BS ISO 24134-2006 Industrial trucks - Additional requirements for automated functions on trucks《工业用卡车 卡车自动功能附加要求》.pdf

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1、 g49g50g3g38g50g51g60g44g49g42g3g58g44g55g43g50g56g55g3g37g54g44g3g51g40g53g48g44g54g54g44g50g49g3g40g59g38g40g51g55g3g36g54g3g51g40g53g48g44g55g55g40g39g3g37g60g3g38g50g51g60g53g44g42g43g55g3g47g36g58automated functions on trucksICS 53.060Industrial trucks Additional requirements for BRITISH STANDA

2、RDBS ISO 24134:2006BS ISO 24134:2006This British Standard was published under the authority of the Standards Policy and Strategy Committee on 3 February 2006 BSI 3 February 2006ISBN 0 580 47774 6The British Standards which implement international publications referred to in this document may be foun

3、d in the BSI Catalogue under the section entitled “International Standards Correspondence Index”, or by using the “Search” facility of the BSI Electronic Catalogue or of British Standards Online.This publication does not purport to include all the necessary provisions of a contract. Users are respon

4、sible for its correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations.Summary of pagesThis document comprises a front cover, an inside front cover, the ISO title page, pages ii to iv, pages 1 to 9 and a back cover.The BSI copyright notice dis

5、played in this document indicates when the document was last issued.Amendments issued since publicationAmd. No. Date CommentsA list of organizations represented on this committee can be obtained on request to its secretary.Cross-referencesenquiries on the interpretation, or proposals for change, and

6、 keep UK interests informed; monitor related international and European developments and promulgate them in the UK.National forewordThis British Standard reproduces verbatim ISO 24134:2006 and implements it as the UK national standard.The UK participation in its preparation was entrusted to Technica

7、l Committee MHE/7, Industrial trucks, which has the responsibility to: aid enquirers to understand the text; present to the responsible international/European committee any Reference numberISO 24134:2006(E)INTERNATIONAL STANDARD ISO24134First edition2006-01-15Industrial trucks Additional requirement

8、s for automated functions on trucks Chariots de manutention Exigences supplmentaires pour les fonctions automatiques des chariots BS ISO 24134:2006ii iiiContents Page Foreword iv 1 Scope . 1 2 Normative references . 2 3 Terms and definitions. 2 4 List of hazards. 3 5 Safety requirements . 4 5.1 Perf

9、ormance limitation. 4 5.2 Automated control system safety. 4 5.3 Operator controls and indicators 4 5.4 Emergency switching off . 5 5.5 Operational safety. 5 5.6 Additional requirements for specific movements . 5 6 Verification and commissioning . 7 6.1 Verification 7 6.2 Commissioning . 7 7 Informa

10、tion for use . 8 7.1 General. 8 7.2 Operation of automated functions 8 7.3 Service and maintenance of automated functions 8 7.4 Operating information 9 7.5 Housekeeping . 9 BS ISO 24134:2006iv Foreword ISO (the International Organization for Standardization) is a worldwide federation of national sta

11、ndards 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 or

12、ganizations, 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 give

13、n 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 7

14、5 % 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 24134 was prepared by Technical Committee ISO/TC 110, In

15、dustrial trucks, Subcommittee SC 2, Safety of powered industrial trucks. ISO 24134 is based on EN 1526:1997 and ASME B56.5A-1994:Part IV. BS ISO 24134:20061Industrial trucks Additional requirements for automated functions on trucks 1 Scope This International Standard specifies the safety requirement

16、s for controls and control systems for the following automated functions of industrial trucks: steering (excluding direct mechanical guidance); travel; lifting and lowering operations; load manipulations, e.g. rotation, reach, slewing, tilting, clamping; combination and/or sequence of the above move

17、ments. NOTE The control system is generally part of the truck but can include components external to the truck, e.g. the means of guidance for automated steering. This International Standard is intended for use in conjunction with one or more of the applicable parts of ISO 3691. This International S

18、tandard is not applicable to, and does not include, requirements for the following: safety equipment (e.g. devices for height limitation, speed limitation) used to override operator control; operation in severe conditions (e.g. extreme climates, freezer applications, strong magnetic fields); operati

19、on in environments subject to special rules (e.g. potentially explosive atmospheres); electromagnetic compatibility; transportation of passengers; handling of loads, the nature of which could lead to dangerous situations (e.g. molten metals, acids/bases, radiating materials). Limitations in the scop

20、es of the applicable parts of ISO 3691 also apply to this International Standard. BS ISO 24134:20062 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 lat

21、est edition of the referenced document (including any amendments) applies. ISO 3691-1, Industrial trucks Safety requirements and verification Part 1: Self-propelled industrial trucks, other than driverless, variable-reach trucks and burden-carrier trucks 1)ISO 3691-2, Industrial trucks Safety requir

22、ements and verification Part 2: Self-propelled variable-reach trucks 1)ISO 3691-3, Industrial trucks Safety requirements and verification Part 3: Additional requirements for trucks with elevating operator position and trucks specifically designed to travel with elevated loads 1)ISO 3691-4, Industria

23、l trucks Safety requirements and verification Part 4: Driverless industrial trucks and their systems 1)ISO 3691-5, Industrial trucks Safety requirements and verification Part 5: Pedestrian-propelled trucks 1)ISO 3691-6, Industrial trucks Safety requirements and verification Part 6: Burden and person

24、nel carriers 1)ISO 12100-2:2003, Safety of machinery Basic concepts General principles for design Part 2: Technical principles and specifications ISO 13849-12), Safety of machinery Safety-related parts of control systems Part 1: General principles for design ISO 20898:3), Industrial trucks Electrica

25、l requirements 3 Terms and definitions For the purposes of this document, the following terms and definitions apply. 3.1 automated function movement for transport or positioning of the truck and/or load initiated by the operator but not requiring continued action by the operator 3.2 automated liftin

26、g and lowering automated function that controls intended vertical movements and/or positioning of the load-carrying device to a preselected height 3.3 automated load manipulation automated function that controls load movements (e.g. rotation, reach, slewing, tilting, telescoping, clamping) 1) To be

27、published. (Revision of ISO 3691:1980) 2) To be published. (Revision of ISO 13849-1:1999) 3) To be published. (Equivalent to EN 1175-1:1998) BS ISO 24134:200633.4 automated steering automated function that takes control of the steering and keeps the truck on a predetermined path NOTE Automated steer

28、ing excludes any direct mechanical guidance (e.g. by means of a rail) and manually controlled steering systems equipped with feedback signal(s) for regulating the steering system. 3.5 automated steering acquisition system condition when automated steering has been selected but the operator is still

29、positioning the truck to acquire the guidance means, i.e. the operator still has control of the manual truck steering system 3.6 automated travel automated function that takes control of the speed and direction of travel and/or positioning of the truck 3.7 sequenced automated functions succession of

30、 automated functions in which each movement can commence only after the completion of the previous movement 3.8 combined automated control automated system that takes control of two or more automated functions simultaneously 3.9 responsible person designated person suitably trained and qualified by

31、knowledge and practical experience and in possession of the necessary instructions to enable the assigned task to be carried out 4 List of hazards The following hazards can be applicable and could involve risks to persons if not addressed. The corresponding requirements offer guidance on limiting th

32、e risk or reducing these hazards. Hazard Corresponding requirement(s) 4.1 Crushing due to failure of truck to stop from collapse of racking due to contact with truck 5.2.1, 5.3.3, 5.6.2 5.2.1, 5.3.3, 5.6.1, 5.6.4, 5.6.5, 5.6.6 4.2 Impact from falling loads or parts of loads from collapse of racking

33、from controls or tillers 5.2.1, 5.3.3, 5.6.3, 5.6.4, 5.6.5, 5.6.6 5.2.1, 5.3.3, 5.6.4, 5.6.5, 5.6.6 5.5.2 4.3 Electrical contact direct or indirect due to unexpected electrical fault 5.2.1 4.4 Electromagnetic radiation Not dealt with BS ISO 24134:20064 Hazard Corresponding requirement(s) 4.5 Program

34、ming errors Not dealt with 4.6 Human error dangerous operation of the truck by unauthorized personnel accidental operation of controls dangerous maintenance or adjustment of truck by unauthorized personnel 5.3.1, 5.3.3 5.3.1, 5.3.3, 5.3.4, 5.3.5, 5.5.1, 5.6.1.3 6.1, 6.1.3 4.7 Hazard combinations 5.3

35、.3, 5.4, 5.6.5, 5.6.6 4.8 Failure of energy supply 5.2.1 4.9 Failure of control system or unexpected startup 5.2, 5.3.2 4.10 Reliability of coded messages Not dealt with 4.11 Failure of safety devices 5.2 4.12 Safety signs and signals 5.3.5, 5.6.1.3 4.13 Emergency devices 5.4 5 Safety requirements 5

36、.1 Performance limitation Performance of functions when automated shall not exceed that permitted by the truck design and shall meet the requirements of the relevant part(s) of ISO 3691. 5.2 Automated control system safety 5.2.1 Automated control systems shall be designed in accordance with ISO 1210

37、0-2:2003, 4.11. Loss of control in an automated control system (e.g. excessive speed, unintended deviations from the guide path, weakening of the onboard control means or their power supply or failure of the guidance signal) that could generate a hazard shall result in the restricting or stopping of

38、 associated movements as quickly as possible within the operating parameters of the truck and without introducing new hazards. 5.2.2 Failure of the automated control system need not prevent manual operation of the function. 5.3 Operator controls and indicators 5.3.1 All automated functions shall be

39、selected solely by means of operator controls. 5.3.2 Automated functions shall automatically reset to the manual or off position when the truck and/or automated control system are switched off. BS ISO 24134:200655.3.3 It shall be possible for the operator to override an automated function at any tim

40、e. It shall only be possible for the automated function to be restarted by the operator. When manually operated functions are in use, automated operation of these functions shall be deactivated. 5.3.4 The controls for the automated functions shall be clearly marked for their purpose and designed to

41、avoid actuation other than by intentional manual action(s). 5.3.5 Trucks shall be equipped with a warning device(s), either audible or visual or a combination thereof, that acts automatically on the activation of the automatic function(s). This device shall continue to operate while automated motion

42、s of the truck are in progress. 5.4 Emergency switching off 5.4.1 On battery-powered trucks, the device specified in ISO 20898:, 5.2.6, shall also switch off all automated control systems except control logic and memory circuits. 5.4.2 On non-battery powered trucks, an emergency switching-off functi

43、on shall be provided to perform this function. 5.5 Operational safety 5.5.1 All automated functions, except automated steering, shall be brought to a stop automatically and be switched to the manual mode when the operator leaves the normal operating position. A new initiation shall be required in or

44、der for the automated function to resume. 5.5.2 Manual controls (e.g. steering wheel, tiller, control lever) shall be designed such that they do not constitute a hazard for the operator while the truck operates in the automated mode. 5.6 Additional requirements for specific movements 5.6.1 Automated

45、 steering 5.6.1.1 If intended by the manufacturer for specific applications (e.g. order picking, lateral stacking), 5.3.2 need not apply when the truck is in the aisle. 5.6.1.2 Where automated steering is provided, the operator must select either automated or manual mode. Manual action or operation

46、of the steering control shall not have the capability to override the automated steering when the automated steering mode has been selected. 5.6.1.3 During automated steering acquisition, speed shall be limited to 2,5 km/h and an audible or visual device shall warn the operator until the truck is st

47、eering automatically. On trucks equipped with automated steering, an audible and/or visual warning device complying with ISO 12100-2:2003, 6.3, shall warn the operator when the truck is entering areas where automated guidance is required if the automated steering system has not been selected. 5.6.1.

48、4 The safety-related parts of the control system shall conform to ISO 13849-1:, category 3, in the automated steering mode and ISO 13849-1:, category 2, during automated steering acquisition. See Table 1. 5.6.2 Automated travel Automated travel functions, when provided, shall not be shared by, but s

49、hall be capable of being overridden by the operator or limited by the automated mode. The safety-related parts of the control system shall conform to ISO 13849-1:, category 3. BS ISO 24134:20066 5.6.3 Automated lifting and lowering Automated lifting/lowering functions, where provided, may have characteristics of the automated function that require additional sensing, e.g. external truck position sensing device. The safety-related parts of the control system shall