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3.9.2 Minimum Distance D (Safety Zone Length) for Mobile
Applications
The following calculations do not specifically take into account the speed of an individual since it can be assumed that an
individual will recognize and will avoid the hazard or at a minimum stop their movement. If this cannot be reasonably
expected, such as if the Warning Zone is not used to signal the approach of the vehicle, the factor ZA should incorporate the
expected speed of an individual.
When all factors that influence a mobile vehicle stopping performance are considered, the formula is:
D = D
SD
+ Z
SM
+ Z
amb
+ Z
F
+ Z
A
where:
D = Minimum distance from the vehicle surface to the edge of the Safety Zone in mm
D
SD
= Stopping distance in mm
Z
SM
= the additional distance needed to account for distance measurement error.
Z
amb
= the additional distance needed to account for error due to reflections from retro reflective surfaces.
Z
F
= the additional distance needed to account for AGV ground clearance
Z
A
= application specific additions
Note: In the following figure, Z
LEAD
= Z
SM
+ Z
amb
+ Z
F
+ Z
A
Figure 30. Calculating the minimum distance in a mobile vehicle application
D
D
SD
Z
RIGHT
Z
LEFT
Z
LEAD
Scanner
Safety Zone (SZ)
Mobile
Vehicle
Mobile
Vehicle
D
SD
= [V
MAX
× (T
S
+ T
R
)] + D
B
where:
D
SD
= Stopping distance in mm
V
MAX
= the maximum velocity as stated by the manufacturer of the mobile vehicle
T
S
= maximum stop time (in seconds) of the mobile vehicle (see note 1 below)
T
R
= maximum response time (in seconds) of the Scanner (see note 2 below)
D
B
= Braking Distance at full load and speed as stated by the manufacturer of the mobile vehicle and other environmental
factors (see note 3 below)
Notes
1. T
S
for the mobile vehicle should be supplied by its manufacturer. T
S
must include the response time of all devices or
controls that react to stop the vehicle (e.g., UM-FA-9A Safety Module), which are added to determine the total time to
cause braking/stopping. If all devices are not included, the calculated distance (D
SD
) will be too short and serious
injury could result.
2. Braking Distance (D
B
) should incorporate factors such as brake deterioration and environmental factors that can
impact braking (such as loose dirt/gravel, wet/moisture, icing, etc.) which can add 10% or more to the manufacturer’s
stated distance. It should be noted that braking distance is not a linear function; it increases by a square function as
velocity increases.
3.9.3 Additional Distance Factors (Z) Specific for Mobile Applications
For mobile applications, two additional factors must be considered: Z
SM
and Z
amb
.
Z
SM
Measurement Tolerance Factor —For Horizontal Safety Zones (parallel approach): Z
SM
= 150 mm.
SX Safety Laser Scanner
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