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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
x T) + S
MAX
V
= Maximum speed of the AGV, in mm/s
MAXAGV
T
= Response time of the scanner and the AGV, in s
S
= Braking distance of the AGV until standstill, in mm
STOP
5.7.9.1 Direction-Related Minimum Depth of the Detection Zone and Additions
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
= V
T
MAXAGV
S
= Depth of the detection zone in the direction of travel, in mm
T
V
= Maximum speed of the AGV, in mm/s
MAXAGV
T
= Response time of the scanner, in s
SCAN
T
= Response time of the AGV, in s
SCAN
L
= Factor for wear and tear on the brakes
STOP
Z
= Total of the system- and application-specific additions in the direction of
TOT
Z
= Z
TOT
SM
Z
= Scanner measurement error, in mm
SM
Z
= Addition of the reflectors taken into account, in mm
REFL
Z
= Addition for inadequate floor clearance by the AGV, in mm
AFLR
Z
= Application-specific addition, in mm
AU
5.7.9.2 Maximum range of detection zone
=
S
MAX
S
=
BDIFF
S
= Maximum range of the detection zone, in mm
MAX
S
= Depth of the detection zone in the direction of travel, in mm
T
S
= Largest width of the detection zone, in mm
BDIFF
G
= Largest width of the danger zone, in mm
BDIFF
Z
= Sum of the system-specific and application-specific additions to the side, in
S
Z
= Z
+ Z
S
SM
Z
= Scanner measurement error, in mm
SM
Z
= Addition of the reflectors taken into account, in mm
REFL
Z
= Application-specific addition, in mm
AU
STOP
x ( T
+ T
SCAN
FTS
travel in mm
+ Z
+ Z
+ Z
REFL
AFLR
AU
( )
2
2
2222222
+
S
S
T
BDIFF
G
+ Z
BDIFF
S
mm
+ Z
REFL
AU
(see Chapter 5.3.5)
) + ( S
x L
) + Z
STOP
STOP
TOT
57
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