angle) of the local steering wheel full-throttle angle changing with hydraulic oil temperature, and the second MAP (Modular Angle) of the full-throttle angle corresponding to different hydraulic oil temperatures and the corresponding resistance curve changes is as follows:

[0030] Real-time acquisition of hydraulic oil temperature at the loader body and corresponding full-turn angle of the local steering wheel at the hydraulic oil temperature, and plotting the first MAP of the local steering wheel full-turn angle as a function of hydraulic oil temperature.

[0031] Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, the relationship between the rotational resistance curve of the damping motor at the preset hydraulic oil temperature and the rotation angle of the remote steering wheel is calibrated.

[0032] By changing the hydraulic oil temperature, the relationship between the rotational resistance curve of the damping motor and the rotation angle of the remote steering wheel was repeatedly measured, and a second MAP was determined to calibrate the relationship between the full rotation angle of the remote steering wheel and the rotational resistance curve of the motor with the change of hydraulic oil temperature under different hydraulic oil temperatures.

[0033] The accuracy of the first MAP (Modular Mapping) of the local steering wheel full rotation angle as a function of hydraulic oil temperature and the second MAP (Modular Mapping) of the remote steering wheel full rotation angle and the motor rotation resistance curve as a function of hydraulic oil temperature under different working conditions was tested experimentally. The angle difference between the local steering wheel full rotation angle and the remote steering wheel full rotation angle was used as the criterion for judging the accuracy. The calibration was considered complete when the angle difference was within the preset range.

[0034] A second aspect of the present invention provides a remote driving steering synchronization method.

[0035] A remote driving steering synchronization method includes:

[0036] The remote steering wheel angle is collected in real time, and the hydraulic oil temperature, local steering wheel angle, and the angle between the front and rear frames of the loader are received from the loader body. The control signal is generated through calculation.

[0037] Based on the control signals, the steering of the local steering wheel is synchronously controlled;

[0038] The synchronous control includes zero-position correction when the loader is traveling straight without turning and full-rotation correction when the remote steering wheel is fully turned. The zero-position correction is performed on the servo motor at the loader body and the damping motor at the remote control end. The full-rotation correction is based on the real-time collected hydraulic oil temperature and automatically corrects the full-rotation angle of the remote steering wheel by changing the rotation resistance that increases with the rotation angle, so that the full-rotation angle of the remote steering wheel is consistent with the full-rotation angle of the local steering wheel.

[0039] A third aspect of the invention provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the steps of a remote driving steering synchronization method as described in the second aspect of the invention.

[0040] A fourth aspect of the present invention provides an electronic device including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of a remote driving steering synchronization method as described in a second aspect of the present invention.

[0041] The above one or more technical solutions have the following beneficial effects:

[0042] This invention collects data on the relationship between the actual full-turn angle of the local steering wheel of construction machinery such as loaders and the hydraulic oil, determines the maximum full-turn angle of the remote steering wheel at different hydraulic oil temperatures, and calibrates the second MAP of the steering torque of the damping motor at the remote control end based on the hydraulic oil temperature. This ensures that the full-turn angles of the local and remote steering wheels of the loader are consistent when the loader is working under different conditions, improves the steering control accuracy of remote driving, and increases work efficiency.

[0043] The rotational resistance of the remote steering wheel in this invention increases with the increase of the rotation angle, allowing the remote driver to experience the steering feel of local driving, enhancing the realism of remote driving and improving safety. The remote driving steering system for loaders designed in this paper is highly operable; with slight modifications to the loader, precise steering can be achieved, offering advantages such as low cost and reliable operation.

[0044] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0045] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0046] Figure 1 This is a system structure diagram of the first embodiment.

[0047] Figure 2 This is a calibration flowchart for the first embodiment. Detailed Implementation

[0048] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0049] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0050] The remote driving steering synchronization system and method of the present invention can automatically correct the full-turn angle of the remote steering wheel by changing the rotational resistance of the damping motor according to the change of hydraulic oil temperature, so that the full-turn angle of the remote steering wheel is consistent with that of the local steering wheel of the loader. The system has a first steering angle sensor installed on the remote steering wheel and a second steering angle sensor installed on the local steering wheel. The first steering angle sensor collects the rotation angle of the remote steering wheel in real time and converts it into an electrical signal through the remote controller. The 5G communication module transmits the signal to the local controller of the loader. The local controller decodes the steering angle signal and sends it to the steering motor to control the local steering wheel to rotate by the same angle. The second steering angle sensor installed on the local steering wheel collects the steering angle of the local steering wheel as a feedback signal and transmits it to the controller ECU. It is compared with the steering angle of the remote steering wheel to determine whether the rotation time and angle of the two are consistent. Since there may be problems such as signal interference or temporary interruption during remote driving, resulting in the local steering wheel not rotating after the remote end sends a rotation signal, the feedback signal finds that the two exceed the preset error and corrects the steering angle of the remote steering wheel to the actual steering angle of the local steering wheel.

[0051] Example 1

[0052] One embodiment of this disclosure provides a remote driving steering synchronization system, which is described in detail from the aspects of system structure and synchronization control.

[0053] I. System Structure

[0054] Remote driving steering synchronization system, such as Figure 1 As shown, the system includes a loader body, a communication network, and a remote control terminal. The loader body is responsible for receiving remote steering signals to steer the loader, and for collecting hydraulic oil temperature and steering angle data from the second and third steering angle sensors to determine the MAP (Modular Area Control) zone and verify the zero-angle position for the remote controller. The communication network is responsible for data transmission between the loader body and the remote control terminal. The remote control terminal automatically selects the MAP zone based on the hydraulic oil temperature, ensuring that the full-turn angle of the remote steering wheel and the local steering wheel are consistent.

[0055] The scope of MAP is explained here:

[0056] The temperature of the hydraulic oil determines which area the first and second MAPs are used during operation. The area used, or the area where the MAPs are effective, is called the MAP effective zone. The hydraulic oil temperature determines the effective zone and also the full rotation angle, which is given in the MAP.

[0057] The loader body includes a hydraulic oil pump, a hydraulic steering device, a temperature sensor, a local steering wheel, a servo motor, a second angle sensor, a third angle sensor, a local controller, and a local 5G communication module.

[0058] The function of the hydraulic oil pump is to provide the driving hydraulic oil required for steering; the function of the servo motor is to receive signals from the local controller and control the rotation of the local steering wheel; the hydraulic steering device receives the rotation information of the local steering wheel and controls the steering of the loader; the function of the temperature sensor is to measure the hydraulic oil temperature in real time; the second sensor collects the local steering wheel angle in real time; the third angle sensor collects the angle between the front and rear frames of the loader; the local controller is responsible for controlling each actuator based on the data of the first and second MAP and the angle of the remote steering wheel rotated by the driver.

[0059] The remote control terminal includes a remote controller, a damping motor, a remote steering wheel, a first steering angle sensor, and a remote 5G communication module.

[0060] The function of the remote controller is to receive the steering angle signal of the remote steering wheel and send it to the local controller according to the calibrated control second MAP. The function of the damping motor is to change the rotation resistance in real time according to the calibrated curves of the full rotation angle of the remote steering wheel and the rotation resistance of the motor under different hydraulic oil temperatures, so that the full rotation angle of the remote steering wheel and the local steering wheel are consistent. The first steering angle sensor collects the steering angle of the remote steering wheel and transmits it to the remote controller. The remote steering wheel is operated by the remote driver to realize the remote control of the loader.

[0061] II. Synchronization Control

[0062] During remote driving, the driver turns the remote steering wheel, the first steering angle sensor collects the steering angle of the remote steering wheel, the remote controller converts it into an electrical signal, and then transmits it to the local controller through network communication equipment to realize synchronous control of the steering of the local steering wheel of the loader.

[0063] Synchronization control here refers to synchronizing the rotation angles of the remote and local steering wheels when the steering wheel is turned. To achieve this goal and reduce the computational burden on the controller, this embodiment selects to perform corrections at two key positions: zero position and full rotation. This ensures that the full rotation angles of the remote and local steering wheels are the same, preventing cumulative errors in the steering angles of the remote and local steering wheels. Specifically, this involves two key technical points: zero-position correction when the loader is traveling straight without turning and full-rotation correction when the remote steering wheel is at full rotation.

[0064] 1. Zero-position calibration of the loader when it is traveling straight without turning.

[0065] To improve steering control precision and prevent cumulative angle errors between the remote and local steering wheels, a third angle sensor is installed at the connecting pin of the front and rear frames of the loader. When the angle between the front and rear frames of the loader is 180 degrees, i.e., when the loader is traveling straight without turning, zero-position calibration is performed on the servo motor and damping motor. Specifically:

[0066] The rotation angle of the third rotation sensor is set to zero, and the first and second rotation sensors should also be set to zero. Automatic three-in-one zero-position calibration and reset are then performed.

[0067] The angle of the third corner sensor can also be displayed digitally on the screen of the remote control terminal, allowing the driver to directly perceive the loader's corner angle.

[0068] 2. Full-rotation correction when the steering wheel is turned to full rotation remotely

[0069] When the remote steering wheel is fully turned, the rotational resistance of the damping motor is automatically adjusted to perform full-turn correction. Within the full applicable temperature range of the loader's hydraulic oil, the full-turn angle of the remote steering wheel and the local steering wheel are the same, achieving consistency in the turning angle during steering. This ensures the accuracy of steering operations during remote driving and improves efficiency and safety during remote operations.

[0070] Specifically, the rotational resistance of the damping motor at the remote control end is minimal at zero position. As the left or right turn angle increases, the rotational resistance increases. When the preset full rotation angle is reached, the resistance increases sharply, and the driver cannot turn. This relationship between rotational resistance and turn angle is defined by the rotational resistance curve of the damping motor at the remote control end.

[0071] The specific steps for full-rotation correction when the steering wheel is turned to full rotation remotely are as follows:

[0072] The hydraulic oil temperature is collected, and the local steering wheel full rotation angle is obtained by using the first MAP (map) which is calibrated to show the change of local steering wheel full rotation angle with hydraulic oil temperature, and the second MAP which shows the relationship between the remote steering wheel full rotation angle and the motor rotation resistance curve with hydraulic oil temperature. Then, the target full rotation angle of the remote steering wheel is determined.

[0073] Based on the target full-rotation angle, the rotational resistance curve of the damping motor at the remote control end is determined. During remote driving, based on the determined rotational resistance curve, the rotational resistance of the damping motor is automatically adjusted to ensure that the full-rotation angle of the remote steering wheel and the local steering wheel are the same, thus achieving consistency of rotation angle during steering.

[0074] 3. Calibration of MAP and curves

[0075] In the above synchronous control process, the first MAP (map) showing the local steering wheel full rotation angle as a function of hydraulic oil temperature, and the second MAP showing the relationship between the remote steering wheel full rotation angle and the motor rotation resistance curve as a function of hydraulic oil temperature are used.

[0076] To achieve precise synchronous control, it is necessary to calibrate the first MAP (Modular Mapping) of the local steering wheel's full-range angle as a function of hydraulic oil temperature, and the second MAP (Modular Mapping) of the remote steering wheel's full-range angle and the motor's rotational resistance curve as a function of hydraulic oil temperature, based on the relationship between the hydraulic oil and the actual full-range angle of the local steering wheel. This ensures that when the loader operates under different hydraulic oil temperatures, the full-range angle of the remote steering wheel matches that of the local steering wheel. Furthermore, as the left or right turn angle deviates from the zero position, the rotational resistance increases, providing the driver with a sense of on-site operation during remote control. The steps are as follows:

[0077] Real-time acquisition of hydraulic oil temperature at the loader body and corresponding full-turn angle of the local steering wheel at the hydraulic oil temperature, and plotting the first MAP of the local steering wheel full-turn angle as a function of hydraulic oil temperature.

[0078] Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, i.e., the increase of the damping control current increases the damping of the motor; at a certain hydraulic oil temperature, the full rotation angle of the local steering wheel is constant. During calibration, the damping control current is gradually increased as the rotation angle increases. When the rotation angle of the remote steering wheel reaches the full rotation angle of the local steering wheel, the damping control current increases sharply, and the driver can no longer turn the remote steering wheel in the direction of increasing angle, so that the full rotation angles of the remote steering wheel and the local steering wheel are consistent. The relationship between the rotational resistance curve of the damping motor and the rotation angle of the remote steering wheel at a certain hydraulic oil temperature is calibrated, which is part of the second MAP.

[0079] By changing the hydraulic oil temperature, the relationship between the rotational resistance curve of the damping motor and the rotation angle of the remote steering wheel was repeatedly measured. The relationship between the full rotation angle of the remote steering wheel and the rotational resistance curve of the motor under different hydraulic oil temperatures was then determined, and the second MAP was plotted.

[0080] The accuracy of the first MAP (Modular Mapping) of the local steering wheel full rotation angle as a function of hydraulic oil temperature and the second MAP (Modular Mapping) of the remote steering wheel full rotation angle and the motor rotation resistance curve as a function of hydraulic oil temperature under different working conditions was tested experimentally. The angle difference between the local steering wheel full rotation angle and the remote steering wheel full rotation angle was used as the criterion for judging the accuracy. The calibration was considered complete when the angle difference was within the preset range.

[0081] This embodiment provides a more detailed calibration process, such as Figure 2 As shown, specifically:

[0082] S1: The hydraulic oil temperature and the corresponding full-turn angle of the steering wheel under the hydraulic oil temperature are collected in real time through the temperature sensor and the second steering angle sensor.

[0083] S2: Plot the first MAP of hydraulic oil temperature and local steering wheel full rotation angle, and give the local steering wheel full rotation angle under different hydraulic oil temperatures.

[0084] S3: Collects hydraulic oil temperature and local steering wheel full rotation angle, converts them into electrical signals, and transmits them to the remote controller via the remote communication module.

[0085] S4: Set the rotational resistance curve of the damping motor based on the hydraulic oil temperature and the actual full rotation angle of the local steering wheel;

[0086] S5: Plot the relationship between the full rotation angle of the remote steering wheel and the rotational resistance of the motor as a function of hydraulic oil temperature under all hydraulic operating temperatures (second MAP).

[0087] S6: Test experiment, synchronously collect the full rotation angle of local and remote steering wheels under different working conditions;

[0088] S7: Calculate the full-rotation angle error, which is the local steering wheel full-rotation angle minus the remote steering wheel full-rotation angle;

[0089] S8: Determine whether the full rotation angle error meets the requirements;

[0090] S9: If the error is below the set value, complete the calibration of the remote steering wheel full rotation angle and hydraulic oil temperature MAP; otherwise, return to S4 to recalibrate until the requirements are met.

[0091] Example 2

[0092] One embodiment of this disclosure provides a remote driving steering synchronization method, including:

[0093] The remote steering wheel angle is collected in real time, and the hydraulic oil temperature, local steering wheel angle, and the angle between the front and rear frames of the loader are received from the loader body. The control signal is generated through calculation.

[0094] Based on the control signals, the steering of the local steering wheel is synchronously controlled;

[0095] The synchronous control includes zero-position correction when the loader is traveling straight without turning and full-rotation correction when the remote steering wheel is fully turned. The zero-position correction is performed on the servo motor at the loader body and the damping motor at the remote control end. The full-rotation correction is based on the real-time collected hydraulic oil temperature and automatically corrects the full-rotation angle of the remote steering wheel by changing the rotation resistance that increases with the rotation angle, so that the full-rotation angle of the remote steering wheel is consistent with the full-rotation angle of the local steering wheel.

[0096] Example 3

[0097] The purpose of this embodiment is to provide a computer-readable storage medium.

[0098] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of a remote driving steering synchronization method as described in Embodiment 2 of this disclosure.

[0099] Example 4

[0100] The purpose of this embodiment is to provide an electronic device.

[0101] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a remote driving steering synchronization method as described in Embodiment 2 of this disclosure.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A remote driving steering synchronization system, characterized in that, Including the connected remote control terminal and the loader body terminal: The remote control terminal is configured to: collect the remote steering wheel angle in real time, and receive the hydraulic oil temperature, local steering wheel angle and the angle between the front and rear frames of the loader sent by the loader body terminal, and generate control signals through calculation; The loader body is configured to: synchronously control the steering of the local steering wheel based on control signals; The synchronous control includes zero-position correction when the loader is traveling straight without turning and full-rotation correction when the remote steering wheel is fully turned. The zero-position correction is performed on the servo motor at the loader body and the damping motor at the remote control end. The full-rotation correction is based on the real-time collected hydraulic oil temperature and automatically corrects the full-rotation angle of the remote steering wheel by changing the rotation resistance that increases with the rotation angle, so that the full-rotation angle of the remote steering wheel is consistent with the full-rotation angle of the local steering wheel. The automatic correction of the full-turn angle of the remote steering wheel specifically involves: Using a pre-calibrated first MAP that shows the change of the local steering wheel full rotation angle with hydraulic oil temperature, the local steering wheel full rotation angle is obtained, and then the remote steering wheel full rotation angle at the current hydraulic oil temperature is obtained. Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, a second MAP was plotted to show the relationship between the full rotation angle of the remote steering wheel and the rotational resistance of the motor under different hydraulic oil temperatures and the change of hydraulic oil temperature. Adjust the rotational resistance within the full rotation angle of the remote steering wheel. When the full rotation angle of the first MAP is reached, the resistance of the second MAP increases sharply, and the driver can no longer turn in the direction of increasing angle, so that the full rotation angle of the remote steering wheel is consistent with the full rotation angle of the local steering wheel. The first MAP, which describes the relationship between the local steering wheel full-range angle and hydraulic oil temperature, and the second MAP, which describes the relationship between the remote steering wheel full-range angle and the motor's rotational resistance curve under different hydraulic oil temperatures and hydraulic oil temperature, are calibrated as follows: Real-time acquisition of hydraulic oil temperature at the loader body and corresponding full-turn angle of the local steering wheel at the hydraulic oil temperature, and plotting the first MAP of the local steering wheel full-turn angle as a function of hydraulic oil temperature. Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, the relationship between the rotational resistance curve of the damping motor at the preset hydraulic oil temperature and the rotation angle of the remote steering wheel is calibrated. By changing the hydraulic oil temperature, the relationship between the rotational resistance curve of the damping motor and the rotation angle of the remote steering wheel was repeatedly measured, and a second MAP was determined to calibrate the relationship between the full rotation angle of the remote steering wheel and the rotational resistance curve of the motor with the change of hydraulic oil temperature under different hydraulic oil temperatures. The accuracy of the first MAP (Modular Mapping) of the local steering wheel full rotation angle as a function of hydraulic oil temperature and the second MAP (Modular Mapping) of the remote steering wheel full rotation angle and the motor rotation resistance curve as a function of hydraulic oil temperature under different working conditions was tested experimentally. The angle difference between the local steering wheel full rotation angle and the remote steering wheel full rotation angle was used as the criterion for judging the accuracy. The calibration was considered complete when the angle difference was within the preset range.

2. The remote driving steering synchronization system as described in claim 1, characterized in that, It also includes a temperature sensor, a first angle sensor, a second angle sensor, and a third angle sensor; The temperature sensor is installed between the hydraulic oil pump and the hydraulic steering device at the end of the loader body to measure the hydraulic oil temperature in real time. The first steering angle sensor is installed on the remote steering wheel and is used to collect the steering angle of the remote steering wheel in real time; The second steering angle sensor is installed on the local steering wheel and is used to collect the steering angle of the local steering wheel in real time; The third angle sensor is installed at the connecting pin of the front and rear frames of the loader and is used to collect the angle between the front and rear frames of the loader in real time.

3. The remote driving steering synchronization system as described in claim 2, characterized in that, The loader travels straight without turning, specifically: The third corner sensor collects the angle between the front and rear frames of the loader. When the angle is 180 degrees, it is determined that the loader is going straight and not turning.

4. A remote driving steering synchronization system as described in claim 2, characterized in that, The zero-position correction specifically refers to: Set the rotation angle of the third rotation sensor to zero; Set the first angle sensor to zero; Set the second angle sensor to zero.

5. A remote driving steering synchronization system as described in claim 1, characterized in that, The hydraulic oil temperature is collected in real time by a temperature sensor and uploaded to the local controller. The local controller uses a pre-calibrated first MAP (map) of the local steering wheel full rotation angle as a function of the hydraulic oil temperature to obtain the local steering wheel full rotation angle at the current hydraulic oil temperature.

6. A remote driving steering synchronization method, characterized in that, include: The remote steering wheel angle is collected in real time, and the hydraulic oil temperature, local steering wheel angle, and the angle between the front and rear frames of the loader are received from the loader body. The control signal is generated through calculation. Based on the control signals, the steering of the local steering wheel is synchronously controlled; The synchronous control includes zero-position correction when the loader is traveling straight without turning and full-rotation correction when the remote steering wheel is fully turned. The zero-position correction is performed on the servo motor at the loader body and the damping motor at the remote control end. The full-rotation correction is based on the real-time collected hydraulic oil temperature and automatically corrects the full-rotation angle of the remote steering wheel by changing the rotation resistance that increases with the rotation angle, so that the full-rotation angle of the remote steering wheel is consistent with the full-rotation angle of the local steering wheel. The automatic correction of the full-turn angle of the remote steering wheel specifically involves: Using a pre-calibrated first MAP that shows the change of the local steering wheel full rotation angle with hydraulic oil temperature, the local steering wheel full rotation angle is obtained, and then the remote steering wheel full rotation angle at the current hydraulic oil temperature is obtained. Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, a second MAP was plotted to show the relationship between the full rotation angle of the remote steering wheel and the rotational resistance of the motor under different hydraulic oil temperatures and the change of hydraulic oil temperature. Adjust the rotational resistance within the full rotation angle of the remote steering wheel. When the full rotation angle of the first MAP is reached, the resistance of the second MAP increases sharply, and the driver can no longer turn in the direction of increasing angle, so that the full rotation angle of the remote steering wheel is consistent with the full rotation angle of the local steering wheel. The first MAP, which describes the relationship between the local steering wheel full-range angle and hydraulic oil temperature, and the second MAP, which describes the relationship between the remote steering wheel full-range angle and the motor's rotational resistance curve under different hydraulic oil temperatures and hydraulic oil temperature, are calibrated as follows: Real-time acquisition of hydraulic oil temperature at the loader body and corresponding full-turn angle of the local steering wheel at the hydraulic oil temperature, and plotting the first MAP of the local steering wheel full-turn angle as a function of hydraulic oil temperature. Based on the relationship between the rotational resistance of the damping motor at the remote control end and the magnitude of the damping control current, the relationship between the rotational resistance curve of the damping motor at the preset hydraulic oil temperature and the rotation angle of the remote steering wheel is calibrated. By changing the hydraulic oil temperature, the relationship between the rotational resistance curve of the damping motor and the rotation angle of the remote steering wheel was repeatedly measured, and a second MAP was determined to calibrate the relationship between the full rotation angle of the remote steering wheel and the rotational resistance curve of the motor with the change of hydraulic oil temperature under different hydraulic oil temperatures. The accuracy of the first MAP (Modular Mapping) of the local steering wheel full rotation angle as a function of hydraulic oil temperature and the second MAP (Modular Mapping) of the remote steering wheel full rotation angle and the motor rotation resistance curve as a function of hydraulic oil temperature under different working conditions was tested experimentally. The angle difference between the local steering wheel full rotation angle and the remote steering wheel full rotation angle was used as the criterion for judging the accuracy. The calibration was considered complete when the angle difference was within the preset range.

7. An electronic device, characterized in that it comprises: Memory is used to store computer-readable instructions in a non-transitory manner. as well as Processor, for executing the computer-readable instructions, When the computer-readable instructions are executed by the processor, they perform the method described in claim 6.

8. A storage medium, characterized in that, The computer-readable instructions are stored non-temporarily, wherein when the computer-readable instructions are executed by a computer, the method of claim 6 is performed.

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