BS EN 62849-2016 Performance evaluation methods of mobile household robots《家用移动机器人的性能评估方法》.pdf

1、Performance evaluation methods of mobile household robotsBS EN 62849:2016BSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06National forewordThis British Standard is the UK implementation of EN 62849:2016. It is identical to IEC 62849:2016.The UK participation in its pr

2、eparation was entrusted to TechnicalCommittee CPL/59, Performance of household electrical appliances.A list of organizations represented on this committee can be obtained onrequest to its secretary.This publication does not purport to include all the necessary provisions ofa contract. Users are resp

3、onsible for its correct application. The British Standards Institution 2016.Published by BSI Standards Limited 2016ISBN 978 0 580 88314 9ICS 97.030Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards P

4、olicy and Strategy Committee on 31 December 2016.Amendments/corrigenda issued since publicationDate Text affectedBRITISH STANDARDBS EN 62849:2016EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 62849 December 2016 ICS 97.030 English Version Performance evaluation methods of mobile household robo

5、ts (IEC 62849:2016) Mthodes dvaluation de laptitude la fonction des robots mobiles usage domestique (IEC 62849:2016) Verfahren zur Bewertung der Leistungsfhigkeit von mobilen Haushaltrobotern (IEC 62849:2016) This European Standard was approved by CENELEC on 2016-09-29. CENELEC members are bound to

6、comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CEN

7、ELEC Management Centre or to any CENELEC member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centr

8、e has the same status as the official versions. CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy

9、, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr El

10、ektrotechnische Normung CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members. Ref. No. EN 62849:2016 E BS EN 62849:2016EN 62849:2016 2 European foreword The text of document 59/655

11、/FDIS, future edition 1 of IEC 62849, prepared by IEC/TC 59 “Performance of household and similar electrical appliances“ was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 62849:2016. The following dates are fixed: latest date by which the document has to be implemented at

12、national level by publication of an identical national standard or by endorsement (dop) 2017-06-29 latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2020-09-29 Attention is drawn to the possibility that some of the elements of this document may be t

13、he subject of patent rights. CENELEC and/or CEN shall not be held responsible for identifying any or all such patent rights. Endorsement notice The text of the International Standard IEC 62849:2016 was approved by CENELEC as a European Standard without any modification. In the official version, for

14、Bibliography, the following note has to be added for the standard indicated : IEC 60335-1:2010 NOTE Harmonized as EN 60335-1:2012 (modified). BS EN 62849:2016EN 62849:2016 3 Annex ZA (normative) Normative references to international publications with their corresponding European publications The fol

15、lowing documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. NOTE 1 When an

16、 International Publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies. NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is available here: www.cenelec.eu. Publication Year Title EN/HD Year IEC/TS 62885-

17、1 - Surface cleaning appliances - Part 1: General requirements on test material and test equipment - - IEC 62929 2014 Cleaning robots for household use - Dry cleaning: Methods of measuring performance EN 62929 2014 ISO 554 - Standard atmospheres for conditioning and/or testing - Specifications - - I

18、SO 2768-1 1989 General tolerances - Part 1: Tolerances for linear and angular dimensions without individual tolerance indications EN 22768-1 1993 BS EN 62849:2016 2 IEC 62849:2016 IEC 2016 CONTENTS FOREWORD . 4 INTRODUCTION . 6 1 Scope 7 2 Normative references. 7 3 Terms and definitions 7 4 General

19、conditions for testing 8 4.1 Conditions prior to testing 8 4.2 Operating and environmental conditions 8 4.2.1 General . 8 4.2.2 Operating conditions 8 4.2.3 Atmospheric conditions 8 4.2.4 Lighting conditions . 9 4.3 Test equipment and materials 9 4.4 Number of samples . 9 4.5 Preparation of battery

20、9 4.6 Operation of the mobile household robot 9 4.7 Tolerance of dimensions . 9 5 Units . 10 6 Pose measurements 10 6.1 General . 10 6.2 Test bed . 10 6.2.1 General . 10 6.2.2 Test mode 11 6.3 Test method 11 7 Capability of homing function . 12 7.1 General . 12 7.2 Test bed . 12 7.3 Test method 13 8

21、 Operation time per single charge . 14 8.1 General . 14 8.2 Test bed . 14 8.3 Test method 15 9 Managing a single step 15 9.1 General . 15 9.2 Test bed . 16 9.3 Test method (autonomous modes) . 16 9.4 Test method (manual modes) 17 10 Obstacle avoidance . 17 10.1 General . 17 10.2 Test bed . 17 10.3 T

22、est method 18 11 Cable traversing behaviour 19 11.1 General . 19 11.2 Test bed . 19 11.2.1 General . 19 11.2.2 Circles mark setting . 20 BS EN 62849:2016IEC 62849:2016 IEC 2016 3 11.2.3 Cable . 20 11.3 Test method 21 Annex A (normative) . 23 A.1 General . 23 A.2 Door specification . 26 Bibiography 2

23、7 Figure 1 Pose measurements configuration 12 Figure 2 Capability of homing function configuration . 13 Figure 3 Operation time per single charge configuration 14 Figure 4 Managing a single step configuration 16 Figure 5 Starting position for managing a single step test . 17 Figure 6 Obstacle avoida

24、nce configuration . 18 Figure 7 Starting position for obstacle avoidance test . 18 Figure 8 Wire fastening configuration . 20 Figure 9 Floor circle marks schematic diagram . 20 Figure 10 Floor circle marks schematic diagram with robot . 21 Figure 11 Top view of cable traversing behaviour Configurati

25、on 21 Figure 12 Side view of cable traversing behaviour Configuration . 22 Figure A.1 Details of obstacles around table . 23 Figure A.2 Illustration of metal transition installation . 25 Figure A.3 Illustration of wood transition Installation . 25 Figure A.4 Detail view of checker board and transiti

26、ons 26 Figure A.5 Illustration of four-panel door . 26 Table 1 Tolerance of linear dimension (from ISO 2768-1) 10 Table 2 Tolerance of external radius and chamfer heights (from ISO 2768-1) 10 Table A.1 Dimensions of furniture and obstacles 24 BS EN 62849:2016 4 IEC 62849:2016 IEC 2016 INTERNATIONAL

27、ELECTROTECHNICAL COMMISSION _ PERFORMANCE EVALUATION METHODS OF MOBILE HOUSEHOLD ROBOTS FOREWORD 1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising all national electrotechnical committees (IEC National Committees). The object of IEC is

28、to promote international co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and in addition to other activities, IEC publishes International Standards, Technical Specifications, Technical Reports, Publicly Available Specifications (PAS) and

29、Guides (hereafter referred to as “IEC Publication(s)”). Their preparation is entrusted to technical committees; any IEC National Committee interested in the subject dealt with may participate in this preparatory work. International, governmental and non-governmental organizations liaising with the I

30、EC also participate in this preparation. IEC collaborates closely with the International Organization for Standardization (ISO) in accordance with conditions determined by agreement between the two organizations. 2) The formal decisions or agreements of IEC on technical matters express, as nearly as

31、 possible, an international consensus of opinion on the relevant subjects since each technical committee has representation from all interested IEC National Committees. 3) IEC Publications have the form of recommendations for international use and are accepted by IEC National Committees in that sens

32、e. While all reasonable efforts are made to ensure that the technical content of IEC Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any misinterpretation by any end user. 4) In order to promote international uniformity, IEC National Committees unde

33、rtake to apply IEC Publications transparently to the maximum extent possible in their national and regional publications. Any divergence between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in the latter. 5) IEC itself does not provide any att

34、estation of conformity. Independent certification bodies provide conformity assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any services carried out by independent certification bodies. 6) All users should ensure that they have the latest edition

35、 of this publication. 7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and members of its technical committees and IEC National Committees for any personal injury, property damage or other damage of any nature whatsoever, whether direct

36、 or indirect, or for costs (including legal fees) and expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC Publications. 8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is indispensabl

37、e for the correct application of this publication. 9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of patent rights. IEC shall not be held responsible for identifying any or all such patent rights. International Standard IEC 62849 has bee

38、n prepared by IEC technical committee 59: Performance of household and similar electrical appliances. The text of this standard is based on the following documents: FDIS Report on voting 59/655/FDIS 59/656/RVD Full information on the voting for the approval of this standard can be found in the repor

39、t on voting indicated in the above table. This publication has been drafted in accordance with the ISO/IEC Directives, Part 2. BS EN 62849:2016IEC 62849:2016 IEC 2016 5 The committee has decided that the contents of this publication will remain unchanged until the stability date indicated on the IEC

40、 website under “http:/webstore.iec.ch“ in the data related to the specific publication. At this date, the publication will be reconfirmed, withdrawn, replaced by a revised edition, or amended. IMPORTANT The colour inside logo on the cover page of this publication indicates that it contains colours w

41、hich are considered to be useful for the correct understanding of its contents. Users should therefore print this document using a colour printer. BS EN 62849:2016 6 IEC 62849:2016 IEC 2016 INTRODUCTION This standard will cover the generic performance test methods for mobile household robots within

42、one document. However this current version is applicable for indoor floor supported wheeled or wheel-track robots with focus on mobility and power consumption related performance. As the needs for manipulation related performance grows, it will be added into this generic performance standard. BS EN

43、62849:2016IEC 62849:2016 IEC 2016 7 PERFORMANCE EVALUATION METHODS OF MOBILE HOUSEHOLD ROBOTS 1 Scope This International Standard applies to mobile household robots and provides performance testing and evaluation methods for common features of various mobile household robots. This standard is neithe

44、r concerned with safety nor with performance requirements. 2 Normative references The following documents are referred to in the text in such a way that some or all of their content constitutes requirements of this document. For dated references, only the edition cited applies. For undated reference

45、s, the latest edition of the referenced document (including any amendments) applies. IEC TS 62885-1, Surface cleaning appliances Part 1: General requirements on test material and test equipment IEC 62929:2014, Cleaning robots for household use Dry cleaning: Methods of measuring performance ISO 554,

46、Standard atmospheres for conditioning and/or testing Specifications ISO 2768-1:1989, General tolerances Part 1: Tolerances for linear and angular dimensions without individual tolerance indications 3 Terms and definitions For the purposes of this document, the following terms and definitions apply.

47、ISO and IEC maintain terminological databases for use in standardization at the following addresses: IEC Electropedia: available at http:/www.electropedia.org/ ISO Online browsing platform: available at http:/www.iso.org/obp 3.1 household robot actuated mechanism with a degree of autonomy, operating

48、 within the household and similar environment, to perform intended tasks Note 1 to entry: Operating includes travel and/or robot body movement. 3.2 mobile household robot household robot able to travel under its own control 3.3 capability of homing function capability of a mobile household robot to

49、return to the charge station(s) for charging or after completion of the work task or called by user BS EN 62849:2016 8 IEC 62849:2016 IEC 2016 3.4 pose the combination of position and orientation 3.5 autonomous mode mode set by user where the robot travels horizontally with no user interaction 3.6 manual mode mode set by the user where the robot travels with intermittent or continuous user interaction 4 General conditions for testing 4.1