Background: As Brightpick enters the North American market we need to become experts on the certifications that may be required to deliver our projects. The original Phollower design focused on European standards based on
The table below contains an initial list of standards requirements that would apply to the Brightpick product and likely require some amount of effort to satisfy.
Potential Standards Requirements
The user shall make battery changing and charging provisions in accordance with ANSI/NFPA 505.
...user to determine the hazard classification of any particular atmosphere or location according to ANSI/NFPA 505.
Restricted areas of vehicle operation require identification and/or marking.
Doors subject to automatic actuation and blind corners shall have suitable audible and/or visual alarms to anticipate the approach of the automatic vehicle or door actuation. Passive devices such as mirrors are recommended also.
A minimum clearance of 0.5 m (19.7 inches) shall be maintained between obstructions and vehicles (including loads). All other areas having reduced clearance shall be considered hazard zones or restricted areas and be clearly marked by signs, stripes, lights, or other designations.
Load-carrying capacity tests shall be performed...
8.7.4 Stability (a) For vehicles with lift more than 300 mm, the applicable stability requirements of ANSI/ITSDF B56.1 shall apply.
If there is an escape route for a pedestrian the maximum travel speed shall be limited to 0.3 m/s and the vehicle path shall be considered a hazard zone.
Control Actuation. When actuated, object detection devices cause a slowing or safety stop of the vehicle. The vehicle action following a safety stop may be reinitiated automatically after a minimum delay of 2 seconds if and when the device or combination of devices no longer detect an object or obstruction to the vehicle and its intended load in the main direction of travel.
8.15.1 Manual controls shall be provided in accordance with ANSI/ITSDF B56.1, ANSI/ITSDF B56.8, ANSI/ITSDF B56.9, or other safety standards, as applicable.
(b) Vehicles capable of fully automatic operation shall have a label clearly visible that states, CAUTION: AUTOMATIC VEHICLE, in letters at least 38 mm high.
(c) Vehicles not designed with specific personnel compartments or platforms incorporating appropriate safety protection shall be labeled NO RIDING.
When opportunity or automatic charging is specified, the following shall also apply:
(a) a recommended preventative maintenance program outlining routine service checks and appropriate procedures.
(b) diagnostic check procedures. This shall be in the form of a troubleshooting guide that follows check procedures to provide recommended repair instructions.
(c) procedures for repair of the equipment.
(d) other pertinent information to operate and maintain reliability of all the system equipment.
(e) the sequence of operations for all equipment and electronics.
Documentation - A manufacturer supplied vehicle maintenance manual
shall be provided to the user which will describe at least the following:
(a) a recommended preventative maintenance program outlining routine service checks and appropriate procedures,
(b) diagnostic check procedures. This shall be in the form of a troubleshooting guide that follows check procedures to provide recommended repair instructions,
(c) procedures for repair of the equipment,
(d ) other pertinent information to operate and maintain reliability of all the system equipment,
(e) the sequence of operations for all equipment and electronics.
5.3.2 Stability tests for truck not covered by 4.7.2
Truck shall be tested in the worst-case condition(s) (e.g. loaded, unloaded, lift height, slope, turn, forward direction, backward direction, floor/ground slope) in combination with truck predetermined parameters in those case conditions (e.g. emergency braking deceleration, speed, controlled acceleration and deceleration, lifting speed).
Test shall be performed with at least 110 % of actual capacity and either:
a) at least 110 % of predetermined speed for the truck configuration; or
b) at maximum reachable speed, in case 110 % of predetermined speed cannot be reached. The test shall not result in a hazard (e.g. tipping or sliding).
The truck is considered stable if it passes all tests without tip-over or meets the requirements by calculation. When comparing calculated and test values, the test values are considered the true measure of stability.
*Note: This entire section requires access to ISO 13849-1
Section 5 outlines the testing that would need to be performed and documented to be able to claim compliance.
When the truck starts any movement after a stop condition longer than 10 s, a visible and/or acoustical warning signal shall be activated at least 2 s, prior to the start of any movement, including any moving part of the truck (e.g. forks, conveyors, parts protruding from the load). A visible and/or acoustical warning signal shall be active during any movement, including any moving part of the truck (e.g. forks, conveyors). This signal may be the same signal as the prior to the start warning signal.
The visible and acoustical signal shall be designed taking into account the environmental conditions (e.g. noise, light, brightness).
The manufacturer shall provide an instruction handbook in accordance with ISO 12100:2010, 6.4.5
6.3-8 + 6.5
Content requirements for manuals
6.4.2 Warning signs - Warnings shall be in accordance with ISO 15870:2000
the following warning shall be fitted “RIDING ON THIS TRUCK IS PROHIBITED”
Content requirements for information plates
Definitions of operating zones and maximum speeds; if we want to comply with this spec, we will have to define our operating areas using this terminology.
Rated capacity calculation method and specification for high-lift trucks with masts
Health and safety verification requirements, we would have to run through this list and provide verification.
According to this specification our Runners would be considered AGVs: “The fundamental difference between AGVs and AMRs is characterized by how they traverse the specified operating environment. An AGV traverses the specified operating environment automatically along predefined guidepaths (virtual or physical) using collision avoidance and can adjust from their guidepath. AMRs traverse the specified operating environment autonomously which requires the ability to navigate using obstacle avoidance and collision avoidance by detecting obstacles using sensors and adjusting paths by computing an obstacle-free path through free space rather than using a predefined path.”
Part 1, 1
ANSI/RIA R15.06 for safety requirements of the robot on the AMR
A cableless (wireless) data interface may be provided on the IMR to exchange safetyrelated information. A protective stop shall be performed when correct signals are not received, including loss of communication, or delay of communication beyond acceptable latency. See NFPA 79, IEC 60204-1, or IEC 62745
If the dynamic stability of the IMR is to be reported, the IMR should be tested using the methodology specified in Annex F. Other methods may be used, and if so, the test method should be documented.
The energy isolating device shall be capable of being secured in the OFF (de-energized / open / isolated) position only by means of a lock or alternative means
Batteries shall be certified by a nationally recognized testing laboratory (NRTL) to an applicable industrial standard.
IMRs Type C with AGV mobile platforms shall comply with the requirements of ANSI/ITSDF B56.5 or ISO 3691-4
Stopping Distance - We would have to perform the tests described in this section.
Appropriate responses to the loss of localization (e.g., shutting down, or moving adjacent to the nearest mapped feature) shall be determined based on environmental- and application-based risk assessments.
Where collaborative operation includes expected physical contact, hazardous contact shall be prevented between any part of an IMR (including active attachments) and a person, as determined by the risk assessment and in accordance with the requirements of power and force limiting in RIA TR R15.606.
Manipulators manufactured or selected to be integrated as part of an IMR Type C shall comply with the requirements of ANSI/RIA R15.06.
Attachments that are not manipulators are not required to comply with ANSI/RIA R15.06.
Manipulators intended for collaborative operations shall comply with the guidance of RIA TR R15.606.
NOTE: For attachments that are manipulators, requirements for movement without drive power are found in ANSI/RIA R15.06-2012, Part 1, Clause 5.13.
IMRs designed to operate as part of a fleet shall be capable of receiving, processing, and implementing responses to fleet-wide safety commands.
Additional labeling requirements
Safety function performance analysis guidance
Annex A contains a list of hazards that can be present with robots. A hazard analysis shall be carried out to identify any further hazards that may be present.
Loss of, or variations in power shall not result in a hazard.
A means shall be provided for the controlled release of stored hazardous energy. A label shall be affixed to
identify the stored energy hazard.
Single point of control - The robot control system shall be designed and constructed so that when the robot is placed under local pendant control or other teaching device control, initiation of robot motion or change of local control selection from any other source is prevented.
Performance requirement - Safety-related parts of control systems shall be designed so that they comply with PL=d with structure category 3 as described in ISO 13849-1:2006
Manual high speed
Pendant emergency stop function - The pendant or teaching control device shall have an emergency stop function in accordance with 5.5.2.
6.6 A risk assessment covering the equipment and its intended function is to be completed to determine compliance with this standard. See section 21 for the Risk Assessment.
A lithium-based battery pack that relies on additional battery management external to the battery pack shall be subjected to the tests in 8.2 including single fault conditions in the battery control circuits external to the battery pack.