prEN ISO 3691-4
(Main)Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO/DIS 3691-4:2006)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO/DIS 3691-4:2006)
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 of ISO 5053-1) can also be known as: "automated guided vehicle", "autonomous mobile robot", "bots", "automated guided cart", "tunnel tugger", "under cart", etc.
This document also contains requirements for 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.
It 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 operating zone to eliminate the associated hazards are specified in Annex A.
This document deals with all significant hazards, hazardous situations or hazardous events during all phases of the life of the truck (ISO 12100:2010, 5.4), as listed in Annex B, relevant to the applicable machines when it is used as intended and under conditions of misuse which are reasonably foreseeable by the manufacturer.
It does not give requirements for additional hazards that can occur:
— during operation in severe conditions (e.g. extreme climates, freezer applications, strong magnetic fields);
— during operation in nuclear environments;
— from trucks intended to operate in public zones (in particular ISO 13482);
— during operation on a public road;
— during operation in potentially explosive environments;
— during operation in military applications;
— during operation with specific hygienic requirements;
— during operation in ionizing radiation environments;
— during the transportation of (a) person(s) other than (the) intended rider(s);
— when handling loads the nature of which can lead to dangerous situations (e.g. molten metals, acids/bases, radiating materials);
— for rider positions with elevation function higher than 1 200 mm from the floor/ground to the platform floor.
This document does not contain safety requirements for trailer(s) being towed behind a truck.
This document does not contain safety requirements for elevated operator trucks.
This document is not applicable to trucks manufactured before the date of its publication.
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4: Fahrerlose Flurförderzeuge und ihre Systeme (ISO/DIS 3691-4:2006)
1.1 Dieser Teil von ISO 3691 Norm findet auf alle fahrerlosen Flurförderzeuge und ihre Systeme Anwendung, ausgenommen:
a) Flurförderzeuge, die ausschließlich durch mechanische Einrichtungen (Schienen, Führungen usw.) geführt werden;
b) Flurförderzeuge, die in Bereichen eingesetzt werden, in denen sich Personen aufhalten können, die sich der Gefahren nicht bewusst sind.
1.2 Im Sinne dieses Teils von ISO 3691 ist ein fahrerloses Flurförderzeug ein kraftbetriebenes Fahrzeug einschließlich jeglicher Anhänger, das dazu bestimmt ist, selbständig zu fahren, wobei die Betriebssicherheit nicht von einer Bedienungsperson abhängt. Ferngesteuerte Flurförderzeuge werden nicht als fahrerlose Flurförderzeuge betrachtet.
1.3 Im Sinne dieses Teils von ISO 3691 umfasst das System eines fahrerlosen Flurförderzeuges das Steuerungssystem, welches Teil des Flurförderzeuges und/oder von ihm getrennt sein kann, die Führungseinrichtung und das Batterieladesystem.
1.4 Dieser Teil von ISO 3691 beschreibt die technischen Anforderungen, um die in Abschnitt 4 aufgeführten Gefährdungen zu minimieren, die auftreten können, wenn Inbetriebnahme, Betrieb und Wartung von fahrerlosen Flurförderzeugen nach den Spezifikationen des Herstellers oder seines autorisierten Bevollmächtigten durchgeführt werden. Zusätzlich sollten Flurförderzeuge so weit wie möglich ISO 12100 entsprechen für Gefährdungen, die nicht durch diese oder die anwendbaren zugehörigen Normen abgedeckt werden.
1.5 Dieser Teil von ISO 3691 deckt spezielle, in Abschnitt 4 aufgeführte Gefährdungen in Bezug auf die automatischen Funktionen von Flurförderzeugen und ihren Systemen ab. Diese Norm muss in Zusammenhang mit einer oder mehreren anwendbaren zugehörigen Normen benutzt werden.
1.6 Das Vorsehen einer tragbaren Steuereinheit klassifiziert das Flurförderzeug nicht als Mitgänger-Flurförderzeug.
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans conducteur et leurs systèmes (ISO/DIS 3691-4:2006)
Le présent document spécifie les exigences de sécurité et les moyens de les vérifier pour les chariots de manutention sans conducteur (ci-après dénommés chariots) et leurs systèmes.
Des exemples de chariots de manutention sans conducteur (chariots de l'ISO 5053-1) peuvent également être connus comme: «véhicule autoguidé», «robot mobile autonome», «robot», «chariot autoguidé», «tunnel tugger», «under cart», etc.
Le présent document contient également des exigences pour les chariots de manutention sans conducteur qui sont équipés de:
— modes automatiques qui requièrent une ou des actions de l'opérateur pour initier ou activer de telles opérations automatiques;
— la capacité de transporter une ou plusieurs personnes (qui ne sont considérées ni comme des conducteurs, ni comme des opérateurs);
— des modes manuels supplémentaires qui permettent aux opérateurs de faire fonctionner le chariot manuellement; ou
— un mode de maintenance qui permet le fonctionnement manuel des fonctions du chariot pour des raisons de maintenance.
Il ne s'applique pas aux chariots guidés uniquement par des moyens mécaniques (rails, guides, etc.) ni aux chariots commandés à distance, qui ne sont pas considérés comme des chariots sans conducteur.
Pour les besoins du présent document, un chariot de manutention sans conducteur est un chariot motorisé, qui est conçu pour fonctionner automatiquement. Un système de chariots sans conducteur comprend le système de commande, qui peut faire partie du chariot et/ou en être séparé, des dispositifs de guidage et un système d'alimentation. Les exigences pour les sources d'alimentation ne sont pas couvertes par le présent document.
Les conditions de la zone de travail ont un effet significatif sur la sécurité de fonctionnement du chariot de manutention sans conducteur. Les aménagements de la zone de travail pour éliminer les phénomènes dangereux associés sont spécifiés à l'Annexe A.
Le présent document traite de tous les phénomènes dangereux significatifs, situations dangereuses ou évènements dangereux, pendant toutes les phases de la vie du chariot (ISO 12100:2010, 5.4), tels qu'énumérés dans l'Annexe B, pertinents pour les machines couvertes lorsqu'elles sont utilisées normalement ou dans les conditions de mauvaise utilisation raisonnablement prévisibles prévues par le fabricant.
Il ne donne pas d'exigences pour les phénomènes dangereux supplémentaires qui peuvent survenir:
— pendant le fonctionnement dans des conditions sévères (par exemple, climats extrêmes, applications frigorifiques, champs magnétiques intenses);
— pendant le fonctionnement dans des environnements nucléaires;
— de chariots destinés à fonctionner dans des zones publiques (en particulier l'ISO 13482);
— pendant le fonctionnement sur une voie publique;
— pendant le fonctionnement dans des environnements explosibles;
— pendant le fonctionnement dans des applications militaires;
— pendant le fonctionnement avec des exigences d'hygiène spécifiques;
— pendant le fonctionnement dans des environnements exposés à des rayonnements ionisants;
— pendant le transport d'une ou de plusieurs personnes autres que le ou les conducteurs prévus;
— lors de la manutention de charges dont la nature peut conduire à des situations dangereuses (par exemple, métaux en fusion, acides/bases, matériaux émetteurs de radiations);
— pour des postes de conduite ayant une fonction élévation supérieure à 1 200 mm depuis le plancher/sol jusqu'au plancher de la plate-forme.
Le présent document ne
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez voznika in njihovi sistemi (ISO/DIS 3691-4:2021)
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
oSIST prEN ISO 3691-4:2022
01-januar-2022
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez
voznika in njihovi sistemi (ISO/DIS 3691-4:2021)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial
trucks and their systems (ISO/DIS 3691-4:2021)
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4:
Fahrerlose Flurförderzeuge und ihre Systeme (ISO/DIS 3691-4:2021)
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans
conducteur et leurs systèmes (ISO/DIS 3691-4:2021)
Ta slovenski standard je istoveten z: prEN ISO 3691-4
ICS:
53.060 Industrijski tovornjaki Industrial trucks
oSIST prEN ISO 3691-4:2022 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN ISO 3691-4:2022
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oSIST prEN ISO 3691-4:2022
DRAFT INTERNATIONAL STANDARD
ISO/DIS 3691-4
ISO/TC 110/SC 2 Secretariat: SIS
Voting begins on: Voting terminates on:
2021-11-15 2022-02-07
Industrial trucks — Safety requirements and
verification —
Part 4:
Driverless industrial trucks and their systems
Chariots de manutention — Exigences de sécurité et vérification —
Partie 4: Chariots sans conducteur et leurs systèmes
ICS: 53.060
This document is circulated as received from the committee secretariat.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
ISO/CEN PARALLEL PROCESSING
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
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WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 3691-4:2021(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION. © ISO 2021
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oSIST prEN ISO 3691-4:2022
ISO/DIS 3691-4:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
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oSIST prEN ISO 3691-4:2022
ISO/DIS 3691-4:2021(E)
Contents Page
Foreword .v
Introduction . vi
1 Scope . 1
2 Normative references . 2
3 Terms and definitions . 4
4 Safety requirements and/or protective/risk reduction measures .10
4.1 General . 10
4.1.1 Overall requirements . 10
4.1.2 Normal climatic conditions . 10
4.1.3 Electrical requirements . 11
4.1.4 Stored energy components.12
4.1.5 Edges or angles . 12
4.1.6 Guards .12
4.1.7 Interlocking devices for guards .12
4.1.8 Two hand control devices .12
4.1.9 Transmission parts .12
4.1.10 Electro-sensitive protective equipment .12
4.1.11 Pressure-sensitive protective devices .12
4.1.12 Hydraulic systems .12
4.1.13 Pneumatic systems.13
4.1.14 Avoidance of automatic restart . 13
4.1.15 Foot protection . 13
4.1.16 Transport .13
4.1.17 Seats . . 14
4.1.18 Means of access . 14
4.1.19 High temperatures . 14
4.1.20 Exhaust emissions. 14
4.1.21 Access and emergency exit . 14
4.1.22 Driving position . 14
4.1.23 Electrostatic charges . 15
4.1.24 Falling objects .15
4.1.25 Errors for fitting . 15
4.1.26 Normal stop .15
4.1.27 Operational stop .15
4.2 Braking system . 16
4.3 Speed control . 16
4.3.1 Overspeed detection . 16
4.3.2 Speed and stability . 16
4.4 Automatic battery charging . 16
4.5 Load handling . 16
4.6 Steering . 17
4.7 Stability . 17
4.7.1 General . 17
4.7.2 Tilting platform stability test . 17
4.7.3 Stability requirements for trucks not covered by 4.7.2 . 17
4.8 Protective devices and complementary measures . 18
4.8.1 Emergency stop . 18
4.8.2 Detection of persons in the path . 19
4.9 Modes of operation . 21
4.9.1 General . 21
4.9.2 Automatic mode . 22
4.9.3 Manual mode . 23
4.9.4 Maintenance mode . . . 24
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4.10 Trucks intended to tow trailers . 24
4.11 Safety-related parts of the control system . 24
4.12 Electromagnetic immunity .28
4.13 Conveyors fitted to a truck . 29
4.13.1 Trucks fitted with conveyors .29
4.13.2 Conveyors . 29
4.14 Warning systems .30
5 V erification of the safety requirements and/or protective/risk reduction measures .30
5.1 General .30
5.2 Tests for detection of persons . 30
5.3 Stability tests . 32
5.3.1 General . 32
5.3.2 Stability tests for truck not covered by 4.7.2 . 32
5.4 Fitness for purpose . 32
5.4.1 General . 32
5.4.2 Structural tests . 32
5.4.3 Dynamic tests . 33
6 Information for use .33
6.1 General . 33
6.2 Warning systems . 33
6.3 Instruction handbook.34
6.3.1 General .34
6.3.2 Concerning the trucks and system .34
6.3.3 Operation of the trucks and system .34
6.3.4 Routine service and maintenance of the trucks and system . 35
6.3.5 Operating information . 36
6.3.6 Information for the application . 36
6.3.7 Details for floor/ground conditions .36
6.3.8 Details for power sources . 36
6.3.9 Truck modification . 37
6.4 Minimum marking . . 37
6.4.1 Marking . . . 37
6.4.2 Warning signs . 37
6.4.3 Information plates .38
6.5 Putting into service (commissioning) . 39
Annex A (normative) Requirements for preparation of the operating zones .40
Annex B (informative) List of significant hazards .49
Annex C (normative) Determination of rated capacity .55
Annex D (informative) Load transfer operations .57
Annex E (normative) Verification of the safety requirements and/or protective/risk
reduction measures .59
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .70
Bibliography .73
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Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to
the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see
www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 110, Industrial trucks, Subcommittee
SC 2, Safety of powered industrial trucks.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
A list of all parts in the ISO 3691 series can be found on the ISO website.
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Introduction
General
This document is a type-C standard as stated in ISO 12100:2010.
This document is of relevance, in particular, for the following stakeholder groups representing the
market players with regard to machinery safety:
— machine manufacturers (small, medium and large enterprises);
— health and safety bodies (regulators, accident prevention organizations, market surveillance etc.)
Others can be affected by the level of machinery safety achieved with the means of the document by the
above-mentioned stakeholder groups:
— machine users/employers (small, medium and large enterprises);
— machine users/employees (e.g. trade unions, organizations for people with special needs);
— service providers, e.g. for maintenance (small, medium and large enterprises);
— consumers (in case of machinery intended for use by consumers).
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
The machinery concerned and the extent to which hazards, hazardous situations or hazardous events
are covered are indicated in the Scope of this document.
When requirements of this type-C standard are different from those which are stated in type-A or B
standards, the requirements of this type-C standard take precedence over the requirements of the
other standards for machines that have been designed and built according to the requirements of this
type-C standard.
Structure
An important step forward in the work on the ISO 3691 series of standards was the agreement to issue
a new structure of International Standards for industrial trucks having on one side basic standards
for all types of trucks and on the other side independent standards to cover the respective specific
functions of industrial trucks, e.g. visibility, noise, electrical requirements, etc.
Global relevance
From the very beginning, the task was to revise ISO 3691:1980 to establish international basic
standards to align with the major legislative regulations in, for example, the EU, Japan, Australia and
North America.
Every effort was made to develop a globally relevant International Standard. That goal was achieved for
most of the issues addressed. For several potential problem areas, compromises were needed and will
still be needed in the future. Where divergent regional requirements outside Europe remain, these are
addressed by ISO/TS 3691-8:2019.
This document has been prepared under a mandate given to CEN by the European Commission and the
European Free Trade Association, and supports essential requirements of Directive 2006/42/EC. For
relationship with Directive 2006/42/EC, see informative Annex ZA, which is an integral part of this
document.
This standard takes into consideration:
— the current state of the art and especially;
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ISO/DIS 3691-4:2021(E)
— virtual bumper technology;
— hybrid (e.g. manual and automatic) mode truck;
— performance level versus category;
— further define clearances;
— guarding for specific zones.
This revision supersedes ISO 3691-4:2020.
This revision includes the significant technical changes with respect to the superseded document:
a) update of the scope by adding “not cover significant hazards”
b) update of the list of normative references with the more recent version of each of them
c) update of Clause 3 by adding the definitions of “active detection field” and “operational stop”
d) update of Clause 4 (with new requirements 4.1.16 to 4.1.27), Clause 5, Clause 6, Annex A, Annex B
and Annex C
e) reword of verification of the safety requirements lists in Annex E
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oSIST prEN ISO 3691-4:2022
DRAFT INTERNATIONAL STANDARD ISO/DIS 3691-4:2021(E)
Industrial trucks — Safety requirements and
verification —
Part 4:
Driverless industrial trucks and their systems
1 Scope
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 of ISO 5053-1:2020) can also be known as: “automated
guided vehicle”, “autonomous mobile robot”, “bots”, “automated guided cart”, “tunnel tugger”, “under
cart”, etc.
This document also contains requirements for 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.
It 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 operating zone to eliminate the associated hazards are
specified in Annex A.
This document deals with all significant hazards, hazardous situations or hazardous events during all
phases of the life of the truck (ISO 12100:2010, 5.4), as listed in Annex B, relevant to the applicable
machines when it is used as intended and under conditions of misuse which are reasonably foreseeable
by the manufacturer.
In particular, this document does not cover significant hazards related to:
— noise;
— vibrations;
— ionising and non-ionising radiation;
— laser radiation;
— sales literature;
1
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— declaration of vibrations transmitted by mobile machinery.
It does not give requirements for additional hazards that can occur:
— during operation in severe conditions (e.g. extreme clima
...
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