Corn and wheat water and fertilizer equipment cooperative control method based on internet of things operating system

Abstract

The present application relates to a corn and wheat water and fertilizer equipment collaborative control method based on an Internet of Things operating system, comprising: receiving water and fertilizer operation requests of multiple corn plots or wheat plots through the Internet of Things operating system, converting each water and fertilizer operation request into a water and fertilizer control task with a task state and an execution phase, and recording crop type, growth stage, and water and fertilizer demand level; determining the priority of each water and fertilizer control task according to the crop type, growth stage, and water and fertilizer demand level, and judging device occupation conflicts or operation phase conflicts according to water and fertilizer device occupation states and execution phase constraints; when a high-priority task conflicts with an ongoing task, suspending, safely yielding, or preempting execution according to the execution phase, and after the high-priority task is completed, resuming, continuing control adjustment, or terminating processing according to the executed state of the suspended task and the current water and fertilizer operation conditions, thereby reducing repeated water and fertilizer supply, improving device collaborative utilization rate and control safety.

Description

Technical Field

[0001] This invention relates to the field of collaborative control technology for agricultural IoT water and fertilizer equipment, specifically a collaborative control method for corn and wheat water and fertilizer equipment based on an IoT operating system. Background Technology

[0002] Existing intelligent irrigation and fertilization control technologies typically focus on generating irrigation and fertilization instructions based on data such as soil moisture, soil nutrients, water level, crop images, or growth status. These instructions are then used to adjust parameters of the integrated water and fertilizer system via cloud computing, edge nodes, or control cabinets. For example, the data analysis-based intelligent irrigation and fertilization control system disclosed in publication number CN116868746A collects soil moisture, soil nutrient content, and water level data from farmland at any given time. After data processing and analysis, it sends irrigation and fertilization instructions to the irrigation distribution module to address the problems of untimely and inaccurate irrigation and fertilization. The feedback control-based intelligent irrigation and fertilization method and system disclosed in publication number CN118765611A constructs edge water and fertilizer analysis nodes and an integrated control cloud. Based on real-time soil nutrient information, crop images, and nutrient requirement deviation parameters, it generates water and fertilizer feedback control strategies to improve the adaptability of irrigation and fertilization to crop growth needs.

[0003] However, the aforementioned existing technologies primarily focus on water and fertilizer demand identification, data analysis accuracy, and feedback adjustment of irrigation and fertilization amounts. Their control logic is typically based on a single operating area, a single task link, or similar irrigation and fertilization processes. They fail to adequately consider the potential equipment conflicts arising when corn and wheat fields simultaneously request water and fertilizer operations under different crop types, growth stages, and water and fertilizer demand levels. Furthermore, they lack stage constraints for different execution stages such as water supply, fertilization, flushing, fertilization shutdown, and pressure maintenance, defining whether these stages are interruptible, non-interruptable, or require protection. Therefore, in scenarios involving multiple plots, multiple crops, and multiple stages of concurrent scheduling, directly issuing irrigation and fertilization commands based solely on real-time monitoring data can easily lead to problems such as low-priority tasks occupying critical water and fertilizer equipment for extended periods, high-priority tasks urgently needing water and fertilizer failing to execute in a timely manner, or forced switching during sensitive stages like fertilizer output, fertilizer residue, and water supply maintenance, resulting in fertilizer residue, duplicate operations, and unsafe fertilizer supply interruptions.

[0004] Furthermore, corn and wheat have different water and fertilizer requirements, growth stage sensitivities, and water and fertilizer response times. When managing multiple plots on the same IoT platform, it is not only necessary to determine whether a plot needs irrigation or fertilization, but also to establish a collaborative control mechanism among multiple water and fertilizer operation requests, oriented towards task status, execution stage, priority, conflict relationships, and recovery strategies. Although existing publicly available solutions can improve the accuracy of single irrigation and fertilization decisions, they lack specific designs for suspending records after a task is preempted by a higher-priority task, maintaining stage breakpoints, confirming the status of executed water and fertilizer supply, adjusting recovery time difference, and terminating when recovery is not suitable. This makes it difficult to guarantee the continuity, safety, and orderly scheduling of corn and wheat water and fertilizer equipment under complex concurrent operation conditions. Therefore, it is necessary to propose a collaborative control method for corn and wheat water and fertilizer equipment based on an IoT operating system. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative control method for corn and wheat water and fertilizer equipment based on an Internet of Things (IoT) operating system, thereby addressing some of the shortcomings and deficiencies mentioned in the background art.

[0006] The present invention adopts the following technical solution to solve the above-mentioned technical problems:

[0007] The system receives water and fertilizer operation requests from multiple corn or wheat plots through the Internet of Things operating system, converts each water and fertilizer operation request into a water and fertilizer control task with a task status and execution stage, and records the corresponding crop type, growth stage and water and fertilizer demand level.

[0008] The priority of each water and fertilizer control task is determined based on crop type, growth stage and water and fertilizer demand level. The water and fertilizer equipment occupancy status and execution stage constraints are used to determine whether there are water and fertilizer equipment occupancy conflicts or operation stage conflicts between each water and fertilizer control task.

[0009] When a pending water and fertilizer control task has a higher priority than an ongoing water and fertilizer control task and there is a conflict, the system determines whether interruption is allowed based on the current stage of the ongoing water and fertilizer control task. If interruption is allowed, the ongoing water and fertilizer control task is suspended and the higher-priority water and fertilizer control task is executed. If interruption is not allowed, a safety transfer process is completed before the higher-priority water and fertilizer control task is executed. After the higher-priority water and fertilizer control task is completed, the suspended water and fertilizer control task is restored, adjusted for continued control, or terminated based on its execution status and current water and fertilizer operation conditions.

[0010] Furthermore, the IoT operating system configures a device control right identifier and a stage protection identifier for each water and fertilizer control task. When determining a conflict between water and fertilizer equipment occupancy or a conflict between operation stages, it determines whether the water and fertilizer equipment to be called is occupied by the water and fertilizer control task based on the device control right identifier, and determines whether the occupied water and fertilizer equipment can be released based on the stage protection identifier. When the water and fertilizer equipment to be called is occupied and the corresponding water and fertilizer control task has a stage protection identifier, it is determined that there is a conflict that cannot be directly preempted.

[0011] Furthermore, when the water and fertilizer control task being executed is in the execution phase where interruption is not allowed, the IoT operating system generates a safety transfer subtask and controls the safety transfer subtask to complete the actions of stopping fertilizer output, maintaining water supply output, and confirming that the residual state of fertilizer solution meets safety conditions before executing the high-priority water and fertilizer control task; before the safety transfer subtask is completed, it is prohibited to release the water and fertilizer equipment occupied by the water and fertilizer control task being executed.

[0012] Furthermore, when suspending a water and fertilizer control task, the IoT operating system records the corresponding stage breakpoint, the completed water supply status, and the completed fertilization status. Before resuming the suspended water and fertilizer control task, it generates a differential continuation control task based on the stage breakpoint, the completed water supply status, the completed fertilization status, and the current water and fertilizer operation conditions, so that the completed water supply or fertilization actions are not repeated.

[0013] Furthermore, after generating a secure transfer subtask, the IoT operating system sets a non-preemptible flag for the secure transfer subtask; before the non-preemptible flag is removed, subsequent water and fertilizer control tasks enter a waiting state and are prohibited from occupying the water and fertilizer equipment occupied by the currently executing water and fertilizer control task.

[0014] Furthermore, confirming that the residual state of the fertilizer solution meets the safety conditions means that the IoT operating system makes a joint judgment based on the fertilizer solution concentration feedback and the water supply output status; when the fertilizer solution concentration is continuously within a preset safety range and the water supply output flow rate is within a preset fluctuation range and is maintained for a preset duration, the residual state of the fertilizer solution is determined to meet the safety conditions.

[0015] Furthermore, when the safety transfer subtask fails to confirm that the residual state of the fertilizer solution meets the safety conditions within the preset confirmation time, the IoT operating system will switch the currently executing water and fertilizer control task to a protection state. In the protection state, high-priority water and fertilizer control tasks are prohibited from calling the same water and fertilizer equipment, and an abnormal handling signal corresponding to the water and fertilizer equipment will be output.

[0016] Furthermore, before generating the differential control task, the IoT operating system performs a consistency check between the stage breakpoint and the current water and fertilizer operation conditions. When the execution stage corresponding to the stage breakpoint does not meet the execution stage constraints corresponding to the current water and fertilizer operation conditions, the IoT operating system prohibits the direct resumption of the suspended water and fertilizer control task and redetermines the execution stage of the differential control task.

[0017] Furthermore, the IoT operating system determines the remaining water supply and remaining fertilizer amount for the suspended water and fertilizer control task based on the completed water supply status and the completed fertilization status, and corrects the remaining water supply and remaining fertilizer amount according to the current water and fertilizer operation conditions to generate differential control parameters for continuing to execute the suspended water and fertilizer control task.

[0018] Furthermore, when the consistency check fails, the IoT operating system generates a transitional continuation control task. The transitional continuation control task is used to switch the suspended water and fertilizer control task from the execution state corresponding to the stage breakpoint to the execution state that meets the execution stage constraints corresponding to the current water and fertilizer operation conditions before redetermining the execution stage of the differential continuation control task. After the transitional continuation control task is completed, the differential continuation control task is allowed to be executed.

[0019] This invention receives water and fertilizer operation requests from multiple corn or wheat plots through an Internet of Things (IoT) operating system, and converts each water and fertilizer operation request into a water and fertilizer control task with a task status and execution stage. At the same time, it records the crop type, growth stage, and water and fertilizer demand level, so that water and fertilizer operations are no longer just a single valve or pump control command, but are incorporated into a task-oriented management object that can be identified, sorted, and conflict-determined. This enables it to adapt to the unified scheduling needs under the condition of concurrent operation of multiple corn and wheat plots.

[0020] This invention determines task priorities based on crop type, growth stage, and water and fertilizer demand level. It also determines equipment occupancy conflicts or operation stage conflicts by combining the occupancy status of water and fertilizer equipment and execution stage constraints. When a high-priority task conflicts with the task being executed, it distinguishes between situations where interruption is allowed and those where interruption is not allowed based on the current execution stage. When interruption is allowed, the original task is suspended and the high-priority task is executed. When interruption is not allowed, a safe transfer process is completed before switching tasks, thereby avoiding fertilizer residue, abnormal fertilizer supply, or unsafe equipment release caused by forced occupation during the fertilization stage.

[0021] After a high-priority water and fertilizer control task is completed, this invention can also restore, continue, adjust, or terminate the suspended task based on the executed status of the suspended water and fertilizer control task and the current water and fertilizer operation conditions. This allows the completed water supply and fertilization actions to be effectively distinguished, reducing repeated execution and water and fertilizer waste, and improving the collaborative utilization rate, operation continuity, and control safety of water and fertilizer equipment in multi-task conflict scenarios. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating the coordinated control process of the corn and wheat water and fertilizer equipment of the present invention.

[0023] Figure 2 This is a diagram showing the task priority comparison and preemption determination in Embodiment 1 of the present invention.

[0024] Figure 3 This is a graph showing the determination of fertilizer solution residual concentration and safety threshold in Example 1 of the present invention.

[0025] Figure 4 This is a flowchart of the device identification status and security transfer process in Embodiment 1 of the present invention.

[0026] Figure 5 This is a comparison chart of differential continuous control workload calculation in Embodiment 2 of the present invention.

[0027] Figure 6 This is a consistency verification diagram between the stage breakpoint and the current working conditions in Embodiment 2 of the present invention.

[0028] Figure 7 This is a timing diagram of the transition control and differential control execution in Embodiment 2 of the present invention. Detailed Implementation

[0029] As attached Figure 1 As shown, this embodiment provides a collaborative control method for corn and wheat water and fertilizer equipment based on an Internet of Things (IoT) operating system. The IoT operating system communicates with water and fertilizer equipment corresponding to multiple corn and wheat plots to receive water and fertilizer operation requests from each plot. Each water and fertilizer operation request includes plot identifier, crop type, growth stage, water requirement information, and nutrient requirement information. Water requirement information may include the current water status of the plot, target water status, permitted operation period, and water urgency level. Nutrient requirement information may include target nutrient type, fertilization method, fertilization urgency level, and fertilizer solution supply status. After receiving the water and fertilizer operation request, the IoT operating system converts the request into a water and fertilizer control task and configures the task status and execution stage for the task. The task status indicates whether the water and fertilizer control task is in a waiting, executing, suspended, resumed, or terminated state. The execution stage indicates whether the water and fertilizer control task is currently in an operation stage such as water supply preparation, water supply execution, fertilization execution, safety handover, or continued control processing. The IoT operating system also records the crop type, growth stage, and water and fertilizer requirement level corresponding to the water and fertilizer control task. The water and fertilizer requirement level can be obtained by the IoT operating system from a preset level table based on crop type, growth stage, water requirement information and nutrient requirement information, or it can be written by the plot-side device or management terminal and then called by the IoT operating system.

[0030] After water and fertilizer control tasks are generated, the IoT operating system determines the priority of each task based on crop type, growth stage, and water and fertilizer demand level. Priorities can be determined according to a preset priority table, which records at least the correspondence between crop type, growth stage, water and fertilizer demand level, and corresponding priorities. When multiple water and fertilizer control tasks have the same priority, the IoT operating system can determine the order based on the water and fertilizer operation request generation time, plot operation restriction time, or equipment idle waiting time. For water and fertilizer control tasks located in different plots but requiring the use of the same water and fertilizer equipment, the IoT operating system obtains the equipment's occupancy status and, combined with the execution stage constraints corresponding to the current execution stage of the water and fertilizer control task, determines whether there are conflicts in equipment occupancy or operation stages between different water and fertilizer control tasks. Execution stage constraints include whether the current execution stage allows interruption, whether it allows the release of occupied water and fertilizer equipment, whether water supply output needs to be maintained, and whether fertilizer residue confirmation needs to be completed. Water and fertilizer equipment occupancy conflicts refer to different water and fertilizer control tasks needing to call the same water pump, fertilizer pump, valve, pipeline switching device, or fertilizer mixing device at the same time. Operation phase conflict refers to a situation where one water and fertilizer control task requests to switch or release water and fertilizer equipment while another water and fertilizer control task is in an execution phase requiring continuous water supply, continuous fertilization, pipeline switching, or safety handover. When the priority of the water and fertilizer control task to be executed is higher than that of the currently executing water and fertilizer control task, and there is a water and fertilizer equipment occupancy conflict or an operation phase conflict, the IoT operating system determines whether interruption is allowed based on the execution phase of the currently executing water and fertilizer control task. Execution phases that can be interrupted include the waiting phase, the water supply preparation phase, and the water supply execution phase before fertilization output has begun. Execution phases that cannot be interrupted include the fertilization execution phase, the fertilizer mixing output phase, the pipeline switching phase, the safety handover phase, and the follow-up control processing phase with a phase protection flag already set.

[0031] When an ongoing water and fertilizer control task is in an interruptible execution phase, the IoT operating system suspends the task, records its execution status at the time of suspension, and then controls a higher-priority water and fertilizer control task to invoke the corresponding water and fertilizer equipment and execute the water and fertilizer operations. When an ongoing water and fertilizer control task is in an uninterruptible execution phase, the IoT operating system first controls the task to complete a safe transfer process before controlling the higher-priority task to execute. After the higher-priority task completes, the IoT operating system determines whether the suspended task should continue to meet the operational requirements based on its execution status and current water and fertilizer operation conditions, and accordingly resumes, adjusts, or terminates the suspended task.

[0032] Furthermore, after generating a water and fertilizer control task, the IoT operating system configures a device control right identifier and a stage protection identifier for each task. The device control right identifier characterizes the occupancy relationship of the water and fertilizer control task with water pumps, fertilizer pumps, valves, pipeline switching devices, or fertilizer mixing devices. This identifier is set to an occupied state when the water and fertilizer control task obtains control access to the corresponding water and fertilizer equipment, and is cleared after the task is completed, terminated, or the equipment is safely released. The stage protection identifier characterizes whether the current execution stage of the water and fertilizer control task allows the release of occupied water and fertilizer equipment. This identifier is set to valid when the task enters a fertilization execution, fertilizer mixing output, pipeline switching, safe transfer, or a continuation control processing stage requiring continuous output, and is deactivated after the corresponding stage is completed and the equipment release conditions are met. When determining water and fertilizer equipment occupancy conflicts or operational stage conflicts, the IoT operating system first queries the occupancy status of the water and fertilizer equipment to be called based on the device control right identifier. When the water and fertilizer equipment to be called is already occupied by another water and fertilizer control task, the IoT operating system continues to determine whether the water and fertilizer control task occupying the equipment is in the execution phase that allows the release of the equipment, based on the phase protection flag. If the water and fertilizer control task occupying the equipment has a phase protection flag, it means that the water and fertilizer control task is currently in a phase where it is not suitable to directly interrupt or release the equipment. The IoT operating system determines that there is a non-direct preemption conflict between the water and fertilizer control task to be executed and the water and fertilizer control task currently being executed. If the water and fertilizer control task occupying the equipment does not have a phase protection flag, and its current execution phase allows interruption, the IoT operating system allows the water and fertilizer control task to be suspended, and after suspension, the equipment control is transferred to the higher-priority water and fertilizer control task. By jointly determining the equipment control flag and the phase protection flag, the direct preemption of the currently executing water and fertilizer equipment by the higher-priority water and fertilizer control task can be avoided, thereby reducing the impact of fertilization interruption, fertilizer residue, or water supply abnormalities on water and fertilizer operations in corn and wheat fields.

[0033] Furthermore, when the ongoing water and fertilizer control task is in a phase where interruption is not permitted, the IoT operating system does not directly release the water and fertilizer equipment occupied by the task. Instead, it first generates a safety handover sub-task. This sub-task ensures a safe transition for the ongoing water and fertilizer control task before the equipment is invoked by a higher-priority task. The IoT operating system controls this sub-task to sequentially execute actions such as stopping fertilizer output, maintaining water supply output, and confirming that the residual fertilizer solution meets safety conditions. Stopping fertilizer output includes shutting down the fertilizer pump, stopping fertilizer injection, closing the mixed fertilizer output channel, or switching the fertilizer valve to prevent fertilizer solution from continuing to enter the water supply pipeline. Maintaining water supply output includes keeping the pump running, keeping the corresponding water supply valve open, or switching the pipeline to clean water output mode to dilute and remove the fertilizer solution in the pipeline. Confirming that the residual fertilizer solution meets safety conditions determines whether the water and fertilizer equipment has reached a releaseable state. This confirmation process can be based on feedback from fertilizer concentration sensors, flow sensors, pressure sensors, and valve opening / closing. Before the safe transfer sub-task is completed, the IoT operating system maintains the occupancy relationship of the currently executing water and fertilizer control task with the water and fertilizer equipment and prohibits the release of the corresponding water and fertilizer equipment.

[0034] After generating a safe transfer subtask, the IoT operating system sets a non-preemptive flag for it. This flag indicates that the safe transfer subtask cannot be interrupted by other water and fertilizer control tasks before completion. Before the non-preemptive flag is removed, subsequent water and fertilizer control tasks enter a waiting state, and the IoT operating system prohibits these tasks from occupying the water and fertilizer equipment currently being used by the executing task. The IoT operating system determines whether the residual fertilizer solution meets safety conditions based on both fertilizer concentration feedback and water supply output status. Preset safety ranges, preset fluctuation ranges, preset holding times, and preset confirmation times can be pre-configured in the IoT operating system's parameter table based on fertilizer type, crop type, growth stage, pipeline length, pipeline volume, sensor feedback stability, and water and fertilizer equipment operating parameters. When the fertilizer concentration remains within the preset safety range and the water supply output flow rate remains within the preset fluctuation range for the preset holding time, the IoT operating system determines that the residual fertilizer solution meets safety conditions. If fertilizer concentration feedback is missing, flow rate feedback is abnormal, valve opening / closing feedback is inconsistent with control commands, or the safety transfer subtask fails to confirm that the residual fertilizer state meets safety conditions within the preset confirmation time, the IoT operating system will transfer the currently executing water and fertilizer control task to a protection state. In the protection state, the IoT operating system prohibits high-priority water and fertilizer control tasks from calling the same water and fertilizer equipment and outputs an abnormal handling signal corresponding to that equipment to prompt for equipment inspection, pipeline flushing, or manual intervention.

[0035] Furthermore, when suspending a water and fertilizer control task, the IoT operating system records the corresponding stage breakpoint, completed water supply status, and completed fertilization status. The stage breakpoint indicates the execution stage position of the water and fertilizer control task when it is suspended. The completed water supply status indicates the water supply actions, duration, or amount of water supplied before the suspension. The completed fertilization status indicates the fertilization actions, duration, or amount of fertilizer applied before the suspension. The IoT operating system also records the corresponding plot identifier, opened valves, activated equipment, fertilizer output status, water supply output status, and suspension time for the suspended water and fertilizer control task, used to determine the task execution boundary during subsequent resumption or adjustment. Before resuming the suspended water and fertilizer control task, the IoT operating system generates a differential resumption control task based on the stage breakpoint, completed water supply status, completed fertilization status, and current water and fertilizer operation conditions. Differential control tasks are used to control only the water supply and fertilization actions that have not yet been completed or need to be supplemented when the suspended water and fertilizer control tasks are resumed, thereby avoiding the repeated execution of completed water supply or fertilization actions.

[0036] Before generating the differential control task, the IoT operating system verifies the consistency between the stage breakpoint and the current water and fertilizer operation conditions. The current water and fertilizer operation conditions can include the current soil moisture status, nutrient requirement status, crop growth stage, equipment availability status, and operation time conditions. The current soil moisture status can be obtained from soil moisture sensors, irrigation records, or feedback from field-side equipment. The nutrient requirement status can be obtained from nutrient testing results, fertilization records, crop type, and management parameters corresponding to the growth stage. The equipment availability status can be obtained from operational feedback from water pumps, fertilizer pumps, valves, pipeline switching devices, fertilizer mixing devices, and related sensors. The operation time conditions can be obtained from the permitted irrigation periods for the field, the operation periods set by the management system, or weather-related restrictions. The IoT operating system determines whether the execution stage corresponding to the stage breakpoint meets the execution stage constraints corresponding to the current water and fertilizer operation conditions. When the execution stage corresponding to the stage breakpoint does not meet the execution stage constraints corresponding to the current water and fertilizer operation conditions, the IoT operating system prohibits directly resuming the suspended water and fertilizer control task and redetermines the execution stage of the differential control task. The IoT operating system determines the remaining water supply and fertilizer application amounts for suspended water and fertilizer control tasks based on the completed water supply and fertilization status. It then adjusts these amounts according to current water and fertilizer operation conditions, generating differential control parameters for continuing the suspended tasks. When current water and fertilizer operation conditions indicate that the plot no longer requires water supply or fertilization, the IoT operating system terminates the suspended task and records the reason for termination. When current water and fertilizer operation conditions indicate that continued operation is necessary but the execution phase needs adjustment, the IoT operating system generates control adjustment results and controls the corresponding equipment to continue operation according to the adjusted execution phase.

[0037] When the consistency check fails, the IoT operating system generates a transitional continuation control task. This transitional continuation task is used to switch the suspended water and fertilizer control task from the execution state corresponding to the stage breakpoint to an execution state that meets the constraints of the current water and fertilizer operation conditions before the execution stage of the differential continuation control task is redefined. The transitional continuation control task can include water supply adjustment, valve status switching, pipeline clean water transition, fertilizer output preparation, or equipment status confirmation. After the transitional continuation control task is completed, the IoT operating system determines whether to execute the differential continuation control task based on the current water and fertilizer operation conditions. For example, if the suspended water and fertilizer control task is suspended during the fertilization execution stage, and the current water and fertilizer operation conditions require water supply adjustment before resumption, the IoT operating system uses the transitional continuation control task to first complete the water supply adjustment or equipment status switching before allowing the differential continuation control task to be executed. Through this process, the suspended water and fertilizer control task can maintain consistency with the current water and fertilizer operation conditions during the resumption process, reducing the occurrence of repeated water supply, repeated fertilization, or execution stage misalignment.

[0038] Example 1:

[0039] This embodiment provides a collaborative control method for corn and wheat water and fertilizer equipment based on an Internet of Things (IoT) operating system, applied to an integrated water and fertilizer operation scenario in corn and wheat fields managed by Company A. The IoT operating system communicates with water pumps, fertilizer pumps, valves, pipeline switching devices, and fertilizer mixing devices, and receives water and fertilizer operation requests from different fields. Each water and fertilizer operation request includes a field identifier, crop type, growth stage, water requirement level, nutrient requirement level, and operation waiting time. The IoT operating system converts each water and fertilizer operation request into a water and fertilizer control task and configures the task status and execution stage for each task.

[0040] After generating water and fertilizer control tasks, the IoT operating system determines task priorities based on crop type, growth stage, water requirement level, nutrient requirement level, and task waiting time. Priority indicates the order in which water and fertilizer control tasks are scheduled for execution. The derivation is as follows: water and nutrient requirements directly reflect the current urgency of water and fertilizer use in the plot; the growth stage reflects the crop's sensitivity to water and fertilizer; and the task waiting time reflects the degree of task delay. Therefore, the IoT operating system weights and sums these factors to obtain the task priority value. In this embodiment, the task waiting coefficient is determined by calculating one level every 5 minutes. Figure 2 By comparing the priority values ​​of corn plot A and wheat plot B, it is clearly shown that a high-priority task can enter the conflict determination process after exceeding the preemption reference line, while a low-priority task will not actively trigger a preemption request if it has not reached the reference line.

[0041] Priority values ​​are expressed as follows:

[0042]

[0043] in, This indicates the priority value for water and fertilizer control tasks; a higher value indicates a higher priority. Indicates the level of water requirement. Indicates the level of nutrient requirement. Indicates the coefficient for the reproductive stage. This represents the job waiting coefficient. , , , These represent the weights of water requirement, nutrient requirement, growth stage, and task waiting time in the priority calculation, respectively. Task waiting coefficient. This is calculated based on the task waiting time; the longer the waiting time, the better. The larger.

[0044] In a specific scenario, cornfield A is in the jointing stage, with a water requirement level of 4, a nutrient requirement level of 3, a growth stage coefficient of 4, and a work waiting time of 18 minutes, resulting in a work waiting coefficient of 3.6. Wheatfield B is in the grain-filling stage, with a water requirement level of 5, a nutrient requirement level of 4, a growth stage coefficient of 5, and a work waiting time of 10 minutes, resulting in a work waiting coefficient of 2. Substituting the above data into the formula, the priority value for cornfield A is:

[0045]

[0046] The priority value for wheat plot B is:

[0047]

[0048] The calculation results show that the priority of the water and fertilizer control task corresponding to wheat plot B is higher than that of the water and fertilizer control task corresponding to corn plot A. If the water and fertilizer control task of corn plot A is currently using the same fertilizer pump and the same water supply pipeline, while the water and fertilizer control task of wheat plot B requests to use the same fertilizer pump and water supply pipeline, the IoT operating system determines that the water and fertilizer control task of wheat plot B is a high-priority task, and further determines whether there is a conflict in the use of water and fertilizer equipment or a conflict in the operation phase.

[0049] The IoT operating system configures a device control right identifier and a stage protection identifier for each water and fertilizer control task. The device control right identifier indicates whether the water and fertilizer control task currently occupies a water pump, fertilizer pump, valve, pipeline switching device, or fertilizer mixing device. The stage protection identifier indicates whether the current execution stage allows the release of the already occupied water and fertilizer equipment. When an executing water and fertilizer control task has a device control right identifier, it means that the task has obtained control authority over the corresponding water and fertilizer equipment. When the task also has a stage protection identifier, it means that the task is in an execution stage where it is not appropriate to directly interrupt or release the equipment.

[0050] In the above scenario, if the water and fertilizer control task of cornfield A is in the fertilization execution phase, and the equipment control rights identifier indicates that it occupies the fertilizer pump, water supply valve, and fertilizer mixing device, and the phase protection identifier indicates that direct release of equipment is not allowed in this phase, then the IoT operating system determines that there is a non-direct preemption conflict between the high-priority water and fertilizer control task of wheatfield B and the ongoing task of cornfield A. In this case, the IoT operating system does not directly cut off the fertilization output of cornfield A, nor does it immediately release the water and fertilizer equipment it occupies; instead, it generates a safe transfer sub-task.

[0051] The safety relinquishment subtask is used to safely exit the current protected phase of an ongoing water and fertilizer control task before a high-priority water and fertilizer control task is executed. The IoT operating system controls the safety relinquishment subtask to sequentially execute the following steps: stopping fertilizer output, maintaining water supply output, and confirming that the residual fertilizer solution meets safety conditions. When stopping fertilizer output, the IoT operating system shuts down the fertilizer pump or stops the fertilizer output from the mixing device to prevent fertilizer solution from continuing to enter the water supply pipeline. When maintaining water supply output, the IoT operating system keeps the water pump and water supply valve running, allowing clean water to continuously flow through the pipeline to dilute and carry away the fertilizer solution in the pipeline. When confirming that the residual fertilizer solution meets safety conditions, the IoT operating system jointly determines whether the pipeline has reached a release-ready state based on fertilizer concentration feedback and the water supply output status. Figure 3 The safe handover process is represented by the synchronous changes in fertilizer concentration and clean water supply flow rate, where the fertilizer concentration continuously decreases and falls below the safe concentration threshold, while the clean water supply flow rate remains stable. This is used to indicate the pipeline residue confirmation process before the equipment is released.

[0052] After generating a secure transfer subtask, the IoT operating system sets a non-preemptive flag for it. This flag indicates that the secure transfer subtask cannot be interrupted by other water and fertilizer control tasks before completion. The device control flag, phase protection flag, and non-preemptive flag serve different purposes: the device control flag determines device ownership, the phase protection flag determines whether device release is permitted in the current phase, and the non-preemptive flag ensures the continuous execution of the secure transfer subtask. Figure 4By illustrating the validity and deactivation status of three types of markers at different execution stages, it is shown that during the periods of fertilization cessation, water supply maintenance, and residue confirmation, equipment control remains with the original water and fertilizer control task, and the "non-preemptible" marker remains valid until the equipment release phase. Before the "non-preemptible" marker is deactivated, the water and fertilizer control task for cornfield A maintains its occupancy of the fertilizer pump, water supply valve, and fertilizer mixing device. Subsequent water and fertilizer control tasks enter a waiting state and cannot occupy the same water and fertilizer equipment.

[0053] The residual state of fertilizer solution is determined as follows:

[0054]

[0055] in, This indicates the safe margin for fertilizer residue. This indicates the preset safe concentration threshold. This indicates the current fertilizer solution concentration feedback value. When... When the water supply output flow rate is greater than or equal to 0, and remains within the preset fluctuation range for a preset duration, the IoT operating system determines that the residual fertilizer concentration meets safety conditions. The derivation of this formula involves comparing the preset safe concentration threshold with the current fertilizer concentration feedback value. If the current fertilizer concentration is not higher than the safe threshold, it indicates that the residual fertilizer concentration has been reduced to within the range allowed for release by the device.

[0056] In this embodiment, the fertilizer concentration sensor feedback value in the fertilizer pipeline decreases from 0.32% to 0.05%, the clean water supply flow rate is maintained at 2.1 cubic meters per hour, the preset safe concentration threshold is 0.08%, and the preset holding time is 120 seconds. Substituting the fertilizer concentration data into the formula yields:

[0057]

[0058] Since the safety margin is 0.03%, which is greater than 0, and the clean water supply flow rate is maintained at 2.1 cubic meters per hour for 120 seconds, the IoT operating system determines that the residual fertilizer solution meets the safety conditions. Subsequently, the IoT operating system removes the non-preemptive flag of the safety transfer sub-task, clears the equipment control rights flags of the fertilizer pump, water supply valve, and fertilizer mixing device for the water and fertilizer control task corresponding to corn plot A, and allows the high-priority water and fertilizer control task of wheat plot B to obtain control rights of the same water and fertilizer equipment.

[0059] If, under other circumstances, the fertilizer concentration feedback value remains above 0.08% within the preset confirmation time, or the water supply output flow fails to remain stable within the preset fluctuation range, the IoT operating system determines that the fertilizer residue status does not meet safety conditions. In this case, the IoT operating system switches the ongoing water and fertilizer control task for cornfield A to a protection state. In this protection state, it prohibits the high-priority water and fertilizer control task for wheatfield B from using the same water and fertilizer equipment and outputs an abnormal handling signal corresponding to the fertilizer pump, water supply pipeline, or fertilizer mixing device to prompt for equipment inspection, pipeline flushing, or manual handling.

[0060] Through the above processing, the IoT operating system can, in situations where multiple corn and wheat fields share water and fertilizer equipment, based on... Figure 2 The task priority comparison results shown identify high-priority task requirements, based on... Figure 3 The changes in fertilizer solution residual concentration and water supply flow rate shown confirm the safe release conditions, and are based on... Figure 4 The equipment control rights identifier, phase protection identifier, and non-preemption identifier shown restrict unsafe preemption behavior, ensuring that high-priority water and fertilizer control tasks can only regain equipment control after a safe transfer is completed, thereby reducing the impact of fertilization interruption, fertilizer residue, and water supply abnormalities on water and fertilizer operations.

[0061] Example 2:

[0062] This embodiment provides a collaborative control method for corn and wheat water and fertilizer equipment based on an Internet of Things (IoT) operating system, applied to a scenario of restoring water and fertilizer operations in cornfields managed by Company A. When a water and fertilizer control task is interrupted and suspended by a higher-priority water and fertilizer control task, the IoT operating system records the breakpoint, completed water supply status, and completed fertilization status corresponding to the suspended water and fertilizer control task. After the higher-priority water and fertilizer control task is completed, the system determines whether the suspended water and fertilizer control task should be resumed, adjusted, or terminated based on the executed status of the suspended water and fertilizer control task and the current water and fertilizer operation conditions.

[0063] Stage breakpoints indicate the execution stage position when the water and fertilizer control task is suspended. "Completed water supply status" indicates the water supply actions, water volume, and water supply equipment status completed before suspension. "Completed fertilization status" indicates the fertilization actions, fertilizer volume, and fertilization equipment status completed before suspension. The IoT operating system also records plot identification, crop type, growth stage, opened valves, activated water pumps, activated fertilizer pumps, and suspension time, enabling recovery processing to be based on the actual operation progress before suspension.

[0064] Current water and fertilizer operation conditions include at least the current soil moisture status, nutrient requirements, crop growth stage, equipment availability, and operation time conditions. The current soil moisture status can be obtained from soil moisture sensors; nutrient requirements can be determined by crop type, growth stage, and fertilization records; equipment availability can be determined by operational feedback from water pumps, fertilizer pumps, valves, and pipeline switching devices; and operation time conditions can be determined by the permitted operation periods for the field or by preset operation rules at the management end.

[0065] Before resuming suspended water and fertilizer control tasks, the IoT operating system generates differential follow-up control tasks based on the stage breakpoint, completed water supply status, completed fertilization status, and current water and fertilizer operation conditions. The purpose of differential follow-up control tasks is to control only the water supply and fertilization actions that have not yet been completed or need to be supplemented, so that the completed water supply or fertilization actions are not repeated. Figure 5 The formation process of differential control is represented by the correspondence between the original planned quantity, the completed quantity, the corrected continuation control quantity, and the corrected total execution quantity. The original planned quantity is used to limit the initial work target, the completed quantity is used to determine the actual progress before the task is suspended, the corrected continuation control quantity is used to represent the amount of work that still needs to be executed after recovery, and the corrected total execution quantity is used to represent the cumulative work boundary that the system finally allows to be executed.

[0066] In this embodiment, the original planned water supply for a cornfield was 36 cubic meters, and the original planned fertilizer application was 18 kilograms. When the water and fertilizer control task was suspended during the fertilizer application phase, 21 cubic meters of water had been supplied and 9 kilograms of fertilizer had been applied. After the high-priority water and fertilizer control task was completed, the IoT operating system read that the current soil moisture content had increased from 17% to 21%, and adjusted the target remaining water supply to 80% of the original remaining water supply and the target remaining fertilizer application to 90% of the original remaining fertilizer application based on the current water and fertilizer operation conditions.

[0067] The differential control parameters are expressed as follows:

[0068]

[0069]

[0070] in, This indicates the corrected differential continuous water supply. This indicates the originally planned water supply volume. This indicates that the water supply has been completed. Indicates the water supply correction factor; This indicates the corrected differential fertilizer application rate. This indicates the originally planned amount of fertilizer. This indicates that the fertilization has been completed. This represents the fertilization correction coefficient. The derivation of the above formula is as follows: first, subtract the completed work from the original planned work volume to obtain the original remaining work volume; then, correct the original remaining work volume according to the current water and fertilizer operation conditions to obtain the differential control parameters that actually need to be continued when resuming execution.

[0071] Substituting the above data into the water supply calculation formula, we get:

[0072]

[0073] Substituting the above data into the fertilizer application rate calculation formula, we get:

[0074]

[0075] The calculation results show that after the suspended water and fertilizer control task is resumed, the IoT operating system will no longer execute the original remaining water supply of 15 cubic meters and the original remaining fertilizer of 9 kg. Instead, it will execute the corrected differential continued water supply of 12 cubic meters and the differential continued fertilizer of 8.1 kg. This approach avoids continuing to operate according to the original remaining water supply when the soil moisture content has increased from 17% to 21%, and can synchronously adjust the remaining fertilizer amount according to the current nutrient demand. Figure 5 The original planned amount of water supply was 36 cubic meters, the amount completed was 21 cubic meters, and the corrected and continued control amount was 12 cubic meters; the original planned amount of fertilizer was 18 kilograms, the amount completed was 9 kilograms, and the corrected and continued control amount was 8.1 kilograms. This shows that the system does not simply restore the original remaining amount of work, but makes differential corrections based on the current water and fertilizer operation conditions.

[0076] Before generating differential control tasks, the IoT operating system performs a consistency check between the stage breakpoint and the current water and fertilizer operation conditions. This consistency check determines whether the execution stage corresponding to the stage breakpoint meets the execution stage constraints corresponding to the current water and fertilizer operation conditions. If the execution stage corresponding to the stage breakpoint still matches the current water status, nutrient demand status, equipment availability status, and operation time conditions, the IoT operating system allows the suspended water and fertilizer control task to resume execution according to the differential control parameters. Figure 6 The verification logic is represented by the correspondence between stage breakpoints, current working conditions, consistency checks and subsequent controls. When all equipment status items are available or controllable, direct recovery is not necessarily allowed. The system also needs to determine whether the execution stage itself matches the current working conditions.

[0077] In this embodiment, the equipment feedback indicates that the fertilizer pump and valves are available, and the water pump and pipeline switching device are in a controllable state. However, the breakpoint is the fertilization execution stage, while the current water and fertilizer operation conditions require water supply adjustment to be completed before entering the fertilization execution stage. At this time, the IoT operating system determines that the fertilization execution stage corresponding to the breakpoint does not meet the execution stage constraints corresponding to the current water and fertilizer operation conditions, and the consistency check fails. Figure 6 The execution phase column shows the breakpoint as fertilizer application, while the current operating condition is water supply regulation. The discrepancy between the two results in a failed verification. Although the fertilizer pump status, valve status, and water pump status are displayed as available, available, and controllable respectively, they only serve as the basic equipment conditions for subsequent control and do not change the judgment result of mismatch in the execution phase.

[0078] When the consistency check fails, the IoT operating system prohibits the direct resumption of the suspended water and fertilizer control task and redetermines the execution phase of the differential control task. The IoT operating system generates a transitional control task, switching the suspended water and fertilizer control task from the fertilization execution state corresponding to the phase breakpoint to a water supply regulation state that meets the current water and fertilizer operation conditions. The transitional control task may include shutting down the fertilization output, confirming that the fertilization pump is in standby mode, opening the water supply valve, keeping the pump running, switching the pipeline to the water supply channel, and confirming that the water supply flow is stable. Figure 7 The sequence of execution of the continued control indicates the order of prohibition of direct recovery, transitional continued control tasks, differential water supply control, and differential fertilization control. The transitional continued control is located before the differential water supply control and differential fertilization control, and is used to ensure that the suspended tasks return to the execution state that satisfies the current constraints first.

[0079] After the transitional control task is completed, the IoT operating system reads the current land moisture status, equipment availability status, and valve feedback status again. If the current land moisture status still requires additional water supply, and the water pumps, valves, and pipeline switching devices are all available, the IoT operating system allows the differential control task to execute water supply control according to the corrected water supply volume of 12 cubic meters, and after the water supply adjustment meets the execution stage constraints, execute fertilizer control according to the corrected fertilizer application volume of 8.1 kg. Figure 7 Differential water supply control Differential fertilization control This indicates that after the system redetermines the execution phase, it executes according to the corrected differential control parameters.

[0080] If, after the transitional control task is executed, the current water and fertilizer operation conditions indicate that the plot no longer requires water supply or fertilization, or the equipment availability status indicates that the fertilizer pump, valve, or pipeline switching device is malfunctioning, the IoT operating system terminates the suspended water and fertilizer control task and records the reason for termination. If the current water and fertilizer operation conditions indicate that operation still needs to continue but the original breakpoint cannot be directly restored, the IoT operating system maintains the control adjustment status and generates new differential control parameters according to the newly determined execution stage.

[0081] Through the above methods, the IoT operating system can determine the differential control task to continue after the water and fertilizer control task is suspended, based on the stage breakpoint, the completed water supply status, the completed fertilization status, and the current water and fertilizer operation conditions; combined with Figure 5 The work volume difference correction relationship shown Figure 6 The phase consistency verification relationship shown and Figure 7 The execution sequence of the continued control shown in the figure first executes the transitional continued control task when the consistency check fails, and then executes the corrected differential continued control task, thereby reducing the occurrence of repeated water supply, repeated fertilization and misalignment of execution stages.

Claims

1. A method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things (IoT) operating system, characterized in that, include: The system receives water and fertilizer operation requests from multiple corn or wheat plots through the Internet of Things operating system, converts each water and fertilizer operation request into a water and fertilizer control task with a task status and execution stage, and records the corresponding crop type, growth stage and water and fertilizer demand level. The priority of each water and fertilizer control task is determined based on crop type, growth stage and water and fertilizer demand level. The water and fertilizer equipment occupancy status and execution stage constraints are used to determine whether there are water and fertilizer equipment occupancy conflicts or operation stage conflicts between each water and fertilizer control task. When a pending water and fertilizer control task has a higher priority than an ongoing water and fertilizer control task and there is a conflict, the system determines whether interruption is allowed based on the current stage of the ongoing water and fertilizer control task. If interruption is allowed, the ongoing water and fertilizer control task is suspended and the higher-priority water and fertilizer control task is executed. If interruption is not allowed, a safety transfer process is completed before the higher-priority water and fertilizer control task is executed. After the higher-priority water and fertilizer control task is completed, the suspended water and fertilizer control task is restored, adjusted for continued control, or terminated based on its execution status and current water and fertilizer operation conditions.

2. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 1, characterized in that, The IoT operating system configures a device control right identifier and a stage protection identifier for each water and fertilizer control task. When determining a conflict between water and fertilizer equipment occupancy or a conflict between operation stages, it determines whether the water and fertilizer equipment to be called is occupied by the water and fertilizer control task based on the device control right identifier, and determines whether the occupied water and fertilizer equipment can be released based on the stage protection identifier. When the water and fertilizer equipment to be called is occupied and the corresponding water and fertilizer control task has a stage protection identifier, it is determined that there is a conflict that cannot be directly preempted.

3. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 1, characterized in that, When the water and fertilizer control task is in the execution phase where it cannot be interrupted, the IoT operating system generates a safety transfer subtask and controls the safety transfer subtask to complete the actions of stopping fertilizer output, maintaining water supply output, and confirming that the residual state of fertilizer solution meets safety conditions before executing the high-priority water and fertilizer control task. Before the safety transfer subtask is completed, the release of water and fertilizer equipment occupied by the water and fertilizer control task being executed is prohibited.

4. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 1, characterized in that, When the IoT operating system suspends a water and fertilizer control task, it records the corresponding stage breakpoint, the completed water supply status, and the completed fertilizer application status. Before resuming the suspended water and fertilizer control task, it generates a differential continuation control task based on the stage breakpoint, the completed water supply status, the completed fertilizer application status, and the current water and fertilizer operation conditions, so that the completed water supply or fertilizer application actions are not executed repeatedly.

5. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 3, characterized in that, After generating a secure transfer subtask, the IoT operating system sets a non-preemptible flag for the secure transfer subtask. Before the non-preemption flag is removed, subsequent water and fertilizer control tasks enter a waiting state and are prohibited from occupying the water and fertilizer equipment occupied by the currently executing water and fertilizer control task.

6. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 3, characterized in that, The confirmation that the residual state of the fertilizer solution meets the safety conditions means that the Internet of Things operating system makes a joint judgment based on the fertilizer solution concentration feedback and the water supply output status. When the fertilizer solution concentration is continuously within the preset safety range and the water supply output flow rate is within the preset fluctuation range and is maintained for a preset duration, the residual state of the fertilizer solution is determined to meet the safety conditions.

7. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 3, characterized in that, When the safety transfer subtask fails to confirm that the residual state of the fertilizer solution meets the safety conditions within the preset confirmation time, the IoT operating system will switch the currently executing water and fertilizer control task to the protection state. In the protection state, high-priority water and fertilizer control tasks are prohibited from calling the same water and fertilizer equipment, and an abnormal handling signal corresponding to the water and fertilizer equipment will be output.

8. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 4, characterized in that, Before generating the differential control task, the IoT operating system performs a consistency check between the stage breakpoint and the current water and fertilizer operation conditions. When the execution stage corresponding to the breakpoint does not meet the execution stage constraints corresponding to the current water and fertilizer operation conditions, the IoT operating system prohibits the direct resumption of the suspended water and fertilizer control task and redetermines the execution stage of the differential control task.

9. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 4, characterized in that, The IoT operating system determines the remaining water supply and fertilizer amount for the suspended water and fertilizer control task based on the completed water supply and fertilizer application status, and corrects the remaining water supply and fertilizer amount according to the current water and fertilizer operation conditions to generate differential control parameters for continuing to execute the suspended water and fertilizer control task.

10. The method for coordinated control of corn and wheat water and fertilizer equipment based on an Internet of Things operating system according to claim 8, characterized in that, When the consistency check fails, the IoT operating system generates a transitional continuation control task. The transitional continuation control task is used to switch the suspended water and fertilizer control task from the execution state corresponding to the stage breakpoint to the execution state that meets the execution stage constraints corresponding to the current water and fertilizer operation conditions before redetermining the execution stage of the differential continuation control task. After the transitional continuation control task is completed, the differential continuation control task is allowed to be executed.

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