ISO

This document specifies safety requirements and the means for their verification for driverless industrial trucks (hereafter referred to as trucks) and their systems.Examples of driverless industrial trucks (trucks of ISO 5053-1) can also be known as: "automated guided vehicle", "autonomous mobile robot", "bots", "automated guided cart", "tunnel tugger", "under cart", etc.This document also contains requirements for driverless industrial trucks which are provided with:— automatic modes which either require operators' action(s) to initiate or enable such automatic operations. — the capability to transport one or more riders (which are neither considered as drivers nor as operators). — additional manual modes which allow operators to operate the truck manually; or— a maintenance mode which allows manual operation of truck functions for maintenance reasons.It is not applicable to trucks solely guided by mechanical means (rails, guides, etc.) or to remotely controlled trucks, which are not considered to be driverless trucks.For the purposes of this document, a driverless industrial truck is a powered truck, which is designed to operate automatically. A driverless truck system comprises the control system, which can be part of the truck and/or separate from it, guidance means and power system. Requirements for power sources are not covered in this document.The condition of the operating zone has a significant effect on the safe operation of the driverless industrial truck. The preparations of the operating zone to eliminate the associated hazards are specified in Annex A.This document deals with all significant hazards, hazardous situations or hazardous events during all phases of the life of the truck (ISO 12100:2010, 5.4), as listed in Annex B, relevant to the applicable machines when it is used as intended and under conditions of misuse which are reasonably foreseeable by the manufacturer.It does not give requirements for additional hazards that can occur:— during operation in severe conditions (e.g. extreme climates, freezer applications, strong magnetic fields). — during operation in nuclear environments. — from trucks intended to operate in public zones (in particular ISO 13482). — during operation on a public road. — during operation in potentially explosive environments. — during operation in military applications. — during operation with specific hygienic requirements. — during operation in ionizing radiation environments. — during the transportation of (a) person(s) other than (the) intended rider(s). — when handling loads the nature of which can lead to dangerous situations (e.g. molten metals, acids/bases, radiating materials). — for rider positions with elevation function higher than 1 200 mm from the floor/ground to the platform floor.This document does not contain safety requirements for trailer(s) being towed behind a truck.This document does not contain safety requirements for elevated operator trucks.This document is not applicable to trucks manufactured before the date of its publication.

ISO 13849-1:2015 provides safety requirements and guidance on the principles for the design and integration of safety-related parts of control systems (SRP/CS), including the design of software. For these parts of SRP/CS, it specifies characteristics that include the performance level required for carrying out safety functions. It applies to SRP/CS for high demand and continuous mode, regardless of the type of technology and energy used (electrical, hydraulic, pneumatic, mechanical, etc.), for all kinds of machinery.It does not specify the safety functions or performance levels that are to be used in a particular case.This part of ISO 13849 provides specific requirements for SRP/CS using programmable electronic system(s).It does not give specific requirements for the design of products which are parts of SRP/CS. Nevertheless, the principles given, such as categories or performance levels, can be used.NOTE 1 Examples of products which are parts of SRP/CS: relays, solenoid valves, position switches, PLCs, motor control units, two-hand control devices, pressure sensitive equipment. For the design of such products, it is important to refer to the specifically applicable International Standards, e.g. ISO 13851, ISO 13856‑1 and ISO 13856‑2.NOTE 2 For the definition of required performance level, see 3.1.24.NOTE 3 The requirements provided in this part of ISO 13849 for programmable electronic systems are compatible with the methodology for the design and development of safety-related electrical, electronic and programmable electronic control systems for machinery given in IEC 62061.NOTE 4 For safety-related embedded software for components with PLr = e, see IEC 61508?3:1998, Clause 7.

ISO 13850:2015 Standard specifies functional requirements and design principles for the emergency stop function on machinery, independent of the type of energy used.It does not deal with functions such as reversal or limitation of motion, deflection of emissions (e.g. radiation, fluids), shielding, braking or disconnecting, which can be part of the emergency stop function.The requirements for this International Standard apply to all machines, with exception to:- machines where an emergency stop would not reduce the risk. - hand-held or hand-operated machines.NOTE The requirements for the realization of the emergency stop function based on electrical/electronic technology are described in IEC 60204‑1.

ISO 13849-2:2012 specifies the procedures and conditions to be followed for the validation by analysis and testing of the specified safety functions, the category achieved, and the performance level achieved by the safety-related parts of a control system (SRP/CS) designed in accordance with ISO 13849-1.

ISO 18646-1:2016 describes methods for specifying and evaluating the locomotion performance of wheeled robots in indoor environments.

This document describes methods of specifying and evaluating the navigation performance of mobile service robots. Navigation performance in this document is measured by pose accuracy and repeatability, as well as the ability to detect and avoid obstacles. Other measures of navigation performance are available but are not covered in this document.The criteria and related test methods are applicable only to mobile platforms that are in contact with the travel surface. For evaluating the characteristics of manipulators, ISO 9283 applies.This document deals with indoor environments only. However, the depicted tests can also be applicable for robots operating in outdoor environments, as described in Annex A.This document is not applicable for the verification or validation of safety requirements. It does not deal with safety requirements for test personnel during testing.

ISO 19649:2017 defines terms relating to mobile robots that travel on a solid surface and that operate in both industrial robot and service robot applications. It defines terms used for describing mobility, locomotion and other topics relating to the navigation of mobile robots.

ISO 9787:2013 defines and specifies robot coordinate systems. It also provides nomenclature, including notations, for the basic robot motions. It is intended to aid in robot alignment, testing, and programming.ISO 9787:2013 applies to all robots and robotic devices as defined in ISO 8373.

This document presents requirements and guidelines on the specification of modular frameworks, on open modular design and on the integration of modules for realising service robots in various environments, including personal and professional sectors.The document is targeted at the following user groups:— modular service robot framework developers who specify performance frameworks in an unambiguous way. — module designers and/or manufacturers who supply end users or robot integrators. — service robot integrators who choose applicable modules for building a modular system.This document includes guidelines on how to apply existing safety and security standards to service robot modules.This document is not a safety standard.This document applies specifically to service robots, although the modularity principles presented in this document can be utilized by framework developers, module manufacturers, and module integrators from other fields not necessarily restricted to robotics

ISO 19439:2006 specifies a framework conforming to requirements of ISO 15704, which serves as a common basis to identify and coordinate standards development for modelling of enterprises, emphasising, but not restricted to, computer integrated manufacturing. ISO 19439:2006 also serves as the basis for further standards for the development of models that will be computer-enactable and enable business process model-based decision support leading to model-based operation, monitoring and control.In ISO 19439:2006, four enterprise model views are defined in this framework. Additional views for particular user concerns can be generated but these additional views are not part of this International Standard. Possible additional views are identified in ISO 15704.

ISO 12100:2010 specifies basic terminology, principles and a methodology for achieving safety in the design of machinery. It specifies principles of risk assessment and risk reduction to help designers in achieving this objective. These principles are based on knowledge and experience of the design, use, incidents, accidents and risks associated with machinery. Procedures are described for identifying hazards and estimating and evaluating risks during relevant phases of the machine life cycle, and for the elimination of hazards or sufficient risk reduction. Guidance is given on the documentation and verification of the risk assessment and risk reduction process.ISO 12100:2010 is also intended to be used as a basis for the preparation of type-B or type-C safety standards.It does not deal with risk and/or damage to domestic animals, property or the environment.