Reel type sprinkling irrigation machine scheduling method for soil mechanical compaction and reduction

Abstract

The invention discloses a reel type sprinkling irrigation machine dispatching method for soil mechanical compaction and reduction, and relates to the field of agricultural machinery dispatching. The problem that the influence of the machine on the soil compaction effect is not considered in an existing sprinkling irrigation scheduling method is solved. According to the method, the total scheduling target function is constructed with the lowest total scheduling cost of the reel type sprinkling irrigation machine and the highest total compaction satisfaction degree of the field, and the minimum scheduling target function is constrained according to the set constraint condition, so that optimization solution is carried out, and the optimization solution efficiency is improved. And distributing corresponding reel type sprinkling machines and service paths of the reel type sprinkling machines to the field parcels corresponding to the water source points. The method and the device are mainly used for scheduling the reel sprinkling machine.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery scheduling. Background Art

[0002] With the development of modern science and technology, science and technology have been widely used in various fields, and smart agriculture has emerged. With the basic support of technical hardware such as the Internet, the Internet of Things and sensors, smart agriculture has brought about a qualitative improvement in agricultural production activities. Due to long-term over-exploitation and utilization, black soil has degraded into "thinning, thinning and hardening". Reducing the compaction of black soil can improve soil structure, increase soil fertility and enhance soil water and fertilizer retention capacity. Using reel sprinklers that meet the soil compaction can achieve sustainable utilization and protection of black soil.

[0003] The current sprinkler scheduling method does not consider the impact of machinery on soil compaction, and there is no scheduling method for reel-type sprinkler irrigation machines. The above problems need to be solved urgently. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the influence of machinery on soil compaction is not considered in the existing sprinkler irrigation scheduling method. The present invention provides a reel sprinkler irrigation machine scheduling method for reducing soil mechanical compaction.

[0005] A reel sprinkler scheduling method for reducing soil mechanical compaction is implemented based on multiple fields, multiple water sources, and multiple reel sprinklers with different working performances located at each water source. The method includes the following steps:

[0006] S1. Obtain normalized field data and water source data;

[0007] The normalized field data includes the target compaction degree of each field and the length of water pipe required by the reel sprinkler at each water source to serve each field;

[0008] The normalized water source point data include the compaction degree of each water source point after operation;

[0009] S2. The location of each water source point is taken as a cluster center. According to the target compaction degree of each field, the compaction degree of each water source point after operation, and the length of the water pipe required by the reel sprinkler at each water source point to serve each field, the distance from each field to each water source point is calculated, and the field is assigned to the cluster where the nearest water source point is located;

[0010] S3. With the lowest total dispatching cost of reel sprinklers and the highest total compaction satisfaction of fields, the total dispatching objective function is constructed, and the total dispatching objective function is minimized according to the set constraints. The firefly heuristic algorithm is used to optimize and solve the total dispatching objective function, so as to allocate corresponding reel sprinklers and the service path of the reel sprinklers to each field in the cluster where each water source point is located.

[0011] Preferably, in S3, the implementation method of constructing the total scheduling objective function with the lowest total scheduling cost of the reel sprinkler and the highest total compaction satisfaction of the field is:

[0012]

[0013]

[0014] Among them, Z represents the total scheduling objective function, Z1 represents the total scheduling cost of the reel sprinkler, and Z2 represents the total compaction satisfaction of the field;

[0015] P = {1, 2, ..., p'} represents the set of water source points, p' is the total number of water source points;

[0016] K i is the set of reel sprinklers corresponding to the i-th water source point, i∈(1,p′), and each water source point has multiple reel sprinklers;

[0017] k is the index of the reel sprinkler, k∈K i ;

[0018] V i =T i ∪{0 i},V i is the total node set of the i-th water source point;

[0019] T i ={1,2,...,n}, T i The set of fields that are responsible for the i-th water source point, and each field is a node;

[0020] 0 i is the starting and returning point of the i-th water source, and 0 i As a node;

[0021] c uv is the moving cost from node u to node v;

[0022] x uvk ∈{0,1},x uvk Whether the reel sprinkler k moves from node u to node v, x uvk =1 means moving, x uvk=0 means no movement, u,v∈V i ,k∈K i ;

[0023] d jk is the scheduling cost of the reel sprinkler k to complete the jth field operation, j∈T i ;

[0024] x jk ∈{0,1},x jk is whether the reel sprinkler k is responsible for the operation of field j, x jk =1 means responsible, x jk =0 means no responsibility;

[0025] y′ j ∈[0,1],y′ j is the total compaction satisfaction of the jth field;

[0026] r jk is the compaction degree of the reel sprinkler k after operating on the jth field;

[0027] R j is the target compaction degree of the jth field;

[0028] α is the weight coefficient of the total dispatching cost of the reel sprinkler;

[0029] β is the weight coefficient of the total compaction satisfaction of the field.

[0030] Preferably, the set constraints include:

[0031] Path closure constraint:

[0032]

[0033] Connectivity constraints for path flow:

[0034]

[0035] Field visit times constraint:

[0036]

[0037] The time order constraints that the reel sprinkler needs to meet when arriving at and leaving the node are:

[0038]

[0039] Maximum working capacity constraints of reel sprinkler:

[0040]

[0041] The field constraints of the reel sprinkler serving the water source point are:

[0042]

[0043] in,

[0044] Is the reel sprinkler k from the starting point 0 i Move to node v, Indicates movement, Indicates no movement, v∈V i ,k∈K i ;

[0045] Whether the reel sprinkler k moves from node u to the end point 0 i , Indicates movement, Indicates no movement, u∈V i ,k∈K i ;

[0046] x uvk ∈{0,1},x uvk Whether the reel sprinkler k moves from node u to node v, x uvk =1 means moving, x uvk =0 means no movement, u,v∈V i ,k∈K i ;

[0047] x vuk ∈{0,1},x vuk Is the reel sprinkler k moved from node v to node u, x vuk =1 means moving, x vuk =0 means no movement, u,v∈V i ,k∈K i ;

[0048] x ujk ∈{0,1},x ujk Whether the reel sprinkler k moves from node u to field j, x ujk =1 means moving, x ujk =0 means no movement, u∈V i ,j∈T i ,k∈K i ;

[0049] T vk is the time when the reel sprinkler k arrives at node v;

[0050] T uk is the time when the reel sprinkler k arrives at node u;

[0051] ω u is the operation time required for irrigation at node u;

[0052] t uv is the moving time from node u to node v;

[0053] M is an infinite positive number;

[0054] ω j The operating time required to irrigate field j;

[0055] x jk ∈{0,1},x jk is whether the reel sprinkler k is responsible for the operation of field j, x jk =1 means responsible, x jk =0 means no responsibility;

[0056] Q k is the maximum daily workload of reel sprinkler k.

[0057] Preferably, the normalized field data and water source point data are obtained in step S1 in the following manner:

[0058]

[0059] in, and are the target compaction degree of the jth field before and after normalization, and are the compaction degrees of the ith water source point before and after normalization, R is the data set consisting of the target compaction degrees of all fields before normalization and the compaction degrees of all water source points after operation, l ij and are the water pipe lengths required for the reel sprinkler to serve the jth field at the ith water source point before and after normalization, j∈(1,n), i∈(1,p′), n is the total number of fields, and p′ is the total number of water sources.

[0060] Preferably, in step S2, the distance between each field and each water source is calculated as follows:

[0061]

[0062] d′ ij is the distance between the jth field and the i-th water source, is the normalized length of the hose required for the reel sprinkler to serve the jth field at the i-th water source point, is the target compaction degree of the jth field after normalization, is the normalized compaction degree of the ith water source point after operation, and λ is the weight factor of the balance distance and compaction degree deviation.

[0063] Preferably, in step S1, the compaction degree of each water source point after operation is obtained by:

[0064]

[0065] is the compaction degree of the i-th water source point after operation, k is the index of the reel sprinkler, K i is the set of reel sprinklers corresponding to the i-th water source point, i∈(1,p′), p′ is the total number of water source points, Q k is the maximum daily workload of the reel sprinkler k, r jk The compaction degree of reel sprinkler k after operating on field j.

[0066] Preferably, in step S2, allocating each field to the cluster where the nearest water source is located can be achieved by using a K-meanings clustering algorithm.

[0067] A multi-task scheduling device for a reel-type sprinkler based on mechanical compaction reduction of black soil includes a storage device, a processor, and a computer program stored in the storage device and executable on the processor. The processor executes the computer program to implement the reel-type sprinkler scheduling method for mechanical compaction reduction of soil.

[0068] A computer-readable storage medium stores a computer program, wherein the computer program, when executed, implements the reel sprinkler scheduling method for reducing soil mechanical compaction.

[0069] A computer program product includes a computer program, which, when executed by a processor, implements the reel sprinkler scheduling method for reducing soil mechanical compaction as described above.

[0070] Advantages of the present invention:

[0071] The present invention proposes a reel sprinkler scheduling method for reducing soil mechanical compaction, taking into account the impact of machinery on soil compaction, with the goal of meeting the target compaction requirements of each field and reducing scheduling costs, and adopts a "clustering first, then scheduling" approach to solve the problem.

[0072] In the clustering stage, each field is assigned to the nearest water source according to its geographical location and compaction requirement index (the compaction degree after the total operation of the irrigation machine at the water source point is obtained through weighted calculation).

[0073] In the scheduling stage, the overall scheduling objective function is to maximize the total compaction satisfaction of the field and minimize the total scheduling cost of the reel sprinkler, and relevant constraints are proposed; then, the overall scheduling objective function is optimized and solved, and finally the allocation plan and path are output.

[0074] The present invention considers the influence of machinery on soil compaction and has practical application value. The present invention constructs the total dispatch objective function with the lowest total dispatch cost of the reel sprinkler and the highest total compaction satisfaction of the field. The total dispatch objective function is minimized according to the set constraints, so as to optimize and solve, and allocate the corresponding reel sprinkler and the service path of the reel sprinkler to each field. And the constructed total dispatch objective function is comprehensive, providing an accurate data basis for subsequent optimization and solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a flow chart of the method for dispatching a reel-type sprinkler for reducing soil mechanical compaction according to the present invention;

[0076] Figure 2 It is a flow chart of the solution process of the firefly heuristic algorithm. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0079] Source of the invention concept: Under the conditions of multiple fields, multiple water sources and multiple reel sprinklers with different working performances located at each water source, a reel sprinkler scheduling method is provided to allocate corresponding reel sprinklers and optimal paths to each field corresponding to each water source.

[0080] For each field operation point, the location factor of the operation point, the resource limitation factor of the agricultural machinery depot, and the operation matching factor are comprehensively considered, and the field operation point is assigned to a single optimal water source point. The reel sprinkler owned by each water source point is known and fixed. In this way, a reel mobile sprinkler scheduling problem with multiple water sources can be transformed into a reel mobile sprinkler scheduling problem with p′ single water sources (where p′ is the number of water sources). The goal of this problem is to maximize the minimum total scheduling cost of the reel sprinkler and the maximum total compaction satisfaction of the field.

[0081] The problem solved by the present invention is that under the same water source point, when different sprinklers have different working efficiencies, working costs and compaction degree indicators after operation, the water source point completes sprinkler irrigation operations of multiple fields (each field has different area and compaction degree requirements), the first operation goal is to minimize the total dispatch cost of the reel sprinkler (vehicle moving cost + vehicle operating cost), and the second operation goal is to maximize the total compaction satisfaction of the field (the degree of fit between the compaction degree after the sprinkler operation and the target compaction degree of the field).

[0082] Based on the above ideas, a reel sprinkler scheduling method for reducing soil mechanical compaction is proposed, as follows:

[0083] Specific implementation method 1. Combination Figure 1 The present embodiment is described. The reel sprinkler scheduling method for reducing soil mechanical compaction described in the present embodiment is implemented based on multiple fields, multiple water sources, and multiple reel sprinklers with different working performances located at each water source. The method includes the following steps:

[0084] S1. Obtain normalized field data and water source data;

[0085] The normalized field data includes the target compaction degree of each field and the length of water pipe required by the reel sprinkler at each water source to serve each field;

[0086] The normalized water source point data include the compaction degree of each water source point after operation;

[0087] S2. The location of each water source point is taken as a cluster center. According to the target compaction degree of each field, the compaction degree of each water source point after operation, and the length of the water pipe required by the reel sprinkler at each water source point to serve each field, the distance from each field to each water source point is calculated, and the field is assigned to the cluster where the nearest water source point is located;

[0088] S3. With the lowest total dispatching cost of reel sprinklers and the highest total compaction satisfaction of fields, the total dispatching objective function is constructed, and the total dispatching objective function is minimized according to the set constraints. The firefly heuristic algorithm is used to optimize and solve the total dispatching objective function, so as to allocate corresponding reel sprinklers and the service path of the reel sprinklers to each field in the cluster where each water source point is located.

[0089] The multiple reel sprinklers with different working performances at each water source point specifically refer to a water source point having multiple reel sprinklers with different efficiencies and compaction degrees after operation.

[0090] When applied, each field can only be operated by a reel-type sprinkler within its water source point. Each field has requirements for compaction after operation, which is defined as the target compaction of the field.

[0091] The present invention proposes a reel sprinkler scheduling method for reducing soil mechanical compaction, taking into account the impact of machinery on soil compaction, with the goal of meeting the target compaction requirements of each field and reducing scheduling costs, and adopts a "clustering first, then scheduling" approach to solve the problem.

[0092] In the clustering stage, each field is assigned to the nearest water source according to its geographical location and compaction requirement index (the compaction degree after the total operation of the irrigation machine at the water source point is obtained through weighted calculation).

[0093] In the scheduling stage, the overall scheduling objective function is to maximize the total compaction satisfaction of the field and minimize the total scheduling cost of the reel sprinkler, and relevant constraints are proposed; then, the overall scheduling objective function is optimized and solved, and finally the allocation plan and the optimal path are output.

[0094] Specifically, in S3, the implementation method of constructing the total scheduling objective function with the lowest total scheduling cost of the reel sprinkler and the highest total compaction satisfaction of the field is:

[0095]

[0096]

[0097] MinZ=αZ1-βZ2 (Formula 4);

[0098] Among them, Z represents the total scheduling objective function, Z1 represents the total scheduling cost of the reel sprinkler, and Z2 represents the total compaction satisfaction of the field;

[0099] P = {1, 2, ..., p'} represents the set of water source points, p' is the total number of water source points;

[0100] K i is the set of reel sprinklers corresponding to the i-th water source point, i∈(1,p′), and each water source point has multiple reel sprinklers;

[0101] k is the index of the reel sprinkler, k∈K i ;

[0102] V i =T i ∪{0 i},V i is the total node set of the i-th water source point;

[0103] T i ={1,2,...,n}, T i The set of fields that are responsible for the i-th water source point, and each field is a node;

[0104] 0i is the starting and returning point of the i-th water source, and 0 i As a node;

[0105] c uv is the moving cost from node u to node v;

[0106] x uvk ∈{0,1},x uvk Whether the reel sprinkler k moves from node u to node v, x uvk =1 means moving, x uvk =0 means no movement, u,v∈V i ,k∈K i ;

[0107] d jk is the scheduling cost of the reel sprinkler k to complete the jth field operation, j∈T i ;

[0108] x jk ∈{0,1},x jk is whether the reel sprinkler k is responsible for the operation of field j, x jk =1 means responsible, x jk =0 means no responsibility;

[0109] y′ j ∈[0,1],y′ j is the total compaction satisfaction of the jth field;

[0110] r jk is the compaction degree of the reel sprinkler k after operating on the jth field;

[0111] R j is the target compaction degree of the jth field;

[0112] α is the weight coefficient of the total dispatching cost of the reel sprinkler;

[0113] β is the weight coefficient of the total compaction satisfaction of the field.

[0114] In this preferred embodiment, Formula 4 is the total scheduling objective function, that is, the total scheduling cost is the lowest and the compaction satisfaction after field operation is the highest. In Formula 1, Z1 represents the total scheduling cost of the reel sprinkler, that is, the sum of the transportation cost and the operation cost; in Formula 2, Z2 represents the total compaction satisfaction of the field.

[0115] Specifically, the set constraints include:

[0116] Path closure constraint:

[0117]

[0118] Connectivity constraints for path flow:

[0119]

[0120] Field visit times constraint:

[0121]

[0122] The time order constraints that the reel sprinkler needs to meet when arriving at and leaving the node are:

[0123]

[0124] Maximum working capacity constraints of reel sprinkler:

[0125]

[0126] The field constraints of the reel sprinkler serving the water source point are:

[0127]

[0128] in,

[0129] Is the reel sprinkler k from the starting point 0 i Move to node v, Indicates movement, Indicates no movement, v∈V i ,k∈K i ;

[0130] x u0ik Whether the reel sprinkler k moves from node u to the end point 0 i , x u0ik =1 means moving, x u0ik =0 means no movement, u∈V i ,k∈K i ;

[0131] x uvk ∈{0,1},x uvk Whether the reel sprinkler k moves from node u to node v, x uvk =1 means moving, x uvk =0 means no movement, u,v∈V i ,k∈K i ;

[0132] x vuk ∈{0,1},x vuk Is the reel sprinkler k moved from node v to node u, x vuk =1 means moving, x vuk =0 means no movement, u,v∈Vi ,k∈K i ;

[0133] x ujk ∈{0,1},x ujk Whether the reel sprinkler k moves from node u to field j, x ujk =1 means moving, x ujk =0 means no movement, u∈V i ,j∈T i ,k∈K i ;

[0134] T vk is the time when the reel sprinkler k arrives at node v;

[0135] T uk is the time when the reel sprinkler k arrives at node u;

[0136] ω u is the operation time required for irrigation at node u;

[0137] t uv is the moving time from node u to node v;

[0138] M is an infinite positive number;

[0139] ω j The operating time required to irrigate field j;

[0140] x jk ∈{0,1},x jk is whether the reel sprinkler k is responsible for the operation of field j, x jk =1 means responsible, x jk =0 means no responsibility;

[0141] Q k is the maximum daily workload of reel sprinkler k.

[0142] In this preferred embodiment, the path closure constraint is used to constrain the reel-type sprinkler at each water source point to start from the corresponding water source point and return to the water source point after completing the operation;

[0143] The connectivity constraint of the path flow is used to ensure the connectivity of the path flow, that is, each node has only one reel sprinkler entering and leaving;

[0144] Field visit count constraint, used to ensure that each field can only be visited once by a reel sprinkler;

[0145] The time order constraints that the reel sprinkler needs to meet when arriving at and leaving the node are used to ensure that the reel sprinkler arrives at and leaves the node in a timely manner;

[0146] The maximum working capacity constraint of the reel sprinkler is used to ensure that the sum of the total operating time and path movement time of the reel sprinkler does not exceed its maximum daily workload.

[0147] The constraint that the reel sprinkler serves the fields at the water source point to which it belongs is used to ensure that the reel sprinkler can only serve the fields at the water source point to which it belongs.

[0148] Specifically, the normalized field data and water source point data are obtained in step S1 in the following manner:

[0149]

[0150] in, and are the target compaction degree of the jth field before and after normalization, and are the compaction degrees of the ith water source point before and after normalization, R is the data set consisting of the target compaction degrees of all fields before normalization and the compaction degrees of all water source points after operation, l ij and are the water pipe lengths required for the reel sprinkler to serve the jth field at the ith water source point before and after normalization, j∈(1,n), i∈(1,p′), n is the total number of fields, and p′ is the total number of water sources.

[0151] Specifically, in step S1, the compaction degree of each water source point after operation is obtained as follows:

[0152]

[0153] is the compaction degree of the i-th water source point after operation, k is the index of the reel sprinkler, K i is the set of reel sprinklers corresponding to the i-th water source point, i∈(1,p′), p′ is the total number of water source points, Q k is the maximum daily workload of the reel sprinkler k, r jk The compaction degree of reel sprinkler k after operating on field j.

[0154] Furthermore, in step S2, the method of assigning each field to the cluster with the nearest water source can be implemented by using the K-means clustering algorithm. Specifically, in step S2, the distance between each field and each water source is calculated as follows:

[0155]

[0156] d′ ij is the distance between the jth field and the i-th water source, is the normalized length of the hose required for the reel sprinkler to serve the jth field at the i-th water source point, is the target compaction degree of the jth field after normalization, is the normalized compaction degree of the ith water source point after operation, and λ is the weight factor of the balance distance and compaction degree deviation.

[0157] The firefly heuristic algorithm used in the present invention is an existing method. When solving the specific application of the layer, the reel sprinkler path and field allocation in the problem can be represented as a solution of the firefly algorithm; the position of each firefly represents a possible solution, and the path and allocation information is directly embedded in the solution;

[0158] The fitness function is constructed according to the minimum total dispatch cost of the reel sprinkler and the maximum total compaction satisfaction of the field, taking into account both path optimization and field operation quality; the constraints are incorporated into the fitness function or the solution generation and adjustment process is used to ensure that the solution meets the constraints;

[0159] The attraction between fireflies is proportional to their fitness values. Fireflies with higher brightness attract fireflies with lower brightness, resulting in an update of the solution.

[0160] As an example, see Figure 2 The specific solution can be:

[0161] (1) Initialize basic algorithm parameters

[0162] Set the following basic parameters:

[0163] The number of fireflies N;

[0164] Maximum number of iterations Iterr max ;

[0165] Maximum attraction β0;

[0166] Absorption coefficient γ;

[0167] Random perturbation coefficient α′;

[0168] Search space dimension D (determined by the problem encoding);

[0169] Reel sprinkler related parameters: including moving cost c uv , job scheduling cost d jk , compaction degree after field operation jk Hotan block target compaction R j .

[0170] (2) Randomly initialize the position of the firefly

[0171] The position of each firefly arepresents a solution, i.e., the sprinkler path and the assignment of sprinklers to the fields:

[0172]

[0173] When generating, ensure that each solution satisfies the following constraints:

[0174] Path closure constraint (Formula 5): The path of each reel sprinkler must start from the water source and return.

[0175] Field coverage constraint (Formula 7, also known as field visit count constraint): All fields are visited and only visited once.

[0176] Service range constraint (Formula 10, i.e. the constraint that the reel sprinkler serves the fields at the water source to which it belongs): the reel sprinkler can only serve the fields at the water source to which it belongs.

[0177] (3) Formula for relative brightness and attraction between fireflies

[0178] I. Brightness calculation formula:

[0179]

[0180] Brightness L a Reflects individual fitness value and is related to the optimization goal.

[0181] II. The objective function is:

[0182] Z(Po a )=αZ1-βZ2 (Formula 16);

[0183]

[0184] Among them, Z1 represents the total dispatching cost of the reel sprinkler, including path cost and operation cost, and the goal is to minimize the total dispatching cost; Z2 represents the total compaction satisfaction of the field, and the goal is to maximize the satisfaction; Z(Po a ) = αZ1-βZ2 is the overall scheduling objective function;

[0185] III. Relative attractiveness formula:

[0186] The attraction of firefly b to firefly a is:

[0187]

[0188] r ab =||Po a -Po b || (Formula 20);

[0189] Among them, β abrepresents the attraction of firefly b to firefly a, r″ ab represents the solution distance between fireflies a and b;

[0190] IV. Direction of movement:

[0191] If L b >L a , then firefly a moves to b:

[0192] ΔPo a =β ab ·(Po b -Po a )(Formula 21);

[0193] (4) Firefly spatial position update formula:

[0194] Update formula:

[0195]

[0196] ε is a random vector that follows a uniform distribution. Random perturbations are added to the current optimal solution (the firefly with the highest brightness) to enhance the global search capability:

[0197]

[0198] (5) Recalculate the firefly brightness after updating

[0199] For each updated firefly, recalculate the fitness value Z(Po a ) and brightness L a , while ensuring that the updated solution satisfies all constraints;

[0200] If the solution does not satisfy the constraints (such as the path is not closed or the field is not visited), the solution is adjusted to a feasible solution:

[0201] Path correction: Ensure path closure through the shortest path method;

[0202] Field allocation correction: reallocate sprinklers to unvisited fields;

[0203] (6) Determine the termination conditions

[0204] Determine whether any of the following conditions are met:

[0205] I. Reach the maximum number of iterations: t≥Iter max ;

[0206] II. The search accuracy of the solution meets the requirements (brightness change is less than the set threshold): is the brightness of the current optimal solution after random perturbation, is the brightness of the current optimal solution before random perturbation.

[0207] III. If the condition is not met, return to step 3 and continue iterating;

[0208] (7) Output results

[0209] Final output:

[0210] I. Global extreme point: the position of the best firefly Po best ;

[0211] II. Optimal target value: Z best =Z(Po best );

[0212] III. Path and allocation plan: including the service path of each reel sprinkler and the operation allocation of the fields served by the reel sprinkler.

[0213] Based on the above method, the optimal scheduling plan for multiple water sources and multiple mobile reel sprinklers can be output based on the two goals of meeting the soil compaction degree and minimizing the total transportation cost.

[0214] Specific implementation method 2: The multi-task scheduling device of the reel sprinkler based on the reduction of black soil mechanical compaction described in this implementation method includes a storage device, a processor, and a computer program stored in the storage device and executable on the processor. The processor executes the computer program to implement the reel sprinkler scheduling method for reducing soil mechanical compaction as described.

[0215] Specific implementation method three: A computer-readable storage medium stores a computer program, and when the computer program is executed, the reel sprinkler scheduling method for reducing soil mechanical compaction is implemented.

[0216] Specific implementation method 4. A computer program product includes a computer program, which, when executed by a processor, implements the reel sprinkler scheduling method for reducing soil mechanical compaction as described above.

[0217] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A reel sprinkler scheduling method for reducing soil mechanical compaction is implemented based on multiple fields, multiple water sources, and multiple reel sprinklers with different working performances located at each water source, characterized in that: The method comprises the following steps: S1. Obtain normalized field data and water source data; The normalized field data includes the target compaction degree of each field and the length of water pipe required by the reel sprinkler at each water source to serve each field; The normalized water source point data include the compaction degree of each water source point after operation; S2. The location of each water source point is taken as a cluster center. According to the target compaction degree of each field, the compaction degree of each water source point after operation, and the length of the water pipe required by the reel sprinkler at each water source point to serve each field, the distance from each field to each water source point is calculated, and the field is assigned to the cluster where the nearest water source point is located; S3. With the lowest total dispatching cost of reel sprinklers and the highest total compaction satisfaction of fields, the total dispatching objective function is constructed, and the total dispatching objective function is minimized according to the set constraints. The firefly heuristic algorithm is used to optimize and solve the total dispatching objective function, so as to allocate corresponding reel sprinklers and the service path of the reel sprinklers to each field in the cluster where each water source point is located.

2. The method for dispatching a reel sprinkler for reducing soil mechanical compaction according to claim 1, characterized in that: In S3, the overall dispatch objective function is constructed with the lowest total dispatch cost of the reel sprinkler and the highest total compaction satisfaction of the field as follows: MinZ=αZ1-βZ2 (Formula 4); Among them, Z represents the total scheduling objective function, Z1 represents the total scheduling cost of the reel sprinkler, and Z2 represents the total compaction satisfaction of the field; P = {1, 2, ..., p'} represents the set of water source points, p' is the total number of water source points; K i is the set of reel sprinklers corresponding to the i-th water source point, i∈(1,p′), and each water source point has multiple reel sprinklers; k is the index of the reel sprinkler, k∈K i ; V i =T i ∪{0 i },V i is the total node set of the i-th water source point; T i ={1,2,...,n}, T i The set of fields that are responsible for the i-th water source point, and each field is a node; 0 i is the starting and returning point of the i-th water source, and 0 i As a node; c uv is the moving cost from node u to node v; x uvk ∈{0,1},x uvk Whether the reel sprinkler k moves from node u to node v, x uvk =1 means moving, x uvk =0 means no movement, u,v∈V i ,k∈K i ; d jk is the scheduling cost of the reel sprinkler k to complete the jth field operation, j∈T i ; x jk ∈{0,1},x jk is whether the reel sprinkler k is responsible for the operation of field j, x jk =1 means responsible, x jk =0 means no responsibility; y′ j ∈[0,1],y′ j is the total compaction satisfaction of the jth field; r jk is the compaction degree of the reel sprinkler k after operating on the jth field; R j is the target compaction degree of the jth field; α is the weight coefficient of the total dispatching cost of the reel sprinkler; β is the weight coefficient of the total compaction satisfaction of the field.

3. The method for dispatching a reel sprinkler for reducing soil mechanical compaction according to claim 2, characterized in that: The constraints set include: Path closure constraint: Connectivity constraints for path flow: Field visit times constraint: The time order constraints that the reel sprinkler needs to meet when arriving at and leaving the node are: Maximum working capacity constraints of reel sprinkler: The field constraints of the reel sprinkler serving the water source point are: in, Whether the reel sprinkler k starts from the starting point 0 i Move to node v, Indicates movement, Indicates no movement, v∈V i ,k∈K i ; Whether the reel sprinkler k moves from node u to the end point 0 i , Indicates movement, Indicates no movement, u∈V i ,k∈K i ; x uvk ∈{0,1},x uvk Whether the reel sprinkler k moves from node u to node v, x uvk =1 means moving, x uvk =0 means no movement, u,v∈V i ,k∈K i ; x vuk ∈{0,1},x vuk Is the reel sprinkler k moved from node v to node u, x vuk =1 means moving, x vuk =0 means no movement, u,v∈V i ,k∈K i ; x ujk ∈{0,1},x ujk Whether the reel sprinkler k moves from node u to field j, x ujk =1 means moving, x ujk =0 means no movement, u∈V i ,j∈T i ,k∈K i ; T vk is the time when the reel sprinkler k arrives at node v; T uk is the time when the reel sprinkler k arrives at node u; ω u is the operation time required for irrigation at node u; t uv is the moving time from node u to node v; M is an infinite positive number; ω j The operating time required to irrigate field j; x jk ∈{0,1},x jk is whether the reel sprinkler k is responsible for the operation of field j, x jk =1 means responsible, x jk =0 means no responsibility; Q k is the maximum daily workload of reel sprinkler k.

4. The method for dispatching a reel sprinkler for reducing soil mechanical compaction according to claim 1, characterized in that: The implementation method of obtaining the normalized field data and water source point data in step S1 is as follows: in, and are the target compaction degree of the jth field before and after normalization, and are the compaction degrees of the ith water source point before and after normalization, R is the data set consisting of the target compaction degrees of all fields before normalization and the compaction degrees of all water source points after operation, l ij and are the water pipe lengths required for the reel sprinkler to serve the jth field at the ith water source point before and after normalization, j∈(1,n), i∈(1,p′), n is the total number of fields, and p′ is the total number of water sources.

5. The method for dispatching a reel sprinkler for reducing soil mechanical compaction according to claim 1, characterized in that: In step S2, the distance between each field and each water source is calculated as follows: d i ' j is the distance between the jth field and the i-th water source, is the normalized length of the hose required for the reel sprinkler to serve the jth field at the i-th water source point, is the target compaction degree of the jth field after normalization, is the normalized compaction degree of the ith water source point after operation, and λ is the weight factor of the balance distance and compaction degree deviation.

6. The method for dispatching a reel sprinkler for reducing soil mechanical compaction according to claim 1, characterized in that: In step S1, the compaction degree of each water source point after operation is obtained as follows: is the compaction degree of the i-th water source point after operation, k is the index of the reel sprinkler, K i is the set of reel sprinklers corresponding to the i-th water source point, i∈(1,p′), p′ is the total number of water source points, Q k is the maximum daily workload of the reel sprinkler k, r jk The compaction degree of reel sprinkler k after operating on field j.

7. The method for dispatching a reel sprinkler for reducing soil mechanical compaction according to claim 1, characterized in that: In step S2, the K-meanings clustering algorithm can be used to allocate each field to the cluster where the nearest water source is located.

8. A multi-task scheduling device for a reel-type sprinkler irrigation machine based on mechanical compaction and reduction of black soil, comprising a storage device, a processor, and a computer program stored in the storage device and executable on the processor, characterized in that: The processor executes the computer program to implement the reel sprinkler scheduling method for reducing soil mechanical compaction as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, the reel sprinkler scheduling method for reducing soil mechanical compaction as described in any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for scheduling a reel sprinkler for reducing mechanical soil compaction as described in claims 1 to 7 is implemented.

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