EN 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

• Status: Withdrawn
• Publication Date: 26-May-2020
• Withdrawal Date: 13-Apr-2025
• ICS: 53.060 - Industrial trucks
• Technical Committee: CEN/TC 150 - Industrial trucks - Safety
• Drafting Committee: CEN/TC 150 - Industrial trucks - Safety
• Current Stage: 9960 - Withdrawal effective - Withdrawal
• Start Date: 19-Jul-2023
• Completion Date: 14-Apr-2025
• Directive: 2006/42/EC - Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on machinery, and amending Directive 95/16/EC (recast)
• Mandate: M/396 - Mandate to CEN and Cenelec for standardisation in the field of machinery
• Ref Project: SIST EN ISO 3691-4:2020 - Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO 3691-4:2020)

Relations

• Replaces: EN 1525:1997 - Safety of industrial trucks - Driverless trucks and their systems
• Effective Date: 03-Jun-2020
• Replaced By: EN ISO 3691-4:2023 - Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO 3691-4:2023)
• Effective Date: 28-Jan-2023

Standards Content (Sample)

SLOVENSKI STANDARD
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
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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.

Contents Page
European foreword . 3

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.
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
ISO 3691-4:2020(E)
© 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: [phone]
Fax: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved

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
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
iv © ISO 2020 – All rights reserved

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 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);
vi © ISO 2020 – All rights reserved

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.
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 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;
ISO 3691-4:2020(E)
— 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.
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 3691-2:2016, Industrial trucks — Safety requirements and verification — Part 2: Self-propelled
variable-reach trucks
ISO 3691-6:2013, Industrial trucks — Safety requirements and verification — Part 6: Burden and personnel
carriers
ISO/TS 3691-8:2019, 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 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 13849-2:2012, Safety of machinery — Safety-related parts of control systems — Part 2: Validation
ISO 13850:2015, Safety of machinery — Emergency stop function — Principles for design
ISO 13851:2019, Safety of machinery — Two-hand control devices — Functional aspects and design
principles
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
2 © ISO 2020 – All rights reserved

ISO 3691-4:2020(E)
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
ISO 14120:2015, Safety of machinery — Guards — General requirements for the design and construction of
fixed and movable guards
ISO 15870:2000, Powered industrial trucks — Safety signs and hazard pictorials — General principles
ISO 22915-1:2016, Industrial trucks — Verification of stability — Part 1: General
ISO 22915-2:2018, Industrial trucks — Verification of stability — Part 2: Counterbalanced trucks with mast
ISO 22915-3:2014, Industrial trucks — Verification of stability — Part 3: Reach and straddle trucks
ISO 22915-4:2018, Industrial trucks — Verification of stability — Part 4: Pallet stackers, double stackers
and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
ISO 22915-5:2014, Industrial trucks — Verification of stability — Part 5: Single-side-loading trucks
ISO 22915-7:2016, Industrial trucks — Verification of stability — Part 7: Bidirectional and
multidirectional trucks
ISO 22915-8:2019, Industrial trucks — Verification of stability — Part 8: Additional stability test for trucks
operating in the special condition of stacking with mast tilted forward and load elevated
ISO 22915-9:2014, Industrial trucks — Verification of stability — Part 9: Counterbalanced trucks with
mast handling freight containers of 6 m (20 ft) length and longer
ISO 22915-10:2008, Industrial trucks — Verification of stability — Part 10: Additional stability test for
trucks operating in the special condition of stacking with load laterally displaced by powered devices
ISO 22915-11:2011, Industrial trucks — Verification of stability — Part 11: Industrial variable-reach trucks
ISO 22915-12:2015, Industrial trucks — Verification of stability — Part 12: Industrial variable-reach
trucks handling freight containers of 6 m (20 ft) length and longer
ISO 22915-13:2012, Industrial trucks — Verification of stability — Part 13: Rough-terrain trucks with mast
ISO 22915-14:2010, Industrial trucks — Verification of stability — Part 14: Rough-terrain variable-
reach trucks
ISO 22915-15:2013, Industrial trucks — Verification of stability — Part 15: Counterbalanced trucks with
articulated steering
ISO 22915-20:2008, Industrial trucks — Verification of stability — Part 20: Additional stability test for
trucks operating in the special condition of offset load, offset by utilization
ISO 22915-21:2019, Industrial trucks — Verification of stability — Part 21: Additional stability test for
order-picking trucks with operator position elevating above 1 200 mm
ISO 22915-22:2014, Industrial trucks — Verification of stability — Part 22: Lateral- and front-stacking
trucks with and without elevating operator position
IEC 61496-2:2013, Safety of Machinery — Electro-sensitive protective equipment — Part 2: Particular
requirements for equipment using active opto-electronic protective devices (AOPDs)
IEC 61496-3:2008, Safety of machinery —Electro-sensitive protective equipment — Part 3: Particular
requirements for Active Opto-electronic Protective Devices responsive to Diffuse Reflection (AOPDDR)
IEC 60204-1:2016, Safety of machinery — Electrical equipment of machines — Part 1: General requirements
ISO 3691-4:2020(E)
IEC 61558-1:2017, Safety of power transformers, power supply units, reactors and similar — Part 1: General
requirements and tests
EN 1175-1:1998, +A1: 2010, Safety of industrial trucks — Electrical requirements — Part 1: General
requirements for battery powered trucks
EN 1175-2:1998, +A1: 2010, Safety of industrial trucks — Electrical requirements — Part 2: General
requirements for internal combustion engine powered trucks
EN 1175-3:1998, +A1: 2010, Safety of industrial trucks — Electrical requirements — Part 3: Specific
requirements for the electric power transmission systems of internal combustion engine powered trucks
EN 12895:2015, Industrial trucks — Electromagnetic compatibility
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 5053-1:2015 and
ISO 12100:2010 and the following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
actuating force
force applied on the bumper that initiates a stop signal
3.2
authorized person
authorized personnel
authorized individual
person designated by the user, trained on specific hazards and if required, trained to operate or
maintain the truck or system
3.3
automatic mode
operating mode where no operator intervention is required for the operation
3.4
bumper
pressure-sensitive protective equipment (PSPE) fitted to the truck that generates a signal to stop the
truck on physical contact
3.5
virtual bumper
electro sensitive (non-contact) protective equipment (ESPE) fitted to the truck, having one or more
detection zones that generates a signal prior to physical contact
EXAMPLE Active opto-electronic protective devices responsive to diffuse reflection (AOPDDRs).
3.6
driverless truck system
combination of one (or more) driverless truck(s) and ancillary components to control and manage the
automatic operation of the truck(s)
Note 1 to entry: Ancillary components can be integrated or external (e.g. guidance, traffic control, power system,
communication system, guarding, signs, warnings, floor marking).
4 © ISO 2020 – All rights reserved

ISO 3691-4:2020(E)
3.7
driverless industrial truck
powered truck, designed to operate automatically to transport loads
3.8
escape route
space provided for a person to exit away from the hazard(s)
3.9
path
area swept by the truck with its load including trailer(s)
3.10
load
item intended to be handled by the truck
3.11
load handling
load lifting, lowering, conveying and manipulating
EXAMPLE Rotation, reach, tilting, clamping and towing.
3.12
manual mode
operating condition where all operations are under the control of an operator
3.13
static force
force applied by the bumper when an automatic stop is completed
3.14
rider
intended rider
person on the truck in an automatic mode with a rider who can enable or disable the truck
3.15
stopping device
control device that when actuated, generates a signal to stop all movements of the truck
3.16
emergency stop device
manually actuated control device used to initiate an emergency stop function
[SOURCE: ISO 13850:2015, 3.3]
3.17
direction of travel
one or more directions of travel based upon the operating conditions of the truck as defined by the
manufacturer
3.18
enabling device
additional manually operated device used in conjunction with a start control and which, when
continuously actuated, allows a machine to function
[SOURCE: ISO 12100:2010, 3.28.2]
3.19
personnel detection means
system to detect persons in the path of a truck
ISO 3691-4:2020(E)
3.20
rated speed
travel speed of the truck as defined by the manufacturer
3.21
automatic restart
resumption of the truck operation without outside input
Note 1 to entry: The truck starts only after the conditions which have stopped the truck have been cleared.
3.22
automatic mode with a rider
operating condition where (a) rider(s) is (are) present on the truck during automatic movement
3.23
confined zone
truck operating space in which the risk reduction is provided by perimeter safeguarding
3.24
operating hazard zone
area of the operating zone in which a person can be exposed to a hazard
Note 1 to entry: This can be found in load transfer areas or low clearances.
Note 2 to entry: The operating hazard zone is considered a hazard zone according to ISO 12100:2010, 3.11.
3.25
operating zone
defined area in which a truck operates
Note 1 to entry: Examples of defined areas: by navigation systems, signs, floor markings, fencings, guarding.
3.26
public zone
space opened to all persons without specific training, instruction or awareness
3.27
restricted zone
physically separated space in which only authorized persons are permitted to enter
3.28
method statement
safe system of work
document that details the way a work task or process is to be completed and outlines the hazards
involved
Note 1 to entry: This can include a step by step guide on how to do the job safely and detail which control
measures have been introduced to ensure the safety of anyone who is affected by the task or process.
3.29
load transfer area
location where a load can be picked up or deposited by the truck
Note 1 to entry: The location can be on the floor/ground (e.g. rack, machines and conveyors).
3.30
operator
designated person, appropriately trained and authorized, to operate the truck
[SOURCE: ISO 3691-1:2011, 3.7, modified — In the definition, "who is responsible for the movement and
load handling of an industrial truck" has been replaced with " to operate the truck". Notes 1 and 2 have
been removed.]
6 © ISO 2020 – All rights reserved

ISO 3691-4:2020(E)
3.31
rider designated position
position that is defined by the manufacturer for (a) person(s) to safely ride on the truck
3.32
belt conveyor
conveyor with an endless belt acting as a carrying and traction element
Note 1 to entry: The belt is supported by rollers or slides on a surface.
[SOURCE: EN 619:2002+A1 2010, 3.6, modified — The reference to the Figure has been removed and the
second sentence has been moved to Note 1 to entry.]
3.33
roller conveyor
conveyor in which some or all of the rollers are driven or can rotate freely
[SOURCE: EN 619:2002+A1: 2010, 3.11, modified — The references to figures, wheels and wheel
conveyors, and, balls and ball transfer tables have been removed.]
3.34
drag chain conveyor
conveyor with chains as traction or carrying elements, possibly with pushers attached to the chains
[SOURCE: EN 619:2002+A1: 2010, 3.7.1, modified — The reference to the figure has been removed.]
3.35
coordinate system of the truck
coordinate system (O - X - Y – Z ) referenced to one of the components which enables the locomotion
p p p p
of the truck
Note 1 to entry: ISO 9787:2013, 5.5, specifies a mobile platform coordinate system, (O - X - Y – Z ). The origin
p p p p
of the mobile platform coordinate system, O , is the mobile platform origin. The +X axis is normally taken in the
p p
forward direction of the mobile platform. The +Z axis is normally taken in the upward direction of the mobile
p
platform.
Note 2 to entry: See Figure 1.
Key
O origin of the referential
p
NOTE This figure is adapted from ISO 9787:2013, Figure 6.
Figure 1 — Coordinate system of the truck
ISO 3691-4:2020(E)
3.36
forward direction
movement of the truck following +X axis
p
Note 1 to entry: See coordinate syste
...