Scheduling Methods for Reel-Type Sprinkler Irrigation Machines for Soil Compaction Reduction

Abstract

This invention relates to a scheduling method for reel-type sprinkler irrigation machines aimed at reducing soil compaction, and pertains to the field of agricultural machinery scheduling. It addresses the problem that existing sprinkler scheduling methods do not consider the impact of machinery on soil compaction. The invention constructs a general objective function for scheduling based on minimizing the overall scheduling cost of reel-type sprinkler irrigation machines and maximizing the overall compaction satisfaction of the field. By minimizing this objective function under set constraints, the invention optimizes the solution and allocates appropriate reel-type sprinkler irrigation machines and their service paths to each field corresponding to each water source. This invention is primarily used for scheduling reel-type sprinkler irrigation machines.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery scheduling. Background Technology

[0002] With the development of modern science and technology, these technologies have been widely applied in various fields, giving rise to smart agriculture. Supported by technologies such as the Internet, the Internet of Things, and sensors, smart agriculture has brought about a qualitative improvement in agricultural production. Black soil, due to long-term over-exploitation, suffers from degradation, becoming thinner, less fertile, and harder. Reducing soil compaction in black soil can improve soil structure, increase soil fertility, and enhance its water and fertilizer retention capacity. Using reel-type sprinkler irrigation machines that meet soil compaction requirements can achieve the sustainable utilization and protection of black soil.

[0003] Current sprinkler irrigation scheduling methods do not consider the impact of machinery on soil compaction, and there are no scheduling methods specifically for reel-type sprinkler irrigation machines. These problems urgently need to be solved. Summary of the Invention

[0004] The purpose of this invention is to address the problem that existing sprinkler irrigation scheduling methods do not consider the impact of machinery on soil compaction. This invention provides a reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction.

[0005] A scheduling method for reel-type sprinkler irrigation machines aimed at reducing soil mechanical compaction is implemented based on multiple fields, multiple water sources, and multiple reel-type sprinkler irrigation machines with different performance characteristics located at each water source. The method includes the following steps:

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

[0007] The normalized field data includes the target compaction degree for each field, as well as the length of water hose required by the reel sprinkler irrigation machine serving each field at each water source.

[0008] The normalized water source data includes the compaction degree of each water source after operation.

[0009] S2. The location of each water source point is taken as the cluster center. Based on the target compaction degree of each field, the compaction degree after operation of each water source point, and the length of water pipe required by the reel-type sprinkler irrigation machine serving each field at each water source point, the distance of each field from each water source point is calculated, and the field is assigned to the cluster where the nearest water source point is located.

[0010] S3. To achieve the lowest overall scheduling cost for reel-type sprinkler irrigation machines and the highest overall compaction satisfaction of the fields, a scheduling objective function is constructed. The objective function is then constrained by the set constraints to minimize it. The firefly heuristic algorithm is used to optimize and solve the scheduling objective function, thereby allocating the corresponding reel-type sprinkler irrigation machines and their service paths to each field within the cluster of each water source.

[0011] Preferably, in S3, the overall objective function for scheduling is implemented by achieving the lowest total scheduling cost for reel-type sprinkler irrigation machines and the highest overall field compaction satisfaction.

[0012]

[0013]

[0014] Where Z represents the overall objective function of the scheduling, Z1 represents the total scheduling cost of the reel sprinkler irrigation machine, and Z2 represents the total compaction satisfaction of the field.

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

[0016] K i Let i be the set of reel-type sprinkler irrigation machines corresponding to the i-th water source point, i∈(1,p′), and each water source point has multiple reel-type sprinkler irrigation machines;

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

[0018] V i =T i ∪{0 i}, V i Let i be the total set of nodes for the i-th water source point;

[0019] T i ={1,2,...,n},T i The set of fields responsible for the i-th water source point, with each field being treated as a node;

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

[0021] c uv Let $v$ be the cost of moving from node $u$ to node $v$.

[0022] x uvk x ∈{0,1} uvk To determine whether the reel sprinkler k has moved from node u to node v, x uvk =1 indicates movement, x uvk=0 indicates no movement, u,v∈V i ,k∈K i ;

[0023] d jk The scheduling cost for a reel-type sprinkler k to complete the operation on the j-th field, j∈T i ;

[0024] x jk x ∈{0,1} jk Does the reel-type sprinkler machine k handle the work on field j? jk =1 indicates responsibility, x jk =0 indicates no responsibility;

[0025] y′ j ∈[0,1],y′ j The total compaction satisfaction of the j-th field;

[0026] r jk The compaction degree of the reel-type sprinkler irrigation machine k after it has been applied to the j-th field.

[0027] R j The target compaction degree for the j-th field;

[0028] α is the weighting coefficient for the total scheduling cost of the reel sprinkler system;

[0029] β is the weighting coefficient for the overall compaction satisfaction of the field.

[0030] Preferably, the constraints include:

[0031] Path closure constraints:

[0032]

[0033] Connectivity constraints for path flows:

[0034]

[0035] Field visit frequency constraint:

[0036]

[0037] The time sequence constraints that the reel sprinkler must satisfy when arriving at and leaving the node are as follows:

[0038]

[0039] Maximum working capacity constraint of reel sprinkler irrigation machine:

[0040]

[0041] Reel-type sprinkler irrigation systems serve fields limited by their respective water sources:

[0042]

[0043] in,

[0044] For the reel-type sprinkler irrigation machine, is k starting from the starting point 0? i Move to node v, Indicates movement. Indicates no movement, v∈V i ,k∈K i ;

[0045] Does the reel sprinkler k move from node u to endpoint 0? i , Indicates movement. Indicates no movement, u∈V i ,k∈K i ;

[0046] x uvk x ∈{0,1} uvk To determine whether the reel sprinkler k has moved from node u to node v, x uvk =1 indicates movement, x uvk =0 indicates no movement, u,v∈V i ,k∈K i ;

[0047] x vuk x ∈{0,1} vuk To determine whether the reel sprinkler k has moved from node v to node u, x vuk =1 indicates movement, x vuk =0 indicates no movement, u,v∈V i ,k∈K i ;

[0048] x ujk x ∈{0,1} ujk To determine whether the reel-type sprinkler k has moved from node u to field j, x ujk =1 indicates movement, x ujk =0 indicates no movement, u∈V i ,j∈T i ,k∈K i ;

[0049] T vk The time it takes for the reel-type sprinkler k to reach node v;

[0050] T uk The time it takes for the reel-type sprinkler k to reach node u;

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

[0052] t uv The time taken to travel from node u to node v;

[0053] M is an infinite positive number;

[0054] ω j The operation time required for irrigating field j;

[0055] x jk x ∈{0,1} jk Does the reel-type sprinkler machine k handle the work on field j? jk =1 indicates responsibility, x jk =0 indicates no responsibility;

[0056] Q k This represents the maximum daily workload of the reel-type sprinkler machine k.

[0057] Preferably, the normalized field data and water source data in step S1 are obtained as follows:

[0058]

[0059] in, and These represent the target compaction degree of the j-th field before and after normalization, respectively. and Let be the compaction degree of the i-th water source point before and after normalization, respectively. Let R be the data set consisting of the target compaction degree of all fields before normalization and the compaction degree of all water source points after normalization. ij and Let be the lengths of the hose required for the reel-type sprinkler irrigation machine serving the j-th field from the i-th water source point before and after normalization, respectively, 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 method for calculating the distance of each field plot from each water source is as follows:

[0061]

[0062] d′ ij Let be the distance between the j-th field and the i-th water source. The normalized length of the hose required for a reel-type sprinkler irrigation system serving the j-th field from the i-th water source. The target compaction degree for the j-th plot after normalization. λ represents the normalized compaction degree after operation at the i-th water source point, and λ is the weighting factor for the deviation between the equilibrium distance and the compaction degree.

[0063] Preferably, in step S1, the method for obtaining the compaction degree after operation at each water source point is as follows:

[0064]

[0065] Let K be the compaction degree after operation at the i-th water source point, and k be the index of the reel sprinkler. i Let Q be the set of reel-type sprinkler systems corresponding to the i-th water source point, i∈(1,p′), where p′ is the total number of water source points. k For the maximum daily workload of the reel-type sprinkler machine k, r jk The compaction degree after the reel-type sprinkler irrigation machine k operates on field j.

[0066] Preferably, in step S2, the assignment of each field plot to the cluster containing the nearest water source can be achieved using the K-means clustering algorithm.

[0067] A multi-task scheduling device for reel-type sprinkler irrigation machines based on the reduction of soil mechanical compaction 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 irrigation machine scheduling method for reducing soil mechanical compaction as described above.

[0068] A computer-readable storage medium storing a computer program, characterized in that, when executed, the computer program implements the reel-type sprinkler scheduling method for reducing soil mechanical compaction as described above.

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

[0070] Advantages of this invention:

[0071] This invention proposes a scheduling method for reel-type sprinkler irrigation machines aimed at reducing soil mechanical compaction. It takes into account the impact of the machine on soil compaction and aims to meet the target compaction requirements of each field while reducing scheduling costs. The method adopts a "clustering first, then scheduling" approach to solve the problem.

[0072] During the clustering stage, each field is assigned to the nearest water source based on its geographical location and compaction requirements (the compaction degree after the total operation of the irrigation machine at the water source is obtained through weighted calculation).

[0073] During the scheduling phase, the overall objective function is to maximize the overall compaction satisfaction of the fields and minimize the overall scheduling cost of the reel sprinkler irrigation machine, and relevant constraints are proposed. Subsequently, the overall objective function is optimized and solved, and the allocation scheme and path are finally output.

[0074] This invention considers the impact of irrigation machinery on soil compaction and has practical application value. The invention constructs a general scheduling objective function based on minimizing the overall scheduling cost of reel-type sprinkler irrigation machines and maximizing the overall compaction satisfaction of each field. By minimizing this objective function under set constraints, an optimization solution is obtained, allocating appropriate reel-type sprinkler irrigation machines and their service paths to each field. Furthermore, the constructed general scheduling objective function is comprehensive, providing an accurate data foundation for subsequent optimization solutions. Attached Figure Description

[0075] Figure 1 This is a flowchart of the reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction as described in this invention;

[0076] Figure 2 This is a flowchart of the solution process for the firefly heuristic algorithm. Detailed Implementation

[0077] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0078] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0079] Invention concept: For multiple fields, multiple water sources, and multiple reel-type sprinkler irrigation machines with different working performance located at each water source, a reel-type sprinkler irrigation machine scheduling method is provided to allocate the corresponding reel-type sprinkler irrigation machine and the optimal path to each field corresponding to each water source.

[0080] For each field operation point, considering factors such as location, machine storage capacity, and operation matching, the operation point is assigned to a single optimal water source. The number of reel-type sprinkler machines at each water source is known and fixed. This transforms the multi-water-source reel-type sprinkler scheduling problem into a single-water-source reel-type sprinkler scheduling problem (where p′ is the number of water sources). The objective is to maximize the overall scheduling cost of the reel-type sprinklers and the overall field compaction satisfaction.

[0081] The problem addressed by this invention is to enable the irrigation of multiple fields (each field has a different area and compaction requirement) at the same water source point, where different sprinkler irrigation machines have different working efficiencies, operating costs, and post-operation compaction indices. The first objective is to minimize the total scheduling cost of reel-type sprinkler irrigation machines (vehicle movement cost + vehicle operation cost), and the second objective is to maximize the overall compaction satisfaction of the fields (the degree of fit between the post-operation compaction and the target compaction of the fields).

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

[0083] Specific Implementation Method 1: Combination Figure 1 This embodiment describes a reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction. This method is based on multiple fields, multiple water sources, and multiple reel-type sprinkler irrigation machines with different performance characteristics located at each water source. The method includes the following steps:

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

[0085] The normalized field data includes the target compaction degree for each field, as well as the length of water hose required by the reel sprinkler irrigation machine serving each field at each water source.

[0086] The normalized water source data includes the compaction degree of each water source after operation.

[0087] S2. The location of each water source point is taken as the cluster center. Based on the target compaction degree of each field, the compaction degree after operation of each water source point, and the length of water pipe required by the reel-type sprinkler irrigation machine serving each field at each water source point, the distance of each field from each water source point is calculated, and the field is assigned to the cluster where the nearest water source point is located.

[0088] S3. To achieve the lowest overall scheduling cost for reel-type sprinkler irrigation machines and the highest overall compaction satisfaction of the fields, a scheduling objective function is constructed. The objective function is then constrained by the set constraints to minimize it. The firefly heuristic algorithm is used to optimize and solve the scheduling objective function, thereby allocating the corresponding reel-type sprinkler irrigation machines and their service paths to each field within the cluster of each water source.

[0089] The multiple reel-type sprinkler irrigation machines with different performance characteristics at each water source point specifically refers to multiple reel-type sprinkler irrigation machines with different efficiencies and post-operation compaction degrees at a single water source point.

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

[0091] This invention proposes a scheduling method for reel-type sprinkler irrigation machines aimed at reducing soil mechanical compaction. It takes into account the impact of the machine on soil compaction and aims to meet the target compaction requirements of each field while reducing scheduling costs. The method adopts a "clustering first, then scheduling" approach to solve the problem.

[0092] During the clustering stage, each field is assigned to the nearest water source based on its geographical location and compaction requirements (the compaction degree after the total operation of the irrigation machine at the water source is obtained through weighted calculation).

[0093] During the scheduling phase, the overall objective function is to maximize the overall compaction satisfaction of the fields and minimize the overall scheduling cost of the reel sprinkler irrigation machine, and relevant constraints are proposed. Subsequently, the overall objective function is optimized and solved, and the allocation scheme and optimal path are finally output.

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

[0095]

[0096]

[0097] MinZ=αZ1-βZ2 (Formula 4);

[0098] Where Z represents the overall objective function of the scheduling, Z1 represents the total scheduling cost of the reel sprinkler irrigation machine, and Z2 represents the total compaction satisfaction of the field.

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

[0100] K i Let i be the set of reel-type sprinkler irrigation machines corresponding to the i-th water source point, i∈(1,p′), and each water source point has multiple reel-type sprinkler irrigation machines;

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

[0102] V i =T i ∪{0 i}, V i Let i be the total set of nodes for the i-th water source point;

[0103] T i ={1,2,...,n},T i The set of fields responsible for the i-th water source point, with each field being treated as a node;

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

[0105] c uv Let $v$ be the cost of moving from node $u$ to node $v$.

[0106] x uvk x ∈{0,1} uvk To determine whether the reel sprinkler k has moved from node u to node v, x uvk =1 indicates movement, x uvk =0 indicates no movement, u,v∈V i ,k∈K i ;

[0107] d jk The scheduling cost for a reel-type sprinkler k to complete the operation on the j-th field, j∈T i ;

[0108] x jk x ∈{0,1} jk Does the reel-type sprinkler machine k handle the work on field j? jk =1 indicates responsibility, x jk =0 indicates no responsibility;

[0109] y′ j ∈[0,1],y′ j The total compaction satisfaction of the j-th field;

[0110] r jk The compaction degree of the reel-type sprinkler irrigation machine k after it has been applied to the j-th field.

[0111] R j The target compaction degree for the j-th field;

[0112] α is the weighting coefficient for the total scheduling cost of the reel sprinkler system;

[0113] β is the weighting coefficient for the overall compaction satisfaction of the field.

[0114] In this preferred embodiment, Formula 4 is the overall objective function of scheduling, which is to minimize the total scheduling cost and maximize the compaction satisfaction after field operation. In Formula 1, Z1 represents the total scheduling cost of the reel sprinkler, which is the sum of transportation cost and operation cost. In Formula 2, Z2 represents the total compaction satisfaction of the field.

[0115] Specifically, the constraints set include:

[0116] Path closure constraints:

[0117]

[0118] Connectivity constraints for path flows:

[0119]

[0120] Field visit frequency constraint:

[0121]

[0122] The time sequence constraints that the reel sprinkler must satisfy when arriving at and leaving the node are as follows:

[0123]

[0124] Maximum working capacity constraint of reel sprinkler irrigation machine:

[0125]

[0126] Reel-type sprinkler irrigation systems serve fields limited by their respective water sources:

[0127]

[0128] in,

[0129] For the reel-type sprinkler irrigation machine, is k starting from the starting point 0? i Move to node v, Indicates movement. Indicates no movement, v∈V i ,k∈K i ;

[0130] x u0ik Does the reel sprinkler k move from node u to endpoint 0? i x u0ik =1 indicates movement, x u0ik =0 indicates no movement, u∈V i ,k∈K i ;

[0131] x uvk x ∈{0,1} uvk To determine whether the reel sprinkler k has moved from node u to node v, x uvk =1 indicates movement, x uvk =0 indicates no movement, u,v∈V i ,k∈K i ;

[0132] x vuk x ∈{0,1} vuk To determine whether the reel sprinkler k has moved from node v to node u, x vuk =1 indicates movement, x vuk =0 indicates no movement, u,v∈Vi ,k∈K i ;

[0133] x ujk x ∈{0,1} ujk To determine whether the reel-type sprinkler k has moved from node u to field j, x ujk =1 indicates movement, x ujk =0 indicates no movement, u∈V i ,j∈T i ,k∈K i ;

[0134] T vk The time it takes for the reel-type sprinkler k to reach node v;

[0135] T uk The time it takes for the reel-type sprinkler k to reach node u;

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

[0137] t uv The time taken to travel from node u to node v;

[0138] M is an infinite positive number;

[0139] ω j The operation time required for irrigating field j;

[0140] x jk x ∈{0,1} jk Does the reel-type sprinkler machine k handle the work on field j? jk =1 indicates responsibility, x jk =0 indicates no responsibility;

[0141] Q k This represents the maximum daily workload of the reel-type sprinkler machine k.

[0142] In this preferred embodiment, the path closure constraint is used to constrain the reel-type sprinkler irrigation machine at each water source point to start from its respective water source point, complete the operation, and return to the water source point;

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

[0144] Field access limit is used to ensure that each field can only be accessed once by a reel sprinkler.

[0145] The time sequence constraints that the reel sprinkler must satisfy when arriving at and leaving the node are used to ensure that the arrival and departure of the reel sprinkler must satisfy the time sequence.

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

[0147] The reel sprinkler system is restricted to serving fields at its designated water source, ensuring that the reel sprinkler can only serve fields at its designated water source.

[0148] Specifically, the implementation method for obtaining the normalized field data and water source data in step S1 is as follows:

[0149]

[0150] in, and These represent the target compaction degree of the j-th field before and after normalization, respectively. and Let be the compaction degree of the i-th water source point before and after normalization, respectively. Let R be the data set consisting of the target compaction degree of all fields before normalization and the compaction degree of all water source points after normalization. ij and Let be the lengths of the hose required for the reel-type sprinkler irrigation machine serving the j-th field from the i-th water source point before and after normalization, respectively, 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 method for obtaining the compaction degree after operation at each water source point is as follows:

[0152]

[0153] Let K be the compaction degree after operation at the i-th water source point, and k be the index of the reel sprinkler. i Let Q be the set of reel-type sprinkler systems corresponding to the i-th water source point, i∈(1,p′), where p′ is the total number of water source points. k For the maximum daily workload of the reel-type sprinkler machine k, r jk The compaction degree after the reel-type sprinkler irrigation machine k operates on field j.

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

[0155]

[0156] d′ ij Let be the distance between the j-th field and the i-th water source. The normalized length of the hose required for a reel-type sprinkler irrigation system serving the j-th field from the i-th water source. The target compaction degree for the j-th plot after normalization. λ represents the normalized compaction degree after operation at the i-th water source point, and λ is the weighting factor for the deviation between the equilibrium distance and the compaction degree.

[0157] The firefly heuristic algorithm used in this invention is an existing method. When solving specific problems in practical applications, the path of the reel-type sprinkler and the 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 are directly embedded into the solution.

[0158] The fitness function is constructed based on minimizing the total scheduling cost of the reel sprinkler and maximizing the overall compaction satisfaction of the field, taking into account both path optimization and field operation quality; constraints are incorporated into the fitness function or the solution is generated and adjusted to ensure that the solution satisfies the constraints.

[0159] The attraction between fireflies is proportional to their fitness value; brighter fireflies attract less bright fireflies, resulting in an update of the solution.

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

[0161] (1) Initialize the basic parameters of the algorithm

[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 based on question coding);

[0169] Reel-type sprinkler system parameters: including mobility cost c uv Job scheduling cost d jk Compaction degree r after field operations jk Hotan block target compaction degree R j .

[0170] (2) Randomly initialize the positions of fireflies

[0171] The location of each firefly (Po) aThis represents a solution, namely the path of a reel-type sprinkler and the allocation of the corresponding reel-type sprinkler to the field:

[0172]

[0173] During generation, 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 once.

[0176] Service range constraint (Formula 10, i.e., the constraint that the reel sprinkler can only serve the fields of its assigned water source): The reel sprinkler can only serve the fields of its assigned water source.

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

[0178] I. Brightness Calculation Formula:

[0179]

[0180] Brightness L a It reflects an individual's appropriate level and is related to the optimization goal.

[0181] II. The objective function is:

[0182] Z(Po a )=αZ1-βZ2 (Formula 16);

[0183]

[0184] Where Z1 represents the total scheduling cost of the reel sprinkler irrigation machine, including path cost and operation cost, and the objective is to minimize the total scheduling cost; Z2 represents the total compaction satisfaction of the field, and the objective is to maximize the satisfaction; Z(Po) a The overall scheduling objective function is αZ1 - βZ2.

[0185] III. Relative Attraction Formula:

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

[0187]

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

[0189] Where, β abThe expression r″ represents the attraction of firefly b to firefly a. ab This represents the solution distance between fireflies a and b;

[0190] IV. Direction of movement:

[0191] If L b >L a Then firefly a moves towards firefly b:

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

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

[0194] Updated formula:

[0195]

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

[0197]

[0198] (5) Recalculate firefly brightness after update

[0199] For each updated firefly, the fitness value Z(Po) is recalculated. a ) and brightness L a At the same time, ensure that the updated solution satisfies all constraints;

[0200] If the solution does not satisfy the constraints (e.g., the path is not closed or the field is not visited), then the solution is adjusted to be a feasible solution:

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

[0202] Field assignment correction: Reassign sprinklers to unvisited fields;

[0203] (6) Determine the termination conditions

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

[0205] I. Reaching 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): The brightness after random perturbation of the current optimal solution. The brightness is 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 optimal firefly position Po best ;

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

[0212] III. Routes and Allocation Scheme: This includes the service routes of each reel sprinkler and the work allocation for the fields served by each reel sprinkler.

[0213] Based on the above methods, an optimal scheduling scheme for multiple water sources and multiple mobile reel sprinkler irrigation machines can be output, based on the two objectives of satisfying soil compaction and minimizing total transportation costs.

[0214] Specific Implementation Method 2: The multi-task scheduling device for reel-type sprinkler irrigation machines based on the reduction of soil mechanical compaction described in this implementation method includes a storage device, a processor, and a computer program stored in the storage device and capable of running on the processor. The processor executes the computer program to implement the reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction as described above.

[0215] Specific Implementation Method 3: A computer-readable storage medium storing a computer program that, when executed, implements the reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction as described above.

[0216] Specific Implementation Method Four: A computer program product, comprising a computer program that, when executed by a processor, implements the reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction as described above.

[0217] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A scheduling method for reel-type sprinkler irrigation machines for reducing soil mechanical compaction, based on multiple fields, multiple water sources, and multiple reel-type sprinkler irrigation machines with different working performance located at each water source, characterized in that... The method includes the following steps: S1. Obtain normalized field data and water source data; among which... The normalized field data includes the target compaction degree for each field, as well as the length of water hose required by the reel sprinkler irrigation machine serving each field at each water source. The normalized water source data includes the compaction degree of each water source after operation. S2. The location of each water source point is taken as the cluster center. Based on the target compaction degree of each field, the compaction degree after operation of each water source point, and the length of water pipe required by the reel-type sprinkler irrigation machine serving each field at each water source point, the distance of each field from each water source point is calculated, and the field is assigned to the cluster where the nearest water source point is located. The method for calculating the distance of each field plot from each water source is as follows: d′ ij Let be the distance between the j-th field and the i-th water source. The normalized length of the hose required for a reel-type sprinkler irrigation system serving the j-th field from the i-th water source. The target compaction degree for the j-th field after normalization. λ represents the normalized compaction degree after operation at the i-th water source point, and λ is the weighting factor for the deviation between the equilibrium distance and the compaction degree. S3. Construct a scheduling objective function that minimizes the total scheduling cost of reel-type sprinkler irrigation machines and maximizes the overall compaction satisfaction of the fields. Minimize the scheduling objective function based on the set constraints. Optimize the scheduling objective function using the firefly heuristic algorithm to achieve the allocation of corresponding reel-type sprinkler irrigation machines and the service path of each reel-type sprinkler irrigation machine to each field within the cluster of each water source.

2. The method for scheduling reel-type sprinkler irrigation machines for reducing soil mechanical compaction according to claim 1, characterized in that, In S3, the implementation method of constructing the overall scheduling objective function with the lowest total scheduling cost of the reel-type sprinkler irrigation machine and the highest total field compaction satisfaction is as follows: MinZ=αZ1-βZ2 (Formula 4); Where Z represents the overall objective function of the scheduling, Z1 represents the total scheduling cost of the reel sprinkler irrigation machine, and Z2 represents the total compaction satisfaction of the field. P = {1,2,...,p′} represents the set of water source points, where p′ is the total number of water source points; K i Let i be the set of reel-type sprinkler irrigation machines corresponding to the i-th water source point, i∈(1,p′), and each water source point has multiple reel-type sprinkler irrigation machines; k is the index of the reel-type sprinkler, k∈K i ; V i =T i ∪{0 i }, V i Let i be the total set of nodes for the i-th water source point; T i ={1,2,...,n},T i The set of fields responsible for the i-th water source point, with each field being treated as a node; 0 i Let i be the starting and returning point of the i-th water source, and 0 i As a node; c uv Let $v$ be the cost of moving from node $u$ to node $v$. x uvk x ∈{0,1} uvk To determine whether the reel sprinkler k has moved from node u to node v, x uvk =1 indicates movement, x uvk =0 indicates no movement, u,v∈V i ,k∈K i ; d jk The scheduling cost for a reel-type sprinkler k to complete the operation on the j-th field, j∈T i ; x jk x ∈{0,1} jk Does the reel-type sprinkler machine k handle the work on field j? jk =1 indicates responsibility, x jk =0 indicates no responsibility; y′ j ∈[0,1],y′ j The total compaction satisfaction of the j-th field; r jk The compaction degree of the reel-type sprinkler irrigation machine k after it has been applied to the j-th field. R j The target compaction degree for the j-th field; α is the weighting coefficient for the total scheduling cost of the reel sprinkler system; β is the weighting coefficient for the overall compaction satisfaction of the field.

3. The method for scheduling reel-type sprinkler irrigation machines for reducing soil mechanical compaction according to claim 2, characterized in that, The constraints set include: Path closure constraints: Connectivity constraints for path flows: Field visit frequency constraint: The time sequence constraints that the reel sprinkler must satisfy when arriving at and leaving the node are as follows: Maximum working capacity constraint of reel sprinkler irrigation machine: Reel-type sprinkler irrigation systems serve fields limited by their respective water sources: in, For the reel-type sprinkler, is k starting from point 0? i Move to node v, Indicates movement. Indicates no movement, v∈V i ,k∈K i ; Does the reel sprinkler k move from node u to endpoint 0? i , Indicates movement. Indicates no movement, u∈V i ,k∈K i ; x uvk x ∈{0,1} uvk To determine whether the reel sprinkler k has moved from node u to node v, x uvk =1 indicates movement, x uvk =0 indicates no movement, u,v∈V i ,k∈K i ; x vuk x ∈{0,1} vuk To determine whether the reel sprinkler k has moved from node v to node u, x vuk =1 indicates movement, x vuk =0 indicates no movement, u,v∈V i ,k∈K i ; x ujk x ∈{0,1} ujk To determine whether the reel-type sprinkler k has moved from node u to field j, x ujk =1 indicates movement, x ujk =0 indicates no movement, u∈V i ,j∈T i ,k∈K i ; T vk The time it takes for the reel-type sprinkler k to reach node v; T uk The time it takes for the reel-type sprinkler k to reach node u; ω u The operation time required for irrigation at node u; t uv The time taken to travel from node u to node v; M is an infinite positive number; ω j The operation time required for irrigating field j; x jk x ∈{0,1} jk Does the reel-type sprinkler machine k handle the work on field j? jk =1 indicates responsibility, x jk =0 indicates no responsibility; Q k This represents the maximum daily workload of the reel-type sprinkler machine k.

4. The method for scheduling reel-type sprinkler irrigation machines for reducing soil mechanical compaction according to claim 1, characterized in that, The method for obtaining the normalized field data and water source data in step S1 is as follows: in, and These represent the target compaction degree of the j-th field before and after normalization, respectively. and Let be the compaction degree of the i-th water source point before and after normalization, respectively. Let R be the data set consisting of the target compaction degree of all fields before normalization and the compaction degree of all water source points after normalization. ij and Let be the lengths of the hose required for the reel-type sprinkler irrigation machine serving the j-th field from the i-th water source point before and after normalization, respectively, 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 scheduling reel-type sprinkler irrigation machines for reducing soil mechanical compaction according to claim 1, characterized in that, In step S1, the method for obtaining the compaction degree after operation at each water source point is as follows: Let K be the compaction degree after operation at the i-th water source point, and k be the index of the reel sprinkler. i Let Q be the set of reel-type sprinkler systems corresponding to the i-th water source point, i∈(1,p′), where p′ is the total number of water source points. k For the maximum daily workload of the reel-type sprinkler machine k, r jk The compaction degree after the reel-type sprinkler irrigation machine k operates on field j.

6. The method for scheduling reel-type sprinkler irrigation machines for reducing soil mechanical compaction according to claim 1, characterized in that, In step S2, the assignment of each field to the cluster containing the nearest water source can be achieved using the K-means clustering algorithm.

7. A multi-task scheduling device for a reel-type sprinkler irrigation machine based on the reduction of black soil mechanical compaction, 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 a computer program to implement the reel-type sprinkler irrigation machine scheduling method for reducing soil mechanical compaction as described in any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed, it implements the reel-type sprinkler irrigation machine scheduling method for soil mechanical compaction reduction as described in any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the reel-type sprinkler scheduling method for reducing soil mechanical compaction as described in claims 1 to 6.

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