IEC TR 62998-2-2020 Safety of machinery – Part 2: Examples of application.
4 Applications for mobile robots
This example covers the integration and installation phase using fusion of three SRSs into an SRSS in accordance with Clause 6 of IEC TS 62998-1 :201 9 to improve sensing zones and safety-related zones in accordance with requirements for the intended use. The intended uses are 2 different mobile robot types, in accordance with ISO 1 3482:201 4, that operate autonomously in a public area with limited access. The reader should be aware that the following descriptions are not based on comprehensive analysis and are only examples for mobile robotics.
NOTE ISO 1 3482:201 4 covers mobile robots operating in an autonomous manner. For simplification, the term “mobile robot” will be used from now on.
Two different mobile robots operate on a certain university campus with buildings to achieve: transport of in-house mail items among office buildings of the university, and cleaning of pavements of the university.
Figure 1 shows the typical outdoor pavement of a university campus. Person(s) being present or approaching the safety related zone(s) of an SRSS should be detected and the safety-related control system should initiate appropriate reaction of the mobile robot.
4.2 SRSS on mail transport mobile robot
4.2.1 Intended use
The intended use should be determined (see 6.2.1 of IEC TS 62998-1 :201 9) by the integrator.
It is defined by the following selected example items:
1 ) The mobile robot is a Type 1 .1 robot specified in ISO 1 3482:201 4 with a weight of 30 kg and size of length: 500mm × width: 500mm × height: 600mm.
2) The mobile robot automatically navigates the pavement connecting the university office buildings. The path of the robot is predetermined according to the map created by SLAM technology [1 ] 1 and physical constraints. The map includes position information for objects that are fixed along the pavement, such as guardrails, building walls, trees, etc. By referring to the map, the robot determines its own restricted space (ISO 1 3482:201 4, 3.1 8.2) while moving.
3) The mobile robot moves during daytime on non-carriageways where:
a) light vehicles such as bicycles are not allowed to enter;
b) wheelchairs can enter;
c) pavements are smooth paved with slopes of up to 5 degrees in some areas, as shown in Figure 1 ;
d) standing or walking people on the pavements are adults and/or children. Children under and including 3 years are assumed to be controlled and children from 4 years up to including 1 0 years are assumed to be accompanied by adults. An adult might not accompany children over 1 0 years up to 1 4. For the purpose of this example, the speed of a person towards the mobile robot is assumed to be between 0 mm/s and 800 mm/s if the person enters into the safeguarded zone.IEC TR 62998-2 pdf download.