EN ISO 3691-4:2023
(Main)Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO 3691-4:2023)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial trucks and their systems (ISO 3691-4:2023)
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 as defined in ISO 5053‑1:2020) include: “automated guided vehicle”, “autonomous mobile robot”, “bots”, “automated guided cart”, “tunnel tugger”, “under cart”, etc.
This document is also applicable to 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.
This document 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 is applicable to 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.
In particular, this document does not apply to significant hazards related to:
— noise;
— vibrations;
— ionising and non-ionising radiation;
— laser radiation;
— sales literature (commercial documents);
— declaration of vibrations transmitted by mobile machinery.
It does not apply to 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 (see in particular ISO 13482:2014);
— 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 does not apply to trucks manufactured before the date of its publication.
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4: Fahrerlose Flurförderzeuge und ihre Systeme (ISO 3691-4:2023)
Dieses Dokument legt Sicherheitsanforderungen und die Mittel zu deren Verifizierung für fahrerlose Flurförderzeuge (im Folgenden Flurförderzeuge genannt) und deren Systeme fest.
Beispiele für fahrerlose Flurförderzeuge (Flurförderzeuge wie in ISO 5053 1:2020 definiert) sind: „automatisch geführtes Fahrzeug“, „autonomer mobiler Roboter“, „Roboter“, „automatisch geführter Wagen“, „Tunnelschlepper“, „Unterfahr-Fahrzeug“ usw.
Dieses Dokument ist auch für fahrerlose Flurförderzeuge anwendbar, die ausgestattet sind mit:
automatischen Betriebsarten, die entweder eine oder mehrere Handlungen des Bedieners erfordern, um solche automatischen Vorgänge einzuleiten oder zu aktivieren;
der Möglichkeit, einen oder mehrere Mitfahrer zu befördern (die weder als Fahrer noch als Bediener betrachtet werden);
zusätzlichen Handbetriebsarten, die es dem Bediener ermöglichen, das Flurförderzeug manuell zu bedienen; oder
einem Wartungsmodus, der die manuelle Bedienung der Funktionen des Flurförderzeuges aus Wartungsgründen ermöglicht.
Dieses Dokument ist nicht für Flurförderzeuge anwendbar, die ausschließlich durch mechanische Einrichtungen (Schienen, Führungen usw.) geführt oder ferngesteuert werden, da diese nicht als fahrerlose Flurförderzeuge angesehen werden.
Für die Zwecke dieses Dokuments ist ein fahrerloses Flurförderzeug ein kraftgetriebenes Flurförderzeug, das für den automatischen Betrieb ausgelegt ist. Das System eines fahrerlosen Flurförderzeugs besteht aus dem Steuerungssystem, das Teil des Flurförderzeugs und/oder von diesem getrennt sein kann, Führungseinrichtungen und Antriebssystem. Die Anforderungen an Energiequellen werden von diesem Dokument nicht abgedeckt.
Der Zustand des Betriebsbereichs hat wesentliche Auswirkungen auf den sicheren Betrieb des fahrerlosen Flurförderzeugs. Die Vorbereitungen des Betriebsbereichs zur Beseitigung der zugehörigen Gefährdungen sind in Anhang A angegeben.
Dieses Dokument ist für alle in Anhang B aufgeführten signifikanten Gefährdungen, Gefährdungssituationen oder Gefährdungsereignisse während aller Phasen der Flurförderzeug-Lebensdauer (ISO 12100:2010, 5.4), die auf die betreffenden Maschinen zutreffen, wenn sie bestimmungsgemäß und unter Bedingungen, die vom Hersteller als Fehlanwendung vernünftigerweise vorhersehbar sind, verwendet werden, anwendbar.
Dieses Dokument ist nicht für signifikante Gefährdungen in Zusammenhang mit Folgendem anwendbar:
- Lärm;
- Schwingungen;
- ionisierender und nichtionisierender Strahlung;
- Laserstrahlung;
- Verkaufsprospekte (gewerbliche Dokumente);
- Erklärungen der von mobilen Maschinen übertragenen Vibrationen.
[…]
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans conducteur et leurs systèmes (ISO 3691-4:2023)
Le présent document spécifie les exigences de sécurité et les moyens de les vérifier pour les chariots de manutention sans conducteur (ci-après dénommés chariots) et leurs systèmes.
Des exemples de chariots de manutention sans conducteur (chariots tels que définis dans l’ISO 5053‑1:2020) comprennent: «véhicule autoguidé», «robot mobile autonome», «robot», «chariot autoguidé», «tunnel tugger», «under cart», etc.
Le présent document est également applicable aux chariots de manutention sans conducteur qui sont équipés de:
— modes automatiques qui requièrent une ou des actions de l’opérateur pour initier ou activer de telles opérations automatiques;
— la capacité de transporter un ou plusieurs accompagnateurs (qui ne sont considérés ni comme des conducteurs, ni comme des opérateurs);
— des modes manuels supplémentaires qui permettent aux opérateurs de faire fonctionner le chariot manuellement; ou
— un mode de maintenance qui permet le fonctionnement manuel des fonctions du chariot pour des raisons de maintenance.
Le présent document ne s’applique pas aux chariots guidés uniquement par des moyens mécaniques (rails, guides, etc.) ni aux chariots commandés à distance, qui ne sont pas considérés comme des chariots sans conducteur.
Pour les besoins du présent document, un chariot de manutention sans conducteur est un chariot motorisé, qui est conçu pour fonctionner automatiquement. Un système de chariots sans conducteur comprend le système de commande, qui peut faire partie du chariot et/ou en être séparé, des dispositifs de guidage et un système d’alimentation. Les exigences pour les sources d’alimentation ne sont pas couvertes par le présent document.
Les conditions de la zone de travail ont un effet significatif sur la sécurité de fonctionnement du chariot de manutention sans conducteur. Les aménagements de la zone de travail pour éliminer les phénomènes dangereux associés sont spécifiés à l’Annexe A.
Le présent document est applicable à tous les phénomènes dangereux significatifs, situations dangereuses ou évènements dangereux, pendant toutes les phases de la vie du chariot (ISO 12100:2010, 5.4), tels qu’énumérés dans l’Annexe B, pertinents pour les machines couvertes lorsqu’elles sont utilisées normalement ou dans les conditions de mauvaise utilisation raisonnablement prévisibles prévues par le fabricant.
En particulier, le présent document ne s’applique pas aux phénomènes dangereux significatifs relatifs:
— au bruit;
— aux vibrations;
— aux rayonnements ionisant et non ionisant;
— au rayonnement laser;
— à la documentation commerciale (documents commerciaux);
— à la déclaration des vibrations transmises par des machines mobiles.
Il ne s’applique pas aux exigences pour les phénomènes dangereux supplémentaires qui peuvent survenir:
— pendant le fonctionnement dans des conditions sévères (par exemple, climats extrêmes, applications frigorifiques, champs magnétiques intenses);
— pendant le fonctionnement dans des environnements nucléaires;
— pour des chariots destinés à fonctionner dans des zones publiques (voir en particulier l’ISO 13482:2014);
— pendant le fonctionnement sur une voie publique;
— pendant le fonctionnement dans des environnements explosibles;
— pendant le fonctionnement dans des applications militaires;
— pendant le fonctionnement avec des exigences d’hygiène spécifiques;
— pendant le fonctionnement dans des environnements exposés à des rayonnements ionisants;
— pendant
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez voznika in njihovi sistemi (ISO 3691-4:2023)
Ta dokument določa varnostne zahteve in načine za njihovo preverjanje za vozila brez voznika (v nadaljevanju: vozila) in njihove sisteme.
Vozilo brez voznika (vozila iz standarda ISO 5053-1) se lahko imenuje tudi: »avtomatsko vodeno vozilo«, »avtonomni mobilni robot«, »bot«, »avtomatsko voden voziček«, »skladiščno vlečno vozilo« itd.
Ta dokument vsebuje tudi zahteve za vozila brez voznika, ki vključujejo:
– samodejne načine, pri katerih je za zagon ali omogočanje avtomatskega delovanja potrebno ukrepanje upravljavca;
– zmožnost za prevoz ene ali več oseb (pri čemer ta oseba ni ne voznik ne upravljavec);
– dodatne ročne načine, ki omogočajo ročno upravljanje vozila; ali
– vzdrževalni način, ki omogoča ročno upravljanje funkcij vozila za namene vzdrževanja.
Dokument se ne uporablja za vozila z izključno mehanskim pogonom (tračnice, vodila itd.) ali daljinsko vodena vozila, ki se ne štejejo za vozila brez voznika.
Za namene tega dokumenta je vozilo brez voznika gnano vozilo, zasnovano za samodejno delovanje. Sistem vozila brez voznika vključuje krmilni sistem, ki je lahko del vozila in/ali ločen od njega, funkcije vodenja in sistem za napajanje. Zahteve za vire napajanja niso zajete v tem dokumentu.
Stanje obratovalnega območja pomembno vpliva na varno obratovanje vozila brez voznika. Priprave obratovalnega območja za zmanjšanje povezanih tveganj so določene v dodatku A.
Ta dokument obravnava vsa večja tveganja, nevarne situacije in nevarne dogodke v vseh fazah življenjske dobe vozila (ISO 12100:2010, točka 5.4), kot je navedeno v dodatku B, v zvezi z ustreznimi stroji, kadar se ti uporabljajo v skladu s svojim namenom in pod pogoji nepravilne uporabe, ki jih je razumno predvidel proizvajalec.
Ne podaja zahtev za dodatna tveganja, do katerih lahko pride:
– med obratovanjem v težkih pogojih (npr. skrajne podnebne razmere, zmrzal, močna magnetna polja);
– med obratovanjem v jedrskih okoljih;
– zaradi vozil, ki so namenjena za obratovanje na javnih območjih (zlasti ISO 13482);
– med obratovanjem na javnih cestah;
– med obratovanjem v potencialno eksplozivnih atmosferah;
– med obratovanjem za vojaške namene;
– med obratovanjem v primerih, kadar obstajajo posebne higienske zahteve;
– med obratovanjem v okoljih z ionizirajočim sevanjem;
– med transportom oseb, ki niso predvideni kot vozniki;
– pri ravnanju s tovorom, ki lahko povzroči nevarne razmere (npr. taljena kovina, kisline/baze, sevajoči materiali);
– pri položajih voznikov z dvižno funkcijo nad 1200 mm od tal do talne površine ploščadi.
Ta dokument ne zajema varnostnih zahtev za prikolice, vlečene z vozilom.
Ta dokument ne zajema varnostnih zahtev za vozila z dvižnim položajem upravljavca.
Ta dokument se ne uporablja za vozila, ki so bila izdelana pred datumom njegove objave.
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
01-december-2023
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez
voznika in njihovi sistemi (ISO 3691-4:2023)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial
trucks and their systems (ISO 3691-4:2023)
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4:
Fahrerlose Flurförderzeuge und ihre Systeme (ISO 3691-4:2023)
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans
conducteur et leurs systèmes (ISO 3691-4:2023)
Ta slovenski standard je istoveten z: EN ISO 3691-4:2023
ICS:
53.060 Industrijski tovornjaki Industrial trucks
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
EN ISO 3691-4
EUROPEAN STANDARD
NORME EUROPÉENNE
July 2023
EUROPÄISCHE NORM
ICS 53.060 Supersedes EN ISO 3691-4:2020
English Version
Industrial trucks - Safety requirements and verification -
Part 4: Driverless industrial trucks and their systems (ISO
3691-4:2023)
Chariots de manutention - Exigences de sécurité et Flurförderzeuge - Sicherheitstechnische
vérification - Partie 4: Chariots sans conducteur et Anforderungen und Verifizierung - Teil 4: Fahrerlose
leurs systèmes (ISO 3691-4:2023) Flurförderzeuge und ihre Systeme (ISO 3691-4:2023)
This European Standard was approved by CEN on 5 May 2023.
CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this
European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references
concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN
member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by
translation under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management
Centre has the same status as the official versions.
CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway,
Poland, Portugal, Republic of North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Türkiye and
United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
CEN-CENELEC Management Centre: Rue de la Science 23, B-1040 Brussels
© 2023 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 3691-4:2023 E
worldwide for CEN national Members.
Contents Page
European foreword . 3
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered . 4
European foreword
This document (EN ISO 3691-4:2023) has been prepared by Technical Committee ISO/TC 110
"Industrial trucks" in collaboration with Technical Committee CEN/TC 150 “Industrial Trucks - Safety”
the secretariat of which is held by BSI.
This European Standard shall be given the status of a national standard, either by publication of an
identical text or by endorsement, at the latest by January 2024, and conflicting national standards shall
be withdrawn at the latest by January 2024.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CEN shall not be held responsible for identifying any or all such patent rights.
This document supersedes EN ISO 3691-4:2020.
This document has been prepared under a Standardization Request given to CEN by the European
Commission and the European Free Trade Association, and supports essential requirements of EU
Directive(s) / Regulation(s).
For the relationship with EU Directive(s) / Regulation(s), see informative Annex ZA, which is an integral
part of this document.
Any feedback and questions on this document should be directed to the users’ national standards
body/national committee. A complete listing of these bodies can be found on the CEN website.
According to the CEN-CENELEC Internal Regulations, the national standards organizations of the
following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria,
Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland,
Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Republic of
North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Türkiye and the
United Kingdom.
Endorsement notice
The text of ISO 3691-4:2023 has been approved by CEN as EN ISO 3691-4:2023 without any
modification.
Annex ZA
(informative)
Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered
This European Standard has been prepared under a Commission’s standardization request “M/396
Mandate to CEN and CENELEC for Standardisation in the field of machinery” to provide one voluntary
means of conforming to essential requirements of Directive 2006/42/EC of the European Parliament
and the Council of 17 May 2006 on machinery, and amending Directive 95/16/EC (recast).
Once this standard is cited in the Official Journal of the European Union under that Directive,
compliance with the normative clauses of this standard given in Table ZA.1 confers, within the limits of
the scope of this standard, a presumption of conformity with the corresponding essential requirements
of that Directive and associated EFTA regulations.
Table ZA.1 — Correspondence between this European Standard and
Annex I of Directive 2006/42/EC
The relevant Essential Requirements of Clause(s)/ subclause(s) of this EN Remarks/
Directive 2006/42/EC (MD) Notes
1.1.2 (a). Principles of safety integration 4,5,6
1.1.2 (c). Principles of safety integration 4,5,6
1.1.2 (d). Principles of safety integration 4,5,6
1.1.2 (e). Principles of safety integration 4,5,6
1.1.3. Materials and products 4.1.4
1.1.5. Design of machinery to facilitate its handling 4.1.16
4.1, 4.9, A.2.3.1, A.2.3.2, A.2.4.1,
1.1.6. Ergonomics A.2.4.2
1.1.8. Seating 4.1.17
1.2.1. Safety and reliability of control systems 4.2, 4.3, 4.5, 4.6, 4.8, 4.9, 4.11
1.2.2. Control devices 4.9, 4.14
1.2.3. Starting 4.1.3, 4.1.14, 4.9
1.2.4.1 Normal stop 4.1.3, 4.1.14, 4.1.26, 4.8.2
1.2.4.2 Operational stop 4.1.27
1.2.4.3 Emergency stop 4.8.1
1.2.5. Selection of control or operating modes 4.9
1.2.6. Failure of the power supply 4.1.3, 4.1.14, 4.2
1.3.1. Risk of loss of stability 4.7, 5.3
1.3.2. Risk of break-up during operation 4.1.1, 5.4, 6.3
1.3.3. Risks due to falling or ejected objects 4.1.4, 4.5
The relevant Essential Requirements of Clause(s)/ subclause(s) of this EN Remarks/
Directive 2006/42/EC (MD) Notes
1.3.4. Risks due to surfaces, edges or angles 4.1.5
1.3.6. Risks related to variations in operating
conditions 4.9
1.3.7. Risks related to moving parts 4.1.6, 4.1.7
1.3.8.1 Choice of protection against risks arising
from moving parts / Moving transmission parts 4.1.6, 4.1.7, 4.1.9, 4.13.2
1.3.8.2 Choice of protection against risks arising
from moving parts / Moving parts involved in the
process 4.1.6, 4.1.7, 4.13.2, Annex A
1.3.9. Risks of uncontrolled movements 4.1.14, 4.2
1.4.1. Required characteristics of guards and
protective devices / General requirements 4.1.6, 4.1.7, 4.1.9, Annex A
1.4.2.1 Special requirements for guards / Fixed
guards 4.1.6, 4.1.9, Annex A
1.4.2.2 Special requirements for guards /
Interlocking movable guards 4.1.7, Annex A
1.4.2.3 Special requirements for guards /
Adjustable guards restricting access Annex A
1.4.3. Special requirements for protective devices 4.1.7, 4.1.14
1.5.1. Electricity supply 4.1.3, 4.4
1.5.2. Static electricity 4.1.23
1.5.3. Energy supply other than electricity 4.1.4, 6.3
1.5.4 Errors of fitting 4.1.25
1.5.5 Extreme temperatures 4.1.19
1.5.6. Fire 4.1.3
1.5.7. Explosion 4.1.3, 6.3
1.5.8. Noise not covered
1.5.9 Vibrations not covered
1.5.10 Radiation (ionising and non-ionising) not covered
1.5.11 External radiation 4.12
1.5.12. Laser radiation not covered
1.5.13 Emissions of hazardous materials and
substances 4.1.20
1.5.14 Risk of being trapped in a machine 4.1.21
1.5.15. Risk of slipping, tripping or falling 4.1.18, 6.4
1.6.1. Machinery maintenance 4.1.3
The relevant Essential Requirements of Clause(s)/ subclause(s) of this EN Remarks/
Directive 2006/42/EC (MD) Notes
1.6.2. Access to operating positions and servicing
points 4.9.2.1, 4.9.2.2, 4.9.3
1.6.3. Isolation of energy sources 4.1.3, 4.1.4, 4.11
1.6.4. Operator intervention 4.9.2.1, 4.9.2.2, 4.9.3
1.7.1. Information and warnings on the machinery 4.14, 6.4
1.7.1.1 Information and information devices 4.14, 6.4
1.7.1.2 Warning devices 4.14
1.7.2 Warning of residual risks 4.14, 6.4
1.7.3. Marking of machinery 6.4
1.7.4. Instructions 6.1
1.7.4.1 General principles for the drafting of
instructions 6.1
1.7.4.2 Contents of the instructions 6.2, 6.3
1.7.4.3 Sales literature not covered
3.2.1. Driving position 4.1.22
3.2.2. Seating 4.1.17, 4.9.2
3.2.3 Positions for other persons 4.1.5 a), 4.9.2.1, 4.9.2.3
3.3. Control systems 4.9.1, 4.9.4
3.3.1. Control devices 4.1.8, 4.9, 4.14
3.3.2. Starting/moving 4.1.14
3.3.3. Travelling function 4.2, 4.5, 4.8.1, 4.8.2, 4.9.4
3.3.4. Movement of pedestrian-controlled
machinery 4.9.3, 4.9.4
3.3.5. Control circuit failure 4.2
3.4.1. Uncontrolled movements 4.7, 5.3
3.4.2. Moving transmission parts 4.1.6
3.4.4. Falling objects 4.1.24
3.4.5. Means of access 4.1.18
3.4.6. Towing devices 4.10
3.5.1. Batteries 4.1.3, 4.4
3.5.2. Fire 4.1.3
3.6.1. Signs, signals and warnings 4.8.2, 4.14, 6.3
3.6.2. Marking 6.3
3.6.3.1 Instructions / Vibrations not covered
The relevant Essential Requirements of Clause(s)/ subclause(s) of this EN Remarks/
Directive 2006/42/EC (MD) Notes
4.1.2.1 Risks due to lack of stability 4.5, 4.7, 5.2, 5.3, 5.4
4.1.1, 4.1.2, 4.5, 4.7, 4.9.3, 5.2, 5.3,
4.1.2.3 Mechanical strength 5.4
4.1.2.4 Pulleys, drums, wheels, ropes and chains 4.5, 4.13, 5.4
4.1.2.6 Control of movements 4.2, 4.5, 4.9.3, 4.13, 5.3, 5.4
4.1.2.7 Movements of loads during handling 4.2 d), 4.5, 4.9.3, 4.13
4.1.3. Fitness for purpose 5.4
4.2.1. Control of movements 4.9
4.3.3. Lifting machinery (Marking) 6.3.3
4.4.2. Lifting machinery (Instructions) 6.3.3, 6.4
WARNING 1 — Presumption of conformity stays valid only as long as a reference to this European
Standard is maintained in the list published in the Official Journal of the European Union. Users of this
standard should consult frequently the latest list published in the Official Journal of the European
Union.
WARNING 2 — Other Union legislation may be applicable to the product(s) falling within the scope of
this standard.
INTERNATIONAL ISO
STANDARD 3691-4
Second edition
2023-06
Industrial trucks — Safety
requirements and verification —
Part 4:
Driverless industrial trucks and their
systems
Chariots de manutention — Exigences de sécurité et vérification —
Partie 4: Chariots sans conducteur et leurs systèmes
Reference number
ISO 3691-4:2023(E)
ISO 3691-4:2023(E)
© ISO 2023
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Published in Switzerland
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ISO 3691-4:2023(E)
Contents Page
Foreword .v
Introduction . vi
1 Scope . 1
2 Normative references . 2
3 Terms and definitions . 4
4 Safety requirements and/or protective/risk reduction measures .10
4.1 General . 10
4.1.1 Overall requirements . 10
4.1.2 Normal climatic conditions . 10
4.1.3 Electrical requirements . 11
4.1.4 Stored energy components.12
4.1.5 Edges or angles .12
4.1.6 Guards .12
4.1.7 Interlocking devices for guards .12
4.1.8 Two-hand control devices .12
4.1.9 Transmission parts .12
4.1.10 Electro-sensitive protective equipment .12
4.1.11 Pressure-sensitive protective devices .12
4.1.12 Hydraulic systems .12
4.1.13 Pneumatic systems.13
4.1.14 Avoidance of automatic restart . 13
4.1.15 Foot protection . 13
4.1.16 Transport of the truck and removable attachments .13
4.1.17 Seats . . 14
4.1.18 Means of access . 14
4.1.19 High temperatures . 14
4.1.20 Exhaust emissions. 14
4.1.21 Access and emergency exit . 14
4.1.22 Driving position . 15
4.1.23 Electrostatic charges .15
4.1.24 Protective structures .15
4.1.25 Errors of fitting . 15
4.1.26 Normal stop .15
4.1.27 Operational stop . 16
4.2 Braking system . 16
4.3 Speed control . 16
4.3.1 Overspeed detection . 16
4.3.2 Speed and stability . 16
4.4 Automatic battery charging . 16
4.5 Load handling . 16
4.6 Steering . 17
4.7 Stability . 17
4.7.1 General . 17
4.7.2 Tilting platform stability test . 17
4.7.3 Stability requirements for trucks not covered by 4.7.2 . 18
4.8 Protective devices and complementary measures . 18
4.8.1 Emergency stop . 18
4.8.2 Detection of persons in the path . 19
4.9 Modes of operation . 21
4.9.1 General . 21
4.9.2 Automatic mode . 22
4.9.3 Manual mode . . 23
4.9.4 Maintenance mode . . . 24
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ISO 3691-4:2023(E)
4.10 Trucks intended to tow trailers . 24
4.11 Safety-related parts of the control system . 24
4.12 Electromagnetic immunity . 29
4.13 Conveyors fitted to a truck . 30
4.13.1 Trucks fitted with conveyors .30
4.13.2 Conveyors . 30
4.14 Warning systems . 31
5 Verification of the safety requirements and/or protective/risk reduction measures .32
5.1 General . 32
5.2 Tests for detection of persons . 32
5.3 Stability tests . 33
5.3.1 General . 33
5.3.2 Stability tests for trucks not covered by 4.7.2 . 33
5.4 Fitness for purpose .34
5.4.1 General .34
5.4.2 Structural tests .34
5.4.3 Dynamic tests .34
6 Information for use .35
6.1 General . 35
6.2 Instruction handbook. 35
6.2.1 General . 35
6.2.2 Concerning the trucks and system . 35
6.2.3 Operation of the trucks and system .36
6.2.4 Routine service and maintenance of the trucks and system .36
6.2.5 Operating information . 37
6.2.6 Information for the application . 37
6.2.7 Details for floor/ground conditions .38
6.2.8 Details for power sources .38
6.2.9 Truck modification .38
6.3 Minimum marking . .38
6.3.1 Marking . .38
6.3.2 Warning signs .38
6.3.3 Information plates . 39
6.4 Putting into service (commissioning) .40
Annex A (normative) Requirements for preparation of the operating zones .41
Annex B (informative) List of significant hazards .51
Annex C (normative) Determination of rated capacity .57
Annex D (informative) Load transfer operations .59
Annex E (normative) Verification of the safety requirements and/or protective/risk
reduction measures .62
Bibliography .74
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ISO 3691-4:2023(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
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
organizations, 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.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO document should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use
of (a) patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed
patent rights in respect thereof. As of the date of publication of this document, ISO had not received
notice of (a) patent(s) which may be required to implement this document. However, implementers are
cautioned that this may not represent the latest information, which may be obtained from the patent
database available at www.iso.org/patents. ISO shall not be held responsible for identifying any or all
such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to
the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see
www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 110, Industrial trucks, Subcommittee SC 2,
Safety of powered industrial trucks, in collaboration with the European Committee for Standardization
(CEN) Technical Committee CEN/TC 150, Industrial Trucks - Safety, in accordance with the Agreement
on technical cooperation between ISO and CEN (Vienna Agreement).
This second edition cancels and replaces the first edition (ISO 3691-4:2020), which has been technically
revised.
The main changes are as follows:
— the Scope has been updated to include a list of significant hazards not covered;
— the list of normative references has been updated to include the most recent editions of documents;
— the term entries "active detection field" and "operational stop" have been added to Clause 3;
— Clause 4, Clause 5, Clause 6, Annex A, Annex B and Annex C have been updated, with new requirements
added in subclauses 4.1.16 to 4.1.27;
— the verification of the safety requirements lists in Annex E have been reworded.
A list of all parts in the ISO 3691 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
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ISO 3691-4:2023(E)
Introduction
This document is a type-C standard as stated in ISO 12100:2010.
This document is of relevance, in particular, for the following stakeholder groups representing the
market players with regard to machinery safety:
— machine manufacturers (small, medium and large enterprises);
— health and safety bodies (regulators, accident prevention organizations, market surveillance, etc.)
Others can be affected by the level of machinery safety achieved with the means of the document by the
above-mentioned stakeholder groups:
— machine users/employers (small, medium and large enterprises);
— machine users/employees (e.g. trade unions, organizations for people with special needs);
— service providers, e.g. for maintenance (small, medium and large enterprises);
— consumers (in case of machinery intended for use by consumers).
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
The machinery concerned and the extent to which hazards, hazardous situations or hazardous events
are covered are indicated in the Scope of this document.
When requirements of this type-C standard are different from those which are stated in type-A or
type-B standards, the requirements of this type-C standard take precedence over the requirements of
the other standards for machines that have been designed and built according to the requirements of
this type-C standard.
This document takes into consideration the current state of the art and especially:
— virtual bumper technology;
— hybrid (i.e. manual and automatic) mode trucks;
— performance level versus category;
— further specified clearances;
— guarding for specific zones.
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INTERNATIONAL STANDARD ISO 3691-4:2023(E)
Industrial trucks — Safety requirements and
verification —
Part 4:
Driverless industrial trucks and their systems
1 Scope
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 as defined in ISO 5053-1:2020) include: “automated
guided vehicle”, “autonomous mobile robot”, “bots”, “automated guided cart”, “tunnel tugger”, “under
cart”, etc.
This document is also applicable to 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.
This document 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 is applicable to 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.
In particular, this document does not apply to significant hazards related to:
— noise;
— vibrations;
— ionising and non-ionising radiation;
— laser radiation;
— sales literature (commercial documents);
ISO 3691-4:2023(E)
— declaration of vibrations transmitted by mobile machinery.
It does not apply to 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 (see in particular ISO 13482:2014);
— 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 does not apply to trucks manufactured before the date of its publication.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 2867:2011, Earth-moving machinery — Access systems
ISO 3691-1:2011 ISO 3691-1:2011/Amd 1:2020, Industrial trucks — Safety requirements and
verification — Part 1: Self-propelled industrial trucks, other than driverless trucks, variable-reach trucks
and burden-carrier trucks
ISO 3691-2:2023, Industrial trucks — Safety requirements and verification — Part 2: Self-propelled
variable-reach trucks
ISO 3691-6:2021, Industrial trucks — Safety requirements and verification — Part 6: Burden and personnel
carriers
ISO 4413:2010, Hydraulic fluid power — General rules and safety requirements for systems and their
components
ISO 4414:2010, Pneumatic fluid power — General rules and safety requirements for systems and their
components
ISO 5053-1:2020, Industrial trucks — Vocabulary — Part 1: Types of industrial trucks
ISO 3691-4:2023(E)
ISO 7010:2019, ISO 7010:2019/Amd 1:2020, ISO 7010:2019/Amd 2:2020, ISO 7010:2019/Amd
3:2021, ISO 7010:2019/Amd 4:2021, ISO 7010:2019/Amd 5:2022 and ISO 7010:2019/Amd 6:2022,
Graphical symbols — Safety colours and safety signs — Registered safety signs
ISO 10896-1:2020, Rough-terrain trucks — Safety requirements and verification — Part 1: Variable-reach
trucks
ISO 10896-2:2016, Rough-terrain trucks — Safety requirements and verification — Part 2: Slewing trucks
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13849-1:2023, Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design
ISO 13849-2:2012, Safety of machinery — Safety-related parts of control systems — Part 2: Validation
ISO 13850:2015, Safety of machinery — Emergency stop function — Principles for design
ISO 13851:2019, Safety of machinery — Two-hand control devices — Principles for design and selection
ISO 13856-2:2013, Safety of machinery — Pressure-sensitive protective devices — Part 2: General
principles for design and testing of pressure-sensitive edges and pressure-sensitive bars
ISO 13856-3:2013, Safety of machinery — Pressure-sensitive protective devices — Part 3: General
principles for design and testing of pressure-sensitive bumpers, plates, wires and similar devices
ISO 13857:2019, Safety of machinery — Safety distances to prevent hazard zones being reached by upper
and lower limbs
ISO 14119:2013, Safety of machinery — Interlocking devices associated with guards — Principles for
design and selection
ISO 14120:2015, Safety of machinery — Guards — General requirements for the design and construction of
fixed and movable guards
ISO 14122-2:2016, Safety of machinery — Permanent means of access to machinery — Part 2: Working
platforms and walkways
ISO 15870:2000, Powered industrial trucks — Safety signs and hazard pictorials — General principles
ISO 22915-2:2018, Industrial trucks — Verification of stability — Part 2: Counterbalanced trucks with
mast
ISO 22915-3:2021, Industrial trucks — Verification of stability — Part 3: Reach and straddle trucks
ISO 22915-4:2018, Industrial trucks — Verification of stability — Part 4: Pallet stackers, double stackers
and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
ISO 22915-5:2020, Industrial trucks — Verification of stability — Part 5: Single-side-loading trucks
ISO 22915-7:2016, Industrial trucks — Verification of stability — Part 7: Bidirectional and multidirectional
trucks
ISO 22915-8:2018, Industrial trucks — Verification of stability — Part 8: Additional stability test for trucks
operating in the special condition of stacking with mast tilted forward and load elevated
ISO 22915-9:2014, Industrial trucks — Verification of stability — Part 9: Counterbalanced trucks with
mast handling freight containers of 6 m (20 ft) length and longer
ISO 22915-10:2023, Industrial trucks — Verification of stability — Part 10: Additional stability test for
trucks operating in the special condition of stacking with load laterally displaced by powered devices
ISO 22915-11:2011, Industrial trucks — Verification of stability — Part 11: Industrial variable-reach trucks
ISO 3691-4:2023(E)
ISO 22915-12:2015, Industrial trucks — Verification of stability — Part 12: Industrial variable-r
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