Systems and methods for operating robotic equipment in controlled zones

1. A method for operating robotic equipment in a facility comprising a controlled zone, the method comprising:

moving the robotic equipment towards the controlled zone in a normal mode of operation;

identifying a predetermined inspection location associated with the controlled zone using an electronic map of the facility, the predetermined inspection location being defined relative to the controlled zone to enable the robotic equipment to capture environmental data in respect of an operational state of a machine located in the controlled zone;

determining that the robotic equipment is at the predetermined inspection location based on the electronic map;

while the robotic equipment is at the predetermined inspection location, using at least one sensor mounted to the robotic equipment to capture the environmental data;

determining whether the controlled zone is in a safe state based on the operational state of the machine by comparing the captured environmental data with known-good environmental data, the known-good environmental data indicating the operational state of the machine when the controlled zone is in the safe state;

in response to determining the controlled zone is not in the safe state, operating the robotic equipment in a safe mode of operation; and

in response to determining the controlled zone is in the safe state, operating the robotic equipment in the normal mode of operation.

2. The method of claim 1 , wherein the robotic equipment comprises a self-driving material-transport vehicle.

3. The method of claim 2 , wherein the safe mode of operation prevents the vehicle from entering the controlled zone.

4. The method of claim 2 , wherein the vehicle has a maximum speed and the maximum speed when operating in the safe mode of operation is lower than the maximum speed when operating in the normal mode of operation.

5. The method of claim 2 , wherein robotic equipment further comprises a robotic manipulator arm mounted on the self-driving material-transport vehicle.

6. The method of claim 5 , wherein the safe mode of operation prevents movement of the robotic manipulator arm.

7. The method of claim 1 , further comprising determining that controls are applied to the controlled zone.

8. A self-driving vehicle for operating within a facility comprising a controlled zone, the self-driving vehicle comprising:

a vehicle chassis;

at least one drive motor mounted on the chassis for driving at least one drive wheel;

at least one sensor mounted on the chassis;

a processor in communication with the at least one drive motor and at least one sensor; and

non-transitory computer-readable media in communication with the processor, storing one or more instructions that, when executed on the processor, configure the processor to:

move the vehicle toward the controlled zone in a normal mode of operation;

identify a predetermined inspection location associated with the controlled zone using an electronic map of the facility, the predetermined inspection location being defined relative to the controlled zone to enable the robotic equipment to capture environmental data in respect of an operational state of a machine located in the controlled zone;

determine that the vehicle is at the predetermined inspection location based on the electronic map;

while the vehicle is at the predetermined inspection location, use the at least one sensor mounted on the chassis to capture the environmental data;

determine whether the controlled zone is in a safe state based on the operational state of the machine by comparing the captured environmental data with known-good environmental data, the known-good environmental data indicating the operational state of the machine when the controlled zone is in the safe state;

in response to determining the controlled zone is not in the safe state, operate the vehicle in a safe mode of operation; and

in response to determining the controlled zone is in the safe state, operate the vehicle in the normal mode of operation.

9. The self-driving vehicle of claim 8 , further comprising a manipulator arm mounted on the chassis.

10. The self-driving vehicle of claim 9 , wherein the safe mode of operation prevents movement of the manipulator arm.

11. The self-driving vehicle of claim 8 , wherein the safe mode of operation prevents the vehicle from entering the controlled zone.

12. The self-driving vehicle of claim 8 , wherein the vehicle has a maximum speed and the maximum speed when operating in the safe mode of operation is lower than the maximum speed when operating in the normal mode of operation.

13. The self-driving vehicle of claim 8 , wherein the processor is further configured to determine that controls are applied to the controlled zone.

14. The method of claim 1 , wherein the machine located in the controlled zone comprises another self-driving vehicle.

15. The method of claim 1 , wherein the operational state of the machine is based at least in part on whether the machine is moving.

16. The method of claim 1 , wherein the operational state of the machine is based at least in part on the location of the machine.

17. The self-driving vehicle of claim 8 , wherein the machine located in the controlled zone comprises another self-driving vehicle.

18. The self-driving vehicle of claim 8 , wherein the operational state of the machine is based at least in part on whether the machine is moving.

19. The self-driving vehicle of claim 8 , wherein the operational state of the machine is based at least in part on the location of the machine.