A method and device for synergistic control of water, fertilizer, and light energy for low-temperature oligo-illumination greenhouse strawberries in a three-dimensional groove frame

Abstract

The application discloses a water, fertilizer and light energy synergic control method and device for low-temperature oligophotosynthesis greenhouse strawberries, and relates to the technical field of intelligent agricultural equipment. The method comprises the following steps: collecting the basic data of independent cultivation tanks; determining the target parameters of the growth stage; calculating the light compensation amount of the layer position; calculating the water and fertilizer demand; determining the energy state and load priority; executing light adjustment and water and fertilizer supply; and executing feedback correction according to the execution sequence. The application provides the low-temperature oligophotosynthesis index Ri and the layer position light imbalance degree Gl, so that the low-temperature oligophotosynthesis is no longer an abstract description, but a control condition which can be calculated from sensing data. The water content, temperature, light, liquid discharge and low-temperature oligophotosynthesis state are unified into the water and fertilizer supply amount through the water and fertilizer demand Wi calculation formula, so as to avoid excessive water supply of the traditional fixed-time irrigation or single-threshold irrigation under the low-temperature oligophotosynthesis.

Description

Technical Field

[0001] This invention relates to the field of smart agricultural equipment technology, specifically to a method and device for the coordinated control of water, fertilizer, light, and energy in a three-dimensional strawberry trough in a low-temperature, low-light greenhouse. Background Technology

[0002] Strawberry cultivation in protected environments often employs elevated substrate troughs, three-dimensional troughs, or greenhouse trough cultivation methods to improve harvesting convenience and yield per unit area. Multi-layer three-dimensional troughs can improve space utilization, but in low-temperature, low-light greenhouses, shading can easily occur between upper and lower layers, and there are significant differences in light, transpiration, and substrate water loss rates at different levels. In existing technologies, multi-layer strawberry cultivation racks, angle-adjustable strawberry cultivation racks, intelligent water and fertilizer control equipment, and photovoltaic MPPT agricultural irrigation equipment have all been disclosed. These devices respectively address the issues of space utilization, localized lighting, water and fertilizer automation, or photovoltaic conversion efficiency. However, current equipment usually lacks the linkage control between light compensation, water and fertilizer inhibition and energy budget under low temperature and low light conditions. Under low temperature and low light conditions, strawberry plants have weak transpiration and slow root absorption. If they are still operated according to a fixed water content threshold or timed irrigation, it is easy to cause the substrate to be too wet for a long time, fertilizer accumulation, gray mold and root rot. Meanwhile, cloudy days or greenhouse shading lead to a decrease in photovoltaic output. If water pumps, valve groups, and regulating mechanisms operate in parallel, it will cause a rapid decline in energy storage or control instability. As a result, in the current scenario of vertical strawberry cultivation in low-temperature and low-light greenhouses, it is impossible to calculate layer-level light compensation, water and fertilizer demand suppression, and photovoltaic MPPT energy scheduling in the same control cycle, which makes it impossible to form an executable, feedback-enabled, and correctable closed-loop control. Summary of the Invention

[0003] This invention provides a method and device for the coordinated control of water, fertilizer, and light energy in a three-dimensional trough system for strawberries in a low-temperature, low-light greenhouse, which can effectively solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a method for synergistic control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse, the specific process of which is as follows: S101, Collect basic data for independent cultivation troughs; S102, Determine the target parameters for the growth stage; S103, Calculate the layer illumination compensation; S104, calculate water and fertilizer requirements; S105, determine energy status and load priority; S106, performs light regulation and water and fertilizer supply; S107, perform feedback correction according to the execution sequence.

[0005] According to the above technical solution, in S101, the substrate moisture content θi, substrate temperature Ti, corresponding layer illumination Ll, maximum available photovoltaic power Pmpp, energy storage state of charge SOC and drainage feedback amount Dri of the i-th independent cultivation tank are collected. In step S102, the target parameters for the growth stage are determined. Based on the current growth stage g of the strawberry, the target moisture content θtar,g, the lower limit of temperature Tlow,g, the lower limit of light Llow,g, the target value of fertilizer solution EC, and the basic pulse interval are called. The current growth stages of strawberries include the seedling stage, vegetative growth stage, flowering and fruit setting stage, fruit expansion stage, and harvest stage. The target moisture content for each stage is θtar,g, which is 50%-75% of the field capacity of the substrate; Tlow,g, which is 12℃-18℃; and Llow,g, which is 180-450 μmol / (m³). 2 The target value for EC in fertilizer solution is 0.8-1.8 mS / cm.

[0006] According to the above technical solution, in step S103, the low temperature dim lighting index Ri and the layer illumination unevenness Gl are calculated; When the low temperature and low light index Ri reaches the threshold and the light unevenness Gl of the layer exceeds the first light threshold, the tilt angle adjustment command of the tilt angle adjustment component is generated. When the light unevenness Gl of the layer exceeds the second light threshold and the light improvement after tilt angle adjustment is insufficient, the three-dimensional cultivation trough frame translation command is generated. The low temperature and low light index Ri is calculated using the following formula: Ri=aT·max[0,(Tlow,g-Ti) / ΔTg]+aL·max[0,(Llow,g-Ll) / Llow,g]; Where aT and aL are weighting coefficients, aT is 0.3-0.7, aL is 0.3-0.7, and aT+aL=1. ΔTg is the temperature buffer zone, which is 2℃-8℃. When Ri is not less than 0.6 and lasts for 3-6 sampling periods, the i-th independent cultivation trough is determined to be in a low temperature and low light state. The unevenness of illumination at different levels, Gl, is calculated using the following formula: Gl=(Lref-Ll) / max(Lref,Lmin); Where Lmin is the lower limit value to prevent the denominator from being too small, and is taken as 50-100 μmol / (m 2 ·s), the first illumination threshold is 0.15-0.25, and the second illumination threshold is 0.30-0.45.

[0007] According to the above technical solution, in S104, the water and fertilizer demand Wi is calculated. If the low temperature and low light index Ri reaches the threshold and the substrate moisture content θi is not lower than the safety difference of θtar,g, then irrigation is temporarily suspended. If the substrate moisture content θi is lower than the safety difference, then small flow rate and multiple interval pulse irrigation are adopted. The water and fertilizer requirement Wi is calculated using the following formula: Wi=Vsub,i·max(0,θtar,g-θi)·KT,i·KL,i·KD,i·KE,i; Where Vsub,i is the effective substrate volume of the i-th independent cultivation trough, KT,i is the substrate temperature correction coefficient, KL,i is the light correction coefficient, KD,i is the drainage feedback correction coefficient, and KE,i is the low temperature and low light water and fertilizer demand inhibition coefficient. KT,i=1-bT·max[0,(Tlow,g-Ti) / ΔTg]; KL,i=1-bL·max[0,(Llow,g-Ll) / Llow,g]; Where bT is 0.2-0.6, bL is 0.2-0.6, KE,i is 0.35-0.80 when Ri reaches the low temperature and low light threshold, and KE,i is 0.85-1.15 when Ri does not reach the low temperature and low light threshold. When the drainage feedback amount Dri is greater than 10%-25% of the single irrigation amount, or when the increase in substrate moisture content after irrigation is greater than 8%-15%, KD,i should be taken as 0.50-0.85.

[0008] According to the above technical solution, in step S105, the available energy budget Eav is calculated. Eav is calculated based on the maximum available photovoltaic power Pmpp, the state of charge (SOC) of the energy storage unit, and the control cycle length Δt. Based on the comparison between the available energy budget Eav and the energy consumption requirements of pumps, valves, and regulating mechanisms, the load execution sequence of sensor acquisition, control communication, zoned valve groups, water and fertilizer transfer pumps, and movable regulating mechanisms is determined. Available energy budget Eav is calculated using the following formula: Eav=ηpv·Pmpp·Δt / 3600+ηbat·Ubat·Cbat·max(0,SOC-SOCmin)-Eres; Where ηpv is the photovoltaic conversion utilization coefficient, which is taken as 0.70-0.95, ηbat is the energy storage release coefficient, which is taken as 0.70-0.95, Ubat is the nominal voltage of the energy storage unit, Cbat is the capacity of the energy storage unit, SOCmin is the minimum retained state of charge, which is taken as 20%-40%, and Eres is the safety reserved energy. When the available energy budget Eav is less than the energy required for a single continuous operation of the water and fertilizer delivery pump Epump, the central control module switches the water and fertilizer supply to single-zone pulse irrigation and restricts the water and fertilizer delivery pump and the active adjustment mechanism from operating simultaneously. When the available energy budget Eav is greater than the sum of Epump and tilt adjustment energy Etilt, tilt adjustment can be performed first, followed by zoned irrigation.

[0009] According to the above technical solution, in S106, the light compensation action and water and fertilizer supply action are executed in the following order: continuous operation of sensing and control, pre-opening of valve group, single-zone water pump pulse, drainage feedback acquisition, and execution of the next zone if necessary. Based on the matrix moisture content θi, matrix temperature Ti, corresponding layer light Ll and energy consumption after the action, the low temperature low light index Ri, layer light imbalance Gl, water and fertilizer demand Wi and available energy budget Eav of the next control cycle are corrected. The start time ton,i of pulse irrigation is calculated as ton,i=min(Wpulse,i / qi,tmax); Where Wpulse,i is the single pulse supply, qi is the drip irrigation branch flow rate, tmax is 20-120 seconds, toff,i is 120-600 seconds between adjacent pulses, and toff,i increases by 20%-100% when Ri reaches the low temperature and low light threshold. S107 provides feedback correction, recording the improvement in illumination ΔL, the response amplitude of water content Δθ, the drainage ratio Dr, and the actual energy consumption Euse. When ΔL is below 5%-12%, the shift priority of the next cycle is increased. When Dr exceeds 10%-25%, KD,i is reduced. When Euse exceeds the available energy budget Eav, the parallel load of the next cycle is reduced.

[0010] A water, fertilizer, and light energy coordinated control device for a three-dimensional strawberry trough in a low-temperature, low-light greenhouse, the device includes a three-dimensional cultivation trough, an adjustable mechanism, a single-trough sensing module, a water and fertilizer supply module, a photovoltaic power supply module, and a central control module; The three-dimensional cultivation trough rack includes multiple cultivation layers and multiple independent cultivation troughs. The movable adjustment mechanism is used to adjust the position of the three-dimensional cultivation trough rack and the tilt angle of the independent cultivation troughs. The single-trough sensing module is used to collect the substrate moisture content θi, substrate temperature Ti, and corresponding layer light intensity Ll. The water and fertilizer supply module is used to perform zoned pulse irrigation, the photovoltaic power supply module is used to output Pmpp and SOC, and the central control module, as the core control unit, performs coordinated control.

[0011] According to the above technical solution, the three-dimensional cultivation trough includes an A-type support frame, a cultivation layer, and an independent cultivation trough; Two sets of A-type support frames are symmetrically arranged. The cultivation layer is located on the inner side of the A-type support frame. The cultivation layer has five layers, and each cultivation layer has nine independent cultivation troughs. The independent cultivation trough consists of a substrate receiving cavity, a drip irrigation channel, a drainage channel, and a sensor mounting slot; The independent cultivation trough is equipped with a substrate receiving cavity inside, which contains the cultivation substrate. The top of the independent cultivation trough is equipped with a drip irrigation channel to guide water and fertilizer to the substrate, and the bottom of the independent cultivation trough is equipped with a drainage channel to drain excess liquid. The side of the independent cultivation trough is equipped with a sensor mounting slot. The movable adjustment mechanism includes a track walking component, a positioning locking component, and a tilt angle adjustment component; The bottom of the A-type support frame and the cultivation layer is equipped with a track walking assembly, the side of the A-type support frame is equipped with a positioning and locking assembly, and the position between the two A-type support frames is equipped with an angle adjustment assembly. The track-walking component drives the three-dimensional cultivation trough frame to move as a whole, changing the position of the cultivation layer to improve light exposure. The tilt angle adjustment component adjusts the tilt angle of the individual cultivation troughs, and the positioning and locking component locks and fixes the three-dimensional cultivation trough frame after it has been moved and the tilt angle has been adjusted to the correct position.

[0012] According to the above technical solution, the single-slot sensing module includes a matrix moisture content sensor, a matrix temperature sensor, and a layer illumination sensor. The matrix moisture content sensor collects the matrix moisture content θi, the matrix temperature sensor collects the matrix temperature Ti, and the layer illumination sensor collects the corresponding layer illumination Ll. The substrate moisture content sensor and substrate temperature sensor are both installed in the sensor mounting slot, and the layer light sensor is set on the side of the three-dimensional cultivation trough frame. The sensor mounting slot fixes the substrate moisture content sensor and substrate temperature sensor in the substrate area. The water and fertilizer supply module is responsible for precise water and fertilizer supply in different zones, including a water and fertilizer mixing tank, a nutrient solution delivery pump, a main pipe, zone valve groups, drip irrigation branches, and a return liquid monitoring unit. The water and fertilizer mixing tank is installed on one side of the three-dimensional cultivation trough frame to mix nutrient solution and irrigation water. The nutrient solution delivery pump is connected to the bottom side of the water and fertilizer mixing tank to provide power for fertilizer solution delivery. The output end of the nutrient solution delivery pump is connected to the main pipeline delivery pipeline, and the nutrient solution delivery pump is connected to the drip irrigation branch through the zone valve group. The zone valve group realizes independent control of the zone. The drip irrigation branch is connected to each independent cultivation trough. The return liquid monitoring unit is installed at the bottom of the independent cultivation trough to collect the discharge feedback volume Dri.

[0013] According to the above technical solution, the photovoltaic power supply module provides clean energy optimized by MPPT, including photovoltaic modules, maximum power point tracking unit, energy storage unit and power distribution unit; The photovoltaic module realizes solar power generation, the maximum power point tracking unit realizes MPPT control, and the output photovoltaic maximum available power is Pmpp. The energy storage unit stores electrical energy and monitors the state of charge (SOC) of the energy storage unit. The power distribution unit realizes power distribution and protection. The central control module includes a data acquisition unit, a growth stage parameter unit, a stratum light compensation unit, a water and fertilizer demand calculation unit, an energy scheduling unit, and an execution control unit. The data acquisition unit summarizes the matrix moisture content θi, matrix temperature Ti, layer illumination Ll, maximum available photovoltaic power Pmpp, energy storage state of charge SOC, and drainage feedback amount Dri. The growth stage parameter unit stores and calls the target moisture content θtar,g, temperature limit Tlow,g, light limit Llow,g, fertilizer solution EC target value and basic pulse interval for each growth stage. The layer illumination compensation unit calculates the low illumination index Ri and the layer illumination unevenness Gl to determine whether tilt and translation adjustments are needed. The water and fertilizer demand calculation unit calculates the water and fertilizer demand Wi and various correction coefficients: substrate temperature correction coefficient KT,i, light correction coefficient KL,i, drainage feedback correction coefficient KD,i, and low temperature and low light water and fertilizer demand inhibition coefficient KE,i. The energy scheduling unit calculates the available energy budget Eav and determines the execution sequence of pumps, valves, and regulating mechanisms; The execution control unit issues commands, coordinates the actions of each module, and collects feedback data.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By providing the low temperature and low light index Ri and the stratum light unevenness Gl, low temperature and low light are no longer abstract descriptions, but control conditions that can be calculated from sensor data. The water and fertilizer demand Wi formula unifies the substrate moisture content, temperature, light, drainage and low temperature and low light status into the water and fertilizer supply, avoiding excessive water supply in traditional timed irrigation or single threshold irrigation during low temperature and low light. The maximum available photovoltaic power Pmpp output by MPPT is converted into available energy budget Eav, and the available energy budget Eav directly constrains the execution sequence of pumps, valves and regulating mechanisms. Unlike the conventional scheme that only regulates MPPT on the photovoltaic side, it provides a feedback correction mechanism, which can continuously correct the parameters of the next cycle according to the improvement of light, moisture content response, drainage ratio and actual energy consumption. In the scenario of three-dimensional strawberry cultivation in low-temperature and low-light greenhouses, the layer-by-layer light compensation, water and fertilizer demand suppression, and photovoltaic MPPT energy scheduling are calculated in the same control cycle, so that the device is not a simple superposition of multiple modules, but forms an executable, feedback-enabled, and correctable closed-loop control.

[0015] 2. By using independent cultivation troughs as sensing units, the system acquires substrate moisture content θi, substrate temperature Ti, stratum light intensity Ll, strawberry growth stage g, maximum available photovoltaic power Pmpp, and energy storage state of charge SOC. Closed-loop control is performed based on low temperature and low light intensity index Ri, stratum light unevenness Gl, water and fertilizer demand Wi, and available energy budget Eav. When Ri reaches the threshold and Gl exceeds the threshold, the system prioritizes trough frame translation or cultivation trough tilt adjustment. When water supply is still required, a zoned pulse irrigation command is generated based on Wi. When Eav is insufficient to support continuous operation of the water pump, the system operates in a staggered manner according to the priority of sensor control, valve group mixing, and water pump regulation mechanism. By unifying light compensation, water and fertilizer suppression, and MPPT energy budget into a single control cycle, the risks of waterlogging and root rot, fertilizer damage, and energy fluctuation instability in strawberry vertical cultivation under low temperature and low light conditions are reduced. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0017] In the attached diagram: Figure 1 This is a flowchart of the steps of the collaborative control method of the present invention; Figure 2 This is a schematic diagram of the collaborative control process of the present invention; Figure 3 This is a schematic diagram of the module connections of the water-fertilizer-light-energy synergistic control system of the present invention; Figure 4 This is a schematic diagram of the MPPT energy scheduling and load priority control process of the present invention; Figure 5 This is a schematic diagram of the overall structure of the collaborative control device of the present invention; Figure 6 This is a schematic diagram of the structure of the Type A multi-layer multi-trough three-dimensional cultivation trough rack of the present invention; Figure 7 This is a cross-sectional schematic diagram of the independent cultivation trough, sensor mounting slot, drip irrigation guide channel, and drainage channel of the present invention; The diagram is labeled as follows: 10. Vertical cultivation trough rack; 11. A-type support frame; 12. Cultivation layer; 13. Independent cultivation trough; 20. Adjustment mechanism; 21. Track travel assembly; 22. Positioning and locking assembly; 23. Tilt adjustment assembly; 30. Single-slot sensing module; 31. Matrix moisture content sensor; 32. Matrix temperature sensor; 33. Layer illumination sensor; 40. Water and fertilizer supply module; 41. Water and fertilizer mixing tank; 42. Nutrient solution delivery pump; 43. Main pipe; 44. Zone valve assembly; 45. Drip irrigation branch; 46. Return liquid monitoring unit; 50. Photovoltaic power supply module; 51. Photovoltaic module; 52. Maximum power point tracking unit; 53. Energy storage unit; 54. Power distribution unit; 60. Central control module; 61. Data acquisition unit; 62. Growth stage parameter unit; 63. Layer-level light compensation unit; 64. Water and fertilizer demand calculation unit; 65. Energy scheduling unit; 66. Execution control unit; 131. Substrate receiving cavity; 132. Drip irrigation guide channel; 133. Drainage channel; 134. Sensor mounting slot. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] like Figure 1-4 As shown, this invention provides a technical solution: a method for coordinated control of water, fertilizer, and light energy in a three-dimensional strawberry cultivation trough in a low-temperature, low-light greenhouse. This method is applied to a three-dimensional strawberry cultivation device comprising a three-dimensional cultivation trough 10, an adjustable mechanism 20, a single-trough sensor module 30, a water and fertilizer supply module 40, a photovoltaic power supply module 50, and a central control module 60. The specific process of the method is as follows: S101, Collect basic data for independent cultivation troughs; S102, Determine the target parameters for the growth stage; S103, Calculate the layer illumination compensation; S104, calculate water and fertilizer requirements; S105, determine energy status and load priority; S106, performs light regulation and water and fertilizer supply; S107, perform feedback correction according to the execution sequence.

[0020] Based on the above technical solution, in S101, the substrate moisture content θi, substrate temperature Ti, corresponding layer light intensity Ll, maximum available photovoltaic power Pmpp, energy storage state of charge SOC and drainage feedback amount Dri of the i-th independent cultivation tank 13 are collected, with a sampling period of 1-15 minutes. S102, determine the target parameters for the growth stage, and based on the current growth stage g of strawberry, call the target moisture content θtar,g, the lower limit of temperature Tlow,g, the lower limit of light Llow,g, the target value of fertilizer solution EC and the basic pulse interval; The current growth stages of strawberries include the seedling stage, vegetative growth stage, flowering and fruit setting stage, fruit expansion stage, and harvest stage. The target moisture content for each stage is θtar,g, which is 50%-75% of the field capacity of the substrate; Tlow,g, which is 12℃-18℃; and Llow,g, which is 180-450 μmol / (m³). 2 The target value for EC in fertilizer solution is 0.8-1.8 mS / cm.

[0021] The specific parameter ranges are shown in the table below:

[0022] Based on the above technical solution, in S103, the low temperature light shortage index Ri and the layer light unevenness Gl are calculated. The low temperature light shortage index Ri is calculated based on the matrix temperature Ti, the corresponding layer light Ll, and the lower limit of temperature Tlow,g and the lower limit of light Llow,g corresponding to the growth stage g. The layer light unevenness Gl is calculated based on the reference layer light Lref and the corresponding layer light Ll. When the low temperature and low light index Ri reaches the threshold and the light unevenness Gl of the layer exceeds the first light threshold, the tilt angle adjustment command of the tilt angle adjustment component 23 is generated. When the light unevenness Gl of the layer exceeds the second light threshold and the light improvement after tilt angle adjustment is insufficient, the translation command of the three-dimensional cultivation trough 10 is generated. The low temperature and low light index Ri is calculated using the following formula: Ri=aT·max[0,(Tlow,g-Ti) / ΔTg]+aL·max[0,(Llow,g-Ll) / Llow,g]; Where aT and aL are weighting coefficients, aT is 0.3-0.7, aL is 0.3-0.7, and aT+aL=1. ΔTg is the temperature buffer zone, which is 2℃-8℃. When Ri is not less than 0.6 and lasts for 3-6 sampling periods, the i-th independent cultivation trough is determined to be in a low temperature and low light state. The unevenness of illumination at different levels, Gl, is calculated using the following formula: Gl=(Lref-Ll) / max(Lref,Lmin); Where Lmin is the lower limit value to prevent the denominator from being too small, and is taken as 50-100 μmol / (m 2 ·s), the first illumination threshold is 0.15-0.25, and the second illumination threshold is 0.30-0.45.

[0023] Based on the above technical solution, S104, calculate the water and fertilizer requirement Wi. The water and fertilizer requirement Wi is calculated based on the target moisture content θtar,g of the growth stage, the substrate moisture content θi, the substrate temperature Ti, the corresponding layer light Ll, the drainage feedback amount Dri, and the low temperature and low light index Ri. If the low temperature and low light index Ri reaches the threshold and the substrate moisture content θi is not lower than the safety difference of θtar,g, then irrigation will not be carried out for the time being. If the substrate moisture content θi is lower than the safety difference, then small flow rate and multiple interval pulse irrigation will be used. The water and fertilizer requirement Wi is calculated using the following formula: Wi=Vsub,i·max(0,θtar,g-θi)·KT,i·KL,i·KD,i·KE,i; Where Vsub,i is the effective substrate volume of the i-th independent cultivation trough, KT,i is the substrate temperature correction coefficient, KL,i is the light correction coefficient, KD,i is the drainage feedback correction coefficient, and KE,i is the low temperature and low light water and fertilizer demand inhibition coefficient. KT,i=1-bT·max[0,(Tlow,g-Ti) / ΔTg]; KL,i=1-bL·max[0,(Llow,g-Ll) / Llow,g]; Where bT is 0.2-0.6, bL is 0.2-0.6, KE,i is 0.35-0.80 when Ri reaches the low temperature and low light threshold, and KE,i is 0.85-1.15 when Ri does not reach the low temperature and low light threshold. When the drainage feedback amount Dri is greater than 10%-25% of the single irrigation amount, or the increase in substrate moisture content after irrigation is greater than 8%-15%, KD,i should be set to 0.50-0.85 to reduce the irrigation duration, fertilizer concentration, and pulse number in the next control cycle.

[0024] Based on the above technical solution, in S105, the available energy budget Eav is calculated. The available energy budget Eav is calculated based on the maximum available photovoltaic power Pmpp, the state of charge (SOC) of the energy storage unit, and the control cycle length Δt. Based on the available energy budget Eav and the energy consumption requirements of pumps, valves, and regulating mechanisms, the load execution sequence of sensor acquisition, control communication, zone valve group, water and fertilizer transfer pump and movable regulating mechanism is determined, the energy status and load priority are determined, and it is judged whether the energy is sufficient. Available energy budget Eav is calculated using the following formula: Eav=ηpv·Pmpp·Δt / 3600+ηbat·Ubat·Cbat·max(0,SOC-SOCmin)-Eres; Where ηpv is the photovoltaic conversion utilization coefficient, which is taken as 0.70-0.95, ηbat is the energy storage release coefficient, which is taken as 0.70-0.95, Ubat is the nominal voltage of the energy storage unit, Cbat is the capacity of the energy storage unit, SOCmin is the minimum retained state of charge, which is taken as 20%-40%, and Eres is the safety reserved energy. When the available energy budget Eav is less than the energy required for a single continuous operation of the water and fertilizer delivery pump Epump, the central control module switches the water and fertilizer supply to single-zone pulse irrigation and restricts the water and fertilizer delivery pump and the active adjustment mechanism from operating simultaneously. When the available energy budget Eav is greater than the sum of Epump and tilt adjustment energy Etilt, tilt adjustment can be performed first, followed by zoned irrigation.

[0025] Based on the above technical solution, in S106, the illumination compensation action and water and fertilizer supply action are executed according to the load execution sequence. The sequence is: continuous operation of sensing and control, pre-opening of valve group, single-zone water pump pulse, drainage feedback acquisition, and execution of the next zone if necessary. Based on the matrix moisture content θi, matrix temperature Ti, corresponding layer illumination Ll and energy consumption after the action, the low temperature dim illumination index Ri, layer illumination imbalance Gl, water and fertilizer demand Wi and available energy budget Eav of the next control cycle are corrected. The start time ton,i of pulse irrigation is calculated as ton,i=min(Wpulse,i / qi,tmax); Where Wpulse,i is the single pulse supply, qi is the drip irrigation branch flow rate, tmax is 20-120 seconds, toff,i is 120-600 seconds between adjacent pulses, and toff,i increases by 20%-100% when Ri reaches the low temperature and low light threshold. S107, feedback correction, records the improvement in illumination ΔL, the response amplitude of water content Δθ, the drainage ratio Dr, and the actual energy consumption Euse. When ΔL is below 5%-12%, the shift priority of the next cycle is increased. When Dr exceeds 10%-25%, KD,i is reduced. When Euse exceeds the available energy budget Eav, the parallel load of the next cycle is reduced.

[0026] Example: Taking the flowering and fruit setting period as an example, the target moisture content θtar,g is taken as 60% field capacity, the lower limit of temperature Tlow,g is taken as 15℃, and the lower limit of light Llow,g is taken as 280 μmol / (m²). 2 ·s); The substrate moisture content θi in the lower cultivation trough was 58%, the substrate temperature Ti was 13.5℃, and the corresponding light intensity Ll was 160 μmol / (m²). 2 ·s), with reference upper-layer illumination Lref of 360 μmol / (m 2·s); If we take aT=0.5, aL=0.5, and ΔTg=5℃, then the low temperature dim light index Ri=0.5×(15-13.5) / 5+0.5×(280-160) / 280≈0.364. If this state continues for several cycles and the threshold of the low temperature dim light index Ri is set to 0.35, then it is determined to be low temperature dim light. At this time, the unevenness of light distribution in the layer is Gl=(360-160) / 360≈0.556, which exceeds the second light threshold of 0.35. The system prioritizes outputting instructions to translate the three-dimensional cultivation trough 10 and increase the tilt angle, specifically increasing the tilt angle of the corresponding cultivation layer 12 by 5°. Since the substrate moisture content θi=58% is still close to the target moisture content of 60%, and it is in a low temperature and low light condition, the central control module 60 will not start the nutrient solution delivery pump 42 for the time being, but will only keep monitoring and wait for feedback on the improvement of light. When the substrate moisture content θi in the same tank decreases to 46%, Vsub,i is 18L, KT,i is 0.82, KL,i is 0.78, KD,i is 1.0, and KE,i is 0.60, then Wi = 18 × (0.60 - 0.46) × 0.82 × 0.78 × 1.0 × 0.60 ≈ 0.97L; With a flow rate qi of 1.8 L / min in the drip irrigation branch and a single pulse supply amount Wpulse,i of 0.25 L, each pulse ton lasts 8.3 s, which can be set to 10 s, with 4 pulses. Under low temperature and low light conditions, toff is extended from 180 s to 300 s. When Pmpp is 95W, the control period Δt is 600s, ηpv is 0.85, the energy storage unit 53 is 24V, 20Ah, SOC is 38%, SOCmin is 30%, ηbat is 0.85, and Eres is 8Wh, then Eav≈0.85×95×600 / 3600+0.85×24×20×(0.38-0.30)-8≈38.1Wh; With the nutrient solution delivery pump 42 having a power of 80W and a total start time of 40s for a single pulse, the pump energy consumption is 0.89Wh. The tilt actuator has a power of 60W and an energy consumption of 0.33Wh for 20s. Eav meets the requirements for off-peak operation, but the system still prohibits the nutrient solution delivery pump 42 and the tilt adjustment component 23 from starting at the same time in order to reduce the starting current impact. like Figure 5-7 As shown, a water, fertilizer and light energy coordinated control device for a three-dimensional strawberry trough in a low-temperature, low-light greenhouse is provided. The device includes a three-dimensional cultivation trough 10, an adjustable mechanism 20, a single-trough sensing module 30, a water and fertilizer supply module 40, a photovoltaic power supply module 50 and a central control module 60. The three-dimensional cultivation trough 10 includes multiple cultivation layers 12 and multiple independent cultivation troughs 13. The movable adjustment mechanism 20 is used to adjust the position of the three-dimensional cultivation trough 10 and the tilt angle of the independent cultivation troughs 13. The single-trough sensing module 30 is used to collect the substrate moisture content θi, substrate temperature Ti, and corresponding layer light intensity Ll. The water and fertilizer supply module 40 is used to perform zoned pulse irrigation, the photovoltaic power supply module 50 is used to output Pmpp and SOC, and the central control module 60 serves as the core control unit to perform coordinated control.

[0027] Based on the above technical solution, the three-dimensional cultivation trough 10 includes an A-type support frame 11, a cultivation layer 12, and an independent cultivation trough 13; Two sets of A-type support frames 11 are symmetrically arranged. The cultivation layer 12 is located inside the A-type support frame 11. There are five cultivation layers 12. Each cultivation layer 12 is arranged in a staggered manner along the A-type support frame 11. Each cultivation layer 12 is provided with nine independent cultivation troughs 13. At the same time, an interlayer space is formed between two adjacent cultivation layers 12 to allow light and airflow to pass through. The independent cultivation trough 13 consists of a substrate receiving cavity 131, a drip irrigation channel 132, a drainage channel 133, and a sensor mounting slot 134; The independent cultivation trough 13 has a substrate receiving cavity 131 inside, which contains the cultivation substrate. The top of the independent cultivation trough 13 is provided with a drip irrigation channel 132 that guides water and fertilizer to the substrate, and the bottom of the independent cultivation trough 13 is provided with a drainage channel 133 that drains excess liquid and prevents water accumulation. The side of the independent cultivation trough 13 is provided with a sensor mounting slot 134. The activity adjustment mechanism 20 is used for illumination compensation and includes a track walking assembly 21, a positioning locking assembly 22, and a tilt adjustment assembly 23; A track-walking assembly 21 is installed at the bottom of the A-type support frame 11 and the cultivation layer 12. A positioning and locking assembly 22 is installed on the side of the A-type support frame 11, and an angle adjustment assembly 23 is installed between the two A-type support frames 11. The track walking component 21 drives the three-dimensional cultivation trough 10 to move as a whole, changing the position of the cultivation layer 12 to improve light exposure. The tilt angle adjustment component 23 adjusts the tilt angle of the independent cultivation trough 13, with an adjustment range of 0-30°. The tilt angle adjustment step size for each control cycle is 2-8°. The positioning and locking component 22 locks and fixes the three-dimensional cultivation trough 10 after it has moved and the tilt angle has been adjusted to the correct position.

[0028] Based on the above technical solution, the single-slot sensing module 30 includes a matrix moisture content sensor 31, a matrix temperature sensor 32, and a layer illumination sensor 33. The matrix moisture sensor 31 collects the matrix moisture content θi, the matrix temperature sensor 32 collects the matrix temperature Ti, and the layer illumination sensor 33 collects the corresponding layer illumination Ll. The substrate moisture content sensor 31 and the substrate temperature sensor 32 are both installed in the sensor mounting slot 134. The layer light sensor 33 is set on the side of the three-dimensional cultivation trough frame 10, and the sensor mounting slot 134 fixes the substrate moisture content sensor 31 and the substrate temperature sensor 32 in the substrate area 80mm away from the bottom of the trough. The water and fertilizer supply module 40 is responsible for precise water and fertilizer supply in different zones, including water and fertilizer mixing tank 41, nutrient solution delivery pump 42, main pipe 43, zone valve group 44, drip irrigation branch 45 and return liquid monitoring unit 46. A water-fertilizer mixing tank 41 is installed on one side of the three-dimensional cultivation trough frame 10 to mix nutrient solution and irrigation water. A nutrient solution delivery pump 42 is connected to the bottom side of the water-fertilizer mixing tank 41 to provide power for fertilizer delivery. The output end of the nutrient solution delivery pump 42 is connected to the main pipeline delivery main pipe 43, and the nutrient solution delivery pump 42 is connected to the drip irrigation branch 45 through the partition valve group 44. The partition valve group 44 realizes independent control of the partition. The drip irrigation branch 45 is connected to each independent cultivation trough 13. The return liquid monitoring unit 46 is installed at the bottom of the independent cultivation trough 13 to collect the discharge feedback volume Dri.

[0029] Based on the above technical solution, the photovoltaic power supply module 50 provides clean energy optimized by MPPT, including photovoltaic module 51, maximum power point tracking unit 52, energy storage unit 53 and power distribution unit 54; The photovoltaic module 51 realizes solar power generation, the maximum power point tracking unit 52 realizes MPPT control, and outputs the maximum usable photovoltaic power as Pmpp. The energy storage unit 53 stores electrical energy and monitors the state of charge (SOC) of the energy storage unit 53. The power distribution unit 54 realizes power distribution and protection. The central control module 60 includes a data acquisition unit 61, a growth stage parameter unit 62, a layer light compensation unit 63, a water and fertilizer demand calculation unit 64, an energy scheduling unit 65, and an execution control unit 66; Data acquisition unit 61 summarizes matrix moisture content θi, matrix temperature Ti, layer illumination Ll, maximum available photovoltaic power Pmpp, energy storage state of charge SOC, and drainage feedback amount Dri; The growth stage parameter unit 62 stores and calls the target moisture content θtar,g, the lower limit of temperature Tlow,g, the lower limit of light Llow,g, the target value of fertilizer solution EC and the basic pulse interval for each growth stage. The layer illumination compensation unit 63 calculates the low illumination index Ri and the layer illumination unevenness Gl to determine whether tilt and translation adjustments are needed. Water and fertilizer demand calculation unit 64 calculates the water and fertilizer demand Wi and various correction coefficients: substrate temperature correction coefficient KT,i, light correction coefficient KL,i, drainage feedback correction coefficient KD,i, low temperature and low light water and fertilizer demand inhibition coefficient KE,i; The energy dispatching unit 65 calculates the available energy budget Eav and determines the execution sequence of pumps, valves, and regulating mechanisms; The execution control unit 66 issues commands to coordinate the actions of each module and collect feedback data.

[0030] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for synergistic control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse, characterized in that: The specific process is as follows: S101, Collect basic data for independent cultivation troughs; S102, Determine the target parameters for the growth stage; S103, Calculate the layer illumination compensation; S104, calculate water and fertilizer requirements; S105, determine energy status and load priority; S106, performs light regulation and water and fertilizer supply; S107, perform feedback correction according to the execution sequence.

2. The method for coordinated control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse according to claim 1, characterized in that: S101 collects the substrate moisture content θi, substrate temperature Ti, corresponding layer illumination Ll, maximum available photovoltaic power Pmpp, energy storage state of charge SOC and drainage feedback amount Dri of the i-th independent cultivation tank (13). In step S102, the target parameters for the growth stage are determined. Based on the current growth stage g of the strawberry, the target moisture content θtar,g, the lower limit of temperature Tlow,g, the lower limit of light Llow,g, the target value of fertilizer solution EC, and the basic pulse interval are called. The current growth stages of strawberries include the seedling stage, vegetative growth stage, flowering and fruit setting stage, fruit expansion stage, and harvest stage. The target moisture content for each stage is θtar,g, which is 50%-75% of the field capacity of the substrate; Tlow,g, which is 12℃-18℃; and Llow,g, which is 180-450 μmol / (m³). 2 The target value for EC in fertilizer solution is 0.8-1.8 mS / cm.

3. The method for coordinated control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse according to claim 2, characterized in that: In step S103, the low-temperature dim lighting index Ri and the layer illumination unevenness Gl are calculated. When the low temperature light index Ri reaches the threshold and the light unevenness Gl of the layer exceeds the first light threshold, the tilt angle adjustment command of the tilt angle adjustment component (23) is generated. When the light unevenness Gl of the layer exceeds the second light threshold and the light improvement after tilt angle adjustment is insufficient, the translation command of the three-dimensional cultivation trough (10) is generated. The low temperature and low light index Ri is calculated using the following formula: Ri=aT·max[0,(Tlow,g-Ti) / ΔTg]+aL·max[0,(Llow,g-Ll) / Llow,g]; Where aT and aL are weighting coefficients, aT is 0.3-0.7, aL is 0.3-0.7, and aT+aL=1. ΔTg is the temperature buffer zone, which is 2℃-8℃. When Ri is not less than 0.6 and lasts for 3-6 sampling periods, the i-th independent cultivation trough is determined to be in a low temperature and low light state. The unevenness of illumination at different levels, Gl, is calculated using the following formula: Gl=(Lref-Ll) / max(Lref,Lmin); Where Lmin is the lower limit value to prevent the denominator from being too small, and is taken as 50-100 μmol / (m 2 ·s), the first illumination threshold is 0.15-0.25, and the second illumination threshold is 0.30-0.

45.

4. The method for coordinated control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse according to claim 1, characterized in that: In step S104, the water and fertilizer requirement Wi is calculated. If the low temperature and low light index Ri reaches the threshold and the substrate moisture content θi is not lower than the safety difference of θtar,g, then irrigation is temporarily suspended. If the substrate moisture content θi is lower than the safety difference, then small flow rate and multiple interval pulse irrigation are adopted. The water and fertilizer requirement Wi is calculated using the following formula: Wi=Vsub,i·max(0,θtar,g-θi)·KT,i·KL,i·KD,i·KE,i; Where Vsub,i is the effective substrate volume of the i-th independent cultivation trough, KT,i is the substrate temperature correction coefficient, KL,i is the light correction coefficient, KD,i is the drainage feedback correction coefficient, and KE,i is the low temperature and low light water and fertilizer demand inhibition coefficient. KT,i=1-bT·max[0,(Tlow,g-Ti) / ΔTg]; KL,i=1-bL·max[0,(Llow,g-Ll) / Llow,g]; Where bT is 0.2-0.6, bL is 0.2-0.6, KE,i is 0.35-0.80 when Ri reaches the low temperature and low light threshold, and KE,i is 0.85-1.15 when Ri does not reach the low temperature and low light threshold. When the drainage feedback amount Dri is greater than 10%-25% of the single irrigation amount, or when the increase in substrate moisture content after irrigation is greater than 8%-15%, KD,i should be taken as 0.50-0.

85.

5. The method for coordinated control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse according to claim 1, characterized in that: In step S105, the available energy budget Eav is calculated. Eav is calculated based on the maximum available photovoltaic power Pmpp, the state of charge (SOC) of the energy storage unit, and the control cycle length Δt. Based on the comparison between the available energy budget Eav and the energy consumption requirements of pumps, valves, and regulating mechanisms, the load execution sequence of sensor acquisition, control communication, zoned valve groups, water and fertilizer transfer pumps, and movable regulating mechanisms is determined. Available energy budget Eav is calculated using the following formula: Eav=ηpv·Pmpp·Δt / 3600+ηbat·Ubat·Cbat·max(0,SOC-SOCmin)-Eres; Where ηpv is the photovoltaic conversion utilization coefficient, which is taken as 0.70-0.95, ηbat is the energy storage release coefficient, which is taken as 0.70-0.95, Ubat is the nominal voltage of the energy storage unit, Cbat is the capacity of the energy storage unit, SOCmin is the minimum retained state of charge, which is taken as 20%-40%, and Eres is the safety reserved energy. When the available energy budget Eav is less than the energy required for a single continuous operation of the water and fertilizer delivery pump Epump, the central control module switches the water and fertilizer supply to single-zone pulse irrigation and restricts the water and fertilizer delivery pump and the active adjustment mechanism from operating simultaneously. When the available energy budget Eav is greater than the sum of Epump and tilt adjustment energy Etilt, tilt adjustment can be performed first, followed by zoned irrigation.

6. The method for coordinated control of water, fertilizer, and light energy in a three-dimensional strawberry trough system in a low-temperature, low-light greenhouse according to claim 5, characterized in that: S106 executes the light compensation action and the water and fertilizer supply action in the following order: continuous operation of sensing and control, pre-opening of valve group, single-zone water pump pulse, drainage feedback acquisition, and if necessary, execution of the next zone. Based on the matrix moisture content θi, matrix temperature Ti, corresponding layer light Ll and energy consumption after the action, the low temperature low light index Ri, layer light imbalance Gl, water and fertilizer demand Wi and available energy budget Eav of the next control cycle are corrected. The start time ton,i of pulse irrigation is calculated as ton,i=min(Wpulse,i / qi,tmax); Where Wpulse,i is the single pulse supply, qi is the drip irrigation branch flow rate, tmax is 20-120 seconds, toff,i is 120-600 seconds between adjacent pulses, and toff,i increases by 20%-100% when Ri reaches the low temperature and low light threshold. S107 provides feedback correction, recording the improvement in illumination ΔL, the response amplitude of water content Δθ, the drainage ratio Dr, and the actual energy consumption Euse. When ΔL is below 5%-12%, the shift priority of the next cycle is increased. When Dr exceeds 10%-25%, KD,i is reduced. When Euse exceeds the available energy budget Eav, the parallel load of the next cycle is reduced.

7. A water, fertilizer, and light energy synergistic control device for a three-dimensional strawberry trough in a low-temperature, low-light greenhouse, characterized in that: The device includes a three-dimensional cultivation trough rack (10), an adjustable mechanism (20), a single-trough sensing module (30), a water and fertilizer supply module (40), a photovoltaic power supply module (50), and a central control module (60). The three-dimensional cultivation trough (10) includes multiple cultivation layers (12) and multiple independent cultivation troughs (13). The movable adjustment mechanism (20) is used to adjust the position of the three-dimensional cultivation trough (10) and the tilt angle of the independent cultivation troughs (13). The single-trough sensing module (30) is used to collect the substrate moisture content θi, substrate temperature Ti, and corresponding layer light intensity Ll. The water and fertilizer supply module (40) is used to perform zoned pulse irrigation, the photovoltaic power supply module (50) is used to output Pmpp and SOC, and the central control module (60) serves as the core control unit to perform coordinated control.

8. The water, fertilizer, and light energy synergistic control device for a three-dimensional strawberry trough in a low-temperature, low-light greenhouse according to claim 7, characterized in that: The three-dimensional cultivation trough (10) includes an A-type support frame (11), a cultivation layer (12), and an independent cultivation trough (13). The A-type support frame (11) is symmetrically arranged in two sets, and the cultivation layer (12) is arranged on the inner side of the A-type support frame (11). The cultivation layer (12) has five layers, and each cultivation layer (12) has nine independent cultivation troughs (13). The independent cultivation trough (13) consists of a substrate receiving cavity (131), a drip irrigation channel (132), a drainage channel (133), and a sensor mounting slot (134); The independent cultivation trough (13) is provided with a substrate receiving cavity (131) inside, which contains the cultivation substrate. The top of the independent cultivation trough (13) is provided with a drip irrigation channel (132) to guide water and fertilizer to the substrate, and the bottom of the independent cultivation trough (13) is provided with a drainage channel (133) to drain excess liquid. The side of the independent cultivation trough (13) is provided with a sensor mounting slot (134). The activity adjustment mechanism (20) includes a track walking assembly (21), a positioning locking assembly (22), and a tilt adjustment assembly (23). The bottom of the A-type support frame (11) and the cultivation layer (12) is equipped with a track walking component (21), the side of the A-type support frame (11) is equipped with a positioning locking component (22), and the position between the two A-type support frames (11) is equipped with an angle adjustment component (23). The track walking component (21) drives the three-dimensional cultivation trough (10) to move as a whole, changing the position of the cultivation layer (12) to improve light exposure. The tilt angle adjustment component (23) adjusts the tilt angle of the independent cultivation trough (13). The positioning locking component (22) locks and fixes the three-dimensional cultivation trough (10) after it has moved and the tilt angle has been adjusted.

9. The water, fertilizer, and light energy synergistic control device for a three-dimensional strawberry trough in a low-temperature, low-light greenhouse according to claim 8, characterized in that: The single-slot sensing module (30) includes a matrix moisture content sensor (31), a matrix temperature sensor (32), and a layer illumination sensor (33). The matrix moisture sensor (31) collects the matrix moisture θi, the matrix temperature sensor (32) collects the matrix temperature Ti, and the layer illumination sensor (33) collects the corresponding layer illumination Ll. The substrate moisture content sensor (31) and substrate temperature sensor (32) are both installed in the sensor mounting slot (134), the layer light sensor (33) is set on the side of the three-dimensional cultivation trough (10), and the sensor mounting slot (134) fixes the substrate moisture content sensor (31) and substrate temperature sensor (32) in the substrate area. The water and fertilizer supply module (40) is responsible for precise water and fertilizer supply in zones, including a water and fertilizer mixing tank (41), a nutrient solution delivery pump (42), a main pipe (43), a zone valve group (44), a drip irrigation branch (45), and a return liquid monitoring unit (46). The water and fertilizer mixing tank (41) is installed on one side of the three-dimensional cultivation trough (10) to mix nutrient solution and irrigation water. The nutrient solution delivery pump (42) is connected to the bottom side of the water and fertilizer mixing tank (41) to provide power for fertilizer delivery. The output end of the nutrient solution delivery pump (42) is connected to the main pipeline delivery main pipe (43). The nutrient solution delivery pump (42) is connected to the drip irrigation branch (45) through the partition valve group (44). The partition valve group (44) realizes independent control of the partition. The drip irrigation branch (45) is connected to each independent cultivation trough (13). The return liquid monitoring unit (46) is installed at the bottom of the independent cultivation trough (13) to collect the discharge feedback amount Dri.

10. The water, fertilizer, and light energy synergistic control device for a three-dimensional strawberry trough in a low-temperature, low-light greenhouse according to claim 7, characterized in that: The photovoltaic power supply module (50) provides clean energy optimized by MPPT, including photovoltaic modules (51), maximum power point tracking unit (52), energy storage unit (53) and power distribution unit (54). The photovoltaic module (51) realizes solar power generation, the maximum power point tracking unit (52) realizes MPPT control and outputs the maximum available photovoltaic power as Pmpp, the energy storage unit (53) stores electrical energy and monitors the state of charge (SOC) of the energy storage unit (53), and the power distribution unit (54) realizes power distribution and protection. The central control module (60) includes a data acquisition unit (61), a growth stage parameter unit (62), a layer light compensation unit (63), a water and fertilizer demand calculation unit (64), an energy scheduling unit (65), and an execution control unit (66). The data acquisition unit (61) summarizes the matrix moisture content θi, matrix temperature Ti, layer illumination Ll, photovoltaic maximum available power Pmpp, energy storage state of charge SOC and drainage feedback amount Dri. The growth stage parameter unit (62) stores and calls the target water content θtar,g, the lower limit of temperature Tlow,g, the lower limit of light Llow,g, the target value of fertilizer solution EC and the basic pulse interval for each growth stage. The layer illumination compensation unit (63) calculates the low illumination index Ri and the layer illumination unevenness Gl to determine whether tilt angle and translation adjustment are needed. The water and fertilizer demand calculation unit (64) calculates the water and fertilizer demand Wi and various correction coefficients: substrate temperature correction coefficient KT,i, light correction coefficient KL,i, drainage feedback correction coefficient KD,i, low temperature and low light water and fertilizer demand inhibition coefficient KE,i; The energy scheduling unit (65) calculates the available energy budget Eav and determines the execution sequence of pumps, valves, and regulating mechanisms; The execution control unit (66) issues instructions to coordinate the actions of each module and collects feedback data.

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