1、UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM ULMARCH 20, 20181UL 3100Outline of Investigation for Automated Guides Vehicles (AGVs)Issue Number: 1March 20, 2018Summary of TopicsThis first issue of the Outline of Investigation for Automated Gui
2、dedVehicles (AGVS), UL 3100, covers battery-operated automated guidedvehicles (AGVs).ULs Outlines of Investigation are copyrighted by UL. Neither a printed norelectronic copy of an Outline of Investigation should be altered in any way. All ofULs Outlines of Investigation and all copyrights, ownershi
3、ps, and rights regardingthose Outlines of Investigation shall remain the sole and exclusive property of UL.COPYRIGHT 2018 UL LLCUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM ULMARCH 20, 2018UL 31002No Text on This PageUL COPYRIGHTED MATERIAL N
4、OT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM ULCONTENTSINTRODUCTION1 Scope .62 Components 63 Units of Measurement .74 Undated References 75 Glossary .7CONSTRUCTION6 General 87 Battery and Battery Management Systems .97.1 General .97.2 Lithium based batteries 97.3 Lea
5、d acid batteries 108 Chargers 109 Transformers 1010 Printed Wiring Boards .1111 Sensors and Controls .1112 Lasers .1213 Lamps / Horns / Alarms / Indicators .1214 Object Detection and Avoidance 1215 Brakes and Braking Distance .1316 Ramp/Slope Operation 1417 Protection Circuits and System Safety Anal
6、ysis .1418 Open Bus Bar Connection Systems .1619 Parts Subject to Pressure 17INDUSTRIAL TRUCK BASED AGVs20 Load Handling Device .1721 Towing / Load Capacity .18SERVICE AGVs22 Enclosure of Hazardous Live Parts and Moving Parts .1822.1 General .1822.2 Materials 1922.3 Openings 2322.4 Doors / Covers /
7、Windows .2422.5 Battery Compartments/Enclosures 2523 Accessibility 2524 Internal Wiring 3025 Current Carrying Parts 3226 Connections (Battery to AGV, Battery to Charger, AGV to Charger) .3227 Fuses .3328 Flammability .3329 LVLE 3430 Spacings and Separation of Circuits 3530.1 General .35MARCH 20, 201
8、8 UL 3100 3UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM UL30.2 LVLE Circuits 3730.3 Other than safety circuits 3730.4 Separation of circuits .37PERFORMANCEALL PRODUCTS31 General 3832 Power Rating Verification Test .3933 Temperature Test .3933
9、.1 General .3933.2 AGVs with non-removable batteries 4033.3 AGVs with removable batteries 4034 Dielectric Strength Test 4335 Mold Stress Test .4536 Abnormal Operations 4536.1 General .4536.2 Component faults 4636.3 Relay and solenoid burnout 4636.4 Disconnected fan and blocked ventilation .4636.5 Mo
10、tor overload .4636.6 Motor locked rotor 4736.7 Overcharge test 4736.8 Short circuit test 4836.9 Imbalanced charging test 4936.10 Vibration test .4936.11 Shock test 5037 Power Loss/Power Restoration .5138 Impact Test 5139 Brake Test .5240 Stability Test .5241 Lifting Means Loading Test 5342 Bumper Ac
11、tivation Test 5343 Endurance of Battery Connectors .53INDUSTRIAL TRUCK BASED AGVS AND LOAD BEARING SERVICE AGVS44 Hydrostatic Strength Test 5445 Endurance of Actuator Stop Means .5446 Gripper Test .54MARKING47 General 5448 Identification .5549 Caution 56INSTRUCTIONS50 General 5651 Installation Instr
12、uctions 5752 Maintenance Instructions 58MARCH 20, 2018UL 31004UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM UL53 Operating Instructions .58MARCH 20, 2018 UL 3100 5UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION W
13、ITHOUT PERMISSION FROM ULINTRODUCTION1 Scope1.1 These requirements cover battery-operated automated guided vehicles (AGVs) that are intended tobe used indoors in a commercial or industrial environment. The AGVs covered by this Outline includeIndustrial Truck AGVs (inherently load bearing), load bear
14、ing service AGVs, and non-load bearing serviceAGVs, as defined within this outline. Industrial truck AGVs are intended to be used in accordance with 1.2and all AGVs shall be used in accordance with 1.3. The AGV is battery powered using either lead acidbatteries or lithium ion based batteries that ar
15、e charged through a conductive system while either on boardor off board the vehicle.1.2 The Industrial Truck AGV is intended to be used and installed in accordance with both the SafetyStandard for Driverless, Automatic Guided Industrial Vehicles and Automated Functions of MannedIndustrial Vehicles,
16、ANSI/ITSDF B56.5-2012, and in accordance with the Safety Standard for PoweredIndustrial Trucks Including Type Designations, Areas of Use, Conversions, Maintenance, and Operations,NFPA 505.1.3 Portions of an AGV system, such as the charger, that are located off board the AGV, are intended tobe instal
17、led in accordance with the National Electrical Code (NEC), NFPA 70.1.4 This outline will indicate all requirements for battery powered AGVs and peripheral systems includingthe specific charging device intended to be used with the AGV.1.5 This Outline does not include requirements for AGVs that funct
18、ion as people movers. Requirementsfor these devices are under consideration and may be included as part of a future revision.1.6 This outline does not include requirements for industrial robots, which are covered under the Standardfor Robots and Robotic Equipment, UL 1740.1.7 This Outline does not i
19、nclude requirements for AGVs that function as commercial and industrial floorcleaning equipment. This equipment is covered under ANSI C22.2 No. 336, Particular Requirements forRechargeable Battery-Operated Commercial Robotic Floor Treatment Machines with Traction Drives.2 Components2.1 Except as ind
20、icated in 2.2, a component of a product covered by this outline shall comply with therequirements for that component.2.2 A component is not required to comply with a specific requirement that:a) Involves a feature or characteristic not required in the application of the component in theproduct cover
21、ed by this outline; orb) Is superseded by a requirement in this outline.MARCH 20, 2018UL 31006UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM UL2.3 A component shall be used in accordance with its rating established for the intended conditions o
22、fuse.2.4 Specific components are incomplete in construction features or restricted in performance capabilities.Such components are intended for use only under limited conditions, such as certain temperatures notexceeding specified limits, and shall be used only under those specific conditions.3 Unit
23、s of Measurement3.1 Values stated without parentheses are the requirement. Values in parentheses are explanatory orapproximate information.4 Undated References4.1 Any undated reference to a code or standard appearing in the requirements of this outline shall beinterpreted as referring to the latest
24、edition of that code or standard.5 Glossary5.1 The following terms apply for this document.5.2 AUTOMATED GUIDED VEHICLE (AGV) Any battery operated industrial truck or service vehiclethat is operated autonomously without a driver.5.3 INDUSTRIAL TRUCK AGV An AGV that performs the same function as an i
25、ndustrial truck.5.4 LOADING PLATFORM The base or area on an AGV that is intended to support the load once it isplaced on the base or loading area.5.5 SERVICE AGV, LOAD BEARING An AGV that is intended to perform a service function by carryinglight loads, such as beverages to a table in a restaurant.5
26、.6 SERVICE AGV, NON-LOAD BEARING AN AGV that is intended to perform a service function thatdoes not require a load bearing means, such as scanning grocery store shelves for missing products.MARCH 20, 2018 UL 3100 7UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT
27、 PERMISSION FROM ULCONSTRUCTION6 General6.1 Unless otherwise stated, compliance with the requirements in this outline is determined by evaluationand testing on a representative model of the AGV under evaluation.6.2 AGVs covered by this outline shall be provided with a means of conductive connection
28、to the externalcharging device. While connected to the charger, the AGV shall not be capable of being energized inmanner that would allow movement of the AGV. Energizing systems for other than operation, such ascommunications, is allowed during charging.6.3 No field modification of the AGV that coul
29、d modify the AGVs operation, such as load capacity and thelike, shall be permitted to be performed by the user. The user shall not be instructed on how to modify theAGV. Instructions shall indicate that no modification is allowed, see 51.8.6.4 For all AGVs, the AGVs are considered suitable for use i
30、n a non-classified location. For all AGVs thatare industrial truck based, and intended to be used in the same location as industrial trucks, the AGV maybe used in an area that is classified, and the industrial truck AGV shall be suitable for the intended locationin accordance with Fire Safety Standa
31、rd for Powered Industrial Trucks Including Type Designations,Areas of Use, Conversions, Maintenance, and Operations, NFPA 505, for truck types E, EE and ES. Forload bearing and non-load bearing AGVs intended to be operated in any area that is considered classified,further evaluation to determine sui
32、tability of the AGV in that location is required.6.5 AGVs covered by this outline shall be evaluated for functionality in relation to safety systems that areused to protect people and property in the vicinity of the AGV or near the AGVs path of travel. Humanoverrides are allowed to shut down the AGV
33、 but shall not be the primary means of protecting people andproperty. See Protection Circuits and System Safety Analysis, Section 17.6.6 For AGVs that are industrial truck based, and intended to be used in the same location as industrialtrucks, this outline is intended to be used in conjunction with
34、 the Standard for Electrical-Battery-PoweredIndustrial Trucks, UL 583. This outline supplements or supersedes requirements contained in UL 583.6.7 For service AGVs, load bearing or non-load bearing, the Outline contains all requirements necessaryto evaluate the vehicle.MARCH 20, 2018UL 31008UL COPYR
35、IGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM UL7 Battery and Battery Management Systems7.1 General7.1.1 The battery provided with the AGV shall be in accordance with 7.2 or 7.3.7.1.2 For battery packs that are provided with an integral battery manage
36、ment system, the batterymanagement system shall be evaluated as part of the battery pack in accordance with the requirementsoutlined below. If the battery management system or a portion of the battery management system residesin external components, such as the charger, then the combination of the e
37、xternal components and thebattery pack are critical and shall be evaluated together in accordance with this outline, including faults inthe battery management system on parts located outside the battery pack.7.1.3 For swapped/removable batteries, the battery connections shall be keyed or configured
38、in a mannerthat will prevent reverse polarity connections of the battery when it is replaced.7.2 Lithium based batteries7.2.1 Lithium based battery packs shall be provided with an appropriate Battery Management System(BMS), and shall be designed to safely withstand anticipated abuse conditions for t
39、he AGV involved. Alithium based battery pack used in AGVs covered by this Outline shall be in accordance with one of thefollowing:a) The Standard for Batteries for Use in Electric Vehicles, UL 2580;b) The Standard for Batteries for Use in Light Electric Vehicle (LEV) Applications, UL 2271; orc) The
40、Standard for Secondary Cells and Batteries Containing Alkaline or Other Non-AcidElectrolytes Safety Requirements for Portable Sealed Secondary Cells, and for BatteriesMade From Them, for Use in Portable Applications, UL 62133.7.2.2 A lithium based battery pack in accordance with 7.2.1(c) is required
41、 to comply with the requirementsin the Overcharge Test, 36.7, with single fault conditions in the battery control circuits; the Short CircuitTest, 36.8, with single fault conditions in the battery control circuits; Imbalanced Charging Test, 36.9;Shock Test, 36.11; and Vibration Test, 36.10.7.2.3 A l
42、ithium based battery pack that relies on additional battery management external to the batterypack shall be subjected to the tests in 7.2.2 including single fault conditions in the battery control circuitsexternal to the battery pack.MARCH 20, 2018 UL 3100 9UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR
43、 FURTHER REPRODUCTION ORDISTRIBUTION WITHOUT PERMISSION FROM UL7.3 Lead acid batteries7.3.1 Lead acid batteries shall be of the insulated type and measures shall be taken to reduce the risk ofconnections becoming loose and causing arcing or overheating.7.3.2 For lead acid batteries that are enclosed
44、, means shall be provided to vent the off-gassing duringcharging. No arcing or sparking parts shall be in the vicinity of the battery.8 Chargers8.1 For charging batteries, whether the battery is located on board the AGV or the battery is intended tobe removed from the AGV, the charger shall be locat
45、ed off board the AGV and shall comply with one ofthe following:a) The Standard for Class 2 Power Units, UL 1310.b) The Standard for Power Units Other Than Class 2, UL 1012.c) The Standard for Information Technology Equipment Safety Part 1: GeneralRequirements, UL 60950-1.d) Audio/Video, Information
46、and Communication Technology Equipment Part 1: SafetyRequirements, UL 62368-1.e) The Standard for Electric Vehicle (EV) Charging System Equipment, UL 2202.f) The Standard for Industrial Battery Chargers, UL 1564.g) The Standard for Battery Chargers for Charging Engine-Starter Batteries, UL 1236.9 Tr
47、ansformers9.1 Transformers provided as part of an AGV, shall comply with one of the following:a) Standard for Specialty Transformers, UL 506;b) Standard for Dry-Type General Purpose and Power Transformers, UL 1561; orc) Standard for Low Voltage Transformers Part 1: General Requirements, UL 5085-1, a
48、ndone of the following:1) Standard for Low Voltage Transformers Part 2: General Purpose Transformers, UL5085-2; or2) Standard for Low Voltage Transformers Part 3: Class 2 and Class 3 Transformers,UL 5085-3.MARCH 20, 2018UL 310010UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION ORDISTR
49、IBUTION WITHOUT PERMISSION FROM UL10 Printed Wiring Boards10.1 A printed-wiring board shall comply with the Standard for Printed-Wiring Boards, UL 796.10.2 A printed-wiring board containing circuits involving a risk of fire or electric shock shall have a flamerating as specified in requirements in the Standard for Tests for Flammability of Plastic Materials for Partsin Devices and Appliances, UL 94 of V-2 minimum. Printed-wiring boards not involving a risk of fire orelectric shock shall be rated HB minimum.10.3 A conformal coating employed on the surface
