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Deterministic Edge-Controlled Precision Fertigation System with Spatial Task Scheduling and Hardware–Software Safety Interlock
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DOI：10.3390/s26134289.png)
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Abstract
En 中文
Cloud-dependent irrigation platforms can support remote monitoring, but their use in precision fertigation is limited when local decisions must be made quickly and reliably. Network delay, temporary disconnection, and the use of single-point measurements may all reduce the ability of a system to respond to spatial variation in soil moisture and nutrient demand. In this work, an edge-controlled precision fertigation system was developed by combining multi-parameter soil sensing, spatial task scheduling, and a 6-DOF robotic manipulator. The ESP32 controller runs a preemptive FreeRTOS scheduler, allowing sensor acquisition, inverse-kinematics calculation, and pump actuation to be handled as separate tasks. A Kalman filter was used to smooth soil moisture measurements, and a hysteresis-based control strategy was adopted to reduce false triggering and repeated pump switching. To improve fertigation safety, a hardware–software interlock was added so that fertilizer delivery is always accompanied by water delivery. Hardware-in-the-Loop simulation and a 14-day field deployment were used to evaluate the system. The controller achieved an end-to-end latency of less than 38 ms and maintained operation during network interruptions through cached local parameters. After calibration, the robotic end-effector positioning error was reduced to ±2.4 mm. The hysteresis strategy lowered daily pump cycling by 71%. Based on prototype duty-cycle data and seasonal extrapolation, the projected seasonal water use and fertilizer demand were 44% and 38% lower, respectively, than those estimated for a uniform application. These values should be interpreted as model-based projections rather than direct season-long measurements. During 72 h of continuous operation, no Modbus faults were observed, and RTOS heap fragmentation remained stable. Overall, the results suggest that edge-based deterministic control can provide a practical route for precision fertigation where both spatial variability and intermittent connectivity must be considered.
Keywords:
precision irrigation
edge computing
Kalman filtering
adaptive control
robotic manipulator
variable-rate fertigation
RS485 sensors
hardware–software interlock
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