This standard specifies the product classification, technical requirements, test methods, inspection rules as well as the marking, packaging, transportation and storage of automatic guided vehicles.
This standard is applicable to the design, manufacture and inspection of automatic guided vehicles in warehousing, production line, transportation, manufacturing and other fields.
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 latest edition of the referenced document (including any amendments) applies.
GB/T 191 Packaging - Pictorial marking for handling of goods
GB/T 2423.55 Environmental testing for electric and electronic products - Part 2: Test methods - Test Eh: Hammer tests
GB 4208 Degrees of protection provided by enclosure (IP code)
GB/T 5226.1-2019 Electrical safety of machinery - Electrical equipment of machines - Part 1: General requirements
GB/T 10827.1-2014 Industrial trucks - Safety requirements and verification - Part 1: Self-propelled industrial trucks, other than driverless trucks, variable-reach trucks and burden-carrier trucks
GB/T 15706 Safety of machinery - General principles for design - Risk assessment and risk reduction
GB/T 16855.1 Safety of machinery - Safety-related parts of control systems - Part 1: General principles for design
GB/T 17626.2 Electromagnetic compatibility - Testing and measurement techniques - Electrostatic discharge immunity test
GB/T 17626.3 Electromagnetic compatibility - Testing and measurement techniques - Radiated, radio-frequency, electromagnetic field immunity test
GB/T 17626.4 Electromagnetic compatibility - Testing and measurement techniques - Electrical fast transient/burst immunity test
GB/T 17626.5 Electromagnetic compatibility - Testing and measurement techniques - Surge immunity test
GB/T 17626.6 Electromagnetic compatibility - Testing and measurement techniques - Immunity to conducted disturbances, induced by radio-frequency fields
GB/T 17626.8 Electromagnetic compatibility (EMC) - Part 4-8: Testing and measurement techniques - Power frequency magnetic field immunity test
GB/T 17626.11 Electromagnetic compatibility - Testing and measurement techniques - Voltage dips, short interruptions and voltage variations immunity tests
GB/T 27693 Safety of industrial trucks - Test methods for measuring noise emissions
3 Terms and definitions
For the purposes of this document, the terms and definitions given in GB/T 5226.1-2019 and the following apply．
3.1
automatic guided vehicle; AGV
automatic mobile equipment with material transportation or operation capability, characterized by wheeled movement, and moving along a preset route based on environmental markers or external guidance signals
3.2
running mode
way of single AGV executing the movement instruction
Note: including manual mode, automatic mode, off-line automatic mode, etc.
3.3
navigation mode
way of AGV running automatically in the operation area
3.4
loading mode
mode of carrying and cargo exchange provided by AGV for the demand of transporting goods
3.5
rated load
maximum allowable load for AGV to ensure the nominal performance parameters under normal working conditions
3.6
rated speed
maximum nominal speed at which AGV can run steadily for a long time under the rated load
4 Product classification
4.1 By navigation mode
By perception signal, including:
- electromagnetic navigation,
- magnetic navigation,
- optical navigation,
- radio navigation,
- laser navigation,
- inertial navigation,
- visual navigation,
- hybrid navigation,
- others.
4.2 By driving mode
By wheeled movement, including:
- single-wheel drive,
- two-wheel drive,
- multi-wheel drive.
4.3 By drive structure
By drive structure, including:
- differential structure,
- steering wheel structure,
- Mecanum wheel structure,
- crawler structure,
- axle structure.
4.4 By loading mode
By loading mode, including:
- lifting,
- traction,
- knapsack,
- shifting,
- forking,
- others.
5 System composition
AGV consists of mechanical body, control system, power supply system, positioning & navigation system, driving system, loading system, safety protection system, communication system and man-machine interaction system, as shown in Figure 1.
Note: mechanical body refers to the bearing structure.
1 Scope
This standard specifies the product classification, technical requirements, test methods, inspection rules as well as the marking, packaging, transportation and storage of automatic guided vehicles.
This standard is applicable to the design, manufacture and inspection of automatic guided vehicles in warehousing, production line, transportation, manufacturing and other fields.
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 latest edition of the referenced document (including any amendments) applies.
GB/T 191 Packaging - Pictorial marking for handling of goods
GB/T 2423.55 Environmental testing for electric and electronic products - Part 2: Test methods - Test Eh: Hammer tests
GB 4208 Degrees of protection provided by enclosure (IP code)
GB/T 5226.1-2019 Electrical safety of machinery - Electrical equipment of machines - Part 1: General requirements
GB/T 10827.1-2014 Industrial trucks - Safety requirements and verification - Part 1: Self-propelled industrial trucks, other than driverless trucks, variable-reach trucks and burden-carrier trucks
GB/T 15706 Safety of machinery - General principles for design - Risk assessment and risk reduction
GB/T 16855.1 Safety of machinery - Safety-related parts of control systems - Part 1: General principles for design
GB/T 17626.2 Electromagnetic compatibility - Testing and measurement techniques - Electrostatic discharge immunity test
GB/T 17626.3 Electromagnetic compatibility - Testing and measurement techniques - Radiated, radio-frequency, electromagnetic field immunity test
GB/T 17626.4 Electromagnetic compatibility - Testing and measurement techniques - Electrical fast transient/burst immunity test
GB/T 17626.5 Electromagnetic compatibility - Testing and measurement techniques - Surge immunity test
GB/T 17626.6 Electromagnetic compatibility - Testing and measurement techniques - Immunity to conducted disturbances, induced by radio-frequency fields
GB/T 17626.8 Electromagnetic compatibility (EMC) - Part 4-8: Testing and measurement techniques - Power frequency magnetic field immunity test
GB/T 17626.11 Electromagnetic compatibility - Testing and measurement techniques - Voltage dips, short interruptions and voltage variations immunity tests
GB/T 17799.2 Electromagnetic compatibility - Generic standards - Immunity for industrial environments
GB/T 17799.4 Electromagnetic compatibility (EMC) - Generic standards - Emission standard for industrial environments
GB/T 18849 Powered industrial trucks - Brake performance and component strength
GB/T 20138 Degrees of protection provided by enclosures for electrical equipment against external mechanical impacts (IK code)
GB/T 26154-2010 General specifications of assembly robots
GB/T 27544-2011 Industrial trucks - Electrical requirements
GB/T 27693 Safety of industrial trucks - Test methods for measuring noise emissions
3 Terms and definitions
For the purposes of this document, the terms and definitions given in GB/T 5226.1-2019 and the following apply．
3.1
automatic guided vehicle; AGV
automatic mobile equipment with material transportation or operation capability, characterized by wheeled movement, and moving along a preset route based on environmental markers or external guidance signals
3.2
running mode
way of single AGV executing the movement instruction
Note: including manual mode, automatic mode, off-line automatic mode, etc.
3.3
navigation mode
way of AGV running automatically in the operation area
3.4
loading mode
mode of carrying and cargo exchange provided by AGV for the demand of transporting goods
3.5
rated load
maximum allowable load for AGV to ensure the nominal performance parameters under normal working conditions
3.6
rated speed
maximum nominal speed at which AGV can run steadily for a long time under the rated load
4 Product classification
4.1 By navigation mode
By perception signal, including:
- electromagnetic navigation,
- magnetic navigation,
- optical navigation,
- radio navigation,
- laser navigation,
- inertial navigation,
- visual navigation,
- hybrid navigation,
- others.
4.2 By driving mode
By wheeled movement, including:
- single-wheel drive,
- two-wheel drive,
- multi-wheel drive.
4.3 By drive structure
By drive structure, including:
- differential structure,
- steering wheel structure,
- Mecanum wheel structure,
- crawler structure,
- axle structure.
4.4 By loading mode
By loading mode, including:
- lifting,
- traction,
- knapsack,
- shifting,
- forking,
- others.
5 System composition
AGV consists of mechanical body, control system, power supply system, positioning & navigation system, driving system, loading system, safety protection system, communication system and man-machine interaction system, as shown in Figure 1.
Note: mechanical body refers to the bearing structure.
Figure 1 Composition of AGV
6 Technical requirements
