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GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 53.080
CCS J 83
Replacing GB/T 30030-2013
Automated Guided Vehicle - Vocabulary
Issued on: MAY 23, 2023
Implemented on: MAY 23, 2023
Issued by. State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword... 3
1 Scope... 5
2 Normative References... 5
3 Terms and Definitions... 5
3.1 General terms... 5
3.2 Structural components... 7
3.3 Navigation... 9
3.4 Performance parameters... 11
3.5 Movement direction... 13
3.6 Upper control system... 15
3.7 Energy supply mode... 16
Index... 17
Foreword
This Document was drafted as per the rules specified in GB/T 1.1-2020 Directives for
Standardization – Part 1.Rules for the Structure and Drafting of Standardizing Documents.
This Document replaced GB/T 30030-2013 Automated Guided Vehicle (AGV) – Vocabulary.
Compared with GB/T 30030-2013, the major technical changes of this Document are as follows
besides the structural adjustments and editorial modifications.
a) Delete 18 terms including "vehicle control system", "upper control system", "guidance",
"fixed path guidance", "free path guidance", "coordinate guidance", "GPS navigation",
"secondary positioning", "laser navigation sensor", "positioning mark", "reflective tape",
"standby point", "online charging", "offline charging", "safety sign", "safe area", "slow
driving distance", and "parking distance" (see 2.3, 2.4, 2.6, 2.7, 2.8, 3.4, 3.8, 7.6, 9.8,
10.2, 10.5, 11.5, 11.11, 11.12, 12.1, 12.2, 12.3, and 12.4 of the 2013 Edition);
b) Delete the terms related to transfer mode (see Clause 6 of the 2013 Edition);
c) Add the terms related to drive structure (see 3.2.2, 3.2.3, and 3.2.4 of this Edition);
d) Add 23 terms including “path planning”, “assisted positioning”, “common zone”,
“hazardous zone”, “restricted zone”, “detection section”, “warning field”, “protective
field”, “navigation 2D code”, “navigation magnetic spot”, “magnetic spot navigation”,
“radio station navigation”, “2D code navigation”, “RFID navigation”, “system effective
operation rate”, “maximum speed”, “repeatability”, “rated load”, “monitor system”,
“auto charging”, “manual charging”, “contactless charging”, and “battery exchange” (see
3.1.5, 3.1.7, 3.2.12, 3.2.13, 3.2.14, 3.2.15, 3.2.16, 3.2.17, 3.3.2, 3.3.3, 3.3.8, 3.3.14,
3.3.15, 3.3.16, 3.4.2, 3.4.4, 3.4.8, 3.4.9, 3.6.2, 3.7.1, 3.7.2, 3.7.3, and 3.7.4 of this Edition);
e) Change the term "guidance" to "navigation" (see 3.3 of this Edition; 2.6 of the 2013
Edition);
f) Change the Chinese term, English equivalent and definition of "guide line" and "attitude
accuracy" (see 3.3.5, 3.4.7 of this Edition;10.4, 7.5 of the 2013 Edition);
g) Change the Chinese term and English equivalent of "chassis motion center" (see 3.5.1 of
this Edition; 8.1 of the 2013 Edition);
h) Change the English equivalent and definition of "navigation accuracy", "positioning
accuracy" and "pivot" (see 3.4.5, 3.4.6, 3.5.7 of this Edition; 7.3, 7.4, 8.6 of the 2013
Edition);
i) Change the Chinese term of "material limited switch" (see 3.2.22 of this Edition; 9.2 of
the 2013 Edition);
Automated Guided Vehicle – Vocabulary
1 Scope
This Document defines common terms for automated guided vehicles and their systems.
This Document applies to product development, design, manufacturing and application of
automated guided vehicles.
2 Normative References
There are no normative references in this Document.
3 Terms and Definitions
3.1 General terms
3.1.1 Automated guided vehicle
Equipment with material handling or operation capabilities, characterized by wheeled
(including tracked) movement, and autonomous movement along a preset route based on
environmental markers or external guidance signals.
3.1.2 Automated guided vehicle system
A system that consists of an automated guided vehicle (3.1.1), an upper control system, a
navigation system, a communication system, and a charging and power supply system, etc.
NOTE. See Figure 1.
A device for the manual operation of the automated guided vehicle (3.1.1).
3.1.9 Driving assembly
A device that provides driving and steering power for the automated guided vehicle (3.1.1).
3.1.10 Steer-driving assembly
A structure that uses an independent steering device to achieve the steering of the driving
assembly (3.1.9).
3.1.11 Differential-driving assembly
A structure that uses the speed difference between different drive wheels (3.2.10) to achieve the
steering of the drive assembly (3.1.9).
3.1.12 Driving motor
A motor that powers the drive wheels.
3.1.13 Steering motor
A motor that provides steering power.
3.2 Structural components
3.2.1 Chassis
A basic structural part of the automated guided vehicle (3.1.1).
3.2.2 Assembly driving
A structure that uses only a driving assembly (3.1.9) to achieve the driving and steering of the
automated guided vehicle (3.1.1).
3.2.3 Un-assembly driving
A structure that uses only driving wheel (3.2.10) to achieve the driving and steering of the
automated guided vehicle (3.1.1).
NOTE. Mecanum wheel is included.
3.2.4 Hybrid driving
A structure in which a driving assembly and a non-driving assembly simultaneously drive the
automated guided vehicle (3.1.1).
3.2.5 Sole-wheel driving
A mode of using a single wheel to provide driving force.
3.2.6 Dual-wheel driving
A mode of using two wheels to provide driving force.
3.2.7 Multi-wheel driving
A mode of using three or more wheels to provide driving force.
3.2.8 Individual steering
A mode of achieving the steering function by an independent steering device.
3.2.9 Differential steering
A mode of using two or more driving devices without individual steering devices to achieve the
steering function by utilizing the speed difference between different driving wheels (3.2.10).
3.2.10 Driving wheel
A wheel that provides driving force for the automated guided vehicle (3.1.1).
3.2.11 Driven wheel; caster
Non-powered running wheels on the automated guided vehicle (3.1.1).
3.2.12 Common zone
An area where automated guided vehicle (3.1.1) is allowed to be used together with other
moving objects.
3.2.13 Hazardous zone
An area within the operating range of the automated guided vehicle (3.1.1) that may pose a
safety risk to human beings.
3.2.14 Restricted zone
An area within the operating range of the automated guided vehicle (3.1.1) to which access by
unauthorized persons is restricted.
3.2.15 Detecting section
A section where the automatic guided vehicle (3.1.1) can detect obstacles using a non-contact
obstacle detecting device and perform corresponding operations.
NOTE. It includes warning field, protective field, and emergency stop field.
Reflective marker that is used for navigation (3.1.3).
3.3.2 Navigation 2D code
A 2D graphic encoding that contains navigation (3.1.3) information.
3.3.3 Magnetic tape
A continuous strip of magnetic media that is used for navigation (3.1.3).
3.3.4 Magnetic spot
A discontinuous point-like magnetic media that is used for navigation (3.1.3).
3.3.5 Inductive wire
A metal wire that is used for navigation (3.1.3).
3.3.6 Inductive navigation
Navigation (3.1.3) that is achieved by using on-board sensors to identify the frequency of
electromagnetic signals on the inductive wire (3.3.5) along the driving path of the automated
guided vehicle (3.1.1).
3.3.7 Magnetic tape navigation
Navigation (3.1.3) that is achieved by using on-board sensors to identify magnetic field signals
from a magnetic tape (3.3.3) on the driving path of the automated guided vehicle (3.1.1).
3.3.8 Magnetic spot navigation
Navigation (3.1.3) that is achieved by using on-board sensors to identify magnetic field signals
from magnetic spot (3.3.4) on the driving path of the automated guided vehicle (3.1.1).
3.3.9 Optical navigation
Navigation (3.1.3) that is achieved by using an on-board optical sensor to identify color signals
on the driving path of the automated guided vehicle (3.1.1).
3.3.10 Laser reflector navigation
Navigation (3.1.3) that is achieved by obtaining the position information of the reflector (3.3.1)
through the on-board laser sensor within the operating area of the automatic guided vehicle
(3.1.1).
3.3.11 Laser natural navigation
Navigation (3.1.3) that is achieved by obtaining information about the surrounding environment
of the operating area of the automatic guided vehicle (3.1.1) through the on-board laser sensor.
3.3.12 Inertial navigation
Navigation (3.1.3) that is achieved by obtaining angular velocity and ground positioning
identification information from the on-board inertial sensor within the operating area of the
automated guided vehicle (3.1.1).
3.3.13 Visual navigation
Navigation (3.1.3) that is achieved by obtaining image information of the surrounding
environment of the operating area of the automatic guided vehicle (3.1.1) through the on-board
visual sensor.
3.3.14 Radio station navigation
Navigation (3.1.3) that is achieved through data transmission between the on-board mobile
terminal and the ground fixed base station within the operating area of the automatic guided
vehicle (3.1.1).
NOTE. It includes navigation forms such as ultra-wideband (UWB), global satellite positioning system
(GPS/Beidou), and 5G base station, etc.
3.3.15 2D code navigation
Navigation (3.1.3) that is achieved by obtaining navigation 2D code (3.3.2) information through
on-board sensors within the operating area of the automated guided vehicle (3.1.1).
3.3.16 RFID navigation
Navigation (3.1.3) that is achieved by acquiring RFID tag information through on-board sensors
within the operating area of the automated guided vehicle (3.1.1).
3.3.17 Hybrid navigation
Navigation that is achieved by applying two or more navigation (3.1.3) modes.
3.4 Performance parameters
3.4.1 System capacity
The maximum number of tasks that the automated guided vehicle system (3.1.2) can
accomplish per unit time.
3.4.2 System effective operation rate
The Ratio of the automated guided vehicle system (3.1.2) between the sum of trouble-free
working time and the total working time.
1 – turning motion;
2 – pivot motion.
Figure 4 – Schematic diagram of movement mode
3.5.7 Pivot
The automatic guided vehicle (3.1.1) performs a rotational movement with the chassis (3.2.1)
movement reference point as the rotation center.
NOTE. See Figure 4.
3.6 Upper control system
3.6.1 Dispatching system
A control system that conducts monitoring and controlling, task dispatching, and traffic
management of the automated guided vehicles (3.1.1).
3.6.2 Monitor system
A general term for software and relevant components used to monitor and control the operation
(operation status, task information, traffic conditions, etc.) of an automated guided vehicle
system (3.1.2).
3.6.3 Map
A data map that designs and plans the driving path according to the actual operating
environment of the automated guided vehicle (3.1.1).
NOTE. The map contains elements such as point (3.6.6), segment (3.6.7), and station (3.6.8).
3.6.4 Shortest path
According to the map (3.6.3) data, the path that the automated guided vehicle (3.1.1) takes from
the current position to the target position at the minimum time consumption in theory.
3.6.5 Optimal path
According to the map (3.6.3) data and real-time traffic status data, the driving path that make
the automated guided vehicle system (3.1.2) operate at maximum efficiency.
3.6.6 Point
The normal parking position of the automated guided vehicle (3.1.1).
3.6.7 Segment
The trajectory of the automatic guided vehicle (3.1.1) moving between points (3.6.6).
3.6.8 Station
The point (3.6.6) at which the automated guided vehicle (3.1.1) performs an operation (such as
charging, transferring, etc.).
3.6.9 Block
The phenomenon that the automated guided vehicle (3.1.1) stops and waits because the path it
is about to travel is occupied.
3.6.10 Dead lock
The phenomenon that two or more automated guided vehicles (3.1.1) occupy each other's path
resources, causing the related automated guided vehicles to be unable to continue to operate
normally.
3.6.11 Log
A file that is used to store information such as important events and errors that occur during
system operation.
3.7 Energy supply mode
3.7.1 Auto charging
The automatic guided vehicle (3.1.1) is charged under the control of the dispatching system
(3.6.1).
3.7.2 Manual charging
The automatic guided vehicle (3.1.1) is separated from the control of the dispatching system
(3.6.1) and charging is achieved through human intervention.
3.7.3 Contactless charging
The automatic guided vehicle (3.1.1) is charged by contactless induction devices.
3.7.4 Battery exchange
The automatic guided vehicle (3.1.1) can be powered by exchanging batteries.
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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