ASTM F3244-2017 Standard Test Method for Navigation Defined Area《航行的标准试验方法 定义区域》.pdf
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1、Designation: F3244 17Standard Test Method forNavigation: Defined Area1This standard is issued under the fixed designation F3244; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A number in parentheses ind
2、icates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.1. Scope1.1 Purpose:1.1.1 The purpose of this test method is to evaluate anA-unmanned ground vehicles (A-UGV) capability of travers-ing through a defined space with limited
3、 A-UGV clearance.This test method is intended for use by A-UGV manufacturers,installers, and users. This test method defines a set of generic2D area shapes representative of user applications and fordifferent A-UGV types.1.1.2 A-UGVs shall possess a certain set of navigationcapabilities appropriate
4、to A-UGV operations such as A-UGVmovement between structures that define the vehicle path. Anavigation system is the monitoring and controlling functionsof the A-UGV, providing frequent A-UGV updates of vehiclemovement from one place to another. A-UGV environmentsoften include various constraints to
5、 A-UGV mobility. In thistest method, apparatuses, procedures, tasks, and metrics arespecified that apply constraints and thereby, standard testmethods for determining an A-UGVs navigation capabilitiesare defined.1.1.3 This test method is scalable to provide a range ofdimensions to constrain the A-UG
6、V mobility during taskperformance.1.1.4 A-UGVs shall be able to handle many types of openand defined area complexities with appropriate precision andaccuracy to perform a particular task.1.1.5 The required mobility capabilities include prepro-grammed or autonomous movement or both from a start point
7、to an end point. Further mobility requirements may include:sustained speeds, vehicle reconfiguration to pass throughdefined spaces, payload,A-UGV movement within constrainedvolumes, or other vehicle capabilities, or combinations thereof.This test method is designed such that a candidate A-UGV canbe
8、evaluated as to whether or not it meets a set of userapplication requirements.1.1.6 Performing LocationThis test method shall be per-formed in a location where the apparatus and environmentaltest conditions can be fully implemented. Environmental con-ditions are specified and recorded.1.1.7 Addition
9、al test methods within Committee F45 areanticipated to be developed to address additional or advancedmobility capability requirements.1.2 UnitsThe values stated in SI units are to be regardedas the standard. The values given in parentheses are not precisemathematical conversions to inch-pound units.
10、 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 values given in parentheses a
11、re provided for informationonly and are not considered standard.1.3 This standard does not purport to address all of thesafety concerns, if any, associated with its use. Safety standardssuch as ANSI/ITSDF B56.5, BS EN 1525, or other safetystandards should be followed. It is the responsibility of the
12、 userof this standard to establish appropriate safety, health, andenvironmental practices and determine the applicability ofregulatory limitations prior to use.1.4 This international standard was developed in accor-dance with internationally recognized principles on standard-ization established in t
13、he Decision on Principles for theDevelopment of International Standards, Guides and Recom-mendations issued by the World Trade Organization TechnicalBarriers to Trade (TBT) Committee.2. Referenced Documents2.1 ASTM Standards:2F3200 Terminology for Driverless Automatic Guided Indus-trial VehiclesF321
14、8 Practice for Recording Environmental Effects forUtilization with A-UGV Test Methods2.2 ANSI/ITSDF Standard:3ANSI/ITSDF B56.5 Safety Standard for Driverless, Auto-matic Guided Industrial Vehicles and Automated Func-tions of Manned Industrial Vehicles1This test method is under the jurisdiction of AS
15、TM Committee F45 onDriverless Automatic Guided Industrial Vehicles and is the direct responsibility ofSubcommittee F45.02 on Docking and Navigation.Current edition approved July 1, 2017. Published October 2017. DOI: 10.1520/F3244-17.2For referenced ASTM standards, visit the ASTM website, www.astm.or
16、g, orcontact 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 Industrial Truck Standards Development Foundation (ITSDF),1750 K St. NW, Suite 460, Washington, DC 20006.Copyrig
17、ht 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 principles on standardization established in the Decision on Principles for theDevelopment of Internationa
18、l Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.12.3 BS Standard:4BS EN 1525 Safety of Industrial Trucks. Driverless Trucksand Their Systems3. Terminology3.1 DefinitionsIn Terminology F3200, additional defini-tions relevant t
19、o this test method are given.3.2 Definitions of Terms Specific to This Standard:3.2.1 end goal, nlocation at which a task will be com-pleted and is defined by a line perpendicular to vehiclemovement.3.2.2 goal(s), nlocation(s) the vehicle will pass through asa task is progressed.3.2.3 start, nlocati
20、on at which the A-UGV will begin thetest and is defined by a line perpendicular to vehicle move-ment.3.2.4 task, nsee Terminology F3200 definition.3.2.4.1 DiscussionFor this test method, one task is definedas when the A-UGV moves from the specified start location(Point A) to the goal location (Point
21、 B or C), as shown in Figs.1-7, traversing in a specified direction (forward or reverse).Where possible theA-UGV should return to the start line usingautonomous control without operator intervention.4. Summary of Test Method4.1 Area DefinitionThis test method consists of traversingmultiple repetitio
22、ns of a single task within a specified naviga-tion area defined by physical barriers, virtual barriers, or floormarkings, or combinations thereof. Further details are given inSection 6. Figs. 1-7 show possible defined area navigationconstraints and references to locations within the apparatus (A,B,
23、and C) and start and goal lines. Using these shapes, the testmethod can be used to determine an A-UGVs capability attraversing through an area of specified dimensions. The testmethod could also be used to determine the minimum space inwhich the A-UGV is able to traverse.4.2 Navigation Test Method:4.
24、2.1 The A-UGV shall drive through the apparatus (ex-amples are shown in Fig. 9 and Fig. 10). The completion of oneof the repetitions is when the A-UGV traverses from thespecified start location (A) across an end goal line (B or C).The A-UGV shall not make contact with any barrier (unlesswith only a
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