Microgravity environment simulation closed cultivation device and control system combining multi-axis control and acoustic levitation

Abstract

This invention relates to the field of space life science technology, and in particular to a microgravity environment simulation closed cultivation device and control system that combines multi-axis control and acoustic levitation. The device includes two sets of vertical slide rail mechanisms, on which a first rotary servo motor is slidably mounted, driving an outer rotating frame to rotate along a first direction. A second rotary servo motor is fixed to the outer rotating frame, driving a cultivation chamber connected to an inner rotating frame to rotate along a second direction. An acoustic levitation device is installed inside the cultivation chamber. This invention introduces random gravity disturbances through random sliding of the slide rails, combined with dual-axis random rotation, to construct a microgravity environment coupled with both random gravity and rotational speed. Through the acoustic levitation device and the adjustment of airflow within the cultivation chamber, the effects of microgravity without thermal convection and air shear force on plant leaf respiration can be studied more deeply. The effects of air thermal convection and shear force are suppressed, providing a more realistic simulation of space microgravity cultivation conditions and offering a reliable platform for research on the space cultivation of terrestrial plants.

Description

Technical Field

[0001] This invention relates to the field of space life science technology, and in particular to a microgravity environment simulation closed cultivation device and control system that combines multi-axis control and acoustic levitation. Background Technology

[0002] Plants provide astronauts with fresh food, oxygen, water, and psychological comfort. Studying plant growth and cultivation in the controlled environment of space is a crucial step in ensuring human exploration of deep space and researching closed-loop ecosystems and environmental regulation. It plays a vital role in conserving space payload and improving the space station environment. Crops cultivated in space generally exhibit phenotypic and physiological changes distinct from those grown under Earth's gravity. Phenotypically, this includes the uncertainty of root and stem growth direction, increased angles at the junction of petiole branches and stems, increased density of root and stem column cells, and thinner cell walls. Amylopectin is dispersed within cells, preventing LAZY family proteins from accurately regulating asymmetric auxin transport. Physiologically, transpiration and net photosynthetic rates significantly decrease under microgravity. Due to reduced resistance to capillary transport of water, water flows faster in plant stems. Simultaneously, the lack of heat convection and dissipation in space leads to heat accumulation in terminal buds and leaves, requiring mechanical ventilation to prevent this heat buildup.

[0003] Due to the limited opportunities, heavy workload, and high costs associated with space-based experimental platforms, developing ground-based microgravity simulators to obtain physiological data on plant growth is a crucial preliminary experimental process to ensure the reliability of species cultivation. There are three main approaches to simulating microgravity environments on the ground: one is to use large transport aircraft to achieve continuous ascent and stall descent via parabolic flight to create a weightless state, or to conduct high-altitude drop and drop tower experiments to achieve realistic microgravity simulation, although the reproducibility time is relatively short; the second is to simulate the biological effects of microgravity by stimulating the senses of organisms through three-dimensional rotation, but this method has limited simulation capabilities for real biological growth environments; the third is to achieve microgravity simulation by using buoyancy to achieve non-adherent suspension and rotation, primarily used for cell or tissue culture, and cannot be applied to the individual cultivation of terrestrial plants.

[0004] Currently, long-term ground-based simulation cultivation of plants mainly adopts a three-dimensional spatial rotation method, that is, using a random biaxial rotator (Revolution Per Minute, RPM) to fit the changes in the rotation direction of the two axes within 5 to 10 seconds. The changes in the rotation direction and speed have temporal randomness, thus achieving randomness in the movement position in time and space. Existing studies have shown that the cell density and cell morphology of the RPM biaxial rotator used in microgravity simulation experiments are similar to those of growth results in space.

[0005] However, the cultivation environment of the random biaxial gyroscope device differs significantly from the actual microgravity environment of aerospace cultivation. It can only simulate plants under microgravity effects. When simulating microgravity effects on plants on the ground, it cannot reproduce real gravity changes, and therefore cannot simulate the forces of space microgravity on the molecules between biological cells. Moreover, although traditional devices for simulating microgravity cultivation of plants on the ground can simulate the biological effects of plants not feeling the presence of gravity through random rotation, they cannot reproduce heat convection, respiration, air flow, and stomatal water film suspension under microgravity. To simulate the respiratory stress of plants under microgravity on the ground, conditions such as no heat convection, no air flow, and no water suspension tension under microgravity must be met. Obviously, the traditional random biaxial gyroscope cannot meet these requirements. Summary of the Invention

[0006] This invention provides a microgravity environment simulation closed cultivation device and control system that combines multi-axis control and acoustic levitation, in order to solve the defect of the prior art that uses random dual-axis rotary heads to simulate microgravity environment effects on the ground for plant cultivation, which cannot simulate the microgravity environment under real gravity disturbance.

[0007] This invention provides a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation, comprising two sets of slide rail mechanisms, a first rotary servo motor, an outer rotating frame, a second rotary servo motor, and a cultivation chamber. Each set of slide rail mechanisms includes two vertically arranged first slide rails, and the two sets of slide rail mechanisms are arranged parallel to each other. The first rotary servo motor is slidably mounted on the slide rail mechanism and slides randomly on the first slide rails to simulate real gravity disturbances. The outer rotating frame is connected to the first rotary servo motor and is adapted to rotate along a first direction under the action of the first rotary servo motor. The second rotary servo motor is fixedly mounted on the outer rotating frame. The axis of the second rotary servo motor is perpendicular to the axis of the first rotary servo motor. The cultivation chamber is used to cultivate plants. The cultivation chamber is a closed cultivation chamber where the internal air can rotate with the plant as a whole. An inner rotating frame is provided on the outer wall of the cultivation chamber. The inner rotating frame is connected to the second rotary servo motor. The cultivation chamber is adapted to rotate in a second direction under the action of the second rotary servo motor via the inner rotating frame. Adjusting rods are respectively installed on the opposite inner side walls of the cultivation chamber. The adjusting rods are connected to ultrasonic sound-generating array modules. The two ultrasonic sound-generating array modules are arranged opposite each other and are adapted to adjust the relative distance via the adjusting rods. The two ultrasonic sound-generating array modules form a standing wave by adjusting the relative distance and the amplitude and frequency of the sound waves and act on the terminal buds and leaves of the plant.

[0008] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided, wherein the first rotary servo motor and the second rotary servo motor are each equipped with a waterproof conductive slip ring and a liquid-conducting and gas-conducting slip ring, which are suitable for supplying power to the cultivation chamber through the waterproof conductive slip ring and supplying liquid and gas to the cultivation chamber through the liquid-conducting and gas-conducting slip ring.

[0009] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided. The cultivation chamber is equipped with an agricultural IoT sensor for monitoring humidity, temperature, light intensity, air pressure, oxygen concentration, and carbon dioxide concentration. An LED light panel and a time-lapse camera are fixed inside the cultivation chamber. The LED light panel and the time-lapse camera are connected to external power via a waterproof conductive slip ring to provide illumination to the cultivation chamber and record plant growth. The cultivation chamber is connected to an external gas source and liquid source via a liquid-conducting slip ring to adjust the humidity, temperature, air pressure, oxygen concentration, and carbon dioxide concentration inside the cultivation chamber based on the values ​​monitored by the agricultural IoT sensor.

[0010] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided. The cultivation chamber is equipped with a second slide rail and a lead screw stepper motor. A slider is slidably mounted on the second slide rail, and the slider is sleeved on the lead screw of the lead screw stepper motor. The lead screw stepper motor is adapted to drive the slider to move on the second slide rail. The slider is connected to a lifting platform, and the lifting platform is used for cultivating plants. This device is used to adjust the rotational position of the plant during cultivation, placing the center of rotation at the plant's geometric center of gravity, thereby improving the plant's resistance to lodging and reducing damage and errors caused by rotation.

[0011] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided, wherein a rotating seat is provided on the lifting platform, the rotating seat is connected to a third rotary servo motor, the rotating seat is used for cultivating plants, and the rotating seat is adapted to rotate and centrifuge the plants cultivated on the rotating seat under the drive of the third rotary servo motor.

[0012] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided, wherein a three-clawed claw plate or a shaking table elastic clamp is provided on the rotating seat, and the three-clawed claw plate or the shaking table elastic clamp holds a culture vessel, and the culture vessel is used to cultivate plants.

[0013] or,

[0014] The rotating seat is fixed with an absorbent sponge, and the plant is fixed and planted on the absorbent sponge by bio-glue or solid culture medium.

[0015] or,

[0016] A sponge seed tray is fixed on the rotating seat. The sponge seed tray is used to plant plant seeds and is covered with a perforated film.

[0017] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided. The microgravity environment simulation closed cultivation device further includes a buoyancy chamber. Two sets of first slide rails are vertically fixed in the buoyancy chamber. The buoyancy chamber contains liquid for generating buoyancy disturbance. At least part of the cultivation chamber is immersed in the liquid. A liquid inlet is provided at the bottom of the buoyancy chamber, and a liquid outlet is provided on the side wall of the buoyancy chamber. Both the liquid inlet and the liquid outlet are equipped with variable frequency pumps. A liquid storage tank is connected to the outside of the liquid inlet and the liquid outlet. The variable frequency pumps of the liquid inlet and the liquid outlet are used to make the liquid contained in the buoyancy chamber form convection to pump the cultivation chamber to generate buoyancy disturbance.

[0018] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided, wherein a pressure sensor is provided at the connection between the first rotary servo motor and the outer rotary frame, for monitoring and feedback of the immersion depth of the cultivation chamber in the buoyancy chamber; an ultrasonic liquid level sensor is provided at the top of the buoyancy chamber for monitoring the height of the liquid in the buoyancy chamber.

[0019] According to the present invention, a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation is provided, wherein linear motors are provided on both sets of slide rail mechanisms, and the output end of the linear motors is connected to the first rotary servo motor for pushing the first rotary servo motor to slide along the first slide rail.

[0020] This invention also provides a microgravity environment simulation control system combining multi-axis control and acoustic levitation, applicable to any of the aforementioned microgravity environment simulation closed cultivation devices combining multi-axis control and acoustic levitation. The multi-axis control and acoustic levitation microgravity environment simulation control system includes a material flow and environmental control subsystem, a rotation subsystem, a gravity disturbance subsystem, a plant center of gravity adjustment subsystem, and an acoustic levitation simulation subsystem. The material flow and environmental control subsystem is used to regulate the humidity, temperature, light intensity, air pressure, oxygen concentration, and carbon dioxide concentration within the cultivation chamber. The rotation subsystem includes a random rotation controller for controlling the first and second rotation servo motors to operate in a random rotational motion state. The gravity disturbance subsystem controls the cultivation chamber to be randomly subjected to forces in the vertical direction, thereby disturbing the gravity acting on the plants in the vertical direction. The plant center of gravity adjustment subsystem includes a servo controller for adjusting the center of gravity position of the plants within the cultivation chamber. The acoustic levitation simulation subsystem generates standing waves that act on the plants within the cultivation chamber, applying ultrasonic standing waves to the terminal buds and leaves of the plants.

[0021] The microgravity cultivation environment simulation device provided by this invention includes two sets of vertical slide rail mechanisms. A first rotary servo motor is slidably mounted on the slide rails, driving an outer rotating frame to rotate along a first direction. A second rotary servo motor is fixed to the outer rotating frame, driving a cultivation chamber connected to an inner rotating frame to rotate along a second direction. An acoustic levitation device is installed inside the cultivation chamber. This invention introduces random gravity disturbances by randomly sliding the slide rails, combined with dual-axis random rotation, to construct a microgravity environment with a dual-factor coupling of random gravity and rotational speed. Simultaneously, through the acoustic levitation device and the adjustment of airflow within the cultivation chamber, the effects of microgravity without thermal convection and air shear force on plant leaf respiration can be studied more deeply, suppressing the effects of air thermal convection and shear force, and more realistically simulating space microgravity cultivation conditions, providing a reliable platform for research on the space cultivation of terrestrial plants. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the microgravity cultivation environment simulation device provided by the present invention.

[0024] Figure 2 This is an isometric schematic diagram of the rotating structure of the cultivation chamber provided by the present invention.

[0025] Figure 3 This is a top view schematic diagram of the rotating structure of the cultivation chamber provided by the present invention.

[0026] Figure 4 This is a schematic diagram illustrating the working principle of the air chamber provided in an embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the internal structure of the cultivation room provided by the present invention.

[0028] Figure 6 This is a schematic diagram of the microgravity cultivation environment simulation device with buoyancy disturbance provided by the present invention.

[0029] Figure 7 This is a schematic diagram of the composition structure of the microgravity environment simulation control system that combines multi-axis control and acoustic levitation provided by the present invention.

[0030] Figure 8 This is a schematic diagram of the control process for simulating a microgravity environment through the combined action of the rotation subsystem and the gravity disturbance subsystem provided by this invention.

[0031] Figure 9 This is a schematic diagram of the collaborative control architecture and regulation process of the gravity disturbance subsystem, rotation subsystem, and plant center of gravity regulation subsystem provided by the present invention.

[0032] Figure 10 This invention provides a highly integrated microgravity environment simulation cultivation control system.

[0033] Figure 11 This is a schematic diagram of the control process of the PLC controller in the microgravity environment simulation control system provided in the embodiment of the present invention.

[0034] Reference numerals in the attached drawings: 1. First slide rail; 2. First rotary servo motor; 3. Outer rotating frame; 4. Second rotary servo motor; 5. Cultivation chamber; 51. Inner rotating frame; 52. Second slide rail; 53. Lead screw stepper motor; 54. Slider; 55. Lifting platform; 56. Rotary seat; 57. Third rotary servo motor; 58. Ultrasonic sound-generating array module; 6. Waterproof conductive slip ring; 7. Liquid-guiding and gas-guiding slip ring; 8. Buoyancy tank; 9. Variable frequency pump; 10. Liquid storage tank. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0036] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0038] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] The following is combined Figures 1 to 11 This invention describes a microgravity environment simulation closed cultivation device and control system that combines multi-axis control with acoustic levitation.

[0041] One embodiment of the present invention provides a microgravity environment simulation closed cultivation device that combines multi-axis control and acoustic levitation. See [link to relevant documentation]. Figure 1As shown, the microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation includes two sets of slide rail mechanisms, a first rotary servo motor 2, an outer rotating frame 3, a second rotary servo motor 4, and a cultivation chamber 5. Each set of slide rail mechanisms includes two vertically arranged first slide rails 1, and the two sets of slide rail mechanisms are arranged parallel to each other. The first rotary servo motor 2 is slidably mounted on the slide rail mechanism and slides randomly on the first slide rail 1 to simulate real gravity disturbances. The output shaft of the first rotary servo motor is connected to a 1 / 125 ratio right-angle planetary reducer to increase the rotational torque. The reducer mounted on the output shaft of the outer rotating frame 3 is connected to the first rotary servo motor 2 and is suitable for rotating in a first direction under the action of the first rotary servo motor 2. The second rotary servo motor 4 is fixedly mounted on the outer rotating frame 3, and the axis of the second rotary servo motor 4 is parallel to that of the first rotary servo motor 5. The axis of motor 2 is perpendicular, and the output shaft of the second rotary servo motor 4 is also connected to a 1 / 125 ratio right-angle planetary reducer to increase the rotational torque; the cultivation chamber 5 is used to cultivate plants. The cultivation chamber 5 is a closed cultivation chamber, and the internal air can rotate with the plant as a whole. An inner rotating frame 51 is provided on the outer wall of the cultivation chamber 5. The inner rotating frame 51 is connected to the reducer installed on the output shaft of the second rotary servo motor 4. The cultivation chamber 5 is suitable for rotating in the second direction under the action of the second rotary servo motor 4 through the inner rotating frame 51; adjustment rods are respectively installed on the opposite inner side walls of the cultivation chamber 5. The adjustment rods are connected to ultrasonic sound-generating array modules 58. The two ultrasonic sound-generating array modules 58 are arranged opposite each other and are suitable for adjusting the relative distance through the adjustment rods. The two ultrasonic sound-generating array modules 58 form a standing wave by adjusting the relative distance and the amplitude and frequency of the sound wave and act on the terminal bud and leaves of the plant.

[0042] It is understandable that traditional methods of simulating microgravity effects on the ground using random dual-axis rotary machines for plant cultivation cannot simulate the microgravity environment under real gravity disturbances. This embodiment of the microgravity cultivation environment simulation device introduces vertical gravity disturbances by moving the first rotary servo motor 2 on the first slide rail 1. By introducing random gravity disturbances, the randomness of the rotary device is increased, establishing a dual-axis rotary model (the first rotary servo motor 2 and the second rotary servo motor 4 drive the outer rotating frame 3 and the inner rotating frame 51 to rotate) coupled with random gravity disturbances and random rotation speed. This model is then fitted to simulate a microgravity cultivation environment with real gravity disturbances. More precisely, this embodiment uses random gravity disturbances to simulate the real gravity of the cultivated plants and the rotating system. By utilizing the airtightness of the cultivation chamber 5 and the random gravity disturbances, the influence of air convection and air shear force on the plants during cultivation is reduced, providing a more accurate microgravity cultivation environment for plant cultivation.

[0043] Meanwhile, in this embodiment, the liquid film and heat accumulation generated by acoustic levitation can suppress stomatal conductance, establishing a calculation model for stomatal respiration in simulated microgravity. Simultaneously, airflow over the leaves (achieved via an adjustable-speed air pump connected between the air chamber and cultivation chamber, as mentioned later) helps disperse the tiny water droplets suspended on the leaves. Specifically, a universal adjustment rod is installed on the inner wall of the cultivation chamber 5, with two ultrasonic sound-generating array modules 58 connected to it. Each ultrasonic sound-generating array module 58 consists of 36 sound-generating units. By adjusting the distance between the two ultrasonic sound-generating array modules 58 and the amplitude and frequency of the sound waves, a standing wave is formed, achieving acoustic levitation of the leaves in a localized area. Airflow over the leaves is then facilitated by the adjustable-speed air pump connecting the air chamber and cultivation chamber. It should be understood that acoustic levitation is cheaper than magnetic levitation, harmless to biological cells, and can not only meet microgravity conditions to a certain extent but also recreate the non-thermal convection and liquid surface tension conditions under microgravity to a certain extent.

[0044] Compared to traditional rotary instruments like the RPM, which only study the cultivation and growth of individual plants by eliminating gravity vectors, the acoustic levitation device and the adjustable-speed air pump connecting the air chamber and the cultivation chamber in this embodiment can more deeply investigate the effects of microgravity without thermal convection and air shear force on plant leaf respiration. The ultrasonic wave array module 58 inside the cultivation chamber 5 continuously levitates the plant leaves with sound waves, allowing water from stomatal respiration to adhere to the surface of mesophyll cells while maintaining a state of no thermal convection within the chamber. This creates a thermodynamic and water film-attached state similar to that in space, achieving heat accumulation in the leaves. Furthermore, the adjustable-speed air pump connecting the air chamber and the cultivation chamber interferes with external airflow in the leaves affected by the sound waves, obtaining a model of the relationship between stomatal conductance and heat dissipation.

[0045] See some specific examples. Figure 2As shown, using standard aluminum profiles, a metal rotating frame (outer rotating frame 3 and inner rotating frame 51) rotating in two directions is constructed, along with an outer load-bearing support (two sets of first slide rails 1) for fixing the rotation. The outer rotating frame 3 and inner rotating frame 51 are driven to rotate by a first rotating servo motor 2 and a second rotating servo motor 4, respectively. The second rotating servo motor 4 enables the inner rotating frame 51 to rotate within the outer rotating frame 3 along a second direction (i.e., along the Y-axis). The outer rotating frame 3 is connected to the slide rail mechanism by the first rotating servo motor 2, allowing the outer rotating frame 3 to rotate along a first direction (i.e., along the X-axis) and simultaneously to randomly rise and fall on the slide rail mechanism (i.e., along the Z-axis). The random rotation speed dual-factor coupling structure formed by the outer rotating frame 3 and inner rotating frame 51 is fixedly connected to the cultivation chamber 5, realizing the three-dimensional rotation of the cultivation chamber 5 to achieve the angular displacement of the plants within the cultivation chamber 5 and counteract the gravity vector. A random rotation controller, through a program, regulates the rotation direction, acceleration, and rotation time of servo motors (rotary servo motor 2 and second rotary servo motor 4) to simulate a partial microgravity environment under random rotational motion. Specifically, using a PLC servo controller, a random rotation program is run. The program can set random rotation times of 5s to 1min according to the X and Y axes, regulate random acceleration changes and random rotation direction (forward or reverse) within 0 to 2 r / min, and set a delay response (decelerating to 0 r / min before entering the next random motion), satisfying the plant's random trajectory rotation within the cultivation chamber. During this process, through the control of the servo controller, the first rotary servo motor 2 randomly slides on the first slide rail 1, generating vertical gravitational disturbances on the cultivation chamber 5, further improving the randomness and fitting a realistic microgravity environment within the cultivation chamber 5.

[0046] In some embodiments of the microgravity environment simulation closed cultivation device of the present invention, which combines multi-axis control and acoustic levitation, see [link to relevant documentation]. Figure 3 As shown, waterproof conductive slip rings 6 and liquid-conducting and gas-conducting slip rings 7 are installed on the first rotary servo motor 2 and the second rotary servo motor 4 (specifically on the output rotary shaft of the reducer connected to the output shaft of the rotary servo motor). The slip rings also act as bearings. They are suitable for transmitting electricity to the cultivation chamber 5 through the waterproof conductive slip rings 6 and transmitting liquid and gas to the cultivation chamber 5 through the liquid-conducting and gas-conducting slip rings 7.

[0047] Understandably, the rotation output shafts of the first rotary servo motor 2 and the second rotary servo motor 4 are connected to a reducer and coupled to a counterweight shaft. The reducer is used to amplify the rotational torque, and the counterweight shaft is used to connect the outer rotating frame 3 or the inner rotating frame 51. The counterweight shaft is fitted with a waterproof conductive slip ring 6 and a liquid-conducting and gas-conducting slip ring 7, which are used for the exchange and replenishment of water, electricity, gas, and liquid with the outside world during the rotation of the cultivation chamber 5 along with the outer rotating frame 3 and the inner rotating frame 51. Among them, the waterproof conductive slip ring 6 realizes the laying and conduction of 220V power supply lines and signal lines through two sets of 24 ring channels. The liquid-conducting and gas-conducting slip ring 7 adopts a four-channel gas-liquid integrated slip ring, which connects to a gas-liquid conduit to control the liquid and gas to achieve two inlets and two outlets. By using two sets of liquid-conducting and gas-conducting slip rings 7, and connecting to four pipes (two inlets and two outlets) of the container, the operation of water supply, air intake and exhaust, and drainage in the cultivation chamber 5 can be realized.

[0048] To meet the gaseous environment required by the plants, an air chamber is set up outside the microgravity cultivation environment simulation device. The air chamber is connected to the cultivation chamber 5 through pipelines and channels of liquid-conducting and gas-conducting slip rings 7. Air circulation is controlled by a diaphragm pump and a timer, and can be set to continuous or intermittent circulation to achieve the required gaseous environment within the cultivation chamber 5. Heating tubes can also be installed for heating or semiconductor cooling chips for cooling. The regulated air is circulated into the cultivation chamber 5 to regulate the temperature within the cultivation chamber 5. To meet the plants' nutritional and water requirements, a plant nutrient solution supply tank is set up, mainly for adding nutrient solution and adjusting pH. The plant nutrient solution supply tank is connected to the cultivation chamber 5 through pipelines and channels of liquid-conducting and gas-conducting slip rings 7. Nutrient solution can be prepared and added to the tank, and the plants are watered by a timer and a water pump.

[0049] Specifically, an air chamber is set up outside the microgravity cultivation environment simulation device, see [link to relevant documentation]. Figure 4As shown, the air chamber uses an adjustable-speed air pump to deliver clean air, regulated by temperature, humidity, O2 concentration, and CO2 concentration, into the cultivation chamber 5 via an air tube on the liquid-conducting and air-conducting slip ring 7. The air speed inside the cultivation chamber 5 can be controlled by adjusting the output power of the air pump, and together with the ultrasonic sound-generating array module 58, it controls the thermal convection and airflow of the gas environment inside the cultivation chamber 5. The top of the air chamber has a controllable forward / reverse and speed-controlled ventilation fan and a solenoid valve for air circulation and exchange within the sealed gas chamber system of the cultivation chamber 5, or for controlling changes in air pressure within the sealed system. The upper 3 / 4 of the air chamber is filled with air, and the lower 1 / 4 is filled with water or nutrient solution. A peristaltic pump delivers water or nutrient solution into the cultivation chamber through the liquid tube in the liquid-conducting and air-conducting slip ring 7, and then draws the water into the plant cultivation sponge block or capillary absorbent material through a capillary tube, allowing the plants to absorb water and nutrients. The inner walls of the air chamber are equipped with a PTC air heating system and a water-cooled semiconductor air cooling system. The air is heated via resistance wires or heated via semiconductor cooling chips, using heat pump and water cooling principles to dissipate the air temperature into the water, achieving air cooling / dehumidification. Simultaneously, a semiconductor chiller is located outside the air chamber. When the water temperature at the bottom of the air chamber needs to be controlled or is too high, the external chiller dissipates the heat from the liquid to the outside air via a fan and copper heat sink, creating a controllable secondary cooling system in a closed gas environment. A heating rod is installed in the water layer at the bottom of the air chamber. If the water temperature is too low or evaporative humidification and heating of the air are required, this can be achieved through water heating. If the temperature is suitable and only humidification is needed, humidification can be achieved through an ultrasonic atomizer in the water layer.

[0050] In some embodiments of the microgravity environment simulation closed cultivation device of the present invention, which combines multi-axis control and acoustic levitation, an agricultural Internet of Things (IoT) sensor is installed in the cultivation chamber 5 to monitor the humidity, temperature, light intensity, air pressure, oxygen concentration, and carbon dioxide concentration in the cultivation chamber 5. An LED light board and a time-lapse camera are fixed in the cultivation chamber 5. The LED light board and the time-lapse camera are connected to external power through a waterproof conductive slip ring 6 to provide light to the cultivation chamber 5 and record the plant growth status. The cultivation chamber 5 is connected to an external air source and liquid source through a liquid-conducting and gas-conducting slip ring 7 to adjust the humidity, temperature, air pressure, oxygen concentration, and carbon dioxide concentration in the cultivation chamber 5 based on the monitoring values ​​of the agricultural IoT sensor.

[0051] Understandably, cultivation chamber 5 is equipped with a six-in-one agricultural sensor that can monitor plant growth temperature, humidity, light intensity, air pressure, oxygen content, and carbon dioxide content in real time. Temperature can be directly controlled by heating water or gas in an external air chamber, then supplying the heated water or air to cultivation chamber 5 for temperature regulation within the range of 15-30℃. Humidity, oxygen concentration, and CO2 are regulated through ventilation via a circulating fan within the air chamber and external air circulation through ducts, with a wind speed of 0-2.5 m / s and an air humidity of 50-90%. Light intensity is controlled by the brightness, light quality, and timing of a replaceable LED light panel on the top of cultivation chamber 5, with a light intensity of 0-300 PPFD. The system uses a full-spectrum LED light panel with adjustable red, blue, and green light intensity ratios (i.e., the red, blue, and green light ratios can be adjusted, and infrared and ultraviolet light beads can be turned on or off). The height of the LED light panel can be adjusted to control the light intensity by adjusting the distance between the plant and the LED light panel. A small charging time-lapse camera is also installed in cultivation room 5, which can record photos of plant growth changes every hour for 4 weeks of cultivation and automatically store them. Water is supplied by external pipes and evenly distributed by sponge absorbing water or spray heads, with a flow rate of 1.2L / min.

[0052] It's important to understand that there are separate sensor sets inside cultivation chamber 5 and the air chamber to monitor various environmental parameters, including humidity, temperature, air pressure, oxygen concentration, and carbon dioxide concentration. The sensor in the air chamber monitors the temperature, humidity, and oxygen / carbon dioxide concentration in real time, and adjusts these parameters based on the connected CO2 bottle, heating system, refrigeration system, and nutrient solution system to generate suitable environmental parameters for plant growth in cultivation chamber 5. The sensor in cultivation chamber 5 also monitors the temperature, humidity, and oxygen / carbon dioxide concentration. When needed, air and nutrient solution from the air chamber are pumped into cultivation chamber 5 via pipes using an air pump and fan to adjust the plant growth environment. By using these two sets of sensors to monitor the temperature, humidity, and oxygen / carbon dioxide concentration in both cultivation chamber 5 and the air chamber, and connecting them to the air chamber for regulation and collection, and by using the air chamber fan to increase or decrease air pressure, real-time monitoring of plant physiological indicators and environmental control are achieved.

[0053] In some embodiments of the microgravity environment simulation closed cultivation device of the present invention, which combines multi-axis control and acoustic levitation, see [link to relevant documentation]. Figure 5 As shown, the cultivation chamber 5 is equipped with a second slide rail 52 and a lead screw stepper motor 53. A slider 54 is slidably mounted on the second slide rail 52. The slider 54 is sleeved on the lead screw of the lead screw stepper motor 53. The lead screw stepper motor 53 is adapted to drive the slider 54 to move on the second slide rail 52. The slider 54 is connected to a lifting platform 55, which is used for cultivating plants.

[0054] Understandably, as plants grow, their center of gravity gradually rises with stem elongation. However, the current rotary device determines the plant's center of gravity from the beginning, resulting in uneven rotational force acting on the plant's center of gravity. Excessive changes in the center of gravity necessitate repositioning the plant, requiring removal and replacement of the container or substrate. Otherwise, the plant inevitably sways up and down as it rotates, potentially causing the stem to break due to the pulling or twisting force. This embodiment's microgravity cultivation environment simulation device, by incorporating a second slide rail 52, a lead screw stepper motor 53, a slider 54, and a lifting platform 55 within the cultivation chamber 5, allows for the vertical movement of the lifting platform 55, thereby altering the height of the plant's center of gravity on the platform and ensuring that the rotational force always acts evenly on the plant's center of gravity.

[0055] Specifically, a second slide rail 52, a lead screw stepper motor 53, a slider 54, and a lifting platform 55 are installed at the bottom of the cultivation chamber 5. The lead screw stepper motor 53 drives the slider 54 and the lifting platform 55 to move on the second slide rail 52, with an activity distance of 10~35cm. The change of the plant's center of gravity with growth can be constructed based on plant growth simulation and the L-system algorithm. Based on the algorithm and correction parameters, the displacement model of the center of gravity of the lifting platform 55 over time is obtained. Based on this model, the servo controller controls the lead screw stepper motor 53 to automatically adjust the height of the lifting platform 55 to adjust the height of the plant's center of gravity. This adjusts the light distance and keeps the rotation center always at the plant's center of gravity, achieving a better microgravity simulation effect. This solves the problem of the stability of seedling to mature plant growth during ground-based simulated microgravity cultivation, avoids the phenomenon of plants easily falling over and withering during rotation due to the increased center of gravity, improves the plant's growth and survival rate, and provides feasibility for closed-loop microgravity continuous cultivation of ground-based simulated ecosystems.

[0056] In the cultivation room 5, the plants are planted on the lifting platform 55. When the plants are planted, the lifting platform 55 is positioned so that the initial center of gravity of the plants is located at the intersection of the two axes. Then, according to the height of the plant growth, the lifting platform 55 is gradually lowered so that the center of gravity of the plants is always at the position of the center axis. Water and light are continuously supplied to guide the growth direction of the plants and prevent the plant growth direction from being different from the lifting direction.

[0057] Furthermore, a rotating seat 56 is provided on the lifting platform 55. The rotating seat 56 is connected to a third rotary servo motor 57. The plants are cultivated on the rotating seat 56. The rotating seat 56 is adapted to rotate and centrifuge the plants cultivated on the rotating seat 56 under the drive of the third rotary servo motor 57.

[0058] Understandably, in this embodiment, a rotating seat 56 is further provided on the lifting platform 55, and the rotating seat 56 is directly connected to the third rotary servo motor 57. After the plant is fixed on the rotating seat 56, the third rotary servo motor 57 can drive the rotating seat 56 to make the plant rotate in a controllable manner, thereby forming a stable centrifugal environment in the cultivation room. Through this rotating centrifugal structure, a continuously adjustable centrifugal force can be applied to the plant based on the simulated microgravity environment. It can be used to study the physiological response of plants under the coupling effect of centrifugal force and microgravity, and can also simulate different gravity levels through centrifugal action (for example, for the gravity simulation of Mars and the Moon, the radius of the rotating seat 56 is set to 10cm. When simulating the gravity of the Moon, the output speed of the third rotary servo motor 57 is n≈38.6rpm; when simulating the gravity of Mars, the output speed of the third rotary servo motor 57 is n≈58.2rpm), which significantly improves the ability of the ground simulation device to reproduce the multi-force environment in space.

[0059] In some embodiments of the microgravity cultivation environment simulation device of the present invention, a water-absorbing sponge or ceramic fixing material is provided on the rotating seat 56, and the plant is cultivated on the water-absorbing sponge or ceramic fixing material. Water is delivered into the cultivation chamber 5 through the liquid-guiding and air-guiding slip ring 7 and is directly absorbed by the sponge to achieve the purpose of watering the plant. Alternatively, the water can be pressurized by a water pump through a spray head to achieve the spraying effect on the plant.

[0060] In some specific examples, the rotating seat 56 is equipped with a three-clawed plate or a rocker arm with elastic clamps, which hold a culture dish containing plants. The plants are cultivated in glass dishes and secured by the three-clawed plate or rocker arm. Water supplied to the cultivation chamber 5 is pressurized by a venturi tube and sprayed through a universal nozzle, precisely irrigating the plant roots.

[0061] In other specific examples, a saturated sponge or capillary absorbent material is fixed on the rotating seat 56, and the plant is fixed with bio-glue or solid culture medium. By placing a saturated sponge at the bottom of the cultivation chamber 5, an ultrasonic atomizing plate is attached to the sponge, atomizing the water in the sponge and continuously atomizing it to the plant roots or substrate to achieve the purpose of water supply.

[0062] In some specific examples, a sponge seed tray is fixed on the rotating seat 56. The sponge seed tray is used to plant plant seeds and is covered with a perforated film. The perforated transparent film is physically applied to the sponge seed tray to secure the plant seeds on the surface of the tray, facilitating root development. Light guides the plant seeds to break through the film through the pores. A peristaltic pump precisely controls the water immersion in the cultivation sponge seed tray, ensuring a continuous water content within the sponge and supplying water to the plant roots.

[0063] Based on the multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device described in the above embodiments or examples, this invention constructs a microgravity environment simulation closed cultivation device. By introducing vertical gravity disturbances to offset the gravity vector through biaxial rotation to generate random acceleration, a two-factor microgravity simulation device with random centripetal force and random gravity disturbances is constructed. The cultivation space is kept in an adiabatic closed environment. The relationship between plant logistics and external ecosystem flow under gravity regulation is calculated. By increasing the disturbance phenomenon of real gravity, the microgravity simulation effect is optimized. Based on this, a local acoustic levitation and stomatal conductance microgravity respiration model is established for the leaves and buds of micro-crops within the cultivation chamber 5 using ground acoustic levitation. This increases the simulation data of crop heat convection, air velocity and transpiration, and microbial community under microgravity, and constructs environmental regulation methods and models to improve growth, providing a theoretical basis for high-density large-scale spatial cultivation. Simultaneously, a liftable lifting platform 55 is used in conjunction with the plant growth time curve to adjust the center of gravity, allowing for rotational center displacement adjustment as the plant's center of gravity changes with height. By using the above methods to better reproduce the real state and growth model of plants in a microgravity environment, we can use this data to calculate precise methods for improving the microgravity survival environment and closed ecosystem models.

[0064] The structure that generates gravity disturbance according to the present invention will be further described in detail below.

[0065] In some embodiments of the microgravity environment simulation closed cultivation device of the present invention, which combines multi-axis control and acoustic levitation, the microgravity environment simulation closed cultivation device further includes a buoyancy chamber 8, which uses random buoyancy to generate gravity disturbance on the rotating device. Specifically, see [link to documentation]. Figure 6 As shown, two sets of first slide rails 1 are vertically fixed inside the buoyancy chamber 8. The buoyancy chamber 8 is filled with liquid used to generate buoyancy disturbance. The front of the buoyancy chamber 8 is made of tempered glass to facilitate observation of the internal liquid. At least part of the cultivation chamber 5 is submerged in the liquid. The bottom of the buoyancy chamber 8 is provided with a liquid inlet, and the side wall of the buoyancy chamber 8 is provided with a liquid outlet. Both the liquid inlet and the liquid outlet are equipped with variable frequency pumps 9. The liquid inlet and the liquid outlet are connected to a liquid storage tank 10. The variable frequency pumps 9 of the liquid inlet and the liquid outlet are used to make the liquid contained in the buoyancy chamber 8 form convection to pump the cultivation chamber 5 to generate buoyancy disturbance.

[0066] Understandably, the cultivation chamber 5 is at least partially submerged in liquid. The liquid (such as water) in the buoyancy chamber 8 provides upward buoyancy to the cultivation chamber 5. Two variable frequency pumps 9 cause convection currents in the liquid within the buoyancy chamber 8, which in turn pushes the cultivation chamber 5 to generate random buoyancy disturbances. A pressure sensor and a liquid seal are installed at the connection between the first rotary servo motor 2 and the outer rotating frame 3. The pressure sensor monitors and provides feedback on the immersion depth of the cultivation chamber 5 in the liquid within the buoyancy chamber 8. An ultrasonic level sensor is installed at the top of the buoyancy chamber 8 to monitor the height of the liquid within it. The two sensors work together to calculate the buoyancy and disturbance displacement curve and send it to the servo motor controller. The height of the liquid submerged at the bottom of the cultivation chamber 5 can be controlled. By adjusting the liquid level in the buoyancy chamber 8 and the immersion depth of the cultivation chamber 5, a certain amount of random buoyancy can be provided, increasing the upward buoyancy of the cultivation chamber 5 and further improving the randomness of the gravity vector in the microgravity cultivation environment simulation device, thus fitting a more realistic microgravity.

[0067] To accommodate the large volume of liquid flow and level changes in the buoyancy chamber 8, two 1-cubic-meter liquid storage tanks 10 (for liquid supply and drainage) are installed outside the buoyancy chamber 8. These tanks are connected to the buoyancy chamber 8 via variable frequency pumps 9 to better control the inflow and outflow rates and velocities. In the control system, the X-axis and Y-axis rotation and the pump-driven buoyancy disturbances are controlled by two sets of data-interchange servo controllers. One set controls the two variable frequency pumps 9 to generate liquid convection in the buoyancy chamber 8, which in turn drives the cultivation chamber 5 to achieve random buoyancy disturbances. Fluctuation data is recorded by a level sensor and sent to the X-axis and Y-axis servo controllers for real-time fitting of the required speed and direction of rotation. Specifically, the first rotary servo motor 2 and the second rotary servo motor 4 are equipped with dual-channel servo motor programmable controllers, which can adjust the servo motor speed and direction (rotation angle accurate to 1°, speed precisely controlled from 0 to 20 r / min, acceleration / deceleration time <1s). They are also equipped with a cyclic time-delay controller to control the motor's on / off time (accurate to the second). Two variable frequency pumps 9 are equipped with level pump controllers and solenoid valves. Drainage is achieved by opening and closing the two solenoid valves. The drainage flow rate varies from 0 to 9 L / s with gravity. The variable frequency pumps supply water to the buoyancy chamber 8 and display water level information. The water inlet speed of the variable frequency pump 9 at the liquid inlet of the buoyancy chamber 8 can be controlled from 0 to 10 L / s. The drainage speed at the liquid outlet of the buoyancy chamber 8 is consistent with the water inlet speed of the variable frequency pump 9 at the liquid inlet of the buoyancy chamber 8. The random pumping of the variable frequency pump 9 makes the liquid in the buoyancy chamber 8 exert a pump thrust on the cultivation chamber 5, realizing the fluctuation of random buoyancy.

[0068] In other embodiments of the microgravity environment simulation closed cultivation device of the present invention, which combines multi-axis control and acoustic levitation, linear motors are provided on both sets of slide rail mechanisms. The output end of the linear motor is connected to the first rotary servo motor 2, which is used to push the first rotary servo motor 2 to slide along the first slide rail 1.

[0069] It is understood that this embodiment uses a linear motor to drive the first rotary servo motor 2 to slide along the first slide rail 1 as a structure for gravity disturbance, replacing the structure in the above embodiment that uses the liquid in the buoyancy chamber 8 to generate an upward buoyancy force on the cultivation chamber 5. Based on the servo controller, the first rotary servo motor 2 is randomly controlled, so that the first rotary servo motor 2 generates an upward force that counteracts gravity as generated by the buoyancy in the above embodiment, thus completing the gravity disturbance of the cultivation chamber 5.

[0070] This invention also provides a microgravity environment simulation control system combining multi-axis control and acoustic levitation, applicable to any of the above embodiments or examples of a microgravity environment simulation closed cultivation device combining multi-axis control and acoustic levitation. The microgravity environment simulation control system includes a material flow and environmental control subsystem, a rotation subsystem, a gravity disturbance subsystem, a plant center of gravity control subsystem, and an acoustic levitation simulation subsystem. The material flow and environmental control subsystem is used to regulate humidity, temperature, light intensity, air pressure, and carbon dioxide concentration within the cultivation chamber 5. The rotation subsystem includes a random rotation controller for controlling the first rotation servo motor 2 and the second rotation servo motor 4 to operate in a random rotation state. The gravity disturbance subsystem is used to control the cultivation chamber 5 to be randomly subjected to forces in the vertical direction, thereby disturbing the gravity acting on the plants within the cultivation chamber 5 in the vertical direction. The plant center of gravity control subsystem includes a servo controller for regulating the center of gravity position of the plants within the cultivation chamber 5. The acoustic levitation simulation subsystem generates acoustic standing waves that act on the plants within the cultivation chamber 5 to apply ultrasonic standing waves to the terminal buds and leaves of the plants.

[0071] The logistics and environmental control subsystem mainly includes a power supply, liquid supply, and gas supply channel composed of a waterproof conductive slip ring 6 and a liquid-conducting and gas-conducting slip ring 7. It uses agricultural IoT sensors (temperature, humidity, O2, CO2, light intensity, etc.) to monitor the environmental parameters of the cultivation room 5 in real time. It also includes an external gas source (a carbon dioxide and oxygen mixing chamber) and a liquid source (nutrient solution tank) connected to the cultivation room via slip rings. Sensor data from the agricultural IoT sensors is fed back to the controller, dynamically adjusting the LED light intensity, nutrient solution delivery volume, and gas composition (such as CO2 concentration). Closed-loop control maintains constant temperature and humidity (15~30℃, 50~90% humidity) and light intensity (0~300 PPFD), accurately simulating the sealed environment of space and supporting long-term plant growth experiments. The rotation subsystem mainly includes a structure where a random rotation controller (such as a servo controller connected to a PLC) connects to the first rotation servo motor 2 and the second rotation servo motor 4. It controls the dual-axis motors to rotate according to the specified parameters. The machine program runs, using a delayed response (switching motion after deceleration to 0) to avoid mechanical impact, generating random centrifugal force to counteract the gravity vector, simulating microgravity biological effects; the gravity disturbance subsystem includes a structure that generates buoyancy disturbance in the buoyancy chamber 8 or a structure that uses a linear motor to drive the first rotary servo motor 2 to slide along the first slide rail 1. Taking the structure that generates buoyancy disturbance in the buoyancy chamber 8 as an example, the variable frequency pump 9 controls the liquid level to fluctuate randomly within the range of 0~50cm or the reciprocating acceleration motion generated by continuous water flow convection and its own gravity falling back, so that the cultivation chamber 5 is subjected to random buoyancy disturbance, and the rotary... The rotor system works in synergy, using an algorithm to fit the gravity disturbance value to g < 0.000156, enhancing the realism of microgravity simulation and solving the problem that traditional RPMs cannot simulate vertical gravity changes. The plant center of gravity control subsystem mainly includes a mechanism that drives the lifting platform 55 to move along the second slide rail 52 via a lead screw stepper motor 53, and calculates the plant growth center of gravity displacement curve based on the L-system algorithm. A servo controller adjusts the height of the lifting platform 55 according to the plant growth time, ensuring the plant's center of gravity remains close to the rotation axis, avoiding uneven centrifugal force caused by center of gravity shift, and reducing... The risk of stem breakage is reduced. The acoustic levitation simulation subsystem mainly includes two ultrasonic sound-generating array modules 58, which are installed on the inner wall of the cultivation chamber 5 via adjusting rods. A controllable airflow is provided by an adjustable speed air pump connecting the air chamber and the cultivation chamber. The ultrasonic sound-generating array modules 58 generate acoustic standing waves (frequency 20~40kHz) to suspend the water film on the leaf surface, simulating the non-convective state in space. The air pump adjusts the airflow to study the relationship between stomatal conductance and heat dissipation (such as inhibiting / eliminating water film stress), reproduces the stomatal respiration inhibition effect under microgravity, and provides an experimental model for thermal management of space plants.

[0072] In this embodiment of the microgravity cultivation environment simulation system, during the startup phase, the logistics and environmental control subsystem initializes environmental parameters (e.g., setting 25℃, 80% humidity, and 200 PPFD light intensity), and the rotation subsystem initiates dual-axis random rotation (0.5 r / min for X / Y axes). During the operation phase, the gravity disturbance subsystem generates random buoyancy by fluctuating the liquid level through a variable frequency pump, the plant center of gravity control subsystem adjusts the height of the lifting platform every 24 hours (based on the L-system algorithm), the acoustic levitation simulation subsystem continuously acts on the leaves, and the air pump starts intermittently. Throughout the overall startup and operation, sensor data is fed back to the controllers of each subsystem in real time, dynamically optimizing parameters (e.g., adjusting the rotation speed according to buoyancy fluctuations).

[0073] In some embodiments of the microgravity environment simulation control system combining multi-axis control and acoustic levitation of the present invention, see [link to relevant documentation]. Figure 7 As shown, Figure 7 The diagram illustrates the structure of a microgravity environment simulation control system that combines multi-axis control with acoustic levitation (the acoustic levitation simulation subsystem is not shown; instead, a linear motor-driven gravity disturbance subsystem is used on a slide rail mechanism). Through multiple precisely coordinated subsystems and closed-loop control, a complex microgravity environment in space is simulated on the ground.

[0074] Specifically, the gravity disturbance subsystem, driven by a synchronous linear motor controller, uses right and left linear motors to calculate vertical displacement distance based on data from millimeter-wave distance and position sensors (the positions of these sensors can be set and monitored as needed), thereby achieving random buoyancy disturbance to cultivation chamber 5. Simultaneously, the rotation subsystem, composed of an X-axis servo motor (first rotation servo motor 2) and a Y-axis servo motor (second rotation servo motor 4), has its operation monitored in real-time by an angular acceleration sensor. The data is fed back to the motor servo controller to calculate centripetal force and fit a genetic algorithm, dynamically adjusting the random rotation speed and direction at a frequency of 5-10 seconds to accurately simulate microgravity effects. To ensure normal plant growth and research in the dynamic simulation environment, the system also integrates a plant center of gravity control subsystem and a logistics and environmental control subsystem. The plant center of gravity control subsystem, based on a plant growth time-height model, uses the L-system algorithm. The lead screw stepper controller receives initial data and speed data to control the lead screw stepper motor 53, thereby controlling the displacement of the lifting platform 55 to ensure the plant's center of gravity is always aligned with the rotation center. The logistics and environmental control subsystem manages light exposure time, water supply duration, and necessary air circulation time through timers. It also comprehensively regulates buoyancy chamber heating, air chamber heating and cooling, atomized humidification, additional air supply and ventilation, and CO2 supplementation in the air chamber to provide a stable and controllable closed growth environment for the plants. The acoustic levitation simulation subsystem generates acoustic standing waves that act on the plants within the cultivation chamber 5, applying ultrasonic standing waves to the terminal buds and leaves.

[0075] For the microgravity control simulation process of the microgravity environment simulation control system that combines multi-axis control and acoustic levitation, please refer to [link / reference]. Figure 8 As shown, Figure 8 The diagram illustrates the control process of the rotation subsystem and the gravity disturbance subsystem working together to simulate a microgravity environment. This process begins with a rigorous checklist. The system first initializes, confirms its original position, and resets the clock to zero. Then, it sequentially performs checks on each sensor, rotational motion detection, water injection buoyancy detection, chamber airtightness check, and water-air path check. The system evaluates each checklist item one by one. If any check fails, the process cannot proceed to the main operation phase; if all checks pass, the system starts the operating program and enters the normal experimental working state.

[0076] During normal experimental operation, the system uses the Simulink PLC Coder plugin to import the MATLAB algorithm program into the real-time control platform. The main control algorithm then runs a genetic algorithm to comprehensively process real-time data from multiple sensors, including the X-axis angular velocity relative to the base, the X-axis and Y-axis relative angular velocities, and the Y-axis relative to the base angular velocity provided by the rotational motion detection of the rotating subsystem, as well as acceleration sensor data and water injection buoyancy detection results. Based on this information, the algorithm dynamically calculates the required resultant force and outputs gravity disturbance data and the random rotational speed direction data of the rotating subsystem's dual axes. These calculation results are converted into precise control commands to control the direction and speed of the rotating servo motors of the rotating subsystem, as well as the power of the inlet and outlet variable frequency pumps of the gravity disturbance subsystem, and to randomly generate liquid level heights based on the input. Through the combined effect of precise operation, the final gravity fitting result is output, successfully simulating the target microgravity environment in the experimental setup. When the experiment ends, the system performs a shutdown drainage operation, completing the entire control process.

[0077] It should be understood that the control and regulation processes of the plant center of gravity regulation subsystem, rotation subsystem, and gravity disturbance subsystem can be controlled by a PLC. For details of the control process, please refer to [link to relevant documentation]. Figure 9 As shown, Figure 9 This diagram illustrates the collaborative control architecture and control process of three core subsystems (gravity disturbance subsystem, rotation subsystem, and plant center of gravity regulation subsystem) in a microgravity simulation system. The entire system uses a PLC program as its top-level control core. Through a synchronization timing module and the adoption of the 485 / pulse communication protocol, the synchronization and precise timing of commands from each subsystem are ensured. Under a sensor feedback control mechanism, these three subsystems, through continuous signal reception and feedback, collectively constitute a rapidly responsive and precisely controlled microgravity environment simulation solution.

[0078] Specifically, see Figure 9As shown, the gravity disturbance subsystem is implemented through underwater displacement dual-loop control. Its sensor feedback control loop relies on displacement acceleration sensors to monitor the physical state and feeds the signal back to the random liquid level PLC control port. This port outputs control commands to drive the additional water pump and the variable frequency inlet / outlet water pump (both of which receive signals), thereby simulating random buoyancy disturbances by changing the liquid environment. Simultaneously, the rotation subsystem executes dual closed-loop control of the motor rotation. The gyrator PLC control port sends controller output commands containing rotation angle, speed, and direction to control the bidirectional servo motor (which receives signals). The motor's operating status is monitored in real time by attitude acceleration sensors. Attitude and acceleration data are used as feedback signals to form a closed loop, ensuring the accuracy of the rotational motion. The sensors display 5 minutes of data in real time and record the maximum and minimum values ​​of the fitted acceleration, as well as the variance and standard deviation of the fluctuation, within 1 hour. Data is retained for 7 days.

[0079] On the other hand, the plant center of gravity control subsystem is responsible for controlling the vertical position of the cultivation platform. The center of gravity PLC control port sends a control signal based on the calculated target displacement value, which drives the platform screw and stepper motor to work and automatically adjust the vertical position of the plant so that its center of gravity is always aligned with the rotation center to eliminate the extra torque caused by growth.

[0080] Based on the description of the microgravity environment simulation control system combining multi-axis control and acoustic levitation, see the following specific embodiments: Figure 10 As shown, Figure 10This paper illustrates a highly integrated microgravity environment simulation cultivation control system. The system uses a PLC controller as its central command, precisely driving servo motors to control the outer and inner rotating frames, achieving random rotation along two axes to counteract the gravity vector (rotation subsystem). A variable frequency water pump system, controlled by the PLC controller, controls the cultivation chamber to experience random forces in the vertical direction, thus disturbing the gravity acting on the plants within the cultivation chamber (gravity disturbance subsystem). To ensure a continuous supply during rotation, the system integrates a series of sophisticated environmental control and simulation units. An electrical / signal slip ring system, consisting of 24 and 14 waterproof conductive slip rings, supplies power and signals to the LED light panel, sensors, and centrifugal motor. Simultaneously, a gas-liquid slip ring system (including a set of 2 water and 2 gas channels), coordinated with an IoT timer controller and an automatic temperature and humidity controller, stably delivers nutrients and gases to the plants in the cultivation chamber via the nutrient solution system and O2 / CO2 bottles. For precise environmental control, the temperature and air circulation system integrates water cooling (or water-cooling) and heating functions, maintaining a constant temperature for the circulating air (logistics and environmental control subsystem). The plant center of gravity control subsystem ensures plant stability through a lifting device, while the acoustic levitation simulation subsystem utilizes ultrasound to suppress heat convection, collectively enhancing the realism of the microgravity simulation. The entire system, controlled by a PLC controller, integrates all modules into a whole, and successfully replicates a highly simulated microgravity cultivation environment in a sealed cultivation chamber 5.

[0081] Regarding the control process of the PLC controller, this embodiment further combines... Figure 11 To elaborate, Figure 11 This diagram illustrates the control process of a PLC controller in a microgravity environment simulation control system. (See also...) Figure 11As shown, the PLC controller acts as the control center, receiving real-time feedback signals from the entire system: the encoder provides real-time feedback on the Z-axis linear position and XY-axis rotational speed and direction to compensate for errors, while the accelerometer and level sensor monitor the Z-axis water level height and distance and achieve fitting acceleration, respectively. These data are processed by the PID motor precision adjustment, servo drive, and synchronous linear motor drive units, ultimately precisely controlling the execution of the X-axis servo motor, Y-axis servo motor, linear motor, water pump, and drainage solenoid valve (started and stopped via relays), thereby collaboratively generating the complex mechanical motion required to simulate a microgravity environment. In addition, the system simultaneously runs two sets of parallel precision control logics. One is the plant center of gravity adjustment subsystem, which, based on the PLC controller, adjusts the plant's center of gravity through stepper drive. It can automatically adjust the cultivation platform according to a set 12-hour displacement curve or input displacement distance and height every 12 hours to ensure plant center of gravity stability. The other is comprehensive environmental data monitoring and recording (the figure only illustrates monitoring the gas environment via an oxygen sensor). Accelerometer and liquid level sensor display 5-minute data in real time and record the maximum and minimum values ​​of fitted acceleration, as well as the variance and standard deviation of fluctuation within 1 hour. The data is retained for 2 days, while oxygen sensor data records the extreme values ​​every hour separately. All of this information is finally displayed on the screen, providing researchers with a complete data chain to evaluate the effects of microgravity simulation and plant physiological responses.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device, characterized in that, The utility model relates to a kind of simulation device for simulating the growth of plant in real gravity disturbance environment, including: Two groups of slide rail mechanisms, each group of the slide rail mechanism includes two vertically arranged first slide rails (1), two groups of the slide rail mechanism are arranged in parallel opposite; First rotary servo motor (2), the first rotary servo motor (2) is slidably arranged in the slide rail mechanism, the first rotary servo motor (2) is randomly slid on the first slide rail (1), to simulate real gravity disturbance; Outer rotating frame (3) is connected to the first rotary servo motor (2), adapted to rotate in the first direction under the action of the first rotary servo motor (2); Second rotary servo motor (4), the second rotary servo motor (4) is fixedly arranged in the outer rotating frame (3), the axis of the second rotary servo motor (4) is perpendicular to the axis of the first rotary servo motor (2); Cultivation chamber (5) is used for cultivating plant, the cultivation chamber (5) is closed culture room, the outer wall of the cultivation chamber (5) is provided with inner rotating frame (51), the inner rotating frame (51) is connected to the second rotary servo motor (4), the cultivation chamber (5) is adapted to rotate in the second direction under the action of the second rotary servo motor (4) by the inner rotating frame (51);The opposite inner side wall of the cultivation chamber (5) is respectively mounted with adjusting rod, the adjusting rod is connected with ultrasonic sound emission array module (58), two ultrasonic sound emission array modules (58) are oppositely arranged, and adapted to adjust relative distance by the adjusting rod, two ultrasonic sound emission array modules (58) adjust relative distance and sound wave amplitude frequency, to form acoustic standing wave and act on plant top bud leaf.

2. The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to claim 1, characterized in that, The first rotary servo motor (2) and the second rotary servo motor (4) are all sleeved with waterproof conductive slip ring (6) and liquid and gas guide slip ring (7), adapted to transport power into the cultivation chamber (5) by the waterproof conductive slip ring (6), and transport liquid and gas into the cultivation chamber (5) by the liquid and gas guide slip ring (7). 3.The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to claim 2, characterized in that, Agricultural internet-of-things sensor is arranged in the cultivation chamber (5), for monitoring humidity, temperature, light intensity, air pressure, oxygen concentration and carbon dioxide concentration in the cultivation chamber (5), LED lamp plate and time-lapse camera are fixed in the cultivation chamber (5), the LED lamp plate and the time-lapse camera are connected to electricity by the waterproof conductive slip ring (6), for providing illumination to the cultivation chamber (5) and recording plant growth state, the cultivation chamber (5) is connected to gas source and liquid source by the liquid and gas guide slip ring (7), to regulate humidity, temperature, air pressure, oxygen concentration and carbon dioxide concentration in the cultivation chamber (5) based on the monitoring value of the agricultural internet-of-things sensor.

4. The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to claim 1, characterized in that, The cultivation chamber (5) is provided with a second sliding rail (52) and a lead screw stepping motor (53), the sliding rail (52) is provided with a sliding block (54) slidingly, the sliding block (54) is sleeved on the lead screw of the lead screw stepping motor (53), the lead screw stepping motor (53) is suitable for driving the sliding block (54) to move on the second sliding rail (52), and the sliding block (54) is connected with a lifting platform (55) for cultivating plants on the lifting platform (55).

5. The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to claim 4, characterized in that, The lifting platform (55) is provided with a rotating seat (56), the rotating seat (56) is connected with a third rotating servo motor (57), and the rotating seat (56) is used for cultivating plants on the rotating seat (56) and is suitable for rotating and centrifuging the plants cultivated on the rotating seat (56) under the driving of the third rotating servo motor (57).

6. The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to claim 5, characterized in that, The rotating seat (56) is provided with a three-jaw chuck or a shaking table elastic clamp, the three-jaw chuck or the shaking table elastic clamp clamps a culture vessel, and the culture vessel is used for cultivating plants in the culture vessel; Or, The rotating seat (56) is fixed with a water-absorbing sponge, and plants are fixed and planted on the water-absorbing sponge through biological glue or solid culture medium; Or, The rotating seat (56) is fixed with a sponge hole disc, the sponge hole disc is used for planting plant seeds, and the sponge hole disc is covered with a hole film. 7.The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to any one of claims 1 to 6, characterized in that, The microgravity environment simulation closed cultivation device also comprises a buoyancy bin (8), two groups of the first sliding rails (1) are vertically fixed in the buoyancy bin (8), the buoyancy bin (8) is filled with a liquid for generating buoyancy disturbance, at least part of the cultivation chamber (5) is immersed in the liquid, the bottom of the buoyancy bin (8) is provided with a liquid inlet, the side wall of the buoyancy bin (8) is provided with a liquid outlet, the liquid inlet and the liquid outlet are provided with variable frequency pumps (9), the liquid inlet and the liquid outlet are connected with liquid storage barrels (10), and the variable frequency pumps (9) of the liquid inlet and the liquid outlet are used to form convection of the liquid filled in the buoyancy bin (8) to pump the cultivation chamber (5) to generate buoyancy disturbance.

8. The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to claim 7, characterized in that, The part where the first rotating servo motor (2) and the outer rotating frame (3) are connected is provided with a pressure sensor for monitoring and feeding back the immersion depth of the cultivation chamber (5) in the liquid in the buoyancy bin (8) through pressure; and the top of the buoyancy bin (8) is provided with an ultrasonic liquid level sensor for monitoring the height of the liquid in the buoyancy bin (8). 9.The multi-axis control and acoustic levitation combined microgravity environment simulation closed cultivation device according to any one of claims 1 to 6, characterized in that, Linear motors are arranged on the two groups of sliding rail mechanisms, output ends of the linear motors are connected with the first rotating servo motor (2), and the first rotating servo motor (2) is pushed to slide along the first sliding rail (1).

10. A multi-axis control and acoustic levitation combined microgravity environment simulation control system, characterized in that, The multi-axis control and acoustic suspension combined microgravity environment simulation closed cultivation device suitable for the multi-axis control and acoustic suspension combined microgravity environment simulation closed cultivation device in any one of claims 1 to 9 comprises: A logistics and environment control subsystem is used for adjusting and controlling the humidity, temperature, light intensity, air pressure, oxygen concentration and carbon dioxide concentration in the cultivation chamber (5); The rotation subsystem comprises a random rotation controller for controlling the first rotation servo motor (2) and the second rotation servo motor (4) to operate in a random rotation motion state respectively; The gravity disturbance subsystem is used for controlling the cultivation chamber (5) to be subjected to random force in the vertical direction, so as to disturb the gravity in the vertical direction on the plant in the cultivation chamber (5); The plant gravity center regulating subsystem comprises a servo controller for regulating the gravity center position of the plant in the cultivation chamber (5); The acoustic suspension simulation subsystem is used for generating an acoustic standing wave acting on the plant in the cultivation chamber (5), so as to exert an ultrasonic standing wave on the top bud leaf of the plant.

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