Codeofchina.com is in charge of this English translation. In case of any doubt about the English translation, the Chinese original shall be considered authoritative.
This standard is developed in accordance with the rules given in GB/T 1.1-2009.
This standard, by means of translation, is identical to IEC 62849: 2016 Performance evaluation methods of mobile household robots.
The Chinese documents consistent and corresponding with the normative international documents in this standard are as follows:
——GB/T 1804-2000 General tolerances—Tolerances for linear and angular dimensions without individual tolerance indications (eqv ISO 2768-1: 1989)
—— GB/T 38048.1-2020 Surface cleaning appliances—Part 1: General requirements on test material and test equipment
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. The issuing body of this document shall not be held responsible for identifying any or all such patent rights.
This standard was proposed by the China National Light Industry Council.
This standard is under the jurisdiction of the National Technical Committee on Household Electric Appliances of Standardization Administration of China (SAC/TC 46).
Drafting organizations of this standard: China Household Electric Appliances Research Institute, Ecovacs Robot Co., Ltd., Xiangcheng Research Institute of Robotics and Intelligent Equipment,Soochow University, Jiangsu Media Cleaning Appliances Co., Ltd., Suzhou Aotemin Robot Technology Service Co., Ltd., Shenzhen Silver Star Intelligent Technology Co., Ltd., CTI Testing and Certification Group Co., Ltd., Suzhou GTT Service Co., Ltd., Beijing Roborock Technology Co., Ltd., Qingdao Haier Intelligent Technology R&D Co., Ltd., Panasonic Home Appliance Research and Development (Hangzhou) Co., Ltd.
Chief drafters of this standard: MA Dejun, QU Weixin, ZHOU Wei, CHEN Yuan, SUN Lining, WU Meng, ZHANG Guodong, LIU Panchao, XIONG Kaisheng, SHEN Rui, GAO Xiang, FANG Honggen, JIA Chungeng.
Introduction
This standard will cover the generic performance test methods for mobile household robots within 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.
Performance evaluation methods of mobile household robots
1 Scope
This standard specifies the performance testing and evaluation methods for the common features of mobile household robots.
This standard is applicable to various mobile household robots.
This standard is neither concerned with safety nor with performance requirements.
2 Normative references
The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
GB/T 34454-2017 Dry cleaning robots for household use—Methods of measuring performance (IEC 62929: 2014, IDT)
ISO 554 Standard atmospheres for conditioning and/or testing—Specifications
ISO 2768-1: 1889 General tolerances—Part 1: Tolerances for linear and angular dimensions without individual tolerance indications
IEC TS 62885-1 Surface cleaning appliances—Part 1: General requirements on test material and test equipment
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
household robot
actuated mechanism with a degree of autonomy, operating within the household and similar environment, to perform intended tasks
Note: 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 return to the docking station for charging or after completion of the work task or called by user
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 user where the robot travels with intermittent or continuous user interaction
4 General conditions for testing
4.1 Conditions prior to testing
The robot shall be completely assembled and fully operational in accordance with the manufacturer's instructions. All necessary leveling operations, alignment procedures and functional tests shall be satisfactorily completed.
Prior to any tests, the batch number, condition and history of the product shall be recorded.
Note: Condition information can include model number/name, software version and accessories used (if any).
4.2 Operating and environmental conditions
4.2.1 General
The performance characteristics determined by the related test methods in this standard are valid only under the environmental and normal operating conditions as stipulated by the manufacturer.
4.2.2 Operating conditions
All tests shall be carried out under conditions in which the mobile household robot is operated in normal use; the normal operating conditions used in the tests shall be consistent with the manufacturer's instructions.
Performance will be affected by the installed software. Therefore, installed software shall not be modified or changed during a set of tests.
4.2.3 Atmospheric conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under the following atmospheric conditions (in accordance with ISO 554):
——Temperature: (20 ± 5)°C;
——Atmospheric pressure: 86 kPa ~ 106 kPa.
Temperature and humidity conditions, if provided, shall be aligned with manufacturer's instructions for good repeatability and reproducibility. Care should be taken to avoid changes of conditions during a test.
4.2.4 Lighting conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under the following lighting conditions:
——Illuminance: (200 ± 50) 1x;
——Color temperature: 2000 K ~ 6000 K.
Measurement shall be made at the test surface.
4.3 Test equipment and materials
Measurements on carpets shall be carried out on a level floor consisting of a smooth untreated laminated pine tree plate or equivalent panel, at least 15 mm thick and of a size appropriate for the test.
Prior to the test, equipment and materials for measurements (devices, test carpets, test dust, etc.) to be used shall be kept for at least 16 h at the standard atmospheric conditions specified in 4.2.3.
4.4 Number of samples
All tests shall be carried out on the same sample or the same batch of samples of the robot with its accessories, if any.
Tests carried out to simulate stresses a robot may be exposed to during normal use, possibly causing impairment of the robot's performance, may require additional samples of replaceable parts. Such tests shall be carried out at the end of a test process.
4.5 Preparation of battery
Any new battery shall need to go through at least one full charge and complete discharge cycle in the robot prior to conducting the first test of the robot.
Complete discharge in the robot shall be done by performing a normal operation following the manufacturer's instructions.
Note: The complete discharge means low battery signal, if any, without any motion.
Foreword i
Introduction ii
1 Scope
2 Normative references
3 Terms and definitions
4 General conditions for testing
5 Units
6 Pose measurements
7 Capability of homing function
8 Operation time per single charge
9 Managing a single step
10 Obstacle avoidance
11 Cable traversing behavior
Annex A (Normative) Specific requirements for furniture
Bibliography
Codeofchina.com is in charge of this English translation. In case of any doubt about the English translation, the Chinese original shall be considered authoritative.
This standard is developed in accordance with the rules given in GB/T 1.1-2009.
This standard, by means of translation, is identical to IEC 62849: 2016 Performance evaluation methods of mobile household robots.
The Chinese documents consistent and corresponding with the normative international documents in this standard are as follows:
——GB/T 1804-2000 General tolerances—Tolerances for linear and angular dimensions without individual tolerance indications (eqv ISO 2768-1: 1989)
—— GB/T 38048.1-2020 Surface cleaning appliances—Part 1: General requirements on test material and test equipment
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. The issuing body of this document shall not be held responsible for identifying any or all such patent rights.
This standard was proposed by the China National Light Industry Council.
This standard is under the jurisdiction of the National Technical Committee on Household Electric Appliances of Standardization Administration of China (SAC/TC 46).
Drafting organizations of this standard: China Household Electric Appliances Research Institute, Ecovacs Robot Co., Ltd., Xiangcheng Research Institute of Robotics and Intelligent Equipment,Soochow University, Jiangsu Media Cleaning Appliances Co., Ltd., Suzhou Aotemin Robot Technology Service Co., Ltd., Shenzhen Silver Star Intelligent Technology Co., Ltd., CTI Testing and Certification Group Co., Ltd., Suzhou GTT Service Co., Ltd., Beijing Roborock Technology Co., Ltd., Qingdao Haier Intelligent Technology R&D Co., Ltd., Panasonic Home Appliance Research and Development (Hangzhou) Co., Ltd.
Chief drafters of this standard: MA Dejun, QU Weixin, ZHOU Wei, CHEN Yuan, SUN Lining, WU Meng, ZHANG Guodong, LIU Panchao, XIONG Kaisheng, SHEN Rui, GAO Xiang, FANG Honggen, JIA Chungeng.
Introduction
This standard will cover the generic performance test methods for mobile household robots within 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.
Performance evaluation methods of mobile household robots
1 Scope
This standard specifies the performance testing and evaluation methods for the common features of mobile household robots.
This standard is applicable to various mobile household robots.
This standard is neither concerned with safety nor with performance requirements.
2 Normative references
The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
GB/T 34454-2017 Dry cleaning robots for household use—Methods of measuring performance (IEC 62929: 2014, IDT)
ISO 554 Standard atmospheres for conditioning and/or testing—Specifications
ISO 2768-1: 1889 General tolerances—Part 1: Tolerances for linear and angular dimensions without individual tolerance indications
IEC TS 62885-1 Surface cleaning appliances—Part 1: General requirements on test material and test equipment
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
household robot
actuated mechanism with a degree of autonomy, operating within the household and similar environment, to perform intended tasks
Note: 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 return to the docking station for charging or after completion of the work task or called by user
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 user where the robot travels with intermittent or continuous user interaction
4 General conditions for testing
4.1 Conditions prior to testing
The robot shall be completely assembled and fully operational in accordance with the manufacturer's instructions. All necessary leveling operations, alignment procedures and functional tests shall be satisfactorily completed.
Prior to any tests, the batch number, condition and history of the product shall be recorded.
Note: Condition information can include model number/name, software version and accessories used (if any).
4.2 Operating and environmental conditions
4.2.1 General
The performance characteristics determined by the related test methods in this standard are valid only under the environmental and normal operating conditions as stipulated by the manufacturer.
4.2.2 Operating conditions
All tests shall be carried out under conditions in which the mobile household robot is operated in normal use; the normal operating conditions used in the tests shall be consistent with the manufacturer's instructions.
Performance will be affected by the installed software. Therefore, installed software shall not be modified or changed during a set of tests.
4.2.3 Atmospheric conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under the following atmospheric conditions (in accordance with ISO 554):
——Temperature: (20 ± 5)°C;
——Atmospheric pressure: 86 kPa ~ 106 kPa.
Temperature and humidity conditions, if provided, shall be aligned with manufacturer's instructions for good repeatability and reproducibility. Care should be taken to avoid changes of conditions during a test.
4.2.4 Lighting conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under the following lighting conditions:
——Illuminance: (200 ± 50) 1x;
——Color temperature: 2000 K ~ 6000 K.
Measurement shall be made at the test surface.
4.3 Test equipment and materials
Measurements on carpets shall be carried out on a level floor consisting of a smooth untreated laminated pine tree plate or equivalent panel, at least 15 mm thick and of a size appropriate for the test.
Prior to the test, equipment and materials for measurements (devices, test carpets, test dust, etc.) to be used shall be kept for at least 16 h at the standard atmospheric conditions specified in 4.2.3.
4.4 Number of samples
All tests shall be carried out on the same sample or the same batch of samples of the robot with its accessories, if any.
Tests carried out to simulate stresses a robot may be exposed to during normal use, possibly causing impairment of the robot's performance, may require additional samples of replaceable parts. Such tests shall be carried out at the end of a test process.
4.5 Preparation of battery
Any new battery shall need to go through at least one full charge and complete discharge cycle in the robot prior to conducting the first test of the robot.
Complete discharge in the robot shall be done by performing a normal operation following the manufacturer's instructions.
Note: The complete discharge means low battery signal, if any, without any motion.
Contents of GB/T 40229-2021
Foreword i
Introduction ii
1 Scope
2 Normative references
3 Terms and definitions
4 General conditions for testing
5 Units
6 Pose measurements
7 Capability of homing function
8 Operation time per single charge
9 Managing a single step
10 Obstacle avoidance
11 Cable traversing behavior
Annex A (Normative) Specific requirements for furniture
Bibliography
