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    ASTM F3499 - 21

    Standard Test Method for Confirming the Docking Performance of A-UGVs

    Active Standard ASTM F3499 | Developed by Subcommittee: F45.02

    Book of Standards Volume: 15.08


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    Significance and Use

    7.1 A-UGVs operate in a wide range of applications such as manufacturing facilities and warehouses. The testing results of the candidate A-UGV shall describe, in a statistically significant way, the ability of the A-UGV to position itself at a fixed location or relative to a dock. This test method defines tests for use by manufacturers and users of A-UGVs to measure and record the docking performance. The test applies to different types of A-UGV, applications and test apparatus.

    7.2 Navigation—The test applies to all types of navigation. The capabilities of the A-UGV to apply its navigation method to a given environment will be objectively determined by its performance in the test.

    7.3 Vehicle—The test results of the candidate A-UGV will confirm, in a statistically significant way, how reliably an A-UGV arrives at a dock from one or more start locations. Refer to Test Method F3244 for typical vehicle configurations.

    7.4 Apparatus—The test method is scalable, using similar apparatus to interface to different A-UGVs.

    7.5 Defining a Successful Test—The probability that a repetition will be successful (R) and the confidence (C) in that probability are used to identify how many sequential successful repetitions are required to pass a test. The test requestor shall define these values and record them on the test report (see Appendix X1 Table X1.1).

    1. Scope

    1.1 This test method defines standard tests that demonstrate and confirm positioning of an A-UGV. Positioning, the repeatability of A-UGV location when stationary after completing maneuvers to a stop location, may be defined globally or locally relative to local infrastructure. The latter has become known as docking. See Terminology F3200-18a for terminology definitions. The test also includes a method to confirm the repeatability of height control of load transfer equipment, for example an A-UGV with fork tines.

    1.2 This test method is intended for use by A-UGV manufacturers, installers, and users to quantitatively confirm the maneuverability and repeatability of an A-UGV’s positioning or docking. Positioning and docking are similar operations and the tests described are applicable to either. The term docking will be used throughout this test method to include both global positioning and local docking. The tests facilitate comparative trials across a set of A-UGVs or multiple trials over a period of time.

    1.3 The tests can be carried out by many vehicles using different methods of location measurement and control to achieve the demanded performance. Vehicle configurations and vehicle components include:

    1.3.1 Vehicle load type (for example, fork lift, roller deck, trailer, flat deck);

    1.3.2 Vehicle drive mechanics (for example, steered tricycle, two-wheel differential, steered omni-directional or ‘mecanum wheel’ drives);

    1.3.3 Navigation sensors (for example, scanning laser, local beacons, floor marking, environmental features);

    1.3.4 Docking sensors (sensors, for example, camera, line detector, and laser scanner, which are used primarily for local measurement at the dock).

    1.4 The A-UGV may include roller tables, fork tines, robot arm(s) or other mechanisms to transfer the load or interact with the dock (for example, perform assembly). The standard test can be applied to A-UGVs with any of these load transfer mechanisms. The repeatability along each measured axis is measured and compared to a defined repeatability margin. The set of repeatability margins comprises the complete task performance margin (TPM).

    1.5 This test method shall be performed in a testing laboratory or the location where the specified apparatus and environmental conditions are implemented. Environmental conditions shall be recorded as specified in Practice F3218-17.

    1.6 Standard test apparatus is specified to be easily fabricated, facilitating self-evaluation by A-UGV developers and users, and providing practice for A-UGV developers, users, and potential users that exercise A-UGV actuators, sensors, and controls.

    1.7 The values stated in SI units are to be regarded as the standard. Where shown, the values in parentheses are approximate mathematical conversions to inch-pound units given for the purpose of specifying material dimensions or quantities. The values in parentheses are provided for information only and are not considered standard.

    1.8 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use. ANSI/ITSDF B56.5-2019 provides safety standards which must be adhered to during these A-UGV tests.

    1.9 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.


    2. Referenced Documents (purchase separately) The documents listed below are referenced within the subject standard but are not provided as part of the standard.

    ASTM Standards

    F3200 Terminology for Driverless Automatic Guided Industrial Vehicles

    F3218 Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods

    F3244 Test Method for Navigation: Defined Area

    F3327 Practice for Recording the A-UGV Test Configuration

    Other Standards

    ANSI/ITSDF B56.5-2019 Safety Standard for Driverless, Automatic Guided Industrial Vehicles and Automated Functions of Manned Industrial Vehicles

    BS EN 1525


    Referencing This Standard
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    DOI: 10.1520/F3499-21

    Citation Format

    ASTM F3499-21, Standard Test Method for Confirming the Docking Performance of A-UGVs, ASTM International, West Conshohocken, PA, 2021, www.astm.org

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