EN ISO 3691-4:2020
(Main)Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO 3691-4:2020)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO 3691-4:2020)
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 3691-4:2020)
Dieses Dokument legt Sicherheitsanforderungen und die Mittel zu deren Verifizierung für fahrerlose Flurförderzeuge (im Folgenden Flurförderzeuge genannt) und deren Systeme fest.
Beispiele für fahrerlose Flurförderzeuge (Flurförderzeuge nach ISO 5053 1) können auch bekannt sein als: „fahrerloses Transportfahrzeug“, „autonomer mobiler Roboter“, „Roboter“, „automatisch geführter Wagen“, „Tunnelschlepper“, „Unterfahr-Fahrzeug“ usw.
Dieses Dokument enthält auch Anforderungen an fahrerlose Flurförderzeuge, die ausgestattet sind mit:
- automatischen Betriebsarten, die entweder eine oder mehrere Handlungen des Bedieners erfordern, um solche automatischen Vorgänge einzuleiten oder zu aktivieren;
- der Möglichkeit, einen oder mehrere Mitfahrer zu befördern (die weder als Fahrer noch als Bediener betrachtet werden);
- zusätzlichen Handbetriebsarten, die es dem Bediener ermöglichen, das Flurförderzeug manuell zu bedienen; oder
- einem Wartungsmodus, der die manuelle Bedienung der Funktionen des Flurförderzeuges aus Wartungsgründen ermöglicht.
Es gilt nicht für Flurförderzeuge, die ausschließlich durch mechanische Einrichtungen (Schienen, Führungen usw.) geführt oder ferngesteuert werden, da diese nicht als fahrerlose Flurförderzeuge angesehen werden.
Für die Zwecke dieses Dokuments ist ein fahrerloses Flurförderzeug ein kraftgetriebenes Flurförderzeug, das für den automatischen Betrieb ausgelegt ist. Das System eines fahrerlosen Flurförderzeugs besteht aus dem Steuerungssystem, das Teil des Flurförderzeugs und/oder von diesem getrennt sein kann, Führungseinrichtungen und Antriebssystem. Die Anforderungen an Energiequellen werden von diesem Dokument nicht abgedeckt.
Der Zustand des Betriebsbereichs hat wesentliche Auswirkungen auf den sicheren Betrieb des fahrerlosen Flurförderzeugs. Die Vorbereitungen des Betriebsbereichs zur Beseitigung der zugehörigen Gefährdungen sind in Anhang A angegeben.
Dieses Dokument behandelt alle in Anhang B aufgeführten signifikanten Gefährdungen, Gefährdungssituationen oder Gefährdungsereignisse während aller Phasen der Flurförderzeug-Lebensdauer (ISO 12100:2010, 5.4), die bei vorgesehener Nutzung der betreffenden Maschinen unter normalen Bedingungen oder bei durch den Hersteller vorhersehbaren Fehlanwendungen relevant sind.
Es stellt keine Anforderungen für zusätzliche Gefährdungen bereit, die auftreten können:
- während des Betriebs unter erschwerten Bedingungen (z. B. extreme Klimate, Gefrierraumanwendungen, starke Magnetfelder),
- während des Betriebs in radioaktiven Umgebungen,
- durch Flurförderzeuge, die für den Betrieb in öffentlichen Bereichen vorgesehen sind (insbesondere ISO 13482),
- während des Betriebs auf öffentlichen Straßen,
- während des Betriebs in möglicherweise explosiven Umgebungen,
- während des Betriebs in militärischen Anwendungen,
- während des Betriebs mit speziellen Hygieneanforderungen,
- während des Betriebs in ionisierender Strahlung,
- während des Transports einer anderen Person (von anderen Personen) als einem (mehreren) vorgesehenen Mitfahrer(n),
- bei der Handhabung von Lasten, deren Eigenschaften zu gefährlichen Situationen führen können (z. B. geschmolzene Metalle, Säuren/Basen, strahlende Materialien),
- bei Fahrerplätzen mit Hubfunktion, deren Plattformboden mehr als 1 200 mm vom Boden entfernt sein kann.
Dieses Dokument enthält keine Sicherheitsanforderungen für Anhänger, die hinter einem Flurförderzeug gezogen werden.
Dieses Dokument enthält keine Sicherheitsanforderungen für Flurförderzeuge mit angehobenem Bedienungspersonal.
Dieses Dokument gilt nicht für Flurförderzeuge, die vor dem Veröffentlichungsdatum dieses Dokuments hergestellt wurden.
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans conducteur et leurs systèmes (ISO 3691-4:2020)
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
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez voznika in njihovi sistemi (ISO 3691-4:2020)
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN ISO 3691-4:2020
01-oktober-2020
Nadomešča:
SIST EN 1525:1999
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez
voznika in njihovi sistemi (ISO 3691-4:2020)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial
trucks and their systems (ISO 3691-4:2020)
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4:
Fahrerlose Flurförderzeuge und ihre Systeme (ISO 3691-4:2020)
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans
conducteur et leurs systèmes (ISO 3691-4:2020)
Ta slovenski standard je istoveten z: EN ISO 3691-4:2020
ICS:
53.060 Industrijski tovornjaki Industrial trucks
SIST EN ISO 3691-4:2020 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN ISO 3691-4:2020
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SIST EN ISO 3691-4:2020
EN ISO 3691-4
EUROPEAN STANDARD
NORME EUROPÉENNE
May 2020
EUROPÄISCHE NORM
ICS 53.060 Supersedes EN 1525:1997
English Version
Industrial trucks - Safety requirements and verification -
Part 4: Driverless industrial trucks and their systems (ISO
3691-4:2020)
Chariots de manutention - Exigences de sécurité et Flurförderzeuge - Sicherheitstechnische
vérification - Partie 4: Chariots sans conducteur et Anforderungen und Verifizierung - Teil 4: Fahrerlose
leurs systèmes (ISO 3691-4:2020) Flurförderzeuge und ihre Systeme (ISO 3691-4:2020)
This European Standard was approved by CEN on 11 January 2020.
CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this
European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references
concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN
member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by
translation under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management
Centre has the same status as the official versions.
CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway,
Poland, Portugal, Republic of North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and
United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
CEN-CENELEC Management Centre: Rue de la Science 23, B-1040 Brussels
© 2020 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 3691-4:2020 E
worldwide for CEN national Members.
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SIST EN ISO 3691-4:2020
EN ISO 3691-4:2020 (E)
Contents Page
European foreword . 3
2
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SIST EN ISO 3691-4:2020
EN ISO 3691-4:2020 (E)
European foreword
This document (EN ISO 3691-4:2020) has been prepared by Technical Committee ISO/TC 110
"Industrial trucks" in collaboration with Technical Committee CEN/TC 150 “Industrial Trucks - Safety”
the secretariat of which is held by BSI.
This European Standard shall be given the status of a national standard, either by publication of an
identical text or by endorsement, at the latest by November 2020, and conflicting national standards
shall be withdrawn at the latest by November 2020.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CEN shall not be held responsible for identifying any or all such patent rights.
This document supersedes EN 1525:1997.
According to the CEN-CENELEC Internal Regulations, the national standards organizations of the
following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria,
Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland,
Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Republic of
North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the
United Kingdom.
Endorsement notice
The text of ISO 3691-4:2020 has been approved by CEN as EN ISO 3691-4:2020 without any
modification.
3
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SIST EN ISO 3691-4:2020
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SIST EN ISO 3691-4:2020
INTERNATIONAL ISO
STANDARD 3691-4
First edition
2020-02
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
Reference number
ISO 3691-4:2020(E)
©
ISO 2020
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SIST EN ISO 3691-4:2020
ISO 3691-4:2020(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2020
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 or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
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SIST EN ISO 3691-4:2020
ISO 3691-4:2020(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 .10
4.1.4 Stored energy components .11
4.1.5 Edges or angles .11
4.1.6 Guards .11
4.1.7 Interlocking devices for guards .11
4.1.8 Two hand control devices .11
4.1.9 Transmission parts .11
4.1.10 Electro-sensitive protective equipment .11
4.1.11 Pressure-sensitive protective devices .11
4.1.12 Hydraulic systems .11
4.1.13 Pneumatic systems .11
4.1.14 Avoidance of automatic restart .12
4.1.15 Foot protection .12
4.2 Braking system .12
4.3 Speed control .12
4.4 Automatic battery charging .12
4.5 Load handling .13
4.6 Steering .13
4.7 Stability .13
4.7.1 General.13
4.7.2 Tilting platform stability test .13
4.7.3 Stability requirements for trucks not covered by 4.7.2 .14
4.8 Protective devices and complementary measures .14
4.8.1 Emergency stop .14
4.8.2 Detection of persons in the path .15
4.9 Modes of operation .17
4.9.1 General.17
4.9.2 Automatic mode .18
4.9.3 Manual mode .19
4.9.4 Maintenance mode .20
4.10 Trucks intended to tow trailers .20
4.11 Safety-related parts of the control system .20
4.12 Electromagnetic compatibility (EMC).25
4.13 Conveyors fitted to a truck .25
4.13.1 Trucks fitted with conveyors .25
4.13.2 Conveyors .26
5 Verification of safety requirements and/or protective measures .26
5.1 General .26
5.2 Tests for detection of persons .26
5.3 Stability tests .28
5.3.1 General.28
5.3.2 Stability tests for truck not covered by 4.7.2 .28
5.4 Fitness for purpose .28
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SIST EN ISO 3691-4:2020
ISO 3691-4:2020(E)
5.4.1 General.28
5.4.2 Structural tests .28
5.4.3 Dynamic tests .29
6 Information for use .29
6.1 General .29
6.2 Warning systems .29
6.3 Instruction handbook for use .30
6.3.1 General.30
6.3.2 Concerning the trucks and system .30
6.3.3 Operation of the trucks and system .31
6.3.4 Routine service and maintenance of the trucks and system .31
6.3.5 Operating information .32
6.3.6 Information for the application .32
6.3.7 Details for floor/ground conditions .32
6.3.8 Details for power sources .32
6.3.9 Truck modification .33
6.4 Minimum marking .33
6.4.1 Marking .33
6.4.2 Warning signs .33
6.4.3 Information plates .33
6.5 Putting into service (commissioning) .34
Annex A (normative) Requirements for preparation of the operating zones .35
Annex B (informative) List of significant hazards.45
Annex C (normative) Determination of rated capacity .50
Annex D (informative) Load transfer operations .52
Annex E (normative) Verification of essential health and safety requirements .55
Bibliography .84
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SIST EN ISO 3691-4:2020
ISO 3691-4:2020(E)
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.
© ISO 2020 – All rights reserved v
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SIST EN ISO 3691-4:2020
ISO 3691-4:2020(E)
Introduction
General
This document is a type-C standard as stated in ISO 12100.
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.
Assessment of hazards
The product needs to be designed in such a way that it is fit for its purpose or function and can be
adjusted and maintained without putting persons at risk when used under the conditions foreseen by
the manufacturer.
In order to properly design a product and to cover all specific safety requirements, the manufacturer
needs to identify the hazards that apply to their product and carry out a risk assessment. The
manufacturer then needs to design and construct the product taking this assessment into account.
The aim of this procedure is to eliminate the risk of accidents throughout the foreseeable lifetime of the
machinery, including the phases of assembling and dismantling where risks of accidents can also arise
from foreseeable abnormal situations.
In selecting the most appropriate methods, the manufacturer needs to apply the following principles, in
the order given here:
a) eliminate or reduce risks as far as possible by design (inherently safe machinery design and
construction);
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SIST EN ISO 3691-4:2020
ISO 3691-4:2020(E)
b) take the necessary protective measures in relation to risks that cannot be eliminated by design;
c) inform users of any shortcoming of the protective measures adopted;
d) indicate whether any particular training is required;
e) specify any need to provide personal protection equipment;
f) refer to the appropriate user's document for proper operating instructions.
Industrial trucks need to be designed to prevent foreseeable misuse wherever possible, if such would
engender risk. In other cases, the manufacturer's instructions need to draw the user's attention to ways
shown by experience in which the machinery ought not to be used.
This document does not repeat all the technical rules which are state-of-the-art, and which are
applicable to the material used to construct the industrial truck. Refer to ISO 12100.
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 remain, these are addressed by
ISO/TS 3691-8.
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SIST EN ISO 3691-4:2020
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SIST EN ISO 3691-4:2020
INTERNATIONAL STANDARD ISO 3691-4:2020(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) 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
...
SLOVENSKI STANDARD
oSIST prEN ISO 3691-4:2018
01-junij-2018
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez
voznika in njihovi sistemi (ISO/DIS 3691-4:2018)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial
trucks and their systems (ISO/DIS 3691-4:2018)
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4:
Fahrerlose Flurförderzeuge und ihre Systeme (ISO/DIS 3691-4:2018)
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans
conducteur et leurs systèmes (ISO/DIS 3691-4:2018)
Ta slovenski standard je istoveten z: prEN ISO 3691-4
ICS:
53.060 Industrijski tovornjaki Industrial trucks
oSIST prEN ISO 3691-4:2018 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN ISO 3691-4:2018
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oSIST prEN ISO 3691-4:2018
DRAFT INTERNATIONAL STANDARD
ISO/DIS 3691-4
ISO/TC 110/SC 2 Secretariat: SIS
Voting begins on: Voting terminates on:
2018-04-05 2018-06-28
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 A DRAFT CIRCULATED
This document is circulated as received from the committee secretariat.
FOR COMMENT AND APPROVAL. IT IS
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
ISO/CEN PARALLEL PROCESSING
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 3691-4:2018(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 2018
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oSIST prEN ISO 3691-4:2018
ISO/DIS 3691-4:2018(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2018
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
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ii © ISO 2018 – All rights reserved
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oSIST prEN ISO 3691-4:2018
ISO/DIS 3691-4:2018(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 measures . 8
4.1 General . 8
4.1.1 Overall requirements . 8
4.1.2 Normal climatic conditions. 8
4.1.3 Electrical requirements . 8
4.1.4 Stored energy components . 9
4.1.5 Edges or angles . 9
4.1.6 General requirements for guards . 9
4.1.7 General requirements for interlocking devices with guards . 9
4.1.8 General requirements for two hand control devices . 9
4.1.9 General requirements for protecting . 9
4.1.10 General requirement for electro-sensitive protective equipment . 9
4.1.11 General requirement for pressure-sensitive protective devices . 9
4.1.12 General requirements for hydraulic systems . 9
4.1.13 General requirements for pneumatic systems . 9
4.1.14 General requirements for manually activated stop function . 9
4.2 Braking system . 9
4.3 Speed control .10
4.4 Automatic battery charging .10
4.5 Load handling .10
4.6 Steering .10
4.7 Stability .10
4.7.1 General.10
4.7.2 Stability on tilting platform .10
4.7.3 Other stability requirements .11
4.8 Protective devices and complementary measures .11
4.8.1 Emergency stop .11
4.8.2 Detection of persons in the path .11
4.9 Modes of operation .13
4.9.1 Automatic Mode .13
4.9.2 Automatic Mode with operator input .13
4.9.3 Automatic Mode with a Rider .13
4.9.4 Manual Mode .14
4.9.5 Maintenance mode .14
4.10 Trucks intended to tow trailers .15
4.11 Safety-related parts of the control system .15
4.12 Electromagnetic compatibility (EMC).18
4.13 Conveyors fitted to a truck .18
4.13.1 Trucks fitted with conveyors .18
4.13.2 Requirements on conveyors.18
5 Verification of safety requirements and/or protective measures, and commissioning .19
5.1 General .19
5.2 Verification for type testing and individual testing after manufacturing
and commissioning .19
5.3 Stability tests .20
5.4 Structural tests .21
5.5 Functional verification .21
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5.6 Commissioning .21
6 Information for use .21
6.1 General .21
6.2 Warning systems .22
6.3 Instruction handbook for use .22
6.3.1 General.22
6.3.2 Concerning the trucks and system .22
6.3.3 Operation of the trucks and system .23
6.3.4 User service and maintenance of the trucks and system .23
6.3.5 Operating information .24
6.3.6 User information .24
6.3.7 Details for floor/ground conditions .24
6.3.8 Details for power sources .24
6.3.9 Truck modification .25
6.4 Minimum marking .25
6.4.1 Marking .25
6.4.2 Warning signs .25
6.4.3 Information plates .26
Annex A (normative) Annex title e.g. Example of a figure and a table .27
Annex B (informative) Annex title e.g. Example of a figure and a table .38
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .42
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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 on 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 the following
URL: 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.
This first edition cancels and replaces the second edition (ISO 3691:1980), which has been technically
revised.
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.
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.
The ISO 3691- series of standards covers safety requirements and their verification for industrial trucks
as defined in ISO 5053-1.
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.
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 (see Foreword) and on the other side independent standards to cover the respective
specific functions of industrial trucks, e.g. visibility, noise, vibration, electrical requirements, etc.
Assessment of hazards
The product needs to be designed in such a way that it is fit for its purpose or function and can be
adjusted and maintained without putting persons at risk when used under the conditions foreseen by
the manufacturer.
In order to properly design a product and to cover all specific safety requirements, the manufacturer
will have to identify the hazards that apply to his product and carry out a risk assessment. The
manufacturer will then need to design and construct the product taking this assessment into account.
The aim of this procedure is to eliminate the risk of accidents throughout the foreseeable lifetime of
the machinery, including the phases of assembling and dismantling where risks of accidents could also
arise from foreseeable abnormal situations.
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In selecting the most appropriate methods, the manufacturer will need to apply the following principles,
in the order given here:
a) eliminate or reduce risks as far as possible by design (inherently safe machinery design and
construction);
b) take the necessary protective measures in relation to risks that cannot be eliminated by design;
c) inform users of any shortcoming of the protective measures adopted;
d) indicate whether any particular training is required;
e) specify any need to provide personal protection equipment;
f) refer to the appropriate user's document for proper operating instructions.
Industrial trucks need to be designed to prevent foreseeable misuse wherever possible, if such would
engender risk. In other cases, the manufacturer's instructions will need to draw the user's attention to
ways shown by experience in which the machinery ought not to be used.
This part of ISO 3691 does not repeat all the technical rules which are state-of-the-art and which are
applicable to the material used to construct the industrial truck. Reference will also need to be made to
ISO 12100.
Legislative situation/Vienna Agreement
From the very beginning, the task of the working group was to revise ISO 3691:1980 and establish
worldwide basic standards to comply 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
with most of the issues. For several potential problem areas compromises were needed and will
be needed in the future. Where divergent regional requirements remain, these are addressed by
ISO/TS 3691-7 and ISO/TS 3691-8.
In order to ensure that the revised International Standard will be actively used in the ISO member
countries, worldwide, procedures are necessary to replace the existing national standards and technical
regulations by the revised International Standard. In the European Community, ISO and the European
Committee for Standardization (CEN) agreed on technical co-operation under the Vienna Agreement,
with the aim of replacing European Standards (EN) by International Standards. Other countries are
asked to make similar agreements to ensure that their national standards and technical regulations are
replaced by this International Standard.
Only by these actions will there be the guarantee that products in accordance with International
Standards can be shipped worldwide freely without any technical barriers.
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oSIST prEN ISO 3691-4:2018
DRAFT INTERNATIONAL STANDARD ISO/DIS 3691-4:2018(E)
Industrial trucks — Safety requirements and
verification —
Part 4:
Driverless industrial trucks and their systems
1 Scope
This part of ISO 3691 gives safety requirements and the means for their verification for driverless
industrial trucks (hereafter referred to as trucks) and their systems.
It is not applicable to trucks solely guided by mechanical means (rails, guides, etc.).
For the purposes of this part of ISO 3691, a driverless industrial truck is a powered truck, which is
designed to operate automatically. Remotely controlled trucks are not considered to be driverless
trucks. A truck's system comprises the control system, which may be part of the truck and/or separate
from it, guidance means and power system. Requirements for power sources are not covered in this
standard.
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 part of ISO 3691 deals with all significant hazards, hazardous situations or hazardous events
during all phases of the life of the truck (ISO 12100:2010, Clause 5.4), as listed in Annex B, relevant to
the applicable machines when used as intended and under conditions of misuse which are reasonably
foreseeable by the manufacturer.
It does not establish 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 13482:2012 "Robots and robotic
devices — Safety requirements for personal care robots"),
— 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 and non ionizing radiation,
— during the transportation of (a) person(s) other than (a) intended rider(s),
— when handling loads the nature of which could lead to dangerous situations (e.g. molten metals,
acids/bases, radiating materials),
— for persons moving towards a moving truck,
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— for persons stepping from the side into the truck path when it is impossible for the truck to stop
before contact,
— for rider positions with elevation function not be than 1200 mm from the floor/ground to the
platform floor.
This part of ISO 3691 does not contain safety requirements for trailer(s) being towed behind a truck.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 3691-1:2011, Industrial trucks — Safety requirements and verification — Part 1: Self-propelled
industrial trucks, other than driverless trucks, variable-reach trucks and burden-carrier trucks
ISO 3691-6:2013, Industrial trucks — Safety requirements and verification — Part 6: Burden and personnel
carriers
ISO/TS 3691-7:2011, Industrial trucks — Safety requirements and verification — Part 7: Regional
requirements for countries within the European Community
ISO/TS 3691-8:2012, Industrial trucks — Safety requirements and verification — Part 8: Regional
requirements for countries outside the European Community
ISO 4413:2010, Hydraulic fluid power — General rules and safety requirements for systems and their
components
ISO 4414:2010, Pneumatic fluid power — General rules and safety requirements for systems and their
components
ISO 5053-1:2015, Industrial trucks — Terminology and classification — Part 1: Types of industrial trucks
ISO 6292:2008, Powered industrial trucks and tractors — Brake performance and component strength
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13849-1:2015, Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design
ISO 13850:2015, Safety of machinery — Emergency stop function — Principles for design
ISO 13851:2002, Safety of machinery — Two-hand control devices — Functional aspects and design
principles
ISO 13856-1:2013, Safety of machinery — Pressure-sensitive protective devices — Part 1: General principles
for design and testing of pressure-sensitive mats and pressure-sensitive floors
ISO 13856-2:2013, Safety of machinery — Pressure-sensitive protective devices — Part 2: General
principles for design and testing of pressure-sensitive edges and pressure-sensitive bars
ISO 13856-3:2013, Safety of machinery — Pressure-sensitive protective devices — Part 3: General
principles for design and testing of pressure-sensitive bumpers, plates, wires and similar devices
ISO 13857:2008, Safety of machinery — Safety distances to prevent hazard zones being reached by upper
and lower limbs
ISO 14119:2013, Safety of machinery — Interlocking devices associated with guards — Principles for
design and selection
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