Remote control and data interaction method and system for skid steer loader based on edge computing

Abstract

The application discloses a remote control and data interaction method and system of a skid loader based on edge computing, and relates to the technical field of intelligent control of engineering machinery, and comprises the following steps: in view of the data interaction of multiple edge nodes in the remote control process of the skid loader, the sampling period and the instruction sending period of each edge node are sorted respectively, a unified time reference is established, and a time sequence is formed. Through the establishment of the unified time reference and the continuous time sequence, the time consistency between the multiple edge nodes is realized, the instruction flow fault is avoided, and the smooth transition of actions is ensured; meanwhile, through the construction of a cache misplacement comparison table and the re-planning of the data refresh sequence, the cache update is synchronized, the instruction transmission is continuous, and therefore the response continuity and the control stability of the remote control of the skid loader are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for construction machinery, specifically to a method and system for remote control and data interaction of skid steer loaders based on edge computing. Background Technology

[0002] Remote control and data interaction for skid steer loaders based on edge computing refers to a comprehensive approach that distributes computing, decision-making, and data processing capabilities to edge nodes close to the equipment during the operation and control of skid steer loaders, enabling local intelligent analysis and remote collaborative control. The core idea is to deploy edge computing units within the loader itself or a near-end communication gateway to collect and rapidly calculate multi-source data such as operational status, attitude parameters, hydraulic pressure, and environmental perception information in real time. This allows for action decision-making and control feedback without relying on high-latency cloud communication. Simultaneously, through the data interaction mechanism between edge nodes and a remote monitoring center, visualization of equipment operating status, low-latency transmission of remote commands, and information sharing for multi-machine collaborative operations can be achieved. This endows skid steer loaders with remote control, intelligent perception, and autonomous response capabilities, improving operational safety and control precision.

[0003] The existing technology has the following shortcomings: In existing technologies, remote control of skid steer loaders typically relies on multiple edge nodes that cache different types of control and sensing data. However, the time synchronization accuracy between these nodes is limited, making them prone to time gaps during data interaction. When commands flow through different nodes, some nodes release their data caches prematurely, while data on other nodes remains unupdated. This results in continuous commands not being able to be fully spliced ​​together on the timeline, creating brief periods of no-command. Once this occurs, the equipment experiences momentary periods without commands during execution, which can easily lead to pauses, jitter, or delayed responses. In severe cases, it can cause attitude imbalance or loss of control synchronization, affecting the stability and safety of remote control.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for remote control and data interaction of skid steer loaders based on edge computing, so as to solve the problems in the background art mentioned above.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for remote control and data interaction of a skid steer loader based on edge computing, comprising the following steps: To address the data interaction among multiple edge nodes during the remote control of skid steer loaders, the sampling period and command transmission period of each edge node were analyzed to establish a unified time benchmark and form a continuously observable time series for subsequent comparison to provide a time reference. The start and end times of each edge node are compared point by point on the established time series. The time difference between adjacent instructions is calculated, the time gaps corresponding to the time differences are analyzed, the specific time periods in which time gaps occur are marked, and a list of time intervals containing start and end times is generated. Based on the generated time interval list, the data scheduling order of each edge node cache is traced back, the write time and release time of cached data are analyzed, cached data that is released in advance and cached data that is updated late are identified, the corresponding position of cached data in the instruction execution process is determined, and a cache misalignment comparison table is formed. Based on the cache misalignment lookup table, the data refresh order and acknowledgment interval of each edge node are replanned, the connection window duration and buffer duration are set to match the instruction cycle, and a complete time control scheme for time coordination is generated. Dynamic adjustments are implemented during the remote control of the skid steer loader according to the generated time control scheme. Short-term silent windows and buffer delay areas are inserted within the time period corresponding to the time gap. Continuous commands are spliced ​​together through time write-back and phase drift correction to achieve continuous data transmission and smooth transition of the action process.

[0007] Preferably, the time series formation steps are as follows: For multiple edge nodes distributed on the skid steer loader body and communication terminal, the data sampling period and command sending period of each edge node in the working state are obtained respectively, and the period distribution pattern is recorded within the same time window; The time data of each edge node is uniformly organized, and the timestamps are offset and synchronized with the master time as the central base point, so that the sampling events, command sending events and data receipt events form a continuous time series on the time axis. To address the time delay differences between edge nodes, the sampling points are interpolated and their order is fine-tuned to ensure that the sampling activities of each node form a continuous observation chain. By embedding control command trigger markers, data cache update markers, and status receipt markers into the formed time series, the time series continuously reflects the running status of each node and maintains time consistency.

[0008] Preferably, the steps for generating the time interval list are as follows: In a unified time series, the start and end times of each edge node are calibrated and mapped so that the data acquisition activities and control command execution processes of each node are located on the same time axis. The calibrated time periods are compared point by point in chronological order, and the time difference between adjacent time periods is calculated to determine the time relationship between the instructions of each node. The time gaps are analyzed based on the time difference, and the start and end times of the time gaps are extracted to form gap record data; The gap intervals are arranged in chronological order and a list of time intervals is generated, so that the temporal distribution of the instruction stream of multiple edge nodes can be continuously mapped on the time axis.

[0009] Preferably, during the generation of the time interval list, the time gap intervals are arranged in the time order of a unified time series, and the start time, end time and time span information are recorded in each time gap interval, so that the time interval list has a continuous segmented structure on the time axis, so as to ensure that the distribution state of the instruction flow in the time dimension is fully mapped and to provide a time index basis for subsequent cache scheduling backtracking.

[0010] Preferably, the steps for generating the cache misalignment lookup table are as follows: The start and end times in the time interval list are used as time indices to correspond to the cache record files of each edge node in order to establish the correspondence between time intervals and cache records; Retrieve cache write and release events of each edge node along a unified time series to obtain the cache scheduling order and determine the time distribution of cache operations; Compare the cache write time with the cache release time to identify cached data that is released early and updated late, and determine its time interval during instruction execution; The cache time relationships of each edge node are integrated and a cache misalignment comparison table is formed using a unified time series as an index to reflect the time differences in cache scheduling.

[0011] Preferably, the cache misalignment lookup table marks the cache write time, release time, early release interval and delayed update interval of each edge node in chronological order, so that the cache activity forms a continuous mapping structure on the time axis and realizes the global association of cache scheduling status in a unified time series, so as to ensure the temporal continuity of instruction execution process and the stability of data transmission.

[0012] Preferably, the steps for generating the time control scheme are as follows: Based on the cache misalignment comparison table, the data refresh patterns of each edge node in the unified time series are summarized and the node refresh order is rearranged to eliminate the problem of discontinuous instruction flow. The data receipt intervals are replanned based on the time difference characteristics between nodes so that the receipt signals form a continuous response chain in the time series; The duration of the connection window and the buffer duration are set to match the instruction cycle characteristics to ensure continuous transmission of the instruction stream; Based on the replanned refresh order, receipt interval, connection window duration, and buffer duration, a complete time control scheme for time coordination is generated to achieve continuous control of multi-node collaboration.

[0013] Preferably, during the generation of the time control scheme, the refresh start time, end time, acknowledgment time, and corresponding connection window duration and buffer duration of each edge node are uniformly calibrated, so that the time control scheme forms a continuous control chain in a unified time sequence, thereby ensuring that instruction transmission, data feedback and action execution remain synchronized in the time dimension, and realizing the continuous and stable operation of the remote control process.

[0014] Preferably, the dynamic adjustment steps implemented according to the generated time control scheme are as follows: The skid steer loader is subjected to uniform time loading at multiple edge nodes, and data refresh and command feedback are performed according to the time parameters in the time control scheme to monitor the time gap interval. A short-term silent window is inserted within the time period corresponding to the time gap to freeze the data output of some nodes and form a time buffer. Buffer delay zones are established at both ends of the time gap to absorb delay differences and achieve smooth connection of instruction streams; By using time write-back and phase drift correction methods to splice continuous instructions, continuous data stream transmission and smooth transition of the action process can be achieved.

[0015] The edge computing-based remote control and data interaction system for skid steer loaders includes a time base construction module, a time gap detection module, a cache misalignment analysis module, a timing coordination planning module, and a dynamic synchronization control module. The time reference construction module analyzes the sampling period and command transmission period of each edge node during the remote control of the skid steer loader, establishes a unified time reference, and forms a continuously observable time series for subsequent comparison to provide time reference. The time gap detection module compares the start and end times of each edge node point by point on the established unified time series, calculates the time difference between adjacent instructions, analyzes the time gaps corresponding to the time differences, marks the specific time periods in which time gaps occur, and generates a list of time intervals containing the start and end times. The cache misalignment analysis module traces back the data scheduling order of each edge node cache based on the generated time interval list, analyzes the write and release times of cached data, identifies cached data that is released early and cached data that is updated late, determines the corresponding position of cached data in the instruction execution process, and forms a cache misalignment comparison table. The timing coordination planning module re-plans the data refresh order and acknowledgment interval of each edge node based on the cache misalignment lookup table, sets the connection window duration and buffer duration to match the instruction cycle, and generates a complete time control scheme for time coordination. The dynamic synchronization control module dynamically adjusts the skid steer loader during remote operation according to the generated time control scheme. It inserts short-term silent windows and buffer delay areas within the time period corresponding to the time gap, and splices continuous commands through time write-back and phase drift correction to achieve continuous data transmission and smooth transition of the action process.

[0016] The technical effects and advantages provided by the present invention in the above technical solution are as follows: This invention establishes a unified time base and forms a continuously observed time series during remote control of a skid steer loader, ensuring time consistency among multiple edge nodes during data acquisition and command transmission, thereby effectively avoiding discontinuities in the command flow along the time axis. By dynamically adjusting short-term silent windows and buffer delay zones within time gaps, the command flow achieves continuous time continuity between different nodes, guaranteeing a smooth transition during action execution. This method enables continuous transmission of control commands within a unified time system, reducing control lag caused by node time drift and improving the responsiveness and smoothness of the skid steer loader during remote control.

[0017] This invention constructs a cache misalignment lookup table and re-plans the data refresh order and acknowledgment interval, enabling coordinated and optimized data interaction between multiple nodes in the time dimension. Each edge node executes tasks according to a connection window matching the instruction cycle when executing instructions and providing feedback status, ensuring that the writing and releasing of cached data are sequentially connected on the timeline. This scheme makes cache updates between edge nodes more synchronized, avoiding data gaps caused by premature release or delayed updates, improving the continuity and execution accuracy of instruction transmission, thereby achieving stable control and efficient collaboration in remote operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a flowchart of the remote control and data interaction method for skid steer loaders based on edge computing according to the present invention.

[0020] Figure 2This is a schematic diagram of the module of the edge computing-based skid steer loader remote control and data interaction system of the present invention. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art.

[0022] This invention provides, for example Figure 1 The edge computing-based remote control and data interaction method for skid steer loaders shown includes the following steps: To address the data interaction among multiple edge nodes during the remote control of skid steer loaders, the sampling period and command transmission period of each edge node were analyzed to establish a unified time benchmark and form a continuously observable time series for subsequent comparison to provide a time reference. In remote control of skid steer loaders, achieving time consistency among multiple edge nodes ensures that each node maintains a unified time reference during data acquisition and command transmission, guaranteeing continuous connection between subsequent command and data streams on the timeline. The specific implementation steps for constructing a time reference for the edge nodes of the skid steer loader are as follows: For multiple edge nodes distributed across the skid steer loader and its communication terminals, the data sampling period and command transmission period of each edge node under actual operating conditions are acquired. Each edge node undertakes different data processing tasks in different functional units. For example, the attitude sensing node is responsible for collecting attitude angle and tilt changes, the hydraulic monitoring node is responsible for collecting oil pressure and flow signals, and the environmental sensing node is responsible for collecting distance data to external obstacles and ambient light data. Since these nodes differ in hardware performance, sampling frequency, and data transmission latency, the data sampling interval and command transmission interval of each node are first statistically analyzed and categorized, and their periodic distribution patterns are recorded within the same time window. By using a unified time window, the sampling period and command transmission period of each node can be mapped to form a preliminary time distribution relationship for subsequent time benchmark synchronization and comparison.

[0023] After completing the statistics of sampling and command transmission cycles, the time data of each edge node are uniformly organized, and a time reference scale is established based on the same starting point. To ensure that sampling events from different nodes can be analyzed on the same time coordinate, the timestamps of each node are offset and synchronized, using the master control time of the skid steer loader as the central reference point. The sampling events, command transmission events, and data receipt events of each node are mapped onto a unified time axis, forming a continuous initial time series structure. This arrangement allows multi-source time data to be arranged according to a unified time process, ensuring that the action commands and feedback data of each node correspond to the same reference standard at the same moment, thus avoiding synchronization deviations caused by time drift. This process not only establishes a unified time reference but also lays the foundation for time continuity for subsequent data comparison, time series analysis, and control feedback.

[0024] After establishing a unified time reference, the sampling points of each node on the time axis are refined to address the time delay differences between different edge nodes. This ensures a continuous transition between the sampling start time and command transmission time within the same control cycle. By interpolating and fine-tuning the order of the sampling points on the time axis, the sampling activities of different nodes can form a continuous data stream in chronological order. Each sampling point is time-correlated with the sampling points of adjacent nodes, forming a continuous observation chain composed of multiple nodes. In this process, the sampling and transmission events of each node are connected according to a unified time process, creating a continuous time mapping relationship in the entire time series. In this way, the data activities of different nodes are no longer scattered independent behaviors, but constitute a complete, continuous, and observable time-series structure under a unified time reference, thus providing a continuous data foundation for subsequent time comparison and synchronization optimization.

[0025] After forming a continuous observation time series, the time series is calibrated for completeness and optimized for stability, based on the aforementioned unified time reference and sampling point connection relationship. This ensures that the time series continuously reflects the actual operating status of each node throughout the remote control process of the skid steer loader. By embedding control command trigger markers, data cache update markers, and status feedback markers into the time series, the correspondence between command streams and data streams can be observed in real time within the same time coordinate system, thus providing unified time monitoring capabilities for the entire remote control process. After the time series stabilizes, each edge node uses this time series as a reference in subsequent sampling, transmission, and feedback processes, achieving time alignment of command transmission, status feedback, and action response. This time series can automatically extend with the control process, ensuring that data acquisition, command issuance, and feedback receipts remain within the same time system during long-term continuous operation, providing continuous time consistency support for the remote control of the skid steer loader. In this way, the established time reference can not only achieve unified management of time information of multiple nodes, but also ensure the time continuity of the entire control link. It provides accurate time reference and data foundation for subsequent time gap analysis, cache misalignment identification and timing coordination, fundamentally improving the time coordination capability and action stability of skid steer loaders during remote operation.

[0026] On the established unified time series, the start and end times of each edge node are compared point by point, the time difference between adjacent instructions is calculated, the time gaps corresponding to the time differences are analyzed, the specific time periods in which time gaps occur are marked, and a list of time intervals containing start and end times is generated. To achieve accurate time comparison among multiple edge nodes on a unified time series, ensuring the continuity of data transmission and command response during execution, the specific implementation steps for point-by-point comparison and time gap analysis of the unified time series are as follows: Based on the established unified time series, the start and end times of each edge node within this time series are calibrated and mapped. For each edge node's sampling behavior, command transmission behavior, and callback behavior, corresponding time markers are set on the time series, ensuring that the time information of all edge nodes unfolds using the same time base. This marking method allows the start and end times of each edge node to be located within the same time coordinate system, thus incorporating the data acquisition activities and control command execution processes of each node into a unified time axis framework. In this process, each node corresponds to an independent time period on the time axis, starting with a start time marker and ending with an end time marker. The time periods between different nodes form a continuous or intermittent distribution on the time series. This unified marking and time mapping method provides a unified data foundation for subsequent time comparison and time difference calculation, and ensures that each time period possesses directly identifiable location characteristics on the time series.

[0027] After the time periods at each edge node are mapped, these time periods are compared point-by-point to determine the temporal relationship between adjacent time periods. During the comparison, the starting point of the time series is used as the baseline, and the start times of all nodes are arranged chronologically. The end time of each node's time period is then compared with the start time of the next node's time period. Through point-by-point comparison, the time difference between adjacent commands in the time series can be identified, revealing the time intervals between data acquisition and command transmission at different nodes. Each pair of adjacent time periods generates a time difference value during comparison, reflecting the relative distance between the two time periods on the time axis. This continuous time comparison method forms a complete time difference sequence, reflecting the temporal characteristics and control rhythm of the skid steer loader during remote operation, thus comprehensively presenting the connection status of the entire command chain in the time dimension.

[0028] After completing the time difference comparison, the results are analyzed to identify any time gaps. Based on the time difference sequence obtained from the comparison, the changing trends and distribution of each time difference are analyzed. When a time difference exceeds the duration of the normal instruction interval for each node, that interval is identified as a potential time gap. By traversing and analyzing all time differences, the specific location range of each time gap on the time axis can be determined, and the start and end times corresponding to the time gaps can be extracted. Each time gap represents a discontinuous interval in the instruction flow on the time axis, which may cause the skid steer loader to experience action pauses or control delays within that interval. In this process, each gap interval is located based on the time difference analysis results, using the start and end times of adjacent instructions in the time series to form a set of gap record data with clear time boundaries. This ensures that each gap has a traceable start and end time, allowing it to be correlated with the cache scheduling process in subsequent processing.

[0029] After identifying time gaps, all gap intervals are compiled into a time interval list. This time interval list uses a unified time series as an index, recording the start and end times of each time gap and its corresponding time span. By archiving all gap intervals, a complete time interval mapping structure can be constructed, clearly presenting the continuity of the command flow during remote control of the skid steer loader. Each time interval entry is directly associated with the aforementioned unified time series, allowing for rapid location and backtracking on the time axis, facilitating subsequent backtracking analysis and misalignment identification of cache scheduling order. During the generation of the time interval list, each gap interval is arranged sequentially according to time, forming a continuous set of time segments, giving the entire time series complete interval distribution information in space, thus providing a data foundation for cache scheduling backtracking in subsequent steps. The establishment of this time interval list systematically presents the distribution of multi-node command flow in the time dimension, providing clear data basis and technical support for the elimination of time gaps and timing coordination. Through the above process, the start and end times of each edge node under a unified time series can be effectively compared, the time difference can be accurately calculated, and the time gap can be clearly identified. The resulting time interval list can fully reflect the continuity characteristics of the command flow in the time dimension, providing a stable time series observation basis and a traceable time structure for the remote control process of skid steer loaders.

[0030] Based on the generated time interval list, the data scheduling order of each edge node cache is traced back, the write time and release time of cached data are analyzed, cached data that is released in advance and cached data that is updated late are identified, the corresponding position of cached data in the instruction execution process is determined, and a cache misalignment comparison table is formed. Based on the time interval list, accurately analyze the cache scheduling characteristics of each edge node of the skid steer loader during remote control, and then identify the early release and delayed update behaviors of cached data in the time series. Completely reconstruct the correspondence of cached data in the instruction execution process. The specific implementation steps are as follows: Based on the obtained time interval list, the start and end times of each time interval in the list are used as time indices, corresponding to the cache record files of each edge node in the skid steer loader. Each edge node stores data fragments and control command fragments collected during operation. These data fragments form continuous data records in the cache according to the order of writing and releasing. To achieve time backtracking for cache scheduling, each time record in the time interval list is first matched with the cache time tag of the corresponding node, so that each time interval corresponds to the cache state of a specific node within that time interval. This matching method establishes a correspondence between time intervals and cache records in a unified time series, providing a basis for analyzing the temporal distribution characteristics of cache behavior at each node. At this point, a data linked list composed of time tags can be formed in the cache of each edge node. This data linked list covers the complete process from cache writing to cache release, providing a clear time benchmark for comparing cache activity with time intervals.

[0031] After matching the time intervals with the cache records, a backtracking analysis is performed on the cache data scheduling order of each edge node. Each node undertakes different tasks during the operation of the skid steer loader, and the write and release times of its cached data are usually closely related to the node's sampling period, processing period, and transmission latency. By sequentially retrieving the cache operation records of each node within each time interval along the time series, the temporal distribution of cache write and release events can be obtained. In this process, each cache record is compared with the corresponding time interval item to determine which time interval in the time interval list the cached data belongs to. Through continuous time comparisons, the cache scheduling trajectory of each node on the time axis can be depicted, and the entire process from the start of cache writing to the end of cache release can be marked in the time series. In this way, the temporal sequence of cache operations of each node can be clearly distinguished, and the temporal distribution of cached data can be completely reproduced on a unified time axis, laying a data foundation for identifying cache misalignment phenomena.

[0032] After obtaining the time distribution of the cache scheduling order of each node, the write and release times of cached data are compared one by one to analyze the time interleaving characteristics between different nodes. If the cache release time of a node is earlier than the cache write time of the adjacent node, it indicates that the node has prematurely released the cache, which may cause time gaps in the instruction execution phase. If the cache write time of a node is later than the cache release time of the previous node, it indicates that the node has delayed cache updates, which may cause delays in instruction response. Through this comparison method, each cache misalignment phenomenon can be identified in the time series, and its specific time period can be determined. In each cache misalignment interval, the correspondence between prematurely released data and delayed updated data is recorded, thereby establishing a cross-mapping between cache behaviors. Through continuous comparison and marking, a cache misalignment distribution structure covering all nodes can be formed, so that the cache actions of each node in the time series can be correlated with the behaviors of adjacent nodes. This process fully reveals the time offset relationship of cache scheduling, providing an accurate basis for subsequent cache comparison construction.

[0033] After identifying cached data that was prematurely released and delayed updated, the cache time relationships of each node are integrated to form a cache misalignment lookup table. This table uses a unified time series as an index and each edge node as a record object, marking the cache write time, release time, premature release interval, and delayed update interval for each node. In this way, the cache activity and misalignment distribution of each node can be clearly displayed in the time dimension, enabling unified visualization of cache scheduling globally. This cache misalignment lookup table not only reflects the time differences in cache operations of each node but also clearly indicates the time discontinuities between different nodes during instruction execution. Through this lookup table, cache activity within any time period can be traced, identifying the time causes of instruction flow interruptions, thus providing structured data support for subsequent time coordination planning. This lookup table also has dynamic expansion capabilities, continuously updating as new cache records are added, ensuring that the skid steer loader maintains continuous monitoring of cache misalignment status during long-term remote operation. Through the above process, a complete backtracking and time-series analysis of the cache scheduling order of each edge node can be achieved under a unified time series, accurately identifying cache data that is released early and updated late, and forming a cache misalignment comparison table with the time axis as a reference. This provides a complete cache time-series mapping foundation and a traceable data structure for the remote control of skid steer loaders, and provides reliable support for subsequent time-series coordination and dynamic synchronization.

[0034] Based on the cache misalignment lookup table, the data refresh order and acknowledgment interval of each edge node are replanned, the connection window duration and buffer duration are set to match the instruction cycle, and a complete time control scheme for time coordination is generated. To achieve continuous connection of command data streams among multiple edge nodes in the remote control of a skid steer loader, ensuring that cache misalignment is corrected in the time dimension, the data refresh order and acknowledgment interval of each edge node are replanned to form a connection window duration and buffer duration that match the command cycle, thereby constructing a complete time coordination and control scheme. The specific implementation steps are as follows: Based on the established cache misalignment lookup table, the data refresh patterns of each edge node in a unified time series are summarized and organized. Each edge node undertakes different data acquisition and transmission tasks during the remote control of the skid steer loader, and its cache write and release actions correspond to different segments in the time series. By reading the cache write time, release time, early release interval, and delayed update interval recorded in the cache misalignment lookup table, the actual data refresh order of each node on the time axis can be obtained. To eliminate the discontinuity of the instruction flow caused by cache misalignment, the refresh events of each node are rearranged according to their chronological order, so that the refresh behaviors of adjacent nodes can form a sequential relationship in time. This process uses the time series as the main thread, recombining the scattered node refresh behaviors to logically conform to the process rhythm of the instruction cycle. Through this time reconstruction method, the instruction transmission of the skid steer loader between different nodes can maintain a continuous transition, providing a basis for subsequently determining the acknowledgment interval and connection window.

[0035] After reorganizing the data refresh order of each edge node, the data acknowledgment interval is replanned based on the time difference characteristics between nodes. The data acknowledgment interval refers to the time interval between each edge node's feedback of its status confirmation information to the master node after completing a data refresh. The distribution of this interval directly affects the response rhythm of the entire remote control link. By comparing the early release and delayed update intervals of each node in the cache misalignment comparison table, the degree of offset in acknowledgment time between nodes can be determined. Based on the rearranged refresh order, the acknowledgment interval is time-balanced to ensure that the acknowledgment signals of adjacent nodes can form a continuous response chain in the time sequence. The acknowledgment time of each node is adjusted with reference to the refresh completion time of the previous node, ensuring that the acknowledgment information and the data refresh action remain consistent in time. Through this planning method, it can be ensured that during the remote control of the skid steer loader, the entire process from the issuance of control commands to feedback is within a unified time frame, avoiding feedback delays or blank intervals.

[0036] After planning the data refresh sequence and acknowledgment interval, and considering the command cycle characteristics of the skid steer loader, a connection window duration and a buffer duration matching the command cycle are set. The connection window duration determines the connection range of the command flow between adjacent nodes, ensuring that the refresh action of the next node can start within the window after the refresh action of one node is completed, thus guaranteeing the continuous transmission of the command flow. The buffer duration provides a small time extension for each node during data transmission to absorb minor time deviations caused by network latency, execution load, or signal interference. By analyzing the time offset of each node in the buffer misalignment lookup table, corresponding connection windows and buffer durations can be allocated according to the command cycle, enabling the time coordination control scheme to form a unified connection rhythm between different nodes. Each node performs operations according to the corresponding window and buffer duration when performing data refresh and acknowledgment feedback, thus ensuring a continuous and uniform command rhythm on the overall timeline. In this way, the skid steer loader can maintain continuous time synchronization during multi-node collaborative operation, eliminating control jitter and action discontinuity caused by differences in node timing.

[0037] After setting the time parameters, a complete time control scheme for time coordination is generated based on the replanned refresh sequence, acknowledgment interval, connection window duration, and buffer duration. This time control scheme uses a unified time sequence as the main thread and the refresh behavior of each node as the basic unit, uniformly defining the refresh start time, end time, acknowledgment time, and corresponding window and buffer for each node within the instruction cycle. In this way, the entire remote control process can form a continuous control chain in the time dimension, with each time period having a clear start and end boundary. The time parameters included in the time control scheme can be dynamically adjusted according to the workload, task scenario, or network conditions of the skid steer loader to ensure that the time coordination mechanism always remains consistent with the actual control process. The generated time control scheme not only guides each edge node to implement dynamic time adjustments in subsequent steps but also provides a sustainable time coordination framework for the entire skid steer loader remote control process. This process optimizes the refresh order of cached data among multiple nodes, matches the acknowledgment interval with the instruction cycle, and rationally configures the connection window and buffer duration. This enables continuous control of multi-node collaboration in the time dimension, providing a solid time guarantee for data flow connection and action synchronization in the remote control of skid steer loaders.

[0038] According to the generated time control scheme, dynamic adjustment is implemented during the remote control of the skid steer loader. Short-term silent windows and buffer delay areas are inserted within the time period corresponding to the time gap. Continuous commands are spliced ​​by time write-back and phase drift correction to achieve continuous data transmission and smooth transition of the action process. To enable continuous data transmission and stable action transitions for skid steer loaders during remote control, the time execution behavior of each edge node is dynamically adjusted based on the generated time control scheme. This corrects time gaps during the control process and achieves a smooth transition on the time axis. The specific implementation steps are as follows: Based on the established time control scheme, a unified time loading is applied to the multiple edge nodes of the skid steer loader, ensuring that each node uses the time parameters in the time control scheme as the execution benchmark when performing data refresh and command feedback. At the start of operation, each node retrieves its corresponding time control parameters based on its position index in the time control scheme, including the connection window duration, buffer duration, and the node's execution order. On the timeline, the starting point of the time control scheme serves as a unified reference, ensuring that each node's refresh operation, data receipt, and control command transmission unfold within a unified time sequence. When the loader enters remote control mode, each node executes the data refresh task according to the order in the time control scheme, monitoring gaps on the timeline in real time during execution. When a time interval corresponding to a time gap is detected, it indicates a risk of command flow disruption within that interval. The system marks the start and end times of this interval in the time sequence, providing a time reference for subsequent insertion of silent windows and buffer delay zones.

[0039] After defining the time gap intervals, short-term silent windows are inserted within the corresponding time periods according to the node distribution and execution order in the time control scheme. These short-term silent windows temporarily freeze data output from some nodes on the timeline to avoid command conflicts caused by data bursts or duplicate writes. The insertion of silent windows is determined by the start and end times of the time gaps, and the window duration is set according to the connection window duration determined in the previous step. When the silent window is active, nodes at the front of the gap will pause new data release within the window, while nodes at the back of the gap will delay data writing, creating a brief time buffer between the two time periods. Through the silent window, previously discontinuous time segments are connected on the timeline, creating a time overlap area for subsequent data splicing. The silent window setting ensures that all nodes maintain a consistent rhythm during command stream transitions, preventing overlap between operations of different nodes and thus avoiding misaligned command responses and duplicate execution.

[0040] While a short-term silent window is in effect, buffer delay zones are established at both ends of the time gap. These buffer delay zones absorb the delay difference caused by the time gap, allowing for a smooth transition between the two command streams before and after the gap in the time dimension. The time range of the buffer delay zone is matched and allocated according to the duration of the gap and the command cycle. When the gap duration is short, the buffer delay zone is appropriately extended on the time axis, creating a time overlap between the start time of subsequent commands and the end time of previous commands. When the gap duration is long, the buffer delay zone is divided into multiple small segments to eliminate time discontinuities through step-by-step extension. The buffer delay zone acts as an extendable buffer area in the time series, giving data refresh actions a flexible transition characteristic on the time axis. By inserting buffer delay zones between gaps, the time sequence of command execution can be continuously extended, preventing sudden stops, oscillations, or delayed responses during the skid steer loader's motion control. The existence of the buffer delay zone also enables the time control scheme to have adaptive adjustment capabilities. When external communication conditions or load conditions change, the buffer can automatically adjust its duration to maintain the continuity of overall time coordination.

[0041] By combining a short-term silent window and a buffer delay zone, time write-back and phase drift correction are used to splice consecutive instructions, thereby achieving continuous data transmission and smooth transitions in the action process. Time write-back involves writing the time offset generated within the buffer delay zone back into the time sequence, synchronizing the start time of subsequent instructions with the end time of the previous instruction. This ensures that the execution time of subsequent instructions is consistent with the preceding action, preventing the accumulation of time drift. After time write-back, a phase drift correction is used to fine-tune the slight offsets between nodes on the timeline. Phase drift correction compensates for the time difference between nodes, ensuring a unified rhythm for the instruction signals in the time sequence. Once the execution time of all nodes has been corrected for drift, time gaps are completely eliminated, and the transmission of the entire data stream forms a continuous curve on the timeline, maintaining a seamless instruction chain. In this way, remote control of the skid steer loader can achieve smooth action transitions during dynamic operation, avoiding instruction pauses or sudden changes in action caused by time gaps. Ultimately, through time write-back and phase drift correction, the data stream is fully spliced ​​across multiple nodes, enabling the skid steer loader to achieve continuous time, synchronous response, and smooth operation during remote control. This ensures the stability and precise coordination of the equipment in a multi-node parallel operation environment.

[0042] This invention establishes a unified time base and forms a continuously observed time series during remote control of a skid steer loader, ensuring time consistency among multiple edge nodes during data acquisition and command transmission, thereby effectively avoiding discontinuities in the command flow along the time axis. By dynamically adjusting short-term silent windows and buffer delay zones within time gaps, the command flow achieves continuous time continuity between different nodes, guaranteeing a smooth transition during action execution. This method enables continuous transmission of control commands within a unified time system, reducing control lag caused by node time drift and improving the responsiveness and smoothness of the skid steer loader during remote control.

[0043] This invention constructs a cache misalignment lookup table and re-plans the data refresh order and acknowledgment interval, enabling coordinated and optimized data interaction between multiple nodes in the time dimension. Each edge node executes tasks according to a connection window matching the instruction cycle when executing instructions and providing feedback status, ensuring that the writing and releasing of cached data are sequentially connected on the timeline. This scheme makes cache updates between edge nodes more synchronized, avoiding data gaps caused by premature release or delayed updates, improving the continuity and execution accuracy of instruction transmission, thereby achieving stable control and efficient collaboration in remote operation.

[0044] This invention provides, for example Figure 2 The edge computing-based remote control and data interaction system for skid steer loaders shown includes a time base construction module, a time gap detection module, a cache misalignment analysis module, a timing coordination planning module, and a dynamic synchronization control module. The time reference construction module analyzes the sampling period and command transmission period of each edge node during the remote control of the skid steer loader, establishes a unified time reference, and forms a continuously observable time series for subsequent comparison to provide time reference. The time gap detection module compares the start and end times of each edge node point by point on the established unified time series, calculates the time difference between adjacent instructions, analyzes the time gaps corresponding to the time differences, marks the specific time periods in which time gaps occur, and generates a list of time intervals containing the start and end times. The cache misalignment analysis module traces back the data scheduling order of each edge node cache based on the generated time interval list, analyzes the write and release times of cached data, identifies cached data that is released early and cached data that is updated late, determines the corresponding position of cached data in the instruction execution process, and forms a cache misalignment comparison table. The timing coordination planning module re-plans the data refresh order and acknowledgment interval of each edge node based on the cache misalignment lookup table, sets the connection window duration and buffer duration to match the instruction cycle, and generates a complete time control scheme for time coordination. The dynamic synchronization control module dynamically adjusts the skid steer loader during remote operation according to the generated time control scheme. It inserts short-term silent windows and buffer delay areas within the time period corresponding to the time gap, and splices continuous commands through time write-back and phase drift correction to achieve continuous data transmission and smooth transition of the action process.

[0045] The remote control and data interaction method for skid steer loaders based on edge computing provided in this embodiment of the invention is implemented through the aforementioned remote control and data interaction system for skid steer loaders based on edge computing. For details of the specific methods and processes of the remote control and data interaction system for skid steer loaders based on edge computing, please refer to the embodiments of the remote control and data interaction method for skid steer loaders based on edge computing, which will not be repeated here.

[0046] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for remote control and data interaction of skid steer loaders based on edge computing, characterized in that, Includes the following steps: To address the data interaction among multiple edge nodes during the remote control of skid steer loaders, the sampling period and command transmission period of each edge node were analyzed, a unified time reference was established, and a time series was formed. The start and end times of each edge node are compared point by point on the established time series. The time difference between adjacent instructions is calculated, the time gaps corresponding to the time differences are analyzed, the specific time periods in which time gaps occur are marked, and a list of time intervals is generated. Based on the generated time interval list, the data scheduling order of each edge node cache is traced back, the write time and release time of cached data are analyzed, cached data that is released in advance and cached data that is updated late are identified, the corresponding position of cached data in the instruction execution process is determined, and a cache misalignment comparison table is formed. Based on the cache misalignment lookup table, the data refresh order and acknowledgment interval of each edge node are replanned, and the connection window duration and buffer duration that match the instruction cycle are set to generate a complete time control scheme. Dynamic adjustments are implemented during the remote control of the skid steer loader according to the generated time control scheme. Short-term silent windows and buffer delay areas are inserted within the time period corresponding to the time gap, and continuous commands are spliced ​​together through time write-back and phase drift correction.

2. The remote control and data interaction method for skid steer loaders based on edge computing according to claim 1, characterized in that, The steps for forming a time series are as follows: For multiple edge nodes distributed on the skid steer loader body and communication terminal, the data sampling period and command sending period of each edge node in the working state are obtained respectively, and the period distribution pattern is recorded within the same time window; The time data of each edge node is uniformly organized, and the timestamps are offset and synchronized with the master time as the central base point, so that the sampling events, command sending events and data receipt events form a continuous time series on the time axis. To address the time delay differences between edge nodes, the sampling points are interpolated and their order is fine-tuned to ensure that the sampling activities of each node form a continuous observation chain. By embedding control command trigger markers, data cache update markers, and status receipt markers into the formed time series, the time series continuously reflects the running status of each node and maintains time consistency.

3. The remote control and data interaction method for skid steer loaders based on edge computing according to claim 2, characterized in that, The steps for generating the time interval list are as follows: In a unified time series, the start and end times of each edge node are calibrated and mapped so that the data acquisition activities and control command execution processes of each node are located on the same time axis. The calibrated time periods are compared point by point in chronological order, and the time difference between adjacent time periods is calculated to determine the time relationship between the instructions of each node. The time gaps are analyzed based on the time difference, and the start and end times of the time gaps are extracted to form gap record data; The gap intervals are arranged in chronological order and a list of time intervals is generated, so that the temporal distribution of the instruction stream of multiple edge nodes can be continuously mapped on the time axis.

4. The remote control and data interaction method for skid steer loaders based on edge computing according to claim 3, characterized in that, During the generation of the time interval list, the time gap intervals are arranged in the time order of a unified time series, and the start time, end time and time span information are recorded in each time gap interval, so that the time interval list has a continuous segmented structure on the time axis.

5. The remote control and data interaction method for skid steer loaders based on edge computing according to claim 3, characterized in that, The steps for generating the cache misalignment lookup table are as follows: The start and end times in the time interval list are used as time indices to correspond to the cache record files of each edge node in order to establish the correspondence between time intervals and cache records; Retrieve cache write and release events of each edge node along a unified time series to obtain the cache scheduling order and determine the time distribution of cache operations; Compare the cache write time with the cache release time to identify cached data that is released early and updated late, and determine its time interval during instruction execution; The cache time relationships of each edge node are integrated and a cache misalignment comparison table is formed using a unified time series as an index to reflect the time differences in cache scheduling.

6. The remote control and data interaction method for skid steer loaders based on edge computing according to claim 5, characterized in that, The cache misalignment lookup table marks the cache write time, release time, early release interval and delayed update interval of each edge node in chronological order, so that cache activities form a continuous mapping structure on the time axis and realize the global association of cache scheduling status in a unified time series.

7. The method for remote control and data interaction of a skid steer loader based on edge computing according to claim 5, characterized in that, The steps for generating a time control scheme are as follows: Based on the cache misalignment comparison table, the data refresh patterns of each edge node in the unified time series are summarized and the node refresh order is rearranged to eliminate the problem of discontinuous instruction flow. The data receipt intervals are replanned based on the time difference characteristics between nodes so that the receipt signals form a continuous response chain in the time series; The duration of the connection window and the buffer duration are set to match the instruction cycle characteristics to ensure continuous transmission of the instruction stream; Based on the replanned refresh order, receipt interval, connection window duration, and buffer duration, a complete time control scheme for time coordination is generated to achieve continuous control of multi-node collaboration.

8. The remote control and data interaction method for skid steer loaders based on edge computing according to claim 7, characterized in that, During the generation of the time control scheme, the refresh start time, end time, acknowledgment time, and corresponding connection window duration and buffer duration of each edge node are uniformly calibrated, so that the time control scheme forms a continuous control chain in a unified time sequence, thereby ensuring that instruction transmission, data feedback and action execution remain synchronized in the time dimension.

9. The method for remote control and data interaction of a skid steer loader based on edge computing according to claim 7, characterized in that, The dynamic adjustment steps according to the generated time control scheme are as follows: The skid steer loader is subjected to uniform time loading at multiple edge nodes, and data refresh and command feedback are performed according to the time parameters in the time control scheme to monitor the time gap interval. A short-term silent window is inserted within the time period corresponding to the time gap to freeze the data output of some nodes and form a time buffer. Buffer delay zones are established at both ends of the time gap to absorb delay differences and achieve smooth connection of instruction streams; By using time write-back and phase drift correction methods to splice continuous instructions, continuous data stream transmission and smooth transition of the action process can be achieved.

10. A remote control and data interaction system for a skid steer loader based on edge computing, used to implement the remote control and data interaction method for a skid steer loader based on edge computing as described in any one of claims 1-9, characterized in that, It includes a time base construction module, a time gap detection module, a cache misalignment analysis module, a timing coordination planning module, and a dynamic synchronization control module: The time reference construction module analyzes the data interaction of multiple edge nodes during the remote control of skid steer loaders, sorts out the sampling period and command sending period of each edge node, establishes a unified time reference, and forms a time series. The time gap detection module compares the start and end times of each edge node point by point on the established unified time series, calculates the time difference between adjacent instructions, analyzes the time gaps corresponding to the time differences, marks the specific time periods in which time gaps occur, and generates a list of time intervals. The cache misalignment analysis module traces back the data scheduling order of each edge node cache based on the generated time interval list, analyzes the write and release times of cached data, identifies cached data that is released early and cached data that is updated late, determines the corresponding position of cached data in the instruction execution process, and forms a cache misalignment comparison table. The timing coordination and planning module re-plans the data refresh order and acknowledgment interval of each edge node based on the cache misalignment lookup table, sets the connection window duration and buffer duration to match the instruction cycle, and generates a time control scheme. The dynamic synchronization control module dynamically adjusts the skid steer loader during remote operation according to the generated time control scheme. It inserts short-term silent windows and buffer delay areas within the time period corresponding to the time gap, and splices continuous commands through time write-back and phase drift correction.

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