1、Designation: F3200 16F3200 17Standard 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 revisi
2、on. A number 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 unmanned (that is, driverless), ground (that is, land-based and in continuouscontac
3、t with the ground), industrial vehicles. By providing a common and consistent lexicon, the purpose of this terminology isto facilitate communication between individuals who may be involved in the research, design, deployment, and use of unmannedground vehicles, including but not limited to, for manu
4、facturing, distribution, security, etc. The terminology covers terms used inperformance test methods of automatic guided vehicles (AGVs), autonomous mobile robots, and all other driverless, groundvehicles. In addition, with increasingly intelligent vehicle systems with onboard equipment, robotics in
5、dustry terms that are usedin associated test methods and descriptions are also included.1.2 For the terminology to be harmonious with the practices in the field, definitions have been drawn from the literature or otherpublic sources when possible. When no definition is available, is similar but requ
6、ires change for use within standards producedby Committee F45, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. Thedevelopment of this terminology is taking place in close coordination with corresponding efforts in all Committee F45subcommitt
7、ees to ensure comprehensive and consistent coverage.1.3 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibilityof the user of this standard to establish appropriate safety and health practices and determine the applicability of
8、regulatorylimitations prior to use.1.4 This international standard was developed in accordance with internationally recognized principles on standardizationestablished in the Decision on Principles for the Development of International Standards, Guides and Recommendations issuedby the World Trade Or
9、ganization Technical Barriers to Trade (TBT) Committee.2. Referenced Documents2.1 ANSI/ITSDF Standard:2ANSI/ITSDF B56.5 Safety Standard for Driverless,Automatic Guided Industrial Vehicles andAutomated Functions of MannedIndustrial Vehicles2.2 ISO Standard:3ISO 8373 Robots and Robotic DevicesVocabula
10、ry3. Terminology3.1 Definitions:A-UGV operator, nperson responsible for initiating and monitoring vehicle operation.A-unmanned ground vehicle, A-UGV, nautomatic, automated or autonomous vehicle that operates while in contact with theground without a human operator.Ackermann steer, nkinematic configu
11、ration for vehicles with pairs of wheels in which the front or rear wheels are pivoted toachieve steering.DISCUSSION1 This terminology is under the jurisdiction ofASTM Committee F45 on DriverlessAutomatic Guided Industrial Vehicles and is the direct responsibility of SubcommitteeF45.91 on Terminolog
12、y.Current edition approved Oct. 15, 2016May 15, 2017. Published November 2016June 2017. Originally approved in 2016. Last previous edition approved in 2016 asF3200 16. DOI: 10.1520/F3200-16.10.1520/F3200-17.2 Available from Industrial Truck Standards Development Foundation, 1750 K St., NW, Suite 460
13、, Washington, DC 20006, http:/www.itsdf.org.3 Available from International Organization for Standardization (ISO), ISO Central Secretariat, BIBC II, Chemin de Blandonnet 8, CP 401, 1214 Vernier, Geneva,Switzerland, http:/www.iso.org.This document is not an ASTM standard and is intended only to provi
14、de the user of an ASTM standard an indication of what changes have been made to the previous version. Becauseit may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current versionof the s
15、tandard as published by ASTM is to be considered the official document.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States1The pivot angles of each wheel within the pivoted set are calculated such that each wheels axle intersects a common
16、 point. This common point servesas the instantaneous center of the vehicles turning circle.adaptive control, ncontrol scheme whereby the control system parameters are adjusted from conditions detected during theprocess.aisle, nin a facility, the passageway between locations where temporary or perman
17、ent obstructions may exist.ambient temperature, ntemperature of the atmosphere surrounding equipment.automatic data capture, nidentification and direct collection of data into a computer system or other micro-processor-controlleddevice without using a keyboard (for example, technologies that support
18、 the function are: barcode, radio frequency datacommunication, radio frequency identification, and other emerging technologies).DISCUSSIONOther similar terms are automatic data collection or automatic identification.axis of motion, naxis along which the vehicle moves in translation or around which t
19、he vehicle moves in rotation.barcode, nsystem of printed patterns that represent alphanumeric data that are able to be optically read.barcode reader, ndevice used to read a barcode; barcode.see A-UGV system.benchmarking, vmeasurement process that can be used for comparison against established goals,
20、 operating targets, andperformance expectations.braking, vany controlled or emergency means to slow or stop the vehicle. ANSI/ITSDF B56.5bumper, physical, nsurface designed to absorb or withstand impact.collision prevention, nuse of sensors to detect the presence of obstacles and, through the use of
21、 integrated controls, prevent acollision from occurring; see also obstacle missioning, vsequence of actions of setting up and checking the A-UGVS followed by the verification of the A-UGVfunctions after installation.configuration, nall hardware, software, and settings needed to operate the A-UGV as
22、specified.controls and control system, nhardware and software required to operate A-UGVs and communicate with the environment(equipment and users); see also integrated systems and controls.cycle, nsingle execution of a task program.cycle time, ntime required to perform the cycle.differential steer,
23、nkinematic configuration for vehicles with two drive wheels in which steering is achieved solely via varyingwheel speeds and the wheels are not able to pivot; see skid steer.distance accuracy, ndifference between a command distance and the attained distance over a set of points.dock, ntarget locatio
24、n where the A-UGV interacts with another object; object.see A-UGV system.docking, varrival and act of stopping at a position relative to another object.drift, nmovement from the designated hold point because of the systems inability to maintain a fixed position.echo, ntime elapsed between signal emi
25、ssion and reception that is used to determine target position in a sensor.emergency stop, nvehicle stop, not part of normal operation, that requires operator action to restart; also known as E-stop.environment map or environment model, nmap or model that describes an environment with its distinguish
26、able features. ISO8373DISCUSSIONExamples are grid map, geometrical map, topological map, and so forth.exteroceptive sensor or external state sensor, nmobile platform sensor intended to measure the state of a vehicles environmentor interaction of the vehicle with its environment.F3200 172DISCUSSIONEx
27、amples are global positioning system (GPS), vision sensor, distance sensor, force sensor, tactile sensor, and acoustic sensor.guidepath, nintended path for an A-UGV used with automatic or automated guidance.human-machine interaction, ninformation and action exchanges between human and A-UGV to perfo
28、rm a task by means ofa user interface.integration, nact of combining an A-UGV with other software or hardware, or both.intended path, nheading of a vehicle at a given instant in time dictated by the control logic, recognizing that the heading is adynamic property and can change at any instant in tim
29、e depending on conditions in the operating environment (for example, thedecision to allow a vehicle to pass another vehicle or to navigate around an obstacle); seepath deviation. ANSI/ITSDF B56.5interlock, v,nmethod to limit or prevent the operation of machine functions under specified conditions.jo
30、ystick, nmanually controlled input device whose variable positions and orientations or applied forces are measured and resultin commands to the vehicle control system.landmark, nartificial or natural object identifiable on the environment map used for localization of the A-UGV.layout, ngraphical rep
31、resentation of the environment and A-UGV functional space.load, rated, nload stated by the manufacturer that can be applied to the A-UGV under defined operating conditions.load-bearing surface, nactual area of material in contact with and supporting a unit load.local operator, noperator within reach
32、 of the vehicle, its control, or safety devices. ANSI/ITSDF B56.5localization, nability of the A-UGV to determine its pose within an environment map.main direction of travel, nforward movement of the vehicle, including turns, unless otherwise specified and agreed to by theuser and system supplier.AN
33、SI/ITSDF B56.5manipulator, nautomatically controlled, reprogrammable, multipurpose device, programmable in multiple axes that can beeither fixed in place or mobile for use in industrial automation applications.manual mode, manual control, manual operation, noperating mode in which the complete vehic
34、le is under control of anoperator; operator.see operator control unit (OCU).manufacturer, ncompany or organization responsible for the vehicle system to be installed and integrated into the environmentwhere it will be operating.mapping or map building or map generation, nconstructing the environment
35、 map to describe the environment with itsgeometrical and detectable features, landmarks, and obstacles. ISO 8373master-slave control, ncontrol method in which the motion of a primary device (master) is reproduced on secondary devices(slaves). ISO 8373DISCUSSIONMaster-slave control is typically used
36、for manual control.maximum force or maximum thrust, nforce (thrust), excluding any inertial effect, that can be continuously applied by or tothe mobile platform without causing any permanent damage to the vehicle.maximum moment or maximum torque, nmoment (torque) excluding any inertial effect that c
37、an be continuously applied byor to the mobile platform without causing any permanent damage to the vehicle.natural features, nfeatures in the environment that were not specifically installed to assist in A-UGV navigation.navigation, ndeciding on and controlling the direction of travel derived from l
38、ocalization and the environment map; seesimultaneous localization and mapping (SLAM),localization.DISCUSSIONF3200 173Navigation can include path planning for location-to-location travel and complete area coverage.non-contact sensing device, ndevice used to sense the presence, location, or other char
39、acteristics of objects without physicalcontact.non-restricted area, narea in which the A-UGV may operate and is shared with personnel.normal operating conditions, nrange of conditions that can influence vehicle performance (such as electrical supply instability,electromagnetic fields) within which t
40、he performance of the vehicle specified by the manufacturer is valid.DISCUSSIONThis could also include environmental conditions, for example, temperature and humidity.object, nanything in the environment that may or may not be an obstacle.object detection, nuse of sensors to identify the presence of
41、 an 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 forth.obstacle avoidance, nautonomously avoiding impact with obstacles (for example, stopping, d
42、riving around).omni-directional A-UGV, nan A-UGV that is capable of rotational and linear movement in any direction.operatorcontrol unit (OCU), ndevice linked (wireless or wired) to the control system with which a vehicle can be programmedor moved.operating mode or operational mode, nstate of the A-
43、UGV control system.operator, nperson designated to start, monitor, and stop the intended operation of an A-UGV or A-UGVS.path deviation, nmeasurement derived from the vehicle control logic and guidance reference information that enables thevehicle to know whether it is wandering off the current inte
44、nded path such that, when specified deviation tolerances areexceeded, appropriate action can be taken; see intended path.path velocity fluctuation, ndifference between the minimum and maximum velocities along the complete path that result fromtraversing a given command path with a given command velo
45、city and not from external interferences.ISO 8373path velocity repeatability, ncloseness of agreement of the velocities 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 t
46、he software program in the computer is being executed. ANSI/ITSDFB56.5proprioceptive sensor or internal state sensor, nmobile platform sensor intended to measure the vehicles internal state(s).DISCUSSIONExamples are encoder, potentiometer, tachometer generator, inertial sensor such as accelerometer,
47、 and gyroscope.qualified person, nperson who, by possession of a recognized degree or certificate of professional standing or extensiveknowledge, training, and experience, has successfully demonstrated the ability to solve or resolve problems relating to thesubject matter and work. ANSI/ITSDF B56.5r
48、adio controlled, adjmeans by which a material-handling device or piece of equipment is controlled by receiving commandsvia radio frequencies sent to an onboard receiver and allows the equipment or device to be controlled remotely.rated capacity, nload, its position, and the vehicle speed, as establi
49、shed by the manufacturer, at which design and performancecan be expected. ANSI/ITSDF B56.5F3200 174rated speed, nspeed, as established by the manufacturer, at which design performance can be expected.ANSI/ITSDF B56.5reprogrammable, adjdesigned so that the programmed motions or auxiliary functions can be changed without physicalalteration. ISO 8373robot cooperation, ninformation and action exchanges between multiple robots to ensure that their motions work effectivelytogether t
