ISO 3691-4:2023
Industrial trucks — Safety requirements and verification — Part 4: Driverless industrial trucks and their systems
This document specifies safety requirements and the means for their verification for driverless industrial trucks (hereafter referred to as trucks) and their systems.
Examples of driverless industrial trucks (trucks as defined in ISO 5053‑1:2020) include: “automated guided vehicle”, “autonomous mobile robot”, “bots”, “automated guided cart”, “tunnel tugger”, “under cart”, etc.
This document is also applicable to driverless industrial trucks which are provided with:
— automatic modes which either require operators’ action(s) to initiate or enable such automatic operations;
— the capability to transport one or more riders (which are neither considered as drivers nor as operators);
— additional manual modes which allow operators to operate the truck manually; or
— a maintenance mode which allows manual operation of truck functions for maintenance reasons.
This document is not applicable to trucks solely guided by mechanical means (rails, guides, etc.) or to remotely-controlled trucks, which are not considered to be driverless trucks.
For the purposes of this document, a driverless industrial truck is a powered truck, which is designed to operate automatically. A driverless truck system comprises the control system, which can be part of the truck and/or separate from it, guidance means and power system. Requirements for power sources are not covered in this document.
The condition of the operating zone has a significant effect on the safe operation of the driverless industrial truck. The preparations of the ope...
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Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Safety requirements and/or protective/risk reduction measures
4.1 General
4.1.1 Overall requirements
4.1.2 Normal climatic conditions
4.1.3 Electrical requirements
4.1.4 Stored energy components
4.1.5 Edges or angles
4.1.6 Guards
4.1.7 Interlocking devices for guards
4.1.8 Two-hand control devices
4.1.9 Transmission parts
4.1.10 Electro-sensitive protective equipment
4.1.11 Pressure-sensitive protective devices
4.1.12 Hydraulic systems
4.1.13 Pneumatic systems
4.1.14 Avoidance of automatic restart
4.1.15 Foot protection
4.1.16 Transport of the truck and removable attachments
4.1.17 Seats
4.1.18 Means of access
4.1.19 High temperatures
4.1.20 Exhaust emissions
4.1.21 Access and emergency exit
4.1.22 Driving position
4.1.23 Electrostatic charges
4.1.24 Protective structures
4.1.25 Errors of fitting
4.1.26 Normal stop
4.1.27 Operational stop
4.2 Braking system
4.3 Speed control
4.3.1 Overspeed detection
4.3.2 Speed and stability
4.4 Automatic battery charging
4.5 Load handling
4.6 Steering
4.7 Stability
4.7.1 General
4.7.2 Tilting platform stability test
4.7.3 Stability requirements for trucks not covered by 4.7.2
4.8 Protective devices and complementary measures
4.8.1 Emergency stop
4.8.2 Detection of persons in the path
4.9 Modes of operation
4.9.1 General
4.9.2 Automatic mode
4.9.3 Manual mode
4.9.4 Maintenance mode
4.10 Trucks intended to tow trailers
4.11 Safety-related parts of the control system
4.12 Electromagnetic immunity
4.13 Conveyors fitted to a truck
4.13.1 Trucks fitted with conveyors
4.13.2 Conveyors
4.14 Warning systems
5 Verification of the safety requirements and/or protective/risk reduction measures
5.1 General
5.2 Tests for detection of persons
5.3 Stability tests
5.3.1 General
5.3.2 Stability tests for trucks not covered by 4.7.2
5.4 Fitness for purpose
5.4.1 General
5.4.2 Structural tests
5.4.3 Dynamic tests
6 Information for use
6.1 General
6.2 Instruction handbook
6.2.1 General
6.2.2 Concerning the trucks and system
6.2.3 Operation of the trucks and system
6.2.4 Routine service and maintenance of the trucks and system
6.2.5 Operating information
6.2.6 Information for the application
6.2.7 Details for floor/ground conditions
6.2.8 Details for power sources
6.2.9 Truck modification
6.3 Minimum marking
6.3.1 Marking
6.3.2 Warning signs
6.3.3 Information plates
6.4 Putting into service (commissioning)
Annex A (normative) Requirements for preparation of the operating zones
Annex B (informative) List of significant hazards
Annex C (normative) Determination of rated capacity
Annex D (informative) Load transfer operations
Annex E (normative) Verification of the safety requirements and/or protective/risk reduction measures
Bibliography
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Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Safety requirements and/or protective/risk reduction measures
4.1 General
4.1.1 Overall requirements
4.1.2 Normal climatic conditions
4.1.3 Electrical requirements
4.1.4 Stored energy components
4.1.5 Edges or angles
4.1.6 Guards
4.1.7 Interlocking devices for guards
4.1.8 Two-hand control devices
4.1.9 Transmission parts
4.1.10 Electro-sensitive protective equipment
4.1.11 Pressure-sensitive protective devices
4.1.12 Hydraulic systems
4.1.13 Pneumatic systems
4.1.14 Avoidance of automatic restart
4.1.15 Foot protection
4.1.16 Transport of the truck and removable attachments
4.1.17 Seats
4.1.18 Means of access
4.1.19 High temperatures
4.1.20 Exhaust emissions
4.1.21 Access and emergency exit
4.1.22 Driving position
4.1.23 Electrostatic charges
4.1.24 Protective structures
4.1.25 Errors of fitting
4.1.26 Normal stop
4.1.27 Operational stop
4.2 Braking system
4.3 Speed control
4.3.1 Overspeed detection
4.3.2 Speed and stability
4.4 Automatic battery charging
4.5 Load handling
4.6 Steering
4.7 Stability
4.7.1 General
4.7.2 Tilting platform stability test
4.7.3 Stability requirements for trucks not covered by 4.7.2
4.8 Protective devices and complementary measures
4.8.1 Emergency stop
4.8.2 Detection of persons in the path
4.9 Modes of operation
4.9.1 General
4.9.2 Automatic mode
4.9.3 Manual mode
4.9.4 Maintenance mode
4.10 Trucks intended to tow trailers
4.11 Safety-related parts of the control system
4.12 Electromagnetic immunity
4.13 Conveyors fitted to a truck
4.13.1 Trucks fitted with conveyors
4.13.2 Conveyors
4.14 Warning systems
5 Verification of the safety requirements and/or protective/risk reduction measures
5.1 General
5.2 Tests for detection of persons
5.3 Stability tests
5.3.1 General
5.3.2 Stability tests for trucks not covered by 4.7.2
5.4 Fitness for purpose
5.4.1 General
5.4.2 Structural tests
5.4.3 Dynamic tests
6 Information for use
6.1 General
6.2 Instruction handbook
6.2.1 General
6.2.2 Concerning the trucks and system
6.2.3 Operation of the trucks and system
6.2.4 Routine service and maintenance of the trucks and system
6.2.5 Operating information
6.2.6 Information for the application
6.2.7 Details for floor/ground conditions
6.2.8 Details for power sources
6.2.9 Truck modification
6.3 Minimum marking
6.3.1 Marking
6.3.2 Warning signs
6.3.3 Information plates
6.4 Putting into service (commissioning)
Annex A (normative) Requirements for preparation of the operating zones
Annex B (informative) List of significant hazards
Annex C (normative) Determination of rated capacity
Annex D (informative) Load transfer operations
Annex E (normative) Verification of the safety requirements and/or protective/risk reduction measures
Bibliography