1.1 该测试方法定义了证明和确认无人值守地面车辆定位的标准测试。定位，即A-UGV位置在完成机动到停止位置后静止时的重复性，可以相对于本地基础设施进行全局或局部定义。后者被称为对接。参见术语 F3200 -18a用于术语定义。该试验还包括一种方法，用于确认负载转移设备高度控制的重复性，例如带有叉齿的a-UGV。 1.2 本测试方法旨在供无人值守地面车辆制造商、安装商和用户使用，以定量确认无人值守地面车辆定位或对接的可操作性和可重复性。定位和对接是类似的操作，所述测试适用于其中任何一种。 术语对接将在整个测试方法中使用，包括全球定位和本地对接。这些测试有助于跨一组a-UGV或一段时间内的多个试验进行比较试验。 1.3 许多车辆可以使用不同的位置测量和控制方法进行测试，以达到所需的性能。车辆配置和车辆部件包括: 1.3.1 车辆荷载类型（例如，叉车、辊道台、拖车、平板）； 1.3.2 车辆驱动机械（例如，转向三轮车、两轮差速器、转向全向或“机械轮”驱动）； 1.3.3 导航传感器（例如，扫描激光、本地信标、地面标记、环境特征）； 1.3.4 对接传感器（传感器，例如摄像机、测线仪和激光扫描仪，主要用于码头的局部测量）。 1.4 A-UGV可能包括辊道、叉齿、机器人臂或其他机制，以转移负载或与码头互动（例如，执行组装）。标准测试可应用于具有任何这些负载转移机制的无人地面车辆。测量沿每个测量轴的重复性，并与定义的重复性裕度进行比较。重复性裕度集包括完整的任务性能裕度（TPM）。 1.5 本试验方法应在试验实验室或实施规定仪器和环境条件的位置进行。应按照实践中的规定记录环境条件 F3218 -17. 1.6 标准测试仪器被指定为易于制造，便于A-UGV开发人员和用户进行自我评估，并为- UGV开发人员、用户和使用A-UGV执行器、传感器和控制的潜在用户。 1.7 以国际单位制表示的数值应视为标准。如图所示，括号中的值是为指定材料尺寸或数量而给出的英寸-磅单位的近似数学转换。括号中的值仅供参考，不被视为标准值。 1.8 本标准并非旨在解决与其使用相关的所有安全问题（如有）。本标准的用户有责任在使用前制定适当的安全、健康和环境实践，并确定监管限制的适用性。 ANSI/ITSDF B56.5-2019提供了在这些过程中必须遵守的安全标准- UGV测试。 1.9 本国际标准是根据世界贸易组织技术性贸易壁垒（TBT）委员会发布的《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认标准化原则制定的。 ====意义和用途====== 7.1 无人值守地面车辆广泛应用于制造设施和仓库等领域。候选A-UGV的测试结果应以具有统计意义的方式描述A-UGV将自身定位在固定位置或相对于船坞的能力。该测试方法定义了A-UGV制造商和用户用于测量和记录对接性能的测试。该测试适用于不同类型的- UGV、应用和测试设备。 7.2 导航- 该测试适用于所有类型的导航。无人值守地面车辆将其导航方法应用于给定环境的能力将由其在测试中的性能客观决定。 7.3 车辆- 候选A-UGV的测试结果将以具有统计意义的方式确认A-UGV从一个或多个起始位置到达码头的可靠性。参考测试方法 F3244 对于典型的车辆配置。 7.4 仪器- 该测试方法是可扩展的，使用类似的设备连接到不同的无人地面车辆。 7.5 定义成功的测试- 重复成功的概率（R）和该概率的置信度（C）用于确定通过测试需要多少连续的成功重复。 测试请求者应定义这些值，并将其记录在测试报告中（参见 附录X1 表X1.1）。

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. ====== 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).