Mobile aeroponic (fog tillage) irrigation system using ultrasonic nozzles

Abstract

This invention discloses a mobile ultrasonic irrigation system that atomizes an aqueous solution at a variable flow rate and with a variable droplet size, and is capable of engaging with plant cultivation structures for travel. The atomized nutrient solution can be advantageously used for crop irrigation in controlled environment agriculture (CEA). Crops respond better to aeroponic irrigation than to alternative irrigation technologies such as hydroponics. Furthermore, aeroponic irrigation enables three-dimensional gain, and by arranging plant cultivation structures such as A-frames, vertical towers, and walls, the effective cultivation area per unit of facility floor space can be significantly increased. Because aeroponic irrigation is performed intermittently, spraying plants every few seconds at intervals of several minutes, the mobile nature of the aeroponic irrigation system can advantageously reduce downtime, system complexity, and cost. The prior art discloses ultrasonic irrigation nozzles whose flow rates are limited to levels unsuitable for large-scale irrigation. The prior art also discloses a mobile pressure-type aeroponic irrigation system in which a high-pressure pump and a fixed orifice nozzle are engaged with a mobile carriage. However, problems inherent to the pressure pump and nozzle (system failure, clogging, etc.) and the associated costs outweigh the potential advantages. This disclosure solves the problems of the prior art by enabling large-scale mobile ultrasonic aeroponic irrigation in diverse agricultural scenarios.

Description

Background Art

[0001] In the field of Controlled Environment Agriculture (CEA), that is, greenhouses and indoor farms, various irrigation techniques are used for cultivating plants in a protected environment. The most common technique is hydroponics, in which plants are cultivated in an aqueous solution of nutrient salts. One example is a technique for cultivating leafy vegetables in commercial greenhouses on extruded polystyrene (XPS) or plastic plates (rafts) floating in a large water tank of nutrient solution. As another technique, there is Nutrient Film Technique (NFT), a derivative of hydroponics, in which nutrient solution flows over roots in gutters or the like, providing higher controllability than raft hydroponics. However, NFT also has constraints such as an upper limit on planting density on a horizontal plane (horizontal density cap) and high equipment costs. While these hydroponics and hydroponics-derived techniques are widely used, they have multiple problems that limit operator productivity, such as a horizontal density cap, spread of diseases via nutrient solution, and water waste. Therefore, it is important to explore new methods for improving greenhouse productivity.

[0002] Aeroponic irrigation (fog irrigation) offers a potential alternative to the limitations of hydroponics and hydroponic-derived greenhouse irrigation. While hydroponic approaches involve suspending plants in a nutrient solution or exposing them to a flow of nutrient solution, fog irrigation is achieved by suspending plant roots in the air within a sealed space and spraying the nutrient solution to the roots at a constant rate, static intervals, or dynamic intervals. From a biological standpoint, many commercial crops respond better to fog than hydroponics, exhibiting higher yields in shorter cultivation cycles and improving facility productivity. Fog also reduces the potential for disease outbreaks and spread. Unlike hydroponics and its derivatives, fog-grown plants are exposed to air and can obtain oxygen more efficiently from the air than from the solution. In particular, the oxygen concentration in air is approximately 21%, while the oxygen solubility in nutrient solutions is limited. Plants commercially grown in various CEA facilities often respond best to aerosol droplets with an average particle size (e.g., median volume diameter: VMD) ranging from 20 μm to 100 μm. When appropriate droplet size and spray interval are used, humidity within the box or chamber where the roots are suspended fluctuates, positively impacting oxygenation and plant growth. Furthermore, while in hydroponics or NFTs, oxygen must be artificially replenished to the nutrient solution once plants absorb dissolved oxygen, this constraint does not exist in fog cultivation. In addition, fog cultivation significantly increases the root surface area due to the development of root hairs, increasing the active area where water, nutrients, and gases can be exchanged, further improving metabolic rate and yield. Moreover, precisely implemented fog irrigation can minimize nutrient solution waste. This is because the required amount of liquid can be precisely coated onto the root surface using microdroplets and absorbed before the next spray. Precision fog cultivation minimizes run-off, reduces or eliminates the need for circulation, and minimizes the possibility of disease formation and transmission.

[0003] In addition to its biological advantages, fog cultivation also offers architectural benefits. Horizontal density capping is one of the main productivity constraints of hydroponic CEA facilities. Vertical farms can overcome this by stacking cultivation layers under artificial lighting, but greenhouses, which primarily use natural light as their light source, cannot adopt a similar approach. Because fog can move through three-dimensional space, fog cultivation enables cultivation in fog towers, A-frames, etc., which allow for a larger effective cultivation area per floor area than horizontal hydroponics. For example, in a 2m high vertical fog tower as disclosed in WO2016 / 156334 (details at www.aponix.eu), aerosols are supplied from the top of the tower and fall onto roots suspended inside, resulting in a density of approximately 0.26m 2 It can accommodate 144 plants in the occupied area. The planting density for horizontal hydroponics of lettuce is approximately 24 plants / m². 2 Therefore, the tower has a larger cultivation area than its occupied area (144 plants ÷ 24 plants / m²). 2 =6m 2 (Equivalent to) can be provided.

[0004] Other fog-cultivation systems that utilize architectural advantages, such as CN209788090U, CN214413764U, CN209749389U, CN209950054U, and EP3692784A1, have been disclosed, but these have significant limitations due to their reliance on pressure irrigation and are unsuitable for use in real-world environments such as commercial greenhouses for the reasons described below.

[0005] Furthermore, fog irrigation allows for the manipulation of irrigation intensity, potentially further improving productivity. For example, in hydroponics where plants float in a nutrient solution pool, plants are exposed to a constant high irrigation intensity throughout their growth period. Ideally, the irrigation intensity should be adapted to the plant age and the actual photosynthetic rate (which depends on light intensity, temperature, etc.). Fog cultivation enables adaptive irrigation, for example, by manipulating the flow rate of the sprayed aerosol.

[0006] However, fog irrigation is extremely difficult to implement on a commercial scale. The limitations of fog systems are discussed in US patents US 9,474,217, US 4,514,930, US 6,807,770, US 8,225,549, etc. In most fog systems, aerosol generation is achieved using a high-pressure pump (sometimes 10 bar or more) and a fixed orifice nozzle connected to piping / hoses, etc. Here, the high-pressure pump is defined as 4 bar or more. The pressure causes the nutrient solution to pass through a micro-orifice (often less than 0.2 mm to obtain a droplet diameter of 20 μm to 100 μm) and split into droplets. However, since the nutrient solution contains salts, the salts can precipitate and clog the inside of the nozzle, or scale on the outside and block the orifice, leading to crop wilting. When the solution is collected and circulated after spraying, clogging is more likely because the collected solution contains solid matter such as plant residue. Clogging also increases in areas where hard water is used. In facilities with numerous nozzles (hundreds to thousands), blockages are difficult to detect until crops wilt. Nozzle replacement / cleaning requires depressurization → removal → cleaning / replacement → repressurization (see EP2858477B1), resulting in significant downtime and labor burden. If solid matter enters the reservoir, multiple nozzles can become clogged simultaneously. As a countermeasure, increasing the orifice size results in a droplet diameter exceeding 100 μm, making irrigation and oxygenation less optimal. Furthermore, EP2858477B1 discloses a mobile atomizing system that uses compressed air in addition to a high-pressure pump, and nozzles that support pressurized liquid + pressurized air (such as Spraying Systems' 1 / 4J Air Atomizing Nozzles), but the additional air creates a positive pressure problem in the root zone space, causing aerosols to leak outside and be inhaled by workers, posing a health and safety problem.

[0007] Furthermore, high-pressure pump failures are frequent. For example, US2017 / 0202163A1 suggests that the main water supply (approximately 2 bar) can be used as a backup for the high-pressure system, but it fails to consider that scale accumulates in infrequently used water pipes, and that this scale could flow in during the switchover and immediately clog all nozzles in the pressure line. From an operational standpoint, pump maintenance, filter replacement, nozzle cleaning / replacement, etc., require significant human involvement, and labor costs often exceed profits.

[0008] To avoid the complexity of pressure pumps, other aerosol generation methods, such as those described in US2009 / 200392, WO2018011501A1, CN105499048A, JP H04 265172A, US201717362, JPS61227866A, WO2017 / 134472, WO2022 / 153058, etc., may be considered. US2009 / 200392 discloses an ultrasonic nozzle device that generates aerosols without additional pressure by vibrating the nozzle tip with ultrasonic vibrations, but the flow rate is extremely low, from 0.5 g / min to 10 g / min (paragraph 0211, claim 20), and upward expansion is difficult due to choke points in the internal channels (paragraph 0200, 160b in Figure 10). WO2018011501A1 discloses a device for spraying a solution with an ultrasonic nozzle, with a flow rate of 5 ml / min to 30 ml / min (claim 17), and a maximum of 1.8 L / hour, which is insufficient for commercial irrigation. JP H04 265172A discloses an ultrasonic nozzle that electrostatically charges spray particles, but is unsuitable due to the risks of high voltage and the maintenance expertise required of greenhouse staff, and does not disclose the flow rate. CN105499048A discloses an air-assisted ultrasonic nozzle that requires external airflow, but the flow rate is estimated to be unsuitable for commercial scale based on the metal film thickness (0.2-0.5 mm) and inlet diameter (less than 1 mm), and the introduction of outside air also creates positive pressure and safety issues. US2017173621 discloses an ultrasonic rotating nozzle, but does not specify the flow rate, has a complex structure, and in high-humidity environments, maintenance costs are high. JPS61227866A discloses an ultrasonic liquid atomizer with a replaceable tip, but the flow rate is unknown, and the internal channel appears narrow from the drawings, making it unsuitable for commercial irrigation. In general, existing prior art is useful for low-flow applications but unsuitable for large-scale CEA irrigation, and special modifications are required to effectively utilize conventional ultrasonic nozzles for commercial atomization.

[0009] WO2017 / 134472 discloses a configuration in which a fog generator (23 in Figure 2) is placed at one end of an A-frame cultivation system, and aerosols are distributed to multiple points in the irrigation chamber via piping, etc. (24 in Figure 2), with airflow assisting the distribution. It suggests that an inkjet printer head (especially a Xaar head) can be used to generate irrigation aerosols, but the print head has a structure that selectively drives a fixed orifice with ultrasound, and solid matter cannot pass through the orifice, thus failing to solve the blockage problem. Furthermore, in long-distance airflow transport, it is difficult to equalize the distribution due to droplet coalescence, and intermittent control for each outlet (36 in Figure 7) is practically difficult because the root zone is not partitioned.

[0010] The pressureless spraying system in WO2022 / 153058 uses a piezo-ceramic nebulizer (52 in Figure 1) to vibrate the entire liquid, generating a fine mist of about 1-10 μm, but this falls outside the optimal droplet size range for root development. Furthermore, the same document is essentially hydroponics based on the distance relationship between plant roots and the liquid in the shuttle (12 in Figure 1, etc.), and the transducer is likely to be limited to supplementary irrigation. In addition, atomization requires high energy, leading to problems such as increased solution temperature due to excess heat, pH changes, and a high failure rate due to membrane buildup and blockage. Similarly, CN112753560A discloses A-frame atomization using a fixed 2.4 MHz ultrasonic atomizer, but it has limitations such as unsuitable droplet size, high energy, high failure rate, heating, and pH fluctuations.

[0011] To reduce the complexity of static irrigation systems, mobile sprayers that spray roots while moving back and forth have been designed. While these can spray roots at the required intervals, mobile irrigators require high flow rates to irrigate many plants in a short time. Conventional ultrasonic sprayers have low flow rates, requiring many transducers, resulting in costs and complexity that outweigh the benefits, and consequently, high-pressure pump systems are used. Mobile high-pressure atomization systems have advantages such as a reduction in the number of nozzles and piping infrastructure, and are disclosed in US2017 / 0202163, WO2019 / 222827, EP2858477B1, US4965962, CN210610597U, CN213187548U, etc. However, these mobile systems also have limitations. Typically, nozzle clogging is a major issue. While mobile systems may reduce drying precipitation due to shorter rest periods, orifice clogging by solid matter is not fundamentally solved. Furthermore, addressing blockages involves a complicated procedure of depressurization → replacement / cleaning → repressurization (EP2858477B1).

[0012] Furthermore, some conventional mobile fog systems fail to take advantage of the architectural benefits of three-dimensional fog, and are horizontal and planar in configuration, as seen in US2017 / 0202163 and WO2019 / 222827, which limits planting density and yield, and also have a large footprint.

[0013] To overcome the density problem of horizontal systems, EP2858477B1 discloses an A-frame for irrigating an inclined plant-holding structure with mobile pressure atomization. However, this system mounts lighting fixtures and an air conditioning system (claim 2, reference numerals 400 and 550) on a mobile platform, which protrudes outside the A-frame and occupies floor space. Furthermore, the steep incline, lighting carriage, and ducts are unfavorable for natural light greenhouses, and the document is intended for indoor facilities. It is also suitable for small crops such as leafy greens and is not suitable for large commercial crops such as tomatoes, bell peppers, and berries.

[0014] Conventional mobile atomization systems often lack variable irrigation intensity, which allows for increasing or decreasing the nutrient solution volume according to the plant's growth stage and actual photosynthetic rate. With fixed orifice nozzles, significantly changing the flow rate alters the pressure and changes aerosol properties such as droplet velocity and diameter, resulting in limited flow rate control and trade-offs. Increasing the flow rate increases the droplet velocity, damaging the roots, while decreasing the flow rate results in larger droplets and reduced reach. Variable orifice nozzles are conceivable, but manual adjustment on a mobile sprayer is impractical.

[0015] Furthermore, because the irrigation intensity is static, calibrating the spraying capacity to match the largest plant in a row results in over-spraying for smaller plants, causing unabsorbed water to drip down and create run-off. Run-off requires filtration infrastructure if recycled, or wastes water and fertilizer if discarded.

[0016] Furthermore, conventional mobile pressure atomization systems rely on high-pressure pumps or pumps + compressors for their operating capacity (US2017 / 0202163, EP2858477B1, US4965962, etc.), and a failure of one component can lead to a complete irrigation shutdown or improper spraying of the entire line. Backup pumps only partially alleviate the problem and do not solve the root cause, increasing complexity and cost. If one unit is insufficient for long rows, additional equipment is required, and the scalability of the high-pressure infrastructure becomes a problem as the number of rows increases.

[0017] Furthermore, a non-obvious drawback is that conventional technologies are designed to provide a "whole cultivation platform" including the frame, carriage, and irrigation system, making them difficult to apply universally to existing facilities. For example, EP2858477B1 has a steep slope structure and is suitable for small root crops, but the mobile irrigator may damage the roots of radish crops such as tomatoes. US2017 / 0202163 specifies a distance of 5-60 cm between the nozzle and the plant support surface, which may be unsuitable for tomatoes (root length 80 cm) or cannabis (root length 154 cm). US4965962 requires a cultivation room with sun shading and is unsuitable for greenhouses.

[0018] A further, non-obvious drawback is that conventional mobile pressure atomization is limited in its travel distance. Travel distance is a function of droplet diameter and flow rate. A suitable droplet diameter of 20–100 μm induces morphological changes in the roots that capture and retain droplets, enabling interval recipes such as "1–3 seconds of spraying + 10–15 minutes of rest." This allows the mobile irrigator to potentially travel over 50 m, and in some cases over 100 m, to irrigate thousands of plants, but this requires a sufficient flow rate of 30–500 L / hour (preferably variable). For example, if a 100 m row of A-frames holds 50 plants per meter, that's 5000 plants. If the irrigator travels to the end in 7 minutes while spraying and returns in 3 minutes, approximately 4.2 seconds of irrigation per meter (50 plants) is provided every 10 minutes. For this to be sufficient, a droplet diameter of 20–100 μm (preferably 50 μm) may be required. Assuming that a high-pressure nozzle (such as TeeJet XR, UDOR low-flow nozzle, Hypro Ultra Lo-Drift, or AeroJet) generates the desired droplet size at a rate of 0.5 to 5 L / hour, and 20 to 55 L (or more) of spraying is required per cycle, the total flow rate would be 171 to 471 L / hour, requiring hundreds of nozzles. Conventional ultrasonic nozzles have low flow rates and are not a viable alternative. In contrast, the device of this disclosure, for example, is equipped with 10 ultrasonic nozzles, each spraying at a rate of 1 to 50 L / hour, enabling a total flow rate of 500 L / hour or more with the desired droplet size, thus overcoming the shortcomings of conventional devices.

[0019] Mobile pesticide sprayers such as RU2645165C2, CN217771238U, CA3188090A1, WO2023043306A1, CN217308891U, and US2012195496A1 are designed for open fields and are not suitable for CEA fog irrigation. Open field spraying tends to result in droplet diameters exceeding 100 μm due to drift regulations, and is equipped with large tanks for large areas, making it unsuitable for short-distance spraying and reciprocating movement within root zones. The objective of the present invention is to overcome the shortcomings of prior art by combining a mobile irrigation system with a high-flow rate (maximum 500 L / hour) ultrasonic irrigation means. [Overview of the project]

[0020] The object of the present invention is to solve the problems of the ultrasonic irrigation nozzle means and the mobile pressure atomization irrigation means in the prior art. In the prior art, the flow rate of ultrasonic irrigation nozzles is extremely low (may be less than 2 L / hour), making them unsuitable for commercial-scale irrigation, while mobile pressure atomization is hindered from being universally applicable to large-scale irrigation in CEA due to issues such as blockage, operational failure, flow rate limitations, and limitations on the range of applicable crops. The present invention solves these problems.

[0021] To achieve this objective, the present invention provides a mobile ultrasonic atomization irrigation device comprising one or more of the following:

[0022] 1. A modular carriage providing mounting points for any of the following components. The carriage may be triangular, rectangular, trapezoidal, or other appropriate shape.

[0023] 2. At least one ultrasonic nozzle is used as an irrigation means. The nozzle has a wide atomization channel with a diameter of at least 1 mm and a maximum of 6 mm and a corresponding wide inlet diameter, and the tip has a surface that vibrates at least 10,000 times per second and a maximum of 3 million times per second. The aqueous solution flow rate can be at least 1 L / hour and a maximum of 50 L / hour. Furthermore, the ultrasonic nozzle can be coordinated with a controller and programming and is adapted to atomize droplets with an average particle size of 20 μm to 200 μm (preferably 20 μm to 100 μm) by ultrasonic vibration.

[0024] 3. A means of transport that moves between two points at a desired variable speed and variable interval. It includes at least one mechanism (self-propelled wheels, rail-driven wheels, caterpillar tracks, linear guides, etc.) that propels the device in the direction of travel and is capable of reciprocating movement between the two points inside or below a plant cultivation structure.

[0025] 4. Means for controlling the device (such as programmable controllers). The invention controls irrigation parameters such as the flow rate and average particle size of each ultrasonic nozzle, and increases or decreases of traveling speed, and adjusts the irrigation intensity based on the actual irrigation demand of plants or pre-programmed logic. It enables communication with external systems / persons, notification of operating status and predictive maintenance requirements, and (optional) autonomous adaptation of irrigation strategies based on external data input. The control means is connected to electric components and also supplies power as required.

[0026] 5. Means for power transmission and communication. The means is wired (for power and / or communication), or stores electricity via batteries / supercapacitors and adopts wireless communication, etc., and operates in coordination with the control means.

[0027] 6. Means for transferring aqueous solution from an intake point to one or more ultrasonic nozzles. The means may include a low-pressure pump having a flow rate of 1 to 500 L / h. The intake means is a port, an opening, a connection point or the like, and is connected to a distribution means. The connection between the nozzle or nozzle casing and the distribution means is implemented via pipes, hoses or the like, and the distribution means cooperates with the control means.

[0028] 7. Means for providing additional airflow. The means adopts a configuration in which a central fan is connected to a nozzle casing and a discharge port is provided on the casing, or is a separate fan or the like, and can cooperate with the control means.

[0029] By increasing the flow path diameter and adapting vibration conditions, enabling the ultrasonic nozzle to atomize the large flow rate required for commercial irrigation (maximum 50 L / h per nozzle), and adapting to functions such as self-cleaning, variable flow rate, and droplet diameter control (in the field of ultrasonic engineering); further adapting the present invention to mobile sprayers that operate independently of pressure pump infrastructure (in the field of agricultural machinery engineering), and realizing non-obvious synergistic effects such as blockage elimination, universal application, elimination of pressure nozzle replacement procedures, and elimination of fixed flow rate constraints, constitutes a significant inventive step. The present invention further provides unprecedented functions such as individual setting of irrigation parameters for each ultrasonic nozzle unit, unlimited expansion through plug-and-play, pre-programming and autonomous logic based on external data, and remote upgrade / update.

[0030] Research on atomization tends to focus on single factors such as the effect of average droplet diameter or spray interval. However, in reality, it is a complex process in which aerosols are precisely coated onto the fluctuating organic surface (roots), the coating induces morphological manifestations such as root hair development, and as a result, the surface area changes. The spray interval depends on the available surface area and absorption time, and oxygenation time is also necessary. Since the rate of photosynthesis fluctuates between day and night, the interval should be adapted not only to the rate of photosynthesis but also to the root surface at different growth stages. Furthermore, at night, a larger droplet diameter may be advantageous to wash away root exudates, avoid interaction with ions, and improve adhesion. Therefore, the dynamic atomization (variable changes based on real-time data) enabled by this device is superior to static atomization using high-pressure atomization or water-oscillating nebulizers.

[0031] Many recent patent applications in the field of atomization relate to pressure atomization, some of which mitigate the shortcomings of static systems through reciprocating movement. However, ultrasonic nebulizers (which generate fine mist by vibrating the entire liquid) are often unfavorable to plants. There are few disclosures of ultrasonic nozzles useful in atomization environments, and most have limited flow rates, requiring multiple nozzles to be combined with a mobile platform. Furthermore, conventional mobile atomization systems are integrated into specific cultivation platforms that have been disclosed, making them difficult to retrofit to existing equipment. This invention has discovered the non-obviousness that a configuration in which an ultrasonic nozzle modified to atomize a high flow rate of up to 50 L / hour is mounted on a reciprocating carriage and integrated into existing atomization equipment can solve the problems of pressure atomization and low-flow ultrasonic nozzles. The non-obvious advantages obtained through development and testing are listed below.

[0032] This device is a mobile irrigation system intended for use with a variety of irrigation platforms and crops, and does not provide a complete cultivation system (which may not necessarily be suitable for a variety of systems and crops). Furthermore, the shape / form of this device is adjustable to engage with commercial-scale elongated fog irrigation systems, allowing it to be used with existing infrastructure (existing A-frames, rolling benches, tables, and other infrastructure, etc.), potentially reducing the initial costs for facility operators.

[0033] This device allows for the simultaneous cultivation of multiple crops with different irrigation requirements, as each ultrasonic nozzle that is operatively engaged with the device can be set to a different irrigation volume (flow rate).

[0034] This device uses non-obstructive ultrasonic nozzles and does not require a high-pressure pump or similar high-pressure infrastructure for aerosol generation. Furthermore, since the device's spraying mechanism is electronically operated, malfunctions can be detected immediately. In addition, because it does not require high pressure or similar pump infrastructure, the device does not have high-risk points of failure, and even if one or more ultrasonic nozzles fail, the operating capacity of the remaining operational ultrasonic nozzles can be adjusted to compensate for the reduction in flow rate.

[0035] This device can operate multiple nozzles that may malfunction due to mechanical damage or other reasons. The ultrasonic nozzles generate aerosols using electrical signals. The nozzle casing is designed to allow for extremely rapid removal and insertion of the ultrasonic nozzles. After insertion, the nozzle can be immediately detected by the controller by connecting it to the controller via wiring inside the casing. Because the atomizing means does not require high pressure and nozzles can be replaced in a short time, the replacement of faulty nozzles, nozzle upgrades, etc., can be performed in minutes even by unskilled personnel. This aspect of the disclosure eliminates the drawback of pressure-type systems, which is the need for depressurization and repressurization when replacing nozzles.

[0036] This device allows the spraying mechanism to operate at nearly constant intervals, thereby reducing calibration time, energy loss, and other losses that occur when a fixed ultrasonic nozzle is operated intermittently, lowering power consumption, and extending the lifespan of components.

[0037] This device uses a spraying mechanism capable of generating droplets with a required diameter of 20 μm to 100 μm at a very high flow rate of up to 50 L / hour, allowing the device to travel long distances before returning to its starting point for the next spraying interval. Considering the daily irrigation demand throughout the entire growth cycle of leafy vegetables, the combination of droplet diameter and available flow rate allows a single device equipped with 10 ultrasonic nozzles to travel more than 70 meters before needing to return to its starting point. In an A-frame shaped irrigation platform holding 50 lettuce plants per meter traveled, one device can provide irrigation equivalent to an annual total lettuce yield of more than 6300 kg per 70-meter row (calculated using the following formula, assuming a target plant weight of 150 g and 12 growing seasons per year: 70 m × (50 plants per meter) × 12 growing seasons × 0.15 kg).

[0038] This device features plug-and-play functionality, facilitating installation and scalability. Therefore, starting up a new CEA project can be significantly faster compared to installing a pressure-type mobile system. Furthermore, when CEA facility operators increase or decrease the scale of operations, multiple units can be added or removed without the need to install or remove high-pressure pump infrastructure.

[0039] This device allows for the selection of variable average droplet diameter, control of flow rate and other functions, and control of irrigation intervals on a per-ultrasonic nozzle basis. That is, each ultrasonic nozzle can be operated with different settings, which can be changed remotely or according to pre-programmed logic. Furthermore, connectivity to external systems enables control by external systems such as artificial intelligence systems, which can implement new beneficial settings at extremely high speed, taking into account data from other greenhouse systems, such as temperature systems, weather forecasts, and new scientific findings. In addition, the device's developers can provide customers with software / firmware upgrades related to improvements in energy or water usage, the activation or improvement of predictive maintenance of the device, or improvements in yield and productivity based on insights from plant research, continuously enhancing the operational and technical value of the device even after initial installation. The combination of these factors realizes smart functionality, eliminating many of the shortcomings of conventional devices and enabling new functions that were previously unavailable. [Brief explanation of the drawing]

[0040] [Figure 1] A mobile fog-plowing irrigation system with a triangular carriage.

[0041] [Figure 2] Various shapes of carriages and non-limiting embodiments of the apparatus.

[0042] [Figure 3] This device is engaged with a triangular cultivation structure.

[0043] [Figure 4] This device is engaged with a rectangular cultivation structure.

[0044] [Figure 5] Adjusting the angle of the vertex of the triangular carriage.

[0045] [Figure 6] A mobile fog-plowing irrigation system with a rectangular carriage whose width is greater than its height.

[0046] [Figure 7] A mobile fog-plowing irrigation system with a rectangular carriage whose height is greater than its width.

[0047] [Figure 8] Ultrasonic nozzle.

[0048] [Figure 9] Connection between the Electronic Management Unit (EMU) and the components of this device.

[0049] [Figure 10] An ultrasonic nozzle within a casing, with a front mass designed to accommodate replaceable tips.

[0050] [Figure 11] Ultrasonic nozzles exhibiting different spray patterns.

[0051] [Figure 12] Cross-sectional view of the ultrasonic nozzle inside the casing.

[0052] [Figure 13] A casing mounting embodiment using a ball joint.

[0053] [Figure 14] Cross-sectional view of two ultrasonic nozzles (inside the casing). One engages with an external airflow source, and the other engages with a fan as the airflow means.

[0054] [Figure 15] An example of engagement between this device and the cultivation structure. The means of transport is located outside the cultivation structure and engages with this device.

[0055] [Figure 16] An example of an arrangement in which multiple devices are engaged with the same means of transport.

[0056] [Figure 17A] Front cross-sectional view of the first embodiment (engaged with the cultivation structure).

[0057] [Figure 17B] Side cross-sectional view of the first embodiment (engaged with the cultivation structure).

[0058] [Figure 18A] Front cross-sectional view of the second embodiment (engaged with the cultivation structure).

[0059] [Figure 18B] Side cross-sectional view of the second embodiment (engaged with the cultivation structure).

[0060] [Figure 19] Front cross-sectional view of the third embodiment (engaged with the cultivation structure).

[0061] [Figure 20] Top view of the fourth embodiment (engaged with the cultivation structure). [Modes for carrying out the invention]

[0062] carriage Means for holding any components of the disclosed apparatus are carriages (Figure 1, reference numeral 1). The carriage (1) is for mounting any components, including irrigation means (8), moving means (3), control and monitoring means (18), and other means. The carriage may be made of a lightweight, corrosion-resistant material, preferably aluminum or steel. The carriage may also be made of any lightweight, durable, and inert composite or plastic. The shape of the carriage may be any structure that conforms to a triangle (A-shape) (Figure 2, 1A) with an apex angle in the range of 30° to 80°, a trapezoid (1D), a rectangle (1B, 1C), or a plant suspension surface (Figures 3, 4). The height or width of the carriage may be set to fit inside or below a plant irrigation structure such as a row, A-frame, vertical wall, cultivation table, gutter system, or other cultivation platform, allowing for reciprocating movement between two points and providing sufficient fog irrigation at desired intervals. The carriage may be configured such that the distance between the nozzle and the plant suspension surface is 10 cm to 200 cm, preferably 30 cm. The width of the carriage may be 10 cm to 300 cm, preferably 100 cm. The height of the carriage may be 20 cm to 300 cm, preferably 100 cm. The length of the carriage may be 30 cm to 200 cm, preferably 40 cm. The carriage may be fitted with additional bars that provide mounting surfaces for attaching additional components.

[0063] Furthermore, the carriage may include a manually adjustable structural angle (Figure 5). The angle can be adjusted by loosening a bolt (6), adjusting it to the desired angle, and tightening the bolt again (7), or by other suitable mechanisms. Angle adjustment is useful for adapting to different plants, for example, when an A-shaped mobile fog irrigation system with an A-shaped plant holding platform cultivates different crops throughout the year. For example, if baby leaf lettuce is cultivated for one or more cycles, and then head lettuce is cultivated for one or more cycles, but not simultaneously, the same A-shaped system can perform irrigation, but since baby leaf lettuce has smaller roots than head lettuce, adjustment of the carriage apex angle (Figure 5, reference numerals 6 and 7) may be necessary when switching crops. The system may have different apex angles to ensure sufficient distance between the moving carriage and the board or other structure on which the plants are placed, in order to avoid root damage when the carriage moves. Furthermore, it is advantageous to adjust and adapt all angles when cultivating two different crops with different root morphologies simultaneously on both sides of the A-shaped cultivation platform.

[0064] Furthermore, in other scenarios such as tomato cultivation, it is advantageous to adjust the various angles of the carriage, and consequently the size and shape of the carriage in the apparatus. Tomatoes develop very long roots throughout the cultivation cycle. Therefore, in the early stages of the cycle (when roots are short), it may be advantageous to irrigate from below rather than from the side to the plant holding plate or structure (Figure 6). On the other hand, in the later stages of the cycle (when roots are long), it may be advantageous to irrigate from the side rather than from below to avoid root damage (Figure 7). By being able to adjust the size and shape of the carriage, the need to adjust the cultivation platform side during the cultivation cycle or when switching crops can be eliminated.

[0065] Irrigation means The irrigation means may be one or more ultrasonic atomizing nozzles (Figure 8, reference numeral 8). The nozzles are adapted to provide flow rates several times higher than those of the prior art and are further adapted to engage with onboard control means to provide the following advantageous functions, such as flow rate control, individual setting adjustments for each nozzle, and self-cleaning. The nozzles may be made of titanium or other suitable materials. According to the present invention, the ultrasonic nozzle has a wide atomizing channel (9) of at least 1 mm in diameter, and the tip (10) has a vibrating surface that vibrates 10,000 to 3 million times per second to atomize the solution flow into droplets and prevent deposition. It also has a wide solution inlet (11) of at least 1 mm in diameter. The diameter of the internal channel (12) of the nozzle may be 1 mm to 6 mm. The flow rate of the solution supplied to the nozzle for atomization may be 1 L / hour to 50 L / hour. The combination of these features eliminates the possibility of blockage caused by undissolved particles in the pesticide solution or plant residue during solution recycling, as well as blockage / blockage due to external deposition or calcification caused by strong vibrations. Furthermore, the nozzle inlet can transport a variable flow rate of solution and atomize the variable solution flow, enabling variable irrigation intensity and overcoming the drawbacks of prior art where the solution flow is severely restricted. Vibration and ultrasound impart initial inertia to the droplets for aerosol movement without additional airflow. The nozzle comprises a rear mass body (13), two or more piezoelectric ceramic units (14) and electrodes (15), a front mass body (16) including a tip, and bolts (17) for fastening the components. The solution flow is atomized into droplets having an average particle size of 20 to 200 μm, preferably 20 to 100 μm.

[0066] The nozzle is connected to a controller means (Figure 9, reference numeral 18) via a physical connector (19), which may also be connected to an electrode (Figure 8, reference numeral 15). The electrode may be positioned between the nozzle components, which include a front mass (16), a rear mass (13), and a piezoelectric ceramic unit (14). The controller means (Figure 9, reference numeral 18) controls the operating parameters of each connected nozzle. The nozzle (Figure 8, reference numeral 8) has a front mass (Figure 10, reference numeral 16A) designed to work with interchangeable tips (17A, 17B), which are removable from the front mass (16A) (Figure 10). Tips of different shapes (Figure 11, reference numeral 17A, 17B) can be used to control the aerosol dispersion shape, dispersion distance, droplet size, and other operationally relevant parameters.

[0067] Advantageously, because the nozzle can be operated almost continuously, ultrasonic calibration from the time a cold nozzle (Figure 1, reference numeral 8) is turned on until it reaches operating temperature can be significantly reduced or eliminated compared to a statically operating nozzle that operates intermittently. Furthermore, since the expansion and contraction of the front mass (Figure 8, reference numeral 16) and rear mass (13) due to temperature can increase the degradation of the piezoelectric ceramic unit (Figure 8, reference numeral 14) and shorten its lifespan, a mobile system that operates the nozzle at a nearly constant temperature may be advantageous over a statically operating ultrasonic system that operates intermittently.

[0068] Nozzle mounting means The nozzle may be mounted to the carriage (Figure 1, reference numeral 1) using a casing (20). The casing is mounted in a fixed position on the carriage and is designed to provide a stable, waterproof housing for the nozzle (8). The casing provides a secure and waterproof connection between the nozzle electrode and the wiring connected to the controller means (18). The casing (20) provides a sealed connection between the nozzle inlet (Figure 12, reference numeral 11) and the solution supply means (Figures 2 and 6, reference numeral 23). The fixed mounting position and stable housing of the nozzle may be coupled by a joint, such as a ball joint (Figure 13, reference numeral 24), a Stewart platform, or other mechanism that provides tilt and aiming capabilities. The fixed position nozzle (8) can be adjusted in any direction on the carriage (Figure 1, reference numeral 1) by a bolt (Figure 12, reference numeral 25) or other mechanism. That is, the tension of the mechanism built into the fixed mounting mechanism is released, the casing (20) is moved to the desired position on the carriage (1), and then the tension is increased again to fix it in place. The joint can be tilted in any direction by at least 30 degrees from the center position (Figure 13). The tilting may be done manually or with motor assistance by a Stewart platform. Particularly advantageous is that motor-driven tilting may be performed in transit so that the carriage adjusts the direction of the nozzle (8) to match the plants as it moves, such as when young plants are placed at the beginning of a row and mature plants are placed at the end of a row. The holder includes an O-ring (Figure 12, reference numeral 22) which provides electrical connection between the electrode (15) of the nozzle (8) and the electrode (26) in the nozzle housing (20), and seals around the solution inlet (11). If the nozzle (8) malfunctions, the housing (20) allows for easy replacement of the nozzle (8) even while the device is in operation, thereby eliminating the drawbacks of pressurized systems, such as stopping operation, depressurizing the piping, replacing / cleaning the nozzle, repressurizing, and verifying that the problem has been resolved.

[0069] If the nozzle (Figure 8, reference numeral 8) generates excess heat, a cooling effect can be obtained by heat exchange with the solution through, for example, the internal channels (12) of the nozzle (8), by allowing the nutrient solution to flow at a high flow rate of 1 to 50 L / hour from each nozzle (made possible by the wide internal channels (12) of the nozzle (8)). In CEA, the nutrient solution is often cooled to several degrees below the ambient temperature, which can provide a significant cooling effect. If additional cooling is required, the nozzle (8) may have additional channels around or inside the front mass body. For example, holes can be drilled from the bottom to the top of the front mass body to increase the heat transfer area to the solution. Advantageously, since the solution flow is atomized into minute droplets, the droplets efficiently exchange temperature with the surrounding environment due to the increased surface area as they move from the nozzle to the root surface, thus not causing thermal stress to the roots.

[0070] Furthermore, the nozzle (8) may be cooled by airflow. For example, an airflow system (Figure 1, reference numeral 27) attached to the carriage (1) may be used to provide directional airflow from the outlet of the nozzle casing (Figure 14, reference numeral 30) to cool and simultaneously control aerosol flow characteristics such as velocity and reach. Directional airflow can be achieved by using a central fan (Figure 1, reference numeral 27) to supply air to each nozzle via tubes or the like arranged within the frame and engaging it with the inlet (Figure 14, reference numeral 29) and outlet (30) provided in the nozzle casing (20). Alternatively, this may be done in any advantageous way, such as by attaching individual fans (31) to the nozzle casing (31).

[0071] Preventing the introduction of air from outside the root zone is a significant advantage. This is because air introduced from the outside can carry pathogens and can create positive pressure within the root zone, pushing aerosols out of the root zone and potentially causing workers to inhale nutrients or other chemicals.

[0072] Mobility and connectivity This device is designed to move between two points. It can reciprocate at a desired interval and speed. It may also move in an endless loop (Figure 20). The travel speed and interval are adjustable. The device can be self-propelled using a motor (Figure 9, reference numeral 32) (e.g., a stepping motor or servo motor). It may or may not have a gearing system. Alternatively, it may be configured to engage with a belt (Figure 3, reference numeral 33), wire, cable, or a combination thereof to propel the device at a variable speed in any direction along an intended travel path, or to stop and hold the device in a predetermined position. The travel speed can be between 0.1 m / sec and 10 m / sec. Optionally, the stepping motor or servo motor may provide a means for calculating the precise position of the device using an encoder.

[0073] The device may run engaged with the ground by wheels (34). The wheels (34) may be any combination of suitable materials, such as rubber, plastic, or metal wheels with rubber tires. The wheels (34) may run engaged with rails (35), which may be guided rails or multiple rails. The wheels may be metal, plastic, or rubber wheels designed to engage with rails. The wheels may or may not have flanges. If self-propelled, the wheels may be operatively engaged with a motor via means such as gears. The device may also engage with the ground using a caterpillar (Figure 4, reference numeral 36) system. A device for detecting the start and end of a travel path (e.g., an induction sensor) may be engaged with the device, and the start and end markers that the detection device engages with may be located at the start and end points of a desired travel path.

[0074] The device may also be towed or pressed by an external system (Figure 15, reference numeral 37). The external system may include ropes, wires, cables, belts, or combinations thereof, and pulleys. These wires / cables and other physical connecting members may also be used to transmit power, communication, and nutrients (solutions) to the device. Furthermore, linear bearings, which are particularly advantageous for long-distance and high-speed travel, as may be required in commercial greenhouses, may be used.

[0075] In configurations requiring irrigation in multiple rows, multiple mobile irrigation units may be engaged with a common mobile system (Figure 16). In this case, a boom (38) may be engaged with the device to provide mobility, solution supply, and power supply. The mobile means includes a motor (39) engaged with rails, and the motor moving along the rails can move the boom along a predetermined path. The boom may be equipped with wheels (34), which may be engaged with rails (35). Alternatively, any other suitable means of travel may be used.

[0076] If the device is self-propelled, power may be supplied to the device using an external power source (Figure 17B, reference numeral 53), which may be connected to the device via a power cable (reference numeral 51). The power cable may be connected to an automatic winding drum (49) attached to the device. Alternatively, a battery mounted in a waterproof case on the carriage may be used as the power source for the propulsion system. The battery may be the primary power source or the backup power source. Yet another option is to use a supercapacitor, which has the advantage of being able to be rapidly charged.

[0077] Control and monitoring As a means of controlling and monitoring the device, an electronic control unit (EMU) (Figure 9, reference numeral 18) (which may include a programmable controller) may be mounted on the carriage (1) or installed outside the cultivation platform and connected to the mobile body by cables or wiring. The EMU may be housed in a waterproof case. The EMU may be connected to at least one component of the device via wiring or other physical connectors (19). The EMU is programmable to control at least one item, including travel speed, irrigation interval, solution flow rate, airflow rate, droplet diameter, or other operating variables (Figure 11). Advantageously, the EMU may detect failures in any individual nozzle and notify the necessary system or personnel of such failures by wired or wireless communication. The EMU may include an ultrasonic driver for supplying power to the connected nozzles. The EMU may adjust the atomization rate (spray volume) of at least one nozzle by adjusting the power, oscillation conditions to the nozzle, solution supply flow rate to the nozzle, or other relevant parameters. Furthermore, and particularly advantageously, in the event of a single nozzle failure, the EMU can be programmed to alter the aerosol flow rates of other nozzles on the device to compensate for the flow lost due to the failure. In addition, the EMU can adjust the nozzle direction by controlling the motor-assisted aiming system and airflow to prevent plant wilting until the operator replaces the affected nozzle. Advantageously, numerous contingency and predictive maintenance scenarios can be programmed into the EMU, thereby eliminating the shortcomings of prior art, such as maintenance, wilting due to clogging of fixed orifice nozzles, and the difficulties of variable flow rates.

[0078] The EMU may be configured to scan the acoustic profile of the nozzle (Figure 1, reference numeral 8) in real time to detect new tip shapes (17A, 17B) and autonomously adjust the resonant frequency based on the changed acoustic profile. This enables autonomous optimal solution atomization for different tip shapes without manual firmware / software reconfiguration. The EMU can scan the nozzle's resonant frequency and phase shift in real time, enabling data collection necessary for performance tracking, physical degradation tracking, predictive maintenance, and self-cleaning. The EMU may connect to on-site or remote physical or digital control / management tools via wired and / or wireless connections. The EMU may have pre-built emergency logic, such as switching to a low-power mode with a backup power supply in the event of a power outage. If the EMU is engaged with a primary power supply and a secondary power supply (e.g., greenhouse infrastructure or on-board battery) is available, and the EMU detects a primary power outage, the EMU may switch to the backup power supply. Furthermore, the EMU can be programmed to execute logic to reduce power consumption by, for example, disabling optional or ancillary functions, extending spray intervals, or reducing flow rates, depending on the appropriate or necessary logic. This is particularly important in indoor farms or greenhouses using aerosol irrigation, where a power outage can lead to an irrigation outage, causing plants to wilt and die rapidly. The disclosed device does not require high-voltage infrastructure and can autonomously change spray intervals to keep plants alive even with limited backup power.

[0079] Real-time scanning of the nozzle's resonant frequency and phase shift enables self-calibration and optimal operation of the nozzle, eliminating the need to strictly match the adjustment state of manufactured nozzles. This is important because the scanning function allows for the use of parts manufactured by different suppliers with different manufacturing techniques and quality standards. Furthermore, while nozzle performance depends on whether it can reach peak vibration at the tip (Figure 8, reference numeral 10), in real-world environments it can be affected by wear, operator damage, or mechanical changes in the front mass (Figure 10, reference numerals 16, 16A) or tip (Figure 8, reference numeral 10, Figure 10, reference numerals 17A, 17B).

[0080] The novelty and importance of self-scanning capability in an EMU lies in its ability to enable self-optimization. That is, by repeatedly scanning the nozzle and autonomously modifying the signal to adjust performance, the EMU can continuously deliver desired results regardless of operational wear or structural damage. For example, by generating a first acoustic profile corresponding to optimal operating conditions, generating a second profile during operation and comparing it to the first profile, and tracking and evaluating the difference (deviation), the EMU can detect the formation of solids such as scale, lime, and biofilm on the nozzle surface and execute a rapid autonomous self-cleaning program. This self-cleaning can increase vibration by applying peak vibrations with higher power and amplitude. Even more advantageously, the liquid flow may be autonomously stopped during the vibration increase period. In addition, a library of deviations between the first and second profiles may be generated for diagnostic and predictive maintenance recommendations. Furthermore, self-scanning capability can identify wear, mechanical damage, and other factors affecting the operational capability of the ultrasonic nozzle.

[0081] Furthermore, the EMU may operationally engage with any carriage-mounted or externally mounted sensors (such as optical sensors, temperature sensors, or 3D spatial scanners). This enables decision-making based on pre-programmed logic that adjusts the flow rate according to flow rate estimates based on fluctuating temperature, illuminance, or other changes that should increase or decrease the flow rate to reduce or eliminate "water stress" in crops. In addition, the EMU may operationally engage with any sensor that scans root development and notify the system or personnel of the root development status via wired or wireless communication. This allows for determination of whether roots are developing as expected, inspection of areas with poor development for causes such as pests and diseases, and learning of factor combinations that resulted in unexpected growth from areas of overdevelopment, which can then be deployed as beneficial strategies throughout the facility.

[0082] Solution supply and distribution Aqueous solutions (e.g., aqueous solutions containing nutrients) may be supplied to the apparatus from an optional external storage unit (Figure 15, reference numeral 43), from a mounted solution container attached to the apparatus carriage (1) (Figure 2, reference numeral 44), from a groove in the cultivation platform (Figures 18A, 18B, reference numeral 62), or from any other suitable solution source. Once the solution reaches the apparatus, it may be supplied to a solution distribution system mounted on the carriage (Figure 2, reference numeral 23). The solution distribution system may operatively engage with one or more nozzles mounted on the carriage and supply the solution to the nozzle inlet (Figure 8, reference numeral 11) at the required flow rate of 1 LPH to 500 LPH. The solution distribution system (Figure 2, reference numeral 23) may engage with one or more nozzles via a hose (45), piping arranged within the carriage frame, or any other suitable means. The solution distribution system may use a low-pressure pump to transfer the solution from the supply source to the nozzle inlet. The solution distribution means may include valves that can be selectively opened and closed at the required timing. This is advantageous because each nozzle can operate at a different flow rate.

[0083] Aeroponic irrigation process Aeroponic irrigation works by supplying a nutrient solution to roots in an aerosolized form within a sealed environment where the roots are suspended in the air. Supply can be carried out at a constant flow rate, fixed intervals, or dynamic intervals. Plants may be supported by an aeroponic wall, aeroponic table, aeroponic grow box, aeroponic A-frame, trapezoidal structure, or other suitable structure. At a minimum, these structures support the plants so that the above-ground parts are exposed to artificial or natural light, and protect the roots from light, pests, and other unwanted irritants. In this disclosure, an ultrasonic nozzle is used to supply mist (aeroponic mist) to roots suspended within any elongated structure. Additional airflow may be used, if necessary, to give additional inertia to the dispersed aerosol. Interval control is achieved by programming a mobile mechanism; that is, the mobile mechanism moves a mobile aeroponic irrigation device back and forth at an arbitrary speed, exposing the plants to an amount of aerosol proportional to the speed of movement and the set flow rate of the ultrasonic nozzle.

[0084] Non-exclusive exemplary embodiments This disclosure can be understood by considering non-limiting exemplary embodiments.

[0085] According to a first preferred embodiment (Figures 17A and 17B), the apparatus comprises a triangular carriage (Figure 2, reference numeral 1A) with an angle set to 60 degrees. The carriage is further configured to operatively engage with an A-frame cultivation structure having a 60-degree angle for cultivating short-cycle crops (e.g., lettuce) in a commercial greenhouse. In this embodiment, the carriage is equipped with 10 nozzles (8), which are ultrasonic nozzles having an internal channel with an inner diameter of 4 mm and are arranged in a casing fixedly mounted to the carriage. In this embodiment, the nozzles can atomize the solution at 1 LPH to 20 LPH / nozzle. In this embodiment, the nozzles can be set to provide droplet diameters of 30 μm, 50 μm, 70 μm, or 100 μm. The means of transport consists of an electric motor (Figure 17A, reference numeral 46) and a gearing system (47) and is designed to engage with a belt (48). The belt is attached to both ends of the cultivation platform and forms a longitudinal travel path along the center of the A-frame cultivation structure. In this embodiment, the travel means can propel the device at a variable speed of 1 cm / sec to 100 cm / sec. Furthermore, in this embodiment, the precise position of the sprayer is calculated by the number of motor steps. A solution distribution means is attached to the carriage, which operatively engages with a solution supply source at one end and with a nozzle at the other end. The carriage further includes an automatic winding drum (49), and a solution supply hose (Figure 17B, reference numeral 50) and a power supply cable (51) are connected to the greenhouse solution supply system (52) and the greenhouse power supply system (53), respectively, and are located outside the A-frame cultivation structure. The solution supply hose and power cable are integrated (54) and engage with the automatic winding drum (49), and the automatic winding drum and power cable further engage with the solution distribution system and electronic control unit (Figure 17A, reference numeral 55) on the carriage, respectively. As the carriage travels and performs irrigation, the irrigation means begins spraying at one end, and each plant receives a spray of 10 LPH for approximately 2 seconds. The carriage then reaches the end of its travel path, stops spraying, and returns to the starting point. In a preferred embodiment, the device further comprises an integrated airflow unit (56) in which a central fan engages with a nozzle casing (20) via a flexible tube, the tube being located within the carriage frame.In this embodiment, young plants may be placed on one end of the cultivation platform and mature plants on the other end, so that the irrigation intensity can be programmed to increase or decrease based on the device position.

[0086] According to a second preferred embodiment (Figures 18A and 18B), the device comprises a rectangular carriage whose height is at least three times greater than its width. The carriage is further configured to operatively engage with rectangular cultivation structures in which annual crops are arranged at regular intervals on top of the cultivation platform, maximizing light access to the leaf surfaces while ensuring a travel path for the irrigation device to travel between the roots. In this embodiment, the carriage is equipped with six nozzles, which are ultrasonic nozzles having an internal channel with an inner diameter of 6 mm, and are located in casings attached to the carriage in a position that can be manually adjusted by ball joints. In this embodiment, the nozzles can atomize the solution at 1 LPH to 50 LPH / nozzle. In this embodiment, the nozzles can be set to provide droplet diameters of 50 μm to 150 μm. In this embodiment, individual fans (57) are attached to each nozzle casing as additional airflow means. The means of movement includes a caterpillar system (58) configured to engage with the ground of the cultivation structures and travel back and forth between its longitudinal ends. In this embodiment, means (59) for detecting the start and end of the travel path are mounted on the front and rear of the carriage and are operationally engaged with an electronic control unit (60). In this embodiment, the travel speed is variable from 1 cm / sec to 50 cm / sec. A solution distribution means (61) is mounted on the carriage and is operationally engaged with a nozzle. In this embodiment, the solution distribution means engages with a supply channel (62) having a fluid nutrient solution located within the cultivation structure. The power supply means is a battery (63) located in a waterproof case on the device, and the battery charging port (64) engages with an external charging plug (65) installed at the start of the travel path and is rapidly charged at the appropriate time. When the carriage travels and performs irrigation, the irrigation means starts spraying at one end, and one plant receives a spray of 15 LPH for about 3 seconds. After that, the carriage reaches the end of the travel path, stops spraying, and returns to the starting point. In this embodiment, the irrigation intensity can be programmed to increase or decrease based on input from a greenhouse environment monitoring system.

[0087] According to a third exemplary embodiment (Figure 19), multiple A-frame cultivation rows can be irrigated by multiple triangular devices. Each carriage (1) is equipped with an arbitrary number of nozzles (8), and each carriage engages with a boom (66). The boom also engages with a motor (67), which moves the boom in correspondence as it travels along a rail along the longitudinal path of the cultivation structure. In this embodiment, the boom includes power supply, solution supply and airflow supply, the connection is located within the device frame, and the input that engages with the boom may be located outside the cultivation structure within the greenhouse facility.

[0088] According to a fourth exemplary embodiment, multiple A-frame cultivation rows may be irrigated by one or more devices. A carriage (1) comprises any number of nozzles (8), and each device may engage with any suitable moving mechanism to travel within multiple cultivation structures. The devices may engage with any suitable liquid supply and power supply mechanisms and may travel in an endless loop between cultivation structures. Advantageously, this embodiment can eliminate return time and maximize resource utilization within the CEA facility.

Claims

1. A mobile irrigation device comprising a carriage (1), one or more ultrasonic nozzles (8), a source of aqueous solution, a means for distributing aqueous solution (23), a power supply, and an electronic control unit (18), The carriage further includes a means of transport (3), One or more nozzles are attached to the carriage (1), Each of the one or more ultrasonic nozzles (8) oscillates between 10 kHz and 3 MHz, Each of the one or more ultrasonic nozzles (8) is operatively connected to the aqueous solution supply source via the distribution means (23), The aqueous solution source is sufficient to supply the aqueous solution to each ultrasonic nozzle (8) via the distribution means (23) at a flow rate of 1 LPH to 50 LPH. Each ultrasonic nozzle (8) is capable of atomizing the supplied aqueous solution at a flow rate of 1 LPH to 50 LPH. Each ultrasonic nozzle (8) is operatively connected to the electronic control unit (18), The electronic control unit (18) individually controls the oscillation frequency of each ultrasonic nozzle (8). The distribution means (23) is operationally connected to the electronic management unit (18), Furthermore, the driving means (3) is operably connected to the electronic management unit (18), A mobile irrigation device characterized in that the electronic control unit (18) generates a first acoustic profile for at least one ultrasonic nozzle (8), periodically generates a second acoustic profile for at least one ultrasonic nozzle (8), and determines a deviation value by comparing the second acoustic profile with the first acoustic profile for at least one ultrasonic nozzle (8).

2. A mobile irrigation device according to claim 1, wherein the electronic control unit (18) is a programmable controller.

3. In the mobile irrigation device according to claim 1 or 2, The aqueous solution distribution means (23) includes one or more valves. One or more of the aforementioned valves are operably connected to the electronic control unit (18), The one or more valves are individually controlled by the electronic control unit (18), A portable irrigation device in which one or more valves can modulate the flow rate of an aqueous solution from a supply source through the distribution means (23) to one or more nozzles (8).

4. In the mobile irrigation device according to any of the above claims, The apparatus comprises a plurality of ultrasonic nozzles (8), and the electronic control unit (18) modulates the flow through one or more valves to individually increase or decrease the flow rate of aqueous solution supplied to each ultrasonic nozzle (8). A mobile irrigation device wherein the electronic control unit (18) individually increases or decreases the atomization rate of each ultrasonic nozzle (8).

5. In the mobile irrigation device according to any of the above claims, A mobile irrigation device wherein the aqueous solution is atomized by one or more nozzles (8) into droplets with a variable average diameter in the range of 20 μm to 200 μm, preferably 20 μm to 100 μm.

6. In the mobile irrigation device according to any of the above claims, A mobile irrigation device in which the power source of the mobile irrigation device is a battery or an external power source.

7. In the mobile irrigation device according to claim 7, A mobile irrigation device in which, when the deviation value exceeds a predetermined threshold, the electronic control unit (18) adjusts the oscillation of the deviated ultrasonic nozzle (8) for a predetermined time.

8. In the mobile irrigation device according to claim 8, The electronic management unit (18) records that the deviation score has fallen below a predetermined threshold during the predetermined time. A mobile irrigation device in which a new first acoustic profile is recorded for the ultrasonic nozzle (8).

9. In the mobile irrigation device according to claim 8, The electronic management unit (18) does not record that the deviation score falls below a predetermined threshold during the predetermined time. A mobile irrigation device in which the electronic control unit (18) disables the detached ultrasonic nozzle.

10. In the mobile irrigation device according to claim 10, The electronic control unit (18) is connected to a plurality of ultrasonic nozzles, A mobile irrigation device wherein the electronic control unit (18) adjusts the nozzle flow rate to compensate for deactivated, deviating ultrasonic nozzles.

11. In the mobile irrigation device according to claim 10, The electronic management unit (18) is connected to an external system so as to be able to communicate with it. A mobile irrigation device wherein the electronic control unit (18) notifies an external system of a malfunction of the ultrasonic nozzle (8).

12. A method for manufacturing a mobile irrigation device according to any one of the claims above.

13. Use of the mobile irrigation device according to claims 1 to 12 for aeroponic cultivation.

14. In the mobile irrigation device according to claim 1, The device is operationally connected to at least one other device, A mobile irrigation device in which the traveling means is operatively connected to multiple devices.

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