1、BS ISO 19649:2017Mobile robots VocabularyBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS ISO 19649:2017 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 19649:2017.The UK participation in its preparation was entrusted to Techn
2、ical Committee AMT/10, Robotics.A list of organizations represented on this committee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institut
3、ion 2017.Published by BSI Standards Limited 2017ISBN 978 0 580 86775 0 ICS 01.040.25; 25.040.30 Compliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 March 2017.Ame
4、ndments/corrigenda issued since publicationDate T e x t a f f e c t e dBS ISO 19649:2017 ISO 2017Mobile robots VocabularyRobots mobiles VocabulaireINTERNATIONAL STANDARDISO19649First edition2017-03Reference numberISO 19649:2017(E)BS ISO 19649:2017ISO 19649:2017(E)ii ISO 2017 All rights reservedCOPYR
5、IGHT PROTECTED DOCUMENT ISO 2017, Published in SwitzerlandAll rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, wit
6、hout prior written permission. Permission can be requested from either ISO at the address below or ISOs member body in the country of the requester.ISO copyright officeCh. de Blandonnet 8 CP 401CH-1214 Vernier, Geneva, SwitzerlandTel. +41 22 749 01 11Fax +41 22 749 09 47copyrightiso.orgwww.iso.orgBS
7、 ISO 19649:2017ISO 19649:2017(E)Foreword ivIntroduction v1 Scope . 12 Normative references 13 Terms and definitions . 13.1 General terms related to mobile robots 13.2 Terms related to locomotive structure . 23.3 Terms related to wheeled robots 33.4 Terms related to legged robots . 33.5 Terms related
8、 to locomotion . 43.6 Terms related to navigation . 6Annex A (informative) Examples 8Bibliography .10 ISO 2017 All rights reserved iiiContents PageBS ISO 19649:2017ISO 19649:2017(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national standards bodies
9、 (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations,
10、governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.The procedures used to develop this document and those intended for its further mai
11、ntenance are described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/ directives).
12、Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in the Introdu
13、ction and/or on the ISO list of patent declarations received (see www .iso .org/ patents).Any trade name used in this document is information given for the convenience of users and does not constitute an endorsement.For an explanation on the voluntary nature of standards, the meaning of ISO specific
14、 terms and expressions related to conformity assessment, as well as information about ISOs adherence to the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see the following URL: www .iso .org/ iso/ foreword .html.This document was prepared by Technical Committee I
15、SO/TC 299, Robotics.iv ISO 2017 All rights reservedBS ISO 19649:2017ISO 19649:2017(E)IntroductionWith the increase of mobile robots in both industrial and non-industrial applications, there is a growing need to define terms relating to mobile robots. ISO 8373 defines fundamental terms relating to ro
16、botics, but it does not define terms relating to mobile robots fully. This document defines terms for mobile platforms and mobile robots based on the definitions in ISO 8373:2012. ISO 2017 All rights reserved vBS ISO 19649:2017BS ISO 19649:2017Mobile robots Vocabulary1 ScopeThis document defines ter
17、ms relating to mobile robots that travel on a solid surface and that operate in both industrial robot and service robot applications. It defines terms used for describing mobility, locomotion and other topics relating to the navigation of mobile robots.2 Normative referencesThere are no normative re
18、ferences in this document.3 Terms and definitionsISO and IEC maintain terminological databases for use in standardization at the following addresses: ISO Online browsing platform: available at h t t p :/ www .iso .org/ obp IEC Electropedia: available at h t t p :/ www .electropedia .org/ 3.1 General
19、 terms related to mobile robots3.1.1mobile robotrobot able to travel under its own controlNote 1 to entry: A mobile robot can be a mobile platform (3.1.2) with or without manipulators.SOURCE: ISO 8373:2012, 2.133.1.2mobile platformassembly of all components of the mobile robot (3.1.1) which enables
20、locomotion (3.1.10)Note 1 to entry: A mobile platform can include a chassis which can be used to support a load.Note 2 to entry: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile base” to describe a mobile platform.SOURCE: ISO 8373:2012, 3.183.1.3mobilit
21、yability of the mobile platform (3.1.2) to travel within its environmentNote 1 to entry: Mobility can be used as a measure, e.g. an omni-directional mobile mechanism (3.3.6) usually has higher mobility than a differential drive (3.3.7) wheeled mechanism.3.1.4steeringcontrol of the direction of trave
22、l of the mobile platform (3.1.2)INTERNATIONAL STANDARD ISO 19649:2017(E) ISO 2017 All rights reserved 1BS ISO 19649:2017ISO 19649:2017(E)3.1.5configurationset of all joint values that completely determines the shape of the robot at any timeSOURCE: ISO 8373:2012, 3.53.1.6alignment configurationrefere
23、nce configurationspecified configuration (3.1.5) of the mobile platform (3.1.2) defined by the manufacturerEXAMPLE Zero-steering configuration for a wheeled robot, specified stand-still configuration of a legged robot3.1.7travel surfaceterrain on which the mobile robot (3.1.1) travelsSOURCE: ISO 837
24、3:2012, 7.73.1.8travel surface contact areaground contact areaarea of one or more wheels, tracks, or legs in contact with the travel surface (3.1.7)3.1.9support polygonconvex hull of all the travel surface contact areas (3.1.8)3.1.10locomotionself-propelled travel of the mobile platform (3.1.2)3.1.1
25、1turretrotating structure mounted on a mobile platform (3.1.2) to give independent orientation to any devices attached on the structure3.2 Terms related to locomotive structure3.2.1suspensionsystem or structure which absorbs shock or vibration from the travel surface (3.1.7)Note 1 to entry: The purp
26、ose of suspension can be to maintain the stability of the mobile platform (3.1.2) and to overcome roughness of the travel surface by maintaining contact to the travel surface.3.2.2active suspensionsuspension (3.2.1) whose damping and/or spring characteristics can be controlled3.2.3Zero Moment PointZ
27、MPpoint, on the support polygon (3.1.9), with respect to which the moment, resultant from all the forces exerted from the travel surface (3.1.7) to the mobile robot (3.1.1), has zero components in the horizontal direction2 ISO 2017 All rights reservedBS ISO 19649:2017ISO 19649:2017(E)3.3 Terms relat
28、ed to wheeled robots3.3.1steer wheelsteered wheelwheel whose orientation is controlled to change the direction of travel3.3.2drive wheeldriving wheelwheel that propels the mobile platform (3.1.2)3.3.3idler wheelfollowertrailing wheelwheel that does not propel the mobile platform (3.1.2) and is not a
29、ctively steered3.3.4swivel castorcastorassembly including one or more wheels in a housing which rotates freely around a vertical axis that has a horizontal offset from the wheels axis of rotation3.3.5omni-directional wheelwheel with rollers attached on its outer surface which allows a displacement i
30、n any direction, even perpendicular to the wheel itselfEXAMPLE Omniwheels (rollers oriented in 90 angle to the wheel axle), Mecanum wheels (rollers oriented in 45 angle to the wheel axle)Note 1 to entry: An omni-directional mobile mechanism (3.3.6) is often constructed using three or more omni-direc
31、tional wheels.3.3.6omni-directional mobile mechanismwheeled mechanism which enables instantaneous travel of the mobile robot (3.1.1) in any directionSOURCE: ISO 8373:2012, 3.19.3.3.7differential drivemechanism and method of motion control in which drive wheels (3.3.2) along an axis are controlled in
32、dependently, the speeds of the wheels effecting translation and the difference thereof effecting rotationNote 1 to entry: This term can also apply to tracked robots.3.4 Terms related to legged robots3.4.1gaitpattern of cyclic motion of the leg(s) for legged locomotion (3.1.10)3.4.2stride lengthstrid
33、etravel distance of legged robot for one cycle of gait (3.4.1) ISO 2017 All rights reserved 3BS ISO 19649:2017ISO 19649:2017(E)3.4.3walking periodgait periodtime of one cycle of gait (3.4.1)3.4.4leg phaseratio of time delay of the start of swing state (3.4.6) of a leg from that of the reference leg
34、to the walking period (3.4.3)3.4.5support statestance statestate of a leg in which the leg is in contact with the travel surface (3.1.7)3.4.6swing staterecovery statetransfer statestate of a leg in which the leg is not in contact with the travel surface (3.1.7)3.4.7duty factorratio of the duration o
35、f the support state (3.4.5) of a leg to the walking period (3.4.3)3.4.8gait diagramdiagram of cyclic motion of the legs in time for legged locomotion (3.1.10)EXAMPLE A gait diagram for crawl gait (3.4.1) of a quadruped is shown in Figure A.1.3.5 Terms related to locomotion3.5.1travel surface reactio
36、n forceground reaction forceforce exerted to the mobile platform (3.1.2) from the travel surface (3.1.7) through the travel surface contact area (3.1.8)3.5.2travel surface contact pressureground contact pressurepressure exerted to the mobile platform (3.1.2) from the travel surface (3.1.7) with whee
37、ls, tracks or legs through the travel surface contact area (3.1.8)3.5.3overturning momentminimum moment required to overturn a mobile robot (3.1.1) from a statically stable pose (3.6.1)Note 1 to entry: This moment is dependent on surface conditions, e.g. slope.3.5.4tractionmaximum frictional force t
38、hat can be produced between travel surface (3.1.7) and mobile robot (3.1.1) wheels, tracks or legs4 ISO 2017 All rights reservedBS ISO 19649:2017ISO 19649:2017(E)3.5.5mobile platform coordinate systemcoordinate system referenced to one of the components of a mobile platform (3.1.2)Note 1 to entry: I
39、SO 9787:2013, 5.5, specifies a mobile platform coordinate system, Op- Xp- Yp Zp. The origin of the mobile platform coordinate system, Op, is the mobile platform origin. The +Xpaxis is normally taken in the forward direction of the mobile platform. The +Zpaxis is normally taken in the upward directio
40、n of the mobile platform. See Figure A.2SOURCE: ISO 8373:2012, 4.7.6, modified Original Note 1 to entry has been deleted and new Note 1 to entry has been added.3.5.6steer angleangular displacement of the axle of a steer wheel (3.3.1) about the +ZpaxisNote 1 to entry: Steer angle is usually zero when
41、 the wheel axle is aligned with Ypdirection of the mobile platform (3.1.2).Note 2 to entry: See mobile platform coordinate system (3.5.5).3.5.7forward travelmovement of the mobile platform (3.1.2) along its +XpaxisNote 1 to entry: See mobile platform coordinate system (3.5.5).3.5.8reverse travelback
42、ward travelmovement of the mobile platform (3.1.2) along its XpaxisNote 1 to entry: See mobile platform coordinate system (3.5.5).3.5.9traverselateral travelmovement of the mobile platform (3.1.2) along its YpaxisNote 1 to entry: See mobile platform coordinate system (3.5.5).3.5.10diagonal travelmov
43、ement of the mobile platform (3.1.2) as a combination of forward travel (3.5.7)/reverse travel (3.5.8) and traverse (3.5.9)3.5.11omni-directional travelmovement of the mobile platform (3.1.2) whose direction of travel can be changed instantaneously and arbitrarily by means of an omni-directional mob
44、ile mechanism (3.3.6)3.5.12turningmovement of the mobile platform (3.1.2) causing a change of the orientation of the mobile platform coordinate system (3.5.5)Note 1 to entry: Turning is typically accompanied by the change of the direction of travel of the mobile platform.Note 2 to entry: Table A.1 p
45、rovides a comparison of turning, pivoting (3.5.13) and spinning (3.5.14). ISO 2017 All rights reserved 5BS ISO 19649:2017ISO 19649:2017(E)3.5.13pivotingpivot turningrotating with translation during which one wheel, track or leg contact point stays in one place on the travel surface (3.1.7) to be use
46、d for the centre of turning (3.5.12)Note 1 to entry: Table A.1 provides a comparison of turning, pivoting and spinning (3.5.14).3.5.14spinningspin turningin-place rotation, or rotation about the mobile platform (3.1.2) origin without translationNote 1 to entry: Table A.1 provides a comparison of tur
47、ning (3.5.12), pivoting (3.5.13) and spinning.3.5.15turning radiusradius of curvature of the path of the mobile platform (3.1.2) origin3.5.16turning widthminimum width of the rectangular passage within which the mobile platform (3.1.2) can complete a specific type of turning (3.5.12)3.5.17cornering
48、forceforce exerted on the mobile robot (3.1.1) by centrifugal force when travelling3.5.18balance controlbalance managementprocess of maintaining the static and dynamic stability of the mobile robot (3.1.1)3.6 Terms related to navigation3.6.1posecombination of position and orientation in spaceNote 1
49、to entry: Pose for the manipulator normally refers to the position and orientation of the end effector or the mechanical interface.Note 2 to entry: Pose for a mobile robot (3.1.1) can include the set of poses of the mobile platform (3.1.2) and of any manipulator attached to the mobile platform, with respect to the world coordinate system.SOURCE: ISO 8373:2012, 4.53.6.2simultaneous localization and mappingSLAMconstructing and refining the environment map while using features of the partly constructed map for recognizing t
