GB/T 10827.4-2023 English PDF

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GB/T 10827.4-2023: Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems
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Basic data

Standard ID: GB/T 10827.4-2023 (GB/T10827.4-2023)
Description (Translated English): Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems
Sector / Industry: National Standard (Recommended)
Classification of Chinese Standard: J83
Classification of International Standard: 53.060
Word Count Estimation: 86,823
Date of Issue: 2023-05-23
Date of Implementation: 2023-12-01
Issuing agency(ies): State Administration for Market Regulation, China National Standardization Administration

GB/T 10827.4-2023: Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems

---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
National Standards of People's Republic of China Industrial vehicle safety requirements and verification Part 4: Autonomous industrial vehicles and their systems State Administration for Market Regulation Released by the National Standardization Administration Committee

1 Scope

This document specifies the safety requirements and verification methods for driverless industrial vehicles and their systems: Unmanned industrial vehicles (vehicles in ISO 5053-1) are also called "automatic guided vehicles", "autonomous mobile robots", "robots" and "automatic guided vehicles": "Guiding trolley", "tunnel tractor", "guiding vehicle", etc: This document also contains the following requirements for driverless industrial vehicles: ---Automatic mode that requires the operator to take action to start or enable automatic operations; ---The ability to transport one or more occupants (to be considered neither driver nor operator); ---Additional manual mode that allows the operator to manually operate the vehicle; ---Maintenance mode that allows manual operation of vehicle functions for maintenance reasons: This document does not apply to vehicles guided by purely mechanical means (tracks, guides, etc:) and remotely controlled vehicles: These vehicles are not considered For driverless industrial vehicles: In this document, an unmanned industrial vehicle is a motorized industrial vehicle designed to operate automatically: Autonomous vehicle systems include Control system, guidance device and power system, the control system may be part of the vehicle and/or separate from it: This document does not cover power source requirements: The conditions in the work area have an important impact on the safe operation of unmanned industrial vehicles (hereinafter referred to as "vehicles"): To eliminate related risks The preparation of the work area is detailed in Appendix A: This document covers the use of relevant machinery under the manufacturer's intended use and misuse under foreseeable conditions, except for the following situations, as shown in the appendix All major hazards, hazardous states or hazardous events during the vehicle life cycle listed in B (5:4 in GB/T 15706-2012):

2 Normative reference documents

The contents of the following documents constitute essential provisions of this document through normative references in the text: Among them, the dated quotations For undated referenced documents, only the version corresponding to that date applies to this document; for undated referenced documents, the latest version (including all amendments) applies to this document:

3 Terms and definitions

The following terms and definitions as defined in GB/T 6104:1-2018 and GB/T 15706-2012 apply to this document: 4 Security requirements and/or protection/risk reduction measures 4:1 General requirements 4:1:1 General requirements Vehicles shall comply with the safety requirements and/or protective measures of this chapter: In addition, for non-major hazards not covered in this document, vehicle design should be carried out according to the principles specified in GB/T 15706-2012: The vehicle operating area shall comply with the requirements of Appendix A: 4:1:2 Normal climatic conditions The following normal climate conditions should be met: ---Average ambient temperature under continuous operating conditions: 25°C; ---The highest ambient temperature in a short period of time (not more than 1h): 40℃; ---Minimum ambient temperature when using the vehicle under normal indoor conditions: 5℃; ---Minimum ambient temperature when using the vehicle under normal outdoor conditions: -20°C; ---Altitude: no more than:2000m: 4:1:3 Electrical requirements The vehicle electrical system shall comply with the requirements of Table 1: 4:1:4 Energy storage components Components that store energy and may cause a hazard during removal or disassembly (e:g: hydraulic accumulators, capacitors or spring brakes) (location), measures should be taken to release its energy before moving or dismantling: 4:1:5 Side or angle There should be no dangerous sharp edges or corners in the following areas: a) The normal operating position of the occupant; b) The operator’s operating position; c) Access channels for daily inspections: 4:1:6 Protective devices The technical principles of protective devices should comply with the provisions of GB/T 15706-2012: Protective devices should comply with GB/T 8196-2018 Regulation: The safety distance should comply with the provisions of GB/T 23821-2009: In addition, the safe distance to prevent touching the protective structure should comply with High-risk requirements in Table 2 of GB/T 23821-2009: In addition, the minimum height of continuous fixed enclosed structures shall be 2:1m: 4:1:7 Protective interlocking device Interlocking devices related to protective devices should comply with the regulations of GB/T 18831-2017: 4:1:8 Two-hand control device The two-hand control device should comply with the regulations of GB/T 19671-2022: 4:1:9 Transmission components Transmission components within human reach (such as drive shafts, couplings and belt drives) should be protected by fixed guards: 4:1:10 Electrosensitive protective equipment Electrosensitive protective equipment (ESPE) shall comply with the provisions of IEC 61496-2:2013 and IEC 61496-3:2018: 4:1:11 Pressure sensitive protection device The pressure-sensitive protection device should comply with Sample 5 or Sample 6 specified in Table 2 of GB/T 17454:2-2017 and GB/T 17454:3-2017 (Applies to shapes and sizes only): 4:1:12 Hydraulic system Hydraulic systems and their components should comply with ISO 4413:2010: 4:1:13 Pneumatic system Pneumatic systems and their components should comply with the regulations of GB/T 7932-2017: 4:1:14 Avoid automatic restarts The vehicle should be designed so that it is not allowed to restart automatically after any of the following actions: a) Emergency stop device; b) Short-stroke contact anti-collision device, see 4:8:2:1e); c) 4:9:3 Describe the situations in which the operator operates manually (such as seats, tillers, handles, foot pedals); d) Manual control instructions (such as throttle, steering wheel, joystick), see 4:9:3:1c); e) Non-contact stopping function specified in footnote c of Table A:1: After the vehicle is powered off, it is not allowed to restart automatically: 4:1:15 Foot protection Measures should be taken to prevent injuries to the feet of persons standing near the vehicle: Measures that can be taken include: a) Provide additional stopping distance margin for feet in accordance with ESPE manufacturer parameters; b) For people wearing safety shoes, reduce the frame gap to no more than 40mm to prevent feet from being trapped under the frame; c) The foot spacing under the chassis should be in accordance with the provisions of Figure 5 of GB/T 10827:1-2014 to prevent feet from contacting the driving wheel and balance wheel: 4:2 Braking system Vehicles should be equipped with a braking system for the following situations: a) Functions when power is interrupted; b) Automatically activated when control of speed or steering is lost; c) Within the operating range of the personnel detection device specified in 4:8:2, within the manufacturer’s specifications (such as speed, friction, floor/ground, slope degree, rated load) the worst case limit stop; d) Keep the vehicle and its maximum allowable load stationary on the maximum operating gradient specified by the manufacturer: Safety-related components of the braking system shall comply with items 1 and 2 of Table 2: Note: The braking system can consist of one or more braking functions (such as spring brake, service brake): 4:3 Speed control Safety-related components of the speed control system shall comply with items 3 and 8 of Table 2: 4:4 Autonomous charging According to IEC 61558-1:2017, autonomous charging connections rated above 60VDC or 25VAC shall be designed to prevent accidental contact with the straps Risk of shock (electric shock) from electrical parts: Vehicles equipped with autonomous charging systems shall be designed so that accessible charging contacts are activated only when the vehicle is connected to a charging device: When the vehicle leaves the charging point, the vehicle's charging contact should be disconnected from the battery: The safety-related components of the autonomous charging system shall comply with the provisions of Item 9 of Table 2: 4:5 Load handling The load handling device shall be designed to maintain the load within the limits specified by the manufacturer in any mode of operation, including emergency stops and load transfer within a certain location range: This can be achieved by integrating clamps, mechanical locks, stops, etc: As an alternative, means should be provided to prevent the vehicle from moving when the load is not in the designated position of the load handling device as determined by the manufacturer: device: This can be achieved by integrating cameras, sensing devices, switches, etc: The lifting and tilting system shall comply with the provisions of 4:6 in GB/T 10827:1-2014: The safety-related components of the control system that perform the above functions should comply with the provisions of Item 10, Item 11, and Item 12 of Table 2: 4:6 Steering Safety-related components that control the steering system shall comply with item 13 of Table 2: 4:7 Stability 4:7:1 General requirements The vehicle should remain stable during all load handling and driving movements (including emergency stops): Safety-related components that control stability should comply with item 14 of Table 2: 4:7:2 Inclined platform stability test The stability of vehicles with a lifting height greater than 500mm shall be tested in accordance with the following applicable standards: ---GB/T 26949:1-2020; ---GB/T 26949:2-2022; ---GB/T 26949:3-2018; ---GB/T 26949:4-2022; ---GB/T 26949:5-2018; ---GB/T 26949:8-2022; ---GB/T 26949:9-2018; ---GB/T 26949:10-2011; ---GB/T 26949:11-2016; ---GB/T 26949:12-2021; ---GB/T 26949:13-2017; ---GB/T 26949:14-2016; ---GB/T 26949:15-2017; ---GB/T 26949:20-2016; ---GB/T 26949:22-2019; ---ISO 22915-7:2016; ---ISO 22915-21:2019: The stability test of vehicles with a lifting height less than 500mm shall be carried out in accordance with the applicable stability standards for similar vehicles equipped with masts: Perform the test according to the requirements or in accordance with the requirements of 4:7:3: The stability of cargo and personnel carriers should be implemented in accordance with the requirements of 4:7 in GB/T 10827:6-2023: 4:7:3 Vehicle stability requirements not covered by 4:7:2 When the vehicle is only suitable for performing predetermined automation tasks under specific operating spaces and conditions, the vehicle shall be tested in accordance with 5:3:2 regulations are implemented: Compliance with the specified stability values can be determined by calculation: Calculations should be based on empirical data from similar vehicles: Such calculations should take into account the gate Manufacturing variables and deflections of frames, tires, etc: 4:8 Protective devices and safeguards 4:8:1 Emergency stop Vehicles should be equipped with an emergency stop function that complies with GB/T 16754-2021: When the emergency stop device is activated, all vehicle movements should stop: The emergency stop device should be clearly visible and easily identifiable, and should be accessible from both ends and sides of the vehicle: If the vehicle has the prescribed belt control If the operator of the device is located, an emergency stop device should be installed near the control device: If the load of the vehicle limits personnel from accessing the emergency stop device, the emergency stop device should be installed in the vehicle's closest and accessible location to the hazardous area: on rigid components (see Figure 2 for an example): 4:8:2 Personnel detection on the path 4:8:2:1 Person detection on predetermined paths in automatic mode For human detection on the predetermined path in automatic mode, its safety-related parts should comply with items 4, 16, 17 and 1 of Table 2: 20 provisions: Vehicles should be equipped with personnel detection devices and meet the following requirements: a) The vehicle is equipped with a pressure-sensitive device that complies with 4:1:11 (such as a contact anti-collision device) or an ESPE that complies with 4:1:10 (such as a non-contact anti-collision device): anti-collision device) for personnel detection: b) In the direction of travel, the scope of action of the personnel detection device should at least exceed the maximum width of the vehicle and its load: c) The personnel detection device shall be designed so that the vehicle shall be in contact with stationary persons (not those entering the path of the vehicle) between rigid parts of the vehicle or its load: or persons moving toward the vehicle), and shall comply with the provisions of 5:2: If there is contact, then between them The force should not exceed the value specified in 5:2: When the vehicle turns or turns in place, its side protection measures only need to comply with the test in 5:2 B's regulations: Note 1: For non-contact protective devices, additional requirements are made based on the non-contact protective device manufacturer's usage information (e:g: reflection): d) The vehicle stops because it detects a person on its driving path, and when the detection device installed on the vehicle detects that the person is far away After leaving the detection range, the vehicle can automatically restart after appropriate warnings (such as auditory and/or visual warnings): If the pressure is installed Sensitive protection device (PSPE), you need to delay at least 2s before restarting: Automatic restart can only be performed in compliance with Table A:1 and Table A:2: This can only be done by setting the "Allow automatic restart" setting: Note 2: The warning system is defined in 6:2: e) In the direction of travel, the protective device does not meet all the requirements a), b) and c) (e:g: when the stroke of the contact anti-collision device is too short or When a vehicle is towing or carrying a load underneath it and the load extends beyond both sides), the following provisions shall be complied with: 1) In the driving direction, the vehicle speed should not exceed 0:3m/s: 2) Additional stop functions initiated by equipment (such as laser scanners or proximity switches) according to Table A:1 or Table A:2 (can be installed on the vehicle or in the environment) should be clearly identifiable and can be activated within 600mm of the danger point: Automatic restart should Comply with the requirements of Table A:1 or Table A:2: 4:8:2:2 Measures to be taken in case the requirements of 4:8:2:1 are restricted or deactivated If the vehicle is working in a work hazard area (work area where people may be exposed to crush/shear hazards, such as load transfer areas), then The following requirements should be met: a) If there is an evacuation passage (for pedestrians to escape, at least 0:5m wide and 2:1m high), refer to the maximum speed specified in Table A:1 and Table A:2 degree limits, warnings (e:g: audible and/or visual), automatic restart function and zone classification: b) If there is no pedestrian evacuation channel defined in a), refer to the maximum speed limits and warnings (such as listening to and/or visual), automatic restart function and zone classification: Additional parking functions that should also be performed are: 1) The person detection function should be executed and started to check whether there is anyone in the dangerous area: If someone is detected and the vehicle has stopped, then Automatic restart in the original direction is not allowed; 2) If the person detection function cannot be performed, it should be on a vehicle within 600mm of the dangerous point (such as the connector on the vehicle): contacts or inducements) or install an emergency stop device or parking device in compliance with Table 2 in the workplace: 4:8:2:3 Suppression of personnel detection devices Under certain load transfer conditions, it may be necessary to suppress personnel detection devices: In order to ensure that no one is present, the personnel detection device should be delayed to the maximum extent, if the distance to the object is less than 180mm (such as load, connection ports, transfer stations, fixed structures, block stacks): In automatic mode, the person detection system only allows suppression at speeds below 0:3m/s: The safety-related components of the restrained personnel detection device shall comply with the provisions of Item 19 of Table 2: 4:8:2:4 Override control of personnel detection devices Override personnel are allowed to probe the system only in manual or maintenance mode: The safety-related components of the detection device for unauthorized persons shall comply with the provisions of Item 18 of Table 2: 4:8:2:5 Failure of personnel detection device When the vehicle is operating in a closed area, the personnel detection device may automatically fail (according to A:2:4): According to the mode selection, personnel detection The device may fail in manual operation mode on vehicles with a specified operator position (see 4:9:3:1) or tiller (see 4:9:3:2): Safety-related components where the personnel detection device fails shall comply with the provisions of Item 18 of Table 2: ......

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