Drive-by-wire full-hydraulic system, drive-by-wire full-hydraulic method and steering method

Abstract

The invention belongs to the technical field of hydraulic systems, and discloses a drive-by-wire full-hydraulic system and method and a steering method. Wherein the drive-by-wire full-hydraulic system comprises an integrated control valve module, the integrated control valve module is connected with a hydraulic oil tank, an oil filter and an electric control full-hydraulic steering gear module, the electric control full-hydraulic steering gear module is connected with a control module and a wheel angle sensor, and the hydraulic oil tank is sequentially connected with an electronic oil pump and the oil filter; according to the system, hydraulic oil leakage can be effectively prevented, the safety risk is remarkably reduced, natural resources and the ecological environment are protected, consistency and synchronization of actual steering and steering required by control are achieved, steering controllability is improved, and system safety is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic systems, and particularly to a wire-controlled full hydraulic system and method, and a steering method. Background Art

[0002] In current automotive, construction machinery, and many industrial application fields, the hydraulic transmission system has become one of the key technologies for realizing complex mechanical motion control due to its efficient and stable power transmission characteristics. Among them, the transmission process of hydraulic oil from the rotary valve to the steering cylinder is a core link in the hydraulic system, which is directly related to the performance and reliability of the steering system.

[0003] However, in the prior art, this transmission process mainly relies on hydraulic oil pipelines for connection. Although pipeline connection has the advantages of simple structure, easy installation and maintenance, there are also problems that cannot be ignored. On the one hand, during the long-term operation of the hydraulic oil pipeline, due to the influence of various factors such as vibration, impact, temperature change, and medium corrosion, the joints are extremely prone to wear and looseness, resulting in the risk of hydraulic oil leakage. Especially when the hydraulic oil is in a high-pressure state, once leakage occurs, it will not only cause a great waste of resources, but also pose a serious safety hazard to the surrounding environment and personnel. At the same time, the layout of pipeline connection also needs to sacrifice some space of the whole vehicle, which is not conducive to the layout of the whole vehicle. Summary of the Invention

[0004] The purpose of the present invention is to provide a wire-controlled full hydraulic system and method, and a steering method to overcome the problems existing in the prior art. The present invention can effectively prevent hydraulic oil leakage, significantly reduce safety risks, protect natural resources and the ecological environment, and also achieve the consistency and synchronization of actual steering and control demand steering, improve steering controllability, and further improve system safety.

[0005] To achieve the above object, the technical solutions adopted by the present invention are as follows: In a first aspect, the present invention provides a wire-controlled full hydraulic system, including an integrated control valve module, a control module, an electro-hydraulic steering control unit (EHSCU) module, a hydraulic oil tank, a wheel angle sensor, an electronic oil pump, and an oil filter; The integrated control valve module is respectively connected to the hydraulic oil tank, the oil filter, and the electro-hydraulic steering control unit module. The control module is connected to the electro-hydraulic steering control unit module for obtaining control information. The electro-hydraulic steering control unit module is connected to the wheel angle sensor. The hydraulic oil tank is connected to the electronic oil pump, and the electronic oil pump is connected to the oil filter; The integrated control valve module includes an electromagnetic switch valve respectively connected to an electro-hydraulic steering gear module, an oil filter, and a hydraulic oil tank. The electromagnetic switch valve is connected to a proportional valve bridge. The proportional valve bridge is respectively connected to the electro-hydraulic steering gear module and the hydraulic oil tank. The proportional valve bridge is also connected to a reversing valve. The reversing valve is respectively connected to the electromagnetic switch valve and the hydraulic oil tank. A spool displacement sensor is integrated inside the reversing valve for obtaining the information of the spool displacement in real time. The reversing valve is connected to the electro-hydraulic steering gear module through the spool displacement sensor. The reversing valve is connected to a hydraulic cylinder; Further, the control module is a steering control module or a remote control tool; The steering control module includes a steering wheel. The steering wheel is connected to an off-road steering angle sensor. The off-road steering angle sensor (abbreviated as OSAS) is connected to the electro-hydraulic steering gear module; Further, the electromagnetic switch valve includes valve ports E, F, and T; the reversing valve includes valve ports LE, RE, L, R, and T; The electromagnetic switch valve is connected to the oil filter through valve port E, connected to the proportional valve bridge through valve port F, connected to the hydraulic oil tank through valve port T, and connected to the electro-hydraulic steering gear module; Valve ports L and R of the reversing valve are respectively connected to the hydraulic cylinder, and valve port T is connected to the hydraulic oil tank; Further, the proportional valve bridge includes a first proportional valve, a second proportional valve, a throttle valve, a filter, an oil inlet port PE, and an oil return port TE; the first proportional valve includes valve ports A1, B1, T1, and a first check valve; the second proportional valve includes valve ports A2, B2, T2, and a second check valve; The first proportional valve is connected to the second proportional valve. The first proportional valve and the second proportional valve are respectively connected to the electro-hydraulic steering gear module; Valve port A1 of the first proportional valve is connected to valve port LE of the reversing valve. Valve port A1 is also connected to the first check valve. The first check valve is connected to the throttle valve. When in the energized state, valve port A1 is connected to valve port B1. Valve port B1 is connected to the oil inlet port PE through the filter. The oil inlet port PE is connected to valve port F of the electromagnetic switch valve. When in the non-energized state, valve port A1 is connected to valve port T1. Valve port T1 is connected to the oil return port TE through the throttle valve. The oil return port TE is connected to the hydraulic oil tank; The valve port A2 of the second proportional valve is connected to the valve port RE of the reversing valve. The valve port A2 is also connected to a second check valve, and the second check valve is connected to a throttle valve. When in the energized state, the valve port A2 is connected to the valve port B2, and the valve port B2 is connected to the oil inlet PE through a filter. The oil inlet PE is connected to the valve port F of the electromagnetic switch valve. When in the non-energized state, the valve port A2 is connected to the valve port T2, and the valve port T2 is connected to the oil return port TE through the throttle valve. The oil return port TE is connected to the hydraulic oil tank.

[0006] Second, the present invention also provides a wire-controlled full-hydraulic method. Based on the above-mentioned wire-controlled full-hydraulic system, it includes the following steps: Step 1, the control module senses the control information in real time and sends the control information to the electro-hydraulic steering gear module; Step 2, the electro-hydraulic steering gear module controls the on / off of the electromagnetic switch valve and the proportional valve bridge through the control information; Step 3, according to the on / off of the electromagnetic switch valve and the proportional valve bridge, control the direction of the high-pressure oil entering the reversing valve and the hydraulic cylinder, and then control the movement direction of the hydraulic cylinder; Step 4, the reversing valve obtains the spool displacement information in real time through the internally integrated spool displacement sensor and sends the spool displacement information to the electro-hydraulic steering gear module; Step 5, the electro-hydraulic steering gear module compares the received spool displacement information with the displacement value expected by the control information. If the spool displacement information is consistent with the displacement value expected by the control information, then execute Step 1 again; if the spool displacement information is inconsistent with the displacement value expected by the control information, then the electro-hydraulic steering gear module controls the on / off of the electromagnetic switch valve and the proportional valve bridge through the spool displacement information and executes Step 3 again; Further, the control module in Step 1 is a remote control tool. Step 1 specifically includes: When controlling through the remote control tool, the remote control tool senses the control information in real time and sends the control information to the electro-hydraulic steering gear module; Further, the electromagnetic switch valve includes valve ports E, F, and T; the proportional valve bridge includes a first proportional valve, a second proportional valve, a throttle valve, a filter, an oil inlet PE, and an oil return port TE; the first proportional valve includes valve ports A1, B1, T1, and a first check valve; the second proportional valve includes valve ports A2, B2, T2, and a second check valve; the reversing valve includes valve ports LE, RE, L, R, and T. Step 3 specifically includes: The high-pressure oil flows from the hydraulic oil tank into the electric oil pump and the oil filter in sequence; When the electromagnetic switch valve is energized, the first proportional valve is energized, and the second proportional valve is de-energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and sequentially flows through the filter into the valve ports B1 and A1 of the first proportional valve, then flows into the valve port LE of the reversing valve, and then flows into the left side of the hydraulic oil tank through the valve port L of the reversing valve, pushing the hydraulic oil tank to move to the right. The high-pressure oil on the right side of the hydraulic oil tank flows into the valve port T through the valve port R of the reversing valve and finally flows back to the hydraulic oil tank; When the electromagnetic switch valve is energized, the first proportional valve is de-energized, and the second proportional valve is energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and sequentially flows through the filter into the valve ports B2 and A2 of the second proportional valve, then flows into the valve port RE of the reversing valve, and then flows into the right side of the hydraulic oil tank through the valve port R of the reversing valve, pushing the hydraulic oil tank to move to the left. The high-pressure oil on the left side of the hydraulic oil tank flows into the valve port T through the valve port L of the reversing valve and finally flows back to the hydraulic oil tank; When the electromagnetic switch valve is energized, the first proportional valve is de-energized, and the second proportional valve is de-energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and sequentially flows through the filter and throttle valve into the oil return port TE and finally flows back to the hydraulic oil tank; When the electromagnetic switch valve is energized, the first proportional valve is energized, and the second proportional valve is energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and simultaneously flows through the filter into the valve port B1 of the first proportional valve and the valve port B2 of the second proportional valve respectively. It sequentially flows from the valve port B1 of the first proportional valve into the valve port A1, the valve port LE of the reversing valve, and the valve port L of the reversing valve, and sequentially flows from the valve port B2 of the second proportional valve into the valve port A2, the valve port RE of the reversing valve, and the valve port R of the reversing valve, then simultaneously flows into the left and right sides of the hydraulic oil tank, and then controls the hydraulic oil tank to move to the left or right through the electronically controlled full hydraulic steering gear module; When the electromagnetic switch valve is not energized, high-pressure oil does not flow into the valve port E of the electromagnetic switch valve, and the steering of the hydraulic oil tank cannot be controlled.

[0007] In a third aspect, the present invention also provides a wire-controlled full hydraulic steering method, based on the above-mentioned wire-controlled full hydraulic system, including the following steps: Step 1, the control module senses the control information in real time and sends the control information to the electronically controlled full hydraulic steering gear module; Step 2, the electronically controlled full hydraulic steering gear module controls the energization and de-energization of the electromagnetic switch valve and the proportional valve bridge through the control information; Step 3: Control the direction of high-pressure oil entering the reversing valve and the hydraulic cylinder according to the on-off states of the electromagnetic switching valve and the proportional valve bridge, thereby controlling the movement direction of the hydraulic cylinder. Step 4: The reversing valve obtains the spool displacement information in real time through the internally integrated spool displacement sensor, and sends the spool displacement information to the electronically controlled full hydraulic steering gear module. Step 5: The wheel angle sensor obtains the actual wheel rotation angle information in real time, and sends the actual wheel rotation angle information to the electronically controlled full hydraulic steering gear module. Step 6: The electronically controlled full hydraulic steering gear module compares the received spool displacement information and the actual wheel rotation angle information with the displacement value and rotation angle information expected by the control information. If the spool displacement information is consistent with the displacement value expected by the control information, and the actual wheel rotation angle information is consistent with the rotation angle value expected by the control information, then Step 1 is executed again; if the spool displacement information is inconsistent with the displacement value expected by the control information, and the actual wheel rotation angle information is inconsistent with the rotation angle value expected by the control information, then the electronically controlled full hydraulic steering gear module controls the on-off states of the electromagnetic switching valve and the proportional valve bridge through the spool displacement information, and Step 3 is executed again. Further, the control module in Step 1 is a steering control module. The steering control module includes a steering wheel, and the steering wheel is connected with a non-road steering angle sensor. Step 1 specifically includes: When controlling the vehicle through the steering wheel, the non-road steering angle sensor senses the angle change of the steering wheel in real time, obtains the control information, and sends the control information to the electronically controlled full hydraulic steering gear module. Further, the electromagnetic switching valve includes valve ports E, F, and T; the proportional valve bridge includes a first proportional valve, a second proportional valve, a throttle valve, a filter, an oil inlet PE, and an oil return port TE; the first proportional valve includes valve ports A1, B1, T1, and a first check valve; the second proportional valve includes valve ports A2, B2, T2, and a second check valve; the reversing valve includes valve ports LE, RE, L, R, and T. Step 3 specifically includes: The high-pressure oil flows from the hydraulic oil tank into the electronic oil pump and the oil filter in sequence. When the electromagnetic switching valve is energized, the first proportional valve is energized, and the second proportional valve is de-energized, the high-pressure oil flows from the oil filter into valve port E of the electromagnetic switching valve, flows through valve port E of the electromagnetic switching valve into valve port F, then flows into the oil inlet PE of the proportional valve bridge, and sequentially flows through valve port B1 and valve port A1 of the first proportional valve through the filter, then flows into valve port LE of the reversing valve, and then flows into the left side of the hydraulic oil tank through valve port L of the reversing valve, pushing the hydraulic oil tank to move to the right, thereby controlling the wheels to turn to the right. The high-pressure oil on the right side of the hydraulic oil tank flows into valve port T through valve port R of the reversing valve and finally flows back to the hydraulic oil tank. When the electromagnetic switch valve is energized, the first proportional valve is de-energized, and the second proportional valve is energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and sequentially flows through the filter into the valve ports B2 and A2 of the second proportional valve, then flows into the valve port RE of the reversing valve, and then flows through the valve port R of the reversing valve into the right side of the hydraulic oil tank, pushing the hydraulic oil tank to move leftward, thereby controlling the leftward steering of the wheel. The high-pressure oil on the left side of the hydraulic oil tank flows into the valve port T through the valve port L of the reversing valve and finally flows back to the hydraulic oil tank; When the electromagnetic switch valve is energized, the first proportional valve is de-energized, and the second proportional valve is de-energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and sequentially flows through the filter and throttle valve into the oil return port TE and finally flows back to the hydraulic oil tank; When the electromagnetic switch valve is energized, the first proportional valve is energized, and the second proportional valve is energized, high-pressure oil flows from the oil filter into the valve port E of the electromagnetic switch valve, flows through the valve port E of the electromagnetic switch valve into the valve port F, then flows into the oil inlet PE of the proportional valve bridge, and simultaneously flows through the filter into the valve ports B1 of the first proportional valve and B2 of the second proportional valve respectively. It flows from the valve port B1 of the first proportional valve into the valve ports A1, LE of the reversing valve, and L of the reversing valve in sequence, and from the valve port B2 of the second proportional valve into the valve ports A2, RE of the reversing valve, and R of the reversing valve in sequence, and then simultaneously flows into the left and right sides of the hydraulic oil tank, and then controls the leftward or rightward movement of the hydraulic oil tank through the electro-hydraulic full steering gear module, thereby controlling the leftward or rightward steering of the wheel; When the electromagnetic switch valve is de-energized, high-pressure oil does not flow into the valve port E of the electromagnetic switch valve, and the steering of the hydraulic oil tank cannot be controlled, and thus the steering of the wheel cannot be controlled.

[0008] The above technical solution has the following advantages or beneficial effects: In a first aspect, the present invention provides a wire-controlled full hydraulic system. By canceling the rotary valve and tubing connection in the full hydraulic steering system and adopting an integrated connection method, it can more effectively seal the hydraulic oil, reduce the possibility of leakage, thus ensuring the safe and stable operation of the system. It can also save space and is conducive to layout. An off-road steering angle sensor is integrated at the control module to obtain control information. By integrating an electromagnetic solenoid valve, a proportional valve bridge, a reversing valve, etc. at the hydraulic cylinder, an integrated layout is achieved, enabling the electro-hydraulic full steering gear module to control the electromagnetic solenoid valve and the proportional valve bridge. By changing the direction and speed of the hydraulic oil through the reversing valve, the direction and speed of the hydraulic cylinder can be controlled, and ultimately the movement direction of the hydraulic cylinder can be controlled. By integrating a spool displacement sensor inside the reversing valve to obtain the spool displacement information in real time, and arranging a wheel angle sensor at the wheel to obtain the actual steering angle information of the wheel in real time, it is convenient for the electro-hydraulic full steering gear module to achieve closed-loop control of steering according to the spool displacement information, the actual steering angle information of the wheel, and the control information provided by the control module. The present invention can not only effectively prevent hydraulic oil leakage, significantly reduce safety risks, protect natural resources and the ecological environment, but also achieve the consistency and synchronization of actual steering and required steering, improve steering controllability, and further improve system safety.

[0009] Further, the off-road steering angle sensor can send the steering wheel angle information to the electro-hydraulic full steering gear module in real time. The electro-hydraulic full steering gear module can accurately control the pressure and flow of the hydraulic system according to the signals of the sensors, thereby achieving precise control of the steering mechanism. It can also be controlled by a remote control tool, making the system more flexible and capable of adapting to different application scenarios and requirements.

[0010] Further, the electromagnetic solenoid valve and the proportional valve bridge enable the system to achieve precise control of the hydraulic oil flow. By adjusting the energization and de-energization of the electromagnetic solenoid valve and the proportional valve bridge, the direction of the high-pressure oil entering the reversing valve and the hydraulic cylinder can be finely adjusted, and then the movement direction of the hydraulic cylinder can be controlled, so as to meet the steering requirements under different working conditions. The high-pressure oil returns to the hydraulic oil tank through the oil return port TE, effectively controlling the reciprocation of the high-pressure oil, avoiding the leakage of the high-pressure oil, and significantly reducing the safety risk.

[0011] In a second aspect, the present invention also provides a wire-controlled full hydraulic method. By canceling the hydraulic oil pipeline connection, the possibility of hydraulic oil leakage from the pipeline is avoided, making the hydraulic transmission efficient and safe. The control module senses the control information in real time and sends this information to the electro-hydraulic full steering gear module. The electro-hydraulic full steering gear module then controls the energization and de-energization of the electromagnetic solenoid valve and the proportional valve bridge according to this information, thereby accurately controlling the direction of the high-pressure oil entering the reversing valve and the hydraulic cylinder, achieving precise motion control and closed-loop control of the hydraulic cylinder, realizing the synchronization of actual steering and required steering, and improving steering controllability.

[0012] Thirdly, the present invention also provides a wire-controlled full-hydraulic steering method. By canceling the pipeline connection and adopting an integrated connection method, it can more effectively seal the hydraulic oil and reduce the possibility of leakage, thus ensuring the safe and stable operation of the system; by the control module sensing and processing the control information in real time, the precise control of the wheel steering can be realized. The electro-control full-hydraulic steering gear module accurately regulates the on-off of the electromagnetic switch valve and the proportional valve bridge according to this information, so as to ensure that the high-pressure oil enters the reversing valve and the hydraulic cylinder in a predetermined direction, driving the wheels to achieve the expected steering action and improving the steering controllability; in addition, the present invention can also not use the steering wheel, or directly cancel the steering wheel, for use in unmanned automatic driving, and the automatic steering function can be realized by controlling the electromagnetic switch valve and the proportional valve bridge through the electro-control full-hydraulic steering gear module. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the composition of a wire-controlled full-hydraulic system of the present invention; Figure 2 is a schematic diagram of the structure of the electromagnetic switch valve of the present invention; Figure 3 is a schematic diagram of the structure of the proportional valve bridge of the present invention; Figure 4 is a schematic diagram of the flow of a wire-controlled full-hydraulic method of the present invention; Figure 5 is a schematic diagram of the flow of a wire-controlled full-hydraulic steering method of the present invention; In the figure, 1 - integrated control valve module; 11 - electromagnetic switch valve; 12 - proportional valve bridge; 13 - reversing valve; 14 - hydraulic cylinder; 15 - spool displacement sensor; 2 - control module; 21 - steering wheel; 22 - off-road steering angle sensor; 3 - electro-control full-hydraulic steering gear module; 4 - wheel angle sensor; 5 - hydraulic oil tank; 6 - electronic oil pump; 7 - oil filter. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] The following further describes the present invention in detail with specific embodiments, which is an explanation rather than a limitation of the present invention. In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0015] Embodiment 1: Refer to Figure 1 , the present invention provides a wire-controlled full hydraulic system, which includes an integrated control valve module 1, a control module 2, an electro-hydraulic power steering module 3, a hydraulic oil tank 5, a wheel angle sensor 4, an electric oil pump 6 and an oil filter 7; the integrated control valve module 1 includes an electromagnetic switch valve 11, a proportional valve bridge 12, a reversing valve 13, and a hydraulic cylinder 14; The integrated control valve module 1 is respectively connected to the hydraulic oil tank 5, the oil filter 7 and the electro-hydraulic power steering module 3, the control module 2 is connected to the electro-hydraulic power steering module 3, the electro-hydraulic power steering module 3 is electrically connected to the wheel angle sensor 4, the wheel angle sensor 4 is used to obtain the actual steering angle information of the wheel and send the actual steering angle information of the wheel to the electro-hydraulic power steering module 3 in real time, the hydraulic oil tank 5 is connected to the electric oil pump 6, and the electric oil pump 6 is connected to the oil filter 7; The electromagnetic switch valve 11 of the integrated control valve module 1 is respectively connected to the electro-hydraulic power steering module 3, the oil filter 7, the hydraulic oil tank 5 and the proportional valve bridge 12, the proportional valve bridge 12 is respectively connected to the electro-hydraulic power steering module 3, the hydraulic oil tank 5 and the reversing valve 13, the reversing valve 13 is respectively connected to the electromagnetic switch valve 11 and the hydraulic oil tank 5, and a spool displacement sensor 15 is integrated inside the reversing valve 13 for obtaining the information of the spool displacement in real time and sending the spool displacement information of the reversing valve to the electro-hydraulic power steering module 3 in real time. The reversing valve 13 is electrically connected to the electro-hydraulic power steering module 3 through the spool displacement sensor 15, and the reversing valve 13 is connected to the hydraulic cylinder 14; Preferably, in an embodiment of the present invention, the control module 2 is a steering control module, including a steering wheel 21 and a non-road steering angle sensor 22. The steering wheel 21 is connected to the non-road steering angle sensor 22, and the non-road steering angle sensor 22 is connected to the electro-hydraulic steering gear module 3. The non-road steering angle sensor 22 is used to obtain the steering angle information of the steering wheel 21, and is electrically connected to the electro-hydraulic steering gear module 3 to send the steering angle information of the steering wheel 21 to the electro-hydraulic steering gear module 3 in real time.

[0016] Preferably, in an embodiment of the present invention, the control module 2 is a remote control tool.

[0017] See Figure 1 and Figure 2 , the electromagnetic switch valve 11 includes a valve port E, a valve port F, and a valve port T; the reversing valve 13 includes a valve port LE, a valve port RE, a valve port L, a valve port R, and a valve port T; The electromagnetic switch valve 11 is connected to the oil filter 7 through the valve port E, connected to the proportional valve bridge 12 through the valve port F, connected to the hydraulic oil tank 5 through the valve port T, and the electromagnetic switch valve 11 is connected to the electro-hydraulic steering gear module 3; the valve ports L and R of the reversing valve 13 are respectively connected to the hydraulic cylinder 14, and the valve port T is connected to the hydraulic oil tank 5.

[0018] See Figure 1 and Figure 3 , the proportional valve bridge 12 includes a first proportional valve 121, a second proportional valve 124, a throttle valve 125, a filter 126, an oil inlet PE, and an oil return port TE; the first proportional valve 121 includes a valve port A1, a valve port B1, a valve port T1, and a first one-way valve 122; the second proportional valve 124 includes a valve port A2, a valve port B2, a valve port T2, and a second one-way valve 123; The first proportional valve 121 is connected to the second proportional valve 124. The first proportional valve 121 and the second proportional valve 124 are respectively connected to the electro-hydraulic power steering module 3. The valve port A1 of the first proportional valve 121 is connected to the valve port LE of the reversing valve 13. The valve port A1 is also connected to the first check valve 122. The first check valve 122 is connected to the throttle valve 125. When in the energized state, the valve port A1 is connected to the valve port B1. The valve port B1 is connected to the oil inlet PE through the filter 126. The filter 126 is used to filter the hydraulic oil. The oil inlet PE is connected to the valve port F of the electromagnetic solenoid valve 11. When in the non-energized state, the valve port A1 is connected to the valve port T1. The valve port T1 is connected to the oil return port TE through the throttle valve 125. The oil return port TE is connected to the hydraulic oil tank 5. The valve port A2 of the second proportional valve 124 is connected to the valve port RE of the reversing valve 13. The valve port A2 is also connected to the second check valve 123. The second check valve 123 is connected to the throttle valve 125. When in the energized state, the valve port A2 is connected to the valve port B2. The valve port B2 is connected to the oil inlet PE through the filter 126. The oil inlet PE is connected to the valve port F of the electromagnetic solenoid valve 11. When in the non-energized state, the valve port A2 is connected to the valve port T2. The valve port T2 is connected to the oil return port TE through the throttle valve 125. The throttle valve 125 is used for throttling and reducing pressure. The oil return port TE is connected to the hydraulic oil tank 5. Preferably, the electromagnetic solenoid valve 11 has the highest control power in the system. When the electromagnetic solenoid valve 11 is closed, the system is in the locked state and the steer-by-wire cannot be performed. Preferably, the first check valve 122 and the second check valve 123 function to allow one-way flow and prevent reverse flow of the hydraulic oil, that is, the hydraulic oil at the valve ports T1, T2 and the oil return port TE can flow through the first check valve 122 or the second check valve 123, but the reverse flow is blocked.

[0019] Embodiment 2: See Figure 4 , the present invention provides a steer-by-wire electro-hydraulic method. Based on the above-mentioned steer-by-wire electro-hydraulic system, it includes the following steps: Step 1, when controlling to the right through the remote control tool, the remote control tool senses the information of controlling to the right in real time and sends the information of controlling to the right to the electro-hydraulic power steering module 3. Step 2, the electro-hydraulic power steering module 3 controls the electromagnetic solenoid valve 11 to be energized, the first proportional valve 121 to be energized, and the second proportional valve 124 to be de-energized according to the information of controlling to the right. Step 3: The high-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, flows from the oil filter 7 into the valve port E of the electromagnetic switch valve 11, flows into the valve port F through the valve port E of the electromagnetic switch valve 11, then flows into the oil inlet PE of the proportional valve bridge 12, flows into the valve ports B1 and A1 of the first proportional valve 121 through the filter 126 in sequence, then flows into the valve port LE of the reversing valve 13, and then flows into the left side of the hydraulic oil tank 5 through the valve port L of the reversing valve 13, pushing the hydraulic oil tank 5 to move to the right. The high-pressure oil on the right side of the hydraulic oil tank 5 flows into the valve port T through the valve port R of the reversing valve 13 and finally flows back to the hydraulic oil tank 5; Step 4: The reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15 and sends the spool displacement information to the electro-hydraulic steering module 3; Step 5: The electro-hydraulic steering module 3 compares the received spool displacement information with the displacement value expected to be achieved by the control information. When the spool displacement information is consistent with the displacement value expected to be achieved by the control information, it waits for the next operation through the remote control tool.

[0020] Embodiment 3: See Figure 4 , the present invention provides a wire-controlled full-hydraulic method. Based on the above-mentioned wire-controlled full-hydraulic system, it includes the following steps: Step 1: When operating to the left through the remote control tool, the remote control tool senses the information of operating to the left in real time and sends the information of operating to the left to the electro-hydraulic steering module 3; Step 2: The electro-hydraulic steering module 3 controls the electromagnetic switch valve 11 to be energized, the first proportional valve 121 to be de-energized, and the second proportional valve 124 to be energized through the information of operating to the left; Step 3: The high-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, flows from the oil filter 7 into the valve port E of the electromagnetic switch valve 11, flows into the valve port F through the valve port E of the electromagnetic switch valve 11, then flows into the oil inlet PE of the proportional valve bridge 12, flows into the valve ports B2 and A2 of the second proportional valve 124 through the filter 126 in sequence, then flows into the valve port RE of the reversing valve 13, and then flows into the right side of the hydraulic oil tank 5 through the valve port R of the reversing valve 13, pushing the hydraulic oil tank 5 to move to the left. The high-pressure oil on the left side of the hydraulic oil tank 5 flows into the valve port T through the valve port L of the reversing valve 13 and finally flows back to the hydraulic oil tank 5; Step 4: The reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15 and sends the spool displacement information to the electro-hydraulic steering module 3; Step 5: The electro-hydraulic power steering module 3 compares the received spool displacement information with the displacement value expected by the control information. If they are inconsistent, the electro-hydraulic power steering module 3 controls the electromagnetic solenoid valve 11, the first proportional valve 121, and the second proportional valve 124 to be energized. High-pressure oil flows from the oil filter 7 into the port E of the electromagnetic solenoid valve 11, through the port E of the electromagnetic solenoid valve 11 into the port F, and then into the oil inlet PE of the proportional valve bridge 12. It simultaneously flows into the port B1 of the first proportional valve 121 and the port B2 of the second proportional valve 124 through the filter 126 respectively. It flows from the port B1 of the first proportional valve 121 into the port A1, the port LE of the reversing valve 13, and the port L of the reversing valve 13 in sequence. It flows from the port B2 of the second proportional valve 124 into the port A2, the port RE of the reversing valve 13, and the port R of the reversing valve 13 in sequence. Then it simultaneously flows into the left and right sides of the hydraulic oil tank 5, and then the electro-hydraulic power steering module 3 controls the hydraulic oil tank 5 to move left or right, and step 4 is executed again.

[0021] Embodiment 4: Refer to Figure 4 , the present invention provides a by-wire electro-hydraulic method. Based on the above by-wire electro-hydraulic system, it includes the following steps: Step 1: When controlling forward through the remote control tool, the remote control tool senses the information of controlling forward in real time and sends the information of controlling forward to the electro-hydraulic power steering module 3; Step 2: The electro-hydraulic power steering module 3 controls the electromagnetic solenoid valve 11 to be energized, the first proportional valve 121 to be de-energized, and the second proportional valve 124 to be de-energized through the information of controlling forward; Step 3: High-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, from the oil filter 7 into the port E of the electromagnetic solenoid valve 11, through the port E of the electromagnetic solenoid valve 11 into the port F, and then into the oil inlet PE of the proportional valve bridge 12. It flows through the filter 126 and the throttle valve 125 into the oil return port TE in sequence and finally flows back to the hydraulic oil tank 5; Step 4: The reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15 and sends the spool displacement information to the electro-hydraulic power steering module 3; Step 5: The electro-hydraulic power steering module 3 compares the received spool displacement information with the displacement value expected by the control information. If they are consistent, wait for the next control through the remote control tool.

[0022] Embodiment 5: Refer to Figure 4, the present invention provides a wire-controlled full-hydraulic method. Based on the above-mentioned wire-controlled full-hydraulic system, it includes the following steps: Step 1, when not operating the remote control tool, the remote control tool cannot sense the operation information; Step 2, the electromagnetic switch valve 11 is not energized; Step 3, the high-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, and does not flow into the port E of the electromagnetic switch valve 11, so the steering of the hydraulic oil tank 5 cannot be controlled; Step 4, the reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15, and sends the spool displacement information to the electronically controlled full-hydraulic steering module 3; Step 5, the electronically controlled full-hydraulic steering module 3 compares the received spool displacement information with the displacement value expected to be achieved without operation information. Both the spool displacement information and the operation information are expected to have no displacement value, and it waits to be operated by the remote control tool.

[0023] Embodiment 6: Refer to Figure 5 , the present invention provides a wire-controlled full-hydraulic steering method. Based on the above-mentioned wire-controlled full-hydraulic system, it includes the following steps: Step 1, when operating the vehicle to turn right through the steering wheel 21, the non-road steering angle sensor 22 senses the angle change of the steering wheel 21 in real time, obtains the information of operating the vehicle to turn right, and sends the information of operating the vehicle to turn right to the electronically controlled full-hydraulic steering module 3; Step 2, the electronically controlled full-hydraulic steering module 3 controls the electromagnetic switch valve 11 to be energized, the first proportional valve 121 to be energized, and the second proportional valve 124 to be de-energized through the information of operating the vehicle to turn right; Step 3, the high-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, flows from the oil filter 7 into the port E of the electromagnetic switch valve 11, flows through the port E of the electromagnetic switch valve 11 into the port F, then flows into the oil inlet PE of the proportional valve bridge 12, flows through the filter 126 into the ports B1 and A1 of the first proportional valve 121 in sequence, then flows into the port LE of the reversing valve 13, and then flows into the left side of the hydraulic oil tank 5 through the port L of the reversing valve 13, pushing the hydraulic oil tank 5 to move to the right, thereby controlling the wheels to turn to the right. The high-pressure oil on the right side of the hydraulic oil tank 5 flows into the port T through the port R of the reversing valve 13 and finally flows back to the hydraulic oil tank 5; Step 4, the reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15, and sends the spool displacement information to the electronically controlled full-hydraulic steering module 3; Step 5, the wheel angle sensor 4 obtains the actual wheel rotation angle information in real time, and sends the actual wheel rotation angle information to the electronically controlled full-hydraulic steering module 3; Step 6: The electro-hydraulic power steering module 3 compares the received spool displacement information and the actual wheel rotation angle information with the expected displacement value and rotation angle information of the control information. When the spool displacement information is consistent with the expected displacement value of the control information, and the actual wheel rotation angle information is consistent with the expected rotation angle value of the control information, it waits for the next operation of the vehicle through the steering wheel 21.

[0024] Preferably, in an embodiment of the present invention, the steering wheel 21 can be not operated or directly removed for driverless automatic driving, and the automatic steering function can be realized by controlling the electromagnetic switching valve 11 and the proportional valve bridge 12 through the electro-hydraulic power steering module 3.

[0025] Embodiment 7: See Figure 5 , the present invention provides a steer-by-wire electro-hydraulic steering method. Based on the above-mentioned steer-by-wire electro-hydraulic system, it includes the following steps: Step 1: When the vehicle is steered to the left through the steering wheel 21, the off-road steering angle sensor 22 senses the angle change of the steering wheel 21 in real time, obtains the information of steering the vehicle to the left, and sends the information of steering the vehicle to the left to the electro-hydraulic power steering module 3; Step 2: The electro-hydraulic power steering module 3 controls the electromagnetic switching valve 11 to be energized, the first proportional valve 121 to be de-energized, and the second proportional valve 124 to be energized according to the information of steering the vehicle to the left; Step 3: The high-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, flows from the oil filter 7 into the port E of the electromagnetic switching valve 11, flows through the port F of the electromagnetic switching valve 11, then flows into the inlet port PE of the proportional valve bridge 12, and flows through the filter 126 into the ports B2 and A2 of the second proportional valve 124 in sequence, then flows into the port RE of the reversing valve 13, and then flows into the right side of the hydraulic oil tank 5 through the port R of the reversing valve 13, pushing the hydraulic oil tank 5 to move to the left, thereby controlling the wheels to turn to the left. The high-pressure oil on the left side of the hydraulic oil tank 5 flows into the port T through the port L of the reversing valve 13 and finally flows back to the hydraulic oil tank 5; Step 4: The reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15 and sends the spool displacement information to the electro-hydraulic power steering module 3; Step 5: The wheel angle sensor 4 obtains the actual wheel rotation angle information in real time and sends the actual wheel rotation angle information to the electro-hydraulic power steering module 3; Step 6: The electro-hydraulic full-power steering module 3 compares the received spool displacement information and the actual wheel rotation angle information with the displacement value and rotation angle information expected by the control information. If the spool displacement information does not match the displacement value expected by the control information and the actual wheel rotation angle information does not match the rotation angle value expected by the control information, the electro-hydraulic full-power steering module 3 controls the electromagnetic switch valve 11, the first proportional valve 121, and the second proportional valve 124 to be energized through the spool displacement information. High-pressure oil flows from the oil filter 7 into the port E of the electromagnetic switch valve 11, flows through the port E of the electromagnetic switch valve 11 into the port F, and then flows into the oil inlet PE of the proportional valve bridge 12. It simultaneously flows through the filter 126 into the port B1 of the first proportional valve 121 and the port B2 of the second proportional valve 124 respectively. It flows from the port B1 of the first proportional valve 121 into the port A1, the port LE of the reversing valve 13, and the port L of the reversing valve 13 in sequence. It flows from the port B2 of the second proportional valve 124 into the port A2, the port RE of the reversing valve 13, and the port R of the reversing valve 13 in sequence. Then it simultaneously flows into the left and right sides of the hydraulic oil tank 5, and then the electro-hydraulic full-power steering module 3 controls the hydraulic oil tank 5 to move left or right, thereby controlling the wheels to turn left or right, and step 4 is executed again.

[0026] Preferably, in an embodiment of the present invention, the steering wheel 21 can be not used or directly removed for unmanned automatic driving, and the electro-hydraulic full-power steering module 3 can be used to control the electromagnetic switch valve 11 and the proportional valve bridge 12 to achieve the automatic steering function.

[0027] Embodiment 8: See Figure 5 , the present invention provides a steer-by-wire electro-hydraulic steering method. Based on the above-mentioned steer-by-wire electro-hydraulic system, it includes the following steps: Step 1: When the vehicle is controlled to move forward through the steering wheel 21, the off-road steering angle sensor 22 senses the angle change of the steering wheel 21 in real time, obtains the information of controlling the vehicle to move forward, and sends the information of controlling the vehicle to move forward to the electro-hydraulic full-power steering module 3; Step 2: The electro-hydraulic full-power steering module 3 controls the electromagnetic switch valve 11 to be energized, the first proportional valve 121 to be de-energized, and the second proportional valve 124 to be de-energized through the information of controlling the vehicle to move forward; Step 3: High-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, flows from the oil filter 7 into the port E of the electromagnetic switch valve 11, flows through the port E of the electromagnetic switch valve 11 into the port F, and then flows into the oil inlet PE of the proportional valve bridge 12. It flows through the filter 126 and the throttle valve 125 into the oil return port TE in sequence, and finally flows back to the hydraulic oil tank 5; Step 4: The reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15, and sends the spool displacement information to the electro-hydraulic power steering module 3; Step 5: The wheel angle sensor 4 obtains the actual wheel rotation angle information in real time, and sends the actual wheel rotation angle information to the electro-hydraulic power steering module 3; Step 6: The electro-hydraulic power steering module 3 compares the received spool displacement information and the actual wheel rotation angle information with the displacement value and rotation angle information expected to be achieved by the control information. The spool displacement information is consistent with the displacement value expected to be achieved by the control information, and the actual wheel rotation angle information is consistent with the rotation angle value expected to be achieved by the control information. Wait for the next time to control the vehicle through the steering wheel 21.

[0028] Preferably, in an embodiment of the present invention, the steering wheel 21 may not be manipulated, or the steering wheel 21 may be directly cancelled for unmanned autonomous driving. The automatic steering function can be realized by controlling the electromagnetic switching valve 11 and the proportional valve bridge 12 through the electro-hydraulic power steering module 3.

[0029] Embodiment 9: See Figure 5 , the present invention provides a steer-by-wire electro-hydraulic steering method. Based on the above-mentioned steer-by-wire system, the method includes the following steps: Step 1: When the vehicle is not manipulated, the off-road steering angle sensor 22 cannot sense the angle change of the steering wheel 21 and cannot obtain the information for controlling the vehicle; Step 2: The electromagnetic switching valve 11 is not energized; Step 3: The high-pressure oil flows from the hydraulic oil tank 5 into the electronic oil pump 6 and the oil filter 7 in sequence, and does not flow into the port E of the electromagnetic switching valve 11, so the steering of the hydraulic oil tank 5 cannot be controlled, and thus the steering of the wheels cannot be controlled; Step 4: The reversing valve 13 obtains the spool displacement information in real time through the internally integrated spool displacement sensor 15, and sends the spool displacement information to the electro-hydraulic power steering module 3; Step 5: The wheel angle sensor 4 obtains the actual wheel rotation angle information in real time, and sends the actual wheel rotation angle information to the electro-hydraulic power steering module 3; Step 6: The electro-hydraulic power steering module 3 compares the received spool displacement information and the actual wheel rotation angle information with the displacement value and rotation angle information expected to be achieved by the control information. The spool displacement information and the actual wheel rotation angle information are both zero displacement values and zero rotation angle values expected to be achieved by the control information. Wait for the next time to control the vehicle through the steering wheel 21.

[0030] Preferably, in an embodiment of the present invention, the steering wheel 21 may not be manipulated, or the steering wheel 21 may be directly cancelled for driverless autonomous driving. The automatic steering function can be achieved by controlling the electromagnetic switch valve 11 and the proportional valve bridge 12 through the electro-hydraulic steering gear module 3.

[0031] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wire-controlled full hydraulic system, characterized in that: The integrated control valve module (1) is respectively connected to a hydraulic oil tank (5), an oil filter (7) and an electronically controlled full hydraulic steering gear module (3); the electronically controlled full hydraulic steering gear module (3) is respectively connected to a control module (2) and a wheel angle sensor (4); and the hydraulic oil tank (5) is sequentially connected to an electronic oil pump (6) and an oil filter (7); The integrated control valve module (1) comprises an electromagnetic switch valve (11) respectively connected to the electronically controlled full hydraulic steering gear module (3), an oil filter (7) and a hydraulic oil tank (5); the electromagnetic switch valve (11) is connected to a proportional valve bridge (12); the proportional valve bridge (12) is respectively connected to the electronically controlled full hydraulic steering gear module (3) and the hydraulic oil tank (5); the proportional valve bridge (12) is also connected to a reversing valve (13); the reversing valve (13) is respectively connected to the electromagnetic switch valve (11) and the hydraulic oil tank (5); a valve core displacement sensor (15) is integrated inside the reversing valve (13); the reversing valve (13) is connected to the electronically controlled full hydraulic steering gear module (3) via the valve core displacement sensor (15); and the reversing valve (13) is connected to a hydraulic oil cylinder (14).

2. A wire-controlled full hydraulic system according to claim 1, characterized in that: The control module (2) is a steering control module or a remote control tool; The steering control module comprises a steering wheel (21), the steering wheel (21) is connected to an off-road steering angle sensor (22), and the off-road steering angle sensor (22) is connected to an electronically controlled full hydraulic steering gear module (3).

3. A wire-controlled full hydraulic system according to claim 1, characterized in that: The electromagnetic switch valve (11) comprises a valve port E, a valve port F and a valve port T; the reversing valve (13) comprises a valve port LE, a valve port RE, a valve port L, a valve port R and a valve port T; The electromagnetic switch valve (11) is connected to the oil filter (7) through the valve port E, connected to the proportional valve bridge (12) through the valve port F, connected to the hydraulic oil tank (5) through the valve port T, and the electromagnetic switch valve (11) is connected to the electronically controlled full hydraulic steering gear module (3); The valve port L and the valve port R of the reversing valve (13) are respectively connected to the hydraulic cylinder (14), and the valve port T is connected to the hydraulic oil tank (5).

4. A wire-controlled full hydraulic system according to claim 3, characterized in that: The proportional valve bridge (12) comprises a first proportional valve (121), a second proportional valve (124), a throttle valve (125), a filter (126), an oil inlet PE and an oil return port TE; the first proportional valve (121) comprises a valve port A1, a valve port B1, a valve port T1 and a first check valve (122); the second proportional valve (124) comprises a valve port A2, a valve port B2, a valve port T2 and a second check valve (123); The first proportional valve (121) is connected to the second proportional valve (124), and the first proportional valve (121) and the second proportional valve (124) are respectively connected to the electronically controlled full hydraulic steering gear module (3); The valve port A1 of the first proportional valve (121) is connected to the valve port LE of the reversing valve (13), and the valve port A1 is also connected to the first non-return valve (122), and the first non-return valve (122) is connected to the throttle valve (125). When in an energized state, the valve port A1 is connected to the valve port B1, and the valve port B1 is connected to the oil inlet PE through the filter (126), and the oil inlet PE is connected to the valve port F of the electromagnetic switch valve (11). When in an unenergized state, the valve port A1 is connected to the valve port T1, and the valve port T1 is connected to the oil return port TE through the throttle valve (125), and the oil return port TE is connected to the hydraulic oil tank (5); The valve port A2 of the second proportional valve (124) is connected to the valve port RE of the reversing valve (13), and the valve port A2 is also connected to the second one-way valve (123), and the second one-way valve (123) is connected to the throttle valve (125). When in an energized state, the valve port A2 is connected to the valve port B2, and the valve port B2 is connected to the oil inlet PE through the filter (126), and the oil inlet PE is connected to the valve port F of the electromagnetic switch valve (11). When in an unenergized state, the valve port A2 is connected to the valve port T2, and the valve port T2 is connected to the oil return port TE through the throttle valve (125), and the oil return port TE is connected to the hydraulic oil tank (5).

5. A fully hydraulic method of wire control, characterized in that: A wire-controlled full hydraulic system according to any one of claims 1 to 4 comprises the following steps: S1, the control module (2) senses the control information in real time and sends the control information to the electronically controlled full hydraulic steering gear module (3); S2, the electronically controlled full hydraulic steering gear module (3) controls the on and off of the electromagnetic switch valve (11) and the proportional valve bridge (12) through the control information; S3, controlling the direction of high-pressure oil entering the reversing valve (13) and the hydraulic cylinder (14) according to the on / off state of the electromagnetic switch valve (11) and the proportional valve bridge (12), thereby controlling the movement direction of the hydraulic cylinder (14); S4, the reversing valve (13) obtains valve core displacement information in real time through the valve core displacement sensor (15) integrated inside, and sends the valve core displacement information to the electronically controlled full hydraulic steering gear module (3); S5, the electronically controlled full hydraulic steering gear module (3) compares the received valve core displacement information with the displacement value expected to be achieved by the control information. If the valve core displacement information is consistent with the displacement value expected to be achieved by the control information, S1 is executed again; if the valve core displacement information is inconsistent with the displacement value expected to be achieved by the control information, the electronically controlled full hydraulic steering gear module (3) controls the on and off of the electromagnetic switch valve (11) and the proportional valve bridge (12) through the valve core displacement information, and S3 is executed again.

6. A wire-controlled full hydraulic method according to claim 5, characterized in that: The control module (2) in S1 is a remote control tool, and S1 specifically comprises: When the remote control tool is used for steering, the remote control tool senses the steering information in real time and sends the steering information to the electronically controlled full hydraulic steering gear module (3).

7. A wire-controlled full hydraulic method according to claim 5, characterized in that: The solenoid switch valve (11) comprises a valve port E, a valve port F and a valve port T; the proportional valve bridge (12) comprises a first proportional valve (121), a second proportional valve (124), a throttle valve (125), a filter (126), an oil inlet PE and an oil return port TE; the first proportional valve (121) comprises a valve port A1, a valve port B1, a valve port T1 and a first check valve (122); the second proportional valve (124) comprises a valve port A2, a valve port B2, a valve port T2 and a second check valve (123); the reversing valve (13) comprises a valve port LE, a valve port RE, a valve port L, a valve port R and a valve port T; S3 specifically comprises: High-pressure oil flows from the hydraulic oil tank (5) into the electronic oil pump (6) and the oil filter (7) in sequence; When the electromagnetic switch valve (11) is energized, the first proportional valve (121) is energized, and the second proportional valve (124) is de-energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), and then flows into the oil inlet PE of the proportional valve bridge (12), flows into the valve port B1 and the valve port A1 of the first proportional valve (121) in sequence through the filter (126), and then flows into the valve port LE of the reversing valve (13), and then flows into the left side of the hydraulic oil tank (5) through the valve port L of the reversing valve (13), pushing the hydraulic oil tank (5) to move rightward, and the high-pressure oil on the right side of the hydraulic oil tank (5) flows into the valve port T through the valve port R of the reversing valve (13), and finally flows back to the hydraulic oil tank (5); When the electromagnetic switch valve (11) is energized, the first proportional valve (121) is de-energized, and the second proportional valve (124) is energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), then flows into the oil inlet PE of the proportional valve bridge (12), flows into the valve port B2 and the valve port A2 of the second proportional valve (124) in sequence through the filter (126), then flows into the valve port RE of the reversing valve (13), and then flows into the right side of the hydraulic oil tank (5) through the valve port R of the reversing valve (13), pushing the hydraulic oil tank (5) to move to the left, and the high-pressure oil on the left side of the hydraulic oil tank (5) flows into the valve port T through the valve port L of the reversing valve (13), and finally flows back to the hydraulic oil tank (5); When the electromagnetic switch valve (11) is energized, the first proportional valve (121) is de-energized, and the second proportional valve (124) is de-energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), and then flows into the oil inlet port PE of the proportional valve bridge (12), and then flows into the oil return port TE through the filter (126) and the throttle valve (125) in sequence, and finally flows back to the hydraulic oil tank (5); When the electromagnetic switch valve (11), the first proportional valve (121), and the second proportional valve (124) are energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), and then flows into the oil inlet port PE of the proportional valve bridge (12), and flows into the valve port B1 of the first proportional valve (121) and the valve port B2 of the second proportional valve (124) through the filter (126). The oil flows from the valve port B1 of the first proportional valve (121) into the valve port A1, the valve port LE of the reversing valve (13), and the valve port L of the reversing valve (13) in sequence, and flows from the valve port B2 of the second proportional valve (124) into the valve port A2, the valve port RE of the reversing valve (13), and the valve port R of the reversing valve (13) in sequence, and then flows into the left and right sides of the hydraulic oil tank (5) at the same time, and then controls the hydraulic oil tank (5) to move left or right through the electronically controlled full hydraulic steering gear module (3); When the electromagnetic switch valve (11) is not energized, the high-pressure oil does not flow into the valve port E of the electromagnetic switch valve (11), and the steering of the hydraulic oil tank (5) cannot be controlled.

8. A fully hydraulic steering by wire method, characterized in that: A wire-controlled full hydraulic system according to any one of claims 1 to 4 comprises the following steps: S1, the control module (2) senses the control information in real time and sends the control information to the electronically controlled full hydraulic steering gear module (3); S2, the electronically controlled full hydraulic steering gear module (3) controls the on and off of the electromagnetic switch valve (11) and the proportional valve bridge (12) through the control information; S3, controlling the direction of high-pressure oil entering the reversing valve (13) and the hydraulic cylinder (14) according to the on / off state of the electromagnetic switch valve (11) and the proportional valve bridge (12), thereby controlling the movement direction of the hydraulic cylinder (14); S4, the reversing valve (13) obtains valve core displacement information in real time through the valve core displacement sensor (15) integrated inside, and sends the valve core displacement information to the electronically controlled full hydraulic steering gear module (3); S5, the wheel angle sensor (4) obtains the actual wheel angle information in real time, and sends the actual wheel angle information to the electronically controlled full hydraulic steering gear module (3); S6, the electronically controlled full hydraulic steering gear module (3) compares the received valve core displacement information and the actual wheel turning angle information with the displacement value and turning angle information expected to be achieved by the control information. If the valve core displacement information is consistent with the displacement value expected to be achieved by the control information, and the actual wheel turning angle information is consistent with the turning angle value expected to be achieved by the control information, S1 is executed again; if the valve core displacement information is inconsistent with the displacement value expected to be achieved by the control information, and the actual wheel turning angle information is inconsistent with the turning angle value expected to be achieved by the control information, the electronically controlled full hydraulic steering gear module (3) controls the on and off of the electromagnetic switch valve (11) and the proportional valve bridge (12) through the valve core displacement information, and S3 is executed again.

9. A wire-controlled fully hydraulic steering method according to claim 8, characterized in that: The control module (2) in S1 is a steering control module, which includes a steering wheel (21), and the steering wheel (21) is connected to a non-road steering angle sensor (22); S1 specifically includes: When the vehicle is controlled by means of the steering wheel (21), the off-road steering angle sensor (22) senses the angle change of the steering wheel (21) in real time, obtains control information, and sends the control information to the electronically controlled full hydraulic steering gear module (3).

10. The method of wire-controlled fully hydraulic steering according to claim 8, characterized in that: The solenoid switch valve (11) comprises a valve port E, a valve port F and a valve port T; the proportional valve bridge (12) comprises a first proportional valve (121), a second proportional valve (124), a throttle valve (125), a filter (126), an oil inlet PE and an oil return port TE; the first proportional valve (121) comprises a valve port A1, a valve port B1, a valve port T1 and a first check valve (122); the second proportional valve (124) comprises a valve port A2, a valve port B2, a valve port T2 and a second check valve (123); the reversing valve (13) comprises a valve port LE, a valve port RE, a valve port L, a valve port R and a valve port T; S3 specifically comprises: High-pressure oil flows from the hydraulic oil tank (5) into the electronic oil pump (6) and the oil filter (7) in sequence; When the electromagnetic switch valve (11) is energized, the first proportional valve (121) is energized, and the second proportional valve (124) is de-energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), and then flows into the oil inlet PE of the proportional valve bridge (12), flows into the valve port B1 and the valve port A1 of the first proportional valve (121) in sequence through the filter (126), and then flows into the valve port LE of the reversing valve (13), and then flows into the left side of the hydraulic oil tank (5) through the valve port L of the reversing valve (13), pushing the hydraulic oil tank (5) to move rightward, thereby controlling the wheel to turn rightward, and the high-pressure oil on the right side of the hydraulic oil tank (5) flows into the valve port T through the valve port R of the reversing valve (13), and finally flows back to the hydraulic oil tank (5); When the electromagnetic switch valve (11) is energized, the first proportional valve (121) is de-energized, and the second proportional valve (124) is energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), and then flows into the oil inlet PE of the proportional valve bridge (12), flows into the valve port B2 and the valve port A2 of the second proportional valve (124) in sequence through the filter (126), and then flows into the valve port RE of the reversing valve (13), and then flows into the right side of the hydraulic oil tank (5) through the valve port R of the reversing valve (13), pushing the hydraulic oil tank (5) to move leftward, thereby controlling the wheel to turn left, and the high-pressure oil on the left side of the hydraulic oil tank (5) flows into the valve port T through the valve port L of the reversing valve (13), and finally flows back to the hydraulic oil tank (5); When the electromagnetic switch valve (11) is energized, the first proportional valve (121) is de-energized, and the second proportional valve (124) is de-energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows into the valve port F through the valve port E of the electromagnetic switch valve (11), and then flows into the oil inlet port PE of the proportional valve bridge (12), and then flows into the oil return port TE through the filter (126) and the throttle valve (125) in sequence, and finally flows back to the hydraulic oil tank (5); When the electromagnetic switch valve (11), the first proportional valve (121), and the second proportional valve (124) are energized, the high-pressure oil flows from the oil filter (7) into the valve port E of the electromagnetic switch valve (11), flows through the valve port E of the electromagnetic switch valve (11) into the valve port F, and then flows into the oil inlet port PE of the proportional valve bridge (12), and flows through the filter (126) into the valve port B1 of the first proportional valve (121) and the valve port B2 of the second proportional valve (124) at the same time, and flows from the first proportional valve (121) into the valve port B2 of the second proportional valve (124). The hydraulic oil flows from the valve port B1 of the second proportional valve (121) to the valve port A1, the valve port LE of the reversing valve (13), and the valve port L of the reversing valve (13) in sequence, and flows from the valve port B2 of the second proportional valve (124) to the valve port A2, the valve port RE of the reversing valve (13), and the valve port R of the reversing valve (13) in sequence, and then flows into the left and right sides of the hydraulic oil tank (5) at the same time, and then controls the hydraulic oil tank (5) to move left or right through the electronically controlled full hydraulic steering gear module (3), thereby controlling the wheels to steer left or right; When the electromagnetic switch valve (11) is not energized, the high-pressure oil does not flow into the valve port E of the electromagnetic switch valve (11), and the steering of the hydraulic oil tank (5) cannot be controlled, and further the steering of the wheels cannot be controlled.

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