CN116703107A - Digital twin system of centralized control integrated modularized plant factory - Google Patents
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Abstract
The invention discloses a centralized control integrated modularized plant factory digital twin system, which comprises: the perception data layer is divided into real data of a physical world and twin data of a virtual world and is used for judging whether real-time data belongs to a reasonable data range or not through the twin data; and the operational decision layer is communicated with the perception data layer and is used for providing visual operation, production period calculation, yield prediction, experience assistance, efficiency optimization and monitoring running states. The invention adopts the digital twin system to improve the modularized plant factory, and better solves the problems of numerous data, low decision efficiency and the like in the environmental element model of the plant factory.
Description
Technical Field
The invention relates to the technical field of agricultural digitization, in particular to a centralized control integrated modularized plant factory digital twin system.
Background
The digital twin technology aims at realizing virtual mapping of a physical entity by utilizing various digital approaches, maintaining real-time communication connection with the physical entity by means of three-dimensional modeling, sensors and other technical means, verifying the life cycle of the physical model by updating an algorithm model by a large amount of data, and further realizing optimization of the physical model and an improvement scheme.
In the field of agricultural digitization, a modularized plant factory digital twin system is constructed, and the key technology is that a closed environment element, an equipment intelligent control means and an operation condition are visualized to be in multiparty linkage, the real-time control and display of terminal equipment are realized through the data networking transmission of hardware such as a sensor, a control device and a monitoring device, a digital twin body of corresponding equipment is constructed, and the multidimensional physical entity mapping relation of appearance, structure, control and operation condition is established through a large amount of data accumulation and physical properties.
The modularized plant factory is used as a representative technology of modern facility agriculture, a high-efficiency agricultural production mode of continuous production of crops all year round under a complete factory condition is realized, the digital twin technology enables the modern agriculture, data such as physical model information, sensor information update, operation history information and the like are fully utilized, and a simulation process with multiple physical quantities, multiple disciplines and multiple scales is integrated. Along with the continuous development of modern agriculture level, the digital plant factory age will be gradually opened, the agricultural digital twin system will organically integrate and fuse the physical entity and digital space of agricultural production, realize "connect a perception-decision-control" integration, can better perceive and cognize the agricultural complex system and realize intelligent management and control, is hopeful to provide new kinetic energy for the agricultural digital transformation upgrading.
However, for modern agricultural technology represented by plant factories (plant factory), environment parameters and production plans of the plant factories are manually adjusted based on own experience and a large amount of sensor data by technicians, and high-efficiency management requirements of modularized plant factories are difficult to meet, so that the invention constructs a digital twin model from a multi-dimensional model to enhance mining of multi-source data of the modularized plant factories, realizes intelligent management and control of the whole agricultural product planting process such as traceable management, visual monitoring and the like, and improves benefits and quality of crop growth and production. Chinese patent CN113657751a discloses a comprehensive service platform for intelligent agriculture production and fusion, which opens up decentralized business digital information by establishing and connecting digital models of physical assets and processes in agriculture rural areas, and establishes and communicates basic internet of things, but not implemented digital models driven by data.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a centralized control integrated modularized plant factory digital twin system.
In order to achieve the above purpose, the present invention provides the following technical solutions: a centralized control integrated modular plant factory digital twinning system comprising:
the perception data layer is divided into real data of a physical world and twin data of a virtual world and is used for judging whether real-time data belongs to a reasonable data range or not through the twin data;
and the operational decision layer is communicated with the perception data layer and is used for providing visual operation, production period calculation, yield prediction, experience assistance, efficiency optimization and monitoring running states.
As a further improvement of the present invention, the perceptual data layer comprises:
the sensing module is used for monitoring the data information condition of the modularized plant factory, transmitting the real-time data into the twin database and judging whether the real-time data accords with the reasonable data range of the experience module or not through the cloud server;
the environment control equipment module is used for judging whether each execution is required to be started, if so, an instruction is issued through the operation decision layer, the physical world receives the starting instruction of the executor through communication, the virtual world synchronizes the starting of the instruction of the physical world, then the virtual world is recorded into the twin database through data and is transmitted into the server to establish a corresponding model for tracing, all data model parameters are obtained, event import is carried out based on the CPS event model, and closed-loop processing is completed for the modularized plant factory in a precise agricultural control mode.
As a further improvement of the present invention, the operational decision layer includes:
the web page visualization module is used for providing a login control interface based on a browser end so as to perform man-machine interaction with staff;
the scheduling plan module is used for performing scheduling period calculation on the planting yield plan, judging the plant growth period, outputting the harvest yield of agricultural products and predicting the expected yield;
the expert experience module is used for carrying out planting standardization and experience assistance on crops;
the system optimization module is used for controlling the fault investigation and efficiency optimization of the whole system;
the information management module is used for monitoring the planting information and the running state of the modularized plant factory;
and the operation scheduling module is used for issuing instructions to the executor.
As a further improvement of the invention, the sensing module monitors the data information condition of the modularized plant factory by arranging a sensor, a gateway, a light source device, a monitoring device and an environment control device, wherein the sensor comprises a temperature sensor, a humidity sensor, an illumination intensity sensor, a photoelectric liquid level sensor and a carbon dioxide concentration sensor, and the environment control device comprises a cold and hot air conditioning device, a light control module, an electromagnetic valve and an exhaust unit.
As a further improvement of the invention, the real data of the physical world and the twin data of the virtual world of the perception data layer are obtained through construction of a three-dimensional scene module, and specifically comprise a physical entity scene and a digital virtual scene, wherein the physical entity scene comprises virtual crops and various agricultural software and hardware related devices, and the three-dimensional scene module realizes the construction of a modularized plant factory digital twin model by utilizing a multi-dimensional construction theory through software collaborative modeling so as to complete the construction of the digital virtual scene.
As a further improvement of the invention, the construction of the modularized plant factory digital twin model by the three-dimensional scene module through the multi-dimensional construction theory to complete the construction of the digital virtual scene specifically comprises the construction of a forward three-dimensional model and a virtual twin model, wherein the specific steps of constructing the virtual twin model are as follows: firstly, mapping an overall system in a virtual space by extracting component elements in a three-dimensional model, constructing a high-fidelity virtual model reflecting a modularized plant factory of a virtual environment, and 'connecting a perception-decision-making-control' demand configuration scheme through the modularized plant factory to truly and completely present a geometric model, physical attributes and control elements of a physical world;
modeling the modular plant factory in a multi-dimensional mode through three-dimensional simulation software, rendering and forming through 3dmax software, establishing a mapping relation between component elements and each device in the modular plant factory, performing data coupling based on a unit 3d virtual engine, realizing real fusion among model elements according to the association relation among entity modules, completing a digital twin model which is highly consistent with the physical world, and realizing the behavior and rules of simulating physical entities in the real environment.
As a further improvement of the present invention, the event import modeling based on the CPS event model is expressed as:
ε CPS ：＝PO|SR||CU|AR
wherein PO is event modeling, SR is sensor modeling, CU is calculation modeling, AR is control modeling;
wherein ε is the event type, id 1 The event is numbered as a matter of number,for event occurrence time, ++>As the place where the event occurs,for the time when the event is expected to occur from the observer's point of view, < >>To the site where the event is expected to occur from the observer's point of view, V ε O is the observer of the event;
additionally, the CPS event grammar rule set may be expressed as:
O：＝ε CPS |v。
as a further improvement of the invention, the operation scheduling module timely fuses the physical data and the virtual data, and cooperates with other modules to adjust the decision so as to accurately implement the control scheme, thereby realizing synchronous operation of the virtual world and the physical world and real-time optimization of the model management scheme;
for a physical event can be expressed as:
wherein PO is a physical object, id 3 For the sequence number of the physical object,for event occurrence time, ++>Is the place where the event happens, V PO Representing a set of attributes at the time of occurrence;
among the attributes of physical entities, there is a normal range of various attributes, and when the attributes are beyond the range of variation, an action needs to be performed, and the actions are formally expressed as:
wherein ,is algebraic function, n is entity number, OP R For various relational functions, C is a numerical constraint.
The invention has the beneficial effects that:
1. according to the invention, a digital twin system is introduced, and the actual modularized plant factory operation condition of a physical world entity plant factory is virtually mapped, so that a digital management mode of global monitoring is realized, the cost of manpower and material resources is greatly saved, the real-time condition of the modularized plant factory is transmitted to an image recognition module of a cloud server for judgment by the whole digital twin model only by the digital twin system, and when the tray is carried to a certain extent, a background server issues an instruction to the plant factory entity through a task management module, so that a plant factory operation mode of centralized control and supervision is realized;
2. the CPS (Cyber Physical System, information physical fusion system) event prototype architecture is introduced as the deep fusion of calculation, communication and control technologies, so that the problems of mass sensing data conditions, uncertain signals and the like in the plant factory environment are better solved, and particularly, mass heterogeneous data are difficult to use at a mobile end and an embedded end, so that guidance is provided for an intelligent solution in the plant factory.
Drawings
FIG. 1 is a schematic diagram of a centralized control integrated modular plant factory digital twinning system of the present invention;
fig. 2 is a flowchart of a decision method based on the CPS event model.
Detailed Description
The invention will be further described in detail with reference to examples of embodiments shown in the drawings.
Referring to fig. 1 to 2, a centralized control integrated modular plant factory digital twin system of the present embodiment includes:
the perception data layer is divided into real data of a physical world and twin data of a virtual world and is used for judging whether real-time data belongs to a reasonable data range or not through the twin data;
the operation decision layer is communicated with the perception data layer and is used for providing visual operation, production cycle calculation, yield prediction, experience assistance, efficiency optimization and monitoring operation states, the twin system is only required to be installed in the modularized plant factory in the process of using the system of the embodiment, the twin system is constructed through the perception data layer, and then global monitoring of the modularized plant factory is achieved through the twin system constructed through the operation decision layer based on the perception data layer.
As an improved specific implementation mode, the sensing data layer is divided into real data of the physical world and twin data of the virtual world, when the digital twin system enters a working state, a sensing module of the physical world starts to monitor the data information condition of the modularized plant factory, the real-time data is transmitted into a twin database, whether the real-time data accords with the reasonable data range of an experience module or not is judged through a cloud server, an environment control equipment module judges whether to intervene in opening of each execution or not, if so, an instruction is issued through an operation scheduling module in a module decision system, the physical world receives an opening instruction of an actuator through communication, the virtual world synchronizes the opening of the physical world instruction, then the virtual world is recorded into the twin database through data and transmitted into a server to establish a corresponding model for tracing, all data model parameters are obtained, event introduction is carried out based on a CPS event model, and closed loop processing is completed for the modularized plant factory in a precise agricultural control mode.
As an improved specific embodiment, the operation decision layer includes:
the web page visualization module is used for providing a login control interface based on a browser end so as to perform man-machine interaction with staff;
the scheduling plan module is used for performing scheduling period calculation on the planting yield plan, judging the plant growth period, outputting the harvest yield of agricultural products and predicting the expected yield;
the expert experience module is used for carrying out planting standardization and experience assistance on crops;
the system optimization module is used for controlling the fault investigation and efficiency optimization of the whole system;
the information management module is used for monitoring the planting information and the running state of the modularized plant factory;
the operation scheduling module is used for issuing instructions to the executor, the web page visualization module is used for providing a login control interface based on a browser end, on-line control can be performed at a PC end, on-site control can be performed at a mobile end, and various functions such as visualization operation, production period calculation, yield prediction, experience assistance, efficiency optimization and monitoring of running states can be effectively realized through the arrangement of the modules.
As an improved specific implementation manner, the sensing module monitors the data information condition of the modularized plant factory by arranging a sensor, a gateway, a light source device, a monitoring device and an environment control device to monitor the data information condition of the modularized plant factory, wherein the sensor comprises a temperature sensor, a humidity sensor, an illumination intensity sensor, a photoelectric liquid level sensor and a carbon dioxide concentration sensor, the environment control device comprises a cold and hot air conditioning device, a light control module, an electromagnetic valve and an exhaust unit, and when a user acquires real-time data information from a terminal through a visualization module, the Bluetooth gateway module monitors data in real time provided by nodes such as the sensing module temperature and humidity sensor, the photoelectric liquid level sensor, the illumination intensity sensor and the CO2 concentration sensor; each node is connected with a networking, and modularized plant factory environment data is collected in real time;
it should be noted that, the data source sensor obtains each parameter of the plant production growth state in the modularized plant factory, the gateway main core adopts nRF52 series bluetooth chip, the data transmission allows one-to-one, one-to-many and many-to-many transmission communication, BLE (BluetoothLowEnergy) protocol is adopted to form node mesh network, the whole architecture communicates through client-server architecture, real-time data is uploaded to the server, data of different parameters is built into mathematical model through algorithm and stored into the built data information center for deep analysis, bluetooth gateway module transmits data information to digital twin body through API interface by server, thereby achieving virtual-real synchronization effect, and is realized accurately in digital twin system, information interaction in the physical world is guided through virtual environment optimization, providing bidirectional implementation scheme, operational decision layer sends message transmission control requirement, status information and other functions to the server through binary model.
As an improved specific implementation mode, the real data of the physical world and the twin data of the virtual world of the perception data layer are obtained through construction of a three-dimensional scene module, and the three-dimensional scene module specifically comprises a physical entity scene and a digital virtual scene, wherein the physical entity scene comprises virtual crops and various agricultural software and hardware related devices, the three-dimensional scene module realizes the construction of a modularized plant factory digital twin model through software collaborative modeling by utilizing a multi-dimensional construction theory so as to complete the construction of the digital virtual scene, and the physical entity scene and the digital virtual scene can be effectively constructed through the arrangement of the mode.
As an improved specific implementation manner, the three-dimensional scene module utilizes a multi-dimensional construction theory to realize that software collaborative modeling constructs a modularized plant factory digital twin model to complete the construction of a digital virtual scene, and the construction method specifically comprises the following specific steps of constructing a forward three-dimensional model and a virtual twin model, wherein the specific steps of constructing the virtual twin model are as follows:
firstly, mapping an overall system in a virtual space by extracting component elements in a three-dimensional model, constructing a high-fidelity virtual model reflecting a modularized plant factory of a virtual environment, and 'connecting a perception-decision-making-control' demand configuration scheme through the modularized plant factory to truly and completely present a geometric model, physical attributes and control elements of a physical world;
modeling the multi-dimension of the modularized plant factory through three-dimensional simulation software such as SolidWorks, UG, fluent, rendering and molding through 3dmax software, establishing a mapping relation between the constituent elements and individual devices in the modularized plant factory, and performing data coupling based on a unit 3d virtual engine, wherein the method comprises the following steps: modular unit housings, vertical cultivation devices, environmental control equipment, crop virtual models, various types of sensory data. According to the association relation among the entity modules, the real fusion among the model elements is realized, the digital twin model which is highly consistent with the physical world is ensured to be completed, the behavior and rules of the simulation physical entity in the real environment are realized, and then the regulation and control of the production process are optimized, evaluated and predicted based on the digital model driven by the digital twin data. As an improved embodiment, as a data-driven twin model, a real-time virtual twin model is established by acquiring a data list in a modularized plant factory through API (ApplicationProgramming Interface) in a virtual model and coupling a preform device with the data.
The environmental response condition of a real object is monitored by the twin body, so that the simulation experiment and the receiving feedback of the digital twin body are realized, the real object sensing data are collected, the growth condition analysis under the current environment is quantitatively analyzed and evaluated, and meanwhile, an evaluation basis is provided for the subsequent yield increase operation.
An accurate CPS model is introduced, basic environment information of the whole system in a grabbing distributed and heterogeneous environment is analyzed, and intelligent operation of the digital twin system is optimized.
Further, a CPS event model based on physical objects is introduced, and the digital twin system event modeling is expressed as:
ε CPS ：＝PO|SR||CU|AR
wherein PO models an event, SR models a sensor, CU models calculation, and AR models control.
Wherein ε is the event type, id 1 The event is numbered as a matter of number,for event occurrence time, ++>As the place where the event occurs,for the time when the event is expected to occur from the observer's point of view, < >>To the site where the event is expected to occur from the observer's point of view, V ε O is the set of attributes at the time of the event, and O is the observer of the event.
Additionally, the CPS event grammar rule set may be expressed as:
O:＝ε CPS |v。
as an improved specific implementation mode, on the basis of the above, the virtual scene of the planting production of the whole modularized plant factory is described in a digital mode, and early warning model data simulated by the digital twin in the virtual environment is fed back to a model decision system;
the operation scheduling module timely fuses the physical data and the virtual data, and cooperates with other modules to adjust the decision so as to accurately implement the control scheme, thereby realizing synchronous operation of the virtual world and the physical world and real-time optimization of the model management scheme;
for a physical event can be expressed as:
wherein PO is a physical object, id 3 For the sequence number of the physical object,for event occurrence time, ++>Is the place where the event happens, V PO Representing the set of attributes at the time of occurrence.
Among the attributes of physical entities, there is a normal range of various attributes, and when the attributes are beyond the range of variation, an action needs to be performed, and the actions are formally expressed as:
wherein ,is algebraic function, n is entity number, OP R For various relational functions, C is a numerical constraint.
In summary, the present embodiment provides a centralized control integrated modular plant factory digital twin system.
In this example, with modular plant factory environmental parameter adjustment as an incident reference, 6 soil temperature and humidity sensors (denoted as a 1 ～A 6 ) 3 illumination sensors (denoted as B 1 ～B 3 ) Two environmental temperature and humidity sensors (denoted as C) are respectively arranged in front of and behind the box body 1 ～C 2 ) 2 illumination sensors (denoted as D 1 ～D 2 ) 2 co2 concentration sensors (denoted E 1 ～E 2 ) The 6 cultivation frames are divided into R in turn 1 ～R 6 )。
The method comprises the steps of entering a client through a web page, recording event information of a modularized plant factory in a log of the client, importing a data model in a twinning database into a CPS event model, establishing a virtual digital twinning model, and when an early warning value of each parameter of a plant growth environment is set, and when the sensor detects that the environment data reaches the early warning value, driving a digital twinning body by data and driving an actuator of corresponding equipment by a decision system to start, so that decision implementation is completed, and the twin system for controlling the virtual reality of the whole plant growth process by event and data driving is achieved.
Specifically, event modeling is performed on event occurrence in the digital twin system, and R is used for modeling 1 For example, the event physical object event may be represented as:
ε PO ＝SoilHumidityAlteration{id 1 ,[t 1 ,t 2 ],R 1 ,hum}
wherein ,id1 For the first occurrence, [ t ] 1 ,t 2 ]For the time of occurrence, R 1 For the place of occurrence, hum is the change in humidity, and in this example the global observer is noted Ob 1 。
Specifically, the sensor, the actuator and the control unit event model can be modeled, various environment elements of the modularized plant factory are expressed in a formalized mode, the connection condition of various elements and the logistics system in the digital twin system is comprehensively considered, the control analysis from the occurrence of the bottom layer of the event to the environmental change is considered from the global angle, and the overall working efficiency of the digital twin system is improved.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (8)
1. A centralized control integrated modularized plant factory digital twin system is characterized in that: comprising the following steps:
the perception data layer is divided into real data of a physical world and twin data of a virtual world and is used for judging whether real-time data belongs to a reasonable data range or not through the twin data;
and the operational decision layer is communicated with the perception data layer and is used for providing visual operation, production period calculation, yield prediction, experience assistance, efficiency optimization and monitoring running states.
2. The centralized control integrated modular plant factory digital twinning system of claim 1, wherein: the perception data layer comprises:
the sensing module is used for monitoring the data information condition of the modularized plant factory, transmitting the real-time data into the twin database and judging whether the real-time data accords with the reasonable data range of the experience module or not through the cloud server;
the environment control equipment module is used for judging whether each execution is required to be started, if so, an instruction is issued through the operation decision layer, the physical world receives the starting instruction of the executor through communication, the virtual world synchronizes the starting of the instruction of the physical world, then the virtual world is recorded into the twin database through data and is transmitted into the server to establish a corresponding model for tracing, all data model parameters are obtained, event import is carried out based on the CPS event model, and closed-loop processing is completed for the modularized plant factory in a precise agricultural control mode.
3. The centralized control integrated modular plant factory digital twinning system of claim 2, wherein: the operation decision layer comprises:
the web page visualization module is used for providing a login control interface based on a browser end so as to perform man-machine interaction with staff;
the scheduling plan module is used for performing scheduling period calculation on the planting yield plan, judging the plant growth period, outputting the harvest yield of agricultural products and predicting the expected yield;
the expert experience module is used for carrying out planting standardization and experience assistance on crops;
the system optimization module is used for controlling the fault investigation and efficiency optimization of the whole system;
the information management module is used for monitoring the planting information and the running state of the modularized plant factory;
and the operation scheduling module is used for issuing instructions to the executor.
4. A centralized control integrated modular plant factory digital twinning system as claimed in claim 3, wherein: the mode of the sensing module monitoring the data information condition of the modularized plant factory is that a sensor, a gateway, a light source device, monitoring equipment and environment control equipment are arranged to monitor the data information condition of the modularized plant factory, wherein the sensor comprises a temperature sensor, a humidity sensor, an illumination intensity sensor, a photoelectric liquid level sensor and a carbon dioxide concentration sensor, and the environment control equipment comprises a cold and hot air conditioning equipment, a light control module, an electromagnetic valve and an exhaust unit.
5. The centralized control integrated modular plant factory digital twinning system of claim 4, wherein: the real data of the physical world and the twin data of the virtual world of the perception data layer are obtained through construction of a three-dimensional scene module, and specifically comprise a physical entity scene and a digital virtual scene, wherein the physical entity scene comprises virtual crops and various agricultural software and hardware related devices, and the three-dimensional scene module realizes the construction of a modularized plant factory digital twin model through software collaborative modeling by utilizing a multi-dimensional construction theory so as to complete the construction of the digital virtual scene.
6. The centralized control integrated modular plant factory digital twinning system of claim 5, wherein: the three-dimensional scene module realizes the construction of a modularized plant factory digital twin model by utilizing a multi-dimensional construction theory through software collaborative modeling to complete the construction of a digital virtual scene, and specifically comprises the construction of a forward three-dimensional model and a virtual twin model, wherein the construction of the virtual twin model comprises the following specific steps:
firstly, mapping an overall system in a virtual space by extracting component elements in a three-dimensional model, constructing a high-fidelity virtual model reflecting a modularized plant factory of a virtual environment, and 'connecting a perception-decision-making-control' demand configuration scheme through the modularized plant factory to truly and completely present a geometric model, physical attributes and control elements of a physical world;
modeling the modular plant factory in a multi-dimensional mode through three-dimensional simulation software, rendering and forming through 3dmax software, establishing a mapping relation between component elements and each device in the modular plant factory, performing data coupling based on a unit 3d virtual engine, realizing real fusion among model elements according to the association relation among entity modules, completing a digital twin model which is highly consistent with the physical world, and realizing the behavior and rules of simulating physical entities in the real environment.
7. The centralized control integrated modular plant factory digital twinning system of claim 6, wherein: modeling event importation based on the CPS event model is expressed as:
ε CPS ：＝PO|SR||CU|AR
wherein PO is event modeling, SR is sensor modeling, CU is calculation modeling, AR is control modeling;
wherein ε is the event type, id 1 The event is numbered as a matter of number,for event occurrence time，/>For the place where the event occurs, < > for>For the time when the event is expected to occur from the observer's point of view, < >>To the site where the event is expected to occur from the observer's point of view, V ε O is the observer of the event;
additionally, the CPS event grammar rule set may be expressed as:
O:＝ε CPS |v。
8. the centralized control integrated modular plant factory digital twinning system of claim 7, wherein: the operation scheduling module fuses the physical data and the virtual data in time, and adjusts the decision in cooperation with other modules so as to accurately implement the control scheme and realize synchronous operation of the virtual world and the physical world and real-time optimization of the model management scheme;
for a physical event can be expressed as:
wherein PO is a physical object, id 3 For the sequence number of the physical object,for event occurrence time, ++>Is the place where the event happens, V PO Representing a set of attributes at the time of occurrence;
among the attributes of physical entities, there is a normal range of various attributes, and when the attributes are beyond the range of variation, an action needs to be performed, and the actions are formally expressed as:
wherein ,is algebraic function, n is entity number, OP R For various relational functions, C is a numerical constraint.
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