High density grow space automation with mobile robots

A system comprising:

• a grow space including:
• a plurality of grow trays, wherein each grow tray is spaced apart from another grow tray with a maximum distance D, wherein D is less than a width of any particular grow tray in the plurality of grow trays;
• and
• one or more grow tray supports, wherein the one or more grow tray supports are configured such that a mobile robot can navigate below the plurality of grow trays while also performing tasks above the plurality of grow trays;
• a mobile robot configured to perform transport or task automation within the grow space, the mobile robot including:
• one or more sensors;
• a mobility mechanism;
• a processor;
• memory;
• and
• an attachment, wherein the attachment is configured to allow the mobile robot to lift a grow tray off of a grow tray support, and wherein a spacing between the plurality of grow trays is larger than the attachment but smaller than a width of a base of the mobile robot to allow the mobile robot to travel under the plurality of grow trays and extend the attachment up between the plurality of grow trays to lift a grow tray above a stationary height of the plurality of grow trays.

A system comprising:

• a grow space including:
• one or more grow trays;
• and
• one or more travel zones within the grow space;
• a plurality of mobile robots configured to perform transport or task automation within the grow space, each mobile robot including:
• one or more sensors;
• a mobility mechanism;
• a first processor;
• and
• a first memory, wherein the first memory stores instructions for implementing:
• a navigation planner, the navigation planner configured to compute a path and a list of traversable travel zones for a mobile robot to navigate within the grow space;
• and
• a lock requestor, the lock requestor configured to request locks on traversable travel zones in a given computed path from a central server;
• and
• a central server configured to manage coordination between mobile robots and travel zones within the grow space, wherein the central server includes:
• a second processor;
• and
• a second memory, wherein the second memory stores instructions for implementing:
• a travel zone store, the travel zone store configured to log locks of travel zones given to mobile robots;
• and
• a centralized lock provider, the lock provider configured to manage locks of travel zones to a plurality of different mobile robots.