WO2021035354A1

WO2021035354A1 - Deployable system for environmental homogenization

Info

Publication number: WO2021035354A1
Application number: PCT/CA2020/051170
Authority: WO
Inventors: Hamed AHMADI; Farhang BIDRAM
Original assignee: Advanced Intelligent Systems Inc.
Priority date: 2019-08-31
Filing date: 2020-08-27
Publication date: 2021-03-04

Abstract

A system, apparatus and method for environmental homogenization of an operating space is disclosed. The system includes a plurality of environmental sensors distributed within the operating space. The system also includes an environmental mapper operably configured to generate a map of environmental parameters within the operating space, the environmental parameters being generated by the plurality of environmental sensors. The system further includes at least one mobile robot, the mobile robot including a wheeled chassis including a plurality of motorized wheels, a navigation sensor disposed on the chassis, and a controller disposed on the chassis operably configured to autonomously navigate the chassis based on information from the navigation sensor. The mobile robot also includes an environmental control module disposed on the chassis and operably configured to modify at least one environmental parameter associated with the operating space.

Description

DEPLOYABLE SYSTEM FOR ENVIRONMENTAL HOMOGENIZATION

TECHNICAL FIELD

The present disclosure relates to environmental control systems in indoor applications, specifically autonomous solutions for managing indoor environments. The present disclosure also relates to autonomous mobile robots, specifically an autonomous mobile robot for indoor environmental control.

BACKGROUND

In many indoor environments, it may be desirable to be able to finely control localized environmental parameters. For example, in many modern agricultural greenhouses and horticultural nurseries, the facilities are constructed with environmental control systems designed to provide a homogenous, controlled environment optimized for plant growth in order to avoid the appearance of "microclimates" - regions with different environmental properties - which may result in uneven rate of plant growth and reduced greenhouse productivity. Such systems typically involve extensive infrastructure such as artificial lighting for plants, radiant heating, air circulation systems, and sprinkler systems for atmospheric humidity control, for example, which while effective at maintaining a sealed and homogenous environment, are expensive to construct, operate, and maintain. Examples of such systems include US patent application US12/517,296, US13/532,557, and US12/849,488. Usually, such systems rely on fixed and stationary sensory nodes and climate control actuators resulting in expensive, permanent changes to the greenhouse and limitation in the resolution of the microclimate measurement and control inside a greenhouse.

Recently, mobile robotic systems are proposed to reduce limitations of fixed monitoring devices and also human-operated systems. An example of such a robotic system is described in Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses by Roldan et. al. However, such systems only propose mobile robots for climate monitoring and in rare cases performing operations such as harvesting and irrigation on plants and crops. SUMMARY

The current disclosure provides an autonomous robotic system that uses on-board climate control actuators such as fans, humidifiers, heaters and lighting to modify the environment conditions within an indoor space and to eliminate microclimates. Accordingly, a relatively inexpensive deployable solution for facilitating environmental homogenization is provided.

In accordance with one disclosed aspect there is provided a mobile robot apparatus for performing environmental homogenization within an operating space. The apparatus includes a wheeled chassis including a plurality of motorized wheels, a navigation sensor disposed on the chassis, and a controller disposed on the chassis. The controller is operably configured to autonomously navigate the chassis based on information from the navigation sensor. The apparatus also includes an environmental control module disposed on the chassis operably configured to modify at least one environmental parameter associated with the operating space.

The controller may be operably configured to receive a target region within the operating space, the target region having been identified in a map of environmental parameters generated for the operating space, and cause the apparatus to be navigated to the target region.

The apparatus may include one or more environmental sensors disposed on the vehicle for detecting environmental parameters, the controller being operably configured to transmit the detected environmental parameters and a current location of the mobile robot apparatus to an environmental mapper, the environmental mapper being operable to generate the map of environmental parameters of within the operating space.

The environmental sensor may include at least one of a humidity sensor, a temperature sensor, or a biological sensor operable to sense the presence of a biological organism within the operating space.

The environmental control module may include at least one of a heater, a humidifier, a dehumidifier, a fan, a light source, or a material dispensing device.

The apparatus may include a power module disposed on the chassis and operably configured to supply power to the environmental control module.

The mobile robot may operate in a plant nursery and the chassis may include a pair of chassis portions interconnected by a frame, each of the pair of chassis portions having motorized wheels, the frame extending vertically from each of the chassis portions to provide clearance for row of plants to pass under the frame between the pair of chassis portions.

The navigation sensor may include a plurality of navigation sensors.

In accordance with another disclosed aspect there is provided a system for environmental homogenization of an operating space. The system includes a plurality of environmental sensors distributed within the operating space. The system also includes an environmental mapper operably configured to generate a map of environmental parameters within the operating space, the environmental parameters being generated by the plurality of environmental sensors. The system further includes at least one mobile robot, the mobile robot including a wheeled chassis including a plurality of motorized wheels, a navigation sensor disposed on the chassis, and a controller disposed on the chassis operably configured to autonomously navigate the chassis based on information from the navigation sensor. The mobile robot also includes an environmental control module disposed on the chassis and operably configured to modify at least one environmental parameter associated with the operating space.

The plurality of environmental sensors may include a network of fixed environmental sensors distributed within the operating space.

The plurality of environmental sensors may include an environmental sensor disposed on at least one of a UAV or a UGV.

The environmental control module of the mobile robotic apparatus may include at least one of a heater, a humidifier, a dehumidifier, a fan, a light source, or a material dispensing device.

The plurality of environmental sensors may include at least one of a humidity sensor, a temperature sensor, a biological sensor operable to sense the presence of a biological organism within the operating space.

In accordance with another disclosed aspect there is provided a method for automated environmental homogenization of an operating space. The method involves receiving, by a processor, environmental information for the operating space from one or more environmental sensors, generating, by the processor, an environmental map of the operating space based on the environmental information, and identifying, by the processor, a region in the operating space requiring environmental homogenization based on the generated environmental map. The method also involves assigning, by the processor, an environmental homogenization task identifying a target region to a mobile robot, the mobile robot having an environmental control module operable to homogenize the environment, the assigned environmental homogenization task causing the mobile robot to navigate to the identified target region for performing the task.

The method may involve verifying, by the processor, an outcome of the environmental homogenization task based on additional environmental information received by the processor from the one or more environmental sensors.

The one or more environmental sensors may include a biological sensor operably configured to detect the presence of a biological organism and the environmental homogenization task may involve sanitization task.

BRIEF DESCRIPTION OF THE DRAWINGS

In the following, embodiments of the present disclosure will be described with reference to the appended drawings. However, various embodiments of the present disclosure are not limited to arrangements shown in the drawings.

Figure 1 is a perspective view of an embodiment of a mobile robot which is part of a deployable system for greenhouse environmental homogenization;

Figure 2 is a perspective view of another embodiment of a mobile robot for greenhouse environmental homogenization;

Figure 3 is a perspective view of yet another embodiment of a mobile robot for greenhouse environmental homogenization;

Figure 4 is an exploded perspective view of a modular mobile robot for greenhouse environmental homogenization;

Figure 5 is a perspective view of a mobile robot with an optional module for greenhouse environmental homogenization; Figure 6 if a plan view of a system for greenhouse environmental homogenization;

Figure 7 is a perspective view of yet another embodiment of a mobile robot which is part of a deployable system for greenhouse environmental homogenization;

Figure 8 is a block diagram of a method for greenhouse environmental homogenization; and

Figures 9A and 9B are partially exploded and perspective views of yet another embodiment of a mobile robot for greenhouse environmental homogenization.

DETAILED DESCRIPTION

Referring to Figure 1, a mobile robot apparatus that is part of a deployable system for greenhouse environmental homogenization is shown generally at 100. The apparatus 100 includes a robotic base 110 and an environmental control module 120. The robotic base 110 includes a chassis 112 and a plurality of motorized wheels 114. The robotic base 110 also includes a controller 116 operably configured to autonomously navigate the chassis, and one or more navigation sensors 118 which provide information to the controller 116 for autonomous navigation. The navigation sensors 118 may be a Light Detection and Ranging (LiDAR) sensor, an optical camera, or any other navigation or localization system such as a global positioning system (GPS) for example. The controller 116 may receive information from other aspects of the system, such as the environmental mapper system (see Figure 6), which may provide information to the controller 116 regarding a target region or location where the apparatus 100 should be moved to in order to homogenize the greenhouse environment. The environmental control module 120 includes a ventilation system 122, shown in Figure 1 as a fan for moving air around the greenhouse, a temperature control system 124 such as heating elements, and a humidity control system including a water reservoir 126 and spray heads 127, for example. The atmospheric control module 120 may be mounted such that the ventilation system 122 can be directionally controlled. For example, the ventilation system 122 may be configured to be controlled to rotate in direction 125 with respect to the chassis 112. The controller 116 is also configured to control the atmospheric control module 120, such as adjusting the direction of the ventilation system 122, the heat generated by temperature control system 124, and the amount of moisture outputted by the spray heads 127 of the humidity control system, for example.

Additional aspects are now described with reference to embodiments of an autonomous robot apparatus 200, 300 and 400 that are part of a deployable system for greenhouse environmental homogenization, shown in Figures 2, 3 and 4 respectively. Variations of an autonomous robot apparatus for articles processing 100, such as apparatus 200, 300 and 400, may include elements similar to those of apparatus 100, but within the respective 200, 300 and 400 series of numbers, whether or not those elements are shown.

Referring to Figure 2, the apparatus 200 includes a chassis 210 with a controller 216 and navigation sensors 218. The apparatus 200 also includes an environmental control module 220, in this case a cylindrical tower heater such as a gas heater. The heater may function as both a temperature control system 224 using its heating elements, and may additionally serve as a ventilation system 222 through an internal fan, or simply by using convection. The environmental control module 220 may lack a dedicated humidity control system, and may only indirectly affect humidity through heating and ventilation, for example. Such an apparatus 200 may be more suited to a greenhouse in which temperature is the primary inhomogeneity, for example.

Referring to Figure 3, the apparatus 300 includes a chassis 310 with a controller 316 and navigation sensors 318. The apparatus 300 also includes an environmental control module 320, in this case a compact dehumidifier system. The module 320 may run a dehumidifier as a humidity control system 328, removing moisture from the greenhouse environment instead of adding moisture. The module 320 may also include a fan to act as a ventilation system 322, and may lack a temperature control system. In other embodiments, heating elements may be included to act as a temperature control system. Such an apparatus 300 may be more suited to a greenhouse in which moisture is the primary inhomogeneity, for example.

Referring to Figure 4, the apparatus 400 is shown with various exchangeable environmental control modules 402, 404, and 406, highlighting the modularity of apparatus 400. Each of environmental control modules 402, 404 and 406 can be detached from chassis 410 and replaced by another module to suit the needs of the greenhouse. For example, if the greenhouse requires more ventilation or circulation such as during the day and when there is no wind, fan module 402 may be used, but when night comes and heating and temperature control is more important, the fan module 402 may be detached and replaced with heater module 404. Depending on the weather, there may instead be a need to control humidity, in which case the fan 402 or heater module 404 can be replaced with humidity module 406, for example.

In other embodiments, the mobile robot apparatus does not need to be a dedicated environmental control robot. In Figure 5, for example, a mobile robot apparatus is shown generally at 500. The apparatus 500 has a primary function other than environmental control, such as article movement. In other embodiments, the apparatus 500 may have other primary functionalities such as plant trimming, plant fertilization, and plant inspection. The apparatus 500 includes a robotic base, which includes a chassis 512 with a manipulator 513 and plurality of motorized wheels 514, a storage platform 515 for carrying articles, and a controller 516 connected to a communications device 517 and navigation sensors 518. The apparatus 500 may also have additional environmental sensors for detecting environmental parameters such as temperature and humidity, which may be located with communications device 517 for example. The apparatus 500 additionally includes a removable environmental control module 520, which may be added to apparatus 500 to allow the apparatus 500 to perform environmental control and homogenization tasks simultaneously with the primary task of apparatus 500. Such a module 520 may be a small heater, fan, and/or de/humidifier mounted at the rear of the vehicle, for example.

Referring to Figure 6, a system for greenhouse environmental homogenization is shown generally at 600. In Figure 6, a greenhouse 602 implementing system 600 is shown, the greenhouse 602 having support structures 604 such as pillars or frames to support the walls and ceiling of the greenhouse 602. The space within the greenhouse 602 is divided into a number of bays 610, in which plants 612 are growing. Plants 612 may be grown in pots and the greenhouse 602 may have autonomous mobile robots (UGVs) 614 tasked with moving, arranging, and spacing plants 612 within the bays 610. The system 600 includes an environmental mapper 630 which monitors the environment within the greenhouse 602. The environmental mapping system 600 may include a number of fixed environmental sensors 606 attached to support structures 604 of the greenhouse 602, or may comprise mobile environmental sensors 616 disposed on mobile robots 614. In yet another case, mobile environmental sensors 616 may be disposed on drones 615 (UAVs) which may periodically fly in a pre-set patrol pattern around the greenhouse 602, for example. Using environmental sensors onboard the mobile robots and drones to measure environmental parameters has the added advantage of acquiring high resolution environmental measurement and mapping.

In any case, the environmental sensors 606, 616 gather information on the environment of the greenhouse 602 at different locations to monitor environmental parameters such as temperature and humidity, and to monitor the homogeneity of such parameters. The environmental mapper includes a processor circuit that communicates with the environmental sensors 606, 616, via WiFi for example, compiles the information on the environment, and generates an environmental map. In the embodiment shown the environmental mapper 630 is implemented on a cloud server 630 (but may also be a local server or a processing unit of a mobile robot, for example). The system 600 also includes a mobile robot apparatus for environmental homogenization 620, such as the apparatuses 100, 200, 300, 400 or 500 of Figures 1-5. The apparatus 620 has an environmental control module 622 such as a fan, heater, de/humidifier, or any other environment-affecting device. Examples of other environment- affecting devices may include but are not limited to material dispensing devices such as gas sources (for example, a pressurized oxygen or carbon dioxide source) or vapor or aerosol sources, or may even be a non-atmospheric environment-affecting device such as a light source (such as shown in Figures 9A and 9B, for example). The robot apparatus 620 receives environmental map information from the environmental mapper processor 630 and is configured to autonomously attempt to homogenize the environment within the greenhouse 602. For example, the apparatus 620 may autonomously navigate to a target region having low temperature and activate a heater of the environmental control module 120. Alternatively, the apparatus 620 may autonomously navigate to a target region having overly high humidity and may activate a a dehumidifier of the environmental control module 120. Alternatively, in other embodiments, the environmental control module 622 may be attached to mobile robots 614, such as in Figure 5. In such a case, the processor 630 may direct one or more of such modules 622 to operate in tandem while the mobile robots 614 are carrying out their primary task in order to achieve the desired homogenization. In other cases, this may not be possible, and an idle robot may be redirected to perform environmental homogenization as a primary task. The processor 630 or the processor onboard the robot apparatus (such as the processor of the controller) may be further configured to learn at least a pattern and behavior (such as through machine learning) in the environmental parameters over time and use the learnt patterns to task the robot apparatus 620. The tasks could include predictive environmental control strategies such as predicting a non-homogeneity in a location within the system 600 and commanding the robot apparatus 620 to navigate to the location and activating a control module to homogenize the location. This learning and training capability of the processing unit 630 is particularly advantageous since some environmental parameters may behave periodically or may behave within a specific pattern. For example, a specific location of a greenhouse 602 may be under shades, as opposed to other locations which are exposed to sunlight during specific hours of days, and hence may have lower temperature levels. Thus, after several times that the processor 630 identifies lower temperature levels at the location at certain times during a day , using the information provided by the environmental mapper, and dispatches the robot apparatus 620 to the location to activate a heating module and increase the temperature of the location, the processor 630 learns the environmental pattern and can predict dispatching the robot apparatus 620 to the location ahead of time, or could use this learnt pattern to optimize a path planning for the robot apparatus. In addition, the processor 630 may be connected to whether forecasting systems to further improve the planning and route optimization of the robot apparatus 620.

Additional aspects are now described with reference to embodiments of an autonomous robot apparatus 700 which is part of a deployable system for greenhouse environmental homogenization, shown in Figures 7. Variations of an autonomous robot apparatus for articles processing 100, such as apparatus 700, may include elements similar to those of apparatus 100, but within the respective 700 series of numbers, whether or not those elements are shown.

Referring to Figure 7, the apparatus 700 is shown with an alternative configuration for the robot base 710. The robotic base 710 comprises paired chassis 712, each having motorized wheels 714, and an interconnecting frame 713 which connects the two. The interconnecting frame 713 extends vertically from the paired chassis 712 providing clearance for the robotic base 710 to pass over a row of plants 730 even if they have some substantial height as shown. The paired chassis 712 are relatively narrow and can fit between individual rows of plants 730. The interconnecting frame 713 may be configured to have an adjusting width (i.e. variable distance between the paired chassis 712) in direction 734 by using a telescopic frame box 732, for example. The telescopic frame box 732 may adjust the width of the frame 713 actively, for example by using an actuator inside the box 732. The frame 713 may be configured to have a variable width to allow for proper navigation between plants with different sizes and plants that might have variable gap between their rows.

The controller 716 and navigation sensors 718 may be mounted on one or both of the paired chassis 712 for navigation and control. The environmental control module 720 is disposed on the interconnecting frame 713 so as to avoid interference with plants 730, for example, and to provide greater clearance for airflow. As shown in Figure 7, the environmental control module 720 may include a ventilation system 722. It may also include a humidity control system including water reservoirs 726, for example. It may also have any of the other systems described above. The embodiment shown in Figure 7 could be used to move in between plant lines and apply micro-environment control with a very high resolution.

Referring to Figure 8, a method for automated greenhouse environmental homogenization is shown generally at 800. The method includes an information gathering step 802, a mapping step 804, an inhomogeneity identification step 806, a dispatching step 808, a task execution step 810. The task execution step 810 further includes a navigating step 812 and a homogenization step 814. The method then includes an optional verification step 816. In the information gathering step 802, a processor receives and gathers information from one or more environmental sensors in the greenhouse, such as fixed environmental sensors or sensors fitted on UAVs or UGVs operating in the greenhouse for example. In the mapping step 804, the processor generates an environmental map of the greenhouse space using the information gathered during the gathering step 802. This environmental map matches environmental values with positions in the greenhouse and can be used to identify environmental property distributions and to identify inhomogeneities such as inhomogeneity identification step 806 where the processor identifies a region in the greenhouse requiring environmental homogenization based on the generated map. The method 800 then proceeds to dispatching step 808 wherein the processor generates and assigns a task to a mobile robot, the robot having an environmental control module, to homogenize the greenhouse environment. The robot then carries out the task in task execution step 810. First, the robot navigates autonomously to the identified region, or another region suitable for performing homogenization of the identified region in navigating step 812. The robot then performs, using its environmental control module, the task to homogenize the greenhouse environment in the homogenization step 814. Once the task execution step 810 is complete, the method 800 may proceed to an optional verification step 816 to verify the outcome of the task based on additional environmental information received by the processor from the one or more environmental sensors. This optional step 816 may provide additional information and finer control over the environment of the greenhouse, for example.

Referring to Figures 9A and 9B, another embodiment of a mobile robot apparatus is shown generally at 900. The apparatus 900 includes a robotic base 910, an environmental control module 920, and a power module 940. The robotic base 910 includes a chassis 912 and a plurality of motorized wheels 914. The robotic base 910 also includes a controller 916 operably configured to autonomously navigate the chassis. The environmental control module 920 is shown in this embodiment as a lighting module, comprising a plurality of lighting elements 929 of altering the lighting environment. The lighting elements 929 may be visible light emitters such as fluorescent lights, Light Emitting Diodes (LEDs), or any other type of lamp emitting light in a wide range of wavelengths, or may be configured to emit specific wavelengths of light for specific purposes. For example, in some embodiments, the lighting elements 929 may be LED "Grow Lights" emitting red light in the 640-680nm range for optimal plant growth. In other embodiments, the lighting elements 929 may be (JVC lamps for killing mildew, mold, other biological organisms, and/or for disinfection or sanitization purposes, for example.

In embodiments described above (such as with respect to Figure 1), navigation sensors 918 which provide information to the controller 916 for autonomous navigation may be mounted on the robotic base 910, but in some embodiments, it may be preferable to mount sensors 918 on the environmental control module 920 or the power module 940 due to advantageous geometry and fields of view, for example. The navigation sensors 918 may be a Light Detection and Ranging (LiDAR) sensor, an optical camera, or any other navigation or localization system such as a global positioning system (GPS) for example. The controller 116 may receive information from other aspects of the system, such as the environmental mapper (see Figure 6), which may provide information to the controller 916 regarding where the apparatus 900 should be moved to in order to homogenize the greenhouse environment. Similarly, a communication device 917 may be located on the environmental control module 920 for similar reasons.

In some embodiments, the environmental control module 920 requires a relatively high amount of power compared to the robotic base 910. In such embodiments, it may be advantageous to have a power module 940 configured to provide additional power to the environmental control module 920 in order to increase the effective operating time of the apparatus 900. The power module 940 may be disposed between the robotic base 910 and the environmental control module 920, and may be designed such that it can act as a retrofit module to fit the environmental control module 920 onto an existing robotic base 910, for example. The power module 940 includes a battery bank 942 to supply additional power to the environmental control module 920. The power module 940 may also mount one or more of the navigation sensors 918 for navigating the robotic base 910, and may have additional power module sensors 944 to supplement the sensors 918 for navigating the robotic base 910 such as additional cameras or sensors for measuring environmental parameters, for example. For example, the apparatus 900 may include a biological sensor for detecting the presence of biological organisms within the operating space embodiments, the fixed environmental sensors 606 and mobile environmental sensors 616 may also include biological sensors.

The above embodiments have been described with reference to a context of a greenhouse environment. It should be appreciated that the apparatuses, systems, and methods described above may be applicable to other types of operating environments such as warehouses or office spaces where it may be desirable for certain environmental parameters to be homogenized or otherwise modified.

While specific embodiments have been described and illustrated, such embodiments should be considered illustrative only and not as limiting the disclosed embodiments as construed in accordance with the accompanying claims.

Claims

What is claimed is:

1. A mobile robot apparatus for performing environmental homogenization within an operating space, the apparatus comprising: a wheeled chassis including a plurality of motorized wheels; a navigation sensor disposed on the chassis; a controller disposed on the chassis, the controller being operably configured to autonomously navigate the chassis based on information from the navigation sensor; and an environmental control module disposed on the chassis operably configured to modify at least one environmental parameter associated with the operating space.

2. The apparatus of claim 1, wherein the controller is operably configured to: receive a target region within the operating space, the target region having been identified in a map of environmental parameters generated for the operating space; and cause the apparatus to be navigated to the target region.

3. The apparatus of claim 2, further comprising one or more environmental sensors disposed on the vehicle for detecting environmental parameters, the controller being operably configured to transmit the detected environmental parameters and a current location of the mobile robot apparatus to an environmental mapper, the environmental mapper being operable to generate the map of environmental parameters of within the operating space.

4. The apparatus of claim 3 wherein the environmental sensor comprises at least one of: a humidity sensor; a temperature sensor; or a biological sensor operable to sense the presence of a biological organism within the operating space.

5. The apparatus of claim 1 wherein the environmental control module comprises at least one of: a heater; a humidifier; a dehumidifier; a fan; a light source; or a material dispensing device.

6. The apparatus of any one of claims 1 to 5, further comprising a power module disposed on the chassis and operably configured to supply power to the environmental control module.

7. The apparatus of claim 1 wherein the mobile robot operates in a plant nursery and wherein the chassis comprises a pair of chassis portions interconnected by a frame, each of the pair of chassis portions having motorized wheels, wherein the frame extends vertically from each of the chassis portions to provide clearance for row of plants to pass under the frame between the pair of chassis portions.

8. The apparatus of claim 1 wherein the navigation sensor comprises a plurality of navigation sensors.

9. A system for environmental homogenization of an operating space, the system comprising: a plurality of environmental sensors distributed within the operating space; an environmental mapper operably configured to generate a map of environmental parameters within the operating space, the environmental parameters being generated by the plurality of environmental sensors; and at least one mobile robot, the mobile robot comprising: a wheeled chassis including a plurality of motorized wheels; a navigation sensor disposed on the chassis; a controller disposed on the chassis operably configured to autonomously navigate the chassis based on information from the navigation sensor; and an environmental control module disposed on the chassis and operably configured to modify at least one environmental parameter associated with the operating space.

10. The system of claim 9 , wherein the plurality of environmental sensors comprise a network of fixed environmental sensors distributed within the operating space.

11. The system of any one of claims 9 to 10, wherein the plurality of environmental sensors comprise an environmental sensor disposed on at least one of a UAV or a UGV.

12. The system of any one of claims 9 to 11, wherein the environmental control module of the mobile robotic apparatus comprises at least one of: a heater; a humidifier; a dehumidifier; a fan; a light source; or a material dispensing device.

13. The system of claim 9, wherein the plurality of environmental sensors comprise at least one of: a humidity sensor; a temperature sensor; or a biological sensor operable to sense the presence of a biological organism within the operating space.

14. A method for automated environmental homogenization of an operating space, the method comprising: receiving, by a processor, environmental information for the operating space from one or more environmental sensors; generating, by the processor, an environmental map of the operating space based on the environmental information; identifying, by the processor, a region in the operating space requiring environmental homogenization based on the generated environmental map; assigning, by the processor, an environmental homogenization task identifying a target region to a mobile robot, the mobile robot having an environmental control module operable to homogenize the environment, the assigned environmental homogenization task causing the mobile robot to navigate to the identified target region for performing the task.

15. The method of claim 14 further comprising verifying, by the processor, an outcome of the environmental homogenization task based on additional environmental information received by the processor from the one or more environmental sensors.

16. The method of claim 14 wherein the one or more environmental sensors comprise a biological sensor operably configured to detect the presence of a biological organism and wherein the environmental homogenization task comprises a sanitization task.