Aquatic vegetable floating bed cultivation and water body purification collaborative device and system

Abstract

The application discloses a kind of aquatic vegetable floating bed cultivation and water purification collaborative device and system, it is related to image recognition technical field, including: bottom plate, adjusting water tank, biological pretreatment reaction tank, open water tank, cultivation main groove, terminal water collecting tank and main control module;Adjusting water tank and biological pretreatment reaction tank are arranged side by side on bottom plate, and the water outlet of adjusting water tank is connected to the water inlet of biological pretreatment reaction tank by Z-shaped pipe;The slot of cultivation main groove is provided with cover plate module, and the monitoring assembly for monitoring plant growth is arranged on the cover plate module;Horizontal drive mechanism and multiple hollow planting cups are arranged on the cover plate module;Multiple hollow planting cups are hung below cover plate module by hanging rope, and are immersed in water body in cultivation main groove;Main control module is connected with monitoring assembly, and main control module is connected with horizontal drive mechanism.

Description

Technical Field

[0001] This invention relates to the field of image recognition technology, and in particular to a device and system for the coordinated cultivation of aquatic vegetables on floating beds and water purification. Background Technology

[0002] Large-scale indoor floating bed cultivation of aquatic vegetables has become an important model for intensive production in modern agriculture. Utilizing a standardized, enclosed factory layout and employing a high-density, centralized planting method, it can achieve continuous year-round production of aquatic vegetables regardless of outdoor climate or seasonal conditions. This model employs an indoor closed-loop water circulation system, coupled with a well-organized array of floating beds, significantly saving land and water resources and aligning with the green and low-carbon development needs of facility agriculture.

[0003] In traditional floating beds, the planting cups are fixed in position. As the vegetable canopy expands during growth, it is easy for plants to crowd each other and for leaves to overlap and block light. This not only leads to uneven light exposure and nutrient absorption, directly affecting growth and yield, but also hinders the roots from fully contacting the water due to canopy crowding, significantly reducing the root system's absorption efficiency of nutrients such as nitrogen and phosphorus from the water and weakening the water purification effect. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies where the planting cups of traditional floating beds are fixed in position. As the canopy of vegetables expands during growth, plants are easily crowded together and leaves overlap and block light. This not only leads to uneven light exposure and nutrient absorption, directly affecting growth and yield, but also hinders the roots from fully contacting the water due to canopy crowding, significantly reducing the root system's absorption efficiency of nutrients such as nitrogen and phosphorus from the water. Therefore, this invention proposes a device and system for the coordinated cultivation of aquatic vegetables on floating beds and water purification.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A device for the coordinated cultivation of aquatic vegetables on floating beds and water purification includes: a base plate, an regulating water tank, a biological pretreatment reaction tank, an open water tank, a main cultivation trough, an end water collection tank, and a main control module; The regulating water tank and the biological pretreatment reaction tank are arranged side by side on the base plate, and the outlet of the regulating water tank is connected to the inlet of the biological pretreatment reaction tank through a Z-shaped pipe. The outlet of the biological pretreatment reactor is connected to the open water tank via a pipeline; The outlet of the open water tank is connected to the inlet of the main cultivation trough; The end water collection tank is provided below the water outlet of the main cultivation trough. The end water collection tank is connected to the inlet of the regulating water tank through a return pipe to form a circulating water circuit. The main cultivation trough is equipped with a cover plate module at its opening, and the cover plate module is equipped with a monitoring component for monitoring plant growth. The cover plate module is equipped with a horizontal drive mechanism and multiple hollowed-out planting cups; Multiple hollowed-out planting cups are suspended below the cover plate module by hanging ropes and submerged in the water in the main cultivation tank; The main control module is communicatively connected to the monitoring component and to the horizontal drive mechanism.

[0006] The above technical solution further includes: Specifically, the horizontal drive mechanism includes a first horizontal drive component and a second horizontal drive component; The lower part of the cover plate module is fixedly connected to multiple sets of connecting plates, and the connecting plates are fixedly connected to a first servo motor. The first horizontal drive assembly includes a first servo motor, a first lead screw driven by the first servo motor, and a moving block threaded with the first lead screw. A first limiting plate is fixedly connected above the first servo motor, and the first limiting plate and the moving block are slidably connected. A second servo motor is fixedly connected below the moving block. The second horizontal drive assembly includes a second lead screw driven by the second servo motor and an adjustment block threaded with the second lead screw. A second limiting plate is fixedly connected to the upper part of the second servo motor. The second limiting plate and the adjustment block are slidably connected. The suspension rope is fixedly connected to the adjustment block for driving the corresponding hollow planting cup below the suspension rope to move independently along the length direction perpendicular to the main cultivation trough.

[0007] Specifically, the regulating water tank is equipped with a water pumping pipe, the upper end of which is fixedly connected to the Z-shaped pipe, and the end of the Z-shaped pipe away from the water pumping pipe is fixedly connected to an outlet pipe, which is connected to the inlet of the biological pretreatment reaction tank. The open water tank is equipped with a perforated overflow water distributor. The perforated overflow water distributor is fixedly connected to the cultivation trough water inlet pipe. The end of the cultivation trough water inlet pipe away from the perforated overflow water distributor is connected to the water inlet end of the main cultivation trough.

[0008] Specifically, the monitoring component includes: An image sensor is used to acquire images of the canopy of the vegetables inside the hollowed-out planting cup; One or more environmental sensors are installed in the main cultivation tank to monitor the water temperature, pH value, dissolved oxygen or conductivity parameters; Both the image sensor and the environmental sensor are communicatively connected to the main control module.

[0009] Specifically, a water pump is installed on the return pipe; the water pump is located on the lower side inside the regulating water tank. The base plate is also provided with a first support seat and a second support seat. The end of the first support seat away from the base plate is fixedly connected to the biological pretreatment reaction tank, and the end of the second support seat away from the base plate is fixedly connected to the open water tank.

[0010] A system for the coordinated cultivation of aquatic vegetables on floating beds and water purification, applied to the aforementioned device, includes the main control module; The main control module is communicatively connected to the monitoring component and the horizontal drive mechanism, and is configured to execute the following control methods: S1: Receive real-time information from the monitoring component regarding the growth status of the vegetable canopy inside each of the hollowed-out planting cups; S2: Based on the growth status information, determine whether the vegetable canopies in any two adjacent hollow planting cups are in contact; S3: When it is determined that contact has occurred, a linkage control command is sent to the horizontal drive mechanism to synchronously drive the first horizontal drive component and the second horizontal drive component, thereby causing the corresponding hollow planting cup to move in the horizontal plane, thereby increasing the distance between the vegetable canopies that have come into contact.

[0011] Specifically, the main control module is configured to: when issuing the linkage control command, synchronously control the first servo motor and the second servo motor to start, so that the hollow planting cup that comes into contact simultaneously moves along the length of the main cultivation trough and in a direction perpendicular to this length.

[0012] Specifically, the main control module is further configured to prioritize controlling the second servo motor to drive the corresponding hollow planting cup to perform lateral loosening when performing spacing adjustment; If the lateral adjustment space is insufficient, the first servo motor is synchronously controlled to drive the cover plate module to move longitudinally as a whole to provide compensation space.

[0013] The longitudinal direction is parallel to the length direction of the main cultivation trough, and the transverse direction is parallel to the width direction of the main cultivation trough.

[0014] Specifically, the growth status information is a canopy image; The main control module has a built-in image recognition algorithm for analyzing the canopy image to determine whether the vegetable canopy has come into contact with the canopy. The image recognition algorithm performs the following steps: S11: Acquire the canopy image, and perform target detection on each vegetable canopy in the image to generate corresponding bounding box information; S12: Calculate the intersection-union ratio of any two adjacent bounding boxes; S13: Compare the crossover ratio with a preset threshold. If the crossover ratio is greater than the preset threshold, it is determined that the vegetable canopies in the two corresponding hollow planting cups have come into contact.

[0015] Specifically, the main control module is also configured to: while controlling the horizontal drive mechanism to adjust the planting spacing, adjust the flow rate of the water pump in conjunction with the data collected by the environmental sensor set in the main cultivation trough.

[0016] The present invention has the following beneficial effects: This invention fundamentally solves the problems of fixed plant spacing, overcrowding and shading of vegetable canopies, and uneven nutrient absorption by roots in traditional floating bed cultivation. By automatically determining the contact status of the vegetable canopy through image recognition algorithms, an intelligent horizontal drive mechanism dynamically adjusts the spacing of the perforated planting cups, providing ample space and uniform light for vegetable growth. Simultaneously, it adapts to the water circulation supply, allowing vegetable growth and water purification to work in synergy, significantly improving vegetable growth and yield while continuously enhancing the stability and efficiency of water purification. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the synergistic device for floating bed cultivation of aquatic vegetables and water purification proposed in this invention. Figure 2 This is a schematic cross-sectional view of the device in this invention; Figure 3 This is a schematic diagram of the cover plate module in this invention; Figure 4 This is a schematic diagram of the horizontal drive mechanism in this invention; Figure 5 This is a side view of the horizontal drive mechanism in this invention. Figure 6 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle; Figure 7 for Figure 5 Enlarged schematic diagram of the structure at point B; Figure 8 This is a schematic diagram illustrating the hardware structure of the device in this invention; Figure 9 This is a flowchart of the system operation in this invention.

[0018] In the diagram: 1. Base plate; 101. Support pier; 102. First support seat; 103. Second support seat; 2. Adjusting water tank; 3. Pumping pipe; 301. Z-shaped pipe; 302. Outlet pipe; 4. Biological pretreatment reaction tank; 5. Open water tank; 501. Perforated overflow water distributor; 502. Cultivation trough inlet pipe; 6. Main cultivation trough; 601. Cover plate module; 7. Connecting plate; 8. First servo motor; 801. First lead screw; 802. First limit plate; 9. Moving block; 10. Second servo motor; 1001. Second lead screw; 1002. Second limit plate; 11. Adjusting block; 1101. Suspension rope; 1102. Hollowed-out planting cup; 12. End water collection tank; 1201. Return pipe; 1202. Water pump; 13. Main control module. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example

[0021] like Figures 1-9 As shown, the present invention proposes a device for the coordinated cultivation of aquatic vegetables on floating beds and water purification, comprising: a base plate 1, an regulating water tank 2, a biological pretreatment reaction tank 4, an open water tank 5, a main cultivation trough 6, an end water collection tank 12, and a main control module 13. The regulating water tank 2 and the biological pretreatment reaction tank 4 are arranged side by side on the base plate 1. The outlet of the regulating water tank 2 is connected to the inlet of the biological pretreatment reaction tank 4 through a Z-shaped pipe 301. The outlet of the biological pretreatment reactor 4 is connected to the open water tank 5 via a pipeline; The outlet of the open water tank 5 is connected to the inlet of the main cultivation trough 6; A terminal water collection tank 12 is installed below the water outlet of the main cultivation trough 6. The terminal water collection tank 12 is connected to the water inlet of the regulating water tank 2 through a return pipe 1201 to form a circulating water circuit. The main cultivation trough 6 has a cover plate module 601 at its opening, and the cover plate module 601 is equipped with a monitoring component for monitoring plant growth. The cover plate module 601 is equipped with a horizontal drive mechanism and multiple hollow planting cups 1102; Multiple hollow planting cups 1102 are suspended below the cover plate module 601 by hanging ropes 1101 and submerged in the water in the main cultivation tank 6; The main control module 13 is communicatively connected to the monitoring component and to the horizontal drive mechanism.

[0022] Furthermore, the monitoring components (specifically, the image sensor installed in the cover module 601 and the environmental sensor inside the main cultivation trough 6) acquire top-view images of the vegetable canopies inside all the hollowed-out planting cups 1102 at a fixed frequency. The environmental sensor monitors parameters such as water temperature, pH, and dissolved oxygen in real time. The main control module 13 receives and processes this information. Its built-in image recognition algorithm first preprocesses and enhances the images, then identifies and segments each independent vegetable canopy using a trained convolutional neural network model, calculating its outline, area, and position coordinates. Next, the algorithm core calculates the intersection-union ratio (IUU) between any two adjacent canopy outlines. If this value exceeds a preset threshold (e.g., 0.05), it is determined that the vegetables on the corresponding suspension rope 1101 have come into contact. This visual judgment result, together with real-time water quality data, constitutes the decision basis for the main control module 13 to issue control commands.

[0023] When the main control module 13 determines that the spacing needs to be adjusted, it immediately generates a precise displacement command to drive the horizontal drive mechanism. The horizontal drive mechanism includes a first horizontal drive assembly (first servo motor 8, first lead screw 801, moving block 9) and a second horizontal drive assembly (second servo motor 10, second lead screw 1001, adjusting block 11).

[0024] The control is usually done in two steps: First, the main control module 13 starts the second servo motor 10, drives the second lead screw 1001 to rotate, and drives the adjustment block 11 and the specific suspension rope 1101 connected to it to move laterally (perpendicular to the length of the main cultivation trough 6) to quickly relieve local contact.

[0025] If the lateral adjustment space is insufficient, the main control module 13 will synchronously start the first servo motor 8, driving the first lead screw 801 to rotate. This, through the moving block 9 and connecting plate 7, will cause the entire cover module 601 and all the hollow planting cups 1102 to move longitudinally (parallel to the length of the main cultivation trough 6), creating new space for more precise lateral adjustments. Through the coordination of the two sets of motors, dynamic and precise optimization of planting density is achieved.

[0026] After the water volume and basic water quality (such as pH) are adjusted in the regulating water tank 2, the water enters the biological pretreatment reaction tank 4 through the Z-shaped pipe 301 of the pumping pipe 3. The microbial film on the biological packing material in the tank degrades organic pollutants in the water.

[0027] Subsequently, the pretreated water flows into the open water tank 5, and is evenly and gently distributed to the main cultivation trough 6 via the perforated overflow distributor 501 at the bottom. Here, the plant roots in all the perforated planting cups 1102 are submerged in the flowing water, absorbing nutrients such as nitrogen and phosphorus for their own growth, while further purifying the water through root adsorption and microbial action. The purified water flows from the end of the main cultivation trough 6 into the end collection tank 12, and is finally pumped back to the regulating water tank 2 by the water pump 1202 on the return pipe 1201, forming a closed loop. The main control module 13 can intelligently adjust the flow rate of the water pump 1202 based on environmental sensor data to achieve synergy between water purification and vegetable nutrient supply.

[0028] The horizontal drive mechanism includes a first horizontal drive component and a second horizontal drive component; The lower part of the cover plate module 601 is fixedly connected to multiple sets of connecting plates 7, and the connecting plates 7 are fixedly connected to the first servo motor 8; The first horizontal drive assembly includes a first servo motor 8, a first lead screw 801 driven by the first servo motor 8, and a moving block 9 threadedly engaged with the first lead screw 801. A first limiting plate 802 is fixedly connected above the first servo motor 8, and the first limiting plate 802 and the moving block 9 are slidably connected. A second servo motor 10 is fixedly connected below the moving block 9. The second horizontal drive assembly includes a second lead screw 1001 driven by a second servo motor 10, and an adjustment block 11 threadedly engaged with the second lead screw 1001. A second limiting plate 1002 is fixedly connected to the upper part of the second servo motor 10. The second limiting plate 1002 and the adjustment block 11 are slidably connected. A suspension rope 1101 is fixedly connected to the adjustment block 11 for driving the corresponding hollow planting cup 1102 below the suspension rope 1101 to move independently along the length direction perpendicular to the main cultivation trough 6.

[0029] Furthermore, the connecting plate 7 is a rigid connection between the first horizontal drive assembly and the cover plate module 601. One end of the connecting plate 7 is fixed to the lower part of the cover plate module 601, and the other end is fixedly connected to the housing of the first servo motor 8. When the monitoring component (such as an image sensor) detects that the vegetable canopy in adjacent hollow planting cups 1102 is in contact, the main control module 13 immediately starts the collaborative control process. First, the first servo motor 8 receives the instruction and starts working, driving the first lead screw 801 to rotate, converting the rotational motion into a precise linear motion of the moving block 9 along the length direction (longitudinal) of the main cultivation trough 6. The first limiting plate 802 provides guidance and stable support for this motion. Since the second servo motor 10 is fixed below the moving block 9, the entire second horizontal drive assembly generates a longitudinal displacement, thereby driving the hollow planting cups 1102 suspended below to make an initial adjustment of their overall position. Subsequently, for more precise lateral spacing, the second servo motor 10 is activated, driving the second lead screw 1001 to rotate. This, in turn, causes the adjusting block 11, which is threaded into it, to move in a direction perpendicular to the longitudinal direction (lateral). The second limiting plate 1002 ensures the stability of its movement trajectory. The lateral movement of the adjusting block 11 directly pulls the suspension rope 1101 fixed below it, thereby independently adjusting the lateral position of the corresponding single hollow planting cup 1102 under the suspension rope. Through the sequential or coordinated actions of the first servo motor 8 and the second servo motor 10, the system ultimately achieves precise and independent control of the two-dimensional coordinates of the specified hollow planting cup 1102 in the horizontal plane to optimize the plant spacing.

[0030] The regulating water tank 2 is equipped with a water pumping pipe 3. The upper end of the water pumping pipe 3 is fixedly connected to the Z-shaped pipe 301. The end of the Z-shaped pipe 301 away from the water pumping pipe 3 is fixedly connected to the water outlet pipe 302. The water outlet pipe 302 is connected to the water inlet of the biological pretreatment reaction tank 4. The open water tank 5 is equipped with a perforated overflow water distributor 501. The perforated overflow water distributor 501 is fixedly connected to the cultivation trough water inlet pipe 502. The end of the cultivation trough water inlet pipe 502 away from the perforated overflow water distributor 501 is connected to the water inlet end of the main cultivation trough 6.

[0031] Furthermore, in the specific operation of the water circulation purification and supply process, the pre-adjusted water is stored in the regulating tank 2. The circulation is usually started by the water pump 1202 under the control of the main control module 13. The water pumping pipe 3 is the core water lifting component. Its lower inlet is located near the bottom of the regulating tank 2 to draw water from the lower layer of the tank. Its upper end is fixedly connected to the Z-shaped pipe 301. The special geometric structure of the Z-shaped pipe 301 forms an effective water seal. Its main functions are: first, to prevent air from entering the pipeline and forming air resistance, thus ensuring water lifting efficiency; second, its bend structure can promote the sedimentation of heavier particles that may be carried in the water, preventing them from directly entering the subsequent pipeline and causing blockage. After flowing through the Z-shaped pipe 301, the water enters the outlet pipe 302, which is fixedly connected to it. The outlet pipe 302 serves as a conveying pipe, smoothly transporting the water to the inlet of the biological pretreatment reactor 4. After the microbial degradation is completed in the biological pretreatment reactor 4, the treated water flows into the open water tank 5 by gravity or micro-power for buffering and natural reoxygenation. The perforated overflow distributor 501 installed inside the open water tank 5 is a key hydraulic distribution component. Its interior is usually a hollow structure with a large number of small holes evenly opened on the surface. When the water level in the tank rises to a certain height, the water enters its interior cavity from the top of the perforated overflow distributor 501 and then overflows evenly from all the holes. This "overflow" method can effectively reduce the energy of the water flow and achieve uniform, low-velocity water distribution. Finally, the evenly distributed water flow is introduced into the inlet of the main cultivation trough 6 at a gentle flow rate through the cultivation trough inlet pipe 502, which is fixedly connected to the outlet side or bottom of the perforated overflow distributor 501. This provides a stable, uniform, and oxygen-rich purified water flow for the vegetable roots in the cultivation trough, which is the hydraulic basis for achieving efficient cultivation and synergistic purification.

[0032] The monitoring components include: An image sensor is used to acquire images of the canopy of vegetables inside the hollowed-out planting cup 1102; One or more environmental sensors are installed in the main cultivation tank 6 to monitor the water temperature, pH value, dissolved oxygen or conductivity parameters; Both the image sensor and the environmental sensor are connected to the main control module 13.

[0033] Furthermore, during system operation, monitoring components continuously work to collect key data for intelligent decision-making. Image sensors (such as cameras mounted on the cover module 601) take overhead photos of the vegetable canopies within all the hollowed-out planting cups 1102 at preset time intervals or triggered by the main control module 13, acquiring high-definition digital images. These images record the size, shape, color, and relative position of the canopy to adjacent canopies, serving as the core visual basis for judging plant growth density and health status. Simultaneously, one or more environmental sensors (such as temperature sensors, pH meters, dissolved oxygen probes, and conductivity meters) deployed at different locations inside the main cultivation trough 6 monitor the flowing water in real time, acquiring physicochemical parameters such as water temperature, pH, dissolved oxygen content (DO), and conductivity (EC, which indirectly reflects ion concentration and nutrient levels). The canopy image data collected by the image sensors and the water quality parameter data collected by all environmental sensors are transmitted to the main control module 13 in real time and synchronously via wired (such as cable) or wireless (such as Wi-Fi, Zigbee) communication methods. The main control module 13 receives and stores this multi-source heterogeneous data, providing input to its built-in image recognition algorithm and water quality analysis logic, thereby collaboratively supporting comprehensive decision-making regarding plant spacing adjustment and water circulation management.

[0034] A water pump 1202 is installed on the return pipe 1201; the water pump 1202 is located on the lower side inside the regulating water tank 2. The base plate 1 is also provided with a first support 102 and a second support 103. The end of the first support 102 away from the base plate 1 is fixedly connected to the biological pretreatment reaction tank 4, and the end of the second support 103 away from the base plate 1 is fixedly connected to the open water tank 5.

[0035] Furthermore, in the power and structural stability aspects of the water circulation loop, the return pipe 1201 is a key pipeline for completing the water circulation, powered by a water pump 1202 located on the lower side inside the regulating tank 2. The function of the water pump 1202 is to draw water purified by plant roots from the end collection tank 12 and pump it back to the regulating tank 2, thus providing the necessary power for the entire water circulation. Its location on the lower side inside the tank helps reduce the suction head, prevent cavitation, and maintain stable operation. Meanwhile, to ensure the stability of the core water treatment unit during long-term operation, the biological pretreatment reactor 4 is firmly supported on the base plate 1 by the first support 102, while the open tank 5 is supported by the second support 103. These two supports work together to evenly distribute the weight of the water treatment unit to the base plate 1, effectively resisting water sloshing and vibrations or tilting that may be caused by the weight of the components, thereby ensuring that the water flow channel from the biological pretreatment reactor 4 to the open tank 5 remains stable and aligned.

[0036] A system for the coordinated cultivation of aquatic vegetables on floating beds and water purification, applied to a device including a main control module 13; The main control module 13 is communicatively connected to the monitoring components and the horizontal drive mechanism, and is configured to execute the following control methods: S1: Receives real-time information from the monitoring components regarding the growth status of the vegetable canopy within each hollowed-out planting cup 1102; S2: Based on the growth status information, determine whether the vegetable canopies in any two adjacent hollow planting cups 1102 are in contact; S3: When it is determined that contact has occurred, a linkage control command is sent to the horizontal drive mechanism to synchronously drive the first horizontal drive component and the second horizontal drive component, thereby moving the corresponding hollow planting cup 1102 in the horizontal plane, thereby increasing the distance between the vegetable canopies that have come into contact.

[0037] Furthermore, during system operation, the collaborative system automatically executes the growth space optimization process based on the control method.

[0038] In step S1, monitoring components such as image sensors installed on the cover plate module 601 collect visual information of the vegetable canopy inside each hollowed-out planting cup 1102 at a set cycle and transmit it to the main control module 13 in real time.

[0039] In step S2, the main control module 13 calls its built-in image recognition algorithm to process the received information: first, the image is preprocessed and the target is detected, each canopy is identified and its bounding box is generated; then, the intersection-union ratio of any two adjacent bounding boxes is calculated. Finally, the calculated crossover ratio is compared with the preset contact judgment threshold. If the crossover ratio exceeds the threshold, it is determined that the vegetable canopies in the corresponding pair of hollow planting cups 1102 have come into contact.

[0040] In step S3, once contact is determined to have occurred, the main control module 13 immediately generates and sends a linkage control command containing the target displacement coordinates. This command is simultaneously issued to the first horizontal drive component (including the first servo motor 8 and the first lead screw 801) and the second horizontal drive component (including the second servo motor 10 and the second lead screw 1001). Both respond synchronously: the first servo motor 8 drives the first lead screw 801 to rotate, which, through the moving block 9, moves the cover module 601 and all the hollow planting cups 1102 suspended on it longitudinally (the length direction of the main cultivation trough) by one position; simultaneously, the second servo motor 10 drives the second lead screw 1001 to rotate, which, through the adjusting block 11, pulls the designated suspension rope 1101 and the corresponding individual hollow planting cup 1102 laterally (perpendicular to the length direction) for independent and precise displacement. Through this coordinated longitudinal overall displacement and independent lateral adjustment, the system precisely increases the two-dimensional spatial distance between the vegetable canopies where contact has occurred.

[0041] The main control module 13 is specifically configured to: when issuing a linkage control command, synchronously control the first servo motor 8 and the second servo motor 10 to start, so that the hollow planting cup 1102 that comes into contact simultaneously moves along the length of the main cultivation trough 6 and in a direction perpendicular to this length.

[0042] Furthermore, in a specific control embodiment of the collaborative system, when the main control module 13 determines that the spacing needs to be adjusted based on the image recognition results, the core of its control logic is to execute a linkage control command. This command is not simply a sequential drive, but generates a set of synchronous control signals containing precise longitudinal and lateral displacements, and sends them simultaneously to the first servo motor 8 and the second servo motor 10. After receiving the command, the first servo motor 8 immediately drives the first lead screw 801 to rotate, which translates into longitudinal displacement of the moving block 9 and the entire cover module 601 connected to it along the length of the main cultivation trough 6. At the same time, after receiving the command, the second servo motor 10 immediately drives the second lead screw 1001 to rotate, which translates into lateral displacement of the adjusting block 11 and the specific suspension rope 1101 connected to it along a direction perpendicular to the length. Through the simultaneous start and coordinated operation of these two motors, the hollow planting cup 1102 marked as needing adjustment does not move in one direction first and then in the other, but generates a combined longitudinal and lateral displacement on the horizontal plane within the same time period, thereby quickly reaching the new target position with the most direct path and higher efficiency, achieving precise and rapid optimization of the spacing.

[0043] The main control module 13 is further configured to prioritize the operation of the second servo motor 10 to drive the corresponding hollow planting cup 1102 to perform lateral thinning when performing spacing adjustment. If the lateral adjustment space is insufficient, the first servo motor 8 is synchronously controlled to drive the cover plate module 601 to move longitudinally as a whole to provide compensation space.

[0044] The longitudinal direction is parallel to the length of the main cultivation trough 6, and the transverse direction is parallel to the width of the main cultivation trough 6.

[0045] Furthermore, in an optimized embodiment of the collaborative system for spacing adjustment, the main control module 13 employs a step-by-step coordination strategy. When adjustment is determined to be necessary, it first issues a command to the second servo motor 10 independently. The second servo motor 10 then starts, driving the second lead screw 1001 to rotate, causing the adjusting block 11 and the specific suspension rope 1101 connected to it to move laterally parallel to the width direction of the main cultivation trough 6, thereby attempting to directly loosen the hollow planting cups 1102 that are in contact laterally. If, during the lateral movement, the adjusting block 11 touches the lateral travel limit set by the mechanical structure or sensor, it means that the lateral adjustment space is insufficient, and the main control module 13 will immediately intervene. At this time, while maintaining the current command state of the second servo motor 10 or resetting it, it simultaneously issues a new command to the first servo motor 8. The first servo motor 8 then starts, driving the first lead screw 801 to rotate, causing the entire cover module 601 to move longitudinally by a preset distance parallel to the length direction of the main cultivation trough 6 via the moving block 9 and the connecting plate 7. This longitudinal movement creates new lateral layout space for the entire array. Subsequently, or during this process, the main control module 13 can again or continue to control the second servo motor 10 to complete the final lateral clearing within the newly added space. Through this collaborative logic of "lateral first, then longitudinal compensation, then lateral again," the system intelligently maximizes the optimization of planting spacing within a limited physical range.

[0046] Growth status information is provided by canopy images; The main control module 13 has a built-in image recognition algorithm for analyzing canopy images to determine whether the vegetable canopies are in contact. Image recognition algorithms perform the following steps: S11: Acquire canopy images and perform target detection on each vegetable canopy in the image to generate corresponding bounding box information; S12: Calculate the intersection-union ratio of any two adjacent bounding boxes; S13: Compare the crossover-union ratio with a preset threshold. If the crossover-union ratio is greater than the preset threshold, it is determined that the vegetable canopies in the two corresponding hollow planting cups 1102 are in contact.

[0047] Furthermore, S11: The growth status information is the canopy image; the main control module 13 has a built-in image recognition algorithm used to analyze the canopy image to determine whether the vegetable canopies are in contact; the image recognition algorithm is a neighborhood canopy contact determination algorithm adapted to the regular array layout of the hollow planting cups 1102 in this system. The algorithm relies on the data collected by the image sensor to run, and the row numbers in the formula are... , list Defined by the physical installation array of the hollow planting cups 1102: with the length of the main cultivation trough 6 as the row direction, define the arrangement sequence number of the hollow planting cups 1102 along this row direction as the row index. Taking the width of the main cultivation trough 6 as the column direction, the arrangement sequence number of the hollow planting cups 1102 along this column direction is defined as the column index. When the system is powered on and initialized, the main control module 13 acquires images of the unloaded array through the image sensor to complete coordinate calibration, mapping and binding the physical array to the image grid one by one. The specific execution steps and formula calculations are as follows: S12: Acquire the canopy image captured by the image sensor, and calibrate it according to the row numbers specified above. , list The image is divided into grid recognition units corresponding one-to-one with the hollowed-out planting cup 1102. Pixel segmentation and target detection are performed on the vegetable canopy within each unit. The canopy coverage of a single cup is calculated. The formula for calculating the intersection-union ratio is:

[0048] In the formula: For the first OK The canopy coverage of the perforated planting cups; This represents the effective pixel area of ​​the vegetable canopy within this unit; This represents the total pixel area of ​​the image unit corresponding to the hollowed-out planting cup. The main control module 13 extracts canopy pixels through color threshold segmentation, calculates the effective pixel area of ​​the canopy within the unit and the total pixel area, performs a division operation to obtain the canopy coverage rate of a single cup, and realizes the quantification of the canopy growth scale of a single cup of vegetables.

[0049] The canopy pixel extraction process is as follows: The main control module 13 first receives the top-view color image of the vegetable canopy directly above each hollowed-out planting cup 1102 collected by the image sensor. The original image is preprocessed first. The image noise caused by uneven indoor lighting, water surface reflection and background of cover module 601 is eliminated by grayscale transformation and filtering noise reduction. Irrelevant environmental interference is weakened. The main control module 13 has a green RGB color threshold range adapted to aquatic vegetable leaves. The color threshold segmentation algorithm is used to traverse the entire image pixel by pixel. Pixels whose pixel color parameters fall within the preset green threshold range are determined as valid pixels of vegetable canopy. Pixels that are not canopy, such as water bodies, supports, and blank backgrounds, are marked as invalid pixels. The actual canopy area is accurately separated from the complex background.

[0050] Traverse all horizontally adjacent grid identification cells and calculate the neighborhood canopy contact index using the following formula:

[0051] In the formula: For the first Line number Columns and The canopy contact index of the neighboring planting cup; Pi, These represent the canopy coverage of two adjacent planting cups; The system's preset total canopy safety threshold is pre-calibrated based on the cultivated vegetable varieties. The main control module 13 retrieves the canopy coverage values ​​of two adjacent units, first performs a summation calculation, and then subtracts the preset safety threshold to obtain the contact index, which quantifies the degree of crowding and overlap between adjacent canopies.

[0052] S13: Compare the neighborhood canopy contact index with the preset contact determination threshold. The contact determination formula is as follows:

[0053] The main control module 13 compares the calculated contact index with the judgment threshold. If the contact index is greater than the judgment threshold, it is determined that the vegetable canopies in the two corresponding hollow planting cups 1102 are in contact. If the contact index is less than or equal to the judgment threshold, it is determined that the canopies are not in contact and there is no need to start the spacing adjustment program.

[0054] Among them, the contact determination threshold The data is preset and stored by the main control module 13. Its definition is based on the biological characteristics, growth cycle, canopy expansion law, and system mechanical adjustment margin of aquatic vegetables. The specific definition method is as follows: Based on the definition of vegetable varieties, different values ​​are set for the canopy width and leaf expansion rate of different aquatic vegetables. Smaller values ​​are used for varieties with compact canopies (such as water celery), and moderate values ​​are used for varieties with expansive canopies (such as water spinach) to avoid misjudgment or omission.

[0055] The seedling stage is defined by its small canopy size according to the growth cycle. Increase appropriately; during the rapid growth period, the canopy expands quickly. Reduce and identify contact risks in advance; the canopy is stable during the harvest period. Maintain a constant.

[0056] The main control module 13 will calibrate the It is solidified into system parameters and can be directly called at runtime; at the same time, it can be linked to environmental sensor data and make small adaptive corrections based on the influence of light and water temperature on canopy growth to ensure stable judgment.

[0057] This is an example of an application scenario where water spinach is selected for cultivation of aquatic vegetables. During system power-on initialization, the main control module 13 acquires images of the array of hollow planting cups 1102 under no-load conditions using an image sensor, and completes row and column coordinate calibration.

[0058] Using the length of the main cultivation trough 6 as the row direction, the arrangement sequence number along this direction is defined as the row index. Taking the width of the main cultivation trough 6 as the column direction, the arrangement sequence number along this direction is defined as the column index. In this embodiment, the hollow planting cups 1102 are arranged in a regular array of 3 rows and 8 columns, and the hollow planting cups 1102 in the 2nd row and 3rd column and the 2nd row and 4th column are selected as target detection units.

[0059] System preset core parameter: Total safety threshold of the canopy layer of water spinach =1.75, threshold for determining canopy contact =0.15. The main control module 13 controls the image sensor to acquire top-view images of the canopy of the two planting cups, according to the calibrated row... , list The corresponding grid identification units are divided, and the neighborhood canopy contact determination algorithm is activated. The specific calculation process is as follows: Execute S11 to calculate the canopy coverage of a single cup. The main control module 13 extracts the effective pixels of the canopy through color threshold segmentation and calculates the area of ​​the effective pixels of the canopy in the second row and third column. (2, 3) = 970 pixels, total pixel area of ​​the unit (2, 3) = 1000 pixels; Effective pixel area of ​​the canopy within the cell in row 2, column 4. (2, 4) = 960 pixels, total pixel area of ​​the unit (2, 4) = 1000 pixels. Substitute into the formula:

[0060] The calculation yields:

[0061] Perform S12 to calculate the neighborhood canopy contact index: Retrieve the canopy coverage values ​​from adjacent units and substitute them into the formula:

[0062] The calculation yields:

[0063] Execute S13 to complete the canopy contact determination: Compare the contact index with the judgment threshold and substitute them into the formula:

[0064] because The main control module (13) determines that the canopy of the hollowed-out planting cup 1102 in the second row and third column is in contact with the canopy of the hollowed-out planting cup 1102 in the second row and fourth column. Then it sends a control command to the horizontal drive mechanism and prioritizes the second servo motor 10 to drive the corresponding planting cup to move laterally and complete the canopy thinning.

[0065] The main control module 13 is also configured to: while controlling the horizontal drive mechanism to adjust the planting spacing, adjust the flow rate of the water pump 1202 in conjunction with the data collected by the environmental sensor set in the main cultivation trough 6.

[0066] Furthermore, while the main control module 13 sends instructions to the horizontal drive mechanism to adjust the spacing of the hollowed-out planting cups 1102, it simultaneously receives real-time data on water temperature, pH value, dissolved oxygen, and conductivity collected by the environmental sensors inside the main cultivation trough 6. Based on the matching rules between water quality parameters and circulation flow, it synchronously generates a flow adjustment signal and transmits it to the water pump 1202. The water pump 1202 adjusts its operating speed according to the signal to change the circulation water flow, so that the water circulation rate matches the nutrient absorption and water purification needs after the vegetable canopy is thinned. While optimizing the planting spacing, it realizes the adaptive and coordinated control of the water circulation system.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for the synergistic cultivation of aquatic vegetables on floating beds and water purification, characterized in that, include: Bottom plate (1), regulating water tank (2), biological pretreatment reaction tank (4), open water tank (5), main cultivation trough (6), terminal water collection tank (12) and main control module (13); The regulating water tank (2) and the biological pretreatment reaction tank (4) are arranged side by side on the base plate (1), and the outlet of the regulating water tank (2) is connected to the inlet of the biological pretreatment reaction tank (4) through a Z-shaped pipe (301). The outlet of the biological pretreatment reactor (4) is connected to the open water tank (5) via a pipeline. The outlet of the open water tank (5) is connected to the inlet of the main cultivation trough (6); The end water collection tank (12) is provided below the water outlet of the main cultivation trough (6). The end water collection tank (12) is connected to the inlet of the regulating water tank (2) through a return pipe (1201) to form a circulating water circuit. The main cultivation trough (6) is provided with a cover plate module (601) at the opening, and the cover plate module (601) is provided with a monitoring component for monitoring plant growth. The cover plate module (601) is provided with a horizontal drive mechanism and multiple hollow planting cups (1102). Multiple hollow planting cups (1102) are suspended below the cover plate module (601) by hanging ropes (1101) and submerged in the water in the main cultivation trough (6); The main control module (13) is communicatively connected to the monitoring component and the main control module (13) is communicatively connected to the horizontal drive mechanism.

2. The apparatus according to claim 1, characterized in that, The horizontal drive mechanism includes a first horizontal drive component and a second horizontal drive component; The lower part of the cover plate module (601) is fixedly connected to multiple sets of connecting plates (7), and the connecting plates (7) are fixedly connected to a first servo motor (8). The first horizontal drive assembly includes a first servo motor (8), a first lead screw (801) driven by the first servo motor (8), and a moving block (9) threadedly engaged with the first lead screw (801). A first limiting plate (802) is fixedly connected above the first servo motor (8), and the first limiting plate (802) and the moving block (9) are slidably connected. A second servo motor (10) is fixedly connected below the moving block (9). The second horizontal drive assembly includes a second lead screw (1001) driven by the second servo motor (10) and an adjustment block (11) threadedly engaged with the second lead screw (1001). A second limiting plate (1002) is fixedly connected to the upper part of the second servo motor (10). The second limiting plate (1002) and the adjustment block (11) are slidably connected. The suspension rope (1101) is fixedly connected to the adjustment block (11) for driving the corresponding hollow planting cup (1102) below the suspension rope (1101) to move independently along the length direction perpendicular to the main cultivation trough (6).

3. The apparatus according to claim 1, characterized in that, The regulating water tank (2) is equipped with a water pumping pipe (3), the upper end of the water pumping pipe (3) is fixedly connected to the Z-shaped pipe (301), and the end of the Z-shaped pipe (301) away from the water pumping pipe (3) is fixedly connected to an outlet pipe (302). The outlet pipe (302) is connected to the inlet of the biological pretreatment reaction tank (4). The open water tank (5) is equipped with a perforated overflow water distributor (501). The perforated overflow water distributor (501) is fixedly connected to the inside of the cultivation trough water inlet pipe (502). The end of the cultivation trough water inlet pipe (502) away from the perforated overflow water distributor (501) is connected to the water inlet end of the main cultivation trough (6).

4. The apparatus according to claim 1, characterized in that, The monitoring components include: An image sensor is used to acquire images of the canopy of the vegetables inside the hollowed-out planting cup (1102); One or more environmental sensors are installed in the main cultivation tank (6) to monitor the water temperature, pH value, dissolved oxygen or conductivity parameters; Both the image sensor and the environmental sensor are communicatively connected to the main control module (13).

5. The apparatus according to claim 1, characterized in that, A water pump (1202) is installed on the return pipe (1201); the water pump (1202) is located on the lower side inside the regulating water tank (2). The base plate (1) is also provided with a first support seat (102) and a second support seat (103). The end of the first support seat (102) away from the base plate (1) is fixedly connected to the biological pretreatment reaction tank (4), and the end of the second support seat (103) away from the base plate (1) is fixedly connected to the open water tank (5).

6. A synergistic system for floating bed cultivation of aquatic vegetables and water purification, characterized in that, The apparatus used in any one of claims 1 to 5 includes the main control module (13). The main control module (13) is communicatively connected to the monitoring component and the horizontal drive mechanism, and is configured to execute the following control methods: S1: Receive the real-time growth status information of the vegetable canopy inside each of the hollowed-out planting cups (1102) collected by the monitoring component; S2: Based on the growth status information, determine whether the vegetable canopies in any two adjacent hollow planting cups (1102) are in contact; S3: When it is determined that contact has occurred, a linkage control command is sent to the horizontal drive mechanism to synchronously drive the first horizontal drive component and the second horizontal drive component, thereby driving the corresponding hollow planting cup (1102) to move in the horizontal plane, thereby increasing the distance between the vegetable canopies that have come into contact.

7. The system according to claim 6, characterized in that, The main control module (13) is specifically configured to: when issuing the linkage control command, synchronously control the first servo motor (8) and the second servo motor (10) to start, so that the hollow planting cup (1102) that comes into contact simultaneously generates displacement along the length direction of the main cultivation trough (6) and in a direction perpendicular to this length.

8. The system according to claim 7, characterized in that, The main control module (13) is further configured to prioritize the operation of the second servo motor (10) to drive the corresponding hollow planting cup (1102) to perform lateral loosening when performing spacing adjustment; If the lateral adjustment space is insufficient, the first servo motor (8) is synchronously controlled to drive the cover plate module (601) to move longitudinally as a whole to provide compensation space. The longitudinal direction is parallel to the length direction of the main cultivation trough (6), and the transverse direction is parallel to the width direction of the main cultivation trough (6).

9. The system according to claim 6, characterized in that, The growth status information is a canopy image; The main control module (13) has a built-in image recognition algorithm for analyzing the canopy image to determine whether the vegetable canopy has come into contact with the canopy. The image recognition algorithm performs the following steps: S11: Acquire the canopy image, and perform target detection on each vegetable canopy in the image to generate corresponding bounding box information; S12: Calculate the intersection-union ratio of any two adjacent bounding boxes; S13: Compare the crossover ratio with a preset threshold. If the crossover ratio is greater than the preset threshold, it is determined that the vegetable canopies in the two corresponding hollow planting cups (1102) are in contact.

10. The system according to claim 6, characterized in that, The main control module (13) is also configured to: while controlling the horizontal drive mechanism to adjust the planting spacing, adjust the flow rate of the water pump (1202) in conjunction with the data collected by the environmental sensor set in the main cultivation trough (6).

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