A shelving system for plant cultivation includes a frame, at least two vertically-spaced support racks, a plant support tray positioned atop each of said support racks, an optional forced-air ventilations system, and an optional lighting system. A pair of upright frame portions have support racks extending between the upright frame portions. The plant support trays each have a pot-supporting surface and a series of grooves or channels extending below the pot-supporting surface. Optionally, the plant support trays have integral water runoff troughs that receive runoff water from the grooves, channels, or openings. Optionally, a drive mechanism is coupled to the frame and is operable to cause the frame to translate along a floor surface.

A grow system. The system includes growing plants in grow modules that are individually moveable. The plants grow in trays where roots never touch the water supply. The plumbing to the grow modules is a low flow, one way flow continual drip system that is hands free. A mobile robot can navigate around a growspace, bring any grow module from one location to another, and perform growspace operations. The growspace is a control space with data source zones and a control space manager. The control space manager can collect data and control different variables across different data source zones in order to determine optimal policies and conditions for data source growth and generation.

One variation of a method for deploying sensors within an agricultural facility includes: accessing scan data of a set of modules deployed within the agricultural facility; extracting characteristics of plants occupying the set of modules from the scan data; selecting a first subset of target modules from the set of modules, each target module in the set of target modules containing a group of plants exhibiting characteristics representative of plants occupying modules neighboring the target module; for each target module, scheduling a robotic manipulator within the agricultural facility to remove a particular plant from a particular plant slot in the target module and load the particular plant slot with a sensor pod from a population of sensor pods deployed in the agricultural facility; and monitoring environmental conditions at target modules in the first subset of target modules based on sensor data recorded by the first population of sensor pods.

An automatic cart transport system. A track located in a factory working floor provides a trackway for an endless flexible conveyor chain. A plurality of chain units including a first chain portion having vertical rollers and a second chain portion having horizontal rollers are flexibly coupled, and the chain is advanced along the trackway by a drive motor. The chain units support thereabove, but within the track, a coupling plate having therein an aperture for accepting and capturing a chain connection shaft which is detachably connected to a cart. The cart is automatically towed along a defined pathway on the working floor of a factory by the chain, when connected to the coupling plate on the endless flexible conveyor chain.

Disclosed are high-density soil-less hydroponic cultivation systems, apparatus used therein, and methods of operation thereof. A high-density soil-less cultivation system can comprise one or more grow columns, each comprising a column lumen, and one or more angled housings coupled to the grow columns. The system can further comprise a nutrient reservoir configured to contain a nutrient solution to be delivered to the grow columns, a capture conduit coupled to the grow columns configured to capture or recapture nutrient solution flowing through the grow columns, and a capture reservoir configured to collect the captured or recaptured nutrient solution from the capture conduit for delivery to the nutrient reservoir to be reused. The system can also comprise an omnidirectional light tower configured to shine light on the one or more angled housings to induce growth of any plant matter within the angled housings.

One variation of a method for automating transfer of plants within an agricultural facility includes: dispatching a loader to autonomously deliver a first module—defining a first array of plant slots at a first density and loaded with a first set of plants at a first growth stage—from a first grow location within an agricultural facility to a transfer station within the agricultural facility; dispatching the loader to autonomously deliver a second module—defining a second array of plant slots at a second density less than the first density and empty of plants—to the transfer station; recording a module-level optical scan of the first module; extracting a viability parameter of the first set of plants from features detected in the module-level optical scan; and if the viability parameter falls outside of a target viability range, rejecting transfer of the first set of plants from the first module.

Described herein are systems and methods providing a slip gear for an industrial cart. One embodiment includes a slip gear that includes a track gear for engaging with the track, a stabilizing bar, and a motor gear for engaging with a drive motor and the track gear. The slip gear may also include a stabilizing bar that is rotatably coupled to the track gear and the motor gear. In some embodiments, when the drive motor rotates the motor shaft, the motor gear rotates with the motor shaft to cause rotation of the track gear to propel the industrial cart. In response to an object pushing the industrial cart along the track, the stabilizing bar rotates to disengage the track gear from the track, thereby reducing friction between the industrial cart and the track.

A control system includes a shell including an enclosed area, one or more carts moving on a track within the enclosed area, an air supplier within the enclosed area, one or more vents connected to the air supplier and configured to output air within the enclosed area, and a controller. The controller is configured to: identify a plant on the one or more carts; determine a humidity recipe for the identified plant; control the air output from the one or more vents based on the humidity recipe for the identified plant; receive an image of the plant the in one or more carts captured by the imaging sensor; and update the humidity recipe for the plant based on the captured image of the plant.

A method using ultra wide band (UWB) communication for determining a location of an object inside a plant growing environment, wherein the object is provided with an UWB transmitter; the plant growing environment is provided with multiple UWB receivers; and the receivers are connected to a processing unit. The method includes: broadcasting a message from the object over UWB using the transmitter; receiving the message at at least some of the receivers; and determining a location estimate for the object through lateration and/or angulation, by the processing unit. A UWB communication system for performing the method and a plant growing environment comprising such a system.

The present disclosure is directed to improved vertical farming using autonomous systems and methods for growing edible plants, using improved stacking and shelving units configured to allow for gravity-based irrigation, gravity-based loading and unloading, along with a system for autonomous rotation, incorporating novel plant-growing pallets, while being photographed and recorded by camera systems incorporating three dimensional/multispectral cameras, with the images and data recorded automatically sent to a database for processing and for gauging plant health, pest and/or disease issues, and plant life cycle. The present disclosure is also directed to novel harvesting methods, novel modular lighting, novel light intensity management systems, real time vision analysis that allows for the dynamic adjustment and optimization of the plant growing environment, and a novel rack structure system that allows for simplified building and enlarging of vertical farming rack systems.