F45.03 - A-UGV Object Detection and Protection

SIGNIFICANCE AND USE
4.1 Assuming the vehicle stays on its path and an obstacle appears within the stop zone, the vehicle will collide with the obstacle. Even within the stop zone, obstacle detection should cause the vehicle to slow down as early as possible using non-contact sensing or contact bumpers. ANSI/ITSDF B56.5:2012 discusses a test method to detect standard test pieces beyond the minimum vehicle stopping distance at 50 % and 100 % of vehicle rated speeds.  
4.2 This test method can apply to A-UGVs for testing obstacle-sensing capabilities and automatic guided industrial vehicles in automatic mode of operation in non-restricted areas as described in ANSI/ITSDF B56.5.  
4.3 Researchers2, 3 used two-dimensional (2D) laser detection and ranging (LADAR) sensors mounted to an A-UGV. In contrast to the earlier experiments in which the test piece was static, in these experiments the A-UGV and the test piece were both moving. The 2D sensor was mounted to the A-UGV to scan horizontally with the beam approximately 10 cm (4 in.) above and parallel to the floor and confined to detecting the vehicle path (vehicle width) at the maximum stopping distance (coasting or braking). Note that the sensor scan width can be set to any width, including the ANSI/ITSDF B56.5 standard, non-hazard zone vehicle path width of the vehicle plus 0.5 m (1.6 ft). The test piece entered the A-UGV path within the exception zone, was detected by the safety sensor, and the distance of the test piece to the A-UGV and the A-UGV stopping distance measurements were calculated and analyzed.
SCOPE
1.1 This test method measures an automatic/automated/autonomous-unmanned ground vehicle (A-UGV) kinetic energy reduction when objects appear in the A-UGV path and within the stop-detect range of the vehicle safety sensors in situations in which the desired reaction is for the vehicle to stop as opposed to avoiding the obstacle by traveling on an alternative path. The test method measures the performance of the A-UGV only and does not measure the effect on the stability of loads. This test method describes the use of one test piece as described in ANSI/ITSDF B56.5. Other test pieces from ANSI/ITSDF B56.5 could be used. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method does not substitute for required safety testing under ANSI/ITSDF B56.5 or other normative standards.  
1.2 Performing Location—This test method shall be performed in a testing laboratory or the location where the apparatus and environmental test conditions are implemented. Environmental conditions are recorded as specified in Practice F3218.  
1.3 Units—The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to inch-pound units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.4 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.  
1.5 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.

SIGNIFICANCE AND USE
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 ...
SCOPE
1.1 This standard guide provides a standard set of reference objects for use with automatic, automated, or autonomous unmanned ground vehicles (A-UGVs). The objects set includes typical objects found within industrial areas including, but not limited to: warehouses, hospitals, office spaces, and manufacturing facilities. Also, the objects set includes three test pieces from ANSI/ITSDF B56.5. The objects set is intended for use by A-UGV manufacturers and users to test the performance of A-UGVs when near the object(s). The objects set is minimized to include characteristics that have proven to cause interrupted A-UGV operation. Beyond this set of objects, Test Method F3418 is used to record most any object.  
1.2 The objects set contains one each of the following items: pallet, racking, ladder, cable cover, table, cart, intravenous (IV) pole, chair, forklift tines, and test pieces shown in ANSI/ITSDF B56.5, including a horizontal cylinder, vertical cylinder, and flat plate. The objects set is not intended to be exhaustive.  
1.3 It is intended that the objects set mainly includes off-the-shelf items. This standard guide provides a reporting method to provide obstacle information (for example, model, serial number, photograph) to allow obstacle use for exact replication of tests.  
1.4 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.5 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the re...

SIGNIFICANCE AND USE
4.1 This section lists and explains the characteristics that are used to describe a stationary obstacle.  
4.2 It is essential that sufficient information about the obstacle is recorded using this practice so that the obstacle can be replicated. This will allow comparisons to be made between test method performances that use obstacles with similar characteristics.  
4.3 Class:  
4.3.1 When describing an obstacle to be utilized in ASTM Committee F45 test methods, two classes are defined:
4.3.1.1 Genuine—The obstacle being described is an existing real world object (for example, a chair, table, machinery, or equipment). Any identifying information, such as make, model, SKU, etc., should be recorded.
4.3.1.2 Artifact—The obstacle being described has been constructed according to the characteristics outlined in this section. Obstacles of this class are intended to be replicable.  
4.4 Parts of the Obstacle:  
4.4.1 Each characteristic can be used to describe a property of the entire obstacle or a part of the obstacle. All parts of the obstacle must be uniquely named and identified in the test report described in Section 6.  
4.5 Shape:  
4.5.1 The shape refers to the relationships between the external, physical boundaries of the obstacle. All shapes can be in contact with the ground or elevated above the ground (see Fig. 1, Fig. 2, and Fig. 3). The unique obstacle shapes are:
4.5.1.1 Bar (for example, column)
4.5.1.2 Panel (for example, sign, pallet, shelf)
4.5.1.3 Cuboid
4.5.1.4 Sphere
4.5.1.5 Cone
4.5.1.6 Other—Obstacle shapes that do not fall into one of the above categories (for example, a pile of fabric). An obstacle can use a single shape to describe its overall volume or multiple shapes to describe parts of the obstacle. For example, the shape of a desk could be described as an elevated horizontal panel with two vertical panels spanning from the ground to the horizontal panel or the shape of a table could be described as an elevated hori...
SCOPE
1.1 This practice specifies physical characteristics that can be used to describe obstacles utilized within ASTM Committee F45 test methods. The obstacle characteristics specified in this practice are not described with respect to the manner in which they will be sensed or detected by an A-UGV. Rather, the obstacles are described according to their real world characteristics. For example, the real world characteristics of a wooden box that is flat black on one side can be described according to its actual dimensions, material, and color. An A-UGV with a lidar sensor may have difficulty detecting the side of the box that is flat black, which could make the obstacle appear smaller to the A-UGV compared to its actual dimensions in the real world. However, this may not be the case for other A-UGVs due to the wide variety of sensors used to detect obstacles, so the actual, real world characteristics are used to describe it instead.  
1.2 Real world, existing objects can be used as obstacles and described using this practice. The characteristics specified herein can also be used to construct test artifacts to use as representative obstacles that are intended to have similar characteristics to that of real world obstacles. The obstacles that can be described using this practice may be found in indoor and outdoor environments.  
1.3 This practice does not purport to cover all relevant obstacle characteristics that may have an effect on A-UGV performance. The characteristics specified in this practice are limited to the physical properties which are considered to be the most salient in terms of the effects they can have on A-UGV performance. As such, the user of this standard may select the level of detail to use in order to describe the characteristics of an obstacle in such a way. The characteristics are also limited to those which are more easily measurable and replicable when comparing test method results that use similar o...

SIGNIFICANCE AND USE
4.1 Assuming the vehicle stays on its path and an obstacle appears within the stop zone, the vehicle will collide with the obstacle. Even within the stop zone, obstacle detection should cause the vehicle to slow down as early as possible using non-contact sensing or contact bumpers. ANSI/ITSDF B56.5:2012 discusses a test method to detect standard test pieces beyond the minimum vehicle stopping distance at 50 % and 100 % of vehicle rated speeds.  
4.2 This test method can apply to A-UGVs for testing obstacle-sensing capabilities and automatic guided industrial vehicles in automatic mode of operation in non-restricted areas as described in ANSI/ITSDF B56.5.  
4.3 Researchers2, 3 used two-dimensional (2D) laser detection and ranging (LADAR) sensors mounted to an A-UGV. In contrast to the earlier experiments in which the test piece was static, in these experiments the A-UGV and the test piece were both moving. The 2D sensor was mounted to the A-UGV to scan horizontally with the beam approximately 10 cm (4 in.) above and parallel to the floor and confined to detecting the vehicle path (vehicle width) at the maximum stopping distance (coasting or braking). Note that the sensor scan width can be set to any width, including the ANSI/ITSDF B56.5 standard, non-hazard zone vehicle path width of the vehicle plus 0.5 m (1.6 ft). The test piece entered the A-UGV path within the exception zone, was detected by the safety sensor, and the distance of the test piece to the A-UGV and the A-UGV stopping distance measurements were calculated and analyzed.
SCOPE
1.1 This test method measures an automatic/automated/autonomous-unmanned ground vehicle (A-UGV) kinetic energy reduction when objects appear in the A-UGV path and within the stop-detect range of the vehicle safety sensors in situations in which the desired reaction is for the vehicle to stop as opposed to avoiding the obstacle by traveling on an alternative path. The test method measures the performance of the A-UGV only and does not measure the effect on the stability of loads. This test method describes the use of one test piece as described in ANSI/ITSDF B56.5. Other test pieces from ANSI/ITSDF B56.5 could be used. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method does not substitute for required safety testing under ANSI/ITSDF B56.5 or other normative standards.  
1.2 Performing Location—This test method shall be performed in a testing laboratory or the location where the apparatus and environmental test conditions are implemented. Environmental conditions are recorded as specified in Practice F3218.  
1.3 Units—The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to inch-pound units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.4 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.  
1.5 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.