4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5, 6, and 7.

4.2 Environmental Consistency: Static, Dynamic, Transitional: 

4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.

4.9.4.1 Concavity—Length, width, depth, and angle of gap (for example, hole, trench) with respect to a reference frame. The concavity may also be filled with another material (for example, expansion joint, caulk).

4.9.4.2 Protuberance—Length, width, depth, and angle of protrusion (for example, bump, threshold) with respect to a reference frame.

4.9.4.3 For each concavity/protuberance, a description of the concavity/protuberance should also be documented. Examples: sharp concavity (between loading dock and truck) vs. rounded concavity (pothole, floor divot); sharp protuberance (square channel metal) vs. rounded protuberance (cable or cable cover, speed bump/hump). Also, it should be noted if the concavity includes a material (for example, expansion joint, water, putty).

4.9.5 Deformability: 

4.9.5.1 Rigid (for example, concrete, asphalt).

4.9.5.2 Semi-rigid (for example, compacted dirt or gravel, wet sand, industrial carpet).

4.9.5.3 Soft – malleable (for example, snow, mud, dry sand, padded carpet).

4.9.6 Grade (Ramp)—Known infrastructure that could be a part of the system map.

4.9.6.1 Level 1*: 0  % to 3 % (for example, nominally flat floor).

4.9.6.2 Level 2*: 4 % to 7 % (for example, transitional ramp in factories).

4.9.6.3 Level 3: 8 % to 10 % (for example, yard ramp = 8 % to 9 %).

4.9.6.4 Level 4: 11 % to 15 % (for example, steep road grade).

4.9.6.5 Level 5: 16 % and above.

Note 4: ITSDF B56.5 defines a ramp as “a variation in floor grade in excess of 3 % and of a length where rating data variance is required.” UL 3100 Section 16.1 states “The AGV shall be capable of meeting all requirements for operation and control on an even grade and a sloped grade up to 3 % of grade.”

4.9.7 Stairs—Known infrastructure that could be part of the system map.

4.9.8 Undulation (Lack of Flatness on the Apparatus Ground Surface): 

4.9.8.1 Flat – 0 mm to 6 mm variation over 3 m.

4.9.8.2 Moderately flat – more than 6 mm to 12 mm variation over 3 m.

4.9.8.3 Non-flat – more than 12 mm to 51 mm variation over 3 m.

4.9.8.4 Outdoor – more than 51 mm variation over 3 m.

4.9.9 Particulates (document type and describe): 

4.9.9.1 None (for example, dry, clean).

4.9.9.2 Fine (for example, cardboard dust, concrete dust).

4.9.9.3 Coarse (for example, sand, pebbles).

4.9.10 If more specificity of measurement is required, the following standards may be used:

4.9.10.1 Deformability: ASTM Test Method E1274.

4.9.10.2 Undulation: ASTM Test Method E1155M.

4.9.10.3 Coefficient of Friction: ANSI B101.3.

4.10 Boundaries: 

4.10.1 Boundaries refer to the defining apparatus, existing structure, or ground anomalies, or combinations thereof, within which the system navigates. The characteristics for boundaries include:

4.10.2 Opaque walls (for example, white drywall, opaque plastic, reflective or flat black test boundaries, corrugated metal, curb from the road).

4.10.3 Semi-transparent walls – (for example, clear glass, frosted glass, translucent plastic).

4.10.4 Negative obstacles (for example, cliff, curb from the sidewalk, loading dock, drainage channel).

4.10.5 Virtual walls (for example, system prohibited areas mapped within the vehicle controller at edges of pedestrian walkways, edges of negative obstacles, restricted areas).

4.10.6 Porous walls (for example, wire mesh fencing, chain-link fencing).

4.10.7 Elevated dividers (for example, racking, post and beam fencing, retractable-belt dividers).

4.10.8 Building infrastructure (for example, machinery, equipment, system chargers).

4.10.9 Floor markings (for example, tape, paint).

4.10.10 Mixture of the above boundaries (for example, railing and kickplate in front of a negative drop-off at edge of a platform, post and beam fencing with wire mesh covering).

4.10.11 Moving boundaries (for example, moving sliding or hinged doors, moving curtains); the environment should be labeled as static unless the boundary moves during a test, in which case the environment should be labeled as dynamic, for example, a system drives past a soft partition that moves or a system drives through a soft partition that causes it to move.

4.10.12 If more specificity of measurement is required, the following standards and references may be used:

4.10.12.1 Floor Markings:

(1) Automotive Industry Action Group (AIAG) Occupational Health and Safety OH-2, Pedestrian and Vehicle Safety Guideline (includes description and marking depictions).

(2) ANSI/ITSDF B56.5 (section 8.11.2 describes Hazardous Zones).

(3) “Implementation of 5S Quality Tool in Manufacturing Company: A Case Study.”11

1.1 This practice describes “System” as a robotic, automatic, or autonomous system (for example, robot arm; automatic machine; automatic, automated, or autonomous – uncrewed ground vehicle (A-UGV)). When conducting test methods, it is important to consider the role that the environmental conditions play in the system performance. Various systems are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the system will be operating them in a variety of environmental conditions. When conducting and replicating F45 test methods by system manufacturers and users, it is important to specify and document the environmental conditions under which the system is to be tested as there will be variations in vehicle performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this practice are static, dynamic, or transitional, or combinations thereof; with the system stationary or in motion. This practice provides brief introduction to the following list of environmental conditions that can affect performance of the system: Lighting, External Sensor Emission, Temperature, Humidity, Electrical Interference, Air Quality, Ground Surface, and Boundaries. This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to system tests defined in ASTM F45 Test Methods E1274, F3200, and F3244. It is recommended that salient environment conditions be documented when conducting F45 test methods.

1.2 The environmental conditions listed in 1.1 to be documented for system(s) being tested are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the various aspects of the major category (for example, sunlight within ambient lighting). Where necessary, this practice also provides guidelines (for example, lighting direction) to document environmental conditions in an existing environment.

1.3 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.

1.4 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.