CN114765729A - Soilless culture management system and management method - Google Patents

Abstract

The embodiment of the application provides a soilless culture management system and a management method, the soilless culture management system comprises a plurality of ultra wide band positioning base stations, movable culture devices and a driving device, any two ultra wide band positioning base stations are connected through ultra wide band signal communication, the movable culture devices are connected with each ultra wide band positioning base station through ultra wide band signal communication, and the plurality of ultra wide band positioning base stations detect the positions of the movable culture devices according to ultra wide band signals sent by the movable culture devices; the driving device controls the movable cultivation device to move when receiving a first control signal transmitted by the ultra-wideband positioning base station, wherein the first control signal is a control signal generated according to the position of the movable cultivation device. Based on this, the soilless culture management system of this application embodiment can realize reducing the human cost to the accurate positioning of portable cultivation device, can realize the accurate intelligent control to the growth management of portable potted plant growing industry.

Description

Soilless culture management system and management method

technical field

The present application relates to the field of smart agricultural production, in particular to a soilless culture management system and management method.

Background technique

Smart agriculture is the concrete manifestation of smart economic form in agriculture. Planting plants is a form of smart agriculture, and it is necessary to control the light and humidity of plants during the growth process of plants. In the related art, the light and humidity required by plants can be detected by sensors. Then artificially control the light intensity and humidity of the plants. Obviously, this method has higher labor costs.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a soilless culture management system and management method, which can save labor costs.

First aspect, the embodiment of the present application provides a kind of soilless culture management system, including:

A plurality of ultra-wideband positioning base stations, any two ultra-wideband positioning base stations are connected through ultra-wideband signal communication, and the radiation range of the plurality of said ultra-wideband positioning base stations forms a detection area;

A movable cultivation device, the movable cultivation device is located in the detection area, and the movable cultivation device is connected with each of the ultra-wideband positioning base stations through ultra-wideband signal communication, so that the plurality of ultra-wideband positioning base stations are The ultra-wideband signal sent by the movable cultivation device detects the current position of the movable cultivation device; and

A driving device, the driving device is connected with the movable cultivation device, and the driving device is connected in communication with at least one of the ultra-wideband positioning base stations, so as to control the control when receiving the first control signal transmitted by the ultra-wideband positioning base station The movable cultivation device moves, and the first control signal is a control signal generated according to the current position of the movable cultivation device.

In the second aspect, the embodiments of the present application also provide a soilless cultivation management method, which is applied to a soilless cultivation management system, and the soilless cultivation management system includes a plurality of ultra-wideband positioning base stations, a movable cultivation device and a driving device, and any two A plurality of ultra-wideband positioning base stations are connected through ultra-wideband signal communication, and the radiation range of a plurality of the ultra-wideband positioning base stations forms a detection area, and the movable cultivation device is located in the detection area; The soilless cultivation management method includes:

The movable cultivation device sends a first positioning signal to each of the ultra-wideband positioning base stations;

At least one of the ultra-wideband positioning base stations detects the current position of the movable cultivation device according to the first positioning signal received;

at least one of the ultra-wideband positioning base stations sends a first control signal to the driving device according to the current position;

The driving device controls the movable cultivation device to move according to the received first control signal.

The soilless culture management system and management method provided by the embodiments of the present application, the soilless culture management system includes a plurality of ultra-wideband positioning base stations, a movable cultivation device and a driving device, and any two ultra-wideband positioning base stations are connected through ultra-wideband signal communication, The radiation range of a plurality of ultra-wideband positioning base stations forms a detection area, and the movable cultivation device can be located in the detection area. The positioning base station detects the current position of the movable cultivation device according to the ultra-wideband signal sent by the movable cultivation device; the driving device can be connected with the movable cultivation device, and the driving device is communicatively connected with at least one ultra-wideband positioning base station to receive When the first control signal is transmitted to the ultra-wideband positioning base station, the movable cultivation device is controlled to move, and the first control signal is a control signal generated according to the current position of the movable cultivation device. Based on this, the soilless culture management system of the embodiment of the present application, by using UWB technology for distance measurement, the distance measurement accuracy can reach 3 cm to 10 cm, and the angle measurement accuracy can reach ± 3 degrees, which can realize the mobile cultivation device. accurate locating. Moreover, the driving device automatically controls the movable cultivation device to move to the target position, which can reduce labor costs and realize precise and intelligent control of the growth management of the movable potted planting industry.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a first structural schematic diagram of a soilless culture management system according to an embodiment of the application.

FIG. 2 is a first structural schematic diagram of the ultra-wideband positioning base station shown in FIG. 1 .

FIG. 3 is a schematic diagram of the second structure of the ultra-wideband positioning base station shown in FIG. 1 .

FIG. 4 is a schematic structural diagram of the movable cultivation device shown in FIG. 1 .

FIG. 5 is a schematic structural diagram of the first ultra-wideband positioning tag shown in FIG. 4 .

FIG. 6 is a schematic structural diagram of the second ultra-wideband positioning tag shown in FIG. 4 .

FIG. 7 is a schematic diagram of the second structure of the soilless culture management system according to the embodiment of the application.

FIG. 8 is a first schematic flow chart of the soilless culture management method according to the embodiment of the application.

FIG. 9 is a second schematic flow chart of the soilless culture management method according to the embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to FIGS. 1 to 9 in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

Please refer to FIG. 1 , which is a first structural schematic diagram of a soilless culture management system according to an embodiment of the present application. The embodiment of the present application provides a soilless culture management system 100 , and the soilless culture management system 100 may include a plurality of ultra-wideband positioning base stations 110 (hereinafter referred to as UWB base stations 110 ), a movable cultivation device 120 and a driving device 130 . Any two ultra-wideband positioning base stations 110 can be connected through ultra-wideband signal communication, and the radiation range of multiple ultra-wideband positioning base stations 110 when they communicate with each other can form a detection area. The movable cultivation device 120 can be located in the detection area, and the movable cultivation device 120 and each ultra-wideband positioning base station 110 can be connected by ultra-wideband signal communication, so that a plurality of ultra-wideband positioning base stations 110 can be connected according to the movable cultivation device. The ultra-wideband signal sent by 120 detects the current position of the movable cultivation device 120 . The driving device 130 can be connected with the movable cultivation device 120, and the driving device 130 can also be connected in communication with at least one ultra-wideband positioning base station 110 to control the movable cultivation device 120 when receiving the first control signal transmitted by the ultra-wideband positioning base station 110. moving, wherein the first control signal is a control signal generated according to the current position of the movable cultivation device 120 .

The soilless culture management system 100 may include multiple UWB base stations 110 , for example, three or more UWB base stations 110 . When multiple UWB base stations 110 communicate with each other, the detection area formed by their radiation ranges can form an indoor electronic virtual fence device. The electronic virtual fence device can measure the distance, position and angle of objects located in the detection area.

It can be understood that UWB technology is based on nanosecond non-sinusoidal narrow pulse transmission data, which has the advantages of insensitivity to channel fading, low power spectral density of transmitted signals, low interception rate, low system complexity, and can provide several centimeters of data. Therefore, UWB technology can be used for the positioning and tracking of items, spatial position perception and other capabilities.

The process of UWB location recognition can be divided into: signal reception, data storage and calculation. At the beginning, the UWB base station 110 obtains the signal transmitted by the UWB tag, and after receiving the transmitted signal of the UWB tag, the signal is calculated and processed, and then the distance and angle information of the UWB tag is obtained, so as to identify the relative UWB tag relative to the UWB tag. The relative spatial location of the base station 110 or mobile device.

It can be understood that, when the movable cultivation device 120 is located in the detection area formed by a plurality of UWB base stations 110, the soilless cultivation management system 100 can reach the phase difference ( Phase-Difference-of-Arrival, referred to as PDOA), two-way time of flight method (twoway-time of flight, referred to as TW-TOF) and other methods to achieve positioning and ranging. The PDOA ranging method is a method of sensing the arrival direction of the signal of the transmitting node through some hardware devices, calculating the relative azimuth or angle between the receiving node and the anchor node, and then using triangulation or other methods to calculate the position of the unknown node. The TDOA ranging method uses the distance from the signal source to each monitoring station (with the monitoring station as the center, the distance is the radius as a circle), and by comparing the absolute time difference between the signal arriving at each monitoring station, the monitoring station as the focus, the distance difference can be determined. is a hyperbola of the long axis, and the intersection of the hyperbola is the position of the signal.

When the current position of the movable cultivation device 120 is detected, it can be determined whether the current position belongs to the target position, and if not, the driving device 130 can control the movable cultivation device 120 to move to the target position.

It can be understood that the target position can be determined according to the environmental information of the current position of the movable cultivation device 120 and the environmental information in the detection area. Of course, the target position may also be a preset position. The embodiment of the present application does not specifically limit the determination of the target position.

In the soilless cultivation management system 100 of the embodiment of the present application, when the movable cultivation device 120 is located in a detection area formed by a plurality of UWB base stations 110, the movable cultivation device 120 can transmit UWB signals as a UWB tag, and each UWB base station 110 can transmit UWB signals. The spatial position and angle of the movable cultivation device 120 in the detection area can be calculated according to the characteristics such as time and phase of receiving the transmitted UWB signal in combination with the PDOA ranging method and/or the TDOA ranging method, thereby realizing the detection of the movable cultivation device. 120 positioning. After determining the spatial position of the movable cultivation device 120, any UWB base station 110 can send a first control signal carrying the spatial position information to the driving device 130, and the driving device 130 can control the movable cultivation device 130 according to the instructions of the first control signal. The mobile cultivation device 120 is moved and/or rotated to a target position to realize automated control of the movable cultivation device 120 .

It can be understood that, among the multiple UWB base stations 110, the multiple UWB base stations 110 may be prioritized according to the time sequence of access, and in the process of communicating with the driving device 130, the UWB with the highest priority may be the one with the highest priority. The base station 110 transmits the first control signal to the driving device 130 .

It can be understood that the driving device 130 can communicate with any UWB base station 110 through but not limited to Bluetooth signals, Wi-Fi signals, mobile communication signals (2G, 3G, 4G and 5G signals), UWB signals and the like.

It can be understood that the driving device 130 may include, but is not limited to, a motor and an axle, the axle may be connected to the movable cultivation device 120 , and the motor may drive the axle to rotate to drive the movable cultivation device 120 to move.

It can be understood that the above is only an exemplary example of the driving device 130, for example, the driving device 130 may include a motor and a crawler. Any structure that can receive the first control signal and can control the movement and rotation of the movable cultivation device 120 is within the protection scope of the embodiments of the present application.

In the soilless culture management system 100 of the embodiment of the present application, a plurality of ultra-wideband positioning base stations 110 are connected through ultra-wideband signal communication, and the radiation range of the plurality of ultra-wideband positioning base stations can form a detection area. When the movable cultivation device 120 is located in the detection area , the movable cultivation device 120 can communicate with each ultra-wideband positioning base station through the ultra-wideband signal, so that a plurality of ultra-wideband positioning base stations 110 detect the current position of the movable cultivation device 120 according to the ultra-wideband signal sent by the movable cultivation device 120 At the same time, the driving device 130 can control the movable cultivation device 120 to move to the target position when receiving the first control signal transmitted by the ultra-wideband positioning base station, wherein the first control signal is generated according to the current position of the movable cultivation device 120 control signal. Based on this, the soilless culture management system 100 of the embodiment of the present application, by using the UWB technology for distance measurement, the distance measurement accuracy can reach 3 cm to 10 cm, and the angle measurement accuracy can reach ±3 degrees, which can realize the movable cultivation device. 120 precise positioning. In addition, the driving device 130 automatically controls the movable cultivation device 120 to move to the target position, which can reduce labor costs and realize precise and intelligent control of the growth management of the movable potted planting industry.

Please refer to FIG. 2 , which is a schematic diagram of the first structure of the ultra-wideband positioning base station shown in FIG. 1 . The soilless culture management system 100 can be applied to a soilless culture room, when the soilless culture room includes a top wall and four side walls, the soilless culture management system 100 can include five UWB base stations 110, and each UWB base station 110 can Set on a top wall or a side wall, so that the five UWB base stations 110 are respectively located on different surfaces, and the detection area formed by the five UWB base stations 110 can cover most of the indoor space of soilless cultivation.

It can be understood that the distances between the four UWB positioning base stations 110 disposed on the four sides and the top surface can be equal, so that the four UWB base stations 110 can have equal vertical distances, and the four UWB base stations 110 are arranged at the same height.

It can be understood that the distance from the four ultra-wideband positioning base stations 110 connected to the four sides to the bottom surface of the soilless cultivation room can be 1.5 meters. At this time, the detection area formed by the plurality of UWB base stations 110 can better detect the mobile device. s position.

It can be understood that, a plurality of UWB base stations 110 can also be set on the four side walls and the top wall, for example, three UWB base stations 110 can be set on each wall, so that the soilless culture management system 100 includes fifteen UWB base stations 110. , to further increase the localization accuracy of the detection area.

Please refer to FIG. 2 and FIG. 3 . FIG. 3 is a schematic diagram of the second structure of the ultra-wideband positioning base station shown in FIG. 1 . Each UWB base station 110 may include a first data processing module 111 and a first UWB communication module 112 . The first data processing module 111 is electrically connected to the first UWB communication module 112 , and the first data processing module 111 can transmit data information to the first UWB communication module 112 , and can also receive data information transmitted by the first UWB communication module 112 . The first UWB communication module 112 can be communicatively connected with the movable cultivation device 120 and the driving device 130 to realize the interactive communication between the UWB base station 110 and the movable cultivation device 120 and the driving device 130 .

As shown in FIG. 3 , each UWB base station 110 may further include a first environment sensor 113 . The first environmental sensor 113 may be, but is not limited to, a temperature sensor, a light sensor, a humidity processor, and other sensors that can detect environmental information such as temperature, humidity, and light.

It can be understood that the first environment sensor 113 can detect the first environment information in the detection area. Specifically, each first environmental sensor 113 can detect environmental information in the detection area where the corresponding UWB base station 110 is located, including the first environmental information such as illumination, humidity, temperature, etc. where the UWB base station 110 is located.

It can be understood that the first environment sensor 113 can be electrically connected to the first data processing module 111 to send the detected first environment information to the first data processing module 111, and the first data processing module 111 can be based on the first environment The information controls the movable cultivation device 120 and the drive device 130 .

It can be understood that each UWB base station 110 may further include a charging module 114, for example, each UWB base station 110 may be provided with a USB interface for charging through the USB interface; or, each UWB base station 110 may also be provided with a backup battery, In order to prevent abnormal power outages indoors, emergency power supply can be provided.

It can be understood that the first data processing module 111 , the first UWB communication module 112 , the first environment sensor 113 and the charging module 114 can be integrated into the same module to realize modular production of the UWB base station 110 .

Wherein, please refer to Fig. 4 and Fig. 5 in conjunction with Fig. 1, Fig. 4 is a kind of structural representation of the movable cultivation device shown in Fig. 1, Fig. 5 is a kind of first ultra-wideband positioning label shown in Fig. 4 Schematic. The movable cultivation device 120 may be an indoor movable soilless cultivation frame device capable of supporting plants. The movable cultivation device 120 can move freely in the detection area formed by the plurality of UWB base stations 110 to find the most suitable target location for plant growth. The mobile cultivation device 120 may include a first ultra-wideband positioning tag 121 .

The first ultra-wideband positioning tag 121 (hereinafter referred to as the first UWB tag 121 ) can be connected to the frame of the movable cultivation device 120 , for example, to the top beam of the movable soilless cultivation frame 122 . The first UWB tag 121 can be used as a UWB tag to transmit UWB signals so as to communicate with each UWB base station 110 through UWB signals. At this time, the position of the first UWB tag 121 can be detected according to the PDOA ranging method and the TDOA ranging method. Thereby, the positioning of the movable cultivation device 120 is realized.

As shown in FIG. 5 , each first UWB positioning tag 121 may include a second data processing module 1211 , a second UWB communication module 1212 and a second environment sensor 1213 like a UWB base station 110 . The second data processing module 1211 may be electrically connected to the second UWB communication module 1212 , and the second data processing module 1211 may transmit control information to the second UWB communication module 1212 , and may also receive information transmitted by the second UWB communication module 1212 . The second UWB communication module 1212 may be connected to the first UWB communication module 112 of each UWB base station 110 through UWB signal communication.

The second environmental sensor 1213 may be, but is not limited to, a temperature sensor, a light sensor, a humidity processor, and other sensors that can detect environmental information such as temperature, humidity, and light. The second environment sensor 1213 may detect the environment information of the location where the first UWB tag 121 is located, and the environment information may be the second environment information of the location where the movable cultivation device 120 is located. The second environment sensor 1213 may be electrically connected to the second data processing module 1211 to send the detected second environment information to the second data processing module 1211, and the second data processing module 1211 may control the second UWB communication module 1212 to send the second environment information to the second data processing module 1211. Two environmental information is sent to each UWB base station 110 .

It can be understood that each UWB base station 110 can detect the current position of the movable cultivation device 120 according to the UWB signal carrying the second environment information sent by the second UWB communication module 1212 . Each UWB base station 110 can select a target location more suitable for the environmental information according to the received second environmental information and the first environmental information in the current environment of each UWB base station 110, and then one UWB base station 110 can transmit the first environmental information to the driving device 130. The control signal, the first control signal carries the information of the target position, so that the UWB base station 110 can control the driving device 130 to control the movable cultivation device 120 to move to the target position.

Exemplarily, the light intensity of the current position A of the movable cultivation device 120 is LX1, and the light intensity LX1 does not meet the light requirements of the potted plants, and the UWB base station 110 calculates the target position The light intensity LX2 of point B is more suitable, at this time. The UWB base station 110 can send the first control signal carrying the coordinate information of the target position point B to the driving device 130, so that the driving device 130 can drive the movable cultivation device 120 to move to the target position point B to satisfy the light of the potted plant. strong demand.

It can be understood that the second UWB communication module 1212 of the movable cultivation device 120 can send the second environment information to each UWB base station 110, so that the plurality of UWB base stations 110 and the movable cultivation device 120 can form PDOA/TDOA ranging. system.

In the soilless culture management system 100 of the embodiment of the present application, the UWB base station 110 can select a detection area for the movable cultivation device 120 according to the first environmental information detected by the first environmental sensor 113 and the second environmental information detected by the second environmental sensor 1213 The target position with more suitable environmental information is convenient to precisely control the growth environment conditions of the potted plants, and the survival rate of the potted plants can be improved.

5 again, the first UWB positioning tag may further include a clock module 1214, the clock module 1214 may be electrically connected with the second data processing module 1211, and the clock module 1214 is used to trigger the second environmental sensor at a preset time 1213 Detect second environment information.

It can be understood that the preset time may be a preset time node, such as 7:00 Beijing time every morning. At this time, the clock module 1214 can send a wake-up command to the second data processing module 1211 when it reaches 7:00 Beijing time, and the second data processing module 1211 can send a start command to the second environment sensor 1213 according to the wake-up command, and the second data processing module 1211 The environment sensor 1213 can detect the current second environment information of the movable cultivation device 120 according to the start-up instruction.

Of course, the clock module 1214 can also be directly electrically connected to the second environmental sensor 1213, so as to directly send a wake-up command to the second environmental sensor 1213 at a preset time, and the second environmental sensor 1213 can directly detect the movable cultivation device 120 according to the wake-up command. of the current second environment information.

In the soilless culture management system 100 of the embodiment of the present application, the clock module 1214 triggers the second environmental sensor 1213 to detect the second environmental information at a preset time. By setting the conditions of the preset time, it is possible to avoid moving the movable cultivation device 120 during the period when the movable cultivation device 120 does not need to be moved, so that the movable cultivation device 120 can be controlled more intelligently.

Referring again to FIG. 4 , the movable cultivation device 120 may further include a plurality of soilless cultivation racks 122 and a plurality of second ultra-wideband positioning tags 123 . A plurality of soilless cultivation racks 122 can be arranged in the movable soilless cultivation racks 122 at intervals, and each second ultra-wideband positioning tag 123 (hereinafter referred to as the second UWB tag 123) can be connected to a soilless cultivation rack 122, to A second UWB tag 123 is connected to a soilless cultivation stand 122 .

It can be understood that a plurality of soilless cultivation racks 122 can be arranged vertically spaced, so that each soilless cultivation rack 122 has a different vertical height. Of course, a plurality of soilless cultivation racks 122 can also be arranged at intervals horizontally, so that each soilless cultivation rack 122 can have the same vertical height but different horizontal displacements.

It can be understood that, potted plants can be placed on each soilless cultivation rack 122, and the movable cultivation device 120 can drive the potted plants to move to a position suitable for production, so as to realize precise and intelligent management of potted plants.

It can be understood that each second UWB tag 123 can be connected to each UWB base station 110 through UWB signal communication, and multiple UWB base stations 110 can detect the location of the second UWB tag 123 according to the ultra-wideband signal sent by the second UWB tag 123 . , so as to realize the positioning of each second UWB tag 123 , so that the potted plants on each soilless cultivation stand 122 can be accurately positioned.

Wherein, the driving device 130 can also be connected with each soilless cultivation frame 122 . The driving device 130 can control the soilless cultivation frame 122 to move and/or rotate when receiving the second control signal transmitted by the UWB base station 110 , wherein the second control signal can be a control signal generated according to the position of the second UWB tag 123 .

Exemplarily, a sliding rail may be provided on the housing of the movable cultivation device 120, and the driving device 130 may include a slider and a motor, one end of the slider may be connected with a soilless cultivation frame 122, and the other end of the slider Can be attached to slide rails. The motor can be connected with the slider to drive the soilless cultivation frame 122 to slide along the slide rail to realize the movement of the soilless cultivation frame 122 .

In another example, one end edge of the soilless cultivation frame 122 can form a hinged structure with the housing of the movable cultivation device 120, the rotating shaft of the motor can be connected with the soilless cultivation frame 122, and the motor can drive the soilless cultivation frame 122 to be hinged around it. The edge is rotated to enable the rotation of the soilless cultivation stand 122 .

Wherein, please refer to FIG. 4 in conjunction with FIG. 6 . FIG. 6 is a schematic structural diagram of the second UWB positioning tag shown in FIG. 4 . Like the first UWB tag 121 , the second UWB tag 123 may include a third data processing module 1231 , a third UWB communication module 1232 and a third environment sensor 1233 . The third data processing module 1231 may be electrically connected to the third UWB communication module 1232 , and the third data processing module 1231 may transmit control information to the third UWB communication module 1232 , and may also receive information transmitted by the first UWB communication module 112 . The third environmental sensor 1233 may be, but is not limited to, a temperature sensor, a light sensor, a humidity processor, and other sensors that can detect environmental information such as temperature, humidity, and light. The third environment sensor 1233 may detect the environment information of the location where the second UWB tag 123 is located, and the environment information may be the third environment information of the environment where the soilless cultivation rack 122 connected to the second UWB tag 123 is located. The third environment sensor 1233 may be electrically connected with the third data processing module 1231 to send the detected third environment information to the third data processing module 1231, and the third data processing module 1231 may control the third UWB communication module 1232 to send the third environment information to the third data processing module 1231. Three context information is sent to each UWB base station 110 .

It can be understood that each UWB base station 110 can detect the current position of the corresponding soilless cultivation frame 122 according to the UWB signal carrying the third environment information sent by the third UWB communication module 1232 . Each UWB base station 110 can calculate the moving distance and rotation angle that are more suitable for the soilless cultivation frame 122 according to the received third environmental information and the first environmental information under the current environment of each UWB base station 110, and then a UWB base station 110 can The second control signal is transmitted to the driving device 130, and the second control signal carries the information of the moving distance and the rotation angle of the soilless cultivation frame 122, so that the UWB base station 110 can control the driving device 130 to control the soilless cultivation frame 122 to move and/or move. or turn.

Exemplarily, the UWB base station 110 calculates according to the first environment information and the third environment information that the second UWB tag 123 of the fifth layer can have a more suitable lighting environment after moving 3 cm outward and rotating 30 degrees clockwise. At this time, the UWB base station 110 can send the second target information carrying the above information to the driving device 130, and the driving device 130 can control the second UWB tag 123 on the fifth layer to move 3 cm outward along the sliding rail, and then rotate 30 around the axis of rotation, So that the second UWB tag 123 can have more suitable current environment information.

It can be understood that the third UWB communication module 1232 of the second UWB tag 123 can send the third environment information to each UWB base station 110, so that the plurality of UWB base stations 110 and the second UWB tag 123 can form PDOA/TDOA ranging system, so that the UWB base station 110 can obtain the location information and environment information of the second UWB tag 123, so as to facilitate the subsequent control of the driving device 130 by the UWB base station 110.

It can be understood that the driving device 130 for controlling the movement of the movable cultivation device 120 and the driving device 130 for controlling the movement of the soilless cultivation frame 122 may have different structures. The driving device 130 in the embodiment of the present application may include all structures for driving the movable cultivation device 120 to move and controlling the movement/rotation of the soilless cultivation frame 122 , which will not be repeated here.

In the soilless culture management system 100 of the embodiment of the present application, each second UWB tag 123 can be connected to a plurality of UWB base stations 110 through UWB signal communication, so that the positioning of each second UWB tag 123 can be realized, so that the identification of the second UWB tag 123 can be realized. Positioning of the soilless cultivation rack 122 to which the second UWB tag 123 is attached. Each soilless cultivation rack 122 can be moved and rotated independently under the driving device 130, which can further realize the precise control of the growth environment conditions of the potted plants on different soilless cultivation racks 122 in the movable cultivation device 120, improve the The survival rate of potted plants is also convenient for different management of different potted plants, which can realize the intelligent management of potted plants. At the same time, it can also provide corresponding data support for plant growth research and facilitate the cultivation of new varieties.

Wherein, please refer to FIG. 7 , which is a second structural schematic diagram of the soilless culture management system according to the embodiment of the present application. The soilless culture management system 100 may further include a watering device 140, and the watering device 140 may be connected in communication with an ultra-wideband positioning base station 110, and the watering device 140 may respond to the movable The cultivation device 120 performs watering.

It can be understood that, the watering device 140 can communicate with any UWB base station 110 through but not limited to Bluetooth signals, Wi-Fi signals, mobile communication signals, UWB signals, etc., so that the watering device 140 can receive the UWB base station 110. The transmitted third control signal, wherein the third control signal can be a control signal generated according to the current position of the movable cultivation device 120.

It can be understood that the third control signal may carry information of the target position of the movable cultivation device 120 , illumination information and humidity information of the target position, and illumination information and humidity information of the movable cultivation device 120 . The UWB base station 110 can send the information of the target position of the movable cultivation device 120 to the watering device 140, and the UWB base station 110 can also send the light information and humidity information of the target position and the light information and humidity information of the movable cultivation device 120 to the watering device 140. device 140 . The watering device 140 can adjust the watering angle according to the target position information, and can adjust the watering amount to the movable cultivation device 120 according to the light information, humidity information and the like.

It can be understood that the watering device 140 may include water pipes, spray heads, lifting and rotating assemblies, valve assemblies, and the like. The water pipes can transport water to the sprinklers and water the potted plants of the mobile cultivation device 120 . The lifting and rotating assembly can adjust the height of the spray head and the angle of the spray head, etc., so that the spray range of the spray head can cover the movable cultivation device 120 . The valve assembly can control the flow of the sprinkler head, so as to control the amount of water.

It can be understood that the above is only an exemplary example of the watering device 140 , and any structure that can water the movable cultivation device 120 is within the protection scope of the embodiment of the present application, and will not be described in detail here.

In the soilless culture management system 100 of the embodiment of the present application, the watering device 140 can water the movable cultivation device 120 under the instruction of the UWB base station 110, which can reduce labor costs and realize intelligent control of the movable potted plant planting industry. , which can realize the intelligent management of potted plants or mobile ecological agriculture.

Based on the structures of the above-mentioned soilless culture management system 100 and the movable cultivation device 120, the embodiment of the present application also provides a soilless culture management method, which is applied to the soilless culture management system 100 in any of the above-mentioned embodiments. The cultivation management system 100 may include a plurality of ultra-wideband positioning base stations 110, a movable cultivation device 120 and a driving device 130. Any two ultra-wideband positioning base stations 110 are connected through ultra-wideband signal communication, and the radiation range of the plurality of ultra-wideband positioning base stations 110 is formed. In the detection area, the movable cultivation device 120 is located in the detection area, and the driving device 130 can be connected with the movable cultivation device 120 and can control the movable cultivation device 120 to move and/or rotate. Please refer to FIG. 8 , which is a first schematic flow chart of the soilless culture management method according to the embodiment of the present application.

In 101, the movable cultivation device sends the first positioning signal to each ultra-wideband positioning base station;

In 102, at least one ultra-wideband positioning base station detects the current position of the movable cultivation device according to the first positioning signal received;

In 103, at least one ultra-wideband positioning base station sends a first control signal to the driving device according to the current position;

At 104, the driving device controls the movable cultivation device to move according to the received first control signal.

The movable cultivation device 120 can send the first positioning signal to each UWB base station 110 through the UWB signal, and a plurality of UWB base stations 110 and the movable cultivation device 120 can form a PDOA/TDOA ranging system, which can be detected according to the PDOA/TDOA ranging principle. The current position of the movable cultivation device 120 is obtained, so as to realize the positioning and distance measurement of the movable cultivation device 120 .

After the plurality of UWB base stations 110 obtain the first positioning signal of the movable cultivation device 120, one of the UWB base stations 110 can send a first control signal to the driving device 130 according to the calculated current position information of the movable cultivation device 120 to control the operation of the driving device 130. The drive device 130 operates.

It can be understood that the UWB base station 110 that detects the current position of the movable cultivation device 120 and the UWB base station 110 that sends the first control signal to the driving device may be the same base station or different base stations.

It can be understood that the UWB base station 110 may send the first control signal to the driving device 130 through, but not limited to, a Bluetooth signal, a Wi-Fi signal, a mobile communication signal, a UWB signal, and the like. The driving device 130 can control the movable cultivation device 120 to move to the target position after receiving the first control signal.

In the soilless cultivation management method of the embodiment of the present application, by using the UWB technology to locate and measure the position of the movable cultivation device 120, the positioning and ranging accuracy can reach 3 cm to 10 cm, and the angle measuring accuracy can reach ±3 degrees, Precise positioning of the movable cultivation device 120 can be achieved. In addition, the driving device 130 automatically controls the movable cultivation device 120 to move to the target position, which can reduce labor costs and realize precise and intelligent control of the growth management of the movable potted planting industry.

In some embodiments, the movable cultivation device 120 includes a first ultra-wideband positioning tag 121, and the first ultra-wideband positioning tag 121 includes a second environmental sensor 1213; The positioning signal includes: controlling the second environment sensor 1213 to detect the second environment information of the movable cultivation device 120; and transmitting the second environment information to each of the UWB positioning base stations 110 through an ultra-wideband signal.

In some embodiments, each UWB positioning base station 110 includes a first environment sensor 113; one UWB positioning base station 110 sends a first control signal to the driving device 130 according to the current position, including: each UWB positioning base station 110 controls the first control signal An environment sensor 113 detects the first environment information in the detection area, and at least one UWB positioning base station 110 sends a first control signal to the driving device 130 according to the first environment information and the second environment information.

In some embodiments, the movable cultivation device 120 further includes a plurality of soilless cultivation racks 122 and a plurality of second ultra-wideband positioning tags 123, each of the second ultra-wideband positioning tags 123 is connected to a soilless cultivation rack 122, and drives the The device 130 is connected with each soilless cultivation rack 122, and each soilless cultivation rack 122 includes a third environment sensor 1233; the soilless cultivation management method further includes: controlling the third environment sensor 1233 to detect the position of the soilless cultivation rack 122 under the position. the third environment information; transmit the third environment information to each UWB positioning base station 110 through the UWB signal; at least one UWB positioning base station 110 transmits the third environment information to the driving device 130 according to the first environment information and the third environment information Two control signals; the driving device 130 controls the soilless cultivation frame 122 to move and/or rotate according to the received second control signal.

In some embodiments, the soilless cultivation management system 100 further includes a watering device 140; after the movable cultivation device 120 is moved to the target position, the soilless cultivation management method further includes: at least one ultra-wideband positioning base station 110 according to the received first positioning The signal sends a third control signal to the watering device 140; the watering device 140 waters the movable cultivation device 120 according to the received third control signal.

Based on the soilless culture management method of the above-mentioned embodiment, please refer to FIG. 9 , which is a second schematic flow chart of the soilless culture management method according to the embodiment of the application.

In 201, the first ultra-wideband positioning tag controls the second environmental sensor to detect the second environmental information of the movable cultivation device;

In 202, the first UWB positioning tag transmits the second environment information to each UWB positioning base station through an UWB signal;

The first UWB tag 121 can be connected to the top beam of the movable cultivation device 120. When the first UWB tag 121 transmits UWB signals to each UWB base station 110, the first UWB tag 121 and the plurality of UWB base stations 110 can form PDOA/TDOA In the distance measuring system, the detected position of the first UWB tag 121 can be used as the current position of the movable cultivation device 120 .

For the first UWB tag 121, reference may be made to the structure in the foregoing embodiments, and details are not described herein again. The first UWB tag 121 can control the second environment sensor 1213 to detect the second environment information of the movable cultivation device 120, so that the UWB base station 110 can determine the target position of the movable cultivation device 120 according to the second environment information.

In 203, at least one ultra-wideband positioning base station detects the current position of the movable cultivation device according to the second environmental information received;

In 204, each UWB positioning base station controls the first environment sensor to detect the first environment information in the detection area;

In 205, at least one ultra-wideband positioning base station sends a first control signal to the driving device according to the first environment information and the second environment information;

In 206, the driving device controls the movable cultivation device to move to the target position according to the received first control signal;

Each UWB base station 110 may include a first environment sensor 113, and a first environment sensor 113 may detect current environment information at the location of the UWB base station 110 including the first environment sensor 113, and the environment information may be the first environment information.

One UWB base station 110 among the plurality of UWB base stations 110 may determine the coordinates of the target location with the best environmental conditions according to the first environmental information and the second environmental information. Then, the UWB base station 110 may transmit the first control signal to the driving device 130 to control the driving device 130 to drive the movable cultivation device 120 . After receiving the first control signal, the driving device 130 can control the movable cultivation device 120 to move to the target position, so as to realize the preliminary positioning of the movable cultivation device 120 .

In 207, the second ultra-wideband positioning tag controls the third environmental sensor to detect the third environmental information under the position of the soilless cultivation frame;

In 208, the second UWB positioning tag transmits the third environment information to each of the UWB positioning base stations via the UWB signal;

A second UWB tag 123 can be connected to a soilless cultivation frame 122 of the movable cultivation device 120, and when a certain second UWB tag 123 transmits a UWB signal to each UWB base station 110, the second UWB tag 123 and multiple The multiple UWB base stations 110 can form a PDOA/TDOA ranging system, and the detected position of the second UWB tag 123 can be used as the position of the soilless cultivation frame 122 connected to the second UWB tag 123 .

For the structures of the second UWB tag 123 and the soilless cultivation frame 122, reference may be made to the structures in the foregoing embodiments, and details are not described herein again. A certain second UWB tag 123 can control the third environmental sensor 1233 integrated in the second UWB tag 123 to detect the third environmental information of the soilless cultivation rack 122 connected with the second UWB tag 123, so as to facilitate the UWB base station 110 determines the position of the soilless cultivation frame 122 and current environmental information according to the third environmental information.

In 209, at least one UWB positioning base station transmits a second control signal to the driving device according to the first environment information and the third environment information;

In 210, the driving device controls the soilless cultivation frame to move and/or rotate according to the received second control signal.

One UWB base station 110 among the plurality of UWB base stations 110 may determine the optimal environmental condition of the soilless cultivation frame 122 according to the first environmental information and the third environmental information. Then, the UWB base station 110 may send a second control signal to the driving device 130 to control the driving device 130 to drive the soilless cultivation frame 122 to rotate and/or move. After receiving the second control signal, the driving device 130 can control the soilless cultivation frame 122 to move or rotate, so as to realize precise control of the soilless cultivation frame 122 .

In 211, at least one UWB positioning base station sends a third control signal to the irrigation device according to the received first positioning signal;

At 212, the watering device waters the mobile cultivation device according to the received third control signal.

After the target position of the movable cultivation device 120 is determined, after the movable cultivation device 120 moves to the target position, the watering device 140 can water the movable cultivation device 120 according to the received third control signal.

It can be understood that the third control signal may carry information of the target position of the movable cultivation device 120 , illumination information and humidity information of the target position, and illumination information and humidity information of the movable cultivation device 120 . The UWB base station 110 can send the information of the target position of the movable cultivation device 120 to the watering device 140, and the UWB base station 110 can also send the light information and humidity information of the target position and the light information and humidity information of the movable cultivation device 120 to the watering device 140. device 140 . The watering device 140 can adjust the watering angle according to the target position information, and can adjust the watering amount to the movable cultivation device 120 according to the light information, humidity information and the like.

It can be understood that, for the specific structure of the watering device 140, reference may be made to the descriptions in the foregoing embodiments, and details are not described herein again.

It should be noted that the soilless culture management method in the embodiment of the present application is applied to the soilless culture management system 100 in the foregoing embodiment, therefore, the features of the soilless culture management system 100 in the foregoing embodiment can be applied to The soilless culture management method of the embodiment of the present application will not be described in detail here.

It should be understood that, in the description of this application, terms such as "first", "second" and the like are only used to distinguish similar objects, and should not be construed as indicating or implying relative importance or implicitly indicating the indicated technology number of features.

The soilless culture management system and management method provided by the embodiments of the present application have been introduced in detail above. The principles and implementations of the present application are described herein using specific examples, and the descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; meanwhile, for those skilled in the art, according to the Thoughts, there will be changes in specific embodiments and application scopes. To sum up, the contents of this specification should not be construed as limitations on the present application.

Claims (13)

1. A soilless culture management system, comprising:

the system comprises a plurality of ultra-wideband positioning base stations, a plurality of wireless communication terminals and a plurality of wireless communication terminals, wherein any two ultra-wideband positioning base stations are in communication connection through ultra-wideband signals, and the radiation ranges of the ultra-wideband positioning base stations form a detection area;

the movable cultivation device is positioned in the detection area and is in communication connection with each ultra-wideband positioning base station through ultra-wideband signals, so that the plurality of ultra-wideband positioning base stations can detect the current position of the movable cultivation device according to the ultra-wideband signals sent by the movable cultivation device; and

The driving device is connected with the movable cultivation device and is in communication connection with at least one ultra-wideband positioning base station so as to control the movable cultivation device to move when receiving a first control signal transmitted by the ultra-wideband positioning base station, and the first control signal is a control signal generated according to the current position of the movable cultivation device.

2. The soilless culture management system of claim 1, wherein the soilless culture management system is applied to a soilless culture room, the soilless culture room comprises a top surface and four side surfaces, the number of the ultra-wideband positioning base stations is five, and each ultra-wideband positioning base station is arranged on the top surface or one of the side surfaces.

3. The soilless culture management system of claim 2, wherein four of the UWB positioning base stations disposed on four sides are equidistant from the top surface.

4. The soilless culture management system of claim 1, wherein each of the ultra-wideband positioning base stations includes a first environmental sensor for detecting first environmental information of the detection area; the mobile cultivating apparatus includes:

The first ultra-wideband positioning tag is in ultra-wideband signal communication connection with each ultra-wideband positioning base station and comprises a second environment sensor, and the second environment sensor is used for detecting second environment information of the movable cultivation device;

the at least one ultra-wideband positioning base station is used for transmitting the first control signal to the driving device according to the first environment information and the second environment information.

5. The soilless culture management system of claim 4, wherein the first ultra-wideband positioning tag further comprises:

and the clock module is used for triggering the second environment sensor to detect the second environment information at a preset moment.

6. The soilless culture management system of claim 4, wherein the movable cultivation device further comprises:

the soilless culture frames are arranged at intervals; and

each second ultra-wideband positioning tag is connected to one soilless culture frame and is in ultra-wideband signal communication connection with the ultra-wideband positioning base stations, so that the ultra-wideband positioning base stations can detect the positions of the second ultra-wideband positioning tags according to ultra-wideband signals sent by the second ultra-wideband positioning tags; wherein

The driving device is connected with each soilless culture frame to control the soilless culture frames to move and/or rotate when receiving a second control signal transmitted by the ultra-wideband positioning base station, and the second control signal is a control signal generated according to the position of the second ultra-wideband positioning tag.

7. The soilless culture management system of claim 6, wherein each of the second ultra-wideband positioning tags includes a third environmental sensor for detecting third environmental information of a location where the soilless culture rack is located; and at least one ultra-wideband positioning base station is used for transmitting the second control signal to the driving device according to the first environment information and the third environment information.

8. The soilless culture management system according to any one of claims 1 to 7, further comprising:

the irrigation device is in communication connection with at least one ultra-wideband positioning base station and is used for irrigating the movable cultivation device when receiving a third control signal transmitted by the ultra-wideband positioning base station, and the third control signal is a control signal generated according to the current position of the movable cultivation device.

9. A soilless culture management method is characterized by being applied to a soilless culture management system, wherein the soilless culture management system comprises a plurality of ultra-wideband positioning base stations, a movable culture device and a driving device, any two ultra-wideband positioning base stations are connected through ultra-wideband signal communication, the radiation ranges of the ultra-wideband positioning base stations form a detection area, and the movable culture device is located in the detection area; the soilless culture management method comprises the following steps:

the movable cultivation device sends a first positioning signal to each ultra-wideband positioning base station;

at least one ultra-wideband positioning base station detects the current position of the movable cultivation device according to the received first positioning signal;

at least one ultra-wideband positioning base station sends a first control signal to the driving device according to the current position;

the driving device controls the movable cultivation device to move according to the received first control signal.

10. The soilless culture management method of claim 9, wherein the mobile cultivating device includes a first ultra-wideband positioning tag including a second environmental sensor;

The mobile cultivation device sends a first positioning signal to each ultra-wideband positioning base station, and the method comprises the following steps:

the first ultra-wideband positioning tag controls the second environment sensor to detect second environment information of the movable cultivation device;

and the first ultra-wideband positioning tag transmits the second environment information to each ultra-wideband positioning base station through an ultra-wideband signal.

11. The method for managing soilless culture of claim 10, wherein each of said ultra-wideband positioning base stations comprises a first environmental sensor; at least one ultra-wideband positioning base station sends a first control signal to the driving device according to the current position, and the method comprises the following steps:

each ultra-wideband positioning base station controls the first environment sensor to detect first environment information in the detection area;

and at least one ultra-wideband positioning base station sends a first control signal to the driving device according to the first environment information and the second environment information.

12. The soilless culture management method of claim 11, wherein the mobile culture device further comprises a plurality of soilless culture racks and a plurality of second ultra-wideband positioning tags, each of the second ultra-wideband positioning tags being connected to one of the soilless culture racks, the driving device being connected to each of the soilless culture racks, each of the soilless culture racks comprising a third environmental sensor; the soilless culture management method further comprises:

The second ultra-wideband positioning tag controls the third environment sensor to detect third environment information of the soilless culture frame;

the second ultra-wideband positioning tag transmits the third environment information to each ultra-wideband positioning base station through an ultra-wideband signal;

at least one ultra-wideband positioning base station transmits the second control signal to the driving device according to the first environment information and the third environment information;

and the driving device controls the soilless culture frame to move and/or rotate according to the received second control signal.

13. The method for soilless culture management of any one of claims 9 to 12 wherein said soilless culture management system further comprises irrigation means; after the movable cultivation device is moved to the target position, the soilless culture management method further comprises:

at least one ultra-wideband positioning base station sends a third control signal to the irrigation device according to the received first positioning signal;

and the watering device waters the movable cultivation device according to the received third control signal.

Images