GB/T 30029-2013 English PDF (GB/T30029-2013)

GB/T 30029-2013: Automated guided vehicle (AGV) -- General rule of design
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GB/T 30029-2013
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 53.080
J 83
Automated guided vehicle (AGV) -
General rule of design
ISSUED ON. NOVEMBER 27, 2013
IMPLEMENTED ON. MARCH 01, 2014
Issued by. General Administration of Quality Supervision, Inspection and
Quarantine of the PRC;
Standardization Administration of the PRC.
Table of Contents
Foreword ... 3 
1 Scope ... 4 
2 Normative references ... 4 
3 Terms and definitions ... 5 
4 Composition and classification of AGV ... 6 
5 Use conditions ... 8 
6 Design requirements ... 8 
Automated guided vehicle (AGV) -
General rule of design
1 Scope
This Standard specifies the composition and classification, use conditions,
design requirements, etc. of automated guided vehicle (AGV).
This Standard applies to product development, design, and manufacturing of
automated guided vehicle (AGV).
2 Normative references
The following documents are indispensable for the application of this document.
For the dated references, only the editions with the dates indicated are
applicable to this document. For the undated references, the latest edition
(including all the amendments) are applicable to this document.
GB/T 3797 Electrical control assemblies
GB/T 4025 Basic and safety principles for man-machine interface, marking
and identification - Coding principles for indicators and actuators
GB 4824 Industrial, Scientific and Medical Equipment - Radio-frequency
Disturbance Characteristics - Limits and Methods of Measurement
GB/T 5171 Small Power Motors - Part 1. General Technical Requirements
GB 5226.1-2008 Electrical Safety of Machinery - Electrical Equipment of
Machines - Part 1. General Requirements
GB/T 6995.1 Markings for electric wires and cables - Part 1. General
requirements
GB/T 6995.2 Markings for electric wires and cables - Part 2. Standard colours
GB/T 6995.3 Markings for electric wires and cables - Part 3. Identifications
of cables and wires
GB/T 6995.4 Markings for electric wires and cables - Part 4. Identifications
of insulated conductors of cables and wires for electrical appliances and
equipment
GB/T 6995.5 Markings for electric wires and cables - Part 5. Identifications
of insulated cores of power cables
GB/T 7344 General specification for AC servomotors
GB/T 7403.1 Lead-acid traction batteries - Part 1. Technical conditions
GB 14048.1 Low-voltage switchgear and controlgear - Part 1. General rules
GB 14048.3 Low-voltage switchgear and controlgear - Part 3. Switches,
disconnectors, switch-disconnectors and fuse-combination units
GB 14048.5 Low-voltage switchgear and controlgear - Part 5-1. Control
circuit devices and switching element - Electromechanical control circuit
devices
GB/T 14817 General specification for permanent magnet DC servomotors
GB 17701 Circuit-breaker for equipment
GB/T 20721-2006 General specifications of automatic guided vehicles
GB/T 22084.1 Secondary cells and batteries containing alkaline or other non-
acid electrolytes - Portable sealed rechargeable single cells - Part 1. Nickel-
cadmium
GB/T 27544-2011 Industrial trucks - Electrical requirements
GB 50054 Code for design of low voltage electrical installations
GB/T 30030 Automated guided vehicle (AGV) - Vocabulary
GJB 4477 General specification for li-ion batteries
JB/T 5335 DC Motors Intended to Be Used in Battery-driven Vehicles - Basic
Technical Conditions
SJ/T 10533 Antistatic requirements for manufacturing electronic equipment
3 Terms and definitions
The terms and definitions defined in GB/T 30030 and the following apply to this
document.
3.1 Transfering AGV
1 - Vehicle body; 5 - Communication device;
2 - Driving and steering component; 6 - Power supply device;
3 - Guiding device; 7 - On-board control system.
4 - Safety device;
Figure 1 -- Composition of automated guided vehicle
4.1.2 Classification
4.1.2.1 According to the guiding mode, it is classified into.
a) Electromagnetic automated guided vehicle;
b) Magnetic tape automated guided vehicle;
c) Coordinate automated guided vehicle;
d) Optical automated guided vehicle;
e) Laser automated guided vehicle;
f) Inertial automated guided vehicle;
g) Visual automated guided vehicle;
h) GPS automated guided vehicle;
i) Composite-guidance automated guided vehicle.
4.1.2.2 According to the driving mode, it can be classified into.
a) Sole-wheel driving automated guided vehicle;
b) Dual-wheel driving automated guided vehicle;
c) Multi-wheel driving automated guided vehicle.
4.1.2.3 According to the transfer mode, it can be classified into.
a) Transfering automated guided vehicle;
b) Assembling automated guided vehicle;
c) Towing automated guided vehicle.
6.2 Technological process design
According to the system capacity (or work cycle), work system, business
process, etc. required by the system in the use conditions, the system
technological process is determined. Generally, it shall consider.
a) Operation and run modes;
b) Transfer process;
c) Charging process;
d) Fault handling process, etc.
6.3 Running path design
6.3.1 According to the use conditions and technological process, the driving
path of automated guided vehicle is designed. Also, the location of charging
(supply) system, peripheral equipment, field operation station, etc. is
determined. The size of the vehicle body, transfer mode, and running
environmental conditions, etc. shall be fully considered.
6.3.2 In the design of running path, the following shall be clarified.
a) Standby point, evading point, communication point;
b) Charging station, operating station;
c) Running speed;
d) Safe area, special work area.
6.4 Capacity calculation
6.4.1 Cycle time calculation of AGV
When the automated guided vehicle performs normal transfer, the time taken
to complete the communication, driving, loading, unloading, and returning to
the standby point from receiving the command at the standby point is referred
to as the cycle time of automated guided vehicle. See formula (1) for calculation.
Where.
T - Cycle time, in seconds (s);
T1 - Driving time, in seconds (s);
in different ways (wireless, infrared, carrier, etc.). It shall have functions such
as sending and receiving tasks, sending vehicle state information, sending and
receiving operation commands, sending and receiving traffic management
information, and exchanging information with peripheral equipment.
6.7 AGV design
6.7.1 Body
The vehicle body is the basis for the automated guided vehicle to support the
various components. When designing, the following shall be considered.
a) It shall be able to meet the requirements of 5.1;
b) The components are stable and reliable to install and easy to maintain;
c) Avoid using structures which may cause damage to outsiders or objects,
such as sharp corners, sharp edges, etc.;
d) When equipped with a transfer device, the installation mode and position
of the transfer device shall be clearly defined, to ensure the safety of the
material during the transfering process. If necessary, an anti-slip device
shall be provided;
e) Release of static electricity during movement of the body;
f) Vibration reduction of main control components.
6.7.2 Driving and steering component
The common driving and steering modes are shown in Figure 2. When
designing, the following shall be considered.
a) Wheel load;
b) Driving force;
c) Driving speed;
d) Steering angular velocity;
e) Use environment;
f) Braking force, etc.
a) Safety signs and warning signs;
b) Steering indicator light, driving indicator light, and corresponding sound-
light alarm devices;
c) A device or measure capable of maintaining a safe state when an
abnormality occurs during driving and transfer;
d) Emergency stop device. It shall be installed in a conspicuous position for
easy operation;
e) Non-contact type anti-collision device (optional);
f) Contact type anti-collision device;
g) When transferring automatically, it shall ensure the interlocking linkage
between transfer device and peripheral equipment.
6.7.6 Power supply device
6.7.6.1 Automated guided vehicles generally use batteries (lead-acid, nickel-
hydrogen, nickel-cadmium, lithium-ion, etc.) as the power source. Other power
supply methods which meet the demand can also be used, such as super-
capacitor and inductive power supply.
6.7.6.2 The selected batteries shall meet the requirements of GB/T 22084.1,
GB/T 7403.1, and GJB 4477. When selecting the batteries, the following shall
be considered.
a) Type and capacity of the batteries;
b) Charging connection mode;
c) Maintenance characteristics;
d) When selecting a lithium battery, the safety of its use shall be considered.
6.7.7 On-board control system
6.7.7.1 Run mode
The run modes shall generally include manual, semi-automatic, and automatic
modes.
a) The manual mode is a mode in which the running and transfer of
automated guided vehicle are controlled by a manual controller;
b) The semi-automatic mode is a mode in which the automatic running and
GB/T 30029-2013
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 53.080
J 83
Automated guided vehicle (AGV) -
General rule of design
ISSUED ON. NOVEMBER 27, 2013
IMPLEMENTED ON. MARCH 01, 2014
Issued by. General Administration of Quality Supervision, Inspection and
Quarantine of the PRC;
Standardization Administration of the PRC.
Table of Contents
Foreword ... 3 
1 Scope ... 4 
2 Normative references ... 4 
3 Terms and definitions ... 5 
4 Composition and classification of AGV ... 6 
5 Use conditions ... 8 
6 Design requirements ... 8 
Automated guided vehicle (AGV) -
General rule of design
1 Scope
This Standard specifies the composition and classification, use conditions,
design requirements, etc. of automated guided vehicle (AGV).
This Standard applies to product development, design, and manufacturing of
automated guided vehicle (AGV).
2 Normative references
The following documents are indispensable for the application of this document.
For the dated references, only the editions with the dates indicated are
applicable to this document. For the undated references, the latest edition
(including all the amendments) are applicable to this document.
GB/T 3797 Electrical control assemblies
GB/T 4025 Basic and safety principles for man-machine interface, marking
and identification - Coding principles for indicators and actuators
GB 4824 Industrial, Scientific and Medical Equipment - Radio-frequency
Disturbance Characteristics - Limits and Methods of Measurement
GB/T 5171 Small Power Motors - Part 1. General Technical Requirements
GB 5226.1-2008 Electrical Safety of Machinery - Electrical Equipment of
Machines - Part 1. General Requirements
GB/T 6995.1 Markings for electric wires and cables - Part 1. General
requirements
GB/T 6995.2 Markings for electric wires and cables - Part 2. Standard colours
GB/T 6995.3 Markings for electric wires and cables - Part 3. Identifications
of cables and wires
GB/T 6995.4 Markings for electric wires and cables - Part 4. Identifications
of insulated conductors of cables and wires for electrical appliances and
equipment
GB/T 6995.5 Markings for electric wires and cables - Part 5. Identifications
of insulated cores of power cables
GB/T 7344 General specification for AC servomotors
GB/T 7403.1 Lead-acid traction batteries - Part 1. Technical conditions
GB 14048.1 Low-voltage switchgear and controlgear - Part 1. General rules
GB 14048.3 Low-voltage switchgear and controlgear - Part 3. Switches,
disconnectors, switch-disconnectors and fuse-combination units
GB 14048.5 Low-voltage switchgear and controlgear - Part 5-1. Control
circuit devices and switching element - Electromechanical control circuit
devices
GB/T 14817 General specification for permanent magnet DC servomotors
GB 17701 Circuit-breaker for equipment
GB/T 20721-2006 General specifications of automatic guided vehicles
GB/T 22084.1 Secondary cells and batteries containing alkaline or other non-
acid electrolytes - Portable sealed rechargeable single cells - Part 1. Nickel-
cadmium
GB/T 27544-2011 Industrial trucks - Electrical requirements
GB 50054 Code for design of low voltage electrical installations
GB/T 30030 Automated guided vehicle (AGV) - Vocabulary
GJB 4477 General specification for li-ion batteries
JB/T 5335 DC Motors Intended to Be Used in Battery-driven Vehicles - Basic
Technical Conditions
SJ/T 10533 Antistatic requirements for manufacturing electronic equipment
3 Terms and definitions
The terms and definitions defined in GB/T 30030 and the following apply to this
document.
3.1 Transfering AGV
1 - Vehicle body; 5 - Communication device;
2 - Driving and steering component; 6 - Power supply device;
3 - Guiding device; 7 - On-board control system.
4 - Safety device;
Figure 1 -- Composition of automated guided vehicle
4.1.2 Classification
4.1.2.1 According to the guiding mode, it is classified into.
a) Electromagnetic automated guided vehicle;
b) Magnetic tape automated guided vehicle;
c) Coordinate automated guided vehicle;
d) Optical automated guided vehicle;
e) Laser automated guided vehicle;
f) Inertial automated guided vehicle;
g) Visual automated guided vehicle;
h) GPS automated guided vehicle;
i) Composite-guidance automated guided vehicle.
4.1.2.2 According to the driving mode, it can be classified into.
a) Sole-wheel driving automated guided vehicle;
b) Dual-wheel driving automated guided vehicle;
c) Multi-wheel driving automated guided vehicle.
4.1.2.3 According to the transfer mode, it can be classified into.
a) Transfering automated guided vehicle;
b) Assembling automated guided vehicle;
c) Towing automated guided vehicle.
6.2 Technological process design
According to the syste...