SIST EN ISO 16001:2018
(Main)Earth-moving machinery - Object detection systems and visibility aids - Performance requirements and tests (ISO 16001:2017)
Earth-moving machinery - Object detection systems and visibility aids - Performance requirements and tests (ISO 16001:2017)
This International Standard specifies general requirements and describes methods for evaluating and testing
the performance of object detection systems (ODS) and visibility aids (VA) used on earth-moving machines.
It covers the following aspects:
- detection and/or visibility of objects including people in the detection zone;
- visual, audible, or both warnings to the operator and if appropriate to the persons in the detection zone;
- operational reliability of the system;
- compatibility and environmental specifications of the system.
It is applicable to machines as defined in ISO 6165. ODS, VA or both can be used to augment the operator‘s
direct vision (see ISO 5006) or indirect vision using mirrors (see ISO 14401) or to provide additional means of
object detection, for example, where ergonomic considerations limit the effectiveness of direct vision and to
avoid repeated turning of the head and upper body.
Erdbaumaschinen - Objekterkennungssysteme und Sichthilfsmittel - Leistungsanforderungen und Prüfverfahren (ISO 16001:2017)
Engins de terrassement - Dispositifs de détection d'objets et d'aide visuelle - Exigences de performances et essais (ISO 16001:2017)
ISO 16001:2017 définit les exigences générales et décrit les méthodes permettant d'évaluer et de soumettre à l'essai les performances des systèmes de détection d'objets (ODS) et d'aide visuelle (VA) utilisés sur des engins de terrassement. Il traite des aspects suivants:
- détection ou visibilité ou les deux des objets, y compris les personnes, se trouvant dans la zone de détection;
- avertissements visuels et/ou sonores destinés au conducteur et, le cas échéant, aux personnes se trouvant dans la zone de détection;
- fiabilité opérationnelle du système;
- compatibilité et spécifications environnementales du système.
Il s'applique aux engins de terrassement tels que définis dans l'ISO 6165. Les systèmes ODS ou VA ou les deux peuvent être utilisés pour augmenter le champ de vision direct du conducteur (voir l'ISO 5006) ou le champ de vision indirect via des rétroviseurs (voir l'ISO 14401). En outre, un ODS, VA ou les deux, peuvent être utilisés pour fournir des moyens supplémentaires pour la détection ou la visibilité d'objets, par exemple lorsque des considérations ergonomiques limitent l'efficacité de la vision directe, et pour éviter de tourner de façon répétée la tête et le haut du corps.
Stroji za zemeljska dela - Sistemi zaznavanja objektov in vizualni pripomočki - Zahtevane lastnosti in preskusi (ISO 16001:2017)
General Information
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN ISO 16001:2018
01-marec-2018
6WURML]D]HPHOMVNDGHOD6LVWHPL]D]QDYDQMDREMHNWRYLQYL]XDOQLSULSRPRþNL
=DKWHYDQHODVWQRVWLLQSUHVNXVL ,62
Earth-moving machinery - Object detection systems and visibility aids - Performance
requirements and tests (ISO 16001:2017)
Engins de terrassement - Dispositifs de détection d'objets et d'aide visuelle - Exigences
de performances et essais (ISO 16001:2017)
Ta slovenski standard je istoveten z: EN ISO 16001:2017
ICS:
53.100 Stroji za zemeljska dela Earth-moving machinery
SIST EN ISO 16001:2018 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN ISO 16001:2018
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SIST EN ISO 16001:2018
EN ISO 16001
EUROPEAN STANDARD
NORME EUROPÉENNE
December 2017
EUROPÄISCHE NORM
ICS 53.100
English Version
Earth-moving machinery - Object detection systems and
visibility aids - Performance requirements and tests (ISO
16001:2017)
Engins de terrassement - Dispositifs de détection Erdbaumaschinen - Objekterkennungssysteme und
d'objets et d'aide visuelle - Exigences de performances Sichthilfsmittel - Leistungsanforderungen und
et essais (ISO 16001:2017) Prüfverfahren (ISO 16001:2017)
This European Standard was approved by CEN on 23 November 2017.
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, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania,
Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, 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
© 2017 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 16001:2017 E
worldwide for CEN national Members.
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SIST EN ISO 16001:2018
EN ISO 16001:2017 (E)
Contents Page
European foreword . 3
2
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SIST EN ISO 16001:2018
EN ISO 16001:2017 (E)
European foreword
This document (EN ISO 16001:2017) has been prepared by Technical Committee ISO/TC 127 "Earth-
moving machinery" in collaboration with Technical Committee CEN/TC 151 “Construction equipment
and building material machines - Safety” the secretariat of which is held by DIN.
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 June 2018, and conflicting national standards shall be
withdrawn at the latest by June 2018.
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.
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, Former Yugoslav Republic of Macedonia,
France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta,
Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland,
Turkey and the United Kingdom.
Endorsement notice
The text of ISO 16001:2017 has been approved by CEN as EN ISO 16001:2017 without any modification.
3
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SIST EN ISO 16001:2018
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SIST EN ISO 16001:2018
INTERNATIONAL ISO
STANDARD 16001
Second edition
2017-11
Earth-moving machinery — Object
detection systems and visibility aids —
Performance requirements and tests
Engins de terrassement — Dispositifs de détection d'objets et d'aide
visuelle — Exigences de performances et essais
Reference number
ISO 16001:2017(E)
©
ISO 2017
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2017, Published in Switzerland
All rights reserved. Unless otherwise specified, 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
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. +41 22 749 01 11
Fax +41 22 749 09 47
copyright@iso.org
www.iso.org
ii © ISO 2017 – All rights reserved
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Performance requirements and tests . 3
4.1 General requirements . 3
4.1.1 Test to determine the detection zone boundary . 3
4.1.2 Test body requirements . 3
4.1.3 Evaluation of test results . 3
4.2 Location and fixing of ODS and VA components . 3
4.3 Operator station components . 4
4.3.1 Location and images of monitor . 4
4.3.2 Warning devices for ODS . 5
4.4 System activation and initial check . 6
4.4.1 System activation on engine start . 6
4.4.2 System activation from stand-by mode . 6
4.5 ODS detection time . 6
4.6 Continuous self-checking . 7
4.7 Warning device disablement for ODS . 7
4.8 Electromagnetic compatibility and physical environment operating conditions . 7
5 Marking and identification . 7
6 Operator's manual . 8
6.1 Operator’s manual. 8
6.2 Other information documents . 8
Annex A (informative) Selection of ODSs and VAs . 9
Annex B (normative) Test procedure for closed-circuit television (CCTV) systems —
Additional performance requirements and tests .17
Annex C (normative) Test procedure for radar sensors .23
Annex D (normative) Test procedure for ultrasonic detection systems.28
Annex E (normative) Test procedure for ultrasonic transponder systems .36
Annex F (normative) Test procedure for electromagnetic (EM) signal transceiver systems .46
Annex G (normative) Particular performance requirements and tests for CCTV system with
surround view .53
Annex H (normative) Particular performance requirements and tests for visual ODS .55
Annex I (normative) Test procedure for vision systems based on morphological recognition .62
Bibliography .74
© ISO 2017 – All rights reserved iii
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SIST EN ISO 16001:2018
ISO 16001:2017(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 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 127, Earth-moving machinery,
Subcommittee SC 1, Test methods relating to safety and machine performance.
This second edition cancels and replaces the first edition (ISO 16001:2008), which has been technically
revised.
The main change compared to the previous edition is as follows:
— Annex G, Annex H and Annex I have been added to include state-of-the-art technologies.
iv © ISO 2017 – All rights reserved
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
Introduction
This document outlines test procedures and sets criteria for the development of object detection
systems (ODSs) and visibility aids (VAs) which indicate to the operator the presence of objects which
are within the detection zone of these systems.
Proper job-site organization, operator training and the application of relevant vision standards
(ISO 5006 and ISO 14401) address the safety of people on job sites. In some cases, vision of the working
area cannot be achieved either by the operator's direct view or indirect view using mirrors. In such
cases, operator awareness can be improved by the use of ODSs and VAs.
ODSs and VAs provide information to the operator as to whether a person or object is in the path of the
machine, primarily during rearward movement.
It is essential to note that ODSs and VAs have both advantages and disadvantages. There is no device
that works perfectly in all situations. It is especially important that the shortcomings of ODSs and VAs
be recognized and known to system users. The advantages and disadvantages of selected devices are
summarized in Annex A.
The use of a haptic signal (signal that stimulates the operator’s sense of touch, vibration, force and
motion) as an alternative to the use of visual and audible signals in ODS warning devices was discussed
during the revision of this document, as haptic warnings are now being used in the automotive industry.
While this document does not currently allow warning devices that only use haptic signals, they can be
incorporated into the warning device to supplement the visual and audible signal. More study is needed
to determine the effectiveness of a haptic signal in various earth-moving machinery applications.
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SIST EN ISO 16001:2018
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SIST EN ISO 16001:2018
INTERNATIONAL STANDARD ISO 16001:2017(E)
Earth-moving machinery — Object detection systems and
visibility aids — Performance requirements and tests
1 Scope
This document specifies general requirements and describes methods for evaluating and testing
the performance of object detection systems (ODSs) and visibility aids (VAs) used on earth-moving
machines. It covers the following aspects:
— detection or visibility or both of objects including people in the detection zone;
— visual, audible, or both warnings to the operator and if appropriate to the persons in the
detection zone;
— operational reliability of the system;
— compatibility and environmental specifications of the system.
It is applicable to machines as defined in ISO 6165. An ODS, VA or both can be used to augment the
operator’s direct vision (see ISO 5006) or indirect vision using mirrors (see ISO 14401). In addition, an
ODS, VA or both can be used to provide additional means of object detection or view, for example, where
ergonomic considerations limit the effectiveness of direct vision and to avoid repeated turning of the
head and upper body.
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 3411, Earth-moving machinery — Physical dimensions of operators and minimum operator space
envelope
ISO 6394, Earth-moving machinery — Determination of emission sound pressure level at operator's
position — Stationary test conditions
ISO 9533, Earth-moving machinery — Machine-mounted audible travel alarms and forward horns — Test
methods and performance criteria
ISO 13766, Earth-moving machinery — Electromagnetic compatibility
ISO 15998, Earth-moving machinery — Machine-control systems (MCS) using electronic components —
Performance criteria and tests for functional safety
EN 50132-7:1996, Alarm systems — CCTV surveillance systems for use in security applications —
Application guidelines
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at http://www.iso.org/obp
— IEC Electropedia: available at http://www.electropedia.org/
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
3.1
object detection system
ODS
system that detects objects, including people, that are in the detection zone (3.3) and warns the operator
Note 1 to entry: The system generally includes a sensing device (3.1.1), warning device (3.1.2) and evaluation
device (3.1.3).
Note 2 to entry: An ODS which operates by detection of a visual image is a visual object detection system.
Note 3 to entry: The system can also warn the person on the ground.
3.1.1
sensing device
ODS (3.1) component that detects a test body (3.4) in the detection zone (3.3)
3.1.2
warning device
ODS (3.1) component that transmits information to the operator or to persons in the detection zone
(3.3) by visual or audible or both signals
3.1.3
evaluation device
ODS (3.1) component or components that analyse the signals and information transmitted from the
sensing device and transform the corresponding signal to the warning device (3.1.2)
3.2
visibility aid
VA
system that provides indirect visibility without a warning device (3.1.2)
Note 1 to entry: The system generally includes one or more monitors (3.2.1) and cameras (3.2.2).
3.2.1
monitor
VA (3.2) component that provides a visual image of the detection zone (3.3) on a screen
3.2.2
camera
VA (3.2) component that transmits to the monitor an image of the detection zone (3.3)
3.3
detection zone
zone within which a test body (3.4) is detected by an ODS (3.1) or is shown by a VA (3.2)
3.4
test body
person or a standard measuring unit representative of a person, used to test the geometry and size of
the detection zone (3.3)
Note 1 to entry: Depending on the system used, test bodies can be varied (see Annexes B to I).
3.5
self-checking
capability of the system to self-check continuously and immediately to inform the operator, audibly,
visually, or both, of a failure
3.6
detection time
time required for an object detection system to detect the test body (3.4) in the detection zone (3.3) and
activate the signal output
2 © ISO 2017 – All rights reserved
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
3.7
stand-by
operation mode whereby the object detection and visibility aid systems are active, but no information
is transmitted by the warning device (3.1.2) or monitor (3.2.1)
3.8
job-site organization
rules and procedures for managing the working together of machines and people at a job site
EXAMPLE Safety instructions, traffic patterns, restricted areas, operator training, machine and vehicle
markings, communications systems.
3.9
warning range
range within the detection zone (3.3) in which a distinctive warning is provided to indicate the range
between the machine and the object being detected
4 Performance requirements and tests
4.1 General requirements
4.1.1 Test to determine the detection zone boundary
The test shall be performed on a system that is either fitted to the machine or to a representative
configuration in accordance with the appropriate annex (see Annexes B to Annex I).
4.1.2 Test body requirements
The test body requirements are specified in Annex B to Annex I.
4.1.3 Evaluation of test results
4.1.3.1 Detection
Detection shall take place unambiguously with an uninterrupted sequence of the signal or information
appropriate to the detection zone. For further details, see Annex B to Annex I.
It is possible to combine ODSs and VAs to cover the necessary detection zone in the case where a single
system cannot cover the zone.
EXAMPLE A surround view system can be combined with another object detection system, whose detection
zone covers the area where the image size achieved by the surround view system is less than required.
4.1.3.2 Evaluation of false signals
False signals, such as the following, should be minimized:
— from objects outside the detection zone;
— from weather conditions of fog, snow, rain, wind, dust, etc.
4.2 Location and fixing of ODS and VA components
Components shall be located and arranged on the machine in accordance with the specification of the
component manufacturer so that
— the component does not restrict any function or operation of the machine,
— the component is protected against external damage,
© ISO 2017 – All rights reserved 3
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
— the component is affixed to the machine so as to deter unauthorized disablement or removal,
— the component is mounted so as to limit exposure to, or amplification of, dynamic loads, temperature,
shock or vibration that could prematurely damage the device,
— the attachment and fixings of ODSs and VAs component do not affect the integrity of the protective
structures, e.g. rollover protective structures (ROPS).
4.3 Operator station components
4.3.1 Location and images of monitor
The monitor shall be located such that it is in the 180° arc centred in front of the operator.
The image on the monitor should be displayed in the most intuitively logical way for the application, as
in the following examples.
— The image of a rear view camera is commonly displayed as a mirror image (see Figure 1).
— The image of a front view camera is commonly displayed as a “normal” image.
— The image from a side-mounted camera looking downwards is commonly displayed as “normal”
image.
— The image from a side-mounted camera looking rearwards could be displayed either as a “normal”
or “mirror” image.
— A 360° “surround view” image is commonly displayed as a “normal” image (see Figure 2).
1
3
2
4
Key
1 top of monitor 3 right side of monitor
2 left side of monitor 4 bottom of monitor
Figure 1 — Example of a mirror image on the monitor covering the area behind the machine
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
1 2
6
Image
4
3
9
7
8
5
Key
1 mock surround view of machine 6 ground in front of machine
2 top of monitor 7 ground to right
3 right side of monitor 8 ground in rear of machine
4 left side of monitor 9 ground to left
5 bottom of monitor
Figure 2 — Example of a normal image on the monitor showing the surround view around
the machine
The monitor should be within 1,2 m of the operator’s eye point. If the monitor location is more than
1,2 m of operator’s eye point, the displayed images shall be proportionally enlarged according to the
monitor. The test requirements shall be according to B.8.2, G.4 and G.5. The monitor shall be positioned
so as to minimize the glare caused by direct sunlight.
NOTE Factors that influence an operator’s ability to detect a person on the monitor are the position of the
monitor within the cab, the distance of the operator from the monitor, the size and resolution of monitor, the
ambient lighting, the lens on the camera and the distance of the object from the lens.
4.3.2 Warning devices for ODS
Both audible and visual warning devices are required for an ODS. These devices shall provide indications
to the operator and may provide indications to workers and other persons present at the work site.
4.3.2.1 Audible devices
Operator station warning devices shall be set at, or shall automatically adjust to, a level at least 3 dB
higher than the ambient noise level as measured at maximum governed speed under no load.
All in-cab warnings should be selected so that they are clearly audible at the operator station. The
warning signal should be in the frequency range 500 Hz to 3 400 Hz.
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
In-cab alarms shall be distinguishable from other sounds (for example, warnings or machinery noise)
in the operator's station.
NOTE Distinctiveness of the alarm can be achieved by varying the spectral characteristics and the temporal
distribution of the signals (see ISO 9533).
4.3.2.2 Visual devices
A green system-status light shall inform the operator that the system is powered and functional. The
status light may be continuous or may turn off after the function check is completed.
The warning signals in the cab shall be located such that it is in the 120° arc centred in front of the
operator and shall be bright enough to be viewed under sunlight operating conditions. Appropriate
shielding may be used to reduce the effect of direct sunlight onto the visual display unit.
The warning signals shall be distinguishable from other instrument panel warnings; the most severe
warning shall be a flashing red light.
4.3.2.3 External machine-mounted warning devices
If an external machine-mounted audible warning device is fitted as part of the ODS to alert workers and
other persons at the worksite, then the external alarms shall comply with ISO 9533.
External machine-mounted visual warning devices, when fitted, shall be visible to people in the
detection zone.
4.4 System activation and initial check
4.4.1 System activation on engine start
The system shall activate automatically on engine start or power-on, shall perform an initial system
check, and shall give a proper function indication.
NOTE For a visibility aid, displaying the image from a camera on the monitor fulfils this requirement.
In the case of an ODS malfunction, a warning shall be given to the operator.
4.4.2 System activation from stand-by mode
The system may remain in stand-by mode unless the relevant machine movement mode is selected.
If stand-by mode is provided, the system shall wake up and provide information from the camera or
sensor about the direction of the machine motion when the machine moves.
If multiple cameras or sensors are fitted, the system shall provide the camera view or sensor signal
appropriate to the direction of travel or other machine movement, for example:
— by using multiple monitors or multiple indicators, each of which provides information about its
corresponding camera or sensor;
— by using a single monitor or indicator which sequentially provides information about multiple
cameras or sensors;
— by using a single monitor or indicator which simultaneously provides information about multiple
cameras or sensors.
4.5 ODS detection time
After the introduction of an object to be detected, the ODS detection time shall not exceed 300 ms.
6 © ISO 2017 – All rights reserved
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SIST EN ISO 16001:2018
ISO 16001:2017(E)
4.6 Continuous
...
SLOVENSKI STANDARD
oSIST prEN ISO 16001:2016
01-junij-2016
6WURML]D]HPHOMVNDGHOD6LVWHPL]D]QDYDQMDQHYDUQRVWLLQYL]XDOQLSULSRPRþNL
=DKWHYDQHODVWQRVWLLQSUHVNXVL ,62',6
Earth-moving machinery - Hazard detection systems and visual aids - Performance
requirements and tests (ISO/DIS 16001:2016)
Engins de terrassement - Dispositifs de détection d'objets et d'aide visuelle - Exigences
de performances et essais (ISO/DIS 16001:2016)
Ta slovenski standard je istoveten z: prEN ISO 16001
ICS:
53.100 Stroji za zemeljska dela Earth-moving machinery
oSIST prEN ISO 16001:2016 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN ISO 16001:2016
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oSIST prEN ISO 16001:2016
DRAFT INTERNATIONAL STANDARD
ISO/DIS 16001
ISO/TC 127/SC 1 Secretariat: BSI
Voting begins on: Voting terminates on:
2016-04-14 2016-07-13
Earth-moving machinery — Object detection systems and
visibility aids — Performance requirements and tests
Engins de terrassement — Dispositifs de détection des risques et d’aide visuelle — Exigences de
performances et essais
ICS: 53.100
ISO/CEN PARALLEL PROCESSING
This draft has been developed within the International Organization for
Standardization (ISO), and processed under the ISO lead mode of collaboration
as defined in the Vienna Agreement.
This draft is hereby submitted to the ISO member bodies and to the CEN member
bodies for a parallel three month enquiry.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
To expedite distribution, this document is circulated as received from the
IN ADDITION TO THEIR EVALUATION AS
committee secretariat. ISO Central Secretariat work of editing and text
BEING ACCEPTABLE FOR INDUSTRIAL,
composition will be undertaken at publication stage.
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 16001:2016(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 2016
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oSIST prEN ISO 16001:2016
ISO/DIS 16001:2016(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2016, Published in Switzerland
All rights reserved. Unless otherwise specified, 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
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. +41 22 749 01 11
Fax +41 22 749 09 47
copyright@iso.org
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ii © ISO 2016 – All rights reserved
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Contents Page
Foreword .iiv
Introduction .v
1 Scope.1
2 Normative references .1
3 Terms and definitions.1
4 Performance requirements and tests .3
4.1 General requirements .3
4.2 Location and fixing of ODS and VA devices .3
4.3 Operator station devices .4
4.5 ODS detection time .6
4.6 Operational integrity.6
4.7 Warning device disablement .7
4.8 Physical environment and operating conditions.7
5 Marking and identification .7
6 Operator's manual.7
Annex A (informative) Selection of ODS and VA .9
Annex B (normative) Test procedure for closed-circuit television (CCTV) systems -- Additional
performance requirements and tests . 17
Annex C (normative) Test procedure for radar sensors. 23
Annex D (normative) Test procedure for ultrasonic detection systems . 28
Annex E (normative) Test procedure for ultrasonic transponder systems . 36
Annex F (informative) Test procedure for electromagnetic (EM) signal transceiver systems . 46
Annex G (normative) Particular performance requirements and tests for CCTV system with
bird’s-eye view. 53
Annex H (normative) Particular performance requirements and tests for moving object visual
detection system (OVD) . 55
Annex I (normative) Test procedure for vision systems based on morphological recognition . 60
Bibliography . 68
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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.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. Draft International Standards
adopted by the technical committees are circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member bodies casting a vote.
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.
ISO 16001 was prepared by Technical Committee ISO/TC 127, Earth-moving machinery, Subcommittee
SC 2, Safety, ergonomics and general requirements.
This second edition cancels and replaces the first edition (ISO 16001:2008) of which has been technically
revised.
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Introduction
This International Standard outlines test procedures and sets criteria for the development of object detection
systems (ODS) and visibility aids (VA) which indicate to the operator the presence of objects which are within
the detection zone of these systems.
Proper job-site organization, operator training and the application of relevant vision standards (ISO 5006 and
ISO 14401) address the safety of people on job sites. In some cases, vision of the working area cannot be
achieved either by the operator's direct view or indirect view using mirrors. In such cases, operator awareness
can be improved by the use of ODS and VA.
ODS and VA provide information to the operator as to whether a person or object is in the path of the
machine, primarily during rearward movement.
It is essential to note that ODS and VA have both advantages and disadvantages. There is no device that
works perfectly in all situations. It is especially important that the shortcomings of ODS and VA be recognised
and known to system users. The advantages and disadvantages of selected devices are summarized in
Annex A.
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DRAFT INTERNATIONAL STANDARD ISO/DIS 16001:2016(E)
Earth-moving machinery — Object detection systems and
visibility aids — Performance requirements and tests
1 Scope
This International Standard specifies general requirements and describes methods for evaluating and testing
the performance of object detection systems (ODS) and visibility aids (VA) used on earth-moving machines.
It covers the following aspects:
- detection and/or visibility of objects including people in the detection zone;
- visual, audible, or both warnings to the operator and if appropriate to the persons in the detection zone;
- operational reliability of the system;
- compatibility and environmental specifications of the system.
It is applicable to machines as defined in ISO 6165. ODS, VA or both can be used to augment the operator’s
direct vision (see ISO 5006) or indirect vision using mirrors (see ISO 14401) or to provide additional means of
object detection, for example, where ergonomic considerations limit the effectiveness of direct vision and to
avoid repeated turning of the head and upper body.
2 Normative references
The following referenced documents are indispensable for the application 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 6165, Earth-moving machinery — Basic types — Identification and terms and definitions
ISO 6394, Earth-moving machinery — Determination of emission sound pressure level at operator's position
— Stationary test conditions
ISO 9533, Earth-moving machinery — Machine-mounted forward and reverse audible warning alarm —
Sound test method
ISO 13766, Earth-moving machinery — Electromagnetic compatibility
ISO 15998, Earth-moving machinery — Machine-control systems (MCS) using electronic components —
Performance criteria and tests for functional safety
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
object detection system
ODS
system that detects objects including people that are in the detection zone and warns the operator
The system can also warn the person on the ground.
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NOTE 1 The system generally includes a sensing device, w arning device and evaluation device.
NOTE 2 ODS, by detecting visual image, is called “OVD (object visual detection system)”.
3.1.1
sensing device
ODS component that detects a test body in the detection zone
3.1.2
warning device
ODS component that transmits information to the operator and/or to persons in the detection zone by visual
and/or audible signals
3.1.3
evaluation device
ODS component or components that analyse the signals and information transmitted from the sensing device
and transform the corresponding signal to the warning device
3.2
visibility aid
VA
system that provides indirect visibility without warning
NOTE The system generally includes one or more monitors and cameras.
3.2.1
monitor
VA component that provides a visual image of the detection zone on a screen
3.2.2
camera
VA component that transmits to the monitor an image of the detection zone
3.3
detection zone
zone within which a test body is detected by an ODS or is shown by a VA
3.4
test body
person or a standard measuring unit representative of a person, used to test the geometry and size of the
detection zone
NOTE Depending on the system used, test bodies can be varied (see Annexes B to F).
3.5
self-testing
capability of the system to self-check continuously and immediately to inform the operator, audibly, visually, or
both, of a failure
3.6
detection time
time required for an object detection system to detect the test body in the detection zone and activate the
signal output
3.7
stand-by
operation mode whereby the object detection and visibility aid systems are active, but no information is
transmitted by the warning device or monitor
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3.8
job-site organization
rules and procedures for managing the working together of machines and people at a job site
EXAMPLE Safety instructions, traffic patterns, restricted areas, operator training, machine and vehicle markings,
communications systems.
4 Performance requirements and tests
4.1 General requirements
4.1.1 Test of detection zone
The test method shall be performed on a system that is either fitted to the machine or to a representative
configuration in accordance with Annex B through Annex I.
4.1.2 Test body requirements
The test body requirements are specified in Annex B through Annex I.
4.1.3 Evaluation of test results
4.1.3.1 Detection
Detection shall take place unambiguously with an uninterrupted sequence of the signal or information
appropriate to the warning range. For further details, see Annex B through Annex I.
For a combined system, which several ODS and VA installed at the same time, its partial system detection
zone can consist the total combined system detection zone by its other partial detection zones.
EXAMPLE For a combined system consisting of a bird’s eye view system and another object detection system, the
combined system “total” detection zone can contain its object detection system detection zone even though it contains the
area w here its bird’s eye view system image size of an object is less than required.
4.1.3.2 Evaluation of wrong signals
Wrong signals, such as the following, should be minimized:
- from objects outside the detection zone;
- from weather conditions of fog, snow, rain, wind, dust, etc.
4.2 Location and fixing of ODS and VA devices
Devices shall be located and arranged on the machine in accordance with the specification of the device
manufacturer so that
- the device does not restrict any function or operation of the machine,
- the device is protected against external damage,
- the device is affixed to the machine so as to deter unauthorized disablement or removal,
- the device is mounted so as to limit exposure to, or amplification of, dynamic loads, temperature, shock or
vibration that could prematurely damage the device,
- the attachment and fixings of ODS and VA devices do not affect the integrity of the protective structures,
e.g. rollover protective structures (ROPS),
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RightsideofMonitor
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4.3 Operator station devices
4.3.1 Location of monitor
The monitor shall be located such that it is in the 180° arc in front of the operator, except for use in excavators.
For excavators, the monitor shall be placed such that it is located in the 270° arc in front of the operator.
The image on the monitor should be displayed in the most intuitively logical way for the application. For
example:
- The image of a rear view camera is commonly displayed as a mirror image. (See Figure 1)
- The image of a front view camera is commonly displayed as a ‘normal’ image.
- The image from a side-mounted camera looking downwards is commonly displayed as ‘normal’ image.
- The image from a side-mounted camera looking rearwards could be displayed either as a ‘normal’ or
‘mirror’ image.
- A 360° ‘birds eye view’ image is commonly displayed as a ‘normal’ image. (See Figure 2)
TopofMonitor
BottomofMonitor
Figure 1 — Example of a mirror image on the monitor covering the area behind the machine
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T op o f M o n i t o r
Ground I n f r o n t o f m a ch in e
Im a g e
R
g
h
o Ground
Ground
t o
t o si
n
Mo c k bi r d’ s-
o d
R ig h t
L e ft
e
e y e vi e w o f
M
m a c hi ne
o
o
M
e
d
o
s
n
o
e
Ground i n r e a r o f m a c hi n e
L
Bo tt o m o f M o n it o r
Figure 2 — Example of a normal image on the monitor showing the bird’s eye view around the
machine
The monitor should be within 1,2 m of the operator’s eye point. The monitor shall be positioned so as to
minimize the glare caused by direct sunlight.
NOTE Factors that influence an operator’s ability to detect a person on the monitor are the position of the monitor
w ithin the cab, the distance of the operator from the monitor, the size of monitor, the ambient lighting, the lens on the
camera and the distance of the object from the lens.
4.3.2 Warning devices
Both audible and visual warning devices are required for an ODS. These devices shall provide indications to
the operator and may provide indications to workers and other persons present at the work site.
4.3.2.1 Audible devices
Operator station warning devices shall be set at, or shall automatically adjust to, a level at least 3 dB higher
than the ambient noise level as measured at maximum governed speed under no load.
All in-cab warnings should be selected so that they are clearly audible at the operator station. The warning
signal should be in the frequency range 500 Hz to 2 500 Hz.
In-cab alarms shall be distinguishable from other sounds (for example, warnings or machinery noise) in the
operator's station.
NOTE Distinctiveness of the alarm can be achieved by varying the spectral characteristics and the temporal
distribution of the signals (see ISO 9533).
4.3.2.2 Visual devices
A green system-status light shall inform the operator that the system is powered and functional. The status
light may be continuous or may turn off after the function check is completed.
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The warning signals in the cab shall be mounted in direct view of the operator and shall be visible in direct
sunlight.
The warning signals shall be distinguishable from other instrument panel warnings; the most severe warning
shall be a flashing red light.
4.3.2.3 External machine mounted warning devices
If an external machine mounted audible warning device is fitted as part of the ODS to alert workers and other
persons at the worksite, then the external alarms shall comply with ISO 9533.
External machine mounted visual warning devices, when fitted, shall be visible to people in the detection zone.
4.4 System activation and initial check
4.4.1 System activation on engine start
The system shall activate automatically on engine start, shall perform an initial system check, and shall give a
proper function indication.
In the case of an ODS malfunction, a warning shall be given to the operator.
4.4.2 System activation from stand-by mode
The system may remain in stand-by mode unless the relevant machine movement mode is selected.
The system shall wake up and provide information from the camera or sensor about the direction of the
machine motion before the machine moves.
If multiple cameras or sensors are fitted, the system shall provide the camera view or sensor signal
appropriate to the direction of travel or other machine movement, for example as according to following means.
- By using multiple monitors or multiple indicators, each of which provides information about its
corresponding camera or sensor.
- By using a single monitor or indicator which sequentially provides information about multiple cameras
or sensors.
- By using a single monitor or indicator which simultaneously provides information about multiple
cameras or sensors.
4.5 ODS detection time
ODS detection time shall not exceed 300 ms.
4.6 Operational integrity
4.6.1 General
The operational integrity of the ODS and VA shall comply with ISO 15998 and ISO 13766.
4.6.2 Continuous self-checking
The availability of an image of the detection zone on the monitor is sufficient as a monitoring function for a VA.
An ODS shall have a permanent monitoring function including at least the following:
a) an operating indication light (green);
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b) a stand-by indication light (flashing amber or green) (see 4.3.2.2);
c) a visual and/or audible failure signal if the operation of the system is impaired, including monitoring of
each link on the ODS, which includes the monitoring of all machine signals used for system operation, for
example:
- wire break,
- short-circuit,
- time management (if applicable),
- signal output and signal input, and
- checking of the system.
4.7 Warning device disablement
It shall be impossible to disable the warning device simply by switching it off.
EXAMPLE Stepped stop system may fulfil the requirement.
The activation of the warning device shall be so designed and installed that its operation cannot easily be
altered by the operator.
Any exceptions shall be specified in accordance with Annex B through Annex I.
4.8 Physical environment and operating conditions
The ODS and VA shall comply with ISO 15998 in respect of the physical environment and operating
conditions.
5 Marking and identification
Each device shall bear legibly and indelibly the following information:
- manufacturer;
- type and model;
- product serial number;
- regulatory markings, as required.
6 Operator's manual
ODS and VA shall be supplied with an operator's manual containing installation, technical and safety
instructions for the intended use of such systems. Instructions shall cover the following:
- description of systems function;
- detailed description of performance and operating limits — in particular, the effect of different mounting
heights and angles;
- detection area shape and size – and variances according to operational and external factors (e.g.
interference, weather, presence of other systems);
- information for job-site organization;
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- weather limitations;
- topography limitations;
- instructions for routine maintenance, including necessary countermeasures against environmental
conditions that could impair the system’s sensitivity or its ability to discriminate objects;
- instructions for installation and assembly, including mounting location, if required;
- instructions for activation;
- description of controls;
- instructions concerning safe operation;
- instructions for performance verification;
- instructions on action in the event of malfunction;
- information for connection with other components (if required);
- regulatory certifications (such as EMC and RF conformity test certifications required by the regional
regulatory body);
- countries for which type approval has been achieved (if required);
- recommended routine for regular performance checks of the ODS and VA by the user;
- electrical supply requirements, if required.
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Annex A
(informative)
Selection of ODS and VA
A.1 Introduction
ODS and VA can be used to supplement the direct and indirect vision of the operator. In selecting ODS and
VA, consideration should be given to the operator’s information needs and to the operator’s ability to respond
the information provided. The operator experiences many demands for attention. When selecting ODS and VA,
careful consideration should be given to the form of information, visual or audible, that is of most use to the
operator when an object entering occurs. There is always a risk that visual information passes unnoticed.
Audible information can catch the operator’s attention, but can be ignored if too many unwanted warnings are
provided.
It is essential to note that ODS and VA have both advantages and disadvantages. There is no device that
works perfectly to cover the desired detection zone in all situations. It is especially important that the
shortcomings of ODS and VA be recognized and known to system users. However, some of these may be
offset by combining two or more technologies. The advantages and disadvantages of some techniques are
summarized in Table A.1.
The basic technologies are being continuously improved. Therefore, some of the shortcomings could be
addressed by future developments.
A.2 Consideration of the functional aspects of ODS and VA
A.2.1 General
The following machine functions, and operational and environmental aspects, of the ODS and VA should be
considered.
A.2.2 Operator needs and ability to interface and use the system
These needs are, for example:
- tolerance of false alarm signals;
- Signal Noise ratio;
- time and frequency of observation for visual systems;
- potential for information overload where multiple ODS and VA are used;
- human factors, (e.g. reaction time);
- training and instruction;
- type of warning required by the operator or person in detection zone.
A.2.3 Operating environment
The operating environment can be influenced by, for example:
- open, congested or restricted site;
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- topography of the site;
- site conditions (for example, dust, water, light, contrast);
- weather;
- sources of interference (for example, other machines, stronger reflectors or emitters).
A.2.4 Machine functions
These functions can be, for example:
- object entering zones to be covered:
- analysis of machine movement and application at the job site:
- available mounting positions:
- anticipated speed of movement:
- turning circle:
- articulation effects:
- stopping distance.
A.3 Selection of ODS and VA
The system should be selected considering the following characteristics:
- visual or sensor detection;
- active or passive response;
NOTE For example, Annex C, Annex D and Annex F type 1 systems are based on active response on the other hand
Annex B and Annex F type 2 systems are based on passive response. There also exists a combined system such as
Annex E one based on passive response triggered by active input.
- visual or audible warning or both;
- response time;
- detection zone;
- operational integrity;
- mounting security;
- overriding, muting and disablement requirements;
- unwanted alarms;
- maintenance, servicing and cleaning requirements;
- performance checking requirements, e.g. periodic detection zone verification;
- ability to distinguish persons (pedestrians) from other obstacles;.
- ability to perform in inclement weather;
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- ability to perform in harsh conditions.
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Table A.1 — Some advantages and disadvantages of ODS and VA
Technology Description Advantages Disadvantages Range
Fresnel A thin, flat lens using Allow s driver to see Image can distort near Horizontal: > 90°.
lens
concentric circular objects below the normal envelope edges; external light
Vertical: typically 2
grooves in its surface. driving position line of can cause lens to be “flooded”
m.
sight.
The grooves act like w ith light; external light source
Depends on
prisms to bend and needed; interpretation of
mounting position.
focus light.
image and judging distances
...
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