GB/T 20721-2022 English PDF (GB/T20721-2022)

GB/T 20721-2022: Automatic guided vehicles - General specifications
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GB/T 20721-2022
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
CCS J 28
Replacing GB/T 20721-2006
Automatic guided vehicles - General specifications
ISSUED ON: APRIL 15, 2022
IMPLEMENTED ON: NOVEMBER 01, 2022
Issued by: State Administration for Market Regulation;
Standardization Administration of the People's Republic of China.
Table of Contents
Foreword ... 4 
1 Scope ... 6 
2 Normative references ... 6 
3 Terms and definitions... 7 
4 Product classification ... 8 
4.1 Classification based on navigation mode ... 8 
4.2 Classification based on drive mode ... 9 
4.3 Classification based on drive structure ... 9 
4.4 Classification based on loading mode ... 9 
5 System composition ... 9 
6 Technical requirements ... 10 
6.1 Appearance and structural requirements ... 10 
6.2 Interface requirements ... 11 
6.3 Functional requirements ... 12 
6.4 Performance requirements ... 22 
6.5 Power adaptability requirements ... 22 
6.6 Electromagnetic compatibility requirements ... 22 
6.7 Environmental adaptability requirements ... 22 
6.8 Security requirements ... 24 
6.9 Reliability requirements ... 25 
7 Test methods ... 25 
7.1 Test conditions ... 25 
7.2 Appearance and structure tests ... 26 
7.3 Interface test ... 26 
7.4 Functional tests ... 27 
7.5 Performance tests ... 33 
7.6 Power adaptability test ... 34 
7.7 Electromagnetic compatibility test ... 34 
7.8 Environmental adaptability tests ... 34 
7.9 Safety tests ... 37 
8 Inspection rules ... 37 
8.1 Inspection classification ... 37 
8.2 Type inspection ... 37 
8.3 Exit-factory inspection ... 38 
9 Marking, packaging, transportation and storage ... 39 
9.1 Marking ... 39 
9.2 Packaging ... 40 
9.3 Transportation ... 40 
9.4 Storage ... 40 
Annex A (Normative) Loading system ... 42 
Annex B (Normative) Application safety ... 44 
Annex C (Normative) Ground conditions and hazardous areas ... 45 
Bibliography... 46 
Automatic guided vehicles - General specifications
1 Scope
This Standard specifies product classification, technical requirements, test methods,
inspection rules and marking, packaging, transportation, storage for automatic guided
vehicles.
This Standard is applicable to the design, manufacture and inspection of automated
guided vehicles in the fields of warehousing, production lines, transportation, and
manufacturing.
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 and storage marks
GB/T 2423.55, Environmental testing for electric and electronic products - Part 2:
Test method - Test Eh: Hammer tests
GB/T 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
of connectors of good and reliable.
d) There is no loosening of all fastening parts. Mark the key fastening parts. The
moving parts are well lubricated and running. The vibration reduction is reliable.
The hydraulic connection is reliable.
e) The structural safety protection device is connected reliably, functioning normally.
f) It has sufficient strength. Static load can withstand 1.25 times rated load.
g) There are no dangerous sharp edges or corners.
h) The positions of switches, buttons, handles and other devices are reasonable and
easy to operate.
6.1.3 Protection capability requirements
6.1.3.1 Enclosure protection level
It shall meet the requirements of GB/T 4208. The protection level of the indoor electric
control part shall not be lower than IP3X. The protection level of the outdoor electric
control part shall not be lower than IP54.
6.1.3.2 Housing damage resistance
The non-metallic shell shall meet the requirements of IK03 in GB/T 20138.
6.1.3.3 Components
The protection level of electrical components shall meet the requirements of GB/T 4208.
6.2 Interface requirements
6.2.1 Power interface
The output interface of the battery pack shall be connected by plugging. Soldering or
wire bonding is not permitted. The interface protection level shall not be lower than
IP2X.
6.2.2 External communication interface
Communication interfaces such as wireless serial port, optical, Ethernet, cellular mobile
shall be used.
6.2.3 Other interfaces
There shall be several debugging interfaces, wireless or wired manual operating device
interfaces.
6.3 Functional requirements
6.3.1 Mechanical body
6.3.1.1 The automatic guided vehicle body shall ensure that the distortion and
deformation during normal operation are small enough. Avoid malfunctions.
6.3.1.2 Body coverings shall be shaped to avoid possible hazards. The cover shall have
a strong structure to prevent functional failure due to collision with other items.
6.3.2 Control system
6.3.2.1 Control device
The control device shall have anti-vibration function. Avoid the resulting vibrations that
could cause damage to the device or malfunction.
The operation panel shall adopt an easy-to-observe and easy-to-operate structure. Avoid
operator mis-operation.
6.3.2.2 Running mode
The running mode can have automatic mode, manual mode, offline automatic mode to
execute motion commands. Mode switching is in accordance with the requirements of
GB/T 5226.1-2019. It shall be prevented that the operator accidentally touches and
causes the mode switch. The safety-related part shall at least meet the requirements of
PLb in GB/T 16855.1. The running modes mainly include the following modes.
a) Automatic mode: In the automatic operation mode, the automatic guided vehicle
shall be able to receive the management and command distribution of the system.
Follow the planned path to execute the task.
b) Manual mode: In manual control mode, the automatic guided vehicle shall be able
to move on the ground that meets the requirements. Manual control shall use the
operation panel or special manual control device provided by the manufacturer
(including wired or wireless). Wireless manual controls shall be industrial grade
products. There is no risk to the operator in this way. Risk analysis shall be carried
out in accordance with GB/T 15706.
NOTE: This mode is suitable for the maintenance, debugging and emergency state of automatic
guided vehicles.
c) Offline automatic mode: In the offline automatic mode, the automatic guided
vehicle uses a single machine as the running unit and is not managed by the
dispatching system. Within the specified scope, complete the corresponding tasks
according to the planned path. When the automatic guided vehicle does not accept
the management of the dispatching system, if conditions permit, it shall accept
b) Manual charging;
c) Battery exchange.
6.3.3.3 Function
The power system shall have the following functions:
a) With automatic charging function.
b) When the battery power is lower than the preset threshold, the automatic guided
vehicle stops. Prompt to charge and alarm. Operation can only be restored by
manual operation.
c) To avoid the danger of personnel due to accidental contact with the battery and
the charging connection of the charging system, the automatic charging system
(excluding the busbar preventing personnel access) is designed to be activated
only when the automatic guided vehicle is connected to the charging system.
d) In the open alternating magnetic field power supply mode, the manufacturer
provides the user with the relevant safety data of the magnetic field generated by
the power supply. Ensure no hazards to people in the environment.
e) Manufacturers shall choose appropriate batteries and charging equipment
according to user needs. Specifically, the following requirements shall be met:
- The automatic charging method is adopted to ensure a certain charging time in
the operating environment, and it can work continuously for 24h.
- Using manual charging method, the battery can be fully charged each time to
meet the requirements of at least one working shift.
6.3.4 Positioning and navigation system
6.3.4.1 Navigation mode
It includes but not limited to the following navigation methods.
a) Electromagnetic navigation: Pre-embed metal wires on the driving path of
automatic guided vehicles. Load currents with a certain frequency to the metal
wires. Through the electromagnetic induction coil on the automatic guided
vehicle, the strength of the magnetic field on the metal wire is sensed for
identification and tracking.
b) Magnetic navigation: Lay or pre-embed tape and magnetic nails on the driving
path of the automatic guided vehicle. The magnetic field strength of the ground
magnetic medium is sensed through the magnetic navigation sensor on the
automatic guided vehicle for identification and tracking.
c) Optical navigation: During the movement of the automatic guided vehicle, via its
own optical sensor, with methods of physical optical measurement, obtain the
degree of relative motion (speed and distance) between the navigation device and
the reference surface. Then determine the relative position and attitude
information, such as navigation through ribbons and lines.
d) Radio navigation: Using radio technology, the receiving end obtains its own
relative position and attitude information by measuring parameters such as the
angle and distance between itself and several transmitting ends, such as satellite
navigation, terrestrial radio navigation, and ultra-wideband navigation.
e) Laser navigation: Use a 2D or 3D laser scanning sensor to measure the beam
reflected by surrounding objects. Calculate the angle and distance between itself
and surrounding objects to obtain its relative position. Laser navigation includes
reflector and non-reflector methods.
f) Inertial navigation: Use inertial elements to measure the acceleration of the
automated guided vehicle itself. The speed and position are obtained through
integration and operation.
g) Visual navigation: Use two-dimensional or three-dimensional vision sensors to
obtain information such as images or videos of surrounding scenes. The
corresponding features are extracted by filtering, transformation and other
methods, so as to obtain their relative position.
h) Hybrid navigation: Mixed use of two or more navigation methods from a) to g)
above.
6.3.4.2 Positioning and navigation
Different functional modules in the positioning and navigation of automatic guided
vehicles shall meet the following requirements.
a) Initial positioning: According to different navigation methods, the automatic
guided vehicle can obtain the initial position information automatically/manually
at the current position point, OR automatically/manually obtain the initial
position information after running for a certain distance at low speed.
b) Autonomous positioning: Automatic guided vehicles can perform initial
positioning. It shall be able to locate in real time during operation, and timely
report the current position, direction and other information to the dispatching
system.
c) Path planning: The automatic guided vehicle shall be able to perform trajectory
planning and motion control according to the positioning information.
d) Recovery of positioning loss: In the case of loss of positioning, the automatic
a) When the power supply of the brake is cut off, the automatic guided vehicle starts
to brake.
b) Considering factors such as load, speed, friction, gradient and wear, when
obstacles appear within the detection range, the automatic guided vehicle stops.
c) On the maximum gradient specified by the manufacturer, the automatic guided
vehicle can be maintained at the maximum allowable load state without moving
when powered on or off.
d) When speed control or steering control is lost, the automatic guided vehicle starts
braking.
e) The brakes of automatic guided vehicles shall meet the requirements of GB/T
18849.
f) When the automatic guided vehicle brakes during operation, it shall be able to
maintain a moving posture without losing control.
6.3.6 Loading system
The loading system shall comply with the relevant provisions of Annex A.
6.3.7 Security system
6.3.7.1 Obstacle detection
Obstacle detection devices are divided into contact and non-contact. The application
safety of obstacle detection for automatic guided vehicles shall comply with the relevant
provisions of Annex B.
The obstacle detection device of the automatic guided vehicle shall meet the following
requirements.
a) Automatic guided vehicles shall be equipped with obstacle detection devices in
the main running direction. These obstacle detection devices shall meet the
following requirements:
- When the automatic guided vehicle is in operation, the detection range of the
obstacle detection device shall at least cover the entire width of the vehicle body
itself and its load.
- If using a non-contact obstacle detection device, ensure that the automated
guided vehicle stops before contacting a person or other obstacle.
- Non-contact obstacle detection device can have deceleration area and
emergency stop a...