Standard Guide for Set of Objects used with A-UGVs

Importancia y uso:

4.1 A-UGVs navigate, dock, or perform other tasks, or combinations thereof, within for example manufacturing, warehouse, hospital, and other environments. Objects (defined in Terminology F3200 as anything in the environment that is not infrastructure) and obstacles (defined in Terminology F3200 as static or moving objects that obstruct the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. (see Test Method F3244, Guide F3470) where the object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users, and researchers, and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. Additionally, ANSI/ITSDF B56.5 includes three test pieces that represent (1) the human body torso lying horizontally and (2) standing human leg, both with worst case, flat black coatings, and (3) flat objects (for example, boxes, doors, manufactured materials), including a worst case, highly (optically) reflective coating. The survey results are listed here and are considered example objects found in warehousing/manufacturing, healthcare, domestic, and retail environments:

4.1.1 Pallets, racking, wheeled carts;

4.1.2 Other A-UGVs or AMRs;

4.1.3 Steps or stairs;

4.1.4 Tables or desks, ladders;

4.1.5 Cables or hoses, or both;

4.1.6 Chairs, overhangs (that is, on objects);

4.1.7 IV poles; and

4.1.8 Forklifts/forklift tines.

As some objects may not be cost-effectively available for only A-UGV object detection tests (for example, 4.1.2, 4.1.3, and 4.1.8), the remaining objects are potentially more cost-effective as objects and are described in this guide as the standard set of objects.

4.2 The objects can vary greatly within their category. For example, pallets can be made of wood, plastic, or metal; have a variety of dimensions; can have wheels or no wheels on the bottom; are not coated or coated with varying reflective coatings. As such, the standard objects set provided in this guide describes a specific set of objects and characteristics that are highly repeatable across their users.

4.3 The number of objects within the set is expected to increase as A-UGVs improve in capabilities and intelligence, and therefore, where A-UGV implementations expand.

Subcomité:

F45.03

Volúmen:

15.13

Número ICS:

35.240.60 (IT applications in transport), 43.020 (Road vehicles in general)

Palabras clave:

A-UGV; automatic guided vehicle; mobile robot;