1、Designation: F3200 17F3200 17aStandard 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 revis
2、ion. 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 continuousconta
3、ct 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 man
4、ufacturing, 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 i
5、ndustry 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 req
6、uires 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 F45subcommit
7、tees 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 safety, health and healthenvironmental practices and de
8、termine theapplicability of regulatory limitations 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 Recommendation
9、s issuedby the World Trade Organization 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 Robot
10、s and Robotic DevicesVocabulary3. Terminology3.1 Definitions:A-UGV operator, nperson responsible for initiating and monitoring vehicle operation.A-UGV technician, nperson(s) responsible for executing the test procedures under supervision of the test supervisor.A-unmanned ground vehicle, A-UGV, nauto
11、matic, automated or autonomous vehicle that operates while in contact with theground without a human operator.Ackermann steer, nkinematic configuration for vehicles with pairs of wheels in which the front or rear wheels are pivoted toachieve steering.1 This terminology is under the jurisdiction ofAS
12、TM Committee F45 on DriverlessAutomatic Guided Industrial Vehicles and is the direct responsibility of SubcommitteeF45.91 on Terminology.Current edition approved May 15, 2017June 1, 2017. Published June 2017August 2017. Originally approved in 2016. Last previous edition approved in 20162017 asF3200
13、16.F3200 17. DOI: 10.1520/F3200-17.10.1520/F3200-17A.2 Available from Industrial Truck Standards Development Foundation, 1750 K St., NW, Suite 460, Washington, DC 20006, http:/www.itsdf.org.3 Available from International Organization for Standardization (ISO), ISO Central Secretariat, BIBC II, Chemi
14、n 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 provide 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 adequat
15、ely depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current versionof the standard as published by ASTM is to be considered the official document.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken
16、, PA 19428-2959. United States1DISCUSSIONThe pivot angles of each wheel within the pivoted set are calculated such that each wheels axle intersects a common point. This common point servesas the instantaneous center of the vehicles turning circle.adaptive control, ncontrol scheme whereby the control
17、 system parameters are adjusted from conditions detected during theprocess.aisle, nin a facility, the passageway between locations where temporary or permanent obstructions may exist.ambient temperature, ntemperature of the atmosphere surrounding equipment.automatic data capture, nidentification and
18、 direct collection of data into a computer system or other micro-processor-controlleddevice without using a keyboard (for example, technologies that support the function are: barcode, radio frequency datacommunication, radio frequency identification, and other emerging technologies).DISCUSSIONOther
19、similar terms are automatic data collection or automatic identification.axis of motion, naxis along which the vehicle moves in translation or around which the vehicle moves in rotation.barcode, nsystem of printed patterns that represent alphanumeric data that are able to be optically read.barcode re
20、ader, ndevice used to read a barcode.benchmarking, vmeasurement process that can be used for comparison against established goals, operating targets, andperformance expectations.braking, vany controlled or emergency means to slow or stop the vehicle. ANSI/ITSDF B56.5bumper, physical, nsurface design
21、ed to absorb or withstand impact.collision prevention, nuse of sensors to detect the presence of obstacles and, through the use of integrated controls, prevent acollision from occurring; see also obstacle missioning, vsequence of actions of setting up and checking the A-UGVS followed by the verifica
22、tion of the A-UGVfunctions after installation.configuration, nall hardware, software, and settings needed to operate the A-UGV as specified.controls and control system, nhardware and software required to operate A-UGVs and communicate with the environment(equipment and users); see also integrated sy
23、stems and controls.cycle, nsingle execution of a task program.cycle time, ntime required to perform the cycle.differential steer, 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 st
24、eer.distance accuracy, ndifference between a command distance and the attained distance over a set of points.dock, ntarget location where the A-UGV interacts with another object.docking, varrival and act of stopping at a position relative to another object.drift, nmovement from the designated hold p
25、oint because of the systems inability to maintain a fixed position.echo, ntime elapsed between signal emission 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-st
26、op.environment map or environment model, nmap or model that describes an environment with its distinguishable features. ISO8373DISCUSSIONExamples are grid map, geometrical map, topological map, and so forth.F3200 17a2exteroceptive sensor or external state sensor, nmobile platform sensor intended to
27、measure the state of a vehicles environmentor interaction of the vehicle with its environment.DISCUSSIONExamples 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 automa
28、ted guidance.human-machine interaction, ninformation and action exchanges between human and A-UGV to perform 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
29、 the control logic, recognizing that the heading is adynamic property and can change at any instant in time 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.
30、5interlock, v,nmethod to limit or prevent the operation of machine functions under specified conditions.joystick, 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 na
31、tural object identifiable on the environment map used for localization of the A-UGV.layout, ngraphical representation 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,
32、nactual area of material in contact with and supporting a unit load.local operator, noperator within reach 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 o
33、f the vehicle, including turns, unless otherwise specified and agreed to by theuser and system supplier.ANSI/ITSDF B56.5manipulator, nautomatically controlled, reprogrammable, multipurpose device, programmable in multiple axes that can beeither fixed in place or mobile for use in industrial automati
34、on applications.manual mode, manual control, manual operation, noperating mode in which the complete vehicle is under control of anoperator.manufacturer, ncompany or organization responsible for the vehicle system to be installed and integrated into the environmentwhere it will be operating.mapping
35、or map building or map generation, nconstructing the environment 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(sl
36、aves). ISO 8373DISCUSSIONMaster-slave control is typically used 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 maxim
37、um torque, nmoment (torque) excluding any inertial effect that can 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, nde
38、ciding on and controlling the direction of travel derived from localization and the environment map; seesimultaneous localization and mapping (SLAM),localization.F3200 17a3DISCUSSIONNavigation can include path planning for location-to-location travel and complete area coverage.non-contact sensing de
39、vice, ndevice used to sense the presence, location, or other characteristics 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 ele
40、ctrical supply instability,electromagnetic fields) within which the 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 obsta
41、cle.object detection, nuse of sensors to identify the presence of 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, nauto
42、nomously avoiding impact with obstacles (for example, stopping, driving 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 progra
43、mmedor moved.operating mode or operational mode, nstate of the A-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 enable
44、s thevehicle to know whether it is wandering off the current intended 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 res
45、ult fromtraversing a given command path with a given command velocity 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 or
46、ientation.processor monitor, nhardware device that ensures that the 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, potentiome
47、ter, tachometer generator, inertial sensor such as accelerometer, 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 p
48、roblems relating to thesubject matter and work. ANSI/ITSDF B56.5radio 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.F3200
49、 17a4rated capacity, nload, its position, and the vehicle speed, as established by the manufacturer, at which design and performancecan be expected. ANSI/ITSDF B56.5rated 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 mu
