1、Designation: F3200 16Standard Terminology forDriverless Automatic Guided Industrial Vehicles1This standard is issued under the fixed designation F3200; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A nu
2、mber in parentheses indicates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.1. Scope1.1 This terminology covers terms associated with un-manned (that is, driverless), ground (that is, land-based and incontinuous contact with
3、the ground), industrial vehicles. Byproviding a common and consistent lexicon, the purpose of thisterminology is to facilitate communication between individualswho may be involved in the research, design, deployment, anduse of unmanned ground vehicles, including but not limited to,for manufacturing,
4、 distribution, security, etc. The terminologycovers terms used in performance test methods of automaticguided vehicles (AGVs), autonomous mobile robots, and allother driverless, ground vehicles. In addition, with increasinglyintelligent vehicle systems with onboard equipment, roboticsindustry terms
5、that are used in associated test methods anddescriptions are also included.1.2 For the terminology to be harmonious with the practicesin the field, definitions have been drawn from the literature orother public sources when possible. When no definition isavailable, is similar but requires change for
6、 use within stan-dards produced by Committee F45, or in dispute, a consensus-based approach will be used to resolve definitions and addthem to the lexicon. The development of this terminology istaking place in close coordination with corresponding efforts inall Committee F45 subcommittees to ensure
7、comprehensiveand consistent coverage.1.3 This standard does not purport to address all of thesafety concerns, if any, associated with its use. It is theresponsibility of the user of this standard to establish appro-priate safety and health practices and determine the applica-bility of regulatory lim
8、itations prior to use.2. Referenced Documents2.1 ANSI/ITSDF Standard:2ANSI/ITSDF B56.5 Safety Standard for Driverless, Auto-matic Guided Industrial Vehicles and Automated Func-tions of Manned Industrial Vehicles2.2 ISO Standard:3ISO 8373 Robots and Robotic DevicesVocabulary3. Terminology3.1 Definiti
9、ons:Ackermann steer, nkinematic configuration for vehicleswith pairs of wheels in which the front or rear wheels arepivoted to achieve steering.DISCUSSIONThe pivot angles of each wheel within the pivoted setare calculated such that each wheels axle intersects a common point.This common point serves
10、as the instantaneous center of the vehiclesturning circle.adaptive control, ncontrol scheme whereby the controlsystem parameters are adjusted from conditions detectedduring the process.aisle, nin a facility, the passageway between locations wheretemporary or permanent obstructions may exist.ambient
11、temperature, ntemperature of the atmospheresurrounding equipment.automatic data capture, nidentification and direct collec-tion of data into a computer system or other micro-processor-controlled device without using a keyboard (forexample, technologies that support the function are: barcode,radio fr
12、equency data communication, radio frequencyidentification, and other emerging technologies).DISCUSSIONOther similar terms are automatic data collection orautomatic identification.barcode reader, ndevice used to read a barcode; see A-UGVsystem.benchmarking, vmeasurement process that can be used forco
13、mparison against established goals, operating targets, andperformance expectations.braking, vany controlled or emergency means to slow orstop the vehicle. ANSI/ITSDF B56.5collision prevention, nuse of sensors to detect the presenceof obstacles and, through the use of integrated controls,prevent a co
14、llision from occurring; see also obstacle avoid-ance.1This terminology is under the jurisdiction of ASTM Committee F45 onDriverless Automatic Guided Industrial Vehicles and is the direct responsibility ofSubcommittee F45.91 on Terminology.Current edition approved Oct. 15, 2016. Published November 20
15、16. DOI:10.1520/F3200-16.2Available from Industrial Truck Standards Development Foundation, 1750 KSt., NW, Suite 460, Washington, DC 20006, http:/www.itsdf.org.3Available from International Organization for Standardization (ISO), ISOCentral Secretariat, BIBC II, Chemin de Blandonnet 8, CP 401, 1214
16、Vernier,Geneva, Switzerland, http:/www.iso.org.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States1commissioning, vsequence of actions of setting up andchecking the A-UGVS followed by the verification of theA-UGV functions after installat
17、ion.configuration, nall hardware, software, and settings neededto operate the A-UGV as specified.cycle, nsingle execution of a task program.cycle time, ntime required to perform the cycle.differential steer, nkinematic configuration for vehicles withtwo drive wheels in which steering is achieved sol
18、ely viavarying wheel speeds and the wheels are not able to pivot;see skid steer.distance accuracy, ndifference between a command dis-tance and the attained distance over a set of points.dock, ntarget location where the A-UGV interacts withanother object; see A-UGV system.docking, varrival and act of
19、 stopping at a position relative toanother object.drift, nmovement from the designated hold point because ofthe systems inability to maintain a fixed position.echo, ntime elapsed between signal emission and receptionthat is used to determine target position in a sensor.environment map or environment
20、 model, nmap or modelthat describes an environment with its distinguishablefeatures. ISO 8373DISCUSSIONExamples are grid map, geometrical map, topologicalmap, and so forth.exteroceptive sensor or external state sensor, nmobileplatform sensor intended to measure the state of a vehiclesenvironment or
21、interaction of the vehicle with its environ-ment.DISCUSSIONExamples are global positioning system (GPS), visionsensor, distance sensor, force sensor, tactile sensor, and acoustic sensor.guidepath, nintended path for an A-UGV used with auto-matic or automated guidance.human-machine interaction, ninfo
22、rmation and action ex-changes between human and A-UGV to perform a task bymeans of a user interface.intended path, nheading of a vehicle at a given instant intime dictated by the control logic, recognizing that theheading is a dynamic property and can change at any instantin time depending on condit
23、ions in the operating environ-ment (for example, the decision to allow a vehicle to passanother vehicle or to navigate around an obstacle); see pathdeviation. ANSI/ITSDF B56.5joystick, nmanually controlled input device whose variablepositions and orientations or applied forces are measured andresult
24、 in commands to the vehicle control system.landmark, nartificial or natural object identifiable on theenvironment map used for localization of the A-UGV.load, rated, nload stated by the manufacturer that can beapplied to the A-UGV under defined operating conditions.load-bearing surface, nactual area
25、 of material in contactwith and supporting a unit load.local operator, noperator within reach of the vehicle, itscontrol, or safety devices. ANSI/ITSDF B56.5localization, nability of the A-UGV to determine its posewithin an environment map.main direction of travel, nforward movement of thevehicle, i
26、ncluding turns, unless otherwise specified andagreed to by the user and system supplier.ANSI/ITSDF B56.5manual mode, manual control, manual operation,noperating mode in which the complete vehicle is undercontrol of an operator; see operator control unit (OCU).mapping or map building or map generatio
27、n,nconstructing the environment map to describe the envi-ronment with its geometrical and detectable features,landmarks, and obstacles. ISO 8373master-slave control, ncontrol method in which the motionof a primary device (master) is reproduced on secondarydevices (slaves). ISO 8373DISCUSSIONMaster-s
28、lave control is typically used for manual con-trol.natural features, nfeatures in the environment that were notspecifically installed to assist in A-UGV navigation.navigation, ndeciding on and controlling the direction oftravel derived from localization and the environment map;see simultaneous local
29、ization and mapping (SLAM),localization.DISCUSSIONNavigation can include path planning for location-to-location travel and complete area coverage.non-restricted area, narea in which the A-UGV may oper-ate and is shared with personnel.normal operating conditions, nrange of conditions that caninfluenc
30、e vehicle performance (such as electrical supplyinstability, electromagnetic fields) within which the perfor-mance of the vehicle specified by the manufacturer is valid.DISCUSSIONThis could also include environmental conditions, forexample, temperature and humidity.object, nanything in the environme
31、nt that may or may not bean obstacle.object detection, nuse of sensors to identify the presence ofan object.obstacle, nstatic or moving object or feature (on ground,wall, or ceiling) that obstructs the intended movement.ISO 8373DISCUSSIONGround obstacles include steps, holes, uneven terrain,and so f
32、orth.obstacle avoidance, nautonomously avoiding impact withobstacles (for example, stopping, driving around).F3200 162operator control unit (OCU), ndevice linked (wireless orwired) to the control system with which a vehicle can beprogrammed or moved.operating mode or operational mode, nstate of the
33、A-UGVcontrol system.operator, nperson designated to start, monitor, and stop theintended operation of an A-UGV or A-UGVS.path deviation, nmeasurement derived from the vehiclecontrol logic and guidance reference information that en-ables the vehicle to know whether it is wandering off thecurrent inte
34、nded path such that, when specified deviationtolerances are exceeded, appropriate action can be taken; seeintended path.path velocity fluctuation, ndifference between the mini-mum and maximum velocities along the complete path thatresult from traversing a given command path with a givencommand veloc
35、ity and not from external interferences.ISO 8373path velocity repeatability, ncloseness of agreement of thevelocities attained for a given command path velocity.ISO 8373pendant, nsee operator control unit (OCU).pose, nposition and orientation.processor monitor, nhardware device that ensures that the
36、software program in the computer is being executed.ANSI/ITSDF B56.5proprioceptive sensor or internal state sensor, nmobileplatform sensor intended to measure the vehicles internalstate(s).DISCUSSIONExamples are encoder, potentiometer, tachometergenerator, inertial sensor such as accelerometer, and g
37、yroscope.qualified person, nperson who, by possession of a recog-nized degree or certificate of professional standing or exten-sive knowledge, training, and experience, has successfullydemonstrated the ability to solve or resolve problems relat-ing to the subject matter and work. ANSI/ITSDF B56.5rad
38、io controlled, adjmeans by which a material-handlingdevice or piece of equipment is controlled by receivingcommands via radio frequencies sent to an onboard receiverand allows the equipment or device to be controlled re-motely.rated capacity, nload, its position, and the vehicle speed, asestablished
39、 by the manufacturer, at which design and per-formance can be expected. ANSI/ITSDF B56.5rated speed, nspeed, as established by the manufacturer, atwhich design performance can be expected.ANSI/ITSDF B56.5reprogrammable, adjdesigned so that the programmedmotions or auxiliary functions can be changed
40、withoutphysical alteration. ISO 8373robot cooperation, ninformation and action exchanges be-tween multiple robots to ensure that their motions workeffectively together to accomplish the task. ISO 8373second surface reflection, nproblem for polarized retro-reflective sensors that is created by shiny
41、objects wrapped inshiny material.DISCUSSIONThe wrapping material can depolarize the light as itpasses through.sensor, nelectronic device designed to detect a specificphenomenon, such as the presence or absence of a physicalobject, and used to affect control over a designated process;see A-UGV system
42、.sensor fusion, nprocess to obtain improved information bymerging information from multiple sensors. ISO 8373simultaneous localization and mapping, SLAM,ncomputational technique for constructing or updating amap of an environment while simultaneously keeping trackof an A-UGVs location within it.skid
43、 steer, nkinematic configuration for vehicles in whichsteering is achieved solely via independently varying speedsof more than two drive wheels or two tracks and thewheels/tracks are not able to pivot; see differential steer.sleep, ncondition, in automatic operation, in which allvehicle power is shu
44、t off except for the ability to receive asignal that removes it from this condition and turns vehiclepower back on.synchronous detection, nuse of an exact sequence of lightpulses to activate the output on a photoelectric cell; seeA-UGV system.task planning, vprocess of solving the task to be carried
45、 outby generating a task procedure, which includes subtasks andmotions. ISO 8373DISCUSSIONTask planning can include autonomous and user-generated task planning.test settings, nall variables for a particular test methodincluding those of the apparatus, method, and procedure.test supervisor, nperson r
46、esponsible for setting up theapparatus, instrumentation, directing, and reporting resultsof the test according to the test requestor or test sponsor.test technician, nperson(s) responsible for executing the testprocedures under supervision of the test supervisor.trajectory control, ncontinuous path
47、control with a pro-grammed velocity profile. ISO 8373travel surface, nterrain on which the A-UGV travels.ISO 8373unit load A-UGV, nA-UGV that carries a load on or withinthe vehicle.vehicle path, nactual path of the vehicle.vehicle trajectory, npath in time.F3200 163world coordinate system, nstationa
48、ry coordinate systemreferenced to earth that is independent of the vehicle.4. Keywords4.1 A-UGV; automatic guided vehicle (AGV); driverlessautomatic guided industrial vehicles; industrial; mobile robot;mobilityBIBLIOGRAPHY(1) Material Handling Industry of America, Automatic Guided VehicleSystems, ht
49、tp:/www.mhi.org/glossary, 2014.ASTM International takes no position respecting the validity of any patent rights asserted in connection with any item mentionedin this standard. Users of this standard are expressly advised that determination of the validity of any such patent rights, and the riskof infringement of such rights, are entirely their own responsibility.This standard is subject to revision at any time by the responsible technical committee and must be reviewed every five years and
