1、Designation: F3200 17bF3200 18Standard 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, health, and environmental practices and determine the
8、applicability ofregulatory 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 Recommendations issuedby t
9、he 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 Robots and Roboti
10、c 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, nautomatic, autom
11、ated 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 ofASTM Committee
12、 F45 on DriverlessAutomatic Guided Industrial Vehicles and is the direct responsibility of SubcommitteeF45.91 on Terminology.Current edition approved Aug. 15, 2017Feb. 1, 2018. Published August 2017February 2018. Originally approved in 2016. Last previous edition approved in 2017 asF3200 17a.F3200 1
13、7b. DOI: 10.1520/F3200-17B.10.1520/F3200-18.2 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, Chemin de Blan
14、donnet 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 adequately depic
15、t 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, PA 1942
16、8-2959. 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 system p
17、arameters are adjusted from conditions detected during theprocess.aisle, nin a facility, the passageway between locations where temporary or permanent obstructions may exist.aisle, guide path guidepath clearance, nminimum distance between fixed structures along the vehicle guide path or objectsinten
18、tionally positioned in a designated area along the vehicle guide path guidepath and the rigid parts of the vehicle, the load,and trailers if towed. ANSI/ITSDF B56.5ambient temperature, ntemperature of the atmosphere surrounding equipment.authorized person, ntrained or qualified personnel approved or
19、 assigned to perform a specific duty or duties.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 the function are: barcode, radio frequency datacommun
20、ication, 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 the vehicle moves in rotation.barcode, nsystem of print
21、ed patterns that represent alphanumeric data that are able to be optically read.barcode reader, 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 emer
22、gency 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 integrated controls, prevent acollision from occurring; see also obstacle missi
23、oning, 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 specified.controls and control system, nhardware and software required to operat
24、e 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.defined areas, nspace constrained by test method boundaries for A-unmanned ground vehicle (A-UGV) op
25、eration.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 steer.distance accuracy, ndifference between a command distance and the attained distance over a set of
26、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 point because of the systems inability to maintain a fixed position.echo, ntime elapsed between signal
27、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-stop.F3200 182environment map or environment model, nmap or model that describes an environment with its
28、 distinguishable 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.DISCUSSIO
29、NExamples 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 pe
30、rform 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
31、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.deviation, guidepath.ANSI/ITSDF B56.5interlock, v,nmethod to limit or prevent the operation of machine functions under
32、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 natural object identifiable on the environment map used for localization of the A-UGV
33、.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, nactual area of material in contact with and supporting a unit load.local operator,
34、 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 of the vehicle, including turns, unless otherwise specified and agreed to by theuser
35、 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 automation applications.manual mode, manual control, manual operation, noperating mode in w
36、hich 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 or map building or map generation, nconstructing the environment map to describe th
37、e 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 for manual control.
38、F3200 183maximum 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 can be cont
39、inuously 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 localizatio
40、n and the environment map; seesimultaneous localization and mapping (SLAM),localization.DISCUSSIONNavigation 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 characteristics of obje
41、cts 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 the performance of t
42、he 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 an object.obstacle
43、, 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, driving around).omni
44、-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-UGV control system.
45、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 intended path such that
46、, 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 velocity and not from e
47、xternal 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 the software program
48、 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).F3200 184DISCUSSIONExamples are encoder, potentiometer, tachometer generator, inertial sensor such as accelerometer, and gyros
49、cope.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 B56.5radio 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 equip
