Horticultural systems, methods for determining plant volume and related parameter data in horticultural systems.

Abstract

The present invention provides a gardening system (1) comprising a plurality of repeating gardening system units (100) and a control system (300), wherein: each gardening system unit (100) includes (i) a gardening unit space (110) and (ii) a radio transmission pair (120) arranged to monitor the gardening unit space (110), wherein the radio transmission pair (120) includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship; the control system (300) is configured to perform measurements in at least one gardening unit space (110) using the corresponding radio transmission pair (120) during a unit sensing phase (230). The control system (300) is also configured in an operating mode to: (i) perform a first signal sensing phase (231), wherein the first signal sensing phase (231) includes a unit sensing phase (230) having a first radio transmission pair (121) associated with the first horticultural unit space (111) to provide a first signal (241) to the control system (300); and (ii) determine plant-related parameter data based on (a) the first signal (241) and (b) a baseline signal (245), wherein the baseline signal (245) is based on a second signal (242) obtained by performing a second signal sensing phase (232), wherein the second signal sensing phase (232) includes a unit sensing phase (230) having a second radio transmission pair (122) associated with the second horticultural unit space (112) to provide a second signal (242).

Description

Technical Field

[0001] This invention relates to a horticultural system and a method for determining plant-related parameter data. Background Technology

[0002] Methods for sensing plant-related parameters are known in the art. For example, WO2015006675A2 describes a system for detecting plant parameters, comprising: a plant morphology sensor having a first field of view and configured to record morphological measurements of a plant part and the surrounding environment near the plant; a plant physiological sensor having a second field of view and configured to record plant physiological parameter measurements of a plant part and the surrounding environment near the plant, wherein the second field of view overlaps with the first field of view; a support for statically coupling the plant morphology sensor to the physiological sensor; and a computing system configured to: identify a set of plant pixels within the physiological measurements based on the morphological measurements, determine a physiological value for each pixel in the set of plant pixels, and extract growth parameters based on the physiological values. Summary of the Invention

[0003] Horticulture is a branch of agriculture that encompasses the art, science, technology, and commerce of cultivating plants. It may include the cultivation of medicinal plants, fruits, vegetables, nuts, seeds, herbs, sprouts, mushrooms, algae, seaweed, and non-edible plants such as grasses, ornamental trees, and flowers. Plants use the process of photosynthesis to convert light, CO2, and H2O into carbohydrates (sugars). These sugars are used to fuel metabolic processes and biomass formation. This biomass formation can include stem elongation, increased leaf area, flowering, and fruit formation.

[0004] Space available for food production may be increasingly scarce. Therefore, innovations in production methods may be needed to deliver higher yields from a smaller footprint, while becoming more sustainable (using minimal energy and water). Producing food in enclosed environments such as plant farms is one way to meet these needs. In plant farms (also known as plant factories, vertical farms, or urban farms), food can be grown on multiple levels, making better use of available space compared to outdoor or greenhouse growth. This means that in plant farms, natural sunlight will not reach all plants, and a significant proportion of light may need to come from artificial lighting. In plant farms, the expectation is to provide a controlled environment suitable (especially tailored for) plant cultivation.

[0005] Transporting flowers and plants in horticultural facilities has long been a labor-intensive but often highly profitable industry. Due to labor shortages, the industry has expanded into large-scale operations with a high degree of automation. The automation of conveyor belts and their applications extend beyond sorting, packaging, and shipping; nowadays, in many cases, plants are also grown on (long) conveyor belts. The pots used to grow them are sometimes placed directly on the conveyor belt, or they may be placed in special plastic trays.

[0006] In particular, it may be desirable to monitor plant growth in plant farms and take growth-related actions to improve growth outcomes, such as growth rate, differentiation, or disease / pest prevention, especially depending on identified plant-related parameters.

[0007] It has been observed that using a high-quality baseline as input to RF sensing algorithms can help in accurately estimating leaf quality in horticultural plants. Since plants in modern growing facilities are no longer stationary in these embodiments but can move along conveyor belts, creating a high-quality baseline for the moving plants at each new location is challenging. Because plants in modern growing facilities are no longer stationary but can move within the horticultural system, tracking plant development can be particularly challenging. For example, harmful environmental effects can be easily overlooked because plants do not linger in any particular location. The inventors also recognize that the timing of baseline establishment can be important for RF sensing of leaf quality, fruit quality, or other parameters in precision horticulture applications.

[0008] Therefore, one aspect of the present invention is to provide an alternative horticultural system and / or method for determining plant-related parameter data, which preferably further eliminates at least partially one or more of the aforementioned disadvantages. The object of the present invention is to overcome or improve upon at least one disadvantage of the prior art, or to provide a useful alternative.

[0009] In one aspect, the present invention provides a horticultural system comprising a plurality of horticultural system units for planting plants during a growth stage and a control system. In various aspects, the plurality of horticultural systems may be repeating horticultural system units. In an embodiment, each horticultural system unit includes (i) a horticultural unit space comprising plants at a corresponding growth stage, and (ii) a radio transmission pair arranged to monitor the horticultural unit space using radio frequency sensing. Specifically, the radio transmission pair includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship. Furthermore, in an embodiment, the control system is particularly configured to perform measurements in at least one horticultural unit space using the corresponding radio transmission pair during a unit sensing phase. Specifically, the control system is further configured in an operating mode to: (i) perform a sensing phase, and (ii) determine plant-related parameter data. Specifically, the control system is configured in an operating mode to perform a first signal sensing phase, wherein the first signal sensing phase includes a unit sensing phase having a first radio transmission pair associated with a first horticultural unit space (which in particular contains plants) of a first horticultural sensing unit, thereby providing the control system with an (associated) first signal. Specifically, the control system is configured to perform a second signal sensing phase in an operating mode, wherein the second signal sensing phase includes a unit sensing phase having a second radio transmission pair associated with a second horticultural unit space of the second horticultural system unit, thereby providing a second signal to the control system. Furthermore, specifically, the control system is configured in an operating mode to determine volumetric plant-related parameter data of plants in the first horticultural space based on (a) a first signal and (b) a baseline signal. Specifically, in an embodiment, the baseline signal is derived from the second signal obtained by performing the second signal sensing phase. The volumetric plant-related parameter data is selected from the group consisting of leaf volume, root volume, and fruit volume.

[0010] Therefore, in an embodiment, the present invention provides a horticultural system comprising a plurality of horticultural system units for planting plants in a growth stage and a control system, wherein: (i) each horticultural system unit includes (i) a horticultural unit space comprising plants in a corresponding growth stage, and (ii) a radio transmission pair arranged to monitor the horticultural unit space using radio frequency sensing, wherein the radio transmission pair includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship; (ii) the control system is configured to perform measurements in at least one horticultural unit space using the corresponding radio transmission pair during a unit sensing phase; (iii) the control system is further configured in an operating mode to: (i) perform a first signal sensing The measurement phase includes (i) a first signal sensing phase comprising a unit sensing phase having a first radio transmission pair associated with a first horticultural unit space (which contains plants), thereby providing a (related) first signal to the control system; (ii) performing a second signal sensing phase comprising a unit sensing phase having a second radio transmission pair associated with a second horticultural unit space of a second horticultural system unit, thereby providing a second signal to the control system; and (iii) determining volume plant-related parameter data of plants in the first horticultural space based on (a) the first signal and (b) the baseline signal, wherein the baseline signal is derived from the second signal obtained by performing the second signal sensing phase; wherein the volume plant-related parameter data is selected from the group including leaf volume, root volume and fruit volume.

[0011] Using this system, it is possible to reliably monitor plant development. Specifically, the system can help define a reliable baseline to which measurement results can be compared. Defining baselines at different locations is also possible. It is also possible to determine the baseline after the measurement, for example, immediately after the measurement, by measuring the baseline of the result in another horticultural unit space. Furthermore, this system allows for the determination of the baseline of mobile plants, and also allows for the determination of the baseline of growing mobile plants. Therefore, with this invention, the baseline can also be updated in a timely manner. Thus, this invention allows for the determination of the baseline of elements (such as plants) in a first horticultural unit space by determining the baseline in a second horticultural unit space. This provides freedom of time and place and also enhances controllability and reliability. Moreover, this invention allows for the monitoring of plants in a plant factory using existing infrastructure. Furthermore, this invention allows for the inclusion of microclimate parameters in the baseline.

[0012] In particular, existing horticultural infrastructure often has repetitive structures. For example, lighting, heating, and / or watering elements may be arranged in a repetitive pattern. Therefore, two or more spatially separated horticultural unit spaces can have (substantially) identical environmental (hardware) parameters, which can guide comparisons between measurements associated with these spaces. Environmental hardware parameters refer to, for example, conveyor belts, floors, irrigation infrastructure, lighting infrastructure, etc. Environmental parameters such as temperature, humidity, and lighting (see below) can be controllable in embodiments and can be individually controlled for different horticultural unit spaces in specific embodiments.

[0013] As mentioned above, a horticultural system can include multiple repeating horticultural system units. Here, the term "unit" is used because there may be repeating structures of plant positions and radio transmission pairs for these positions. For example, during plant growth, plants are placed in n different positions, such as a first position with empty pots, a second position with pots filled with substrate, a third position with pots filled with substrate and seeds or seedlings, a fourth position with pots during part of the growing season, a fifth position with pots during the later growing season, and a sixth position with pots for the harvest stage; then for each position, the associated radio transmission pair may be able to sense the pots, etc., at that specific location. For example, during a finite period of time, pots in a particular stage are sequentially positioned in different locations such that there is essentially no variation, and under the same conditions, the signals of the associated radio transmission pairs are assumed to be substantially the same. For example, the six different positions in this example could all be on the same conveyor belt. Therefore, the term horticultural system unit refers to a substantially identical part (or (physical) stage) of a horticultural system.

[0014] Therefore, each horticultural system unit includes (i) a horticultural unit space and (ii) a pair of radio transmissions arranged to monitor the horticultural unit space. Here, the term "horticultural space" refers to a portion of a space where plants can at least temporarily reside. These horticultural spaces can be physically separated portions, such as those separated by walls, boards, (plastic) curtains, etc.; however, in other embodiments, they can be different portions of the same space, such as the space above a conveyor belt. A set of one or more radio transmission pairs may be particularly well-suited for sensing in a specific horticultural space. Thus, a set of one or more radio transmission pairs can be dedicated to a specific horticultural space. Therefore, the phrase "associated with horticultural unit space" and similar phrases can also be interpreted as "for horticultural unit space" and similar phrases.

[0015] For adjacent garden spaces, a single radio transmission pair may belong to two sets of (two or more) radio transmission pairs. However, based on machine learning, network initialization phases, etc., a set of one or more radio transmission pairs can be used for sensing in a specific garden space. In embodiments, each garden system unit may also include multiple radio transmission pairs. Furthermore, in embodiments, a radio transmission pair may include a radio transmitter and a radio receiver arranged in a radio signal receiving relationship, and in a particular embodiment, a radio transmission pair includes one radio transmitter and multiple radio receivers arranged in a radio signal receiving relationship (with the radio transmitter).

[0016] A horticultural system may include n units. Specifically, n is at least 2, for example, at least 4, such as at least 8 units. However, there can be more units, for example, in the range of 4-1000, or even more. Each horticultural system unit includes a horticultural unit space. Each space can be configured to accommodate a single plant or a single item of plant size. However, the space can also be chosen to be larger, for example, configured to accommodate a tray with multiple plants. Thus, the space can have a diameter of 0.5 dm. 3 Up to 500 m 3 The size is not limited to any particular size, although other sizes are also possible. When a smaller size is chosen, fewer plants can be measured. A larger size may provide less plant-specific information. Therefore, in this embodiment, each gardening unit space may include one or more plant locations.

[0017] Before explaining some other aspects related to the system, we first give some attention to the use of gardening and radio transmission pairs.

[0018] It may be desirable to monitor plant growth in a plant farm and take growth-related actions to improve growth outcomes, such as growth rate, differentiation, or disease / pest prevention, especially depending on identified plant-related parameters.

[0019] Even approximate estimates of plant quality (such as total leaf weight) can provide growers with valuable insights. For example, leaf weight estimates can be used to detect defects in plant growth and predict yield at harvest. Deviations from expected leaf appearance, plant quality, and growth behavior may prompt growers to examine a particular area of ​​their horticultural system for disease or unusual environmental conditions, or to adjust certain control parameters (such as irrigation or nutrient application).

[0020] Plants in horticultural systems can currently be observed primarily by hand and / or with the aid of a camera. Manual observation can be cumbersome and time-consuming, while camera observation may be limited to a frontal view.

[0021] Furthermore, current state-of-the-art plant monitoring solutions may utilize robots, which can potentially disturb the plants; for example, it is well known that horticultural AI sensing robots can damage stems and leaves when they physically move cameras within the canopy.

[0022] Therefore, the need for a reliable, non-invasive assessment of horticultural plant growth remains unmet. Furthermore, camera-based image processing can only provide indications of plant size and shape. Consequently, measuring the volume or weight of the plant canopy before harvest can be challenging with current technologies; for example, multispectral image processing may provide insufficient volumetric information as it may rely on 2D or stereo camera images. To achieve stereoscopic observation using existing technologies, growers might need to install numerous cameras at close range throughout the entire indoor farming space, which could be both disruptive to the horticultural process and economically impractical.

[0023] This invention provides the benefit of determining plant-related parameters via radio signals. When radio signals interact with an object (here, particularly a plant), the radio signals can be affected, such as by partial absorption, diffraction, scattering, and reflection. The type and extent of this effect can depend on a variety of factors, including, for example, the object's material, shape, size, radio frequency, etc. Therefore, by providing radio signals from a radio transmitter to a radio receiver via a radio path that at least partially traverses the horticultural space, observation can be made relative to plants arranged in the horticultural space; that is, the radio signals can at least partially traverse (or "propagate through") the horticultural space, and observation can be made based on changes in the radio signals relative to plants arranged in the horticultural space. In particular, the method of this invention facilitates the sensing of volumetric plant-related parameters, such as leaf volume, root volume, or fruit volume.

[0024] Existing technologies might generally consider the interaction between plants and radio signals undesirable because plants can interfere with radio communications, particularly acting as interference in the radio path and causing absorption, blockage, and scattering of radio signals. However, here, this interaction is utilized to provide improved sensing of plant-related parameters.

[0025] Specifically, the present invention may involve sensing using radio frequency (RF) to analyze changes in wireless signal strength and / or wireless multipath propagation, particularly compared to a baseline (see below); RF sensing measurements can be performed during plant growth, and the RF sensing baseline can be recorded. The RF sensing baseline may preferably involve supports and substrates in which there are no seeds, tulip bulbs, or seedlings. The RF sensing baseline may also be recorded before significant plant growth occurs (in the seedling stage, RF sensing will be dominated by the horticultural space, particularly the horticultural arrangement (such as support + substrate)). By comparing the RF sensing measurements with a (plant-free) baseline, the current (average) density of the canopy in the horticultural space can be determined.

[0026] Furthermore, anomalies can be detected, for example, such as accidental leaks in pipes or clogged sprinklers, unwanted condensation on plants (which can lead to mold growth), or even airflow within the horticultural system (which may "dry" leaves more quickly after water misting). RF sensing can be used, for instance, to create irrigation heat maps, visualizing localized non-uniformities in irrigation or ventilation systems within a horticultural system for growers, and thus helping to promote more even growth across plants.

[0027] In one embodiment, the radio transmitter and radio receiver can be arranged such that the radio path between them traverses at least a portion of the garden space. Specifically, the radio receiver can be configured to receive radio signals from the radio transmitter, particularly along the radio path.

[0028] The term "radio transmitter" herein may refer to any device capable of transmitting radio signals. The term "radio signal" herein may, in particular, refer to radiation having a frequency selected from a range of radio frequencies, especially the 0.5-120 GHz range. In embodiments, the radio transmitter may comprise (a first) radio, i.e., an element capable of both transmitting and receiving radio signals.

[0029] The term "radio receiver" herein can refer to any device capable of receiving radio signals and providing associated receiver signals. Specifically, a radio receiver can be configured to receive radio signals from a radio transmitter; that is, the radio receiver can be configured to receive radio signals transmitted by the radio transmitter. In particular, a radio receiver can be configured to passively receive radio signals transmitted by a radio transmitter, i.e., receive signals from the transmitter, but without being specifically timed / choreographed to know precisely when a transmission will occur. In other words, with respect to passive reception, it is not a coordinated sequence where the receiver knows exactly when each device will transmit (potentially as a response to a triggering event of the receiver transmitting first); instead, the receiver is listening for any type of command, and if it receives a message intended for sensing, it can apply a specific action as needed. Furthermore, in embodiments, passive sensing can also refer to a situation where the device receiving the message is not the same device as the device transmitting the message, which is the opposite of what might happen in radar-based technologies, where a single device transmits a signal and determines parameters based on the reflection of the received signal. In embodiments, the radio receiver may be comprised of (secondary) radio.

[0030] The term "radio path" (also known as "wireless communication path") may refer herein to the path between a radio transmitter and a radio receiver, where radio signals transmitted by the radio transmitter can propagate along the radio path before being detected by the radio receiver. When the radio path traverses at least a portion of a garden space, the radio signals received by the radio receiver may include information relating to the garden space. Given that radio signals may be reflected by objects, there may also be multiple radio paths between the radio transmitter and the radio receiver. Typically, in embodiments, there may be multiple radio paths between the radio transmitter and the radio receiver. In embodiments, the radio path may in particular be a (substantially) straight path between the radio transmitter and the radio receiver.

[0031] In embodiments, radio signals may specifically indicate control commands arranged for controlling electrical equipment. Electrical equipment may in particular be horticultural equipment, such as lighting fixtures, sensors, and / or actuators (see also below). Therefore, in embodiments, radio signals already used for controlling electrical equipment in a horticultural environment (especially a horticultural system) (first function) can be used for RF-based sensing (second function), especially after an alternative using dedicated RF signals for RF-based sensing.

[0032] In an embodiment, the method may include a (unit) sensing phase. The (unit) sensing phase may include performing measurements in at least one horticultural unit space using a corresponding radio transmission pair. Specifically, the sensing phase may include emitting (also referred to as "transmitting") a radio signal using a radio transmitter. The sensing phase may also include detecting (or "receiving") the radio signal using a radio receiver and providing associated (receiver) signals, particularly raw and / or processed associated receiver signals. The sensing phase may further include determining the values ​​of plant-related parameters based on the receiver signals.

[0033] The term "correlated receiver signal" herein can refer to any signal provided by a radio receiver that is related to, and in particular is at least partially based on or derived from, a radio signal detected by the radio receiver. Therefore, a related receiver signal can include the original radio signal (such as that received). Furthermore, a related receiver signal can include processed radio signals; for example, a related receiver signal can include message parameters extracted from a radio signal (such as that received).

[0034] In embodiments, the determination phase may include performing (computational) analysis, particularly computational algorithms, to determine plant-related parameters based on receiver signals. The sensing phase may specifically include determining plant-related parameters based on a comparison between the receiver signals and radio signals (transmitted by a radio transmitter), taking into account a baseline signal. Those skilled in the art will appreciate that radio signals will be affected by the plant in a plant-part-specific and wavelength-specific manner, thereby facilitating the determination of plant-related parameters.

[0035] In a specific embodiment, the present invention provides a method for sensing plant-related parameters in a horticultural space, wherein (i) a radio transmitter and a radio receiver are arranged such that a radio path between the radio transmitter and the radio receiver traverses at least a portion of the horticultural space, and (ii) the radio receiver is configured to receive radio signals from the radio transmitter, wherein the method includes a sensing phase comprising: transmitting a radio signal with the radio transmitter; detecting the radio signal with the radio receiver and providing a related receiver signal; and determining plant-related parameters based on the receiver signal.

[0036] Sensing plant-related parameters can benefit from sensing from multiple angles and / or multiple sides, for example. In particular, different radio paths may be better suited for specific plant-related parameters. Therefore, multiple radio paths may potentially lead to the measurement of more plant-related parameters and the acquisition of higher quality measurements, such as, for example, measurements of volumetric plant parameters.

[0037] Therefore, in embodiments, multiple radio transmitters and / or radio receivers may be arranged in and / or around the garden space. Specifically, multiple radio transmission pairs may be configured in a radio signal receiving relationship, wherein each radio transmission pair includes a corresponding radio transmitter and a corresponding radio receiver, arranged such that a corresponding radio path between the corresponding radio transmitter and the corresponding radio receiver traverses at least a portion of the garden space.

[0038] In another embodiment, multiple radio transmitters may be arranged in and / or around the plant cultivation space, particularly in the respective horticultural unit space. In such an embodiment, the sensing phase may include the sequential transmission of radio signals from one of the multiple radio transmitters, particularly from a single radio transmitter among the multiple radio transmitters. Furthermore, the sensing phase may include the continuous detection of the sequentially transmitted radio signals using a radio receiver.

[0039] In another embodiment, multiple radio receivers may be arranged in and / or around a gardening unit space (also indicated as a "gardening space"). In such an embodiment, the sensing phase may include sequentially transmitting radio signals from a radio transmitter and continuously detecting the sequentially transmitted radio signals with multiple radio receivers. In another embodiment, multiple radio transmitters and radio receivers may be arranged in and / or around a gardening space. In yet another embodiment, multiple radio communication pairs may be arranged in and / or around a gardening space, particularly where each radio communication pair may include a corresponding radio transmitter and a corresponding radio receiver. In such an embodiment, the sensing phase may include simultaneously transmitting radio signals from at least a portion of the radio transmitters of the multiple radio communication pairs, particularly simultaneously transmitting radio signals from a single radio transmitter in the multiple radio communication pairs. Furthermore, the sensing phase may include continuously detecting the simultaneously transmitted radio signals with corresponding radio receivers. In particular, in another embodiment, the radio may include a radio transmitter and a radio receiver, wherein the radio transmitter is configured to receive radio signals from a second radio receiver, and wherein the radio receiver is configured to receive radio signals from a second radio transmitter, and wherein the radio sensing phase includes simultaneously (or: "concurrently") transmitting radio signals from the radio transmitter and the second radio transmitter, and detecting the simultaneously transmitted radio signals with the second radio receiver and the radio receiver, respectively.

[0040] In embodiments, a radio transmitter may be included in a first gardening device (or “first gardening element”), and / or a radio receiver may be included in a second gardening device (or “second gardening element”). Specifically, the radio transmitter and / or radio receiver may be integrated into gardening devices (or “elements”) commonly used in gardening systems. For example, in another embodiment, the first (or second) gardening device may include one or more of a gardening light generating device, a gardening light control element (especially a wall switch or occupancy sensor), a (gardening tray) actuator, a sensor, a gardening temperature control element, a gardening robot, etc. In another embodiment, the gardening device may include a gardening light generating device.

[0041] In an embodiment, the gardening system may include a plurality of gardening devices, a plurality of radio transmitters and a plurality of radio receivers, wherein each of the plurality of gardening devices (at least a portion) includes a (corresponding) radio transmitter among the plurality of radio transmitters, and wherein each of the plurality of gardening devices (at least a portion) includes a (corresponding) radio receiver among the plurality of radio receivers.

[0042] Integrating radio transmitters and / or receivers into commonly used gardening components offers the following advantages: the radio transmitters and / or receivers are integrated into components already present in the gardening system, rather than requiring additional components that would otherwise require dedicated space. Integrating multiple radio transmitters (at least a portion) and / or multiple radio receivers (at least a portion) into gardening light generating devices can be particularly beneficial, as these devices are typically distributed throughout the gardening space. Specifically, the gardening light generating devices can be arranged in a spatially repeating pattern, which can aid in analyzing receiver signals and can help extrapolate suitable sensing parameters determined for one radio transmitter pair to a second radio transmitter pair.

[0043] Therefore, in another embodiment, multiple radio transmitters and radio receivers may be spatially arranged in and / or around the garden space according to a repeating pattern.

[0044] Plant-related parameters can include any parameter related to the cultivation of a plant (in a horticultural space). Furthermore, the term "plant-related parameter" can also refer to multiple plant-related parameters.

[0045] In an embodiment, plant-related parameters may include plant volume parameters, particularly those selected from the group consisting of leaf density, leaf size, leaf length, leaf volume, stem volume, root volume, fruit volume, seed volume, and nut volume—especially those selected from the group consisting of leaf volume, stem volume, root volume, fruit volume, seed volume, and nut volume.

[0046] In this embodiment, plant-related parameters can be selected from a group including leaf size, plant temperature, plant leaf temperature, plant root temperature, plant stem length, plant fruit size, etc.

[0047] In another embodiment, plant-related parameters may include growth-related parameters, particularly those selected from the group consisting of air-related parameters, substrate-related parameters, leaf volume, and weed volume. For example, growth-related parameters may include weed volume, where weed volume may specifically refer to the volume of a second unwanted plant that negatively impacts plant growth, particularly where the second unwanted plant can be used as a means of vertical support by the desired first plant to allow more light to reach higher areas of the plant canopy (similar to vines on a tree).

[0048] Those skilled in the art will understand that different categories of plant-related parameters are not necessarily mutually exclusive. For example, leaf volume can be both a plant volume parameter and a growth-related parameter, since leaves perform photosynthesis and thus contribute to plant growth.

[0049] In one embodiment, the horticultural space may include a substrate. The term "substrate" may, in particular, refer to a surface or material on which plants live, grow, and / or obtain their nutrients. The substrate may, in particular, at least partially surround the roots of the plants. In another embodiment, the substrate may include soil. In yet another embodiment, the substrate may include rock wool.

[0050] In another embodiment, the radio path may traverse at least a portion of the substrate, wherein plant-related parameters include substrate-related parameters selected from the group consisting of substrate moisture level, substrate salinity level, substrate moisture uniformity, substrate density, substrate thickness, foreign objects (such as stones and / or wood blocks and / or another plant and / or animal) and substrate nutrient parameters (particularly nitrogen level, or particularly nitrogen level uniformity). Since the substrate provides support and nutrition to the plants, its state can at least partially determine the plant's growth outcome. Therefore, by sensing substrate-related parameters using the method of the present invention, the substrate can be analyzed (over time), and the substrate can be modified if determined to be necessary or beneficial. For example, if it is determined that the substrate moisture level is considered too low (or too high), or if the substrate moisture uniformity is insufficient, this can inform and improve future watering actions.

[0051] The interaction between plants and radio signals is particularly dependent on the frequency of the radio signals. For example, different radio frequencies can be absorbed by plants at different rates, especially by plant leaves, which may further depend on whether the plant is in the foliage. Similarly, fruits often have a different size than leaves and may therefore primarily affect radio frequencies that are different from those of plant leaves. Furthermore, depending on the exposed plant part and the radio frequency, radio signals can have positive and / or negative effects on plant growth.

[0052] Therefore, in one embodiment, the radio signal can be selected based on input parameters, which are selected from plant characteristics, time-related parameters, and environmental parameters. In another embodiment, the radio signal can be selected from the range of 0.5-120 GHz, particularly the range of 0.9-60 GHz. Generally, the higher the radio frequency, the more the plant absorbs it. However, absorption (and other types of interaction) can vary, for example, for different plant types, leaf shapes, and leaf sizes. In particular, higher frequencies may be more affected by (smaller) leaves because the size of the leaves may be within the range of the radio wavelength (a few centimeters), i.e., if the size of the plant leaves is comparable to the wavelength of the radio signal, the radio signal may be significantly scattered by the leaves. Essentially, the higher the frequency, the more sensitive the RF signal is to smaller objects. Specifically, the interaction between the RF signal and the object may be stronger when the wavelength of the RF signal is approximately equal to or smaller than the wavelength of the object. Therefore, by selecting a frequency, the sensitivity to different plant (parts) can be determined. For example, in one embodiment, a frequency selected from the range of 0.5 GHz to 5.0 GHz can be selected to detect fruit and / or (large) leaves. In another embodiment, a frequency selected from the range of 20-120 GHz, particularly 25-100 GHz, can be chosen to detect plant roots. Those skilled in the art will appreciate that different frequencies may be suitable for detecting the same plant parts of different types of plants.

[0053] Furthermore, some radio frequencies can negatively affect parts of a plant. For example, radio frequencies of approximately 900 MHz have been described as inhibiting root growth in certain legumes by inducing oxidative stress. Therefore, radio frequencies can be selected to avoid the negative effects of radio signals on parts of the plant. Thus, in specific embodiments, different parts of the plant may be exposed to different radio frequencies.

[0054] Therefore, in another embodiment, the method may include selecting a radio frequency based on plant characteristics—particularly plant characteristics selected from the group consisting of plant type, plant growth stage, fruit shape, fruit size, leaf shape, and leaf size.

[0055] For RSSI sensing, scattering (from leaves) can be disadvantageous. Therefore, in another embodiment, plant leaves may have an average leaf size d. L The method may include selecting a radio frequency such that the corresponding radio wavelength is at least 2.0 d. L In particular, the leaf size is the leaf length, or in particular, the leaf size is the leaf width.

[0056] For CSI sensing, scattering (e.g., by leaves) can be advantageous. Therefore, in another embodiment, plant leaves may have an (average) leaf size d. L The method may include selecting a radio frequency such that the corresponding radio wavelength is within 0.5 d. L -2.0 d L Within a certain range, particularly where the leaf size is leaf length, or particularly where the leaf size is leaf width. For example, in an embodiment, the corresponding wavelength can be selected from the range of 1 mm to 20 cm. A wavelength of about 1 mm can, for example, be suitable for pine-like (especially spike-like) leaves, while a wavelength of about 20 cm can, for example, be suitable for broad leaves of small trees.

[0057] The term "radio signal" can also refer to multiple radio signals. Similarly, the term "radio frequency" can refer to multiple radio frequencies. In embodiments, the sensing phase may include sequentially transmitting radio signals using a radio transmitter, particularly wherein the sequentially transmitted radio signals include one or more different radio frequencies. For example, during the sensing phase (such as at a specific growth stage of a plant), different radio frequencies may be provided (sequentially) to detect fruit (e.g., tomato) and leaves (as associated with plant-related parameters).

[0058] In another embodiment, the radio frequency may be selected from one or more of 0.9 GHz, 1.3 GHz, 2.0 GHz, 2.4 GHz, 5 GHz, 11.6 GHz, and 60 GHz.

[0059] Water in plants may absorb more frequencies than others; those frequencies are likely to be most affected by plants. In particular, some microwave frequencies (in the GHz range) can closely match the rotational frequency of water and can cause water molecules to rotate, which can lead to a strong absorption effect in plant material. Therefore, in this embodiment, a radio frequency can be selected to match the rotational frequency of water.

[0060] The term “plant type” may refer in this text to plants adapted to a particular environment, such as tropical plants or aquatic plants, but may further refer in this text to a specific species (or genus) of a plant (especially a crop).

[0061] In particular, given the characteristics of plants, radio frequencies can be selected such that the radio signal is strongly influenced by plant-related parameters. For example, if plant-related parameters include leaf volume, radio frequencies can be selected based on the plant's leaf shape and size—especially the expected leaf shape and size for the plant type at its current growth stage—so that the plant's leaves have a strong and distinguishable influence on the radio signal. Thus, for example, when selecting a radio signal for sensing leaf volume, fruit shape and / or fruit size can also be considered to select radio frequencies where leaves provide a distinguishable influence from the fruit.

[0062] In another embodiment, the method may include selecting a radio frequency based on predetermined plant-related parameters (in particular predetermined values ​​for the plant-related parameters). Specifically, in such an embodiment, the radio frequency may be adjusted as the plant grows to, for example, compensate for more and / or larger leaves (or fruits).

[0063] Radio signals can include narrowband signals and / or wideband signals, especially wideband signals. In particular, wideband signals can include multiple subcarriers, while narrowband signals include a single subcarrier. In embodiments, wideband signals may specifically include Wi-Fi signals.

[0064] In this document, the term "plant" is used to refer essentially to any species selected from medicinal plants, vegetables, herbs, buds, mushrooms, nut-bearing plants, seed-bearing plants, flowering plants, fruit-bearing plants, non-edible crops (such as grasses and ornamental trees), etc. The term "plant" in this document specifically refers to the phylum Archaea. Archaea is a major group of eukaryotes, including red algae (Rhodophyta), green algae, and terrestrial plants (including aquatic plants), as well as a small group of freshwater unicellular algae called cyanobacteria. Therefore, in some embodiments, the plant can be a terrestrial plant. In other embodiments, the plant can be algae (such as one or more green and red algae and unicellular algae called cyanobacteria). Furthermore, the term "plant" in this document can refer to substantially all stages of plant development. The term "plant" can in particular refer to a variety of (different) plants.

[0065] The term "plant part" in this text specifically refers to a part of a plant, such as roots, stems, leaves, fruits (if any), flowers (if any), nuts (if any), etc. Furthermore, the term "plant part" can specifically refer to multiple (different) plant parts.

[0066] Plant-related parameters can include any parameters related to the plant, especially plant volume parameters, or growth-related parameters (such as environmental parameters).

[0067] A plant can be, in particular, a crop. The term "crop" as used herein may refer to a plant species or variety cultivated for harvest as, for example, food, livestock feed, fuel, or for any other economic purpose. The term "crop" may also refer to a variety of crops. In particular, the term "crop" as used herein may refer to food crops (tomatoes, peppers, cucumbers, and lettuce), as well as plants that (potentially) produce such crops, such as tomato plants, pepper plants, cucumber plants, etc. Examples of crop plants are rice, wheat, barley, oats, chickpeas, peas, cowpeas, lentils, mung beans, black beans, soybeans, common beans, broad beans, flaxseeds, sesame, khesari, sunflowers, eggplants, tomatoes, cucumbers, okra, peanuts, potatoes, corn, pearlweed, rye, alfalfa, radishes, cabbage, lettuce, peppers, sunflowers, beets, castor beans, red clover, white clover, safflower, spinach, onions, garlic, turnips, squash, melons, watermelons, cucumbers, pumpkins, kenaf, oil palm, carrots, coconuts, papayas, sugarcane, coffee, cocoa, tea, apples, pears, peaches, cherries, grapes, almonds, strawberries, pine apples, bananas, cashews, Irish cabbage, cassava, taro, rubber, sorghum, cotton, rye, pigeon peas, and tobacco.

[0068] A horticultural unit space (or “plant cultivation space”) can refer to any space dedicated to growing plants (especially in a horticultural setting). The term “horticulture” as used herein can refer to (intensive) plant cultivation for human use, and its activities are very diverse, including edible plants (fruits, vegetables, mushrooms, culinary herbs, including animal feed) and non-edible plants (flowers, trees and shrubs, lawn grasses, hops, grapes, herbs). Specifically, the term “horticultural space” as used herein can refer to any space that uses grow lighting fixtures (providing artificial light) to promote plant growth. In the future, this may extend beyond vertical cultivation or greenhouses to outdoor environments where artificial lighting complements daylight and enhances plant growth.

[0069] In embodiments, horticultural space can specifically refer to a space comprising one or more of substrate, air, and water, wherein the horticultural space is configured to house plants. For example, in a vertical farm, horticultural space may include a volume substantially defined by a horticultural arrangement, such as a tray. Typically, for example, a vertical farm may include multiple horticultural spaces separated by walkways and / or (layered) horticultural arrangements.

[0070] In another embodiment, broadband signals (especially 60 GHz Wi-Fi) can be used to monitor leaf movement, for example, to detect unwanted airflow within a greenhouse.

[0071] In this embodiment, the radio transmitter and receiver can be positioned at different heights, particularly relative to the top of the (plant's) canopy, or particularly relative to the floor in the horticultural space. This can be particularly beneficial for sensing plant-related parameters concerning the plant canopy. Furthermore, when the radio transmitter and receiver are positioned at different heights, the influence of ambient radio signals may be less, resulting in a relatively larger contribution to the absorption of the measurement signal.

[0072] In embodiments in which multiple radio transmitters and / or radio receivers are arranged, the multiple radio transmitters and / or radio receivers can be arranged at different heights. Therefore, during the sensing phase, plant-related parameters can be determined for different parts of the plant, particularly different heights of the plant canopy. For example, the method may include determining the average leaf mass per unit area at different heights within the plant canopy (e.g., the top third, middle, and bottom third of the plant).

[0073] In one embodiment, the horticultural space may include a predetermined volume for plant growth. Specifically, the horticultural space may have a volume starting from 100 cm². 3 - 100 m 3 The volume is selected within a certain range. If the distance between the radio transmitter and the radio receiver is too small, the influence of the horticultural space on the radio signal may be insufficient, especially, for example, when the plants are seedlings with small canopies. Furthermore, if the distance is too small, the radio receiver (antenna) may become saturated and changes may not be measurable. However, similarly, if the distance between the radio transmitter and the radio receiver is too large, the signal-to-noise ratio of the radio signal may be negatively affected. Therefore, in the embodiment, the (shortest) distance between the radio transmitter and the radio receiver can be selected from a range of 10 cm to 10 m (especially from a range of 50 cm to 10 m).

[0074] The gardening space defined above can include multiple gardening unit spaces (see also above).

[0075] In addition, the horticultural system includes a control system. The control system is specifically configured to control the radio transmission pair. However, the control system may also be included within a larger control system that controls one or more other devices within the horticultural system, or may be configured to control one or more other devices within the horticultural system.

[0076] The term "control" and similar terms specifically refer at least to determining the behavior of an element or supervising the operation of an element. Therefore, "control" and similar terms as used herein can refer, for example, to applying behavior to an element (determining behavior or supervising the operation of the element), such as, for example, measuring, displaying, actuating, turning on, moving, changing temperature, etc. In addition, the term "control" and similar terms can additionally include monitoring. Therefore, the term "control" and similar terms can include applying behavior to an element, as well as applying behavior to an element and monitoring the element. Control of the element can be accomplished using a control system, which can also be indicated as a "controller." Therefore, the control system and the element can be functionally coupled, at least temporarily or permanently. The element can include a control system. In embodiments, the control system and the element may not be physically coupled. Control can be accomplished via wired and / or wireless control. The term "control system" can also refer to multiple different control systems, which are particularly functionally coupled, and one of these control systems may be a master control system, and one or more other control systems may be subordinate control systems. The control system may include or may be functionally coupled to a user interface.

[0077] The control system can also be configured to receive and execute commands from a remote control. In an embodiment, the control system can be controlled via an app on a device—such as a portable device (e.g., a smartphone, iPhone, tablet, etc.). Therefore, the device is not necessarily coupled to the lighting system, but can be (temporarily) functionally coupled to it.

[0078] Therefore, in embodiments, the control system can (and may also) be configured to be controlled by an app on a remote device. In such embodiments, the control system of the lighting system can be a subordinate control system or control in a subordinate mode. For example, the lighting system can be identified by a code, specifically a unique code for the corresponding lighting system. The control system of the lighting system can be configured to be controlled by an external control system that accesses the lighting system based on knowledge of the (unique) code (via user interface input through an optical sensor, such as a QR code reader). The lighting system may also include components for communicating with other systems or devices, such as those based on Bluetooth, Wi-Fi, LiFi, ZigBee, BLE, or WiMAX, or other wireless technologies.

[0079] The system, apparatus, or device can perform actions in a “mode,” “operating mode,” or “mode of operation.” Similarly, in a method, an action, stage, or step can be performed in a “mode,” “operating mode,” “mode of operation,” or “operable mode.” The term “mode” can also indicate “control mode.” This does not preclude the system, apparatus, or device from being adapted to provide another control mode, or multiple other control modes. Likewise, this does not preclude the possibility of performing one or more other modes before and / or after performing this mode.

[0080] However, in embodiments, a control system may be available that is adapted to provide at least a control mode. If other modes are available, the selection of such modes can be performed, in particular, via a user interface, although other options—such as performing modes based on sensor signals or (time) schemes—may also be possible. In embodiments, an operating mode may also refer to a system, device, or apparatus that can only operate in a single operating mode (i.e., "on," without additional tunability).

[0081] Therefore, in this embodiment, the control system can be controlled based on one or more of the following: input signals from the user interface, sensor signals (from sensors), and timers. The term "timer" can refer to a clock and / or a predetermined timing scheme.

[0082] The control system is configured to perform measurements in at least one horticultural unit space using corresponding radio transmissions during the unit sensing phase. Essentially, this means that the control system has a basic action or operation that involves the control system associated with at least one horticultural unit space performing measurements using radio transmissions associated with that respective horticultural unit space. This execution of the action, which can be controlled by the control system, is referred to herein as the unit sensing phase. This term refers, on the one hand, to the sensing phase associated with the horticultural unit space, but on the other hand, it also indicates that the operation or action can be performed multiple times in each horticultural unit space, and therefore can also have a repetitive structure (but then at a methodological level).

[0083] This action or operation can be used to sense, for example, a plant, or a pot, or a potted plant in a horticultural unit phase. This is done to determine one or more horticultural parameters, or horticultural parameters as a function of time, etc. These are also referred to herein by the general term "plant-related parameter data." However, to obtain a reliable signal, it is useful to compare this signal with a baseline signal. Therefore, the method can at least include a sensing phase and a phase for determining plant-related parameter data based on a comparison of the signal from the sensing phase with a baseline signal. The first phase can be the execution of the aforementioned action or operation. The latter (i.e., baseline determination) can be the result of executing the aforementioned action or operation, or a stored result based on (earlier) baseline determination. Therefore, the baseline can be determined earlier, simultaneously, or later.

[0084] Therefore, specifically, the control system is also configured to perform a first signal sensing phase in an operating mode, wherein the first signal sensing phase includes a unit sensing phase having a first radio transmission pair associated with a first horticultural unit space (which contains, for example, plants), thereby providing the control system with an (associated) first signal. During the sensing phase, the horticultural unit space will typically contain items selected from plant supports (also referred to herein as plant holders), such as plant pots or trays, plant pots or trays with substrate, plant pots or trays with substrate and seedlings or plants, etc. The objects contained in the horticultural unit space may depend on the growth stage and / or location within the horticultural system (or horticultural space). In particular, during the first signal sensing phase, the horticultural unit space may include plants.

[0085] Depending on the target to be measured, a desired baseline may be used. For example, referring to the above-described non-limiting examples of plant supports, plant pots, plant pots with substrate, plant pots with substrate and seedlings or plants, etc., a baseline may be determined in another horticultural space without any of these. However, depending on the type of information required, it may also be possible, for example, that (i) another horticultural space with plant supports can be used to determine the baseline of a horticultural space with plant pots, (ii) another horticultural space with plant pots can be used to determine the baseline of a horticultural space with plant pots with substrate, (iii) another horticultural space with plant pots with substrate can be used to determine the baseline of a horticultural space with plant pots with substrate and seedlings or plants, and so on.

[0086] In this embodiment, the control system has access to one or more different baselines, and / or can generate one or more different baselines by performing basic actions or operations related to (another) gardening unit space. Baseline generation can be completed before the first signal sensing phase. Alternatively or additionally, baselines can also be generated during or after the first sensing phase. This is possible because of the fact that multiple substantially identical gardening unit spaces exist.

[0087] In this document, the term "horticultural unit space" is used particularly generally for any horticultural unit space. The term "first horticultural unit space" is used herein to refer to one of the horticultural unit spaces in which a first signal sensing phase is applied, and it will generally include, for example, plant supports, plant pots, plant pots with substrate, plant pots with substrate and seedlings or plants. The term "second horticultural unit space" may be used instead of the terms "other horticultural unit spaces" or "other horticultural spaces." The term "second horticultural unit space" is used herein to refer to one of the horticultural unit spaces in which a second signal sensing phase is applied, and it will generally include, for example, an early stage of a horticultural unit space without plant supports, or without plant pots, or without plant pots but without substrate, or with plant pots with substrate but without seedlings or plants, or without plant pots with substrate containing seedlings or plants but in an earlier stage (later in the growth stage) than the (first) horticultural unit space with substrate containing seedlings or plants.

[0088] Therefore, specifically, the control system is also configured to determine plant-related parameter data in operating mode based on (a) a first signal and (b) a baseline signal, wherein the baseline signal is based on a second signal obtained by performing a second signal sensing phase, wherein the second signal sensing phase includes a unit sensing phase having a second radio transmission pair associated with the second horticultural unit space, thereby providing the (related) second signal. As mentioned above, the second signal can be retrieved from a library accessible to the control system, and / or the execution of the second signal sensing phase can be performed before (or during or after) the first signal sensing phase.

[0089] However, specifically, in an embodiment, the control system is configured to perform a second signal sensing phase (with a second radio transmission pair for the second horticultural unit space) in an operating mode prior to the first signal sensing phase. Specifically, this can be performed when the same element (e.g., a plant) is first available in the second horticultural space, during which a reference signal is generated for the element in the second horticultural space, and subsequently available in the first horticultural space, during which a first signal is generated for the element in the first horticultural space in the latter phase.

[0090] Instead of the term "sensing stage", the terms "sensing phase" or "sensing step" can also be used.

[0091] The term "baseline" can refer to a reference value, such as, for example, background noise levels, or sensor signals from a project in its early stages (see the example above). The term "baseline" can also refer to time-dependent data, such as data that varies over time. The term "baseline" can also refer to different parameters that can be considered. For example, the term "baseline" can refer to two or more baselines determined under different conditions—such as different temperature and / or different humidity conditions, different lighting conditions, different irrigation conditions, different nutrient flow conditions, etc.

[0092] The first signal may also contain information from which baseline information can be derived or verified. For example, spikes and noise can also be determined from the first signal. In this way, information derived from the first signal can be used to verify the baseline in the embodiments. In this way, the combination of the first and second signals can allow for a better definition of the baseline than based solely on the second signal. Therefore, in the embodiments, the control system is configured to determine the baseline signal based on the first and second signals in an operating mode.

[0093] As described above, the present invention is particularly useful when multiple essentially identical system units with substantially identical radio transmission pairs and substantially identical horticultural unit spaces exist. Therefore, in embodiments, at least one of the horticultural unit spaces and the second horticultural unit space may have a substantially identical configuration of radio transmission pairs relative to the corresponding horticultural unit space. Furthermore, in certain embodiments, each horticultural system unit may have a substantially identical configuration of radio transmission pairs relative to the corresponding horticultural unit space. The horticultural unit space may have a volume for which one or more corresponding radio transmission pairs are particularly suitable for determining sensor signals. Therefore, in embodiments, each horticultural system unit may have a substantially identical configuration of radio transmission pairs relative to the corresponding plant support (e.g., plant holder, such as a plant pot or tray) in the horticultural unit space. In particular, during use of the system, multiple horticultural unit spaces include the same plant holder. In embodiments, the plant holder may also include a tray with one or more (especially multiple) plant pots.

[0094] This invention can be used, for example, in systems where plants or seedlings are moved and can grow adequately during transport in horticultural plants or other types of plants using a conveyor belt or similar system. Conveyor belt systems are described, for example, in US2020100446, WO2010008335, EP2489256, etc. Therefore, in certain embodiments, the horticultural system may also include transport elements configured to move plant holders sequentially through a series of horticultural system units (more specifically, horticultural unit spaces). Transport elements may include, for example, conveyor belts, but may also include another type of robotic system (e.g., using a robotic arm to move plant holders from one location to another). By moving plant holders from one location to another, plant holders, and thus plants or seedlings in this embodiment, can be moved from one horticultural unit space to another, and can be sensed by corresponding radio transmission pairs. Thus, plant holders can move sequentially through several horticultural system units, referred to herein as a series. The term transport element may also refer to multiple different transport elements. The term "series of horticultural system units" can refer to k system units, where k is at least 2 (e.g., 4), but k can also be as high as tens, hundreds, or even thousands. The k system units can be all available horticultural system units contained in the system, or it can be a subset thereof. Therefore, in the embodiments, k = n (see also above), or k <n。

[0095] Plant retainers can be pots, supports, trays, (small) flasks, robotic fingers for holding plants (e.g., for solution culture), or anything else that can be used in a transport system to hold seedlings or plants. Plant retainers can be transported using robotic arms, conveyor belts, or other transport components.

[0096] For example, in one embodiment, the second horticultural unit space may not contain a plant retainer (having a second radio transmission pair for the second horticultural unit space during the second signal sensing phase). During the first sensing phase, a plant retainer (different from that used in the second sensing phase) may be available in the first horticultural space. In an alternative example, in one embodiment, the second horticultural unit space may contain a plant retainer but not a plant (having a second radio transmission pair for the second horticultural unit space during the second signal sensing phase). During the first sensing phase, a plant retainer with a plant (different from that used in the second sensing phase) may be available in the first horticultural space. In yet another alternative example, in one embodiment, the second horticultural unit space may contain a plant retainer but not a seedling (having a second radio transmission pair for the second horticultural unit space during the second signal sensing phase). During the first sensing phase, a plant retainer with a plant (different from that used in the second sensing phase) may be available in the first horticultural space. In yet another alternative example, also for example (for another baseline), in one embodiment, the second horticultural unit space may contain a plant retainer but not a seedling or plant (or substrate) (having a second radio transmission pair for the second horticultural unit space during the second signal sensing phase). In the first sensing phase, plant retainers with plants (different from those used in the second sensing phase) can be obtained in the first horticultural space. Of course, other examples are also possible.

[0097] As described above, the baseline can be substantially based on a second horticultural unit space that is earlier in terms of the (process) stage than the stage in which the first horticultural unit space is located. Therefore, when the baseline signal is not derived from the library, or when it is derived partially from the library and at least partially from the execution of the second signal sensing stage, the second signal sensing stage can typically be performed in a horticultural unit space upstream of the first horticultural unit space. Thus, in the embodiment, the second horticultural unit space is configured upstream of the first horticultural unit space in the series of horticultural system units. Therefore, plant retainers or plant pots in the first horticultural unit space are already or may already be located in the second horticultural unit space, as for the second signal sensing stage. Here, the term "may" is used because the second signal sensing stage can also be performed simultaneously with the first signal sensing stage (see also above). Therefore, the term "upstream" can refer to a process cycle from substantially a plant pot to a growing plant (e.g., including a growth cycle), or a portion of such a process cycle in which an earlier stage in the cycle is upstream (in time and / or physical location) than a later stage in the process cycle. In particular, the process cycle includes one or more growth stages, or growth stages and harvest stages, etc.

[0098] As indicated above, in the embodiments, the baseline signal may refer not only to such background signals but may also include information related to environmental parameters—such as (ambient) temperature, (ambient) humidity, (local) lighting conditions, (local) gas composition, (local) nutrient flow conditions, etc. Therefore, in the embodiments, the control system may be further configured to control environmental parameters of multiple horticultural spaces and perform a second signal sensing phase (with a second radio transmission pair for a second horticultural unit space) in an operating mode while changing the environmental parameters. Thus, the baseline may include baseline information related to different conditions. For example, when determining leaf size, this may depend on humidity. Therefore, the baseline signal should be a humidity-dependent baseline signal. In specific embodiments, the environmental parameters are selected from the group including temperature, substrate moisture, leaf moisture, relative humidity, absolute humidity, airflow, density of the horticultural growth medium, and lighting parameters. For example, different signals may be obtained when the soil becomes compacted or loosened. For example, lighting parameters may refer to one or more of (i) light intensity (generated by a lighting system or lighting device or illuminator) and (ii) the spectral power distribution of light (generated by a lighting system or lighting device or illuminator).

[0099] Therefore, the horticultural system may also include one or more sensors to determine plant-related parameters and / or environmental parameters in a manner different from that of radio transmission pairs. Specifically, the horticultural system may include one or more sensors to sense one or more environmental parameters. In a particular embodiment, the system may include multiple sensors configured to locally sense such environmental parameters. Thus, such environmental parameters can be determined for a subset of the total number of horticultural unit spaces.

[0100] In a particular embodiment, the gardening system may include one or more lighting devices, wherein one or more of (a) a radio transmitter and (b) a radio receiver are integrated into one or more lighting devices.

[0101] In yet another embodiment, the horticultural system includes actuators selected from the group consisting of temperature control elements, plant trimmers, water supply elements, nutrient supply elements, plant treatment supply elements, growth inhibitor supply elements, lighting equipment, disinfection equipment, insect exposure elements, and harvesting elements, wherein the control system controls the actuators, and wherein during operation mode: the control system operates the actuators based on plant-related parameter data (determined values). Specifically, in embodiments, the control system may operate actuators associated with a first horticultural unit space. For example, lack or reduced plant growth may also indicate pest infestation. For this purpose, nutrient supply elements and / or plant treatment supply elements may be applied, for example. The term "plant treatment" in specific embodiments may be used to describe insecticides, fungicides, etc. Growth inhibitor supply elements may be used, for example, to ensure uniform plant growth and / or control plant growth associated with fruit growth. Disinfection equipment may include, for example, UV lighting equipment or other equipment to inhibit, for example, powdery mildew or bud mold or other contaminants on plants.

[0102] Furthermore, as described above, in this embodiment, the plant-related parameter data may be volumetric plant-related parameter data selected from the group consisting of leaf volume, root volume, and fruit volume. Alternatively or additionally, the plant-related parameter data may be selected from the group consisting of leaf density, stem density, root density, and fruit density. Alternatively or additionally, the plant-related parameter data may be selected from the group consisting of leaf shape, stem shape, root shape, and fruit shape. Alternatively or additionally, the plant-related parameter data may be selected from the group consisting of leaf size, stem size, root size, and fruit size. Alternatively or additionally, the plant-related parameter data may refer to the shape and / or size of the entire upper part of the plant matrix.

[0103] In another aspect, the present invention also provides a method for determining volumetric plant-related parameter data of plants in a horticultural system comprising a plurality of repeating horticultural system units and a control system. The volumetric plant-related parameter data is selected from the group consisting of leaf volume, root volume, and fruit volume. Specifically, (a) each horticultural system unit includes (i) a horticultural unit space and (ii) a radio transmission pair arranged to monitor the horticultural unit space using radio frequency sensing. In an embodiment, the radio transmission pair includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship. Furthermore, particularly (b) the control system is configured to perform measurements in at least one horticultural unit space using a corresponding radio transmission pair during a unit sensing phase. In a particular embodiment, the method may include performing a first signal sensing phase and determining the plant-related parameter data. In an embodiment, the method may include (a) performing a first signal sensing phase, wherein the first signal sensing phase includes a unit sensing phase having a first radio transmission pair associated with a first horticultural unit space containing a first horticultural sensing unit of a plant at a corresponding growth stage, thereby providing a (related) first signal to the control system. Furthermore, the method may include performing a second signal sensing phase, wherein the second signal sensing phase includes a unit sensing phase having a second radio transmission pair associated with a second horticultural unit space containing a second horticultural sensing unit of a plant at a corresponding growth stage, thereby providing a second signal to the control system. Additionally, in an embodiment, the method may include (b) determining volumetric plant-related parameter data based on (a) a first signal and (b) a baseline signal, wherein the baseline signal is derived from the second signal obtained by performing the second signal sensing phase. Therefore, in a particular embodiment, the present invention provides a method for determining plant-related parameter data of plants in a horticultural system comprising a plurality of repeating horticultural system units and a control system; wherein: (a) each horticultural system unit includes (i) a horticultural unit space and (ii) a radio transmission pair arranged to monitor the horticultural unit space, wherein the radio transmission pair includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship; and (b) the control system is configured to perform measurements in at least one horticultural unit space using a corresponding radio transmission pair during a unit sensing phase; and wherein the method in an embodiment includes: (a) performing a first signal sensing phase, wherein the first signal sensing phase includes a unit sensing phase having a first radio transmission pair for accommodating a first horticultural unit space, thereby providing (related) a first signal to the control system; and (b) determining plant-related parameter data based on (a) the first signal and (b) a baseline signal, wherein the baseline signal is based on a second signal obtained by performing a second signal sensing phase, wherein the second signal sensing phase includes a unit sensing phase having a second radio transmission pair associated with a second horticultural unit space, thereby providing (related) a second signal.

[0104] In a particular embodiment of the method, the control system may (therefore) be configured to perform a second signal sensing phase (having a second radio transmission pair for a second horticultural unit space) in an operating mode; wherein the method further includes moving the plant holder sequentially through a series of horticultural system units (which includes a first horticultural system unit containing a first horticultural unit space); wherein the second horticultural unit space is configured upstream of the first horticultural unit space in the series of horticultural system units; and wherein the plant-related parameter data is volumetric plant-related parameter data selected from the group including leaf volume, root volume, and fruit volume.

[0105] Furthermore, in a particular embodiment of the method, the gardening system includes one or more lighting devices, wherein one or more of (a) a radio transmitter and (b) a radio receiver are integrated into one or more lighting devices.

[0106] The terms “light” and “radiation” are used interchangeably herein unless the context clearly indicates that the term “light” refers only to visible light. The terms “light” and “radiation” can therefore refer to UV radiation, visible light, and IR radiation. In certain embodiments, particularly for lighting applications, the terms “light” and “radiation” refer to (at least) visible light.

[0107] Furthermore, in a specific embodiment, the horticultural system includes an actuator selected from the group consisting of a temperature control element, a plant trimmer, a water supply element, a nutrient supply element, a lighting device, a disinfection device, an insect exposure element, and a harvesting element, wherein the control system controls the actuator; and wherein the method further includes controlling the actuator based on plant-related parameter data associated with the first horticultural unit space.

[0108] Therefore, actuators can be controlled to perform actions. In a particular embodiment, the action may include controlling temperature (within a portion of a horticultural space), particularly controlling one or more of plant temperature, plant leaf temperature, and plant root temperature, or particularly controlling the (average) temperature in the horticultural space. In another embodiment, the action may include plant pruning. In another embodiment, the action may include providing water. In another embodiment, the action may include providing crop protection treatments, particularly crop protection treatments against weeds and / or pests. In another embodiment, the action may include providing nutrients, particularly fertilizer. In another embodiment, the action may include providing light, particularly a specific spectrum, such as providing light containing one or more wavelengths selected from the 400-800 nm range, and / or, for example, providing light containing wavelengths selected for interaction with plant phytochromes, and / or particularly a specific light intensity. In another embodiment, the action may include exposing the plant to insects. In another embodiment, the action may include harvesting, particularly harvesting fruit, or particularly harvesting plant leaves. In another embodiment, the action may include providing airflow, particularly providing air conditioning, or particularly providing external airflow.

[0109] In various aspects, in the first paragraph, the present invention provides a horticultural system comprising a plurality of repeating horticultural system units and a control system, wherein: (i) each horticultural system unit comprises (i) a horticultural unit space and (ii) a radio transmission pair arranged to monitor the horticultural unit space, wherein the radio transmission pair comprises a radio transmitter and a radio receiver arranged in a radio signal receiving relationship; (ii) the control system is configured to perform measurements in at least one horticultural unit space using a corresponding radio transmission pair during a unit sensing phase; (iii) the control system is further configured in an operating mode to: (I) perform a first signal sensing phase, wherein the first signal sensing phase includes a unit sensing phase having a first radio transmission pair associated with a first horticultural unit space (which contains plants), thereby providing (associated) a first signal to the control system; and (II) determine plant-related parameter data based on (a) the first signal and (b) a baseline signal, wherein the baseline signal is based on a second signal obtained by performing a second signal sensing phase, wherein the second signal sensing phase includes a unit sensing phase having a second radio transmission pair associated with a second horticultural unit space, thereby providing (associated) a second signal. Attached Figure Description

[0110] Embodiments of the invention will now be described by way of example only, with reference to the accompanying schematic drawings, in which corresponding reference numerals indicate corresponding parts, and in the drawings:

[0111] Figures 1a-1c schematically depict some aspects of the invention; and

[0112] Figures 2a-2b schematically depict some other aspects of the invention.

[0113] The schematic diagrams are not necessarily to scale. Detailed Implementation

[0114] Figure 1a schematically depicts an embodiment of the horticultural system 1, but in reality, Figure 1a also schematically depicts some aspects of the method for determining plant-related parameter data of plant 50.

[0115] By way of example only, Figure 1a schematically depicts six stages that an embodiment of the gardening system 1 may undergo, particularly when the gardening system 1 includes a transport element 130. The transport element 130 may be a conveyor belt, but other solutions may also be chosen. In particular, the transport element 130 is configured to move the plant holder 40 sequentially through a series of gardening system units 100, and more particularly through corresponding gardening unit spaces 110. The series of gardening system units 100 may include at least a first gardening system unit that includes a first gardening unit space.

[0116] As schematically depicted, the horticultural system 1 includes multiple repeating horticultural system units 100 and a control system 300. Here, for example, there are five repeating horticultural system units 100. Each horticultural system unit 100 is indicated by reference numerals 100a, 100b, 100c, 100d, and 100e. Each of the five repeating horticultural system units 100 includes a horticultural unit space 110, indicated by reference numerals 110a, 110b, 110c, 110d, and 110e respectively, and a corresponding radio transmission pair indicated by reference numerals 120a, 120b, 120c, 120d, and 120e. As schematically depicted in Figure 1a, each horticultural system unit 100 has a substantially identical configuration of the corresponding radio transmission pair 120 relative to the corresponding horticultural unit space 110.

[0117] Furthermore, by way of example, the following assumptions are made to further illustrate the invention. In the first stage (I), no horticultural system unit 100 includes a single element. Or, in this particular example, it can be said that all horticultural system units 100 substantially do not include anything except for transport elements. For illustrative purposes, we skip the latter aspect, as it does not substantially differ for the different horticultural system units 100. In the second stage (II), one of the horticultural system units 100 includes an empty pot. Here, the pot is an example of a plant holder 40. In the third stage (III), the empty plant pot has been moved one stage further and has been filled with substrate. The first horticultural system unit 100, starting from the left, is again provided with a new empty plant pot. In the fourth stage (IV), all existing pots have been moved one step to the right again. The first plant pot has now reached the third horticultural system unit 100 and has been provided with a seedling. Similarly, in the leftmost horticultural system unit 100, an empty plant pot is provided. In the fifth stage (V), all existing plant pots have been moved one step to the right again. The first plant pot has now reached the fourth horticultural system unit 100, and the plant 50 has been popped out. Similarly, an empty planter pot is provided in the leftmost gardening system unit 100. In stage six (VI), all existing planter pots are moved one step to the right again. The first planter pot has now reached the fifth (here, the last) gardening system unit 100, and plant 50 has grown into a larger plant 50. Again, an empty planter pot is provided in the leftmost gardening system unit 100.

[0118] Specifically, each gardening system unit 100 includes a gardening unit space 110 and a radio transmission pair 120 arranged to monitor the gardening unit space 110. The radio transmission pairs 120 are schematically depicted as two small squares above their respective gardening unit spaces 110. However, they can also be arranged in different ways. The radio transmission pairs 120 include a radio transmitter and a radio receiver arranged in a radio signal receiving relationship.

[0119] Specifically, the control system 300 is configured to perform measurements in at least one horticultural unit space 110 using a corresponding radio transmission pair 120 during the unit sensing phase 230. The phrase “the control system 300 is configured to perform measurements in at least one horticultural unit space 110 using a corresponding radio transmission pair 120 during the unit sensing phase 230” and similar phrases can specifically refer to at least one basic operation that the horticultural system can be configured to perform. This is a basic operational action that can be performed on any horticultural unit space 110 at any time during processing. Depending on the time, location, and purpose, this unit sensing phase 230 or unit sensing operation can be used to generate a first signal and a second signal, the first signal particularly relating to the generation of plant-related parameter data, and the second signal particularly relating to the generation of a baseline signal (e.g., for correction of the first signal).

[0120] Referring to Figure 1, for example, in stage VI, when it is desired to determine plant-related parameter data associated with the plant 50 in horticultural unit space 110e, a unit sensing stage can be performed, which is (then) represented as the first signal sensing stage. Baseline measurements can be performed on one of the upstream horticultural unit spaces 110a, 110b, 110c, and 110d, of which horticultural unit space 110c or 110d is likely most likely, as both contain substrate and seeds / seedlings or small plants, respectively. However, depending on the objective, one of horticultural unit spaces 110a or 110b may also be applied. Even more than one of the upstream horticultural unit spaces 110a, 110b, 110c, and 110d can be used to determine the baseline. Therefore, when it is desired to determine plant-related parameter data related to the plant 50 in the horticultural unit space 110e, a unit sensing phase can be performed on the horticultural unit space 110e, which is then indicated as a first signal sensing phase, and a unit sensing phase can be performed on one or more of the horticultural unit spaces 110a, 110b, 110c and 110d, which is then indicated as a second signal sensing phase.

[0121] The diagram clearly shows that when measuring the rightmost plant and pot, an earlier baseline measured at an earlier stage can be used. Alternatively, or additionally, the baseline from any of the four leftmost units can be used. This can be done simultaneously with measuring the rightmost plant and pot. However, it is also possible to measure the rightmost plant and pot, store the signal, and then measure the baseline from any of the four leftmost units, and then process the data to obtain parameter data related to the plant parameters.

[0122] Assuming that one of the horticultural unit space 110 and the associated radio transmission pair 120 is related to parameters related to plant generation—here in stage VI, this could be horticultural unit space 110e and the associated radio transmission pair 120e—then the corresponding radio transmission pair (here, radio transmission pair 120e) is also referred to here as the first radio transmission pair 121, since the first radio transmission pair is the radio transmission pair 120 used here in the first signal sensing stage. Further assuming that one of the other horticultural unit spaces 110 and the associated radio transmission pair 120 is related to parameters related to plant generation—here in stage VI, this could be horticultural unit space 110d and the associated radio transmission pair 120d—then the corresponding radio transmission pair (here, radio transmission pair 120d) is also referred to here as the second radio transmission pair 122, since the second radio transmission pair is the radio transmission pair 120 used here in the second signal sensing stage.

[0123] Referring to phase VI, in one embodiment, the control system 300 may be configured to perform a second signal sensing phase 232 (with a second radio transmission pair 122 for the second horticultural unit space 112) in an operating mode prior to the first signal sensing phase. However, in other embodiments, the control system 300 may be configured to perform the second signal sensing phase 232 (with a second radio transmission pair 122 for the second horticultural unit space 112) simultaneously with the first signal sensing phase in an operating mode. It will be apparent to those skilled in the art that embodiments may also be combined. Furthermore, the timing of the execution of the first and second signal sensing phases may depend on desired plant-related parameter data for one or more specific horticultural system units 100.

[0124] Therefore, the control system 300 is further configured in the operating mode to: (a) execute a first signal sensing phase 231 (see Figures 1b and 1c), wherein the first signal sensing phase 231 (see Figures 1b and 1c) includes a unit sensing phase 230 (see Figures 1b and 1c) having a first radio transmission pair 121 associated with the first horticultural unit space 111 (e.g., containing plant 50), thereby providing the control system 300 with a (related) first signal 241; and (b) determine plant-related parameter data based on the first signal 241 (see Figures 1b and 1c) and a baseline signal 245 (see Figures 1b and 1c), wherein the baseline signal 245 is based on a second signal 242 (see Figures 1b and 1c) obtained by executing a second signal sensing phase 232, wherein the second signal sensing phase 232 includes a unit sensing phase 230 having a second radio transmission pair 122 associated with the second horticultural unit space 112, thereby providing the (related) second signal 242.

[0125] As mentioned above, "first" and "second" do not necessarily indicate a temporal relationship. Typically, the first signal sensing phase is performed after the (related) second signal sensing phase.

[0126] For example, referring to the second stage II in FIG1a, in an embodiment, the second horticultural unit space 112 does not include the plant retainer 40 during the second signal sensing stage 232 (see FIG1b and FIG1c), which has a second radio transmission pair 122 for the second horticultural unit space 112. Therefore, in a particular embodiment, the second horticultural unit space 112 can be configured downstream of the first horticultural unit space 111 in the series of horticultural system units 100. Furthermore, in this example, the second signal sensing stage 232 can be performed during the first signal sensing stage 231, but in principle, it can also be performed afterward. In the latter embodiment, after receiving the second signal, the first signal can be stored and processed into plant-related parameter data.

[0127] For example, referring to the third stage III in FIG1a, in an embodiment, the second horticultural unit space 112 includes a plant retainer 40, but does not include a plant 50 during the second signal sensing stage 232, which has a second radio transmission pair 122 for the second horticultural unit space 112. Therefore, in a particular embodiment, the second horticultural unit space 112 can be configured upstream of the first horticultural unit space 111 in the series of horticultural system units 100. However, as stated above, this is not necessarily the case.

[0128] In a specific embodiment, also referring to FIG2a, the control system 300 is further configured to control environmental parameters of a plurality of garden spaces 120 and, while changing the environmental parameters, execute a second signal sensing phase 232 (having a second radio transmission pair 122 for a second garden unit space 112) in an operating mode.

[0129] In this embodiment, the plant-related parameter data is volumetric plant-related parameter data selected from the group including leaf volume, root volume, and fruit volume.

[0130] Figure 1a also schematically depicts an embodiment of a method for determining plant-related parameter data of plants 50 in a horticultural system 1, the horticultural system 1 comprising a plurality of repeating horticultural system units 100 and a control system 300. As described above, in particular, each horticultural system unit 100 includes (i) a horticultural unit space 110 and (ii) a radio transmission pair 120 arranged to monitor the horticultural unit space 110. In an embodiment, the radio transmission pair 120 includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship. Furthermore, the control system 300 is configured to perform measurements in at least one horticultural unit space 110 using the corresponding radio transmission pair 120 during a unit sensing phase 230.

[0131] Specifically, the method includes (a) performing a first signal sensing phase 231, wherein the first signal sensing phase 231 includes a unit sensing phase 230 having a first radio transmission pair 121 for accommodating a first horticultural unit space 111 for containing plants 50, thereby providing a (related) first signal 241 to the control system 300; and (b) determining plant-related parameter data based on the first signal 241 and a baseline signal 245, wherein the baseline signal 245 is based on a second signal 242 obtained by performing a second signal sensing phase 232, wherein the second signal sensing phase 232 includes a unit sensing phase 230 having a second radio transmission pair 122 associated with the second horticultural unit space 112, thereby providing a (related) second signal 242.

[0132] In a particular embodiment, the control system 300 may be configured to perform a second signal sensing phase 232 (having a second radio transmission pair 122 for the second horticultural unit space 112) in an operating mode; wherein the method further includes moving the plant holder 40 sequentially through a series of horticultural system units 100 (particularly including a first horticultural system unit containing a first horticultural unit space); wherein the second horticultural unit space 112 is configured upstream of the first horticultural unit space 111 in the series of horticultural system units 100; and wherein the plant-related parameter data is volumetric plant-related parameter data selected from the group including leaf volume, root volume, and fruit volume.

[0133] Furthermore, in a particular embodiment, the horticultural system 1 may include one or more lighting devices 1000, wherein one or more of (a) a radio transmitter and (b) a radio receiver are integrated into one or more lighting devices 1000 (see also FIG. 2a). Furthermore, in a particular embodiment, the horticultural system 1 may include an actuator 140 selected from the group consisting of temperature control elements, plant trimmers, water supply elements, nutrient supply elements, lighting devices 1000, disinfection devices, insect exposure elements, and harvesting elements. Specifically, in an embodiment, the control system 300 may be configured to control the actuator 140. Even more specifically, the method may further include controlling the actuator 140 based on plant-related parameter data associated with the first horticultural unit space 111.

[0134] Figure 1b schematically depicts three different embodiments of the first signal sensing stage 231 and the second signal sensing stage 232.

[0135] In Embodiment I, the second signal sensing stage 232 is executed earlier than the first signal sensing stage 231; based on this, plant-related parameter data (PRP) is generated. An example of this is described with respect to the sixth stage VI in Figure 1a. Of course, this can also be described with respect to other stages and other embodiments.

[0136] In Embodiment II, the second signal sensing stage 232 is executed simultaneously with the first signal sensing stage 231; based on this, plant-related parameter data (PRP) is generated. Examples of the second stage II and / or the sixth stage in Figure 1a are also described. Of course, this can also be described with respect to other stages and other embodiments.

[0137] In Embodiment III, the second signal sensing stage 232 is executed after the first signal sensing stage 231; based on this, plant-related parameter data (PRP) is generated. An example of this is described with respect to the second stage II in Figure 1a. Of course, this can also be described with respect to other stages and other embodiments.

[0138] Therefore, as described above, the control system can be configured and / or the method can include (i) performing a first signal sensing phase 231, wherein the first signal sensing phase 231 includes a unit sensing phase 230 having a first radio transmission pair 121 associated with a first horticultural unit space 111 (which optionally contains plants 50) to provide a (related) first signal 241 to the control system 300; and (ii) determining plant-related parameter data based on (a) the first signal 241 and (b) a baseline signal 245, wherein the baseline signal 245 is based on a second signal 242 obtained by performing a second signal sensing phase 232, wherein the second signal sensing phase 232 includes a unit sensing phase 230 having a second radio transmission pair 122 associated with a second horticultural unit space 112 to provide a (related) second signal 242.

[0139] Figure 1c schematically depicts several embodiments of how plant-related parameter data, indicated by the reference numeral PRP, can be generated.

[0140] Example I schematically depicts an embodiment in which baseline signal 245 is retrieved from a library. Plant-related parameter data (PRP) is determined based on the first signal 241 obtained by performing the first signal sensing phase 231 and (b) the baseline signal 245.

[0141] Example II schematically depicts an embodiment in which a baseline signal 245 is obtained by performing a second signal sensing phase, and a second signal 242 is obtained by performing the second signal sensing phase. The second signal 242 may be substantially the baseline signal 245, or at least derived from it. Plant-related parameter data (PRP) is determined based on the first signal 241 obtained by performing the first signal sensing phase 231 and (b) the second signal 242.

[0142] Example III schematically depicts a possible way of performing this process or method (e.g., using the system described herein). The unit sensing phase 230 is performed relative to the first horticultural unit space 110, and is therefore denoted as the first signal sensing phase 231 for the first horticultural unit space 111. This produces a first signal 241. For example, it is referred to as horticultural unit space 110e in phase VI of FIG. 1a. Here, the first horticultural unit space 111 includes plants 50. Specifically for reference purposes, the unit sensing phase 230 can also be performed relative to the second horticultural unit space 110, and is therefore denoted as the second signal sensing phase 232 for the second horticultural unit space 112. This produces a second signal 242. For example, it is referred to as horticultural unit space 110c in phase VI of FIG. 1a. Here, the first horticultural unit space 111 includes plant pots containing only seeds (seedlings). The first signal 241 and the second signal 242 are processed into plant-related parameter data (PRP).

[0143] Therefore, as described above, the control system can be configured and / or the method can include (i) performing a first signal sensing phase 231, wherein the first signal sensing phase 231 includes a unit sensing phase 230 having a first radio transmission pair 121 associated with a first horticultural unit space 111 (which optionally contains plants 50) to provide a (related) first signal 241 to the control system 300; and (ii) determining plant-related parameter data based on (a) the first signal 241 and (b) a baseline signal 245, wherein the baseline signal 245 is based on a second signal 242 obtained by performing a second signal sensing phase 232, wherein the second signal sensing phase 232 includes a unit sensing phase 230 having a second radio transmission pair 122 associated with a second horticultural unit space 112 to provide a (related) second signal 242.

[0144] Optionally, actions can be performed based on plant-related parameter data (PRP). To this end, actuator signals 141 can be generated to cause the actuator to perform actions or change actions, etc. (further details are also provided below).

[0145] As described above, in modern greenhouses, horticultural plants may not be in a static position but can be moved along growth trays (in a first-in, first-out manner), for example, by a conveyor belt (incrementally). Among other things, the present invention therefore describes how to perform high-quality RF sensing on plants that have been moved from, for example, a first position on a growth tray to a second position. Among other things, this document describes how to utilize a baseline previously recorded at the old position to ensure the consistency and accuracy of RF sensing at the new location. Other embodiments may include the timing of when the baseline is recorded and diagnosing whether a sudden shift in the baseline stems from actual microclimate changes at the tray or from an erroneous RF sensing baseline. Furthermore, this document describes how the high repeatability of greenhouses allows for the stitching of RF sensing baselines.

[0146] Experiments have shown that using high-quality baselines as input to RF sensing algorithms is desirable for accurately estimating, for example, the leaf quality of horticultural plants. Since plants in modern growing facilities may no longer be static but move along, for example, conveyor belts, creating high-quality baselines for moving plants at each new location is a challenge. This paper describes how to convert a baseline recorded at a first location into a baseline for use at a second location. In precision horticulture applications, the timing of baseline determination can be optimized for RF sensing of, for example, leaf or fruit quality, which appears useful. Among other things, a method is described here where, when, for example, an RF sensing area reports a sudden change in the RF sensing signal, intelligent comparison of baselines from neighboring areas can be used to distinguish between genuine microclimate changes (e.g., a localized increase in humidity due to water leakage) and erroneous baselines that simply require re-determination.

[0147] As mentioned above, greenhouses are typically highly automated; the positions of (a set of) plant pots within a greenhouse are not fixed, but rather the plants move (automatically) across many different locations within the greenhouse throughout their lives. Therefore, it is desirable that a first baseline generated while the plant is present in the first location is subsequently used to improve RF sensing at a second location after the plant has been moved.

[0148] In this embodiment, horticultural plants move to their next position on a conveyor-based planting system with their baselines. Many modern vertical farming facilities use First-In-First-Out (FIFO) automated logistics systems, where young plants are inserted into the growth layer at one end and mature plants are removed from the growth layer at the other end of the conveyor belt (see, for example, Figure 2a). Thus, a first plant moves along the growth layer over time from a first position on the left side of the growth layer tray to a second position in the middle of the belt, and then to a third position on the right side of the belt. Whenever the first plant moves from the first position to the second position, a second, newer, younger plant is added to the growth layer belt at the first position. Initially, the first plant is monitored by first and second illuminators located to the left and right of the first belt position. When the first plant has moved to the second position of the growth layer, RF sensing of the first plant is taken over by third and fourth illuminators. Thus, as the first pot gradually moves through the growth layer over time, many different light pairs will be allocated over time to perform RF sensing for the first pot throughout its lifespan in the greenhouse. We propose that after the first pot has moved to the second position, the RF sensing baseline created by the first and second illuminators is reused for RF sensing performed by the third and fourth illuminators.

[0149] Optionally, partially overlapping RF sensing areas can be applied; while the first and second illuminators form the first sensing area, the second illuminator is also used together with the third illuminator to form the second sensing area.

[0150] The basin can be placed directly on the conveyor belt or on a pallet transported by the conveyor belt.

[0151] Figure 2a schematically depicts an embodiment in which a radio transmission pair 120 is incorporated into a lighting device 1000.

[0152] Therefore, in an embodiment, the gardening system 1 may include one or more lighting devices 1000, wherein one or more radio transmitters and radio receivers are integrated into one or more lighting devices 1000.

[0153] Note that one or more radio transmitters and receivers are not necessarily integrated into the lighting device 1000, but may also be available separately, integrated into other devices, or a combination of two or more of these. Here, in this illustrative embodiment, the lighting device 1000 (e.g., a illuminator) provides the functionality of a lighting device, one or more radio transmitters and receivers, and actuator 140, because the lighting device can be used as an actuator by providing light. As described above, actuation of the lighting device may include controlling the spectral power distribution and / or controlling the intensity.

[0154] In a specific embodiment, also referring to Figure 2a, the control system 300 is further configured to control environmental parameters of multiple horticultural spaces and, in an operating mode, perform a second signal sensing phase (with a second radio transmission pair for the second horticultural unit space) while changing the environmental parameters. In a specific embodiment, the environmental parameters are selected from the group including temperature, substrate moisture, leaf moisture, relative humidity, absolute humidity, airflow, density of the horticultural growth medium, and lighting parameters. However, other parameters may also be possible (see also above).

[0155] Therefore, in this embodiment, the horticultural system 1 includes an actuator 140 selected from the group consisting of a temperature control element, a plant trimmer, a water supply element, a nutrient supply element, a plant treatment supply element, a growth inhibitor supply element, a lighting device 1000, a disinfection device, an insect exposure element, and a harvesting element, wherein the control system 300 controls the actuator 140. Specifically, during operation, the control system 300 operates the actuator 140 based on plant-related parameter data (determined values), particularly wherein the control system 300 operates the actuator 140 relative to the first horticultural unit space.

[0156] Figure 2a schematically depicts how plants A and B gradually move along the conveyor belt during their growth. First, RF sensing of the two devices is evaluated using illuminators one and two. After plants A and B have moved two pot positions along the conveyor belt, illuminators three and four take over the RF sensing of these two plants.

[0157] Figure 2a also schematically depicts an embodiment in which, for example, in order to accurately transfer the RF sensing baseline from the first segment to the second segment at the conveyor belt location, it is necessary to first determine the RF sensing offset between the first segment (illuminator one and illuminator two) and the second segment (illuminator three and illuminator four). During the zero measurement of the baseline, there is no plant mass. Note that the term "segment" refers to a horticultural unit space.

[0158] When transferring the first baseline recorded in the first segment to the second segment on the conveyor belt, the target baseline for the second segment needs to be calibrated and corrected (see Figure 2a). This calibration step is necessary because each RF sensing illuminator node pair has certain characteristics relative to the RF link signal. During zero measurements (no plants, only empty pots and soil), we set a first zero baseline for the first segment and a second zero baseline for the second segment. We then calculate the offset in the zero state between the first and second segments, and subsequently use the determined zero offset as a correction factor when the actual baseline (i.e., with plants present) is transferred between different segments.

[0159] The method outlined above can be divided into three steps. As the first step, with no plants present in the tray, zero baselines must be established for the first position (FP), second position (SP), and third position (TP). We call these baselines BFP0 (baseline for the first position is zero), BSP0 (baseline for the second position is zero), and BTP0 (baseline for the third position is zero). The second step is to calculate the correction factor for each RF sensor in baselines BSP0 and BTP0, assuming baseline BFP0 (which is the position where the smallest plant age will be inserted into the conveyor belt) is the reference. Assuming that each position utilizes four RF sensors (i.e., a single RF sensing segment consists of four wireless illuminators (e.g., two top lights and two side lights), then each RF sensor at each position will have a correction factor:

[0160] ·BSP0_CorrFactorRFsensor1, BSP0_CorrFactorRFsensor2, BSP0_CorrFactorRFsensor3, BSP0_CorrFactorRFsensor4,

[0161] ·BTP0_CorrFactorRFsensor1, BTP0_CorrFactorRFsensor2, BTP0_CorrFactorRFsensor3, BTP0_CorrFactorRFsensor4.

[0162] Compared with the signal strength characteristics at the first location, the correction factor can be calculated based on the signal quality characteristics within that location.

[0163] When a growing plant is moved to a new tray position, the third step is executed; after each pot is moved by the conveyor belt, the actual baseline of the first position (BFPA = actual baseline of the first position) and the actual baseline of the second position (BSPA = actual baseline of the second position) are transferred to the next conveyor belt position. Each baseline transfer includes baseline information from each RF sensor:

[0164] BFPA ==> BSP, the new baseline of BSP: BFPA + (BSP_CorrFactorRFsensor1,2,3,4).

[0165] BSPA ==> BTP, the new baseline of BTP: BSPA + (BTP_CorrFactorRFsensor1,2,3,4).

[0166] Optionally, an additional step of reviewing the actual baseline information can be used to check if baseline adaptation is needed; if the trend changes or the baseline changes unexpectedly, adjustments are required. This additional step can be completed before step 2 above to check if time / resources are being spent correcting the baseline.

[0167] In real-world greenhouses, some plants may be located near the edge of the growing tray and therefore require differentiated treatment to ensure optimal RF sensing performance.

[0168] • Before the conveyor belt moves to the first position of the plant pot on the growing tray, a new (younger) plant will appear to its left after the movement. This new plant will interfere with RF sensing because its leaves and other features will generate additional absorption. To eliminate this problem, it may be advantageous to completely omit the youngest plant located at the edge of the growing tray in the RF sensing measurement setup.

[0169] Similarly, a pot that was previously moved at the beginning and end of a conveyor belt will suddenly find no plants next to it after the conveyor belt moves (because older, adjacent plants have been removed from the conveyor belt). This means a potential source of interference has disappeared, and therefore the RF sensing signal may look different again.

[0170] Within a sufficiently long and uniform tray (i.e., far from the edge), once all the pots have been moved to their new positions, there should be no significant differences, and therefore the baseline from the previous positions can be reused.

[0171] If the surrounding greenhouse infrastructure is similar, the first and second segments on the conveyor belt plant trays should share only one RF sensing baseline. For example, if the first pair of grow lights in the first position is near a (filled) water pipe, and the second pair of grow lights in the second position is not near a water pipe, such physical differences in the surrounding environment will interfere with their respective baselines.

[0172] In the second embodiment, the optimal timing for determining the RF sensing baseline is described. In this embodiment, one can choose which state of the horticultural tray to perform baseline determination (e.g., dry growing medium) and which state to avoid (e.g., soil that has just been watered). For example, a state immediately after watering might be unsuitable for determining leaf quality using RF sensing because the amount of water applied to the plant will vary considerably with the timing of irrigation, and therefore no stable baseline is available for RF sensing; on the other hand, if the soil is at its driest (i.e., just before the next watering event), the soil will have minimal impact on RF sensing, and therefore plant quality will be the primary contributor to the absorption of the wireless signal between the two grow lights performing RS sensing.

[0173] In the third embodiment, the focus is on a greenhouse where plants remain spatially stationary on the same growth tray. A first set of illuminators is assigned at a first location to record a baseline, and then RF sensing is performed at a second location with a second set of illuminators using that first baseline. Garden lights and plants can be spatially arranged in a highly repetitive environment. Therefore, in principle, a first pair of grow lights and a second pair of grow lights, both located approximately in the middle of the (identical) growth tray, can both use the same baseline. However, this baseline sharing may require that the RF sensing characteristics of the first and second pairs be comparable. Therefore, we propose determining whether the steady-state performance of the first and second pairs of lights is comparable, and thus suitable for reusing the baseline information of the first RF sensing pair for the second RF sensing pair, or vice versa. For example, the signal strength used for RF sensing depends on the location and orientation of the antenna; therefore, if the antenna locations of the first and second pairs of grow lights are different, this will result in different RSSI data, even if all the plants are identical. Therefore, in this case, the first and second pairs are not suitable for reusing each other's baselines. The first and second RF sensing pairs can also exchange insights about their respective "steady-state" states, such as whether the plants had dry soil before watering. Typically, sharing a baseline is particularly advantageous whenever a sub-section of the tray is in a similar current "steady state," such as when both the first and second plant sections have dry soil (just before watering). Furthermore, for a shared baseline, the spatial arrangement of wireless lights, greenhouse infrastructure, and pots should ideally be as similar as possible between the two distinct sections. Similarly, the plant growth stages in the first and second sections may need to be comparable (i.e., sharing a baseline between newly planted seedlings and plants ready for harvest would produce poor accuracy if the primary purpose of RF sensing is leaf quality estimation). However, if the grower is most interested in monitoring the approximate uniformity of drip irrigation rather than leaf quality, then the first and second sections can share the same baseline, even if their respective plant growth stages differ.

[0174] In the fourth embodiment, an example of a composite baseline stitched together from contributions from two different RF sensing areas is discussed. For horticultural applications, all growth trays or pots can be substantially equal, and wireless lights are placed in a repetitive manner. Furthermore, all trays are surrounded by other identical trays except for the tray located at the very edge of the growth layer. This makes it possible to use a composite baseline in horticulture.

[0175] A composite baseline can be compiled as follows (see Figure 2b, Embodiment I): Baseline 1 can be created by the leftmost set of lights on the plant support 40 (denoted by reference numeral 40') (e.g., a tray); Baseline 2 can be created by the rightmost set of lights on the plant support 40 (denoted by reference numeral 40'') (e.g., a tray). Thus, plant support 40' and plant support 40'' use light sets with different positioning (leftmost on the tray versus rightmost on the tray). Subsequently, a baseline 3 for the plant support 40 (denoted by reference numeral 40''') is created by calculating a composite using Baseline 1 from the plant support 40 (denoted by reference numeral 40'') and Baseline 2 from the plant support 40 (denoted by reference numeral 40''). Therefore, Figure 2b schematically depicts an embodiment where a (third) baseline is generated by splicing Baseline 1 and Baseline 2. Therefore, the baseline signal can be a composite baseline signal.

[0176] In the fifth embodiment, an example is described using a past baseline recorded during an early growth cycle of the same plant type at the same planting tray location. In horticultural growing facilities, the same plant growth trajectory is repeated over and over after each harvest, with new plants occupying the same old space. Therefore, the RF sensing baseline can also utilize historical data from previous plant growth cycles (or early growth stages of the current growth cycle). For example, the RF sensing baseline of the plant pot in week 1 (the plant has just been sown; it has no leaves yet) can be used in week 4 to determine plant biomass by subtracting the RF sensing baseline of the plant pot in week 1 from the RF sensing signal of week 4.

[0177] In the sixth embodiment, an example is described that includes recording a new baseline whenever the plant is altered through harvesting, chopping, or stem rearrangement. A new baseline may arise after a grower takes some action that changes the plant's biomass; for example, a tomato grower might lower a tomato plant weekly so that the tomato fruit is at the bottom of the plant and new flowers are at the top. For other plants, the plant is periodically chopped (leaves are removed) during its growth period.

[0178] In the seventh embodiment, a method for recording a plant-free baseline (only soil and pot; no leaf biomass) is presented. Specifically, in this embodiment, RF sensing of plant quality is proposed to determine a plant-free baseline from a similar spatial arrangement of lights / plant pots. In this method, first and second wireless horticultural lights form a first RF sensing detection area and record a first RF sensing measurement (zero baseline) at a first location containing only a plant pot filled with soil; however, there are no tulip bulbs or plant leaves / stems in the pot at the first location. Third and fourth wireless horticultural lights form a second RF sensing detection area and record a second RF sensing measurement at a second location with a pot and soil, where the actual "tested plant" is growing in the pot. Subsequently, the RF sensing measurement at the second location (i.e., pot and present plant biomass) is compared with the plant-free zero baseline simultaneously recorded at the first location. The advantage of this parallel approach is that zero-baseline measurements and plant measurements share the same environment (humidity and temperature). Zero-baseline measurements can be performed at the very beginning of the conveyor belt when plant growth is still not apparent. Based on the difference between the zero measurements, our AI-enabled RF sensing algorithm can determine the current average density of the canopy layer on the horticultural growth tray.

[0179] In the eighth embodiment, for example, it is described that an RF sensing baseline is discarded after a change in the irrigation rate of drip irrigation, and a new baseline is initiated. A new baseline can also be created as a function of anticipated / dynamic changes in the control parameters of growth. For example, if the growth system determines that different irrigation and nutrient rates are required due to growth conditions, the RF sensing system can choose to discard some old baselines and generate a new baseline immediately after the nutrient change, and so on. For example, if the grower determines that irrigation requires a higher concentration of fertilizer, a higher fertilizer content in the soil may affect the baseline. Therefore, if the fertilization rate changes, the RF sensing system should be notified, and this trigger should be used to discard outdated old RF sensing baselines.

[0180] In the ninth embodiment, an example of creating multiple baselines representing different temperatures, humidity, and airflow is described. Temperature appears to affect the RF performance of nodes. Therefore, baselines recorded at different previous ambient temperatures in the greenhouse may be inappropriate if the ambient temperature has changed, for example, due to problems with the climate control system or extreme weather. Additionally, the system can assess the expected duration of these environmental parameter changes before taking action to reset the baseline. Temperature may change abruptly due to workers / equipment moving around in a certain area of ​​the greenhouse (e.g., repairing some decommissioned equipment), causing changes in the microclimate, but the workers will eventually leave the area without a lasting impact on the temperature; therefore, baseline reset is not necessary. On the other hand, plants closer to adaptive ventilation ducts, doors, etc., may have more daily variations, so more frequent baseline resets should be prepared. Humidity can weaken radio signals, and relatively high humidity in the air (typical in greenhouses) reduces RSSI. It is well known that RSSI rises and falls together with relative humidity. For example, prior art shows that relative humidity may have a very high positive correlation (0.95) with RSSI at 2.4 GHz ZigBee, while absolute humidity and RSSI are uncorrelated. Therefore, due to the humidity dependence of RF sensing, we recommend recording several RF sensing baselines representing different humidity levels; when humidity levels within the greenhouse / canopy layer may change, a new, appropriate baseline recorded at similar humidity levels will be selected. These humidity-related baselines are particularly important for future RF sensing systems using 60 Hz Wi-Fi (note: the impact of humidity on RF sensing will become more significant over the next 20 years, as higher wireless frequencies experience greater attenuation due to condensations (rain, clouds, fog, snow)). Therefore, the baseline signal can be a composite baseline signal.

[0181] In the tenth embodiment, baselines are described for recording closed flower heads at night. Here, it is proposed that multiple baselines be recorded at different states of the horticultural plant. For example, when growing horticultural flowers (e.g., tulips), baselines can be intentionally recorded at night when the flower heads are closed; RF sensing measurements are then performed using the baselines determined at night, after the flowers may open in the morning. For example, tulips may have a high relative proportion of flowers compared to stems / leaves. Therefore, the opening or closing of the flower will result in a significant difference in the RSSI / CSI of the RF sensing signal, which can be used to successfully determine the opening / closing state of the flower and estimate the number / overall size / maturity of the flowers. If the RF sensing measurements show a small difference in the RF sensing signal between the opening and closing states of the tulip flower, this may indicate that the flower did not fully open that morning for some reason; this could be an indication of certain diseases / fungi or an anomaly in the irrigation and climate control system.

[0182] In the eleventh embodiment, the embodiment includes dynamically redefining the RF sensing area to diagnose microclimate changes via RF sensing (or identify a fault in one of the baselines and trigger baseline resetting). Spatially highly repetitive growth trays can use first and second RF sensing groups (see...). Figure 2B (Example II), whereby the first and second sensing groups cover non-overlapping but adjacent areas. This embodiment describes how to diagnose the root cause; and how to determine the need for baseline recalibration if the first and second RF sensing areas suddenly show a significant difference between their respective RF sensing baselines, while all measurable environmental parameters known at the macroscopic level to the control system are equal (e.g., HVAC system sensor data). Figure 2b (Example II) schematically depicts the spatial distribution of eight garden grow lights as seen from above.

[0183] Baselines B' and B'' are expected to be equal due to the repetition of the growth trays and the same plant species and growth stages in the tests. However, if we notice that baselines B' and B'' suddenly become different from each other, then we create a new baseline B''', which consists of a subset of the lamps from the nearest "inconsistent" groups B' and B''.

[0184] In the first scenario: if baseline B''' exhibits behavior between baseline B' and baseline B'', then there are real environmental impacts or events occurring (e.g., microclimate change due to inappropriate airflow, condensation, water accumulation, etc.). Since real effects are occurring, baseline recalibration is unnecessary. In other words, due to baseline overlap, it should be expected that the microclimate will still have a significant impact on adjacent overlapping areas. Therefore, as we select lights that are increasingly farther from the source location of the problem, the gradual change in the baseline indicates real microclimate change.

[0185] In the second scenario: However, if baseline B''' exhibits behavior very similar to baseline B' or baseline B'', then this means that baseline B'' or baseline B' has not been correctly selected, is outdated, or requires baseline recalibration, because due to the repetitiveness of the layout, all baselines are expected to match under normal conditions. Therefore, the prominent baseline is the faulty or requires recalibration.

[0186] The term "multiple" refers to two or more.

[0187] Those skilled in the art will understand the terms "substantially" or "basically" and similar terms used herein. The term "substantially" or "basically" may also include embodiments with terms such as "completely," "entirely," "entirely," etc. Therefore, in embodiments, the adjectives "substantially" or "basically" may also be removed. Where applicable, the term "substantially" or "basically" may also refer to 90% or higher, such as 95% or higher, particularly 99% or higher, even more particularly 99.5% or higher, including 100%.

[0188] The term "comprising" also includes embodiments that mean "consisting of".

[0189] The term “and / or” specifically refers to one or more items mentioned before and after “and / or”. For example, the phrase “item one and / or item two” and similar phrases can refer to one or more of item one and item two. The term “comprising” in one embodiment can mean “consisting of”, but in another embodiment it can also mean “comprising at least the defined kinds and optional one or more other kinds”.

[0190] Furthermore, the terms first, second, third, etc., used in the specification and claims are used to distinguish between similar elements and are not necessarily used to describe a sequential or chronological order. It should be understood that such terms are interchangeable where appropriate, and the embodiments of the invention described herein can operate in orders other than those described or shown herein.

[0191] During operation, the equipment, apparatus, or system may be described herein—among others. As will be apparent to those skilled in the art, the invention is not limited to the method of operation, or the equipment, apparatus, or system in operation.

[0192] It should be noted that the above embodiments are illustrative and not limiting of the invention, and those skilled in the art will be able to devise many alternative embodiments without departing from the scope of the appended claims.

[0193] In the claims, any reference numerals placed between parentheses shall not be construed as limiting the claims.

[0194] The use of the verb "comprising" and its variations does not exclude the presence of elements or steps other than those stated in the claims. Unless the context explicitly requires it, throughout the specification and claims, the words "comprising," "including," etc., should be interpreted as encompassing, not exclusive or exhaustive; that is, in the sense of "including but not limited to."

[0195] The article "one" or "a" preceding an element does not preclude the existence of multiple such elements.

[0196] This invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In an apparatus claim, device claim, or system claim listing several components, several of these components may be embodied by the same hardware item. The mere fact that certain measures are referenced in mutually different dependent claims does not indicate that a combination of these measures cannot be used advantageously.

[0197] The present invention also provides a control system that can control a device, apparatus, or system, or perform the methods or processes described herein. Furthermore, the present invention provides a computer program product that, when functionally coupled to or executed on a computer included in a device, apparatus, or system, controls one or more controllable elements of such device, apparatus, or system.

[0198] The present invention is also applicable to devices, apparatuses, or systems that include one or more features described in the specification and / or shown in the accompanying drawings. The present invention also relates to methods or processes that include one or more features described in the specification and / or shown in the accompanying drawings.

[0199] The various aspects discussed in this patent can be combined to provide additional advantages. Furthermore, those skilled in the art will understand that embodiments can be combined, and more than two embodiments can be combined. Additionally, some features can form the basis of one or more divisional applications.

Claims

1. A horticultural system (1) comprising a plurality of horticultural system units (100) for planting plants during growth stages and a control system (300), wherein: Each horticultural system unit (100) includes (i) a horticultural unit space, which includes plants at a corresponding growth stage, and (ii) a radio transmission pair (120) arranged to monitor the horticultural unit space (110) using radio frequency sensing, wherein the radio transmission pair (120) includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship. The control system (300) is configured to perform measurements in at least one horticultural unit space (110) using a corresponding radio transmission pair (120) during the unit sensing phase (230); The control system (300) is configured in the operating mode to: (i) Performing a first signal sensing phase (231), wherein the first signal sensing phase (231) includes the unit sensing phase (230) having a first radio transmission pair (121) associated with a first gardening unit space (111) of the first gardening sensing unit, thereby providing a first signal (241) to the control system (300), (ii) Performing a second signal sensing phase (232), wherein the second signal sensing phase (232) includes the unit sensing phase (230) having a second radio transmission pair (122) associated with a second gardening unit space (112) of the second gardening system unit, thereby providing a second signal (242) to the control system (300), and (iii) Determine the volumetric plant-related parameter data of the plants in the first horticultural unit space based on the following: -(a) First signal (241) and -(b) Baseline signal (245), The baseline signal (245) is derived from the second signal (242) obtained by performing the second signal sensing phase (232). The plant volume-related parameter data mentioned above are selected from a group including leaf volume, root volume, and fruit volume; The plants contained in the second horticultural unit space (112) are in an earlier growth stage than the plants contained in the first horticultural unit space (111).

2. The gardening system (1) according to claim 1, wherein the control system (300) is configured to perform the second signal sensing phase (232) prior to the first signal sensing phase in the operating mode.

3. The gardening system (1) according to claim 1, wherein the control system (300) is configured to execute the second signal sensing phase (232) simultaneously with the first signal sensing phase in the operating mode.

4. The gardening system (1) according to any one of claims 1-3, wherein each gardening system unit (100) has the same configuration of radio transmission pairs (120) relative to the gardening unit space (110).

5. The horticultural system (1) according to any one of claims 1-3 further includes a transport element (130), wherein the transport element (130) is configured to move the plant retainer (40) sequentially through a series of horticultural unit spaces (110).

6. The gardening system (1) according to any one of claims 1-3, wherein the control system (300) is further configured to control environmental parameters of a plurality of gardening unit spaces, and to perform the second signal sensing phase (232) in the operating mode while changing the environmental parameters.

7. The horticultural system (1) according to claim 6, wherein the environmental parameters are selected from the group consisting of temperature, substrate humidity, leaf humidity, relative humidity, absolute humidity, airflow, density of horticultural growth medium and lighting parameters.

8. The gardening system (1) according to any one of claims 1-3 and 7, wherein the gardening system (1) comprises one or more lighting devices (1000), wherein one or more of (a) the radio transmitter and (b) the radio receiver are integrated in the one or more lighting devices (1000).

9. A horticultural system (1) according to any one of claims 1-3 and 7, wherein the horticultural system (1) includes an actuator (140) selected from the group consisting of a temperature control element, a plant trimmer, a water supply element, a nutrient supply element, a plant treatment supply element, a growth inhibitor supply element, a lighting device (1000), a disinfection device, an insect exposure element, and a harvesting element, wherein a control system (300) controls the actuator (140), and wherein during the operating mode, the control system (300) operates the actuator (140) depending on the volumetric plant-related parameter data.

10. The gardening system (1) according to any one of claims 1-3 and 7, wherein the radio signal indicates a control command arranged for controlling electrical equipment.

11. A method for determining volume plant-related parameter data of plants (50) in a horticultural system (1) comprising multiple repeating horticultural system units (100) and a control system (300); wherein the volume plant-related parameter data is selected from the group comprising leaf volume, root volume and fruit volume; in: (a) Each gardening system unit (100) includes (i) a gardening unit space (110) and (ii) a radio transmission pair (120) arranged to monitor the gardening unit space (110) using radio frequency sensing, wherein the radio transmission pair (120) includes a radio transmitter and a radio receiver arranged in a radio signal receiving relationship. (b) The control system (300) is configured to perform measurements in at least one horticultural unit space (110) using a corresponding radio transmission pair (120) during the unit sensing phase (230); and the method includes: (i) Perform a first signal sensing phase (231), wherein the first signal sensing phase (231) includes the unit sensing phase (230) having a first radio transmission pair (121) associated with a first horticultural unit space (111) containing a first horticultural sensing unit of a plant (50) at a corresponding growth stage, thereby providing a first signal (241) to the control system (300). (ii) Performing a second signal sensing phase (232), wherein the second signal sensing phase (232) includes the unit sensing phase (230) having a second radio transmission pair (122) associated with a second horticultural unit space (112) containing a second horticultural sensing unit of a plant at a corresponding growth stage, thereby providing a second signal (242) to the control system (300); and (iii) Determine the volume plant-related parameter data based on (a) the first signal (241) and (b) the baseline signal (245), wherein the baseline signal (245) is derived from the second signal (242) obtained by performing the second signal sensing phase (232); The plants contained in the second horticultural unit space (112) are in an earlier growth stage than the plants contained in the first horticultural unit space (111).

12. The method of claim 11, wherein the control system (300) is configured to perform the second signal sensing phase (232) in an operating mode; wherein the method further comprises moving the plant retainer (40) sequentially through a series of horticultural system units (100); wherein the second horticultural unit space (112) is configured upstream of the first horticultural unit space (111) in the series of horticultural system units (100).

13. The method according to any one of claims 11-12, wherein the horticultural system (1) comprises one or more lighting devices (1000), wherein one or more of (a) the radio transmitter and (b) the radio receiver are integrated in the one or more lighting devices (1000); wherein the horticultural system (1) comprises an actuator (140) selected from the group consisting of a temperature control element, a plant trimmer, a water supply element, a nutrient supply element, a lighting device (1000), a disinfection device, an insect exposure element, and a harvesting element, wherein the control system (300) controls the actuator (140); and wherein the method further comprises controlling the actuator (140) based on volumetric plant-related parameter data associated with the first horticultural unit space (111).

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