1、Designation: F3218 17Standard Practice forRecording Environmental Effects for Utilization with A-UGVTest Methods1This standard is issued under the fixed designation F3218; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of
2、 last revision. A number in parentheses indicates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.INTRODUCTIONWhen conducting test methods, it is important to consider the role that the environmental conditionsplay in the A-UGV
3、 performance. Various A-UGVs are designed to be operated both indoors andoutdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will beoperating these vehicles in a variety of environmental conditions. When conducting and replicatingCommittee F45 test methods by ve
4、hicle manufacturers and users, it is important to specify and recordthe environmental conditions under which the A-UGV is tested as there will be variations in vehicleperformance caused by the conditions, especially when comparing and replicating sets of test results.It is also important to consider
5、 changes in environmental conditions during the course of operations(for example, transitions between conditions). As such, environmental conditions specified in thispractice are both continuous and transitional; with the A-UGV stationary or in motion. This practiceprovides brief introduction to the
6、 following list of environmental conditions that can affectperformance of the A-UGV: lighting, external sensor emission, temperature, humidity, electricalinterference, ground surface, air quality.This practice then breaks down each condition into sub-categories so that the user can record thevarious
7、 aspects associated with the category when conductingA-UGV tests defined in Committee F45Test Methods , , those listed in the Related Materials section, and Terminology F3200.Itisrecommended that salient environment conditions be recorded when conducting Committee F45 testmethods, but is not require
8、d.1. Scope1.1 This practice describes a means to record the followingenvironmental conditions that may affect the performance ofA-UGVs: lighting, external sensor emission, temperature,ground surface, air quality, humidity, and electrical interfer-ence.1.2 The A-UGV operating ranges for each of the c
9、onditionslisted in 1.1 are described and parameterized in Section 4 andallow a basis for performance comparison in test methods. Theapproach is to divide the list of environmental conditions intosub-conditions that represent the various aspects of the majorcategory (for example, sunlight within ambi
10、ent lighting).Where necessary, this practice also provides guidelines (forexample, lighting direction) to record environmental condi-tions in an existing environment.1.3 The values stated in SI units are to be regarded as thestandard. The values given in parentheses are not precisemathematical conve
11、rsion to imperial units. They are closeapproximate equivalents for the purpose of specifying materialdimensions or quantities that are readily available to avoidexcessive fabrication costs of test apparatuses while maintain-ing repeatability and reproducibility of the test method results.These value
12、s given in parentheses are provided for informationonly and are not considered standard.1.4 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, health, and environ
13、mental practices and deter-mine the applicability of regulatory limitations prior to use.1.5 This international standard was developed in accor-dance with internationally recognized principles on standard-ization established in the Decision on Principles for theDevelopment of International Standards
14、, Guides and Recom-mendations issued by the World Trade Organization TechnicalBarriers to Trade (TBT) Committee.1This practice is under the jurisdiction of ASTM Committee F45 on DriverlessAutomatic Guided Industrial Vehicles and is the direct responsibility of Subcom-mittee F45.01 on Environmental E
15、ffects.Current edition approved July 1, 2017. Published October 2017. DOI: 10.1520/F3218-17.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United StatesThis international standard was developed in accordance with internationally recognized princip
16、les on standardization established in the Decision on Principles for theDevelopment of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.12. Referenced Documents2.1 ASTM Standards:2F3200 Terminology for Driverless A
17、utomatic Guided Indus-trial VehiclesF3244 Test Method for Navigation: Defined AreaF3265 Test Method for Grid-Video Obstacle Measurement2.2 Other Standards:ISO 14644-1 Cleanrooms and Associated Controlled Envi-ronments Part 1: Classification of Air Cleanliness byParticle Concentration3EN 12895 Electr
18、omagnetic Compatibility Emissions andImmunity4MIL-STD-462 EMI Emissions and Susceptibility5IEC 61000-4-1 Electromagnetic Compatibility (EMC) Part4-1: Testing and Measurement Techniques Overview ofImmunity Tests6IEC 610006 Emission Standards for Industrial Environ-ments63. Terminology3.1 Definitions
19、of Terms Specific to This Standard:3.1.1 between area, nan area of the apparatus that isbetween the start and goal locations within each test apparatusas defined by the test method.3.1.2 continuous, adjtime exposed to a single environ-mental condition(s).3.1.3 emitter, nexternal radiation sources th
20、at can affectthe A-UGV performance, for example: multiple time-of-flightcameras, fork-lift pedestrian lights, structured light sensor,light detection and ranging sensors (LIDAR).3.1.4 transition distance, namount of distance to changefrom one environmental condition to another.3.1.5 transition time,
21、 namount of time to change from oneenvironmental condition to another.3.1.6 transitional, adjmovement between environmentalconditions and the time exposed to the condition.4. Significance and Use4.1 Lighting:4.1.1 Various lighting conditions can potentially affectA-UGV optical sensor performance by
22、affecting sensor and inturn, A-UGV responsiveness. Lighting sources can includeambient lighting as well as light emitters associated A-UGVoperation. Two setups for lighting include direct and indirectsource applied to the A-UGV. Direct lighting can also includereflected light from a highly reflectiv
23、e surface and implies thatthe source is directed at the light-affected components of theA-UGV (for example, sensors). Indirect or ambient lightincludes lighting where the source is not directly applied to thelight-affected components of the A-UGV. Lighting exposure iseither continuous light applied
24、to the A-UGV or transitional inwhich the vehicle passes through various lighting conditionsand levels. Light intensity is divided into five levels exempli-fied through dark, typical indoor lighting, and full sunlight.4.1.2 Ambient Lighting Type:4.1.2.1 Exposed bulb,4.1.2.2 Spotlight,4.1.2.3 Sunlight
25、,4.1.2.4 Reflected,4.1.2.5 Light from another vehicle,4.1.2.6 Laser,4.1.2.7 Filtered.4.1.3 Ambient Lighting Source:4.1.3.1 Direct Highly-Concentrated, Directional Lighting,4.1.3.2 Indirect and Diffused.4.1.4 Ambient Lighting Source LocationRecord lightsource location and elevation with respect to th
26、e vehicle (referto Fig. 1).4.1.4.1 Elevation with respect to A-UGV path.4.1.4.2 Location with respect to the A-UGV (indicate lightsource on the test method drawing; for directional lightingonly).4.1.5 Lighting Levels:4.1.5.1 Level 1: 0 to 1 LUX (for example, dark).4.1.5.2 Level 2: 2 to 99 LUX (for e
27、xample, dim).4.1.5.3 Level 3: 100 to 1000 LUX (for example, officeenvironment).4.1.5.4 Level 4: 1001 to 9999 LUX (for example, brightindoors, dim outdoors).4.1.5.5 Level 5: 10 000 LUX and above (for example, fullsunlight).4.1.6 SpectrumIf useful to the test method, record thespectrum color and appro
28、ximate wavelength (for example,violet: 400 nm).4.1.7 Light Exposure:4.1.7.1 ContinuousThe same lighting sources and lightinglevels throughout the test apparatus (for example, start, be-tween area, and goal all have the same lighting condition).4.1.7.2 TransitionalMoving between two lighting levelsor
29、 lighting sources, or both.4.2 External Sensor Emission:4.2.1 When emitters are outside of the A-UGV (forexample, from another A-UGV, the environment) that canpotentially interfere with the A-UGV sensor system. External,unnatural radiation sources can affect theA-UGV performance,for example: multipl
30、e time-of-flight cameras, fork-lift pedes-trian lights, 3D structured light sensors, light detection andranging sensors (LIDAR).4.2.2 External Emitter Configuration:4.2.2.1 Type of emitter(s).4.2.2.2 Number of emitter(s).2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact
31、 ASTM Customer Service at serviceastm.org. For Annual Book of ASTMStandards volume information, refer to the standards Document Summary page onthe ASTM website.3Available from International Organization for Standardization (ISO), ISOCentral Secretariat, BIBC II, Chemin de Blandonnet 8, CP 401, 1214
32、Vernier,Geneva, Switzerland, http:/www.iso.org.4Available from British Standards Institution (BSI), 389 Chiswick High Rd.,London W4 4AL, U.K., http:/.5Available from U.S. Government Printing Office, Superintendent ofDocuments, 732 N. Capitol St., NW, Washington, DC 20401-0001, http:/www.access.gpo.g
33、ov.6Available from International Electrotechnical Commission (IEC), 3, rue deVaremb, 1st Floor, P.O. Box 131, CH-1211, Geneva 20, Switzerland, http:/www.iec.ch.F3218 1724.2.3 External Emitter Source LocationRecord emittersource location and elevation with respect to the vehicle (referto Fig. 1).4.2.
34、3.1 Elevation with respect to A-UGV path.4.2.3.2 Location with respect to the A-UGV.FIG. 1 Lighting and Air Velocity (see 4.7.4) Direction (a) Top View and (b) Side View and (c) Light Source Elevation Side View with Re-spect to the A-UGV; The “front” of the A-UGV is defined by vehicle manufacturerF3
35、218 1734.3 Temperature:4.3.1 Temperature variability and extremes can affect theA-UGV performance. The temperature exposure on theA-UGV can be continuous or transitional while the vehicle isstationary or moving. Temperature ranges span from low tohigh extremes expressed in five categories. Temperatu
36、re varia-tions can affect onboard electronics, create condensation, causehydraulic fluid viscosity, reduce battery life and recharge rate.4.3.2 Temperature Exposure:4.3.2.1 ContinuousA single temperature for a period oftime.4.3.2.2 TransitionalMoving between two continuous tem-perature levels.4.3.3
37、Temperature Levels (in C):4.3.3.1 Level 1: below 0 to 0C (for example, freezingconditions).4.3.3.2 Level 2: 0 to 15C (for example, perishable storage).4.3.3.3 Level 3: 16 to 26C (for example, office, ware-house).4.3.3.4 Level 4: 27 to 49C (for example, warehouse).4.3.3.5 Level 5: above 49C (for exam
38、ple, foundries,forges).4.4 Humidity:4.4.1 Humidity refers to the amount of water vapor con-tained in the air around the vehicle. High humidity combinedwith dew point temperature causes condensation that can shortelectronics and affect lenses and other A-UGV components.Greater than 60 % humidity caus
39、es a large increase in corro-sion of metallic parts. Low humidity, on the other hand, willsee a dramatic rise in static electricity and the need foradequate discharge.4.4.2 Relative Humidity Level:4.4.2.1 Low less than 30 %.4.4.2.2 Moderately Low 31 to 55 %.4.4.2.3 Moderately High 56 to 75%.4.4.2.4
40、High greater than 75 % and above.4.4.3 Dew Point TemperatureThe highest temperature atwhich airborne water vapor will condense to form liquid dew.4.5 Electrical Interference:4.5.1 Some surfaces are not conductive enough to provideadequate grounding for an A-UGV. Most ground vehicles havea floating g
41、round and all electronics are typically grounded tothe vehicle chassis. As static builds up causing the voltagedifference between the positive lead of the battery and thechassis to change, the performance of the electronic compo-nents of the vehicle may be negatively impacted. Strongmagnetic fields
42、can impact the onboard electrical components,in particular any data storage within the onboard computer.Many A-UGVs require wireless network connections for fullfunctionality. Radio frequency (RF) interference can degradethese networks and A-UGV capability.4.5.2 For Electro-magnetic compatibility is
43、sues, refer to:4.5.2.1 EN 12895 Electromagnetic Compatibility Emis-sions and Immunity.4.5.2.2 MIL-STD-462 EMI Emissions and Susceptibility.4.5.2.3 IEC 61000-4-1 Electromagnetic Compatibility(EMC) Part 4-1: Testing and Measurement Tech-niques Overview of Immunity Tests4.5.2.4 IEC 61000-6 Emission Sta
44、ndards for IndustrialEnvironments4.6 Ground Surface:4.6.1 A-UGV mobility is affected by ground surface condi-tions including surface: consistency and texture/roughness,gaps or step changes to elevation, deformability, grade (ramp)or undulation (lack of flatness), friction and particulates.4.6.2 Grou
45、nd Surface Consistency:4.6.2.1 ContinuousAsingle condition for a period of time.4.6.2.2 TransitionalMoving between two continuousground surface conditions.4.6.3 Ground Surface Type (record Smoothor Roughandthe surface type):4.6.3.1 Smooth (for example, concrete, tile, linoleum, car-pet).4.6.3.2 Roug
46、h (for example, gapped wood, cobblestone,large gravel, vegetation, raised metal floors, catwalks).4.6.4 Elevation Change:4.6.4.1 GapDepth and length of gap.4.6.4.2 StepHeight and length of step.4.6.5 Deformability:4.6.5.1 Rigid (for example, concrete, asphalt).4.6.5.2 Semi-rigid (for example, compac
47、ted dirt or gravel,wet sand, industrial carpet).4.6.5.3 Soft malleable (for example, snow, mud, dry sand,padded carpet).4.6.6 Grade (Ramp):FIG. 1 Lighting and Air Velocity (see 4.7.4) Direction (a) Top View and (b) Side View and (c) Light Source Elevation Side View with Re-spect to the A-UGV; The “f
48、ront” of the A-UGV is defined by vehicle manufacturer (continued)F3218 1744.6.6.1 Level 1: 0 to 5 % (for example, transitional ramp infactories).4.6.6.2 Level 2: 6 to 10 % (for example, yard ramp=8to9 %).4.6.6.3 Level 3: 11 to 15 % (for example, steep road grade).4.6.6.4 Level 4: 16 % and above.4.6.
49、7 Undulation (Lack of Flatness):4.6.7.1 Flat ground surface 0 to 6 mm variation over 3 m.4.6.7.2 Moderately flat ground surface more than 6 to 12mm variation over 3 m.4.6.7.3 Non-flat ground surface more than 13 to 51 mmvariation over 3 m.4.6.7.4 Outdoor more than 51 mm variation over 3 m.4.6.8 Coeffcient of Friction:4.6.8.1 High friction (for example, brushed concrete, as-phalt).4.6.8.2 Moderate friction (for example, polished/sealedconcrete, steel plates, packed dirt).4.6.8.3 Low friction (for
