Planting frame self-adaptive adjusting mechanism for lucid ganoderma cultivation and control method

Abstract

The invention discloses a planting frame self-adaptive adjusting mechanism for ganoderma lucidum cultivation and a control method, and relates to the technical field of environment regulation, a planting frame is divided into a plurality of three-dimensional cultivation spaces, each three-dimensional cultivation space comprises a cultivation layer distinguished based on a ganoderma lucidum growth cycle, a middle layer is a hypha growth period cultivation layer, and a middle layer is a hypha growth period cultivation layer; the upper layer is a sporocarp differentiation period cultivation layer, and the lower layer is a sporocarp mature period cultivation layer, so that environmental parameter adjustment and region adjustment can be carried out in time, and it is guaranteed that the whole planting process can still be stably and efficiently operated in the case of batch change.

Description

Technical Field

[0001] The invention belongs to the technical field of environmental regulation, and in particular is a self-adaptive regulation control method for a planting rack for cultivating ganoderma lucidum. Background Art

[0002] There are many problems that need to be solved in the field of traditional Ganoderma lucidum cultivation. On the one hand, the growth cycle of Ganoderma lucidum covers the mycelial growth period, the fruiting body differentiation period and the fruiting body maturity period. The requirements for spatial layout, lighting, temperature and humidity, ventilation and other environmental conditions in each stage are significantly different. Existing planting racks usually adopt a single spatial layout, which does not fully consider the characteristics of Ganoderma lucidum's growth stage. As a result, Ganoderma lucidum in different growth stages interfere with each other, and the growth environment is difficult to optimize, which seriously affects the growth efficiency and quality of Ganoderma lucidum. On the other hand, there is a lack of scientific regional allocation strategies for the cultivation and management of multiple batches of Ganoderma lucidum. The mixed cultivation of Ganoderma lucidum in different batches not only increases the difficulty of management, but also easily leads to an imbalance in resource competition due to different growth processes. In addition, when there is a temporary increase or decrease in the number of cultivation batches during the planting process, the existing planting model cannot quickly and reasonably adjust the planting layout and environmental parameters, further reducing the planting efficiency and resource utilization. Summary of the Invention

[0003] The purpose of the present invention is to provide a self-adaptive adjustment mechanism and control method for a planting rack for Ganoderma lucidum cultivation, which solves the technical problem that the existing planting model cannot quickly and reasonably adjust the planting layout and environmental parameters, thereby reducing the planting efficiency and resource utilization rate.

[0004] A method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum, comprising:

[0005] S1. Divide the planting rack into multiple three-dimensional cultivation spaces, each of which includes cultivation layers differentiated based on the growth cycle of Ganoderma lucidum, with the middle layer being a cultivation layer for the mycelial growth period, the upper layer being a cultivation layer for the fruiting body differentiation period, and the lower layer being a cultivation layer for the fruiting body maturity period;

[0006] S2. Allocate the cultivation unit areas for each batch of Ganoderma lucidum according to the order of inoculation;

[0007] S3, obtaining the morphology, growth rate and environmental parameter data of Ganoderma lucidum in each cultivation unit area, and comparing and analyzing them with the preset standards;

[0008] S4. Based on the evaluation results, adjust the cultivation unit area and environmental parameters of the Ganoderma lucidum with abnormal growth status;

[0009] S5. For the temporarily increased or decreased cultivation batches, the cultivation unit areas are reallocated in the cultivation racks, and S3-S4 are executed cyclically;

[0010] S6. Adjust environmental parameters according to the growth status and dynamic adjustment results of Ganoderma lucidum in each cultivation unit area.

[0011] As a further solution of the present invention: the specific steps of S2 are:

[0012] A middle cultivation layer of a three-dimensional cultivation space to which no cultivation unit area allocation has been performed is selected, and the first batch of inoculated Ganoderma lucidum is selected as the object to be allocated according to the order of Ganoderma lucidum inoculation; its real-time three-dimensional morphological data is obtained through an image acquisition device, and a dynamic growth space is generated in combination with preset reference growth space parameters; it is analyzed whether the blank space of the middle cultivation layer can accommodate the dynamic growth space. If it can be accommodated, position allocation is performed; if not, the upper and lower extension allocation process is entered.

[0013] As a further solution of the present invention: the specific steps of entering the upward and downward extension distribution process are:

[0014] S31. If the middle layer cannot accommodate it, determine the current growth stage of Ganoderma lucidum:

[0015] S311. If the mycelium is in the growth stage, try to allocate it to the upper cultivation layer. If the upper layer still cannot accommodate it, select the middle layer of another three-dimensional cultivation space and repeat the allocation process;

[0016] S312: If the fruiting body is in the differentiation or maturity stage, try to allocate it to the lower cultivation layer. If the lower layer still cannot accommodate it, select the middle layer of another three-dimensional cultivation space and repeat the allocation process;

[0017] S313. Select the next batch of Ganoderma lucidum inoculated as the object to be allocated according to the order of Ganoderma lucidum inoculation, and repeat the middle-layer priority allocation and upper and lower extension allocation steps until the initial allocation of all batches of Ganoderma lucidum is completed.

[0018] As a further solution of the present invention: the S4 step further includes:

[0019] S41. Analyze the morphological characteristics of Ganoderma lucidum through image recognition algorithms and determine its growth stage in real time;

[0020] S42. When the growth stage of Ganoderma lucidum changes, further judgment is made, specifically:

[0021] S421. If the mycelial growth period of Ganoderma lucidum reaches a preset growth index, a gradient transfer process from the middle layer to the upper layer is triggered, and environmental parameters of the upper target area are pre-adjusted before the transfer;

[0022] S422. If morphological characteristics of Ganoderma lucidum change during the fruiting body differentiation period, a gradient transfer process from the upper layer to the lower layer is triggered, and environmental parameters of the lower target area are pre-adjusted before the transfer;

[0023] S43. During the transfer process, the preset grabbing equipment is used to ensure smooth transfer of the Ganoderma lucidum, and environmental parameter calibration is performed after the transfer.

[0024] As a further solution of the present invention: in the step of extending and distributing upward and downward, when the upper or lower cultivation layer is still unable to accommodate the above-mentioned ...

[0025] A1: Loop through the allocated cultivation unit areas of the target cultivation layer and analyze the real-time growth data of the Ganoderma lucidum in each area. If it is found that the Ganoderma lucidum in a certain area is growing slowly and the space currently occupied exceeds [M]% of its actual growth requirement, the Ganoderma lucidum in that area will be temporarily transferred to a spare cultivation area. After the space is freed up, it will be determined again whether it can accommodate the Ganoderma lucidum to be allocated. If it can, the allocation is completed. If not, the process proceeds to step A2.

[0026] A2: Evaluate the space of adjacent cultivation layers to determine whether there is space that can be temporarily borrowed. If so, demarcate a temporary transition area in the adjacent cultivation layer and adjust the environmental parameters of the adjacent cultivation layer so that the difference between the environment of the adjacent cultivation layer and that of the target cultivation layer is within an acceptable range. Temporarily place the Ganoderma lucidum to be allocated in the temporary transition area. If no space exists, proceed to step A3.

[0027] A3: Perform a circular search in all three-dimensional cultivation spaces to find the idle three-dimensional cultivation space that best matches the environmental requirements of the current Ganoderma lucidum growth stage. If found, the Ganoderma lucidum to be allocated will be allocated to the middle cultivation layer of the space. If not found, the existing three-dimensional cultivation space will be rearranged according to the preset priority, and the allocation will be completed after the space is released.

[0028] As a further solution of the present invention, when looping through the cultivation unit areas allocated to the target cultivation layer, the method further includes:

[0029] Before each loop traversal, the cultivation unit areas allocated to the target cultivation layer are numbered in sequence according to a preset order, starting from the area numbered 1;

[0030] When analyzing the growth data of Ganoderma lucidum in each area, if it is found that the growth of Ganoderma lucidum in a certain area is slow and the space currently occupied exceeds [M]% of its actual growth requirement, the Ganoderma lucidum in this area will be temporarily marked for transfer; if no area meeting the conditions is found, the next numbered area will be traversed until all areas are traversed;

[0031] If there are multiple areas where Ganoderma lucidum meets the temporary transfer conditions, the temporary transfer operation is performed on the areas that meet the conditions in order of the priority of Ganoderma lucidum growth. After each transfer, the loop traversal is paused and the spatial evaluation of the target cultivation layer is re-performed to determine whether it can accommodate the Ganoderma lucidum to be allocated; if it can accommodate it, the allocation is completed and the loop ends; if it cannot accommodate it, the operation of step A2 is continued.

[0032] As a further solution of the present invention, the spatial evaluation of adjacent cultivation layers further comprises:

[0033] The spatial evaluation cycles are conducted on the upper and lower cultivation layers adjacent to the target cultivation layer, with the adjacent upper cultivation layer being evaluated first;

[0034] When performing space assessment on the adjacent upper cultivation layer, the cultivation unit areas of the upper cultivation layer are judged in turn according to the preset order to determine whether there is space that can be temporarily borrowed; if there is space that can be temporarily borrowed in the upper cultivation layer, the next step is performed; if not, the space assessment cycle is performed on the adjacent lower cultivation layer;

[0035] When performing spatial evaluation on the adjacent lower cultivation layer, each cultivation unit area of ​​the lower cultivation layer is judged in turn according to the preset order to determine whether there is space that can be temporarily borrowed; if there is space that can be temporarily borrowed in the lower cultivation layer, proceed to the next step; if not, proceed to step A3; after each determination that there is space that can be temporarily borrowed, further determine whether the space meets the environmental requirements of the current growth stage of the Ganoderma lucidum to be allocated; if so, divide a temporary transition area and perform subsequent operations; if not, continue to loop and judge the next area until a suitable space is found or it is determined that none of the adjacent cultivation layers meet the conditions.

[0036] As a further solution of the present invention: when performing cyclic search in all three-dimensional cultivation spaces, the method further includes:

[0037] Sort all three-dimensional cultivation spaces according to the preset priority order, and perform a circular search starting from the three-dimensional cultivation space with the highest priority;

[0038] In each three-dimensional cultivation space, the cultivation unit areas of each cultivation layer are judged in turn according to the preset search path to determine whether there is an idle area that best matches the environmental requirements of the current Ganoderma lucidum growth stage; if the idle area with the best match is found, the Ganoderma lucidum to be allocated is allocated to the middle cultivation layer of the space, and the cyclic search ends; if the idle area with the best match is not found, the search for the next three-dimensional cultivation space continues until a space that meets the conditions is found or it is determined that all three-dimensional cultivation spaces cannot meet the conditions, at which time the step of re-layout of the existing three-dimensional cultivation space is entered.

[0039] Furthermore, the present invention also provides a self-adaptive adjustment mechanism for a growing rack for cultivating Ganoderma lucidum, the mechanism comprising:

[0040] The parameter setting module divides the planting rack into multiple three-dimensional cultivation spaces. Each three-dimensional cultivation space contains cultivation layers based on the growth cycle of Ganoderma lucidum. The middle layer is the cultivation layer for the mycelial growth period, the upper layer is the cultivation layer for the fruiting body differentiation period, and the lower layer is the cultivation layer for the fruiting body maturity period. The cultivation unit area is allocated to each batch of Ganoderma lucidum according to the order of Ganoderma lucidum inoculation.

[0041] The monitoring module obtains the morphology, growth rate and environmental parameter data of Ganoderma lucidum in each cultivation unit area, and compares and analyzes them with the preset standards;

[0042] Adjust the module and adjust the cultivation unit area and environmental parameters of Ganoderma lucidum with abnormal growth status based on the evaluation results.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention comprehensively considers the growth status of Ganoderma lucidum in each cultivation unit area and the dynamic adjustment results, and adjusts the environmental parameters of the entire planting rack. For example, if the growth status of Ganoderma lucidum in the fruiting body differentiation stage in multiple cultivation unit areas shows that stronger light is needed, then the lighting system of the entire planting rack is uniformly adjusted to increase the light intensity; if it is found that Ganoderma lucidum in different growth stages has a common changing trend in humidity requirements, the humidity environment in the planting rack is adjusted accordingly. Through this dynamic environmental parameter adjustment, a precise match between the planting environment and the growth status of Ganoderma lucidum is achieved, creating optimal conditions for Ganoderma lucidum growth. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of the system framework structure of the present invention;

[0046] Figure 2 Schematic diagram of the framework structure of the method of the present invention. DETAILED DESCRIPTION

[0047] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] See also Figure 1 The present application provides a method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum, comprising:

[0049] S1. Divide the planting rack into multiple three-dimensional cultivation spaces, each of which includes cultivation layers differentiated based on the growth cycle of Ganoderma lucidum, with the middle layer being a cultivation layer for the mycelial growth period, the upper layer being a cultivation layer for the fruiting body differentiation period, and the lower layer being a cultivation layer for the fruiting body maturity period;

[0050] S2. Allocate the cultivation unit areas for each batch of Ganoderma lucidum according to the order of inoculation;

[0051] S3, obtaining the morphology, growth rate and environmental parameter data of Ganoderma lucidum in each cultivation unit area, and comparing and analyzing them with the preset standards;

[0052] S4. Based on the evaluation results, adjust the cultivation unit area and environmental parameters of the Ganoderma lucidum with abnormal growth status;

[0053] S5. For the temporarily increased or decreased cultivation batches, the cultivation unit areas are reallocated in the cultivation racks, and S3-S4 are executed cyclically;

[0054] S6. Adjust environmental parameters according to the growth status and dynamic adjustment results of Ganoderma lucidum in each cultivation unit area.

[0055] The middle layer is set as the mycelium growth stage cultivation layer. During this stage, the mycelium of Ganoderma lucidum spreads and grows in the relatively stable environment of the middle layer, which is conducive to avoiding interference from Ganoderma lucidum in other growth stages in the upper or lower layers. In addition, the lighting, temperature and humidity conditions in the middle layer can be set specifically to meet the mycelium growth requirements.

[0056] The upper layer is the cultivation layer for the fruiting body differentiation stage. During this stage, Ganoderma lucidum begins to transform from mycelium to fruiting body. The upper space can provide more sufficient light and better ventilation conditions, meeting the special environmental requirements of fruiting body differentiation.

[0057] The lower layer is the cultivation layer for the mature fruiting bodies. The mature Ganoderma lucidum has high requirements for spatial stability. The relatively stable environment in the lower layer is conducive to the full development of the Ganoderma lucidum fruiting bodies and the normal release of spores.

[0058] Next, each batch of Ganoderma is assigned to a cultivation unit area according to the order of inoculation. This helps to monitor the growth progress of each batch according to the inoculation time. At the same time, it helps to avoid resource competition among different batches of Ganoderma due to large differences in growth progress in the same area, ensuring that each batch of Ganoderma can grow in a relatively independent and suitable space.

[0059] Subsequently, sensors and other equipment are used to obtain real-time data on the morphology of Ganoderma lucidum (such as the density of mycelium, the shape and size of the fruiting body, etc.), growth rate (measured by indicators such as size changes within a certain period of time) and environmental parameter data (including temperature, humidity, light intensity, carbon dioxide concentration, etc.) in each cultivation unit area. These real-time data are compared and analyzed with pre-set standard data. The pre-set standard data are based on a large number of Ganoderma lucidum cultivation experiments and experience summaries, and represent the ideal growth state and environmental conditions of Ganoderma lucidum at each growth stage. Through comparison, it is possible to quickly discover whether the growth of Ganoderma lucidum in each cultivation unit area deviates from the normal track, providing data support for subsequent intervention measures;

[0060] If abnormal growth conditions are found in a certain cultivation unit, such as slow growth or deformed morphology, the cultivation unit area will be adjusted first. For example, the slowly growing mycelial stage of Ganoderma lucidum will be transferred to a cultivation unit area more suitable for mycelial growth, so that it can obtain more favorable growth conditions. At the same time, the environmental parameters of the area will be adjusted, such as increasing the temperature, increasing the humidity or adjusting the light intensity, so that the abnormal growth state of Ganoderma lucidum can gradually return to normal growth state, ensuring the overall growth quality of Ganoderma lucidum.

[0061] In response to the temporary increase or decrease in cultivation batches, the cultivation unit area is re-planned within the cultivation rack. When increasing the cultivation batch, the cultivation area of ​​the new batch of Ganoderma lucidum is reasonably allocated according to the remaining space on the cultivation rack and the capacity of the cultivation layer at each growth stage; when reducing the cultivation batch, the vacated space is reintegrated and optimized to ensure that the space on the cultivation rack is fully utilized. After completing the area reallocation, the S3-S4 steps are executed cyclically to continuously monitor the growth status of Ganoderma lucidum in each cultivation unit area under the new layout, and to adjust the environmental parameters and areas in a timely manner to ensure that the entire cultivation process can still operate stably and efficiently in the face of batch changes;

[0062] By comprehensively considering the growth status of Ganoderma lucidum in each cultivation unit area and the results of dynamic adjustments, the environmental parameters of the entire cultivation rack are adjusted. For example, if the growth status of Ganoderma lucidum in the fruiting body differentiation stage in multiple cultivation units indicates that it requires stronger light, then the lighting system of the entire cultivation rack is uniformly adjusted to increase the light intensity. If it is found that Ganoderma lucidum in different growth stages has a common trend in humidity requirements, the humidity environment in the cultivation rack is adjusted accordingly. Through this dynamic environmental parameter adjustment, a precise match between the cultivation environment and the growth status of Ganoderma lucidum is achieved, creating optimal conditions for Ganoderma lucidum growth.

[0063] As an optional embodiment, the specific steps of S2 are:

[0064] A middle cultivation layer of a three-dimensional cultivation space to which no cultivation unit area allocation has been performed is selected, and the first batch of inoculated Ganoderma lucidum is selected as the object to be allocated according to the order of Ganoderma lucidum inoculation; its real-time three-dimensional morphological data is obtained through an image acquisition device, and a dynamic growth space is generated in combination with preset reference growth space parameters; it is analyzed whether the blank space of the middle cultivation layer can accommodate the dynamic growth space. If it can, position allocation is performed; if not, the upper and lower extension allocation process is entered.

[0065] It should be understood that in the process of growing Ganoderma, traditional allocation methods often ignore the dynamic changes in space required for the growth of Ganoderma, and simply place Ganoderma in the space of the planting rack, resulting in some Ganoderma being entangled in hyphae and limited fruiting body development due to insufficient growth space. At the same time, the space of the planting rack does not fully consider the growth characteristics of Ganoderma, resulting in low space utilization and waste of resources. Moreover, if different batches of Ganoderma are randomly allocated to different areas, the growth stages will overlap and the management standards will be inconsistent, which will increase the difficulty of planting and management, affecting the overall growth quality and yield of Ganoderma.

[0066] Therefore, the middle cultivation layer of a three-dimensional cultivation space that has not been allocated to a cultivation unit area is selected first because the mycelial growth period is at the initial stage of the entire growth cycle of Ganoderma lucidum, and the relatively stable environment of the middle layer is more suitable for the initial growth of mycelium. Selecting the first batch of Ganoderma lucidum inoculated as the objects to be allocated according to the order of Ganoderma lucidum inoculation can make the planting management more timely and regular, and facilitate the subsequent calculation of Ganoderma lucidum growth progress based on the inoculation time and the implementation of precise management;

[0067] The image acquisition device captures real-time three-dimensional morphological data of the first batch of Ganoderma lucidum to be distributed. Advanced image recognition and modeling technologies are used to accurately present the current morphological characteristics of Ganoderma lucidum. A dynamic growth space is generated by combining preset reference growth space parameters. These parameters are based on extensive experiments and research, and are standard data for the spatial range and shape required by Ganoderma lucidum at different growth stages. The generated dynamic growth space fully considers the growth trends and spatial requirements of Ganoderma lucidum over a period of time, providing a basis for the subsequent allocation of planting areas.

[0068] Analyze whether the empty space in the middle cultivation layer can accommodate dynamic growth space. If so, directly allocate the space. This allocation method not only ensures sufficient growth space for Ganoderma lucidum, but also realizes efficient use of the cultivation rack space. If not, enter the upper and lower extension allocation process. When the space in a cultivation layer is insufficient, the three-dimensional space structure of the cultivation rack can be fully utilized to expand the space to the adjacent upper or lower layers, ensuring that the space demand for Ganoderma lucidum growth is met while maintaining the rationality and effectiveness of the cultivation rack space allocation.

[0069] As an optional embodiment, the specific steps of entering the upward and downward extension allocation process are:

[0070] S31. If the middle layer cannot accommodate it, determine the current growth stage of Ganoderma lucidum:

[0071] S311. If the mycelium is in the growth stage, try to allocate it to the upper cultivation layer. If the upper layer still cannot accommodate it, select the middle layer of another three-dimensional cultivation space and repeat the allocation process;

[0072] S312: If the fruiting body is in the differentiation or maturity stage, try to allocate it to the lower cultivation layer. If the lower layer still cannot accommodate it, select the middle layer of another three-dimensional cultivation space and repeat the allocation process;

[0073] S313. Select the next batch of Ganoderma lucidum inoculated as the object to be allocated according to the order of Ganoderma lucidum inoculation, and repeat the middle-layer priority allocation and upper and lower extension allocation steps until the initial allocation of all batches of Ganoderma lucidum is completed.

[0074] Specifically, in the process of allocating the cultivation unit area for Ganoderma lucidum cultivation, if the Ganoderma lucidum cultivation area is divided based on a single cultivation layer, it is very easy to have insufficient space. Once the space in the middle cultivation layer cannot meet the dynamic space required for Ganoderma lucidum growth, if effective adjustments are not made in a timely manner, it will lead to crowded growth of Ganoderma lucidum, affecting its normal physiological metabolism and development process, and thus reducing the quality and yield of Ganoderma lucidum. In addition, if there is no reasonable extension allocation rule, blindly placing Ganoderma lucidum in other spaces at will may not only disrupt the original spatial planning layout of the planting rack, but also cause Ganoderma lucidum at different growth stages to interfere with each other, affecting the efficiency and benefits of planting;

[0075] Therefore, first determine the current growth stage of Ganoderma lucidum. This is because the requirements for environment and space of Ganoderma lucidum at different growth stages vary greatly. Allocating space according to the growth stage can ensure that Ganoderma lucidum is always in a relatively suitable growth environment.

[0076] Next, if the Ganoderma lucidum is in the mycelial growth stage, it will be allocated to the upper cultivation layer first. This is because the Ganoderma lucidum in the mycelial growth stage has relatively low requirements for environmental factors such as light. Although the upper cultivation layer is more suitable for the fruiting body differentiation stage, when there is insufficient space, the mycelium can adapt to the upper environment to a certain extent, and the upper space can provide a new growth and expansion area for the mycelium. If the upper layer still cannot accommodate, the middle layer of another three-dimensional cultivation space will be selected to repeat the allocation process. In this way, by constantly looking for suitable planting space, it can ensure that the Ganoderma lucidum in the mycelial stage has sufficient growth space to maintain its normal growth. At the same time, the principle of middle layer priority is followed to make full use of the three-dimensional space resources of the planting rack.

[0077] Subsequently, for Ganoderma lucidum in the fruiting body differentiation or maturity stage, we try to allocate it to the lower cultivation layer. This is because Ganoderma lucidum in the fruiting body differentiation and maturity stages has more stringent requirements for environmental conditions such as spatial stability and temperature and humidity. The relatively stable environment of the lower layer is more in line with its growth needs. If the lower layer is also unable to accommodate, the middle layer of another three-dimensional cultivation space will be selected to repeat the allocation process. This will ensure that Ganoderma lucidum in the fruiting body stage can complete its growth and development in the appropriate space, reducing growth abnormalities and quality decline caused by space discomfort.

[0078] Finally, the next batch of Ganoderma lucidum inoculated is selected as the object to be allocated according to the order of inoculation, and the middle-level priority allocation and upward and downward extension allocation steps are repeated until the initial allocation of all batches of Ganoderma lucidum is completed. This method of allocating in sequence according to the inoculation order ensures that each batch of Ganoderma lucidum can receive reasonable space planning, which helps to avoid unreasonable space allocation and disordered management caused by batch confusion, making the space utilization of the entire planting rack more efficient and orderly;

[0079] In summary, through targeted space extension allocation based on the growth stage of Ganoderma lucidum and cyclic allocation according to the inoculation order, it is beneficial to ensure that each batch and each growth stage of Ganoderma lucidum can obtain suitable growth space, optimize the space utilization efficiency of the planting rack, reduce the mutual interference between Ganoderma lucidum at different growth stages, and provide a reliable way for the rational allocation of Ganoderma lucidum planting space resources.

[0080] As an optional embodiment, step S4 further includes:

[0081] S41. Analyze the morphological characteristics of Ganoderma lucidum through image recognition algorithms and determine its growth stage in real time;

[0082] S42. When the growth stage of Ganoderma lucidum changes, further judgment is made, specifically:

[0083] S421. If the mycelial growth period of Ganoderma lucidum reaches a preset growth index, a gradient transfer process from the middle layer to the upper layer is triggered, and environmental parameters of the upper target area are pre-adjusted before the transfer;

[0084] S422. If morphological characteristics of Ganoderma lucidum change during the fruiting body differentiation period, a gradient transfer process from the upper layer to the lower layer is triggered, and environmental parameters of the lower target area are pre-adjusted before the transfer;

[0085] S43. During the transfer process, the preset grabbing equipment is used to ensure smooth transfer of the Ganoderma lucidum, and environmental parameter calibration is performed after the transfer.

[0086] Among them, the preset grasping device can use a robotic arm combined with a three-dimensional positioning system for grasping.

[0087] Among them, the image recognition algorithm can use 3D vision algorithm;

[0088] Specifically, during the Ganoderma lucidum cultivation process, the changes in the growth stage of Ganoderma lucidum have different requirements for the environment and space. In the existing technology, it is often impossible to timely perceive the changes in the growth stage of Ganoderma lucidum, and it is even more difficult to quickly adjust the cultivation space and environmental parameters when the growth stage changes;

[0089] Therefore, we first analyze the morphological characteristics of Ganoderma lucidum through image recognition algorithms to determine its growth stage in real time. The image recognition algorithm can use the Ganoderma lucidum images captured by the camera to extract and analyze characteristics such as the density, color, and morphology of the mycelium, and the size, shape, and color of the fruiting body. By comparing with the preset morphological standards for each growth stage, we can accurately determine the current growth stage of Ganoderma lucidum, providing a basis for subsequent transfer and environmental adjustment.

[0090] Next, for Ganoderma lucidum in the mycelial growth stage, when the preset growth indicators are reached, the gradient transfer process from the middle layer to the upper layer is triggered. The preset growth indicators are set according to the growth law of Ganoderma lucidum and a large amount of experimental data, such as the coverage area and density of the mycelium. Before the transfer, the environmental parameters of the upper target area are pre-adjusted. Because the upper layer is the cultivation layer during the fruiting body differentiation period, it is necessary to adjust the environmental parameters such as light intensity, humidity, and temperature in advance to a state suitable for fruiting body differentiation. This ensures that Ganoderma lucidum can quickly adapt to the new environment after transfer and smoothly enter the fruiting body differentiation stage, which is conducive to avoiding the impact of environmental mutations on growth;

[0091] Then, for Ganoderma lucidum in the fruiting body differentiation stage, when its morphological characteristics change, such as the fruiting body begins to swell and the color changes, it means that it is about to enter the maturity stage, and the gradient transfer process from the upper layer to the lower layer is triggered;

[0092] Furthermore, the environmental parameters of the lower target area are pre-adjusted before transfer, and the lower environment is adjusted to conditions more suitable for fruiting body maturation and spore release, ensuring that Ganoderma lucidum can grow well in the mature stage and improving Ganoderma lucidum quality and spore yield;

[0093] Finally, during the transfer process, a preset gripping device is used to ensure smooth transfer of Ganoderma lucidum. The preset gripping device is specially designed to adopt the appropriate gripping force and method according to the morphology and growth status of Ganoderma lucidum, which helps to avoid damage to Ganoderma lucidum during the transfer process. The environmental parameter calibration is performed after the transfer because even if the environmental parameters are pre-adjusted in advance, after the actual transfer, due to the physiological changes of Ganoderma lucidum itself and subtle differences in the environment, it may still be necessary to fine-tune the environmental parameters. Through calibration, the environmental parameters are accurately adapted to the current growth stage and state of Ganoderma lucidum, providing the best environment for Ganoderma lucidum growth; it helps to solve the problems of untimely adaptation of space and environment when the growth stage changes in Ganoderma lucidum cultivation, easy damage to Ganoderma lucidum during the transfer process, and inaccurate adjustment of environmental parameters. It also realizes the dynamic matching of Ganoderma lucidum with the planting environment at different growth stages, reduces the growth risks caused by changes in growth stages, and improves the level of refined management of Ganoderma lucidum cultivation.

[0094] As an optional embodiment, in the step of extending distribution up and down, when distribution to the upper or lower cultivation layer is attempted but still cannot be accommodated, the following steps are further included:

[0095] A1: Loop through the allocated cultivation unit areas of the target cultivation layer and analyze the real-time growth data of the Ganoderma lucidum in each area. If it is found that the Ganoderma lucidum in a certain area is growing slowly and the space currently occupied exceeds [M]% of its actual growth requirement, the Ganoderma lucidum in that area will be temporarily transferred to a spare cultivation area. After the space is freed up, it will be determined again whether it can accommodate the Ganoderma lucidum to be allocated. If it can, the allocation is completed. If not, the process proceeds to step A2.

[0096] A2: Evaluate the space of adjacent cultivation layers to determine whether there is space that can be temporarily borrowed. If so, demarcate a temporary transition area in the adjacent cultivation layer and adjust the environmental parameters of the adjacent cultivation layer so that the difference between the environment of the adjacent cultivation layer and that of the target cultivation layer is within an acceptable range. Temporarily place the Ganoderma lucidum to be allocated in the temporary transition area. If no space exists, proceed to step A3.

[0097] A3: Perform a circular search in all three-dimensional cultivation spaces to find the idle three-dimensional cultivation space that best matches the environmental requirements of the current Ganoderma lucidum growth stage. If found, the Ganoderma lucidum to be allocated will be allocated to the middle cultivation layer of the space. If not found, the existing three-dimensional cultivation space will be rearranged according to the preset priority, and the allocation will be completed after the space is released.

[0098] Where [M] is a settable threshold, and the target cultivation layer is the upper layer or the lower layer.

[0099] Among them, when the upper layer of the adjacent cultivation layer attempts to allocate, it is adjacent to the lower layer, and when the lower layer attempts to allocate, it is adjacent to the upper layer.

[0100] Specifically, in the process of allocating space for Ganoderma lucidum cultivation racks, even if an upward and downward extension allocation strategy is adopted, there may still be a dilemma of insufficient space. When the space in the cultivation layer is tight, either the idle space cannot be effectively utilized, or the growth environment of Ganoderma lucidum is deteriorated due to arbitrary adjustments.

[0101] The present invention first traverses the cultivation unit areas allocated to the target cultivation layer in a loop, deeply analyzes the real-time growth data of Ganoderma lucidum in each area, and obtains information such as the growth rate and morphological changes of Ganoderma lucidum by means of sensors and a data acquisition system. If it is found that Ganoderma lucidum in a certain area grows slowly and the current occupied space exceeds [M]% of its actual growth demand ([M]% is a threshold value set based on the growth law of Ganoderma lucidum and a large amount of experimental data), it indicates that there is space waste in the area, and the Ganoderma lucidum in the area can be temporarily transferred to a spare cultivation area. The spare cultivation area is a pre-set and flexibly allocated space used for temporarily placing Ganoderma lucidum. After the space is released, it is again determined whether it can accommodate the Ganoderma lucidum to be allocated, thereby achieving efficient utilization of existing space resources and facilitating the avoidance of overall allocation being hindered due to idle space in individual areas.

[0102] Furthermore, if step A1 is executed and the released space still cannot meet the demand for the Ganoderma lucidum to be allocated, then by analyzing factors such as the vacant area of ​​the adjacent cultivation layer and the existing growth status of the Ganoderma lucidum, it is determined whether there is space that can be temporarily borrowed. If so, a temporary transition area is divided in the adjacent cultivation layer, and the environmental parameters of the adjacent cultivation layer are adjusted at the same time. For example, by adjusting the temperature and humidity controller, lighting equipment, etc., the environmental difference between the adjacent cultivation layer and the target cultivation layer is within an acceptable range (the acceptable range is a standard set according to the tolerance of Ganoderma lucidum to environmental changes), and the Ganoderma lucidum to be allocated is temporarily placed in the temporary transition area. This process not only solves the problem of insufficient space, but also helps to ensure the normal growth of Ganoderma lucidum during the temporary transition period;

[0103] Furthermore, when steps A1 and A2 fail to solve the problem, a circular search is performed in all three-dimensional cultivation spaces, and a pre-set environmental matching algorithm, such as the K-nearest neighbor algorithm (KNN), the fuzzy matching algorithm, etc., is used to find the idle three-dimensional cultivation space that best matches the environmental requirements of the current growth stage of Ganoderma lucidum. If found, the Ganoderma lucidum to be allocated will be allocated to the middle cultivation layer of the space, which helps to make full use of the space resources of the entire planting rack; if not found, the existing three-dimensional cultivation space will be rearranged according to the preset priority. The preset priority takes into account factors such as the growth stage, growth status, and space utilization of Ganoderma lucidum. By reasonably adjusting the distribution of existing Ganoderma lucidum and completing the placement of Ganoderma lucidum to be allocated after freeing up space, it helps to ensure that the space of the planting rack is maximized.

[0104] As an optional embodiment, when looping through the cultivation unit areas allocated to the target cultivation layer, the method further includes:

[0105] Before each loop traversal, the cultivation unit areas allocated to the target cultivation layer are numbered in sequence according to a preset order, starting from the area numbered 1;

[0106] When analyzing the growth data of Ganoderma lucidum in each area, if it is found that the growth of Ganoderma lucidum in a certain area is slow and the space currently occupied exceeds [M]% of its actual growth requirement, the Ganoderma lucidum in this area will be temporarily marked for transfer; if no area meeting the conditions is found, the next numbered area will be traversed until all areas are traversed;

[0107] If there are multiple areas where Ganoderma lucidum meets the temporary transfer conditions, the temporary transfer operation is performed on the areas that meet the conditions in order of the priority of Ganoderma lucidum growth. After each transfer, the loop traversal is paused and the spatial evaluation of the target cultivation layer is re-performed to determine whether it can accommodate the Ganoderma lucidum to be allocated; if it can accommodate it, the allocation is completed and the loop ends; if it cannot accommodate it, the operation of step A2 is continued.

[0108] It should be understood that in the traditional method of allocating cultivation units for Ganoderma lucidum cultivation, repeated inspections of the same area may occur, potential freed-up space may be missed, or operations may be performed blindly when multiple areas meet the transfer conditions. This not only wastes time but may also affect Ganoderma lucidum growth due to frequent environmental adjustments. In addition, if the space status is not promptly evaluated after the transfer operation, the optimal allocation time may be missed, exacerbating the space shortage problem.

[0109] First, before each loop traversal, the assigned cultivation unit areas of the target cultivation layer are numbered in a preset order, starting with area numbered 1. By establishing a clear inspection order, confusion and repeated inspections during the traversal process are avoided, improving the efficiency of space assessment. Furthermore, with a fixed numbering sequence, the system can systematically analyze each area, ensuring that no area with potential space release is missed.

[0110] Next, when analyzing the growth data of Ganoderma lucidum in each area, if it is found that the Ganoderma lucidum in a certain area is growing slowly and the space currently occupied exceeds [M]% of its actual growth requirements, the Ganoderma lucidum in that area will be temporarily marked for transfer. This judgment standard is based on the research on the growth patterns of Ganoderma lucidum and a large amount of experimental data, and accurately identifies areas with wasted space. If no area that meets the conditions is found, the next numbered area will be traversed until all areas have been traversed, which is conducive to ensuring a comprehensive investigation of the space resources of the target cultivation layer;

[0111] Subsequently, if multiple areas of Ganoderma lucidum meet the temporary relocation criteria, the areas meeting the criteria are temporarily relocated sequentially according to their growth priority. The priority of Ganoderma lucidum growth can be determined based on factors such as its growth stage, inoculation time, and importance to the overall planting plan. Areas with the least impact on the overall planting and the greatest potential for freeing up space are prioritized for relocation. After each relocation, the loop is paused and the target cultivation layer is re-evaluated to determine whether it can accommodate the Ganoderma lucidum to be relocated. This allows for timely capture of spatial changes. Once the space meets the requirements, the allocation is completed, and the loop ends, helping to avoid unnecessary operations. If it still cannot accommodate the Ganoderma lucidum after relocation, the process continues with step A2, transitioning to further solutions such as utilizing space in adjacent cultivation layers. This helps resolve the problems of disordered operation, inefficiency, and resource waste associated with space allocation in Ganoderma lucidum cultivation. By using labeling and priority to determine available free space, the system achieves efficient allocation of space resources within the cultivation racks. This not only improves space utilization but also reduces disruption to Ganoderma lucidum growth caused by frequent adjustments, providing reliable support for refined management and achieving high-yield and high-quality Ganoderma lucidum cultivation.

[0112] As an optional embodiment, performing spatial evaluation on adjacent cultivation layers further includes:

[0113] The spatial evaluation cycles are conducted on the upper and lower cultivation layers adjacent to the target cultivation layer, with the adjacent upper cultivation layer being evaluated first;

[0114] When performing space assessment on the adjacent upper cultivation layer, the cultivation unit areas of the upper cultivation layer are judged in turn according to the preset order to determine whether there is space that can be temporarily borrowed; if there is space that can be temporarily borrowed in the upper cultivation layer, the next step is performed; if not, the space assessment cycle is performed on the adjacent lower cultivation layer;

[0115] When performing spatial evaluation on the adjacent lower cultivation layer, each cultivation unit area of ​​the lower cultivation layer is judged in turn according to the preset order to determine whether there is space that can be temporarily borrowed; if there is space that can be temporarily borrowed in the lower cultivation layer, proceed to the next step; if not, proceed to step A3; after each determination that there is space that can be temporarily borrowed, further determine whether the space meets the environmental requirements of the current growth stage of the Ganoderma lucidum to be allocated; if so, divide a temporary transition area and perform subsequent operations; if not, continue to loop and judge the next area until a suitable space is found or it is determined that none of the adjacent cultivation layers meet the conditions.

[0116] It should be understood that in the process of allocating space for Ganoderma lucidum cultivation, when the target cultivation layer is short of space and the problem cannot be solved by transferring the internal Ganoderma lucidum, it is necessary to expand space to the adjacent cultivation layer. However, the adjacent cultivation layer itself may have been occupied by Ganoderma lucidum at different growth stages, and their spatial layout and environmental parameters are different. If the space of the adjacent cultivation layer is blindly borrowed, it may cause the Ganoderma lucidum to be allocated to be unable to adapt to the new environment, or interfere with the growth of the original Ganoderma lucidum in the adjacent cultivation layer;

[0117] Therefore, the space of the adjacent upper cultivation layer is evaluated first. This sequential design is based on the gradient distribution characteristics of the growth stage of Ganoderma lucidum. The upper cultivation layer is usually used for the fruiting body differentiation period, and the environmental difference with the middle layer during the mycelial growth period is relatively small. Prioritizing the evaluation of the upper layer is more likely to find a space that matches the growth stage of Ganoderma lucidum to be allocated.

[0118] Then, the preset order can be from left to right, from top to bottom, or in numerical order, etc., to ensure the orderliness of the evaluation process. This hierarchical evaluation helps avoid the confusion that may be caused by evaluating the upper and lower layers at the same time, and improves the evaluation efficiency;

[0119] Furthermore, for example, if the Ganoderma lucidum to be allocated is in the mycelial growth period, it is necessary to determine whether the temperature, humidity, light and other parameters of the borrowed space are within the appropriate range for mycelial growth. If it meets the requirements, a temporary transition area will be divided and subsequent operations will be carried out; if it does not meet the requirements, the next area will be judged in a loop until a suitable space is found or it is determined that the adjacent cultivation layers cannot meet the conditions. This is conducive to ensuring that the borrowed space is not only physically feasible, but also meets the physiological needs of Ganoderma lucidum growth, reducing the growth risk caused by environmental discomfort, and thus helping to solve the blindness and inefficiency problems when borrowing cross-layer space in Ganoderma lucidum cultivation. Through the evaluation order of upper layer first and then lower layer, combined with the preset area traversal order and environmental parameter matching judgment, the available space resources of adjacent cultivation layers are systematically mined, which not only avoids excessive adjustments to the original layout of the target cultivation layer, but also ensures the normal growth of the Ganoderma lucidum to be allocated in the temporary transition area.

[0120] As an optional embodiment, when performing a cyclic search in all three-dimensional cultivation spaces, the method further includes:

[0121] Sort all three-dimensional cultivation spaces according to the preset priority order, and perform a circular search starting from the three-dimensional cultivation space with the highest priority;

[0122] In each three-dimensional cultivation space, the cultivation unit areas of each cultivation layer are judged in turn according to the preset search path to determine whether there is an idle area that best matches the environmental requirements of the current Ganoderma lucidum growth stage; if the idle area with the best match is found, the Ganoderma lucidum to be allocated is allocated to the middle cultivation layer of the space, and the cyclic search ends; if the idle area with the best match is not found, the search for the next three-dimensional cultivation space continues until a space that meets the conditions is found or it is determined that all three-dimensional cultivation spaces cannot meet the conditions, at which time the step of re-layout of the existing three-dimensional cultivation space is entered.

[0123] It should be understood that in the actual operation of allocating space for Ganoderma lucidum cultivation, when the adjacent cultivation layer cannot meet the space requirements of the Ganoderma lucidum to be allocated, it is necessary to search for suitable space within a larger area. However, if there is no systematic search strategy, the search process may be blind and inefficient;

[0124] Therefore, all 3D cultivation spaces are first sorted according to a preset priority order, and a cyclic search is performed starting with the highest-priority 3D cultivation space. The preset priority order can be determined based on a variety of factors, such as the distance between the 3D cultivation space and the current location, the stability of the environmental parameters within the space, and historical usage efficiency. Prioritizing the search for high-priority spaces allows for faster identification of areas that may meet the needs, reducing unnecessary search overhead.

[0125] Then, in each three-dimensional cultivation space, the cultivation unit areas of each cultivation layer are judged in turn according to the preset search path. The preset search path can be in the order of the cultivation layers (such as middle layer, upper layer, lower layer) or area number, etc., to ensure a comprehensive and orderly inspection of each space. Determine whether there is an idle area that best matches the environmental requirements of the current Ganoderma lucidum growth stage. The matching evaluation here can comprehensively consider multiple environmental parameters such as temperature, humidity, light intensity, ventilation, etc., and calculate the matching degree of each idle area with the Ganoderma lucidum growth stage to be assigned through a preset environmental matching algorithm (such as KNN algorithm, fuzzy matching algorithm, etc.).

[0126] Subsequently, if the vacant area with the highest matching degree is found, the Ganoderma lucidum to be allocated will be allocated to the middle cultivation layer of the space, and the cyclic search will end. This operation ensures that the Ganoderma lucidum can be placed in the environment that is most suitable for its current growth stage, which is conducive to the healthy growth of the Ganoderma lucidum. If the vacant area with the highest matching degree is not found, the search for the next three-dimensional cultivation space will continue until a space that meets the conditions is found or it is determined that all three-dimensional cultivation spaces cannot meet the conditions. At this time, the step of re-layout of the existing three-dimensional cultivation space is entered, which is conducive to solving the blindness and inefficiency problems of cross-space search in Ganoderma lucidum cultivation. By presetting priorities and search paths, all three-dimensional cultivation spaces are systematically traversed, and the vacant area that best matches the environmental requirements of the Ganoderma lucidum growth stage is quickly located, realizing efficient use of space resources.

[0127] Secondly, refer to Figure 2 The present application further proposes an adaptive adjustment mechanism for a Ganoderma lucidum cultivation rack, the mechanism comprising:

[0128] The parameter setting module divides the planting rack into multiple three-dimensional cultivation spaces. Each three-dimensional cultivation space contains cultivation layers based on the growth cycle of Ganoderma lucidum. The middle layer is the cultivation layer for the mycelial growth period, the upper layer is the cultivation layer for the fruiting body differentiation period, and the lower layer is the cultivation layer for the fruiting body maturity period. The cultivation unit area is allocated to each batch of Ganoderma lucidum according to the order of Ganoderma lucidum inoculation.

[0129] The monitoring module obtains the morphology, growth rate and environmental parameter data of Ganoderma lucidum in each cultivation unit area, and compares and analyzes them with the preset standards;

[0130] Adjust the module and adjust the cultivation unit area and environmental parameters of Ganoderma lucidum with abnormal growth status based on the evaluation results.

[0131] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum, characterized in that: include: S1. Divide the planting rack into multiple three-dimensional cultivation spaces, each of which includes cultivation layers differentiated based on the growth cycle of Ganoderma lucidum, with the middle layer being a cultivation layer for the mycelial growth period, the upper layer being a cultivation layer for the fruiting body differentiation period, and the lower layer being a cultivation layer for the fruiting body maturity period; S2. Allocate the cultivation unit areas for each batch of Ganoderma lucidum according to the order of inoculation; S3, obtaining the morphology, growth rate and environmental parameter data of Ganoderma lucidum in each cultivation unit area, and comparing and analyzing them with the preset standards; S4. Based on the evaluation results, adjust the cultivation unit area and environmental parameters of the Ganoderma lucidum with abnormal growth status; S5. For the temporarily increased or decreased cultivation batches, the cultivation unit areas are reallocated in the cultivation racks, and S3-S4 are executed cyclically; S6. Adjust environmental parameters according to the growth status and dynamic adjustment results of Ganoderma lucidum in each cultivation unit area.

2. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, characterized in that: The specific steps of S2 are: A middle cultivation layer of a three-dimensional cultivation space to which no cultivation unit area allocation has been performed is selected, and the first batch of inoculated Ganoderma lucidum is selected as the object to be allocated according to the order of Ganoderma lucidum inoculation; its real-time three-dimensional morphological data is obtained through an image acquisition device, and a dynamic growth space is generated in combination with preset reference growth space parameters; it is analyzed whether the blank space of the middle cultivation layer can accommodate the dynamic growth space. If it can be accommodated, position allocation is performed; if not, the upper and lower extension allocation process is entered.

3. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, wherein: The specific steps of entering the upward and downward extension distribution process are: S31. If the middle layer cannot accommodate it, determine the current growth stage of Ganoderma lucidum: S311. If the mycelium is in the growth stage, try to allocate it to the upper cultivation layer. If the upper layer still cannot accommodate it, select the middle layer of another three-dimensional cultivation space and repeat the allocation process; S312: If the fruiting body is in the differentiation or maturity stage, try to allocate it to the lower cultivation layer. If the lower layer still cannot accommodate it, select the middle layer of another three-dimensional cultivation space and repeat the allocation process; S313. Select the next batch of Ganoderma lucidum inoculated as the object to be allocated according to the order of Ganoderma lucidum inoculation, and repeat the middle-layer priority allocation and upper and lower extension allocation steps until the initial allocation of all batches of Ganoderma lucidum is completed.

4. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, wherein: The S4 step further includes: S41. Analyze the morphological characteristics of Ganoderma lucidum through image recognition algorithms and determine its growth stage in real time; S42. When the growth stage of Ganoderma lucidum changes, further judgment is made, specifically: S421. If the mycelial growth period of Ganoderma lucidum reaches a preset growth index, a gradient transfer process from the middle layer to the upper layer is triggered, and environmental parameters of the upper target area are pre-adjusted before the transfer; S422. If morphological characteristics of Ganoderma lucidum change during the fruiting body differentiation period, a gradient transfer process from the upper layer to the lower layer is triggered, and environmental parameters of the lower target area are pre-adjusted before the transfer; S43. During the transfer process, the preset grabbing equipment is used to ensure smooth transfer of the Ganoderma lucidum, and environmental parameter calibration is performed after the transfer.

5. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, characterized in that: In the step of extending and distributing upward and downward, when the upper or lower cultivation layer is not able to accommodate the above-mentioned ... A1: Loop through the allocated cultivation unit areas of the target cultivation layer and analyze the real-time growth data of the Ganoderma lucidum in each area. If it is found that the Ganoderma lucidum in a certain area is growing slowly and the space currently occupied exceeds [M]% of its actual growth requirement, the Ganoderma lucidum in that area will be temporarily transferred to a spare cultivation area. After the space is freed up, it will be determined again whether it can accommodate the Ganoderma lucidum to be allocated. If it can, the allocation is completed. If not, the process proceeds to step A2. A2: Evaluate the space of adjacent cultivation layers to determine whether there is space that can be temporarily borrowed. If so, demarcate a temporary transition area in the adjacent cultivation layer and adjust the environmental parameters of the adjacent cultivation layer so that the difference between the environment of the adjacent cultivation layer and that of the target cultivation layer is within an acceptable range. Temporarily place the Ganoderma lucidum to be allocated in the temporary transition area. If no space exists, proceed to step A3. A3: Perform a circular search in all three-dimensional cultivation spaces to find the idle three-dimensional cultivation space that best matches the environmental requirements of the current Ganoderma lucidum growth stage. If found, the Ganoderma lucidum to be allocated will be allocated to the middle cultivation layer of the space. If not found, the existing three-dimensional cultivation space will be rearranged according to the preset priority, and the allocation will be completed after the space is released.

6. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, characterized in that: When looping through the cultivation unit areas allocated to the target cultivation layer, the method further includes: Before each loop traversal, the cultivation unit areas allocated to the target cultivation layer are numbered in sequence according to a preset order, starting from the area numbered 1; When analyzing the growth data of Ganoderma lucidum in each area, if it is found that the growth of Ganoderma lucidum in a certain area is slow and the space currently occupied exceeds [M]% of its actual growth requirement, the Ganoderma lucidum in this area will be temporarily marked for transfer; if no area meeting the conditions is found, the next numbered area will be traversed until all areas are traversed; If there are multiple areas where Ganoderma lucidum meets the temporary transfer conditions, the temporary transfer operation is performed on the areas that meet the conditions in order of the priority of Ganoderma lucidum growth. After each transfer, the loop traversal is paused and the spatial evaluation of the target cultivation layer is re-performed to determine whether it can accommodate the Ganoderma lucidum to be allocated; if it can accommodate it, the allocation is completed and the loop ends; if it cannot accommodate it, the operation of step A2 is continued.

7. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, characterized in that: The spatial assessment of adjacent cultivation layers further includes: The spatial evaluation cycles are conducted on the upper and lower cultivation layers adjacent to the target cultivation layer, with the adjacent upper cultivation layer being evaluated first; When performing space assessment on the adjacent upper cultivation layer, the cultivation unit areas of the upper cultivation layer are judged in turn according to the preset order to determine whether there is space that can be temporarily borrowed; if there is space that can be temporarily borrowed in the upper cultivation layer, the next step is performed; if not, the space assessment cycle is performed on the adjacent lower cultivation layer; When performing spatial evaluation on the adjacent lower cultivation layer, each cultivation unit area of ​​the lower cultivation layer is judged in turn according to the preset order to determine whether there is space that can be temporarily borrowed; if there is space that can be temporarily borrowed in the lower cultivation layer, proceed to the next step; if not, proceed to step A3; after each determination that there is space that can be temporarily borrowed, further determine whether the space meets the environmental requirements of the current growth stage of the Ganoderma lucidum to be allocated; if so, divide a temporary transition area and perform subsequent operations; if not, continue to loop and judge the next area until a suitable space is found or it is determined that none of the adjacent cultivation layers meet the conditions.

8. The method for adaptively adjusting and controlling a growing rack for cultivating Ganoderma lucidum according to claim 1, characterized in that: When performing cyclic search in all three-dimensional cultivation spaces, the method further includes: Sort all three-dimensional cultivation spaces according to the preset priority order, and perform a circular search starting from the three-dimensional cultivation space with the highest priority; In each three-dimensional cultivation space, the cultivation unit areas of each cultivation layer are judged in turn according to the preset search path to determine whether there is an idle area that best matches the environmental requirements of the current Ganoderma lucidum growth stage; if the idle area with the best match is found, the Ganoderma lucidum to be allocated is allocated to the middle cultivation layer of the space, and the cyclic search ends; if the idle area with the best match is not found, the search for the next three-dimensional cultivation space continues until a space that meets the conditions is found or it is determined that all three-dimensional cultivation spaces cannot meet the conditions, at which time the step of re-layout of the existing three-dimensional cultivation space is entered.

9. The self-adaptive adjustment mechanism for a Ganoderma lucidum cultivation rack according to claim 1, characterized in that: The agency includes: The parameter setting module divides the planting rack into multiple three-dimensional cultivation spaces. Each three-dimensional cultivation space contains cultivation layers based on the growth cycle of Ganoderma lucidum. The middle layer is the cultivation layer for the mycelial growth period, the upper layer is the cultivation layer for the fruiting body differentiation period, and the lower layer is the cultivation layer for the fruiting body maturity period. The cultivation unit area is allocated to each batch of Ganoderma lucidum according to the order of Ganoderma lucidum inoculation. The monitoring module obtains the morphology, growth rate and environmental parameter data of Ganoderma lucidum in each cultivation unit area, and compares and analyzes them with the preset standards; Adjust the module and adjust the cultivation unit area and environmental parameters of Ganoderma lucidum with abnormal growth status based on the evaluation results.

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