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01
AGV & AMR Safety Solutions
Safety for AGV & AMR
Safety Laser Scanners and 2D LiDAR for Mobile Robot Protection, Navigation and Sensing
AGVs and AMRs often require both personnel protection and environmental sensing or navigation data — but these are different system functions. CCH provides safety laser scanner solutions for protective-field monitoring and industrial 2D LiDAR solutions for navigation, localization and sensing integration.
Key engineering principle:
AGV safety and AGV navigation should not be treated as the same function.
Safety-related stopping must rely on the appropriate safety architecture,
while Ethernet LiDAR data can support navigation and other non-safety-related
functions in the vehicle control system.
Path 01 · Safety
Personnel Protection
Use an SH27 S safety laser scanner for protective-field monitoring and safety-related stopping through the machine or vehicle safety control architecture.
Safety-related protective function
Path 02 · Safety + Data
Protection with Ethernet Scan Data
SH27 D models retain the safety scanner functions and additionally provide Ethernet raw scan data for non-safety-related navigation, localization or environmental sensing.
Safety function + supplementary data
Path 03 · LiDAR Data
Navigation & Environmental Sensing
Use YB27 raw-data 2D LiDAR when the application requires scan data for navigation, localization, obstacle sensing or host-system integration without a safety-rated personnel-protection function.
Industrial sensing · not a safety scanner
03
AGV Safety Architecture
How AGV Safety Architecture Works
A safety laser scanner does not make an AGV safe by itself. It is one part of a complete safety-related control function that connects protective-field detection to the required vehicle response.
The Safety Function Is a Complete Signal Chain
For personnel protection, detection must be translated into the required safety-related vehicle response through the complete safety architecture.
01
Protective Field
A defined monitored area is configured around the AGV according to the required safety concept.
02
Safety Laser Scanner
The scanner detects an intrusion into the active protective field.
03
OSSD Safety Output
The scanner changes its safety output state when the protective-field condition requires a safety response.
04
Safety Control
The safety controller evaluates the scanner output and executes the designed safety-related control logic.
05
Vehicle Reaches a Safe State
The drive or braking system performs the required safety-related vehicle response.
Safety-Related
Protective Field
The protective field is used for the safety-related personnel-protection function. If the field is infringed, the scanner’s safety outputs can initiate the required safety response through the AGV safety control system.
- Used for personnel protection
- Linked to safety outputs such as OSSD
- Part of the validated safety-related stopping function
- Configured according to the actual AGV application
Non-Safety-Related
Warning Field
A warning field provides an auxiliary detection area outside or around the protective area. It can support operational functions such as signalling or vehicle-management logic, but it is not equivalent to the safety-related protective field.
- Auxiliary environmental detection
- Not the safety-related protective function
- Can support warning or operational responses
- Final behaviour depends on system integration
Engineering Reminder
Scanner detection is only the beginning of the safety response. The complete function includes the protective device, safety outputs, control-system response and vehicle stopping behaviour. These elements must be considered together when designing and validating the AGV safety function.
Once the safety path is understood, the next decision is whether the AGV needs safety protection only, safety plus supplementary scan data, or a separate navigation LiDAR.
Compare Sensor Architectures →
04
Sensor Architecture Selection
Three Sensor Architectures for AGV & AMR Systems
The right sensor architecture depends on what the vehicle actually needs. Some AGVs require only safety-related protective-field monitoring. Others also need raw environmental data for navigation or localization. These requirements can be addressed with an SH27 safety scanner, an SH27 D model with supplementary Ethernet data, or a separate YB27 industrial 2D LiDAR.
Architecture 01 · Safety
SH27 S Safety Laser Scanner
For safety-related personnel protection
Choose the SH27 S architecture when the primary requirement is protective-field monitoring around the AGV or AMR and the project does not require Ethernet raw scan data from the safety scanner.
Safety Function
Yes. Safety-related protective-field monitoring
with OSSD safety outputs.
Raw Scan Data
No Ethernet raw scan data for AGV navigation.
Typical Role
Personnel protection, protective fields, warning fields
and field-set switching.
Best Fit
AGVs with an independent navigation sensor or applications
requiring safety protection only.
Safety scanner architecture — use for the safety-related protection path.
Architecture 02 · Safety + Data
SH27 D Safety Laser Scanner
Safety function plus supplementary Ethernet scan data
SH27 D models include the SH27 safety scanner functions and add Ethernet raw scan data. This can reduce sensor duplication where the vehicle needs both safety protection and environmental scan data.
Safety Function
Yes. The safety function remains based on the
scanner’s safety architecture and OSSD outputs.
Raw Scan Data
Yes. Ethernet data can provide measurements such as
distance, angle and echo intensity to the host system.
Typical Role
Safety protection together with supplementary data for navigation,
localization or environmental sensing.
Best Fit
AGVs where one scanner location can support both the safety path
and a separate non-safety-related data path.
Dual-function architecture — safety outputs and Ethernet scan data
serve different system functions.
Architecture 03 · Dedicated LiDAR
YB27 Raw-Data 2D LiDAR
For navigation and industrial environmental sensing
Choose YB27 raw-data models when the vehicle needs a dedicated industrial 2D LiDAR for navigation, localization, mapping or environmental sensing and the safety function is handled separately.
Safety Function
No. YB27 industrial 2D LiDAR should not be presented
as a safety laser scanner for personnel protection.
Raw Scan Data
Yes. Raw-data models provide Ethernet UDP LiDAR data,
including distance, angle and echo intensity.
Typical Role
Navigation, localization, mapping, obstacle sensing and
host-system integration.
Best Fit
AGVs using separate safety and navigation sensors or projects
requiring a dedicated LiDAR data source.
Industrial sensing architecture — raw LiDAR data is non-safety-related.
Quick Selection Matrix
Start with the required function rather than choosing a sensor only by detection range or interface.
| AGV Requirement | SH27 S | SH27 D | YB27 Raw Data |
|---|---|---|---|
| Safety-related personnel protection | Yes | Yes | No |
| Protective-field monitoring | Yes | Yes | Not safety-rated |
| OSSD safety output | Yes | Yes | No |
| Ethernet raw scan data | No | Yes | Yes |
| Navigation / localization data source | No | Supported via raw data | Supported via raw data |
| Dedicated industrial LiDAR role | No | Not its primary role | Yes |
Common AGV Architecture
Separate Safety and Navigation Sensors Can Be the Right Choice
There is no requirement that one sensor must perform every task. A common architecture is to use an SH27 safety laser scanner for the safety-related protection function and a YB27 raw-data 2D LiDAR as the dedicated navigation or environmental sensing source. This keeps the safety path and navigation path clearly separated while allowing each sensor to be selected for its intended role.
Important Distinction
Ethernet scan data from an SH27 D or YB27 can support navigation, localization and sensing in the host system, but raw LiDAR data itself should not be represented as a safety output. Where personnel protection is required, the safety-related function must use the appropriate safety architecture and be validated as part of the complete vehicle.
Not sure whether your AGV needs SH27 S, SH27 D, or a separate YB27 LiDAR? Send us the vehicle speed, required protective range, navigation architecture and interface requirements so we can review the application.
Discuss Your AGV Project
05
Protective Field Switching
Protective Fields for Moving AGVs
An AGV rarely operates with one fixed protective-field geometry. Travel direction, vehicle speed, turning behaviour and operating mode can change the area that must be monitored. A configurable safety laser scanner allows the system designer to prepare multiple zone sets and select the appropriate field configuration for different vehicle states.
Why Field Switching Matters
A field designed for one operating condition may not be suitable for another. Instead of using one oversized monitoring field everywhere, the AGV safety architecture can use preconfigured protective-field sets matched to defined operating conditions, provided the switching logic and complete safety function are correctly designed and validated.
Different Vehicle States Can Require Different Fields
The actual field geometry is application-specific. These examples show why an AGV may need more than one configured monitoring area.
01
Forward Travel
During forward motion, the active monitoring area can be configured primarily around the vehicle’s direction of travel and expected stopping path.
02
Reverse Travel
Reverse movement may require a different protective-field arrangement or a scanner positioned to monitor the relevant rear travel area.
03
Turning & Manoeuvring
A turning vehicle follows a different swept path from straight travel, so field geometry may need to account for the changing movement envelope.
04
Operating Mode
Docking, transfer, production-line interaction or other defined operating states may require different preconfigured monitoring fields.
Speed-Dependent Protective Field Switching
Vehicle speed affects stopping behaviour. SH27 supports dynamic field switching using dynamic control inputs together with incremental encoder signals, allowing configured protective fields to be selected according to AGV travel speed.
Operating State
Lower Travel Speed
A predefined field appropriate to the lower-speed operating condition can be selected.
→
Speed Changes
Encoder Information
Incremental encoder signals can be used with the scanner’s dynamic control inputs for speed-dependent field selection.
→
Higher Travel Speed
Extended Field
A larger configured protective field can be selected where the higher vehicle speed requires additional monitored distance.
64
Configurable Zone Sets
Up to 64 on the SH27 series
Flexible Field Configurations for Changing AGV Conditions
SH27 safety laser scanners support up to 64 configurable zone sets. Preconfigured protective and warning field shapes can be stored and selected to support different travel directions, machine states and AGV operating conditions.
Static Switching
Switch Zone Sets by Control Inputs
Preconfigured zone sets can be selected through control inputs so the active monitoring field can change with defined machine states, directions or operating modes.
Dynamic Switching
Switch Fields According to Travel Speed
Dynamic control inputs can work with incremental encoder signals to select configured protective fields according to AGV speed, supporting changing mobile operating conditions.
Field Geometry Must Be Designed for the Actual Vehicle
The number of available zone sets does not determine the required protective-field dimensions. The final geometry depends on the complete AGV and its operating environment.
Vehicle Speed
Operating speed affects stopping behaviour and therefore influences the required monitored distance.
Total Response Time
Scanner response, safety-control processing and vehicle response all contribute to the complete stopping function.
Braking Performance
Actual vehicle braking and stopping performance must be considered rather than relying only on sensor detection range.
Vehicle Geometry
Width, length, scanner position and the vehicle’s swept path affect the required field shape.
Payload & Operating State
Load condition and operating mode may influence vehicle dynamics and must be considered by the system designer.
Environment & Risk Assessment
Aisles, crossings, pedestrian access and other hazards determine how the safety concept should be implemented.
Do Not Select a Field by Speed Alone
There is no universal rule such as “this AGV speed requires this fixed protective-field distance.” The correct configuration depends on total response time, vehicle stopping distance, installation, operating conditions and the application risk assessment.
06
Safety Laser Scanner for AGV
SH27 Safety Laser Scanner for AGV Personnel Protection
The CCH SH27 series provides configurable two-dimensional protective-field monitoring for AGVs and AMRs. With safety-rated OSSD outputs, multiple field configurations and 3 m or 5 m protective-range options, the scanner can form the sensing element of a properly designed mobile-robot safety function.
Primary AGV Role
SH27 is first and foremost a safety laser scanner. Its primary role on an AGV is personnel protection through configurable protective-field monitoring and PNP OSSD safety outputs. D models add Ethernet raw scan data, but that supplementary data path remains separate from the scanner’s safety output.
3 m / 5 m
Protective Range · @ 1.8% Reflectivity
276°
Scanning Angle
0.1°
Angular Resolution
30 Hz
Scanning Rate
70 mm
Object Resolution at Maximum Protective Range
Up to 64
Configurable Zone Sets
PNP OSSD
Safety Output
IP65
Enclosure Protection
Safety Performance
Type 3 · SIL 2 · PL d / Cat. 3
SH27 is designed for safety-related protective monitoring up to Type 3, SIL 2 and PL d / Category 3 according to the applicable product specifications and standards.
Safety Output Architecture
Protective Field → OSSD → Safety Control
When an object infringes an active protective field, the corresponding PNP OSSD safety output switches to the OFF state. The connected safety control system must then execute the required safety-related vehicle response.
Choose the SH27 Model by Protective Range and Data Requirement
The 03 and 05 versions define the protective-range family. The S and D versions determine whether Ethernet raw scan data is required in addition to the safety function.
3 m · Safety
SH27-03S
Safety protection without Ethernet raw scan data
Protective Range
3 m
Warning Zone
10 m
Safety Output
PNP OSSD
Ethernet Raw Data
No
3 m · Safety + Data
SH27-03D
Safety protection plus Ethernet raw scan data
Protective Range
3 m
Warning Zone
10 m
Safety Output
PNP OSSD
Ethernet Raw Data
Yes
5 m · Safety
SH27-05S
Extended protective range without Ethernet raw data
Protective Range
5 m
Warning Zone
20 m
Safety Output
PNP OSSD
Ethernet Raw Data
No
5 m · Safety + Data
SH27-05D
Extended protective range plus Ethernet raw scan data
Protective Range
5 m
Warning Zone
20 m
Safety Output
PNP OSSD
Ethernet Raw Data
Yes
SH27 S vs. D: The Safety Function Remains the Same
Both S and D versions are SH27 safety laser scanners. The D version adds a supplementary Ethernet raw-data path; it does not replace or redefine the OSSD safety function.
SH27 S · Safety Protection
Choose an S model when the AGV needs protective-field monitoring and OSSD safety outputs, while navigation is handled by another sensor or raw scan data is not required from the SH27.
SH27 D · Safety + Supplementary Raw Data
Choose a D model when the AGV needs the same safety scanner functions plus Ethernet raw scan data for processing by the host navigation, localization or environmental sensing system.
Protective Range Is Not the Required Safety Distance
A 3 m or 5 m protective range describes scanner capability under the specified conditions. It does not mean every AGV should use that full distance as its protective field. Field geometry must be determined from the actual vehicle speed, total response time, stopping performance, installation conditions and application risk assessment.
Need to Select an SH27 for Your AGV?
Start with the required protective range, vehicle speed, operating directions and whether supplementary Ethernet raw scan data is needed.
08
AGV Sensor Selection
Which Sensor Architecture Should You Choose for Your AGV?
Start with the required safety function and navigation-data requirement, not simply the sensor with the longest detection range. The right architecture depends on which function each sensor must perform on the vehicle.
Common Engineering Question
Do I Need a Safety Laser Scanner or 2D LiDAR for My AGV?
If personnel safety depends on the detection function, use an appropriate safety architecture. If the requirement is navigation, localization or environmental perception, the host system needs usable LiDAR scan data. Many AGVs require both functions, but they do not have to be performed by the same sensor.
01
Need personnel protection only?
Choose SH27 S
Safety-related protective-field monitoring without Ethernet raw scan data
Use an SH27 S safety laser scanner when the AGV needs protective-field monitoring and OSSD safety outputs, while navigation is handled by another sensor or does not require raw data from the SH27.
02
Need safety plus scan data?
Choose SH27 D
Safety-related protection plus supplementary Ethernet raw scan data
Use an SH27 D safety laser scanner when the same scanner location should provide the safety function and supplementary environmental scan data for processing by the host navigation, localization or sensing system.
03
Prefer separate safety and navigation sensors?
Choose SH27 + YB27
Dedicated safety scanner plus dedicated industrial navigation LiDAR
Use SH27 for personnel protection and a YB27 raw-data 2D LiDAR for navigation or environmental sensing when the two functions benefit from separate mounting, field-of-view or system-integration strategies.
04
Need navigation or sensing only?
Choose YB27 Raw Data
Industrial LiDAR data without a safety-rated personnel-protection function
Use YB27 raw-data models where the requirement is localization, mapping, navigation, obstacle perception or industrial environmental sensing and the safety function is handled elsewhere or is not assigned to this LiDAR.
Three Common AGV Sensor Selection Mistakes
Most selection errors begin when sensor specifications are confused with the function the complete vehicle must perform.
Choosing Only by Maximum Range
A longer detection range does not automatically make a sensor suitable for the required safety or navigation function.
Treating Raw LiDAR Data as a Safety Output
Ethernet scan data can support navigation and perception, but it should not be confused with the scanner’s safety-related OSSD path.
Assuming One Sensor Must Do Everything
A separate SH27 safety scanner and YB27 navigation LiDAR can be a suitable architecture when the two functions have different installation or performance requirements.
Selection Principle
Choose by function first, specification second. Define what the AGV must do safely, what environmental data the host system needs, and whether those roles should share one scanner location or use separate sensors. Then compare the relevant SH27 and YB27 specifications.
Not Sure Which Architecture Fits Your AGV?
Send the vehicle speed, stopping information, required protective range, mounting position and navigation-data requirement. We can help narrow down the appropriate sensor architecture.
09
AGV Safety Standards
AGV Safety Standards & System Compliance
Selecting a safety laser scanner is only one part of AGV safety. Standards address different layers of the system — from the driverless industrial truck and its safety functions to the protective device and safety-related control system.
Component Compliance
≠ Vehicle Compliance
≠ Vehicle Compliance
Using a safety scanner designed to an applicable product standard does not automatically make the complete AGV compliant. Vehicle behaviour, stopping performance, protective-field design, safety control, installation, operating environment and validation must all be considered at the system level.
Vehicle & System Level
ISO 3691-4:2023
Industrial trucks — Safety requirements and verification —
Part 4: Driverless industrial trucks and their systems
ISO 3691-4 addresses safety requirements and verification for driverless industrial trucks and their systems. It applies to driverless industrial trucks and their systems. Whether a specific AGV, AMR or other mobile platform falls within its scope depends on the vehicle classification and application.
Why It Matters Here
This is the primary vehicle-level reference in this section when discussing how protective sensing fits into an AGV or AMR safety concept.
Protective Device Level
IEC 61496-3:2025
Electro-sensitive protective equipment — Particular requirements
for AOPDDR protective devices
IEC 61496-3 specifies additional requirements for electro-sensitive protective equipment using active opto-electronic protective devices responsive to diffuse reflection (AOPDDR) to detect persons or parts of persons as part of a safety-related system.
Why It Matters Here
This is the product-standard layer directly relevant to the safety laser scanner’s protective sensing technology and safety-related performance.
Safety Control Level
ISO 13849-1:2023
Safety of machinery — Safety-related parts of control systems —
Part 1: General principles for design
ISO 13849-1 provides methodology and requirements for designing and integrating safety-related parts of control systems. It includes the Performance Level approach used when evaluating whether a safety-related control function achieves the required level of risk reduction.
Why It Matters Here
The scanner, safety logic and vehicle response form a complete safety-related control chain; component capability alone does not determine the performance of that complete function.
Functional Safety Framework
IEC 61508
Functional safety of electrical / electronic /
programmable electronic safety-related systems
IEC 61508 provides a general functional-safety framework for electrical, electronic and programmable electronic safety-related systems, including concepts such as safety integrity and lifecycle-based risk reduction.
Why It Matters Here
It provides an underlying functional-safety framework, while more application-specific and product-specific standards normally give the more direct requirements for an AGV project and safety scanner.
Think in Layers, Not as One “AGV Safety Certificate”
The standards address different questions. Understanding the layers helps prevent component specifications from being confused with complete vehicle compliance.
Layer 01
Vehicle & Application
What hazards exist around the driverless industrial truck and what safety behaviour must the complete system provide?
Layer 02
Protective Sensor
Is the sensing device suitable for detecting persons as part of the required safety-related protective function?
Layer 03
Safety Control
How are the scanner outputs, safety logic and drive or braking response combined into the required safety function?
Layer 04
Validation
Does the installed AGV actually achieve the intended safety behaviour under the defined operating and fault conditions?
What Must Be Considered Beyond the Scanner?
A compliant safety concept depends on the complete application, not simply the specification printed on one component.
Risk Assessment
Identify collision, crushing, trapping and other hazards created by the vehicle, load, route and interaction with people.
Stopping Performance
Determine how the complete vehicle responds and stops under the relevant operating conditions and loads.
Protective-Field Design
Configure monitoring fields according to stopping behaviour, approach geometry, mounting and identified hazards.
Safety Control Architecture
Integrate scanner OSSD outputs with the required safety controller, drive system and other safety-related components.
Operating Modes & Field Switching
Ensure field-set selection and vehicle-state information correspond correctly to the defined operating conditions.
Verification & Validation
Confirm that the installed safety functions perform as intended before the AGV is placed into operation.
Avoid This Claim
“Install a Safety Scanner and the AGV Is Compliant.”
This is too broad. A compliant component does not by itself establish compliance of the vehicle, its control system or its application.
Better Engineering Statement
“Use the Scanner as Part of a Validated AGV Safety Function.”
Select and integrate the protective device according to the required safety function, then verify the complete vehicle and application against the applicable standards and risk assessment.
Standards Depend on Market and Application
This section provides an engineering overview rather than a declaration of compliance for a specific vehicle. The applicable standards, legal requirements and conformity assessment can vary by machine type, application and destination market. The complete AGV or AMR should be evaluated by the responsible designer, integrator or qualified safety professional.
Evaluating an AGV Safety Scanner Application?
Send us the required safety performance, protective range, vehicle speed, stopping behaviour and intended market so we can help review the scanner selection and interface requirements.
10
AGV & AMR Applications
AGV & AMR Safety Application Scenarios
Mobile robots operate in different environments — from warehouse aisles to production lines and material-transfer areas. The appropriate combination of safety laser scanner, protective-field strategy and navigation LiDAR depends on how the vehicle moves, where people can approach and what sensing functions the control system requires.
Application First
There is no single sensor configuration for every AGV or AMR. Start with the vehicle movement, hazards and sensing requirements, then select the appropriate safety and navigation architecture for each system function.
Warehouse Logistics
Warehouse Transport AGVs
Pallet, tote and material-transport AGVs may travel repeatedly through aisles, intersections and shared pedestrian areas.
Safety Challenge
Protective fields may need to change between straight travel, turning, intersections, docking and different vehicle speeds.
Sensor Architecture
Use SH27 for safety-related personnel protection. Navigation sensing can be supplied separately where required.
Possible architecture: SH27 S + existing navigation system,
or SH27 + YB27
Factory Automation
Production-Line AMRs
AMRs serving assembly lines, workstations and intralogistics routes may operate close to people, machinery and changing production traffic.
Safety Challenge
The vehicle may require flexible safety fields while also needing environmental scan data for localization and route operation.
Sensor Architecture
SH27 D can be considered where one scanner position is suitable for both protective monitoring and supplementary Ethernet scan data.
Possible architecture: SH27 D where safety and supplementary
scan data can share one suitable scanner location
Automated Material Handling
Automated Forklifts & Pallet Movers
Automated forklifts and pallet-handling vehicles can have complex vehicle geometry, changing loads and different forward and reverse operating conditions.
Safety Challenge
Scanner placement and protective-field design must account for the vehicle body, load, travel direction, manoeuvring and actual stopping performance.
Sensor Architecture
A dedicated SH27 safety scanner plus separate navigation LiDAR can be considered when safety and navigation have different mounting or field-of-view requirements.
Possible architecture: SH27 + YB27 when dedicated safety and
navigation sensing are preferred
Flexible Mobile Robotics
Compact AMRs & Mobile Platforms
Smaller mobile platforms often need compact sensor integration while operating in dynamic manufacturing or logistics environments.
Safety Challenge
Limited mounting space does not remove the need to distinguish safety-related sensing from navigation and environmental perception.
Sensor Architecture
Select SH27 S, SH27 D or SH27 + YB27 according to whether the vehicle needs safety only, safety plus raw data, or independent safety and navigation sensors.
Possible architecture depends on function, mounting position
and host-system requirements
Operating Environments That Affect AGV Safety Design
The same vehicle can require different field strategies depending on where and how it operates.
Shared Areas
Pedestrian Crossings
Routes that cross pedestrian traffic require careful hazard assessment, protective-field design and predictable vehicle stopping behaviour.
Constrained Space
Narrow Aisles
Limited space can make field geometry, scanner placement and unwanted interruption avoidance particularly important.
Route Interaction
Intersections & Corners
Turning and crossing routes can require different field configurations from normal straight-line movement.
Precision Movement
Docking & Transfer Stations
Vehicle operating conditions may change during docking, loading, unloading or interaction with automated equipment.
Human Interaction
Production Workstations
Where mobile robots approach operators or machinery, the safety concept must account for both moving-vehicle hazards and local interaction conditions.
Dynamic Logistics
Mixed Vehicle Traffic
Forklifts, AGVs, carts and people sharing the same area can create changing hazards that must be addressed at the system level.
Application
Guidance
Guidance
The scenarios above illustrate common engineering considerations for mobile robot applications. Final sensor architecture, field configuration and operating performance depend on the actual vehicle, control system, installation and site conditions.
One Application Can Need More Than One Scanner
Front, rear or side hazards may not always be adequately covered from a single installation position. Depending on vehicle geometry, movement and risk assessment, multiple safety scanners or separate safety and navigation sensors may be appropriate.
Tell Us How Your AGV Operates
Send the vehicle layout, maximum speed, load condition, travel directions, stopping information, intended scanner position and navigation requirements. We can help narrow down the appropriate SH27 or YB27 architecture.
11
Engineering Selection Checklist
AGV Safety Scanner & LiDAR Selection Checklist
Good sensor selection starts with the vehicle and application rather than a product model number. Before choosing an SH27 safety laser scanner or YB27 2D LiDAR, define the safety function, vehicle behaviour, scanning requirement and control-system interface.
Start with
Application Data
Application Data
Maximum detection range alone is not enough to select an AGV sensor. The engineering decision should begin with how the vehicle moves, how it stops, where people can approach and what information the host system needs from the sensor.
01
Define the Required Safety Function
Determine whether personnel safety depends on the sensor and what safety-related response the AGV must perform when the protective field is infringed.
- Is personnel protection required?
- Which area must be safety-related?
- What safety performance is required?
- Which vehicle function must reach a safe state?
02
Confirm Vehicle Speed & Stopping Behaviour
Protective-field design depends on the complete vehicle response, not only the scanner’s maximum protective range.
- Maximum travel speed
- Different operating speeds
- Total system response time
- Measured or validated stopping performance
03
Define Vehicle Geometry & Load Conditions
Vehicle dimensions, scanner position and payload can affect the required monitored area and actual stopping behaviour.
- Vehicle width and length
- Load dimensions and overhang
- Maximum payload
- Front, rear and side hazard areas
04
Identify Travel Directions & Operating Modes
Different vehicle states can require different protective-field configurations.
- Forward-only or bidirectional travel?
- Turning or curved movement?
- Docking or transfer modes?
- Speed-dependent field switching required?
05
Define the Scanner Installation Position
Mounting position and scan-plane geometry determine which surrounding areas can actually be monitored.
- Front, rear or side installation?
- Required scan-plane height?
- Potential blind areas?
- Mechanical mounting constraints?
06
Decide Whether Raw LiDAR Data Is Needed
Navigation and environmental sensing requirements should be defined separately from the safety-related protective function.
- Localization required?
- Mapping input required?
- Navigation or obstacle perception required?
- Separate navigation LiDAR preferred?
07
Confirm the Required Interfaces
Safety signals, field-selection inputs and raw LiDAR data belong to different parts of the AGV architecture.
- PNP OSSD safety outputs
- Control inputs for field selection
- Encoder signals where applicable
- Ethernet raw-data requirements
08
Review the Operating Environment
Route layout and interaction with people, equipment and other vehicles can influence both scanner placement and protective-field strategy.
- Pedestrian crossings
- Narrow aisles
- Intersections and corners
- Mixed vehicle and personnel traffic
What Information Should You Send for an AGV Sensor Recommendation?
You do not need to have every parameter finalized before contacting us. The following information is usually enough to begin narrowing down the appropriate SH27 or YB27 configuration.
Vehicle Drawing
Overall dimensions, scanner mounting area and front / rear / side vehicle geometry.
Maximum Speed
Main travel speed and any different low-speed, docking or manoeuvring conditions.
Stopping Information
Available stopping-distance, braking-performance or total response-time information under relevant operating conditions.
Protective-Field Requirement
Expected monitoring area, available space and any known field-shape constraints.
Navigation Requirement
Clarify whether the host system needs LiDAR data for localization, mapping, navigation or environmental sensing.
Controller Interface
Safety I/O, field-selection inputs, encoder signals and required Ethernet data interface.
Final Selection Requires Application Review
Product specifications can narrow down suitable models, but final protective-field dimensions, safety performance and system integration must be confirmed for the actual AGV or AMR application. Sensor selection does not replace vehicle-level risk assessment, engineering verification or validation.
Have an AGV Drawing or Sensor Requirement?
Send us the information you already have. Vehicle drawings, maximum speed, stopping data, required protective area and navigation requirements can help us narrow down the appropriate SH27 or YB27 configuration.
12
Frequently Asked Questions
AGV Safety Scanner & LiDAR FAQ
Common engineering questions about safety laser scanners, protective fields, navigation LiDAR and sensor architecture for AGVs and AMRs.
What safety scanner is used for AGVs?
AGVs that require safety-related personnel protection typically use a safety laser scanner designed for protective-field monitoring. The CCH SH27 series provides configurable protective fields, PNP OSSD safety outputs and multiple zone sets for mobile robot applications.
Can a normal 2D LiDAR be used for AGV personnel safety?
A standard industrial 2D LiDAR should not automatically be treated as a safety laser scanner. YB27 can provide environmental scan data and object detection for industrial applications, but it does not replace a required safety-rated protective device where personnel protection depends on the detection function.
What is the difference between an AGV safety scanner and navigation LiDAR?
A safety laser scanner is used as part of a safety-related protective function and provides safety outputs such as OSSD. Navigation LiDAR supplies environmental scan measurements that a robot controller or industrial computer can process for localization, mapping, navigation or perception.
Does SH27 D provide AGV navigation data?
SH27 D models add Ethernet raw scan data to the safety scanner functions. The data can be processed by the AGV host system for functions such as navigation, localization or environmental sensing. The navigation algorithm itself runs in the host system; the Ethernet data is not the scanner’s safety output.
Can YB27 replace an SH27 safety laser scanner?
Not when the required function is safety-related personnel protection. SH27 and YB27 serve different primary roles. SH27 is the safety scanner platform; YB27 is an industrial 2D LiDAR platform for sensing, measurement and raw-data applications.
How large should an AGV protective field be?
There is no universal protective-field distance for all AGVs. The required field depends on factors including vehicle speed, total response time, braking performance, scanner installation, vehicle geometry and the application risk assessment. Scanner protective range and required field size are not the same thing.
How many protective-field configurations can SH27 support?
SH27 supports up to 64 configurable zone sets. Different predefined field configurations can be used for changing AGV travel directions, operating states and speed-dependent protection strategies.
Is an AGV warning field the same as a protective field?
No. The protective field belongs to the safety-related personnel-protection function. A warning field is an auxiliary, non-safety-related detection area that can support signalling or other operational responses depending on the vehicle design.
Which safety standard applies to AGVs and AMRs?
ISO 3691-4:2023 is an important vehicle-level standard for driverless industrial trucks and their systems. Its applicability to a specific AGV, AMR or other mobile platform depends on the vehicle classification and application. Additional standards can apply to the protective device and safety-related control system, and component compliance alone does not establish compliance of the complete vehicle.
Do I need safety scanners at both ends of an AGV?
Not necessarily. The required number and position of scanners depend on vehicle geometry, forward and reverse travel, turning behaviour, blind areas, scanner field of view and risk assessment. Some vehicles can be adequately monitored from one position, while others may require multiple safety scanners.
Should I choose SH27 S or SH27 D for an AGV?
Choose SH27 S when the vehicle needs safety-related protective monitoring but does not require Ethernet raw scan data from the safety scanner. Choose SH27 D when the same scanner also needs to supply supplementary raw environmental data to the host system.
When should I use separate SH27 and YB27 sensors?
A separate SH27 safety scanner + YB27 navigation LiDAR can be appropriate when safety and navigation require different mounting positions, scan characteristics or system architectures. This also keeps the safety-related protection path clearly separated from the navigation-data path.
AGV & AMR Application Support
Build the Sensor Architecture Around the Vehicle — Not the Other Way Around
Tell us how the AGV moves, stops and navigates. We can help narrow down whether the application is better suited to SH27 S, SH27 D, or a separate SH27 + YB27 architecture.
Vehicle
Dimensions, load and travel directions
Safety
Speed, stopping behaviour and field requirement
Navigation
Raw-data and host-interface requirements
Final sensor selection, protective-field configuration and safety-system validation remain the responsibility of the machine or vehicle designer, integrator and other responsible parties according to the applicable risk assessment, standards and destination-market requirements.