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MiR100, MiR200 & MiRHook Risk Analysis 

 

 

 

 

Copyright Mobile Industrial Robots 2019 

 

Page 

7

 of 

35

 

 

6

 

Use Cases and Risk Identifications 

Use cases 

Risks 

No. 

Dock to charging station 

Docking to MiRCharge 

Risk of crushing 

1 

Docking to MiRCharge  

Risk of crushing 

2 

Docking to MiRCharge 

Risk of crushing 

3 

Localization failure  

Risk of crushing 

4 

Entering and exciting 

enclosures  

Entering/exciting enclosure 

Risk of crushing 

5 

Entering/exciting enclosure 

Risk of crushing 

6 

Attaching to a cart 

Alignment to cart 

Risk of crushing 

7 

Attaching to cart 

Risk of crushing 

8 

Attaching to cart 

Risk of crushing 

9 

Attaching to cart 

Risk of crushing 

10 

Towing cart 

Towing cart 

Risk of crushing 

11 

Towing cart  

Risk of crushing 

12 

Parking cart in reverse 

Unloading cart 

Risk of crushing 

13 

Localization failure 

Risk of crushing 

14 

Driving with MiRHook 

Driving with a MiRHook 

Risk of crushing 

15 

Driving with a MiRHook 

Risk of crushing 

16 

 

 

 

Содержание MiR100

Страница 1: ...MiR100 MiR200 MiRHook Risk Analysis Technical Documentation Risk analysis Release date 12 07 2019...

Страница 2: ...s 5 5 2 Emergency stops 5 5 3 Awareness Indicators 6 6 Use Cases and Risk Identifications 7 7 Safety Design and Residual Risks 8 7 1 Docking to charging station 8 7 2 Entering and exiting enclosure 12...

Страница 3: ...s a robot to autonomously charge its batteries Docking Precision maneuvering to a relative marker Entry position Coordinate on the robot s map that must be reached before initiating a docking sequence...

Страница 4: ...renthesis 1 5 1 1 Driving in reverse The speed when driving in reverse is shown as negative 4 Assumptions Throughout this document it is assumed that the products are used within the specifications of...

Страница 5: ...fields depends on robot speed and driving direction See the specifications of the robot The protective fields of MiR100 and MiR200 will never be turned off However the protective fields will adjust t...

Страница 6: ...ndicators Light signals The robot has LED lights on each side of the robot During commissioning the robot must be commissioned to give appropriate light signals when operating in hazard zones Acoustic...

Страница 7: ...closures Entering exciting enclosure Risk of crushing 5 Entering exciting enclosure Risk of crushing 6 Attaching to a cart Alignment to cart Risk of crushing 7 Attaching to cart Risk of crushing 8 Att...

Страница 8: ...e 8 of 35 7 Safety Design and Residual Risks 7 1 Docking to charging station Phase 1 Approaching entry position Phase 2 Marker detection Maximum speed m s 1 5 1 1 Awareness indicator No Operating haza...

Страница 9: ...Approaching docking station Phase 4 Docking Maximum speed m s 0 1 Awareness indicator Yes Operating hazard zone Yes Maximum speed m s 0 1 Awareness indicator Yes Operating hazard zone Yes Phase 5 Char...

Страница 10: ...the robot Markings on the floor indicate an operating hazard zone The severity is considered low due to low impact of the robot Conclusion Low residual risk 2 A person is staying close to the chargin...

Страница 11: ...bot Very improbable behavior Staff and visitors need to be trained Conclusion Residual risk low 4 Localization fault The robot is not well localized and the robot docks to a marker object different th...

Страница 12: ...019 Page 12 of 35 7 2 Entering and exiting enclosure Phase 1 Approaching entry position Phase 2 Entering operating hazard zone Maximum speed m s 1 5 1 1 Awareness indicator No Operating hazard zone No...

Страница 13: ...ht Mobile Industrial Robots 2019 Page 13 of 35 Phase 3 Enter enclosure Phase 4 Reach goal position Maximum speed m s 0 3 Awareness indicator Yes Operating hazard zone Yes Maximum speed m s 0 3 Awarene...

Страница 14: ...le Industrial Robots 2019 Page 14 of 35 Phase 5 Initiate exit move Phase 6 Approaching exit goal position Maximum speed m s 0 3 Awareness indicator Yes Operating hazard zone Yes Maximum speed m s 0 3...

Страница 15: ...MiR100 MiR200 MiRHook Risk Analysis Copyright Mobile Industrial Robots 2019 Page 15 of 35 Phase 7 Normal driving position Maximum speed m s 1 5 1 1 Awareness indicator No Operating hazard zone No...

Страница 16: ...on is staying in the area Software collision avoidance not a safety function will detect the person and stop the robot Markings on the floor indicate an operating hazard zone Conclusion Residual risk...

Страница 17: ...Robots 2019 Page 17 of 35 7 3 Picking up cart Phase 1 Approaching cart Locating long range Phase 2 Setting search height Maximum speed m s 1 5 1 1 Awareness indicator No Operating hazard zone No Maxim...

Страница 18: ...Industrial Robots 2019 Page 18 of 35 Phase 3 Long range docking Phase 4 Setting entry height Locating short range Maximum speed m s 0 3 Awareness indicator Yes Operating hazard zone No Maximum speed m...

Страница 19: ...ht Mobile Industrial Robots 2019 Page 19 of 35 Phase 5 Short range docking Phase 6 Setting lock height Maximum speed m s 0 3 Awareness indicator Yes Operating hazard zone No Maximum speed m s 0 Awaren...

Страница 20: ...Mobile Industrial Robots 2019 Page 20 of 35 Phase 7 Locking to cart Phase 8 Normal driving position Maximum speed m s 0 3 Awareness indicator Yes Operating hazard zone No Maximum speed m s 1 5 1 1 Awa...

Страница 21: ...ness indicators when driving in reverse will warn the person Markings on the floor indicate an operating hazard zone Conclusion Residual risk low 8 A person is standing behind the cart The robot drive...

Страница 22: ...ty function Software collision avoidance not a safety function will detect the person and stop the robot Markings on the floor indicate an operating hazard zone Risk only if the person does not move C...

Страница 23: ...ndustrial Robots 2019 Page 23 of 35 7 4 Towing cart Phase 1 Driving forward Phase 2 Turning left or right Maximum speed m s 1 5 1 1 Awareness indicator No Operating hazard zone No Maximum speed m s 1...

Страница 24: ...is Copyright Mobile Industrial Robots 2019 Page 24 of 35 Phase 3 Stopping Phase 3 Starting Maximum speed m s 0 Awareness indicator No Operating hazard zone No Maximum speed m s 1 5 1 1 Awareness indic...

Страница 25: ...f being crushed But Software not a safety function detects gripping force Conclusion Residual risk low 12 The gripper is closed around the lower bar of the cart phase 6 A person is standing between th...

Страница 26: ...Hook Risk Analysis Copyright Mobile Industrial Robots 2019 Page 26 of 35 7 5 Parking cart in reverse Phase 1 Approaching cart entering position Maximum speed m s 1 5 1 1 Awareness indicator No Operati...

Страница 27: ...l Robots 2019 Page 27 of 35 Phase 2 Reaching entering position Checking area Phase 3 Driving forward to initiate parking Maximum speed m s 0 Awareness indicator No Operating hazard zone No Maximum spe...

Страница 28: ...Industrial Robots 2019 Page 28 of 35 Phase 4 Driving in reverse towards parking position Phase 5 Goal position Maximum speed m s 0 3 Awareness indicator Yes Operating hazard zone Yes Maximum speed m s...

Страница 29: ...R100 MiR200 MiRHook Risk Analysis Copyright Mobile Industrial Robots 2019 Page 29 of 35 Phase 6 Releasing cart and driving forward Maximum speed m s 0 2 Awareness indicator Yes Operating hazard zone Y...

Страница 30: ...cart not a safety function The person must take this position in phase 3 or software must fail to see him Only a risk if person does not move Conclusion Residual risk low 14 Localization fault The ro...

Страница 31: ...se 2 Turning left or right Maximum speed m s 1 5 1 1 Awareness indicator No Operating hazard zone No Maximum speed m s 1 5 1 1 Awareness indicator No Operating hazard zone No Phase 3 Stopping Phase 4...

Страница 32: ...Software collision avoidance not a safety function will detect the person and stop the robot Conclusion Residual risk low 16 The MiRHook is released in the Robot interface and a person is standing nea...

Страница 33: ...MiR200 User Guide rev 2 0 MiRCharge MiRCharge Technical Documentation rev 1 4 MIRHook MiRHook Operating Guide rev 1 9 Commissioning Commissioning Documentation rev 1 0 9 Appendix B Illustrations Docum...

Страница 34: ...MiR100 MiR200 MiRHook Risk Analysis Copyright Mobile Industrial Robots 2019 Page 34 of 35 6 Operating hazard zone 7 Charging station 8 Robot position 9 Cart position 10 Cart...

Страница 35: ...MiR100 MiR200 MiRHook Risk Analysis Copyright Mobile Industrial Robots 2019 Page 35 of 35 11 Person 10 Changelog Version Date Changes 0 1 04 07 2019 Document created...

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