As one of the core equipment of intelligent factory logistics, mobile handling robots play an important role in the factory logistics automation system. The AGV is equipped with an automatic guided vehicle (AGV), which allows the system to automatically drive along a flexible path and avoid obstacles and people on the path without the need for manual pilotage and any fixed markers.
An important safety function of the AGV safety control system
With the growing demand for AGV applications, many excellent AGV manufacturers and suppliers who can provide related solutions have emerged at home and abroad. The ISO 3691-4 standard for the safety of driverless industrial vehicles and their systems was also officially released in 2020, filling a gap in industry standards.
On the basis of continuing the EN1525 technical framework, ISO 3691-4:2020 further improves the safety architecture, expands the safety function requirements, and puts forward higher requirements for the safety control system and use scenarios of AGVs, and the items involved are more detailed, specific and comprehensive. The new standard specifies safety requirements for the work area so that the truck can operate safely.
1. Work area
A gap space of at least 0.5 meters wide and 2.1 meters high should be provided on both sides of the road where the AGV travels. This gap space is measured between the road where the AGV travels and the adjacent fixed structures along the road.
2. Hazardous areas for operation
Areas where there is insufficient clearance space or where personnel detection means cannot provide protection are designated as "operational hazard areas" and marked accordingly. Work hazard areas should be clearly marked by appropriate signage or markings on the floor/floor and should be avoided with other markings and signs.
In this operational hazard area, the speed of the truck shall be in accordance with the provisions of Table A.1 and Table A.2 of the standard, and the truck shall issue additional audible and/or optical warnings.
If there is insufficient clearance space and there is no pedestrian escape route at least 0.5 m wide and 2.1 m high, the person detection system should be activated to ensure that an area within 180mm between the edge of the ESPE's safe zone and the surrounding objects can be detected to check if there is a person in the area.
3. Restricted Areas
Areas where there is insufficient clearance space and cannot be protected by the personnel detection system should be designated as "restricted areas" and marked accordingly.
The following measures should be taken in restricted areas:
a) Areas are clearly marked with signs and floor/ground markings
b) Only authorized personnel who have been trained in specific hazards are allowed to enter the area
c) No workplace can be included in the area
d) The perimeter of the area is equipped with fixed guards in accordance with ISO 13857 and ISO 14120 and with a height of at least 2.1 m.
e) The area should be equipped with movable guards (doors) to provide access for authorized personnel.
4. Enclosed area
An area that can shield the occupancy detection system and allow AGVs to operate at any speed should be designated as an "enclosed area" and marked accordingly. The following measures should be taken in the enclosed area:
a) Areas are clearly marked with signs and floor/ground markings
b) Access to the area is restricted to authorized personnel only
c) No workplace can be included in the area
d) Fixed guards in accordance with ISO 13857 and ISO 14120 and at least 2.1 m high are installed around the perimeter of the area
e) The area should be equipped with a movable interlocking guard (door) with a guard locking function to provide access for authorized personnel.
5. Load loading and unloading area
This area should only be scheduled for load loading and unloading operations at the designated location and truck location. The load loading and unloading area is not designed to prevent injury to personnel and should be considered a hazardous area for the operation.
The new standard also lists the following table for the gap space on both sides of the AGV's travel route, the start and stop of the personnel detection system, the maximum operation of the AGV and the division of the area, so that the AGV can operate more efficiently and safely inside the factory, and at the same time, the factory employees can better avoid unnecessary safety accidents with the AGV.
Safety Laser Scanner: The "Leader" of AGV Safety Protection
As a safety device to detect people or objects in the path of AGV, the safety laser scanner can provide safety when the AGV is running at high speed without affecting production efficiency, and protect the safety of people and things. With a scanning angle of up to 275 degrees and a protection area width of up to 5.5 meters, Pilz's safety laser scanner PSENscan is not only freely configurable for warning and protection areas, but also has a strong ability to adapt to the environment, which is very suitable for the integration of safety control loops for AGVs, and is especially suitable for protection monitoring in multiple areas.
In practice, two PSENscans enable 360° security. During the AGV's journey, PSENscan can flexibly switch to a suitable protection zone or warning zone according to the current driving path, ensuring safety even when the AGV is turning, while PSENscan also measures the distance to objects in the environment, which can be used for direct navigation of the AGV.
Source: Pilz Citation
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