53
5.7.9
Calculating the dimensions of the detection zone of an AGV application
Following are the specifications and calculation examples for the mobile safeguarding of
automatic guided vehicles..
According to
IEC 61496-3
, the following formulas apply for calculating the safety distance:
S = (V
MAXAGV
× T) + S
STOP
V
MAXAGV
Response time of the scanner and the AGV, in s
S
STOP
Braking distance of the AGV until standstill, in mm
5.7.9.1
The depth of the detection zone in the direction of travel, with respect to the distance
between the edge of the roadway and the boundary of the detection zone, is calculated
according to the following formula:
S
T
= V
MAXAGV
× ( T
SCAN
+ T
AGV
) + ( S
STOP
× L
STOP
) + Z
TOT
S
T
Depth of the detection zone in the direction of travel, in mm
Response time of the scanner, in s
T
AGV
Response time of the AGV, in s
L
STOP
Factor for wear and tear on the brakes
Z
TOT
Total of the system- and application-specific additions in the direction of
travel in mm
Z
TOT
= Z
SM
+ Z
REFL
+ Z
AFLR
+ Z
AU
Z
SM
= Scanner measurement error, in mm
Z
REFL
= Addition of the reflectors taken into account, in mm
Z
AFLR
= Addition for inadequate floor clearance by the AGV, in mm
Z
AU
= Application-specific addition, in mm
5.7.9.2 Maximum range of detection zone
S
BDIFF
= G
BDIFF
+ Z
S
S
MAX
= Maximum range of the detection zone, in mm
S
T
= Depth of the detection zone in the direction of travel, in mm
S
BDIFF
Largest width of the detection zone, in mm
G
BDIFF
Largest width of the danger zone, in mm
Z
S
= Sum of the system- and application-specific additions to the side, in mm
Z
S
= Z
SM
+ Z
REFL
+ Z
AU
= Scanner measurement error, in mm
Z
SM
= Addition of the reflectors taken into account, in mm
(see Chapter 5.3.5)
Z
AU
= Application-specific addition, in mm
S
MAX
S
T
2
+ S
BDIFF
2
=
Direction-related minimum depth of the detection zone and additions
Maximum speed of the AGV, in mm/s
=
=
=
=
V
MAXAGV
Maximum speed of the AGV, in mm/s
=
T
SCAN
=
=
=
=
=
=
Z
REFL
T
Summary of Contents for SD3-A1
Page 1: ......
Page 12: ...12...
Page 40: ...40 Fig 5 4 5 Considering the maximum measurement distance when safeguarding an area...
Page 60: ...60 Fig 6 2 1 Example of a zone pair changeover for an AGV on a curved route...
Page 61: ...61 Fig 6 2 2 Example of zone pair changeover with combined with reducing speed of the AGV...
Page 101: ...101 13 13 Dimensional drawings of the SD3 A1...
Page 102: ...102 13 14 Dimensional drawings of the mounting system...
Page 106: ......
