METHOD AND APPARATUS FOR HIGH-DENSITY INDOOR CULTIVATION

Abstract

This description relates to a module and system for indoor cultivation. In some embodiments, an indoor cultivation module includes a container compartment divided into a growth zone and a control zone, where a growth zone comprises a chassis with a plurality of horizontal and vertical frame members configured to support a plurality of trolleys, each with a tray containing a plurality of plants, and where the control zone includes an integrated air blowing unit for directing air between a suspended ceiling and a structural ceiling of the indoor cultivation module and an air conditioning unit configured to condition an atmosphere in the growth zone by producing fresh dry air that is injected into a plenum space located between the suspended ceiling and a structural ceiling.

Description

METHOD AND APPARATUS FOR HIGH-DENSITY INDOOR CULTIVATION DESCRIPTION OF THE INVENTION This description refers generally to indoor growing systems and, more particularly, to a method and apparatus for indoor growing that uses a high-density indoor growing module. Global food production systems must address significant challenges in the coming decades. Finding ways to feed a growing global population while reducing the environmental impact of agricultural activities is of vital importance. Controlled environment agriculture (CEA), which includes greenhouses and indoor farming, offers a realistic alternative to conventional production for some crops. Vertical indoor farming allows for faster and more controlled production, regardless of the season. Furthermore, vertical indoor farming is not vulnerable to other environmental variables such as pests, pollution, heavy metals, and pathogens. Vertical indoor farming can also reduce environmental impact by minimizing nutrient loss, requiring less land, improving waste management, reducing yield losses, lowering transportation costs, and decreasing clean water usage.Therefore, vertical indoor growing can help address significant challenges. Q / nczn / zznza / Y However, current methods and systems for vertical indoor growing are relatively expensive to implement and do not efficiently utilize the available space within a room or container for growing plants. For example, to implement an indoor growing system, a closed room or container must be provided and then configured to cultivate crops or plants in a controllable environment. Environmental parameters such as lighting, temperature, humidity, and airflow can be controlled within the room or container to achieve the benefits of indoor growing discussed earlier. However, such environmental control requires relatively expensive sensors and control systems.Furthermore, the shelving and / or racks for supporting the plants must be placed inside the room or container. For relatively large rooms or containers, additional space is allocated to allow human operators to move around inside the enclosed space to access each shelf and / or rack. Therefore, much of the space within the room or container is not allocated for growing plants, but rather for human access and movement. This is an inefficient use of valuable and limited space within an enclosed room or container intended for growing plants / crops. Consequently, current methods and systems for indoor cultivation are unsatisfactory. BRIEF DESCRIPTION OF THE DRAWINGS The features of the invention are best understood from the following detailed description when read in conjunction with the accompanying figures. It should be noted that several features are not necessarily drawn to scale. In fact, the dimensions and geometries of the various features may be arbitrarily enlarged or reduced for the sake of clarity. FIGURE 1A illustrates a perspective view of a standard shipping container that can be used to provide an indoor growing container or module 100, according to some embodiments of the invention. FIGURE IB illustrates an exemplary perspective view of an indoor growing module 100 open at one end to reveal a plurality of vertical layers of plant trays, each vertical layer having a plurality of rows of plant trays and extending along the entire inside width of module 100, according to some embodiments of the invention. FIGURE 2 illustrates an exemplary side view of an indoor growing module 100 with an air circulation system, according to some embodiments of the invention. Figures 3A-3C illustrate circulation patterns of Q / nczn / zznza / Y air provided by an air circulation system in an indoor growing module 100, according to some embodiments of the invention. FIGURES 4A-4D illustrate exemplary side views and a top view of an indoor growing module 100 with a water circulation system and a lighting system, according to some embodiments of the invention. FIGURES 5A-5B illustrate an enlarged front view and a perspective view of an exemplary horizontal frame assembly 500 of the chassis 104 of an indoor growing module 100, according to some embodiments of the invention. 100. FIGURES 6A-6B illustrate a 600 gradual speed motor assembly, according to some embodiments of the invention. FIGURES 7A-7B illustrate a tray drain insert, according to some embodiments of the invention. FIGURES 8A-8E illustrate an exemplary cart design in an indoor growing module 100, according to some embodiments of the invention. FIGURE 9A illustrates an exemplary diagram of a 900 tray handling system for an 100 indoor growing module, according to some modalities of the Q / nczn / zznza / Y invention. Q / nczn / zznza / Y FIGURE 9B illustrates an exemplary block diagram of a controller for an indoor growing module, according to some embodiments of the invention. FIGURES 10A-10F illustrate exemplary perspective views of an accessory 1000 for an articulated robot in a tray handling system 900, according to some embodiments of the invention. FIGURE 11 illustrates an exemplary block diagram of a control system 1100 in an indoor growing module 100, according to some embodiments of the invention. FIGURES 12A-12B illustrate perspective views of a 1200 indoor growing module, according to some embodiments of the invention. Several exemplary embodiments of the invention are described below with reference to the accompanying figures to enable a person of ordinary skill in the art to carry out and use the invention. As will be evident to those skilled in the art after reading this description, various changes or modifications can be made to the examples described herein without departing from the scope of the invention. Therefore, the present invention is not limited to the exemplary embodiments and applications described or illustrated herein. Furthermore, the specific order or hierarchy of steps in the methods described herein are merely exemplary approaches. Based on design preferences, the specific order or hierarchy of steps in the methods or processes described can be rearranged while remaining within the scope of the present invention.Therefore, those with ordinary experience in the art will understand that the methods and techniques described herein involve several steps or actions in a sample order, and the invention is not limited to the specific order or hierarchy presented unless expressly stated otherwise. The embodiments of the present invention are described in detail with reference to the accompanying drawings. The same or similar components may be designated by the same or similar reference numbers, even if illustrated in different drawings. Specific examples of components and arrangements are described below to simplify the present description. These are, of course, merely examples and are not intended to be limiting. For example, it shall be understood that when an element is referred to as connected to or coupled to another element, it may be connected or coupled directly to the other element, or one or more intermediate elements may be present. Figure 1A illustrates a perspective view of a container or enclosure 100 that can be used to provide an indoor growing module 100, according to some Q / nczn / zznza / Y modes. In some modes, container 100 is a Q / nczn / zznza / Y A standard shipping container is used to ship goods across oceans or seas, typically in cargo tankers, and can subsequently be loaded and transported overland by 18-wheeler trucks. These standard shipping containers are ubiquitous today, and used shipping containers can be purchased at relatively inexpensive prices. Therefore, these relatively inexpensive, ready-to-use containers can be adapted to the 100 indoor growing modules, according to various embodiments of the invention, as described in more detail below. Standard shipping containers are typically constructed of steel and are fully enclosed. As shown in Figure 1A, a typical shipping container has the shape of an elongated rectangular box with a roof, floor, two side walls, a front wall, and a rear wall.In some configurations, double doors (not shown) are provided in the front wall 150 to allow access to crops or plants (hereafter collectively referred to as crops) inside the container 100 (e.g., for loading, unloading, inspection, treatment, etc.). Various types of doors (e.g., single, double, garage-type, roll-up, etc.) can be fitted to the front wall 150 as desired, or the existing doors of the standard shipping container 150 can be used. Similarly, the rear wall 160 can be fitted with various types of doors to allow personnel access to the environmental control systems and equipment located in the rear area of ​​the container 100, as described in more detail below. Standard shipping containers typically have a length (L) of 12.19 m (40 ft), a height (H) of 2.74 m (9 ft) and 15.24 cm (6 in), and a width (W) of 2.43 m (8 ft). The inventors have found that the dimensions of standard shipping containers, especially when filled to capacity with crops and equipped with environmental controls for year-round cultivation, provide a cost-effective approach for indoor growing. However, it is understood that, in alternative embodiments, the invention is not limited to adapting standard shipping containers to provide 100 indoor growing modules. Other types of enclosures, containers, or structures having similar or different dimensions, and made of the same or different materials, may be used based on the principles of the invention described herein, in accordance with various alternative embodiments of the invention. Figure IB illustrates an exemplary perspective view of an indoor growing module 100 with the front wall 150 open or removed to reveal an interior compartment 102 of the container 100, according to certain embodiments of the invention. In these embodiments The illustrated components Q / nczn / zznza / Y, an air circulation system, a liquid circulation system, and a lighting system, which are described separately in detail below, are omitted from the indoor growing module 100 for illustrative purposes. As shown in Figure IB, the indoor growing module 100 comprises an interior compartment 102. In some embodiments, the module 100 is a standard refrigerated shipping container adapted for indoor growing, as described in more detail below. In the illustrated embodiment, the indoor growing module 100 comprises a chassis 104. In some embodiments, the chassis 104 comprises a plurality of vertical frame members and a plurality of horizontal frame members. In the illustrated modalities, chassis 104 comprises 4 levels, namely a first level 1061, a second level 106-2, a third level 106-3 and a fourth level 106-4.Each of the four levels 106 of chassis 104 extends from a first wall 108-1 to a second wall 108-2 of container compartment 102 in a first direction (i.e., x-direction). In some embodiments, the first wall 108-1 and the second wall 108-2 are side walls along the long side of container compartment 102. Each of the four 106 levels of chassis 104 comprises three pairs of guide rails 110 that extend to the Q / nczn / zznza / Y along a second direction (i.e., direction y) perpendicular to the first direction. In some embodiments, the three pairs of guide rails 110 are parallel and configured side by side so that the three pairs of guide rails at a level 106 occupy the entire width of the container compartment 102 (i.e., the space between the first wall 108-1 and the second wall 108-2). In the illustrated embodiments, a plurality of trolleys 112 with wheels sized and spaced to roll on the pair of guide rails 110 are movably positioned within the chassis 104. Each of the plurality of trolleys 112 is detachably coupled to an adjacent trolley 112 on the same pair of guide rails 110 via a trolley coupler (not shown), as described in more detail below. In some embodiments, the trolley coupler is also configured to couple and secure to an articulated robot during transfer, as described in more detail below. Each of the plurality of trolleys 112 in the indoor growing module 100 is configured to carry a tray containing a seed pod (not shown) in which a plurality of plants are planted.In some embodiments, the seed pod comprises a plurality of holes, and the arrangement of these holes is determined according to the growth condition of the plant variety. In some embodiments, each of the... Q / nczn / zznz / 3 / γ Q / nczn / zznza / Y three pairs of guide rails can carry 8 carts and the indoor cultivation module 100 can carry a maximum of 96 carts. A lighting assembly and a water circulation assembly are mounted on the plurality of horizontal frame members of chassis 104 to provide light and liquid supply to each of the trays on the corresponding cart, according to some embodiments, and as described in more detail below. In some embodiments, the container compartment 102 is completely enclosed using a roll-up door (not shown) at one end to maintain the growth conditions (e.g., humidity, temperature, CO2 level, etc.) within a completely sealed environment. The roll-up door opens when a cart is transferred into or out of compartment 102, for example. Note that the indoor growing module 100 illustrated in Figures 1A and 1B is merely an example and is not intended to limit the invention.Accordingly, it is understood that a chassis in the indoor growing module 100 of Figure 1 can be configured with any number of levels 106, any number of guide rails 110, and can carry any number of trolleys 112, according to various embodiments of the invention. Figure 2 illustrates an exemplary side view of the Q / nczn / zznza / Y indoor growing module 100 with an air circulation system, according to some embodiments of the invention. In the illustrated embodiments, a liquid circulation system and a lighting system, which are described in detail below, are omitted for illustrative purposes. In the illustrated embodiments, the indoor growing module 100 comprises a container compartment 102, wherein the container compartment 102 is divided into two zones along the Y direction, namely, a first zone 202 and a second zone 204. In some embodiments, the first zone 202 is a growth zone and the second zone 204 is a control zone.In some embodiments, the first zone 202 comprises a chassis 104 with a plurality of horizontal and vertical frame members for supporting a plurality of trolleys 112, wherein the plurality of trolleys 112 each carries a tray with a plurality of shelves (not shown), as described above. In some embodiments, the container compartment 102 is configured with a roll-up door 218 at a first end of the container compartment 102. Furthermore, the container compartment 102 comprises a structural floor 222. In some embodiments, the second zone 204 comprises an air blowing unit 206, an air conditioning unit 208, and at least one dehumidifier 210. In the illustrated embodiment, the first zone 202 further comprises a false ceiling 212, which is coupled to the air blowing unit 206. In some embodiments, the air blowing unit 206, the air conditioning unit 208, at least one dehumidifier 210, and the false ceiling 212 are configured to provide an effective air circulation system at controlled temperatures for the plurality of floors on each of the plurality of trolleys 112 at different levels 106 of the chassis 104 in the first zone 202 of the container compartment 102. The airflow pattern created by these air circulation system components is described in detail below.In some embodiments, control zone 204 further comprises a control panel 214, which is configured to monitor, maintain, and control the environmental parameters in the indoor grow module 100, described in detail below. In some embodiments, at least one dehumidifier 210 in control zone 204 is mounted through the rear wall 160 of the indoor grow module 100 at one end and supported by a rack 216. Figures 3A-3B illustrate air circulation patterns provided by an air circulation system in an indoor growing module 100, according to some embodiments of the invention. Figure 3A is a side cross-sectional view, and Figure 3B is a top view. Q / nczn / zznza / Y cross-section of indoor growing module 100 and Figure 3C is a three-dimensional (3D) view of indoor growing module 100. In the illustrated embodiments, the air circulation system comprises an air blowing unit 206, an air conditioning unit 208, a false ceiling 212, and a dehumidification unit 210. In some embodiments, the air blowing unit 206 is sized based on the mass of the plant and the volume of the container. In some embodiments, the air conditioning unit 208 is used to condition the atmosphere in growing zones within the indoor growing module and is sized based on the heat generated by a lighting assembly. It is generally desirable to create laminar airflow in the vicinity of the plants within the growing zone 202. In some configurations, the air conditioning unit 208 produces dry, cool air that is then introduced into the recirculation fans and forced into the space above the suspended ceiling 212 (i.e., a plenum space) located above the growth zone 202. In some configurations, the suspended ceiling 212 has gaps along its left and right sides to facilitate air movement, as described in detail below. When the cool air enters the suspended ceiling 212, it is pressurized, causing positive displacement. This displacement causes some of the air to be distributed along the side walls. In some configurations, a motorized damper controls the volume of remaining air exiting the plenum space. In some configurations, preset setpoints in the control program adjust the airflow as the plant mass increases during different stages of the growth cycle. In this design, the air circulation system functions as a back-and-forth air exchanger that collects heat and moisture as it returns for reconditioning. In the illustrated configurations, the air blowing unit 206 and the air conditioning unit 208 are integrated with a second end in the suspended ceiling 212 to blow air into the plenum space 302 between the suspended ceiling 212 and a structural ceiling 220 of the indoor grow module 100. In some configurations, a height 304 of the plenum space is predetermined or fixed. For example, in one configuration, the height 304 of the plenum space 302 is 15.24 cm (6 inches). In other configurations, the height 304 of the plenum space 302, defined by the suspended ceiling 212 and the structural ceiling 220, can be adjusted, tilted, and customized according to the growing conditions in the indoor grow module 100. In some configurations the height 304 of the plenum space 302 is in the range of 12.70 to 20.32cm (5 to 8 inches).Optimal airflow within plenum space 302 can be achieved by modifying the size of plenum space 302 and the outlet of air blower unit 206. In some configurations, airflow exits plenum space 302 at the front end near the front wall 150 at a velocity between 384 m / min (1260 ft / min) and 426.7 m / min (1400 ft / min). The airflow velocity in the plenum space may be proportional to the size of the container or grow zone. In some configurations, the air circulation system generates an airflow at the plenum outlet ranging from 0.177 to 0.198 m / min (0.581 to 0.651 ft / min) per cubic foot of grow zone volume. In some embodiments, the thickness of suspended ceiling 212 (308) is approximately 3.30 mm (1 / 8 inch). In some embodiments, suspended ceiling 212 comprises a plurality of panels, each of which comprises fiberglass-reinforced plastic (FRP) boards. In some embodiments, the FRP boards are installed with a width of 219.5 centimeters and a length of 1066.80 centimeters. In some embodiments, air blowing unit 206 comprises at least one fan. In some embodiments, the air blowing unit can provide an airflow in the range of 8520 cubic centimeters per minute. In the illustrated embodiment, the forced air supply 310 enters the plenum space 302 from a second end Q / nczn / zznza / Y Q / nczn / zznza / Y after being produced by air blowing unit 206 and conditioned by air conditioning unit 208. Air blowing unit 206 has a capacity determined according to the plant mass and container volume 102. The forced air supply 310 creates higher atmospheric pressure in the plenum space 302, resulting in active air circulation in the indoor growing module. In some embodiments, the forced air supply 310 from air blowing unit 206 is cold and dry. In some embodiments, a portion of the forced air supply 310 is directed through the plenum space 302 and discharged horizontally through the plenum space 302 from the second end to the first end. In some embodiments, a motorized damper controls the volume of the portion of the forced air supply 310 that exists at the first end.The forced air supply 310 is then directed downwards through a front gap 307 between the suspended ceiling 212 and the front wall 150 (or roll-up door 218) of container 102. In some embodiments, the front gap 307 measures between 30 and 43 cm (12 to 17 in). The forced air supply 310 also flows vertically downwards 311 through the side diffuser slots 312 between the suspended ceiling 212 and the structural side walls 108-1 and 108-2 of container compartment 102. In some embodiments, a width 306 of the slots 312. The diffuser Q / nczn / zznz / 3 / γ measures approximately 4.13 centimeters (1 and 10 / 16 inches). In some embodiments, the width of the diffuser slot 312 can be varied from 2.54 to 10.16 cm (1.5 to 4 inches). In some embodiments, the air circulation system maintains the vertical airflow velocity 311 between 0.5 m / s and 0.9 m / s (98 ft / min to 177.17 ft / min). It should be understood that the vertical airflow velocity 311 can be reduced below 49.7 cm / s (98 ft / min), but it is preferred that the vertical airflow velocity not exceed 1.5 m / s (295 ft / min). The downward vertical airflow 311 enters the spaces between the multiple levels 106 to provide efficient air circulation to the multiple plants in trays. The airflow continues horizontally 313 between the multiple levels 106 of the chassis 104 in the growth zone 202. The air circulation system of the indoor growing module 100 maintains a substantially laminar horizontal airflow 313 between the multiple levels 106 adjacent to the plants growing therein. In some configurations, the air circulation system maintains the horizontal airflow velocity 313 between 59.4 m / min and 89.9 m / min (195 ft / min to 295 ft / min). In other configurations, the air circulation system maintains the horizontal airflow velocity 313 between 0.1 m / s and 0.3 m / s (19 ft / min to 60 ft / min). It should be understood that the horizontal airflow velocity 313 can be reduced to 0.0.5 m / s (10 ft / min), but it is preferred that the horizontal airflow velocity 313 not exceed 2 m / s (390 ft / min). The horizontal airflow velocity 313 can be controlled by varying any combination of the following variables: the volume of the growing zone, the outlet of the air blower unit 206, the size of the plenum space 302, the space 307, the size of the slots 312 of the side diffuser, and the distance between levels 106. As the airflow passes through the plants, it is directed to the dehumidifying unit 210 located at the far end of compartment 102 of the container, below the air blowing unit 206. In some configurations, adjacent levels of trays and the suspended ceiling are mounted and configured to assist in this desired directional airflow. In some configurations, the air blowing unit 206 and the air dehumidifying unit 210 can be configured and controlled according to humidity data collected by multiple humidity sensors distributed throughout the indoor growing module 100. This helps determine the desired airflow rate within the module to provide optimized growing conditions for the plants in the trays. In some configurations, the airflow is measured directly by the Q / nczn / zznza / Y minus an anemometer sensor. Based on the upper and lower airflow parameters programmed into the control unit, the control unit uses the motorized damper to control the opening size. In some configurations, the airflow is controlled by controller 214, which can dynamically adjust the airflow according to the plant mass as it increases during different stages of a growth cycle. As dry, cool air enters the space between levels, the humidity and temperature of the airflow increase. In some configurations, the air dehumidification unit 210 receives a return of humid air 314 from the growth zone 202 and supplies dry air to the air blowing unit 206. The condensate from the dehumidification process is drained to a collection tank (not shown) for filtering and recycling. Thus, the air control system described above, and illustrated in Figures 3A-3C, facilitates the control of environmental parameters such as temperature, humidity, air content, etc., to precisely control and maintain optimal or predefined growth conditions within the 202 growth zone, depending on the types of crops sown and the stage of their growth cycle, according to various modalities of the invention. Figures 4A-4D illustrate a circulation system Q / nczn / zznza / Y Q / nczn / zznza / Y of water and a lighting system of the exemplary indoor growing module 100, according to some embodiments of the invention. It is noted that the indoor growing module 100 illustrated in Figures 4A and 4D is merely an example and is not intended to limit the invention. Accordingly, it is understood that additional structures and components may be provided in or attached to the indoor growing module 100 of Figures 4A and 4D, and / or some other components may be omitted. In the illustrated embodiment, each of the four levels 106 of the chassis 104 extends from a first wall 108-1 to a second wall 108-2 of the indoor growing module 100 in a first direction (i.e., x-direction). Each of the four levels 106 comprises three pairs of guide rails 110. A plurality of trolleys 112 moves along each pair of guide rails 110. Each trolley 112 comprises a tray 402 on which a plurality of plants 404 are positioned. Each of the trolleys 112 in the indoor growing module 100 is provided with a lighting assembly 406 for the plants 404 and a liquid circulation assembly 408. In the illustrated embodiment, the lighting assembly 406 and the water circulation assembly 408 are structurally supported on the corresponding horizontal frame members on each of the plurality of carriages 112.In the illustrated embodiments, the liquid circulation assembly 408 comprises a plurality of liquid supply lines, a plurality of liquid return lines, a plurality of liquid distribution pipe assemblies, a plurality of drain lines, and a plurality of variable speed motor assemblies, which are discussed in more detail below. In some embodiments, the lighting assembly 406 comprises at least one lighting module, which is discussed in more detail below. In some embodiments, the plurality of drain lines are coupled to each other via a drain collection line 412 and are further connected to an external drain container. Figure 5A-5B illustrates details of an exemplary horizontal frame assembly 500 of the chassis 104 of an indoor growing module 100, according to some embodiments of the invention. The horizontal frame assembly 500 comprises a horizontal frame member 502, wherein the horizontal frame member 502 is configured to provide structural support to a liquid circulation assembly 408, a lighting assembly 406, a pair of guide tracks 110, and a leaf guard 504. In the illustrated embodiments, the liquid circulation assembly 408 comprises a liquid supply conduit 506, a liquid return conduit 508, a liquid distribution tube assembly 510, and a drain conduit 512. Q / nczn / zznza / Y In some embodiments, the liquid supply line 506, the liquid return line 508, and the drain line 512 are shared by a plurality of trays 402 on a plurality of linked trolleys 112 located on a pair of guide rails 110. In some embodiments, the liquid supply line 506 and the liquid return line 508 are coupled to the horizontal frame member 502 via a water pipe support 414. In some embodiments, the liquid supply line 506 comprises Schedule 80 PVC and the liquid return line 508 comprises stainless steel. In some embodiments, the liquid supply line 506 and the liquid return line 508 each have a diameter of 1.27 centimeters.In some embodiments, the leaf guard 504 is supported by a support bracket 542, wherein the support bracket 542 is further supported on the liquid supply conduit 506 and the corresponding guide rails 110. In some embodiments, the leaf guard 504 is configured to guide leaves falling from the plants to a tray or cart, which can be removed once the tray or cart is removed from the indoor growing module 100 to reduce contamination of the indoor growing module 100 by rotting vegetation. In some configurations, the 510 liquid distribution tube assembly is configured to supply Q / nczn / zznza / Y irrigation fluid from the liquid return conduit 508 to each of the plurality of trays 402 to provide irrigation fluid containing water, nutrients, and oxygen to support plant growth in each of the plurality of trays 402. In some embodiments, the liquid distribution pipe assembly 510 further comprises a liquid distribution pipe 516, an aeration unit 518, and a liquid distribution nozzle 520. In some embodiments, the aeration unit 518 further increases the oxygen concentration in the irrigation fluid entering tray 402. In some embodiments, an aeration level can be individually adjusted by means of a valve 522 in the aeration unit 518 according to the growth conditions required for the plants in the indoor growing module 100. In some embodiments, a first end of the liquid return conduit 508 is also equipped with a rotating device 524 to facilitate rotation of the liquid return conduit 508. In some embodiments, the liquid distribution tube assembly 510 can be rotated along the axis of the liquid return conduit 508 by a variable-speed motor assembly 526 located at a second end of the liquid return conduit 508, which is described in detail below. Q / nczn / zznza / Y In some embodiments, the variable-speed motor assembly 526 is coupled to the liquid return conduit 508 to provide a rotational movement to the liquid return conduit 508 in order to engage or disengage the plurality of liquid distribution tube assemblies 510 to or from the corresponding trays 402. In some embodiments, the plurality of liquid distribution tube assemblies 510 are rotated away from the corresponding trays to allow the trolleys 112 carrying the plurality of trays 402 to move along the pair of guide rails 110. This facilitates the movement of the trolleys 112 into and out of the container 102. In some embodiments, the variable-speed motor assembly 526 is coupled to a horizontal frame member 502 at the second end of the chassis 104 via a variable-speed motor bracket (not shown). In the illustrated embodiments, the drain conduit 512 comprises a plurality of drain slots 528. In some embodiments, each of the plurality of drain slots 528 is configured to receive drainage fluid from the corresponding pan 402 located above the drain conduit 512 through a pan drain insert (not shown). In some embodiments, the drain conduit 512 is configured with an upper and a lower end to aid in the collection of drainage fluid from the plurality of drain slots 528. In some embodiments, the drain conduit 512 comprises Schedule 80 PVC and has a diameter of 5.08 centimeters. In the illustrated embodiment, the lighting assembly 406 supported by the horizontal frame member 502 comprises at least one lighting module 540. In some embodiments, each of at least one lighting module 540 comprises at least one of the following photon light sources: an incandescent light, a fluorescent light, a halogen light, a high-pressure sodium light, a plasma light, and a light-emitting diode (LED) light, to provide photons for the photosynthetic reactions in the plants 404 on the corresponding tray 402 within its lighting range. In some embodiments, at least one lighting module 540 is further coupled to at least one power supply (not shown) to receive electrical power.In some configurations, the power supply for each of at least one 540 lighting module can be monitored and controlled to manage the lighting intensity of the 404 plants in the corresponding 402 tray. Figure 6A illustrates a gradual speed motor assembly 600, according to some embodiments of the invention. Figure 6B illustrates the gradual speed motor assembly 600 coupled to the return duct 508 of Q / nczn / zznz / 3 / γ Q / nczn / zznza / Y liquid, according to some embodiments. In the illustrated embodiments, the variable speed motor assembly 600 comprises a variable speed motor 602, a coupler 604, an indicator 606, a proximity sensor bracket 608, and a proximity sensor 610. In some embodiments, the variable speed motor 602 is configured to provide rotational movement to the liquid return conduit 508, which in turn rotates the corresponding portions of the liquid distribution tube assembly 510. In some embodiments, the variable speed motor 602 is coupled to the liquid return conduit 508 via the coupler 604. In some embodiments, the coupler 604 is also a cap configured to prevent leakage of the irrigation fluid in the liquid return conduit 508.In the illustrated embodiments, the indicator 608 is attached to the coupler 604 and is configured to provide an indication of the angular position of the plurality of liquid distribution tube assemblies 510 attached to the liquid return line 508. In some embodiments, the proximity sensor 610 is supported by the proximity sensor bracket 606, which is coupled to the variable speed motor 602. In some embodiments, the proximity sensor 610 reads a position from the indicator 608 to determine the angular position of the fluid distribution tube assembly 510. In some embodiments, the proximity sensor holder 606 comprises a curved groove 612 in which the proximity sensor 610 is positioned. The position of the proximity sensor 610 in the proximity sensor holder 606 is determined according to a limit on the angular position of the fluid distribution tube assembly 510, which is limited by the curved groove 612. In some embodiments, the variable-speed motor 602 is controlled by an input from a human-machine interface (HMI) touchscreen. Figures 7I and 7B illustrate a cross-sectional side view and a top view, respectively, of a tray drain insert 700, according to certain embodiments of the invention. In the illustrated embodiment, the tray drain insert 700 comprises a tube with an outer surface 702 and an inner surface 704. The tray drain insert 700 has a first opening 706 at a first end and a second opening 708 at a second end. In some embodiments, the tray drain insert 700 is assembled through a hole 710 located in the bottom of a tray 712 using a nut 714. In some embodiments, the tray drain insert 700 further comprises at least one hole 716 extending from the outer surface 702 to the inner surface 704 and between the first and second ends. In some embodiments, a level Q / nczn / zznza / Y The liquid level 720 in a steady state is determined according to the position of at least one hole 716 with respect to the lower surface of the tray 712. In some embodiments, the distance between the first end of the tray's drain insert 700 and the lower surface of the tray 712 is equal to or less than the depth 722 of the tray 712. In some embodiments, the depth 722 is in the range of 11 centimeters. In some embodiments, when the liquid level 710 rises in the tray 712 and rises above at least one orifice 716, the irrigation liquid drains through at least one orifice 716 into the second opening 708 at the second end of the tray drain insert 700 to a drain conduit 512 through a drain slot 528 located below the second opening 708. In some embodiments, when at least one orifice 716 is blocked and when the liquid level 720 rises further and rises above the first opening 706 of the tray drain insert 700, the irrigation liquid in the tray 712 can also drain through the first opening 706 to the second opening 708 and beyond the drain orifice 528 of the drain conduit 512. As shown in Figure 7A, the second opening 708 is located directly above the drain hole 528, according to some modalities.In some versions, the 712 tray has a width of 724. Q / nczn / zznza / Y 60.96 centimeters and a length 726 of 121.92 centimeters. In some embodiments, the drain conduit 512 comprises a removable cap 728 at one end, which is configured to allow easy discharge of debris and waste out of the drain conduit 512. Figures 8A-8E illustrate exemplary perspective views of a cart 800 in an indoor growing module 100, according to some embodiments of the invention. In the illustrated embodiment, the cart 800 is configured to support and transport a tray 402 along a pair of guide rails 110 on a chassis 104 in the indoor growing module 100. In some embodiments, the cart 800 has a generally horizontal, rectangular base plate 802. In some embodiments, the base plate 802 comprises a base frame with openings 804 shown in Figure 8E. The base plate 802 is further configured with two pairs of side edges 806 that face each other and extend perpendicularly to the base plate 802. It is understood that other base forms are possible and are within the scope of this invention. In the illustrated versions, the base of the 802 cart has a length of 120.5 centimeters and a height of the side edges of 5 centimeters.In some versions, the 800 trolley comprises stainless steel to meet a moisture and water resistance requirement in the 100 indoor growing module. Q / nczn / zznza / Y In the illustrated embodiments, the 800 trolley further comprises a plurality of trolley couplers. In some embodiments, the plurality of trolley couplers comprises at least two hooks 808-1 and 808-2 coupled to a first end of the 800 trolley and at least two clamps 810-1 and 810-2 coupled to a second end of the 800 trolley. The trolley coupler (i.e., a hook 808 and a corresponding clamp 810) enables easy coupling of two adjacent 800 trolleys on a common pair of rails / tracks 110. In some embodiments, when the two adjacent 800 trolleys are coupled by the trolley coupler 808 / 810, the two 800 trolleys can be moved together along the pair of guide rails 110.In some embodiments, when a first carriage 800-1 is lifted upward from the guide rails 110, as described in more detail below, at least two hooks 808 of the first carriage are disengaged from at least two clamps 810 of the adjacent second carriage 800-2, allowing the first carriage 800-1 to separate from the adjacent carriage 800-2 and be removed from the indoor growing module 100. In the embodiment illustrated, four wheels 812 are mounted to the side edges of the carriage 800 by means of fastening devices, such as welds or a carriage bolt, washer, and nut (not shown). In the illustrated embodiments, the carriage couplers 808 / 810 are welded to the lower ends of the side edges and a wheel 812 and corresponding axle are coupled to each carriage coupler 808 and 810 using known techniques, as shown in Figures 8A-8E. Figure 9A illustrates an exemplary diagram of a tray handling system 900 for an indoor growing module 100, according to some embodiments of the invention. In the illustrated embodiments, the tray handling system 900 is designed to automatically load and unload carts 112 through a first end of the indoor growing module 100. In the illustrated embodiment, the tray handling system 900 comprises an articulated robot 902 and a robot controller 912. In some embodiments, the tray handling system 900 is configured to transfer a predetermined cart from the chassis 104 in the indoor growing module 100 to a predetermined position (e.g., a storage shelf 906).In some configurations, the 900 tray handling system is configured to transfer a predetermined cart from the storage rack (not shown) to chassis 104 of the indoor grow module 100. In some embodiments, the articulated robot 902 is configured outside the indoor cultivation module 100. In some embodiments, the articulated robot 902 comprises a plurality of joints 904 for controlling a plurality of arm segments 906 coupled to corresponding joints 904. In some embodiments, each of the Q / nczn / zznza / Y Q / nczn / zznza / Y A plurality of joints 904 is coupled to an electric motor (not shown) to provide rotational movement to each of the plurality of joints 904. In some embodiments, the articulated robot 902 has a plurality of axes 910 that enable the articulated robot 902 to precisely access, load, and unload the carts 112 in the indoor growing module 100. In some embodiments, the articulated robot 902 comprises a fork-type attachment 908 for detachably attaching a cart 112 during transfer, which is discussed in more detail below. In the illustrated embodiment, the articulated robot 902 comprises three arm segments 906 and six rotation axes 910. In some configurations, the robot controller 912 is configured to manage and operate the tray handling system 900 according to a predetermined rule or pre-programmed task. In some configurations, the predetermined rule or pre-programmed task is determined according to the growth condition and growth stage of the plants in the tray of cart 112. In some configurations, a second robot (not shown) can be configured adjacent to the articulated robot 902 or the storage rack (not shown) to move the tray off the cart 112 so that the plants in the tray can be harvested and the cart can be reused. In some In certain embodiments, the robot controller 912 comprises a motion planning unit, which is used to determine the robot's trajectories for moving the predetermined tray to a predetermined location and to record any changes in the positions of other trays during the transfer of the predetermined tray. In some embodiments, the robot controller 912 is coupled to a cloud computer 914, which further receives instructions from a controller 214 in the indoor growing module 100 and / or a remote control station 916. For example, when it is determined that a cart 112 is unloaded from the indoor growing module 100, the controller 214 in the indoor growing module 100 pauses the irrigation program, rotates a plurality of liquid distribution tube assemblies 510, and opens a roll-up door 218 before the articulated robot 902 can be started. As shown in Figure 9B, the robot controller 912 comprises a processor 922, a memory 924, an input / output interface 926, a communications interface 928, and a system bus 930, according to some modalities. The processor 922 can comprise any operational processing circuitry for controlling the operations and performance of the articulated robot 902 of the tray handling system 900. In several respects, the processor 922 can be implemented as a processor of The 922 processor can be implemented using a general-purpose multiprocessor chip (MPC), a dedicated processor, an embedded processor, a digital signal processor (DSP), a network processor, an input / output (I / O) processor, a media access control (MAC) processor, a radio baseband processor, a coprocessor, a microprocessor such as a complex instruction set computer (CISC) microprocessor, a reduced instruction set computer (RISC) microprocessor, and / or a very long instruction word (VLIW) microprocessor, or another processing device. The 922 processor can also be implemented using a controller, a microcontroller, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a programmable logic device (PLD), etc. In several respects, the 922 processor can be configured to run an operating system (OS) and various applications. Examples of an OS include, for instance, operating systems commonly known by the trade names Apple OS, Microsoft Windows OS, Android OS, and any other proprietary or open-source OS. Examples of applications include, for instance, a phone application, a camera application (e.g., digital camera, video camera), a web browser application, a media player application, a game application, a messaging application (e.g., email, SMS, multimedia), a viewer application, and so on. In some embodiments, at least one non-transient, computer-readable storage medium is provided, having computer-executable instructions embedded therein, wherein, when executed by at least one processor, the computer-executable instructions cause at least one processor to perform embodiments of the methods described herein. This computer-readable storage medium may be incorporated into memory 924. In some embodiments, memory 924 may comprise any machine-readable or computer-readable medium capable of storing data, including both volatile / non-volatile and removable / non-removable memory. Memory 924 may comprise at least one non-volatile memory unit. The non-volatile memory unit is capable of storing one or more software programs. The software programs may contain, for example, applications, user data, device data, and / or configuration data, or combinations thereof. The software programs may contain instructions executable by the various components of the 912 robot controller of the 900 tray handling system. For example, memory can include memory of Q / nczn / zznza / Y Read-only memory (ROM), random access memory (RAM), dynamic RAM (DRAM), double data rate DRAM (DDR-RAM), synchronous DRAM (SDRAM), static RAM (SRAM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory (e.g., NOR or NAND flash memory), content addressable memory (CAM), polymer memory (e.g., ferroelectric polymer memory), phase-change memory (e.g., ovonic memory), ferroelectric memory, silicon-oxide-nitride-oxide-silicon (SONOS) memory, disk memory (e.g., floppy disk, hard disk, optical disk, magnetic disk), or card (e.g., magnetic card, optical card) or any other type of media suitable for storing information. In one configuration, memory location 924 can contain an instruction set, in the form of a file, for executing a method to generate one or more timing libraries as described herein. The instruction set can be stored in any acceptable form of machine-readable instruction, including source code or various appropriate programming languages. Some examples of programming languages ​​that can be used to store the instruction set include, but are not limited to: Java, C, C++, C#, Python, Objective-C, and Visual Basic. Basic or .NET. In some versions, a compiler or interpreter is included to convert the set of instructions into machine-executable code for the processor to run. In some embodiments, the 926 I / O interface may comprise any suitable mechanism or component to enable a user to provide input to the 912 robot controller of the tray handling system 900 and to enable the 912 robot controller to provide output to the user. For example, the 926 I / O interface may comprise any suitable input mechanism, including, but not limited to, a button, numeric keypad, keyboard, ratchet wheel, touchscreen, or motion sensor. In some embodiments, the 926 I / O interface may comprise a capacitive sensing mechanism or a multi-touch capacitive sensing mechanism (e.g., a touchscreen). In some embodiments, the 926 I / O interface may comprise a visual peripheral output device to provide a display visible to the user. For example, the visual peripheral output device may comprise a screen, such as a liquid crystal display (LCD) screen, incorporated in the 912 robot controller of the 900 tray handling system. As another example, the visual peripheral output device may comprise a mobile display or a projection system to provide a content display on a surface. Q / nczn / zznza / Y away from the 912 robot controller of the 900 tray handling system. In some embodiments, the visual peripheral output device may comprise an encoder / decoder, also known as a codee, to convert digital media data into analog signals. For example, the visual peripheral output device may comprise video codees, audio codees, or any other suitable type of codee. The visual peripheral output device may also include display controllers, circuitry for controlling display controllers, or both. The visual peripheral output device may be operational for displaying content under the direction of the processor. For example, the visual peripheral output device may display media playback information, application screens for applications implemented on the 912 robot controller of the 900 tray handling system, information about ongoing communication operations, information about incoming communication requests, or device operation screens, to name just a few. In some embodiments, the 928 communications interface may comprise any suitable hardware, software, or combination of hardware and software that is capable of coupling the 912 robot controller of the 900 tray handling system to one or more networks and / or devices Additional Q / nczn / zznza / Y. The 928 communications interface may be configured to operate with any suitable technique for controlling information signals using a desired set of communications protocols, services, or operating procedures. The 928 communications interface may include appropriate phase connectors for connecting to a corresponding communications medium, whether wired or wireless. Communication systems and methods comprise a network, according to several modalities. In various respects, a network can include local area networks (LANs) as well as wide area networks (WANs), including, but not limited to, the Internet, wired channels, wireless channels, communication devices such as telephones, computers, cables, radio, optical or other electromagnetic channels, and combinations thereof, including other devices and / or components capable of or associated with data communication. For example, communication environments encompass in-body communication, various devices, and various communication modes such as wireless communication, wired communication, and combinations thereof. Wireless communication modes comprise any mode of communication between points (e.g., nodes) that use, at least in part, wireless technology, including various protocols and combinations of protocols. Q / nczn / zznza / Y associated with wireless transmission, data, and devices. The points include, for example, wireless devices such as wireless headphones, audio and multimedia devices and equipment such as audio and multimedia players, telephones, including mobile and cordless phones, and computers and computer-related devices and components such as printers, network-connected machinery such as a circuit-generating system, and / or any other suitable device or third-party device. Wired communication modes encompass any communication method between points using wired technology, including various protocols and protocol combinations associated with wired transmission, data, and devices. Points include, for example, devices such as audio and multimedia equipment, such as audio and media players, telephones (including mobile and cordless phones), and computers and computer-related devices and components, such as printers, network-connected machinery, and / or any other suitable device or third-party device. In various implementations, wired communication modules may communicate according to several wired protocols. Examples of wired protocols include serial bus communication. Universal Q / nczn / zznza / Y (USB), RS-232, RS-422, RS-423, RS485 serial protocols, FireWire, Ethernet, Fibre Channel, MIDI, ATA, Serial ATA, PCI Express, Tl (and variants), Industry Standard Architecture (ISA) parallel communication, Small Computer System Interface (SCSI) communication, or Peripheral Component Interconnect (PCI) communication, to name just a few examples. Consequently, in several respects, the 928 communications interface may comprise one or more interfaces, such as, for example, a wireless communications interface, a wired communications interface, a network interface, a transmit interface, a receive interface, a media interface, a system interface, a component interface, a switching interface, a chip interface, a controller, etc. When implemented by a wireless device or within a wireless system, for example, the communications interface may comprise a wireless interface consisting of one or more antennas, transmitters, receivers, transceivers, amplifiers, filters, control logic, etc. In various configurations, the 928 communications interface can provide voice and / or data communication functionality according to several wireless protocols. Examples of wireless protocols include various area network protocols. Q / nczn / zznz / 3 / γ Wireless local area network (WLAN), including the Institute of Electrical and Electronics Engineers (IEEE) 802.xx series of protocols, such as IEEE 802.1la / b / g / n, IEEE 802.16, IEEE 802.20, and so on. Other examples of wireless protocols may include various wireless wide area network (WWAN) protocols, such as GSM cellular radio system protocols with GPRS, COMA cellular radio communication systems with IxRTT, EDGE systems, EV-DO systems, EV-DV systems, HSDPA systems, and so forth. Other examples of wireless protocols may include wireless personal area network (PAN) protocols, such as an infrared protocol, a protocol from the Bluetooth Special Interest Group (SIG) protocol series, including Bluetooth specification versions vl.0, vl.1, vl.2, v2.0, v2.0 with Enhanced Data Rate (EDR), as well as one or more Bluetooth profiles, etc.Another example of wireless protocols includes near-field communication techniques and protocols, such as electromagnetic induction (EMI). Examples of EMI techniques include passive or active radio-frequency identification (RFID) protocols and devices. Other suitable protocols include Ultra Wideband (UWB), Digital Office (DO), Digital Home, Trusted Platform Module (TPM), ZigBee, and others. The system bus 930 connects the processor 922, memory 924, I / O interface 926, and I / O interface 928. Q / nczn / zznz / 3 / γ communication with each other, as required. The 930 system bus can be any of several types of bus structures, including a memory bus or memory controller, a peripheral bus or external bus, and / or a local bus using any variety of available bus architectures, including, but not limited to, 9-bit bus, Industry Standard Architecture (ISA), Micro Channel Architecture (MCA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Personal Computer Memory Card International Association Bus (PCMCIA), Small Computer Systems Interface (SCSI), or other proprietary bus, or any custom bus suitable for computing device applications. Figures 10A-10F illustrate exemplary perspective views of a fork-type attachment 1000 for the articulated robot 902 in the tray handling system 900, according to some embodiments of the invention. In some embodiments, the attachment 1000 is configured to secure a trolley 112 during a transfer process. In the illustrated embodiments, the attachment 1000 comprises a support frame 1002 and a pair of loading forks 1004 mounted on and extending outward from the support frame 1002. In some embodiments, the support frame 1002 is mounted on a base 1006, enabling the attachment 1000 to be mounted on a segment of the articulated robot 902. In some embodiments, the support frame 1002 comprises two extensions 1008 at two opposite ends of the support frame 1002. In some versions, each of the two 1008 extensions supports a linear 1010 motor and a 1016 ball screw.In some embodiments, a shaft 1014 is guided by the ball screw 1016 to transfer a rotational motion of the shaft 1014 to a linear motion of a head 1012 attached to a lower end of each shaft 1014. In some embodiments, a first distance 1018 between the two heads 1012 is determined according to a second distance between two staples 810 on a carriage 112 to allow the two heads 1012 to engage with the two staples 810 on the carriage 112. In some embodiments, each of the two heads 1012 comprises two notches 1030, which are separated by a third distance 1036, wherein the third distance 1036 is determined by a width 812 of the staples 810 on the carriage 112. As illustrated in Figure 10F, in some embodiments, each of the two heads 1012 comprises a latch 1032 with a width 1034 that is less than the width of the staples 810. In some embodiments, the latch 1032 is separated from the supporting frame 1002 by a fourth distance 1036, where the fourth distance 1036 is greater than the thickness 814 of the staples 810. In some versions, the 1000 accessory also includes a liquid collection assembly. In some o / nczn / zznza / Y In certain embodiments, the liquid collection assembly comprises a base plate 1022 with a slot 1024, wherein the base plate 1022 is attached to the support frame 1002 on a first side. In some embodiments, the position of the slot 1024 in the base plate 1022 is determined according to the position of the tray drain insert 700 in a tray on the carriage 112, as described above, to allow collection of irrigation liquid drained from the tray. In some embodiments, the liquid collection assembly further comprises a reservoir 1026. In some embodiments, the reservoir 1026 is attached to the support frame 1002 on a second side. In some embodiments, the reservoir 1026 is configured to temporarily store the irrigation liquid collected from the slot 1024 through an opening 1020 in the support frame 1002. In some versions, the liquid collection assembly comprises stainless steel. Figure 11 illustrates an exemplary block diagram of a control system 1100 in an indoor growing module 100, according to some embodiments of the invention. It should be noted that the control system 1100 is merely an example and is not intended to limit the invention. Accordingly, it is understood that additional functional blocks may be provided in or coupled to the control system 1100 of Figure 11, and that some other functional blocks may be omitted or briefly described herein. Q / nczn / zznza / Y It should also be noted that the functionalities provided in each of the components and modules of the 1100 control system can be combined or separated into one or more modules. In some embodiments, the 1100 control system comprises a controller 1102. In some embodiments, the controller 1102 is configured to regulate the environmental parameters of the indoor growing module 100 and coordinate a tray loading / unloading process. In some embodiments, the 1100 control system further comprises five subsystems, including a tray handling system 1104, an air circulation system 1106, a liquid circulation system 1108, a lighting management system 1110, and a vision system 1112. In the illustrated embodiments, the tray handling system 1104 is designed to automatically load and unload trolleys 112 through a first end of the indoor growing module 100. In the illustrated embodiment, the tray handling system 1104 comprises an articulated robot 902 and a robot controller 904, as described above. In some embodiments, the tray handling system 1104 is configured to transfer a predetermined trolley from the chassis 104 in the indoor growing module 100 to a predetermined position (e.g., a storage shelf 906). Q / nczn / zznza / Y In some configurations, when inserting new crops into the indoor growing module 100, the tray handling system 1104 is configured to transfer a predetermined cart from the storage shelf 906 to the chassis 104 of the indoor growing module 100. In some embodiments, the air circulation system 1106 comprises an air blowing unit 206, an air conditioning unit 208, an air dehumidification unit 210, and a false ceiling 212, as described above. In some embodiments, the air blowing unit 206, the air conditioning unit 208, at least one dehumidification unit 210, and the false ceiling 212 are configured to provide effective regulation of humidity, CO2 level, airflow, and temperature for the plurality of plants on each of the plurality of trolleys 112 at different levels 106 of the chassis 104 in the growing area 202 of the container compartment 102. In some embodiments, the liquid circulation system 1108 comprises a plurality of liquid supply conduits 506, a plurality of liquid return conduits 508, a plurality of drain conduits 512, and a plurality of liquid distribution pipe assemblies 510, as described above. In additional embodiments, the liquid circulation system 1108 may include a drain liquid reservoir. Q / nczn / zznza / Y less a filter, a liquid supply reservoir, a plurality of nutrient reservoirs, a temperature control unit, a pH control unit, an oxygen level control unit (not shown), each operatively coupled to the plurality of liquid supply lines 506 and / or the plurality of liquid return lines 508 to control the content and characteristics (e.g., temperature, pH, etc.) of the liquid flowing through the liquid circulation system 1108. In some embodiments, the liquid circulation system 1108 regulates a nutrient level, an oxygen level, a pH level, a temperature, and a particle level in the irrigation liquid to support plant growth in the trays of the indoor growing module 100. In the illustrated embodiment, the lighting management system 1110 comprises a plurality of lighting modules, each of which comprises at least one of the following photon sources: an incandescent light, a fluorescent light, a halogen light, a high-pressure sodium light, a plasma light, and a light-emitting diode (LED) light, to provide photons for photosynthetic reactions in plants. In some embodiments, the photon sources are selected according to a desired light spectrum for the plants. In some embodiments, the lighting management system 1110 further comprises at least one power supply to power the plurality of lighting modules.In some configurations, at least one power supply can be controlled to regulate light intensity, uniformity, and light spectrum to provide desired lighting for plants in the indoor growing module 100. In some configurations, the 1100 control system also includes a 1112 vision system. In some configurations, the 1112 vision system comprises at least one camera and at least one light source. In some configurations, the 1112 vision system is configured outside the 100 indoor growing module for safety reasons. In some configurations, the 1112 vision system can also be configured within the 100 indoor growing module to monitor plant growth. The 1102 controller may comprise a processor, memory, an input / output interface, a communications interface, and a system bus. The processor may comprise any operational processing circuitry to control the operations and performance of the 1102 controller. In various aspects, the processor may be implemented as a general-purpose processor, a multiprocessor chip (MPC), a dedicated processor, an embedded processor, a digital signal processor (DSP), a network processor, an input / output (I / O) processor, or a processor of Q / nczn / zznza / Y media access control (MAC), a radio baseband processor, a coprocessor, a microprocessor, such as a complex instruction set computer (CISC) microprocessor, a reduced instruction set computer (RISC) microprocessor, and / or a very long instruction word (VLIW) microprocessor, or another processing device. The processor may also be implemented by a controller, a microcontroller, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a programmable logic device (PLD), etc. In several ways, a processor can be configured to run an operating system (OS) and various applications. Examples of an OS include, for instance, operating systems commonly known by the trade names Apple OS, Microsoft Windows OS, Android OS, and any other proprietary or open-source OS. Examples of applications include, for instance, a phone application, a camera application (e.g., digital camera, video camera), a browser application, a media player application, a game application, a messaging application (e.g., email, SMS, multimedia), a viewer application, and so on. In some forms, at least one computer-readable non-transient storage medium is provided. Q / nczn / zznza / Y, which has computer-executable instructions embedded therein, wherein, when executed by at least one processor, the computer-executable instructions cause at least one processor to perform modes of the methods described herein. This computer-readable storage medium can be incorporated into memory. In some configurations, memory may comprise any machine-readable or computer-readable medium capable of storing data, including both volatile / non-volatile and removable / non-removable memory. Memory may comprise at least one non-volatile memory unit. The non-volatile memory unit is capable of storing one or more software programs. Software programs may contain, for example, applications, user data, device data, and / or configuration data, or combinations thereof, to name just a few. Software programs may contain instructions executable by the various components of the 1102 controller. For example, memory can comprise read-only memory (ROM), random access memory (RAM), dynamic RAM (DRAM), double data rate DRAM (DDR-RAM), synchronous DRAM (SDRAM), static RAM (SRAM), programmable ROM (PROM), rechargeable programmable ROM (EPROM), electrically rechargeable programmable ROM (EEPROM), flash memory (e.g., flash memory) Q / nczn / zznza / Y flash ÑOR or NAND), content addressable memory (CAM), polymer memory (e.g. ferroelectric polymer memory), phase-change memory (e.g. ovonic memory), ferroelectric memory, silicon-oxide-nitride-oxide-silicon (SONOS) memory, disk memory (e.g. floppy disk, hard disk, optical disk, magnetic disk), or card (e.g. magnetic card, optical card) or any other type of media suitable for storing information. In one embodiment, memory may contain an instruction set, in the form of a file, for executing a method to generate one or more timing libraries as described herein. The instruction set may be stored in any acceptable form of machine-readable instructions, including source code or various appropriate programming languages. Examples of programming languages ​​that may be used to store the instruction set include, but are not limited to, Java, C, C++, C#, Python, Objective-C, Visual Basic, or .NET. In some embodiments, a compiler or interpreter is included to convert the instruction set into executable machine code for execution by the processor. In some modalities, the I / O interface may comprise any mechanism or component suitable for Q / nczn / zznza / Y allow at least a user to provide input to controller 1102 and controller 1102 to provide output to the user. For example, the I / O interface may comprise any suitable input mechanism, including, but not limited to, a button, numeric keypad, keyboard, ratchet wheel, touchscreen, or motion sensor. In some modalities, the I / O interface may comprise a capacitive sensing mechanism or a multi-touch capacitive sensing mechanism (e.g., a touchscreen). In some embodiments, the I / O interface may comprise a visual peripheral output device to provide a display visible to the user. For example, the visual peripheral output device may comprise a screen, such as a liquid crystal display (LCD), incorporated into the 1102 controller. As another example, the visual peripheral output device may comprise a movable display or a projection system to provide content display on a surface remote from the 1102 controller. In some embodiments, the visual peripheral output device may comprise an encoder / decoder, also known as a codee, to convert digital media data into analog signals. For example, the visual peripheral output device may comprise video codees, audio codees, or Q / nczn / zznza / Y any other suitable Codee type. The visual peripheral output device may also include display controllers, circuitry for controlling display controllers, or both. The visual peripheral output device may be operational for displaying content under the direction of the processor. For example, the visual peripheral output device may display media playback information, application screens for applications implemented on the 1102 controller, information about ongoing communication operations, information about incoming communication requests, or device operation screens, to name just a few. In some embodiments, the communications interface may comprise any suitable hardware, software, or combination of hardware and software capable of connecting the 1102 controller to one or more additional networks and / or devices. The communications interface may be configured to operate using any suitable technique for controlling information signals with a desired set of communications protocols, services, or operating procedures. The communications interface may include appropriate physical connectors for connecting to a corresponding communications medium, whether wired or wireless. Communication systems and methods comprise a Q / nczn / zznza / Y Q / nczn / zznza / Y network, according to some modalities. In several respects, the network can comprise local area networks (LANs) as well as wide area networks (WANs) that include, but are not limited to, the Internet, wired channels, wireless channels, communication devices including telephones, computers, cables, radio, optical or other electromagnetic channels, and combinations thereof, including other devices and / or components capable of / associated with data communication. For example, communication environments comprise in-body communications, various devices, and various modes of communication such as wireless communications, wired communications, and combinations thereof. Wireless communication modes encompass any communication method between points (e.g., nodes) that utilize, at least in part, wireless technology, including various protocols and combinations of protocols associated with wireless transmission, data, and devices. Points include, for example, wireless devices such as wireless headsets, audio and multimedia devices and equipment such as audio and media players, telephones (including mobile and cordless phones), and computers and computer-related devices and components such as printers, network-connected machinery such as a 404 circuit-generating system, and / or any other suitable device or third-party device. Wired communication modes encompass any communication method between points using wired technology, including various protocols and protocol combinations associated with wired transmission, data, and devices. Points include, for example, devices such as audio and multimedia equipment, such as audio and media players, telephones (including mobile and cordless phones), and computers and computer-related devices and components, such as printers, network-connected machinery, and / or any other suitable or third-party devices. In various implementations, wired communication modules may communicate according to several different wired protocols.Examples of wired protocols can include Universal Serial Bus (USB) communication, RS-232, RS-422, RS-423, RS485 serial protocols, FireWire, Ethernet, Fibre Channel, MIDI, ATA, Serial ATA, PCI Express, TL (and variants), Industry Standard Architecture (ISA) parallel communication, Small Computer System Interface (SCSI) communication, or Peripheral Component Interconnect (PCI) communication, to name just a few examples. Consequently, in several respects, the communications interface may comprise one or more such interfaces Q / nczn / zznza / Y such as, for example, a wireless communications interface, a wired communications interface, a network interface, a transmit interface, a receive interface, a media interface, a system interface, a component interface, a switching interface, a chip interface, a controller, etc. When implemented by a wireless device or within a wireless system, for example, the communications interface may comprise a wireless interface comprising one or more antennas, transmitters, receivers, transceivers, amplifiers, filters, control logic, etc. In various configurations, the communications interface can provide voice and / or data communication functionality according to various wireless protocols. Examples of wireless protocols include various wireless local area network (WLAN) protocols, including the Institute of Electrical and Electronics Engineers (IEEE) 802.xx series of protocols, such as IEEE 802.1la / b / g / n, IEEE 802.16, IEEE 802.20, and so on. Other examples of wireless protocols include various wireless wide area network (WWAN) protocols, such as GSM cellular radio system protocols with GPRS, CDMA cellular radio communication systems with IxRTT, EDGE systems, EV-DO systems, EV-DV systems, HSDPA systems, and so forth. Q / nczn / zznza / Y Wireless personal area network (PAN) protocols, such as infrared protocols, protocols from the Bluetooth Special Interest Group (SIG) protocol series, including Bluetooth specification versions v1.0, v1.1, v1.2, v2.0, and v2.0 with Enhanced Data Rate (EDR), as well as one or more Bluetooth profiles, etc., are examples of wireless protocols. Another example of wireless protocols includes near-field communication techniques and protocols, such as electromagnetic induction (EMI). Examples of EMI techniques include passive or active radio-frequency identification (RFID) protocols and devices. Other suitable protocols include Ultra Wideband (UWB), Digital Office (DO), Digital Home, Trusted Platform Module (TPM), ZigBee, etc. In some configurations, the 1102 controller may comprise a system bus that couples various system components, including the processor, memory, and I / O interface. The system bus may be any of several types of bus structures, including a memory bus or memory controller, a peripheral bus or external bus, and / or a local bus that utilizes any variety of available bus architectures, including, but not limited to, 9-bit bus, Industry Standard Architecture (ISA), Microchannel Architecture (MCA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Personal Computer Memory Card International Association (PCMCIA) bus, Small Computer Systems Interface (SCSI), or other proprietary bus, or any custom bus suitable for computing device applications. In some embodiments, the controller 1102 is further coupled to a local computer 1116 and also coupled to a remote computer 1118 via a communications network 1114 (e.g., the Internet). In some embodiments, the remote computer 1118 is a mobile device. In alternative embodiments, the remote computer 1118 comprises at least one server computer coupled to a database that stores environmental parameters and other data and instructions for analyzing the data information provided by each of the subsystems 1104, 1106, 1108, 1110, and 1112 and subsequently providing further instructions to the controller 1102 and / or the local computer 1116 to automatically monitor and control the operation of the indoor growing module 100 described above. Figures 12A-12B illustrate perspective views of a 1200 indoor growing module, according to some embodiments of the invention. In some embodiments, the indoor growing module 1200 comprises a container 1202 and a chassis 1204. In the embodiments illustrated, the chassis 1204 is manufactured separately from the container 1202. In some embodiments, the chassis 1204 comprises a plurality of vertical and horizontal frame members and a plurality of wheels for transferring the chassis 1204 into or out of the compartment of the container 1202. In some embodiments, the chassis 1204 further comprises a plurality of liquid supply conduits, a plurality of liquid return conduits, a plurality of liquid distribution pipe assemblies, a plurality of drain conduits, and a plurality of lighting apparatus, as described above. In some embodiments, the container 1202 comprises an air blowing unit 1220, an air dehumidifying unit 1222, and a control unit 1224. In some embodiments, the air blowing unit 1220 is coupled to a false ceiling (not shown), as discussed in Figures 2-3. In some embodiments, a rack 1210 is mounted on the walls on two long sides of the container compartment 1202. In some embodiments, the rack 1210 comprises a plurality of variable speed motor assemblies 600 to receive the plurality of corresponding liquid return conduits in the chassis 1204, a plurality of liquid supply slots 1226 to receive the plurality of corresponding liquid supply conduits in the chassis 1204, and a plurality of drain slots 1228 to receive the plurality of corresponding drain conduits in the chassis 1204.In some configurations, the container compartment 1202 also includes anchor points on the walls and a floor to secure the chassis 1204 when loaded into the container compartment 1202. Although several embodiments of the invention have been described above, it should be understood that they have been presented only by way of example, and not by way of limitation. Likewise, the various diagrams may represent an example architecture or configuration, which are provided to enable those of ordinary skill in the art to understand exemplary features and functions of the invention. Such persons would understand, however, that the invention is not limited to the example architectures or configurations illustrated, but may be implemented using a variety of alternative architectures and configurations. Furthermore, as those of ordinary skill in the art will understand, one or more features of one embodiment may be combined with one or more features of another embodiment described herein. Therefore, the breadth and scope of the invention should not be limited by any of the exemplary embodiments described above. It is also understood that any reference to an item herein using a designation such as first, second, etc., generally does not limit the quantity or order of those items. On the contrary, these The designations Q / nczn / zznza / Y can be used here as a convenient means of distinguishing between two or more elements or instances of an element. Therefore, a reference to the first and second element does not mean that only two elements can be used, or that the first element must precede the second element in any way. Furthermore, a person with ordinary technical experience will understand that information and signals can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, and symbols, for instance, which may be referenced in the description above, can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof. A person skilled in the art would further appreciate that any of the various illustrative logic blocks, modules, processors, media, circuits, methods, and functions described in relation to the aspects discussed herein can be implemented using electronic hardware (e.g., a digital implementation, an analog implementation, or a combination of the two, which may be designed using source coding or some other technique), various forms of program or design code incorporating Q / nczn / zznza / Y Q / nczn / zznza / Y instructions (which may be referred to here, for convenience, as Software or a software module), or combinations of both. To clearly illustrate this interchangeability of hardware and software, several components, blocks, modules, circuits, and illustrative steps have been described above in general terms of their functionality. Whether such functionality is implemented as hardware, firmware, or software, or a combination of these techniques, depends on the particular application and the design constraints imposed on the system as a whole. Skilled craftspeople may implement the described functionality in various ways for each particular application, but such implementation decisions should not be construed as a departure from the scope of the invention. Furthermore, a person with ordinary technical knowledge would understand that the various illustrative logic blocks, modules, devices, components, and circuits described herein can be implemented within or realized by means of an integrated circuit (IC) that may include a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or another programmable logic device, or any combination thereof. The logic blocks, modules, and circuits may also include antennas and / or transceivers for communicating with various components within the network or within the device. A general-purpose processor may be a microprocessor, but alternatively, the processor may be any conventional processor, controller, or state machine.A processor can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors together with a DSP core, or any other configuration suitable for performing the functions described herein. If implemented in software, functions can be stored as one or more instructions or code on a computer-readable medium. Therefore, the steps of a method or algorithm described here can be implemented as software stored on a computer-readable medium. Computer-readable media include both computer storage media and communication media, including any means that can be enabled to transfer a computer program or code from one location to another. A storage medium can be any available medium that can be accessed from a computer. By way of example, and not as a limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or Q / nczn / zznza / Y any other means that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. In this document, the term "module," as used herein, refers to software, firmware, hardware, and any combination thereof for performing the associated functions described herein. Furthermore, for descriptive purposes, the various modules are described as discrete modules; however, as will be evident to a person skilled in the art, two or more modules may be combined to form a single module that performs the associated functions according to the embodiments of the invention. Furthermore, memory or other storage, as well as communication components, may be employed in embodiments of the invention. It will be appreciated that, for the sake of clarity, the preceding description has described embodiments of the invention with reference to different functional units and processors. However, it will be evident that any suitable distribution of functionality among different functional units, processing logic elements, or domains may be used without misrepresenting the invention. For example, functionality illustrated to be performed by separate processing logic elements, or controllers, may be performed by the same processing logic element, or controller. Therefore, references to Q / nczn / zznza / Y specific functional units are only references to a suitable means of providing the described functionality, rather than indicative of a strict logical or physical structure or organization. Several modifications to the implementations described in this description will be readily apparent to those experienced in the technique, and the general principles defined herein can be applied to other implementations without departing from the scope of this description. Therefore, the description is not intended to be limited to the implementations shown herein, but will be given the broadest scope in accordance with the novel features and principles described herein.

Claims

1. An indoor growing module characterized in that it comprises: a container compartment divided into a growth zone and a control zone, wherein a growth zone comprises a chassis with a plurality of horizontal and vertical frame members configured to support a plurality of trolleys, each with a tray containing a plurality of plants, and wherein the control zone comprises: an integrated air blowing unit for directing air between a false ceiling and a structural ceiling of the indoor growing module; an air conditioning unit configured to condition an atmosphere in the growth zone by producing fresh, dry air that is blown into a plenum space located between the false ceiling and a structural ceiling.

2. The indoor growing module according to claim 1, characterized in that it further includes at least one dehumidifier located in the control area of ​​the indoor growing module.

3. The indoor growing module according to claim 1, characterized in that the chassis in the growing area comprises one or more levels that carry the plurality of trolleys. Q / nczn / zznza / Y 4. The indoor growing module according to claim 1, characterized in that the control area further comprises a control panel configured to control the environmental parameters in the indoor growing module.

5. The indoor growing module according to claim 1, characterized in that a horizontal airflow is maintained between one or more levels carrying the plurality of carts in the growing zone.

6. The indoor growing module according to claim 1, characterized in that the chassis further comprises a plurality of wheels.

7. The indoor growing module according to claim 1, characterized in that the chassis is removably coupled to the container compartment.

8. The indoor growing module according to claim 3, characterized in that the plurality of levels extend from a first side wall to a second side wall of the container compartment.

9. The indoor growing module according to claim 1, characterized in that the height of the plenum space is adjusted to control the airflow traveling horizontally through the adjacent plants in the growing zone.

10. The indoor growing module according to claim 5, characterized in that the horizontal airflow is a substantially laminar flow.

11. The indoor growing module according to claim 1, characterized in that the false ceiling comprises a plurality of panels, wherein each of the plurality of panels comprises fiberglass reinforced plastic (FRP) boards.

12. The indoor growing module according to claim 5, characterized in that the horizontal airflow speed adjacent to the plants in the growing zone is greater than approximately 59.4m / min (195 ft) per minute and less than approximately 89.9m / min (295 ft) per minute.

13. The indoor growing module according to claim 1, characterized in that the air blowing unit and the air dehumidifying unit are controlled to provide predefined growing conditions for the plurality of plants based on humidity data collected by a plurality of humidity sensors distributed in the indoor growing module.

14. The indoor growing module according to claim 1, characterized in that the airflow in the plenum space travels downwards through the diffuser slots located between the false ceiling and the structural side walls of the container compartment and then enters the spaces between the chassis levels to provide air circulation to the plurality of plants.

15. The indoor growing module according to claim 14, characterized in that the width of the slots of the side diffuser is greater than approximately 3.81cm (1.5 inches) and less than approximately 10.16cm (4 inches).

16. An indoor growing system characterized in that it comprises: an indoor growing module located in a container compartment comprising a growth zone and a control zone; a tray handling module configured to automatically load and unload the indoor growing module comprising: a lighting management module configured to control a photon source lighting system, wherein the photon sources are positioned within the growth zone to provide a light spectrum to a plurality of plants located within the growth zone; an air circulation module configured to control humidity, a carbon dioxide (CO2) level, airflow, and temperature for the plurality of plants Q / nczn / zznza / Y in the growth zone of the indoor growing module;and a liquid circulation module configured to control a nutrient level, an oxygen level, a pH level and a particle level in an irrigation liquid that supports the growth of the diversity of plants.

17. The indoor growing system according to claim 16, characterized in that the tray handling module further comprises: an articulated robot with a fork-type attachment configured to detachably attach a cart carrying a tray with the plurality of plants during a transfer; and a robot controller configured to control the tray handling system to facilitate the removal or placement of the carts in the growing area.

18. The indoor growing system according to claim 17, characterized in that the robot controller comprises a motion planning unit, wherein the motion planning unit determines the trajectories of the articulated robot during the transfer of the cart containing the tray with the plurality of plants.

19. The indoor growing system according to claim 17, characterized in that the robot controller is further configured to control the Q / nczn / zznza / Y tray handling system based on a growth condition and a growth stage of the plurality of plants.

20. The indoor growing system according to claim 17, characterized in that the robot controller is further configured to receive instructions from at least one controller in the indoor growing module and a remote control station.

21. The indoor growing system according to claim 16, characterized in that the tray handling module is further configured to automatically load and unload the cart through a first end of the indoor growing module.

22. The indoor growing system according to claim 16, characterized in that the tray handling module further comprises a vision module configured to monitor the growth of the plurality of plants.

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