IEC/ASTM 62885-7:2020
(Main)Surface cleaning appliances - Part 7: Dry-cleaning robots for household or similar use - Methods for measuring the performance
Surface cleaning appliances - Part 7: Dry-cleaning robots for household or similar use - Methods for measuring the performance
IEC/ASTM 62885-7:2020 is applicable to dry-cleaning robots for household use or under conditions similar to those in households.
The purpose of this document is to specify the essential performance characteristics of dry- cleaning robots that are of interest to users and to describe methods for measuring these characteristics.
This document is neither concerned with safety requirements nor with performance requirements.
This first edition of IEC/ASTM 62885-7 cancels and replaces IEC 62929:2014. This edition constitutes a technical revision.
This edition includes the following significant technical changes with respect to IEC 62929:2014:
a) the box test has been cancelled;
b) the set of straight-line tests have been extended to contain also tests on removal of different kinds of debris both from hard floors and carpets;
c) the set of straight-line tests also contains a test on the removal of fibres from carpets;
d) as a miscellaneous test, a method for the determination of energy consumption has been added;
e) a separate clause on test material and equipment has been added.
Appareils de nettoyage des sols - Partie 7: Robots de nettoyage à sec à usage domestique ou analogue - Méthodes de mesure de l'aptitude à la fonction
L'IEC/ASTM 62885-7:2020 s'applique aux robots de nettoyage à sec pour usage domestique ou utilisation dans des conditions similaires à celles rencontrées dans des conditions domestiques
Le présent document a pour objet de spécifier les principales caractéristiques d’aptitude à la fonction des robots de nettoyage à sec présentant un intérêt pour les utilisateurs et de décrire des méthodes de mesure de ces caractéristiques.
Le présent document ne couvre ni les exigences de sécurité ni les exigences d'aptitude à la fonction.
Cette première édition de l'IEC/ASTM 62885-7 annule et remplace l'IEC 62929:2014. Cette édition constitue une révision technique.
Cette édition inclut les modifications techniques majeures suivantes par rapport à l'IEC 62929:2014:
a) l'essai du caisson a été annulé;
b) l'ensemble des essais en trajectoire rectiligne a été élargi pour inclure également des essais d’élimination de différents types de débris aussi bien sur des sols durs que sur des tapis;
c) l'ensemble des essais en trajectoire rectiligne inclut également un essai d’élimination de fibres d’un tapis;
d) une méthode de détermination de la consommation d'énergie a été ajoutée en tant qu’essai divers;
e) un article distinct concernant le matériau et l'équipement d’essai a été ajouté.
General Information
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IEC/ASTM 62885-7 ®
Edition 1.0 2020-10
INTERNATIONAL
STANDARD
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Surface cleaning appliances –
Part 7: Dry-cleaning robots for household or similar use – Methods for
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IEC/ASTM 62885-7 ®
Edition 1.0 2020-10
INTERNATIONAL
STANDARD
colour
inside
Surface cleaning appliances –
Part 7: Dry-cleaning robots for household or similar use – Methods for
measuring the performance
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
ICS 97.080 ISBN 978-2-8322-8540-4
– 2 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
CONTENTS
FOREWORD . 6
INTRODUCTION . 8
1 Scope . 9
2 Normative references . 9
3 Terms and definitions . 9
4 General conditions for testing . 11
4.1 General . 11
4.2 Atmospheric conditions . 11
4.3 Lighting conditions . 12
4.4 Test equipment and materials . 12
4.5 Number of samples . 12
4.6 Preparation of the battery . 12
4.7 Running-in of a new cleaning robot . 13
4.8 Operation of the cleaning robot . 13
4.9 Measurement of collected dust weight . 13
4.10 Measurement resolution and accuracy . 13
4.11 Tolerance of dimensions . 14
5 Cleaning performance – Straight line . 14
5.1 General . 14
5.2 Preparation of test . 14
5.2.1 Pre-treatment of cleaning robot . 14
5.2.2 Preconditioning of test floor . 15
5.2.3 Pre-treatment of test carpet . 15
5.3 Test mode . 16
5.3.1 General . 16
5.3.2 Access to test mode . 16
5.3.3 Test mode action . 17
5.3.4 Speed verification . 17
5.4 Dust removal from hard floor . 18
5.4.1 Test bed . 18
5.4.2 Preparation of test . 18
5.4.3 Test method . 18
5.4.4 Determination of dust removal ability . 19
5.5 Dust removal from carpet . 20
5.5.1 Test bed . 20
5.5.2 Preparation of test . 20
5.5.3 Test method . 20
5.5.4 Determination of dust removal ability . 21
5.6 Medium size debris removal from hard floor . 21
5.6.1 Test bed . 21
5.6.2 Preparation of test . 21
5.6.3 Test method . 21
5.6.4 Determination of medium size debris removal ability . 21
5.7 Medium size debris removal from carpet . 22
5.7.1 Test bed . 22
5.7.2 Preparation of test . 22
© IEC/ASTM 2020
5.7.3 Test method . 22
5.7.4 Determination of medium size debris removal ability . 22
5.8 Large debris removal from hard floor . 22
5.8.1 Test bed . 22
5.8.2 Preparation of test . 22
5.8.3 Test method . 24
5.8.4 Determination of large debris removal ability . 24
5.9 Large debris removal from carpet . 24
5.9.1 Test bed . 24
5.9.2 Preparation of test . 24
5.9.3 Test method . 25
5.9.4 Determination of large debris removal ability . 25
5.10 Fibre removal from carpet . 25
5.10.1 Test bed . 25
5.10.2 Preparation of test . 25
5.10.3 Test method . 27
5.10.4 Determination of fibre removal ability . 27
6 Mobility . 28
6.1 General . 28
6.2 Test bed . 29
6.3 Preparation of test . 29
6.3.1 Test conditions . 29
6.3.2 Preconditioning of test floor . 29
6.3.3 Pre-treatment of cleaning robot . 29
6.4 Test method . 29
6.4.1 General . 29
6.4.2 Minimum passable gap width . 30
6.4.3 Minimum passable height . 31
6.4.4 Maximum passable transition height . 31
6.4.5 Maximum passable threshold height . 32
6.5 Determination of mobility results . 33
7 Autonomous navigation/coverage test . 34
7.1 General . 34
7.2 Preparation of test . 34
7.2.1 Test bed . 34
7.2.2 Test conditions . 34
7.3 Test method . 34
7.4 Performance measurement . 36
8 Miscellaneous . 38
8.1 Energy consumption of a cleaning robot. 38
8.1.1 General . 38
8.1.2 Test conditions . 38
8.1.3 Test method . 39
8.2 Airborne acoustical noise . 41
8.3 Straight-line cleaning speed . 41
8.3.1 General . 41
8.3.2 Preparation . 41
8.3.3 Test method . 41
8.3.4 Determination of straight-line cleaning speed . 42
– 4 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
9 Test material and equipment . 44
9.1 Straight-line test bed . 44
9.1.1 Hard floor . 44
9.1.2 Carpet . 44
9.2 Mobility test bed . 45
9.2.1 Basic test bed configuration . 45
9.2.2 Minimum passable gap width – additional equipment . 46
9.2.3 Minimum passable height – additional equipment . 47
9.2.4 Maximum passable transition height – additional equipment . 48
9.2.5 Maximum passable threshold height – additional equipment . 48
9.3 Coverage test bed. 49
9.3.1 Floor configuration . 49
9.3.2 Wall and ceiling configuration . 55
9.3.3 General conditions . 62
10 Instructions for use . 63
Annex A (informative) Calculation of coverage . 64
A.1 Definitions. 64
A.2 Calculating orifice pass coverage . 64
Annex B (informative) Comprehensive cleaning performance metric . 66
Annex C (informative/normative) Detailed images of fibre removal ability . 67
Bibliography . 72
Figure 1 – Test mode action . 17
Figure 2 – Dust distribution devices . 18
Figure 3 – Large debris template . 23
Figure 4 – Large debris template hole alignment . 24
Figure 5 – Straight-line fibre removal from carpet test bed configuration . 25
Figure 6 – Exemplary picture of fibre distribution . 26
Figure 7 – Exemplary picture of judgement area . 27
Figure 8 – Starting positions and orientations . 30
Figure 9 – Minimum passable gap width test . 30
Figure 10 – Suggested process to determine the minimum passable gap width . 31
Figure 11 – Minimum passable height test . 31
Figure 12 – Maximum passable transition height test . 32
Figure 13 – Process to determine the maximum passable transition height . 32
Figure 14 – Maximum passable threshold height test . 33
Figure 15 – Starting positions for navigation test. 36
Figure 16 – Exemplary graph of coverage test result. 38
Figure 17 – Straight-line speed measurement areas . 43
Figure 18 – Straight-line hard floor test bed configuration . 44
Figure 19 – Straight-line carpet test bed configuration . 45
Figure 20 – Basic test bed configuration for mobility testing . 45
Figure 21 – Test bed with an additional adjustable wall . 46
Figure 22 – Part 1 and part 2 of the wall . 46
Figure 23 – Test bed with an additional tunnel . 47
© IEC/ASTM 2020
Figure 24 – Test bed with additional transition and its sectional view . 48
Figure 25 – Test bed with additional threshold . 49
Figure 26 – Drawings of cylindrical and rectangular thresholds . 49
Figure 27 – Navigation/coverage test bed configuration . 50
Figure 28 – Details of obstacles around table . 51
Figure 29 – Illustration of metal transition installation . 53
Figure 30 – Illustration of wood transition installation . 53
Figure 31 – Detail view of checkerboard and transitions. 54
Figure 32 – Configuration of four walls and ceiling . 55
Figure 33 – Illustration of four-panel door . 59
Figure 34 – Illustration of window . 59
Figure 35 – Illustration of skirting board . 60
Figure 36 – Illustration of pendant light . 60
Figure 37 – Illustration of clock . 61
Figure 38 – Illustration of mirror . 61
Figure 39 – Illustration of picture . 62
Figure 40 – Illustration of curtains . 62
Figure A.1 – Robot coordinate frame . 64
Figure A.2 – Coverage step . 65
Figure C.1 – Detailed images for rating 1 . 67
Figure C.2 – Detailed images for rating 2 . 68
Figure C.3 – Detailed images for rating 3 . 69
Figure C.4 – Detailed images for rating 4 . 70
Figure C.5 – Detailed images for rating 5 . 71
Table 1 – Tolerance of dimensions . 14
Table 2 – Medium size debris . 21
Table 3 – Large Debris . 23
Table 4 – Rating system with exemplary pictures . 28
Table 5 – List of described mobility tests . 29
Table 6 – Reported results for each mobility test . 33
Table 7 – Overview of duration and the values that should be reported . 40
Table 8 – Dimensions of furniture and obstacles . 51
Table 9 – Wall and ceiling furniture . 56
– 6 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
SURFACE CLEANING APPLIANCES –
Part 7: Dry-cleaning robots for household or similar use –
Methods for measuring the performance
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 to promote international
co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and
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2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
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3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
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6) All users should ensure that they have the latest edition 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
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable 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/ASTM 62285-7 has been prepared by subcommittee 59F: Surface
cleaning appliances, of IEC technical committee 59: Performance of household and similar
electrical appliances, in co-operation with ASTM Committee F11: Vacuum cleaners, under the
IEC/ASTM Dual Logo Agreement.
It is published as a dual logo standard.
This first edition of IEC/ASTM 62885-7 cancels and replaces IEC 62929:2014. This edition
constitutes a technical revision.
This edition includes the following significant technical changes with respect to IEC 62929:2014:
a) the box test has been cancelled;
b) the set of straight-line tests have been extended to contain also tests on removal of different
kinds of debris both from hard floors and carpets;
c) the set of straight-line tests also contains a test on the removal of fibres from carpets;
© IEC/ASTM 2020
d) as a miscellaneous test, a method for the determination of energy consumption has been
added;
e) a separate clause on test material and equipment has been added.
The text of this International Standard is based on the following documents:
FDIS Report on voting
59F/393/FDIS 59F/401/RVD
Full information on the voting for the approval of this International Standard can be found in the
report on voting indicated in the above table.
This document has been drafted in accordance with the ISO/IEC Directives, Part 2.
In this standard, the following print types are used:
– terms defined in Clause 3: bold type.
A list of all parts in the IEC 62885 series, published under the general title Surface cleaning
appliances, can be found on the IEC website.
The committee has decided that the contents of this document will remain unchanged until the
stability date indicated on the IEC website under "http://webstore.iec.ch" in the data related to
the specific document. At this date, the document 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 which are considered to be useful for the correct understanding
of its contents. Users should therefore print this document using a colour printer.
– 8 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
INTRODUCTION
In addition to the performance measurement methods that are included in this International
Standard, a few more performance items have been reviewed and considered. The list of the
performance items that have been discussed over time but have not yet been included
comprises corner/edge dust pick-up, docking, fall-off prevention, and dust re-emissions.
The performance items that have been left out in this edition will be continuously reviewed and
will soon be included in future editions of this document.
© IEC/ASTM 2020
SURFACE CLEANING APPLIANCES –
Part 7: Dry-cleaning robots for household or similar use –
Methods for measuring the performance
1 Scope
This part of IEC 62885 is applicable to dry-cleaning robots for household use or under
conditions similar to those in households.
The purpose of this document is to specify the essential performance characteristics of
dry-cleaning robots that are of interest to users and to describe methods for measuring these
characteristics.
This document is neither concerned with safety requirements 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 references, the latest edition of the referenced document (including any
amendments) applies.
IEC 62301, Household electrical appliances – Measurement of standby power
IEC TS 62885-1, Surface cleaning appliances – Part 1: General requirements on test material
and test equipment
IEC 62885-2:2016, Surface cleaning appliances – Part 2: Dry vacuum cleaners for household
or similar use – Methods for measuring the performance
IEC 60704-1, Household and similar electrical appliances –Test code for the determination of
airborne acoustical noise – Part 1: General requirements
IEC 60704-2-17, Household and similar electrical appliances – Test code for the determination
of airborne acoustical noise – Part 2-17: Particular requirements for dry cleaning robots
ISO 554, Standard atmospheres for conditioning and/or testing – Specifications
ISO 2813, Paints and varnishes – Determination of gloss value at 20 degrees, 60 degrees and
85 degrees
3 Terms and definitions
For the purposes of this document, the terms and definitions given in IEC 62885-2 and the
following apply.
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
– 10 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
3.1
cleaning robot
automatic battery-powered cleaner
automatic floor cleaner that operates autonomously without human intervention within a defined
perimeter
Note 1 to entry: The cleaning robot consists of a mobile part and may have a docking station and/or other
accessories to assist its operation.
3.2
dry cleaning robot
cleaning robot that is intended to remove only non-liquid material from the floor by means
other than with the aid of solutions or liquids
Note 1 to entry: Typical means of cleaning include vacuum, brush(es), pad(s) and duster.
3.3
robot cleaning head
cleaning head
air intake nozzle at the bottom of the cleaning robot
Note 1 to entry: This does not include side brush(es).
3.4
width of robot cleaning head
W
width of the air intake nozzle in the direction of forward travel
3.5
docking station
base unit
unit that can provide manual or automatic battery charging facilities, dust removal from the
robot, data processing facility or other robot support functions
Note 1 to entry: For some robots, the docking station could come in the form of an external power supply.
3.6
pose tracking system
PTS
measurement system which enables the tracking of the cleaning robot's position and
orientation
3.7
dust receptacle
container inside of the cleaning robot used to hold the collected dust
3.8
test instance
entirety or superset of all trials of all samples to be measured for a single cleaning robot model
3.9
trial
single instance of a performance measurement carried out under identical conditions that can
be repeated multiple times
3.10
run
subset of a trial where one or more factors affecting the test results is (are) changed
© IEC/ASTM 2020
3.11
pass
single traverse of the cleaning head over the test area
Note 1 to entry: The number of passes refers to the number of times the same test area has been traversed by the
cleaning head.
3.12
test area
area where the test dust, or debris, or fibre is distributed for the cleaning performance test
3.13
Wilton carpet
carpet as defined in IEC TS 62885-1
3.14
fully charged
point during charging when, according to the manufacturer's instructions, by indicator or time
period, the product does not need to be charged anymore
3.15
fully discharged
point in use when the manufacturer's instructions state the product is fully discharged or the
robot cannot restart the operation
3.16
side brush
rotating peripheral brush whose main function is to relocate the dust and debris along the floor
and extend the cleaning reach beyond the width of robot cleaning head
4 General conditions for testing
4.1 General
During the tests, any external interference that affects the functions of the cleaning robot (e.g.
sensors, processors and actuators) shall be minimized.
4.2 Atmospheric conditions
The test procedures and measurements shall be carried out under the following atmospheric
conditions (in accordance with ISO 554).
Cleaning performance test:
Temperature: (23 ± 2) °C
Relative humidity: (50 ± 5) %
Air pressure: 86 kPa to 106 kPa
All other tests:
Temperature: (23 ± 5) °C
Relative humidity: (45 ± 15) %
Air pressure: 86 kPa to 106 kPa
Temperature and humidity conditions within the specified ranges are required for good
repeatability and reproducibility. Care shall be taken to avoid changes during a test.
– 12 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
4.3 Lighting conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under
the following lighting conditions.
Intensity: (200 ± 50) lx
Colour temperature: 2 000 K to 7 000 K
Measurements shall be made at floor level.
NOTE Lighting conditions for autonomous navigation/coverage test (Clause 7) are different from the general lighting
conditions, which are defined in 9.3.3.
4.4 Test equipment and materials
To minimize the influence of electrostatic phenomena, measurements on carpets shall be
carried out on a level floor consisting of a smooth untreated pine plywood or equivalent panel,
at least 15 mm thick and of a size appropriate for the test.
Unless otherwise specified, equipment and materials for measurements (devices, test carpets,
test dust, etc.) to be used in a test shall, prior to the test, be kept for at least 16 h at standard
atmospheric conditions in accordance with the type of test (see 4.2).
Carpets that have already been used shall be stored beaten at standard atmospheric conditions
in accordance with 4.2.
When not in use, carpets shall be hanging free, or lying flat, pile upwards and uncovered.
Carpets shall not be rolled when stored between testing. Carpets that have been rolled shall be
laid flat for a minimum of 16 h before use.
4.5 Number of samples
All measurements of performance shall be carried out on the same sample(s) of the cleaning
robot with its attachments, if any. During a set of tests, the sample robot shall not be changed.
A minimum of three samples of the same model shall be tested.
If possible, the software shall be updated to the latest available for the robot in the region of
purchase in accordance with the manufacturer's instructions.
If available, the manufacture date, the serial number, and the software version of the samples
shall be reported.
4.6 Preparation of the battery
Any unused Li-ion battery shall be fully charged and fully discharged once prior to conducting
the first test on a cleaning robot. Any unused other type of battery shall be fully charged and
fully discharged three times prior to conducting the first test on a cleaning robot.
Full discharge shall be done by carrying out one or more normal cleaning operation(s) in a clean
area following the manufacturer's instructions until the robot ceases to function. Remove the
charge station once it is in operation to ensure full discharge.
NOTE It is understood that some robots do not allow discharge below a certain energy level for battery protection.
Full discharge means either low battery signal without robot motion or robot stops operation without being able to
restart.
© IEC/ASTM 2020
4.7 Running-in of a new cleaning robot
Prior to the first test on a new cleaning robot, it shall be run in accordance with 4.6 for one
battery cycle. Prior to conducting any series of tests, the age, condition, and history of the
product shall be recorded.
4.8 Operation of the cleaning robot
Unless otherwise specified,
• the cleaning robot, its attachments, the docking station and any accessories shall be
used and adjusted in accordance with the manufacturer's instructions before a test is carried
out; and
• the operation mode of the robot can be selected and adjusted in accordance with the
manufacturer's published instructions only before the test to fit the environment to be
cleaned.
The mode and settings used for the test shall be recorded and reported.
Any safety-related device shall be able to operate.
4.9 Measurement of collected dust weight
Some reusable receptacles consist of a rigid container and an integral filter. In this case, the
container and the filter are considered to be the receptacle and should be treated as if they
were a single component.
The dust receptacle and removable filtration units shall be carefully removed from the robot and
weighed together.
For cleaning robots equipped with separation devices, being part of the appliance, used to
separate the dust from the air flow and/or having additional filters to be changed or cleaned by
the user, without the use of tools, the weight of such specific devices shall be taken into account
for dust removal ability.
Cleaning robots with disposable or reusable dust receptacles may have secondary filtration
stage devices, which do not collect meaningful dust in removal ability tests, but which do impact
on filtration and life tests. Replacement and/or maintenance of such devices shall be in
accordance with relevant clauses and carried out in accordance with the manufacturer's
instructions.
4.10 Measurement resolution and accuracy
Unless specified in the test methods, the resolution and the accuracy of the measurement
device shall be as follows.
Weight measurement:
Fibre measurement:
Resolution ≤ 0,001 g
Accuracy ≤ 0,005 g
All other measurement:
Resolution ≤ 0,01 g
Accuracy ≤ 0,02 g
– 14 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
Recommended position measurement by pose tracking system:
Position resolution ≤ 1 cm
Position accuracy ≤ 1 cm
Orientation resolution ≤ 0.1°
Orientation accuracy ≤ 3°
Acquisition rate ≥ 30 Hz
Time measurement:
Resolution ≤ 0,1 s
Accuracy ≤ 0,2 s
The sampling rate of the pose tracking system shall be adequate to ensure the dynamic position
accuracies as specified above.
4.11 Tolerance of dimensions
For all dimensions that are not presented as a range and where no tolerance is specified, the
tolerance shall be determined from Table 1.
Table 1 – Tolerance of dimensions
Nominal size range Tolerance
mm mm
3 ≤ 6 ±0,5
< 6 ≤ 30 ±1,0
< 30 ≤ 120 ±1,5
< 120 ≤ 400 ±2,5
< 400 ≤ 1 000 ±4,0
< 1 000 ≤ 2 000 ±6,0
< 2 000 ≤ 5 000 ±8,0
Values are taken from Table 1 of ISO 2768-1:1989.
5 Cleaning performance – Straight line
5.1 General
This test is designed to isolate the performance of the cleaning system of the robot from the
autonomous movement function at a nominal speed. This makes it possible to only assess the
robot's ability to remove dust, fibre, medium size debris, and large debris. This facilitates direct
comparison between cleaning robots. If the side brushes are removable, they shall be removed
for all tests in Clause 5.
NOTE A method to evaluate the influence (or effectiveness) of the side brush will be investigated in future revisions.
5.2 Preparation of test
5.2.1 Pre-treatment of cleaning robot
If the cleaning robot is designed to be used with disposable dust receptacles, it shall, prior
to each test, be equipped with a new dust receptacle of the type recommended or supplied by
the manufacturer of the cleaning robot.
© IEC/ASTM 2020
If the cleaning robot is provided with a reusable dust receptacle (as the sole original dust
receptacle or as an enclosure for disposable dust receptacles), the dust receptacle shall,
prior to each trial, be cleaned in accordance with the manufacturer's instructions until its weight
is within 1 % or 2 g of its original weight, whichever is lower.
A dust receptacle made of textile is not permitted to be cleaned by brush and water unless
allowed by the manufacturer's instructions.
A plastic dust receptacle shall be cleaned following the instructions in the user manual. If the
dust receptacle is cleaned with water, it shall be well dried before any test and measurement.
Some reusable receptacles consist of a rigid container and an integral filter. In this case, the
container and the filter are considered to be the receptacle and shall be treated as if they were
a single component.
The whole robot including dust collecting parts shall be pre-treated in accordance with 4.4 in
order to minimize the influence of humidity.
Prior to each trial, replaceable filter(s) and
...
IEC/ASTM 62885-7 ®
Edition 1.0 2020-10
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Surface cleaning appliances –
Part 7: Dry-cleaning robots for household or similar use – Methods for
measuring the performance
Appareils de nettoyage des sols –
Partie 7: Robots de nettoyage à sec à usage domestique ou analogue –
Méthodes de mesure de l'aptitude à la fonction
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IEC/ASTM 62885-7 ®
Edition 1.0 2020-10
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Surface cleaning appliances –
Part 7: Dry-cleaning robots for household or similar use – Methods for
measuring the performance
Appareils de nettoyage des sols –
Partie 7: Robots de nettoyage à sec à usage domestique ou analogue –
Méthodes de mesure de l'aptitude à la fonction
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 97.080 ISBN 978-2-8322-1041-5
– 2 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
CONTENTS
FOREWORD . 6
INTRODUCTION . 8
1 Scope . 9
2 Normative references . 9
3 Terms and definitions . 9
4 General conditions for testing . 11
4.1 General . 11
4.2 Atmospheric conditions . 11
4.3 Lighting conditions . 12
4.4 Test equipment and materials . 12
4.5 Number of samples . 12
4.6 Preparation of the battery . 12
4.7 Running-in of a new cleaning robot . 13
4.8 Operation of the cleaning robot . 13
4.9 Measurement of collected dust weight . 13
4.10 Measurement resolution and accuracy . 13
4.11 Tolerance of dimensions . 14
5 Cleaning performance – Straight line . 14
5.1 General . 14
5.2 Preparation of test . 14
5.2.1 Pre-treatment of cleaning robot . 14
5.2.2 Preconditioning of test floor . 15
5.2.3 Pre-treatment of test carpet . 15
5.3 Test mode . 16
5.3.1 General . 16
5.3.2 Access to test mode . 16
5.3.3 Test mode action . 17
5.3.4 Speed verification . 17
5.4 Dust removal from hard floor . 18
5.4.1 Test bed . 18
5.4.2 Preparation of test . 18
5.4.3 Test method . 18
5.4.4 Determination of dust removal ability . 19
5.5 Dust removal from carpet . 20
5.5.1 Test bed . 20
5.5.2 Preparation of test . 20
5.5.3 Test method . 20
5.5.4 Determination of dust removal ability . 21
5.6 Medium size debris removal from hard floor . 21
5.6.1 Test bed . 21
5.6.2 Preparation of test . 21
5.6.3 Test method . 21
5.6.4 Determination of medium size debris removal ability . 21
5.7 Medium size debris removal from carpet . 22
5.7.1 Test bed . 22
5.7.2 Preparation of test . 22
© IEC/ASTM 2020
5.7.3 Test method . 22
5.7.4 Determination of medium size debris removal ability . 22
5.8 Large debris removal from hard floor . 22
5.8.1 Test bed . 22
5.8.2 Preparation of test . 22
5.8.3 Test method . 24
5.8.4 Determination of large debris removal ability . 24
5.9 Large debris removal from carpet . 24
5.9.1 Test bed . 24
5.9.2 Preparation of test . 24
5.9.3 Test method . 25
5.9.4 Determination of large debris removal ability . 25
5.10 Fibre removal from carpet . 25
5.10.1 Test bed . 25
5.10.2 Preparation of test . 25
5.10.3 Test method . 27
5.10.4 Determination of fibre removal ability . 27
6 Mobility . 28
6.1 General . 28
6.2 Test bed . 29
6.3 Preparation of test . 29
6.3.1 Test conditions . 29
6.3.2 Preconditioning of test floor . 29
6.3.3 Pre-treatment of cleaning robot . 29
6.4 Test method . 29
6.4.1 General . 29
6.4.2 Minimum passable gap width . 30
6.4.3 Minimum passable height . 31
6.4.4 Maximum passable transition height . 31
6.4.5 Maximum passable threshold height . 32
6.5 Determination of mobility results . 33
7 Autonomous navigation/coverage test . 34
7.1 General . 34
7.2 Preparation of test . 34
7.2.1 Test bed . 34
7.2.2 Test conditions . 34
7.3 Test method . 34
7.4 Performance measurement . 36
8 Miscellaneous . 38
8.1 Energy consumption of a cleaning robot. 38
8.1.1 General . 38
8.1.2 Test conditions . 38
8.1.3 Test method . 39
8.2 Airborne acoustical noise . 41
8.3 Straight-line cleaning speed . 41
8.3.1 General . 41
8.3.2 Preparation . 41
8.3.3 Test method . 41
8.3.4 Determination of straight-line cleaning speed . 42
– 4 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
9 Test material and equipment . 44
9.1 Straight-line test bed . 44
9.1.1 Hard floor . 44
9.1.2 Carpet . 44
9.2 Mobility test bed . 45
9.2.1 Basic test bed configuration . 45
9.2.2 Minimum passable gap width – additional equipment . 46
9.2.3 Minimum passable height – additional equipment . 47
9.2.4 Maximum passable transition height – additional equipment . 48
9.2.5 Maximum passable threshold height – additional equipment . 48
9.3 Coverage test bed. 49
9.3.1 Floor configuration . 49
9.3.2 Wall and ceiling configuration . 55
9.3.3 General conditions . 62
10 Instructions for use . 63
Annex A (informative) Calculation of coverage . 64
A.1 Definitions. 64
A.2 Calculating orifice pass coverage . 64
Annex B (informative) Comprehensive cleaning performance metric . 66
Annex C (informative/normative) Detailed images of fibre removal ability . 67
Bibliography . 72
Figure 1 – Test mode action . 17
Figure 2 – Dust distribution devices . 18
Figure 3 – Large debris template . 23
Figure 4 – Large debris template hole alignment . 24
Figure 5 – Straight-line fibre removal from carpet test bed configuration . 25
Figure 6 – Exemplary picture of fibre distribution . 26
Figure 7 – Exemplary picture of judgement area . 27
Figure 8 – Starting positions and orientations . 30
Figure 9 – Minimum passable gap width test . 30
Figure 10 – Suggested process to determine the minimum passable gap width . 31
Figure 11 – Minimum passable height test . 31
Figure 12 – Maximum passable transition height test . 32
Figure 13 – Process to determine the maximum passable transition height . 32
Figure 14 – Maximum passable threshold height test . 33
Figure 15 – Starting positions for navigation test. 36
Figure 16 – Exemplary graph of coverage test result. 38
Figure 17 – Straight-line speed measurement areas . 43
Figure 18 – Straight-line hard floor test bed configuration . 44
Figure 19 – Straight-line carpet test bed configuration . 45
Figure 20 – Basic test bed configuration for mobility testing . 45
Figure 21 – Test bed with an additional adjustable wall . 46
Figure 22 – Part 1 and part 2 of the wall . 46
Figure 23 – Test bed with an additional tunnel . 47
© IEC/ASTM 2020
Figure 24 – Test bed with additional transition and its sectional view . 48
Figure 25 – Test bed with additional threshold . 49
Figure 26 – Drawings of cylindrical and rectangular thresholds . 49
Figure 27 – Navigation/coverage test bed configuration . 50
Figure 28 – Details of obstacles around table . 51
Figure 29 – Illustration of metal transition installation . 53
Figure 30 – Illustration of wood transition installation . 53
Figure 31 – Detail view of checkerboard and transitions. 54
Figure 32 – Configuration of four walls and ceiling . 55
Figure 33 – Illustration of four-panel door . 59
Figure 34 – Illustration of window . 59
Figure 35 – Illustration of skirting board . 60
Figure 36 – Illustration of pendant light . 60
Figure 37 – Illustration of clock . 61
Figure 38 – Illustration of mirror . 61
Figure 39 – Illustration of picture . 62
Figure 40 – Illustration of curtains . 62
Figure A.1 – Robot coordinate frame . 64
Figure A.2 – Coverage step . 65
Figure C.1 – Detailed images for rating 1 . 67
Figure C.2 – Detailed images for rating 2 . 68
Figure C.3 – Detailed images for rating 3 . 69
Figure C.4 – Detailed images for rating 4 . 70
Figure C.5 – Detailed images for rating 5 . 71
Table 1 – Tolerance of dimensions . 14
Table 2 – Medium size debris . 21
Table 3 – Large Debris . 23
Table 4 – Rating system with exemplary pictures . 28
Table 5 – List of described mobility tests . 29
Table 6 – Reported results for each mobility test . 33
Table 7 – Overview of duration and the values that should be reported . 40
Table 8 – Dimensions of furniture and obstacles . 51
Table 9 – Wall and ceiling furniture . 56
– 6 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
SURFACE CLEANING APPLIANCES –
Part 7: Dry-cleaning robots for household or similar use –
Methods for measuring the performance
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 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 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 IEC 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 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 sense. 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 undertake 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 attestation 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 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 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
indispensable 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/ASTM 62285-7 has been prepared by subcommittee 59F: Surface
cleaning appliances, of IEC technical committee 59: Performance of household and similar
electrical appliances, in co-operation with ASTM Committee F11: Vacuum cleaners, under the
IEC/ASTM Dual Logo Agreement.
It is published as a dual logo standard.
This first edition of IEC/ASTM 62885-7 cancels and replaces IEC 62929:2014. This edition
constitutes a technical revision.
This edition includes the following significant technical changes with respect to IEC 62929:2014:
a) the box test has been cancelled;
b) the set of straight-line tests have been extended to contain also tests on removal of different
kinds of debris both from hard floors and carpets;
c) the set of straight-line tests also contains a test on the removal of fibres from carpets;
© IEC/ASTM 2020
d) as a miscellaneous test, a method for the determination of energy consumption has been
added;
e) a separate clause on test material and equipment has been added.
The text of this International Standard is based on the following documents:
FDIS Report on voting
59F/393/FDIS 59F/401/RVD
Full information on the voting for the approval of this International Standard can be found in the
report on voting indicated in the above table.
This document has been drafted in accordance with the ISO/IEC Directives, Part 2.
In this standard, the following print types are used:
– terms defined in Clause 3: bold type.
A list of all parts in the IEC 62885 series, published under the general title Surface cleaning
appliances, can be found on the IEC website.
The committee has decided that the contents of this document will remain unchanged until the
stability date indicated on the IEC website under "http://webstore.iec.ch" in the data related to
the specific document. At this date, the document 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 which are considered to be useful for the correct understanding
of its contents. Users should therefore print this document using a colour printer.
– 8 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
INTRODUCTION
In addition to the performance measurement methods that are included in this International
Standard, a few more performance items have been reviewed and considered. The list of the
performance items that have been discussed over time but have not yet been included
comprises corner/edge dust pick-up, docking, fall-off prevention, and dust re-emissions.
The performance items that have been left out in this edition will be continuously reviewed and
will soon be included in future editions of this document.
© IEC/ASTM 2020
SURFACE CLEANING APPLIANCES –
Part 7: Dry-cleaning robots for household or similar use –
Methods for measuring the performance
1 Scope
This part of IEC 62885 is applicable to dry-cleaning robots for household use or under
conditions similar to those in households.
The purpose of this document is to specify the essential performance characteristics of
dry-cleaning robots that are of interest to users and to describe methods for measuring these
characteristics.
This document is neither concerned with safety requirements 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 references, the latest edition of the referenced document (including any
amendments) applies.
IEC 62301, Household electrical appliances – Measurement of standby power
IEC TS 62885-1, Surface cleaning appliances – Part 1: General requirements on test material
and test equipment
IEC 62885-2:2016, Surface cleaning appliances – Part 2: Dry vacuum cleaners for household
or similar use – Methods for measuring the performance
IEC 60704-1, Household and similar electrical appliances –Test code for the determination of
airborne acoustical noise – Part 1: General requirements
IEC 60704-2-17, Household and similar electrical appliances – Test code for the determination
of airborne acoustical noise – Part 2-17: Particular requirements for dry cleaning robots
ISO 554, Standard atmospheres for conditioning and/or testing – Specifications
ISO 2813, Paints and varnishes – Determination of gloss value at 20 degrees, 60 degrees and
85 degrees
3 Terms and definitions
For the purposes of this document, the terms and definitions given in IEC 62885-2 and the
following apply.
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
– 10 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
3.1
cleaning robot
automatic battery-powered cleaner
automatic floor cleaner that operates autonomously without human intervention within a defined
perimeter
Note 1 to entry: The cleaning robot consists of a mobile part and may have a docking station and/or other
accessories to assist its operation.
3.2
dry cleaning robot
cleaning robot that is intended to remove only non-liquid material from the floor by means
other than with the aid of solutions or liquids
Note 1 to entry: Typical means of cleaning include vacuum, brush(es), pad(s) and duster.
3.3
robot cleaning head
cleaning head
air intake nozzle at the bottom of the cleaning robot
Note 1 to entry: This does not include side brush(es).
3.4
width of robot cleaning head
W
width of the air intake nozzle in the direction of forward travel
3.5
docking station
base unit
unit that can provide manual or automatic battery charging facilities, dust removal from the
robot, data processing facility or other robot support functions
Note 1 to entry: For some robots, the docking station could come in the form of an external power supply.
3.6
pose tracking system
PTS
measurement system which enables the tracking of the cleaning robot's position and
orientation
3.7
dust receptacle
container inside of the cleaning robot used to hold the collected dust
3.8
test instance
entirety or superset of all trials of all samples to be measured for a single cleaning robot model
3.9
trial
single instance of a performance measurement carried out under identical conditions that can
be repeated multiple times
3.10
run
subset of a trial where one or more factors affecting the test results is (are) changed
© IEC/ASTM 2020
3.11
pass
single traverse of the cleaning head over the test area
Note 1 to entry: The number of passes refers to the number of times the same test area has been traversed by the
cleaning head.
3.12
test area
area where the test dust, or debris, or fibre is distributed for the cleaning performance test
3.13
Wilton carpet
carpet as defined in IEC TS 62885-1
3.14
fully charged
point during charging when, according to the manufacturer's instructions, by indicator or time
period, the product does not need to be charged anymore
3.15
fully discharged
point in use when the manufacturer's instructions state the product is fully discharged or the
robot cannot restart the operation
3.16
side brush
rotating peripheral brush whose main function is to relocate the dust and debris along the floor
and extend the cleaning reach beyond the width of robot cleaning head
4 General conditions for testing
4.1 General
During the tests, any external interference that affects the functions of the cleaning robot (e.g.
sensors, processors and actuators) shall be minimized.
4.2 Atmospheric conditions
The test procedures and measurements shall be carried out under the following atmospheric
conditions (in accordance with ISO 554).
Cleaning performance test:
Temperature: (23 ± 2) °C
Relative humidity: (50 ± 5) %
Air pressure: 86 kPa to 106 kPa
All other tests:
Temperature: (23 ± 5) °C
Relative humidity: (45 ± 15) %
Air pressure: 86 kPa to 106 kPa
Temperature and humidity conditions within the specified ranges are required for good
repeatability and reproducibility. Care shall be taken to avoid changes during a test.
– 12 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
4.3 Lighting conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under
the following lighting conditions.
Intensity: (200 ± 50) lx
Colour temperature: 2 000 K to 7 000 K
Measurements shall be made at floor level.
NOTE Lighting conditions for autonomous navigation/coverage test (Clause 7) are different from the general lighting
conditions, which are defined in 9.3.3.
4.4 Test equipment and materials
To minimize the influence of electrostatic phenomena, measurements on carpets shall be
carried out on a level floor consisting of a smooth untreated pine plywood or equivalent panel,
at least 15 mm thick and of a size appropriate for the test.
Unless otherwise specified, equipment and materials for measurements (devices, test carpets,
test dust, etc.) to be used in a test shall, prior to the test, be kept for at least 16 h at standard
atmospheric conditions in accordance with the type of test (see 4.2).
Carpets that have already been used shall be stored beaten at standard atmospheric conditions
in accordance with 4.2.
When not in use, carpets shall be hanging free, or lying flat, pile upwards and uncovered.
Carpets shall not be rolled when stored between testing. Carpets that have been rolled shall be
laid flat for a minimum of 16 h before use.
4.5 Number of samples
All measurements of performance shall be carried out on the same sample(s) of the cleaning
robot with its attachments, if any. During a set of tests, the sample robot shall not be changed.
A minimum of three samples of the same model shall be tested.
If possible, the software shall be updated to the latest available for the robot in the region of
purchase in accordance with the manufacturer's instructions.
If available, the manufacture date, the serial number, and the software version of the samples
shall be reported.
4.6 Preparation of the battery
Any unused Li-ion battery shall be fully charged and fully discharged once prior to conducting
the first test on a cleaning robot. Any unused other type of battery shall be fully charged and
fully discharged three times prior to conducting the first test on a cleaning robot.
Full discharge shall be done by carrying out one or more normal cleaning operation(s) in a clean
area following the manufacturer's instructions until the robot ceases to function. Remove the
charge station once it is in operation to ensure full discharge.
NOTE It is understood that some robots do not allow discharge below a certain energy level for battery protection.
Full discharge means either low battery signal without robot motion or robot stops operation without being able to
restart.
© IEC/ASTM 2020
4.7 Running-in of a new cleaning robot
Prior to the first test on a new cleaning robot, it shall be run in accordance with 4.6 for one
battery cycle. Prior to conducting any series of tests, the age, condition, and history of the
product shall be recorded.
4.8 Operation of the cleaning robot
Unless otherwise specified,
• the cleaning robot, its attachments, the docking station and any accessories shall be
used and adjusted in accordance with the manufacturer's instructions before a test is carried
out; and
• the operation mode of the robot can be selected and adjusted in accordance with the
manufacturer's published instructions only before the test to fit the environment to be
cleaned.
The mode and settings used for the test shall be recorded and reported.
Any safety-related device shall be able to operate.
4.9 Measurement of collected dust weight
Some reusable receptacles consist of a rigid container and an integral filter. In this case, the
container and the filter are considered to be the receptacle and should be treated as if they
were a single component.
The dust receptacle and removable filtration units shall be carefully removed from the robot and
weighed together.
For cleaning robots equipped with separation devices, being part of the appliance, used to
separate the dust from the air flow and/or having additional filters to be changed or cleaned by
the user, without the use of tools, the weight of such specific devices shall be taken into account
for dust removal ability.
Cleaning robots with disposable or reusable dust receptacles may have secondary filtration
stage devices, which do not collect meaningful dust in removal ability tests, but which do impact
on filtration and life tests. Replacement and/or maintenance of such devices shall be in
accordance with relevant clauses and carried out in accordance with the manufacturer's
instructions.
4.10 Measurement resolution and accuracy
Unless specified in the test methods, the resolution and the accuracy of the measurement
device shall be as follows.
Weight measurement:
Fibre measurement:
Resolution ≤ 0,001 g
Accuracy ≤ 0,005 g
All other measurement:
Resolution ≤ 0,01 g
Accuracy ≤ 0,02 g
– 14 – IEC/ASTM 62885-7:2020
© IEC/ASTM 2020
Recommended position measurement by pose tracking system:
Position resolution ≤ 1 cm
Position accuracy ≤ 1 cm
Orientation resolution ≤ 0.1°
Orientation accuracy ≤ 3°
Acquisition rate ≥ 30 Hz
Time measurement:
Resolution ≤ 0,1 s
Accuracy ≤ 0,2 s
The sampling rate of the pose tracking system shall be adequate to ensure the dynamic position
accuracies as specified above.
4.11 Tolerance of dimensions
For all dimensions that are not presented as a range and where no tolerance is specified, the
tolerance shall be determined from Table 1.
Table 1 – Tolerance of dimensions
Nominal size range Tolerance
mm mm
3 ≤ 6 ±0,5
< 6 ≤ 30 ±1,0
< 30 ≤ 120 ±1,5
<
...
IEC/ASTM 62885-7 ®
Edition 1.1 2022-06
CONSOLIDATED VERSION
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Surface cleaning appliances –
Part 7: Dry cleaning robots for household or similar use – Methods for
measuring the performance
Appareils de nettoyage des sols –
Partie 7: Robots de nettoyage à sec à usage domestique ou analogue –
Méthodes de mesure de l’aptitude à la fonction
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IEC/ASTM 62885-7 ®
Edition 1.1 2022-06
CONSOLIDATED VERSION
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Surface cleaning appliances –
Part 7: Dry cleaning robots for household or similar use – Methods for
measuring the performance
Appareils de nettoyage des sols –
Partie 7: Robots de nettoyage à sec à usage domestique ou analogue –
Méthodes de mesure de l’aptitude à la fonction
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 97.080 ISBN 978-2-8322-3947-6
IEC/ASTM 62885-7 ®
Edition 1.1 2022-06
CONSOLIDATED VERSION
REDLINE VERSION
VERSION REDLINE
colour
inside
Surface cleaning appliances –
Part 7: Dry cleaning robots for household or similar use – Methods for
measuring the performance
Appareils de nettoyage des sols –
Partie 7: Robots de nettoyage à sec à usage domestique ou analogue –
Méthodes de mesure de l’aptitude à la fonction
– 2 – IEC/ASTM 62885-7:2020+AMD1:2022 CSV
© IEC/ASTM 2022
CONTENTS
FOREWORD . 6
INTRODUCTION . 8
INTRODUCTION to Amendment 1 . 8
1 Scope . 9
2 Normative references . 9
3 Terms and definitions . 9
4 General conditions for testing . 11
4.1 General . 11
4.2 Atmospheric conditions . 11
4.3 Lighting conditions . 12
4.4 Test equipment and materials . 12
4.5 Number of samples . 12
4.6 Preparation of the battery . 12
4.7 Running-in of a new cleaning robot . 13
4.8 Operation of the cleaning robot . 13
4.9 Measurement of collected dust weight . 13
4.10 Measurement resolution and accuracy . 13
4.11 Tolerance of dimensions . 14
5 Cleaning performance – Straight line . 14
5.1 General . 14
5.2 Preparation of test . 14
5.2.1 Pre-treatment of cleaning robot . 14
5.2.2 Preconditioning of test floor . 15
5.2.3 Pre-treatment of test carpet . 15
5.3 Test mode . 16
5.3.1 General . 16
5.3.2 Access to test mode . 16
5.3.3 Test mode action . 17
5.3.4 Speed verification . 17
5.4 Dust removal from hard floor . 18
5.4.1 Test bed . 18
5.4.2 Preparation of test . 18
5.4.3 Test method . 18
5.4.4 Determination of dust removal ability . 19
5.5 Dust removal from carpet . 20
5.5.1 Test bed . 20
5.5.2 Preparation of test . 20
5.5.3 Test method . 20
5.5.4 Determination of dust removal ability . 21
5.6 Medium size debris removal from hard floor . 21
5.6.1 Test bed . 21
5.6.2 Preparation of test . 21
5.6.3 Test method . 21
5.6.4 Determination of medium size debris removal ability . 21
5.7 Medium size debris removal from carpet . 22
5.7.1 Test bed . 22
© IEC/ASTM 2022
5.7.2 Preparation of test . 22
5.7.3 Test method . 22
5.7.4 Determination of medium size debris removal ability . 22
5.8 Large debris removal from hard floor . 22
5.8.1 Test bed . 22
5.8.2 Preparation of test . 22
5.8.3 Test method . 24
5.8.4 Determination of large debris removal ability . 24
5.9 Large debris removal from carpet . 24
5.9.1 Test bed . 24
5.9.2 Preparation of test . 24
5.9.3 Test method . 25
5.9.4 Determination of large debris removal ability . 25
5.10 Fibre removal from carpet . 25
5.10.1 Test bed . 25
5.10.2 Preparation of test . 25
5.10.3 Test method . 27
5.10.4 Determination of fibre removal ability . 27
6 Mobility . 28
6.1 General . 28
6.2 Test bed . 29
6.3 Preparation of test . 29
6.3.1 Test conditions . 29
6.3.2 Preconditioning of test floor . 29
6.3.3 Pre-treatment of cleaning robot . 29
6.4 Test method . 29
6.4.1 General . 29
6.4.2 Minimum passable gap width . 30
6.4.3 Minimum passable height . 31
6.4.4 Maximum passable transition height . 31
6.4.5 Maximum passable threshold height . 32
6.5 Determination of mobility results . 33
7 Autonomous navigation/coverage test . 34
7.1 General . 34
7.2 Preparation of test . 34
7.2.1 Test bed . 34
7.2.2 Test conditions . 34
7.3 Test method . 34
7.4 Performance measurement . 36
8 Miscellaneous . 38
8.1 Energy consumption of a cleaning robot. 38
8.1.1 General . 38
8.1.2 Test conditions . 38
8.1.3 Test method . 39
8.2 Airborne acoustical noise . 41
8.3 Straight-line cleaning speed . 41
8.3.1 General . 41
8.3.2 Preparation . 41
8.3.3 Test method . 41
– 4 – IEC/ASTM 62885-7:2020+AMD1:2022 CSV
© IEC/ASTM 2022
8.3.4 Determination of straight-line cleaning speed . 42
9 Test material and equipment . 44
9.1 Straight-line test bed . 44
9.1.1 Hard floor . 44
9.1.2 Carpet . 44
9.2 Mobility test bed . 46
9.2.1 Basic test bed configuration . 46
9.2.2 Minimum passable gap width – additional equipment . 46
9.2.3 Minimum passable height – additional equipment . 47
9.2.4 Maximum passable transition height – additional equipment . 48
9.2.5 Maximum passable threshold height – additional equipment . 49
9.3 Coverage test bed. 50
9.3.1 Floor configuration . 50
9.3.2 Wall and ceiling configuration . 56
9.3.3 General conditions . 63
10 Instructions for use . 64
Annex A (informative) Calculation of coverage . 65
A.1 Definitions. 65
A.2 Calculating orifice pass coverage . 65
Annex B (informative) Comprehensive cleaning performance metric . 67
Annex C (informative/normative) Detailed images of fibre removal ability . 68
Annex D (informative) Information on materials . 73
Bibliography . 74
Figure 1 – Test mode action . 17
Figure 2 – Dust distribution devices . 18
Figure 3 – Large debris template . 23
Figure 4 – Large debris template hole alignment . 24
Figure 5 – Straight-line fibre removal from carpet test bed configuration . 25
Figure 6 – Exemplary picture of fibre distribution . 26
Figure 7 – Exemplary picture of judgement area . 27
Figure 8 – Starting positions and orientations . 30
Figure 9 – Minimum passable gap width test . 30
Figure 10 – Suggested process to determine the minimum passable gap width . 31
Figure 11 – Minimum passable height test . 31
Figure 12 – Maximum passable transition height test . 32
Figure 13 – Process to determine the maximum passable transition height . 32
Figure 14 – Maximum passable threshold height test . 33
Figure 15 – Starting positions for navigation test. 36
Figure 16 – Exemplary graph of coverage test result. 38
Figure 17 – Straight-line speed measurement areas . 43
Figure 18 – Straight-line hard floor test bed configuration . 44
Figure 19 – Straight-line carpet test bed configuration . 45
Figure 20 – Basic test bed configuration for mobility testing . 46
Figure 21 – Test bed with an additional adjustable wall . 47
© IEC/ASTM 2022
Figure 22 – Part 1 and part 2 of the wall . 47
Figure 23 – Test bed with an additional tunnel . 48
Figure 24 – Test bed with additional transition and its sectional view . 49
Figure 25 – Test bed with additional threshold . 49
Figure 26 – Drawings of cylindrical and rectangular thresholds . 50
Figure 27 – Navigation/coverage test bed configuration . 51
Figure 28 – Details of obstacles around table . 52
Figure 29 – Illustration of metal transition installation . 54
Figure 30 – Illustration of wood transition installation . 54
Figure 31 – Detail view of checkerboard and transitions. 55
Figure 32 – Configuration of four walls and ceiling . 56
Figure 33 – Illustration of four-panel door . 60
Figure 34 – Illustration of window . 60
Figure 35 – Illustration of skirting board . 61
Figure 36 – Illustration of pendant light . 61
Figure 37 – Illustration of clock . 62
Figure 38 – Illustration of mirror . 62
Figure 39 – Illustration of picture . 63
Figure 40 – Illustration of curtains . 63
Figure A.1 – Robot coordinate frame . 65
Figure A.2 – Coverage step . 66
Figure C.1 – Detailed images for rating 1 . 68
Figure C.2 – Detailed images for rating 2 . 69
Figure C.3 – Detailed images for rating 3 . 70
Figure C.4 – Detailed images for rating 4 . 71
Figure C.5 – Detailed images for rating 5 . 72
Table 1 – Tolerance of dimensions . 14
Table 2 – Medium size debris . 21
Table 3 – Large Debris . 23
Table 4 – Rating system with exemplary pictures . 28
Table 5 – List of described mobility tests . 29
Table 6 – Reported results for each mobility test . 33
Table 7 – Overview of duration and the values that should be reported . 40
Table 8 – Dimensions of furniture and obstacles . 52
Table 9 – Wall and ceiling furniture . 57
– 6 – IEC/ASTM 62885-7:2020+AMD1:2022 CSV
© IEC/ASTM 2022
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
SURFACE CLEANING APPLIANCES –
Part 7: Dry-cleaning robots for household or similar use –
Methods for measuring the performance
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 to promote international
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2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
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3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
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6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable 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.
This consolidated version of the official IEC Standard and its amendment has been
prepared for user convenience.
IEC/ASTM 62285-7 edition 1.1 contains the first edition (2020-10) [documents
59F/393/FDIS and 59F/401/RVD] and its amendment 1 (2022-06) [documents 59F/424/CDV
and 59F/432A/RVC].
In this Redline version, a vertical line in the margin shows where the technical content is
modified by amendment 1. Additions are in green text, deletions are in strikethrough red
text. A separate Final version with all changes accepted is available in this publication.
© IEC/ASTM 2022
International Standard IEC/ASTM 62285-7 has been prepared by subcommittee 59F: Surface
cleaning appliances, of IEC technical committee 59: Performance of household and similar
electrical appliances, in co-operation with ASTM Committee F11: Vacuum cleaners, under the
IEC/ASTM Dual Logo Agreement.
It is published as a dual logo standard.
This first edition constitutes a technical revision.
This edition includes the following significant technical changes with respect to IEC 62929:2014:
a) the box test has been cancelled;
b) the set of straight-line tests have been extended to contain also tests on removal of different
kinds of debris both from hard floors and carpets;
c) the set of straight-line tests also contains a test on the removal of fibres from carpets;
d) as a miscellaneous test, a method for the determination of energy consumption has been
added;
e) a separate clause on test material and equipment has been added.
This document has been drafted in accordance with the ISO/IEC Directives, Part 2.
In this standard, the following print types are used:
– terms defined in Clause 3: bold type.
A list of all parts in the IEC 62885 series, published under the general title Surface cleaning
appliances, can be found on the IEC website.
The committee has decided that the contents of the base publication and its amendment will
remain unchanged until the stability date indicated on the IEC web site under 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 which are considered to be useful for the correct understanding
of its contents. Users should therefore print this document using a colour printer.
– 8 – IEC/ASTM 62885-7:2020+AMD1:2022 CSV
© IEC/ASTM 2022
INTRODUCTION
In addition to the performance measurement methods that are included in this International
Standard, a few more performance items have been reviewed and considered. The list of the
performance items that have been discussed over time but have not yet been included
comprises corner/edge dust pick-up, docking, fall-off prevention, and dust re-emissions.
The performance items that have been left out in this edition will be continuously reviewed and
will soon be included in future editions of this document.
INTRODUCTION to Amendment 1
The following changes to IEC 62885-7:2020 concern Clause 1, and Subclauses 8.3.2.1 and
9.1.2.
The reason for this is to clarify the area of application of this standard and to align the
specification on carpets with IEC 62885-2. A new annex on test materials is added as Annex D.
© IEC/ASTM 2022
SURFACE CLEANING APPLIANCES –
Part 7: Dry-cleaning robots for household or similar use –
Methods for measuring the performance
1 Scope
This part of IEC 62885 is applicable to dry-cleaning robots for household use or under
conditions similar to those in households.
The purpose of this document is to specify the essential performance characteristics of
dry-cleaning robots that are of interest to users and to describe methods for measuring these
characteristics.
Due to the nature of the way this product operates in the home, comparisons with other types
of surface cleaning appliances (e.g. dry vacuum cleaners) should not be made unless otherwise
indicated. The cleaning performance methods, in particular, are only used to make comparisons
with other dry cleaning robots and not with manually operated vacuum cleaner products.
This document is neither concerned with safety requirements 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 references, the latest edition of the referenced document (including any
amendments) applies.
IEC 62301, Household electrical appliances – Measurement of standby power
IEC TS 62885-1, Surface cleaning appliances – Part 1: General requirements on test material
and test equipment
IEC 62885-2:2016, Surface cleaning appliances – Part 2: Dry vacuum cleaners for household
or similar use – Methods for measuring the performance
IEC 60704-1, Household and similar electrical appliances –Test code for the determination of
airborne acoustical noise – Part 1: General requirements
IEC 60704-2-17, Household and similar electrical appliances – Test code for the determination
of airborne acoustical noise – Part 2-17: Particular requirements for dry cleaning robots
ISO 554, Standard atmospheres for conditioning and/or testing – Specifications
ISO 2813, Paints and varnishes – Determination of gloss value at 20 degrees, 60 degrees and
85 degrees
3 Terms and definitions
For the purposes of this document, the terms and definitions given in IEC 62885-2 and the
following apply.
– 10 – IEC/ASTM 62885-7:2020+AMD1:2022 CSV
© IEC/ASTM 2022
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
cleaning robot
automatic battery-powered cleaner
automatic floor cleaner that operates autonomously without human intervention within a defined
perimeter
Note 1 to entry: The cleaning robot consists of a mobile part and may have a docking station and/or other
accessories to assist its operation.
3.2
dry cleaning robot
cleaning robot that is intended to remove only non-liquid material from the floor by means
other than with the aid of solutions or liquids
Note 1 to entry: Typical means of cleaning include vacuum, brush(es), pad(s) and duster.
3.3
robot cleaning head
cleaning head
air intake nozzle at the bottom of the cleaning robot
Note 1 to entry: This does not include side brush(es).
3.4
width of robot cleaning head
W
width of the air intake nozzle in the direction of forward travel
3.5
docking station
base unit
unit that can provide manual or automatic battery charging facilities, dust removal from the
robot, data processing facility or other robot support functions
Note 1 to entry: For some robots, the docking station could come in the form of an external power supply.
3.6
pose tracking system
PTS
measurement system which enables the tracking of the cleaning robot's position and
orientation
3.7
dust receptacle
container inside of the cleaning robot used to hold the collected dust
3.8
test instance
entirety or superset of all trials of all samples to be measured for a single cleaning robot model
3.9
trial
single instance of a performance measurement carried out under identical conditions that can
be repeated multiple times
© IEC/ASTM 2022
3.10
run
subset of a trial where one or more factors affecting the test results is (are) changed
3.11
pass
single traverse of the cleaning head over the test area
Note 1 to entry: The number of passes refers to the number of times the same test area has been traversed by the
cleaning head.
3.12
test area
area where the test dust, or debris, or fibre is distributed for the cleaning performance test
3.13
Wilton carpet
carpet as defined in IEC TS 62885-1
3.14
fully charged
point during charging when, according to the manufacturer's instructions, by indicator or time
period, the product does not need to be charged anymore
3.15
fully discharged
point in use when the manufacturer's instructions state the product is fully discharged or the
robot cannot restart the operation
3.16
side brush
rotating peripheral brush whose main function is to relocate the dust and debris along the floor
and extend the cleaning reach beyond the width of robot cleaning head
4 General conditions for testing
4.1 General
During the tests, any external interference that affects the functions of the cleaning robot (e.g.
sensors, processors and actuators) shall be minimized.
4.2 Atmospheric conditions
The test procedures and measurements shall be carried out under the following atmospheric
conditions (in accordance with ISO 554).
Cleaning performance test:
Temperature: (23 ± 2) °C
Relative humidity: (50 ± 5) %
Air pressure: 86 kPa to 106 kPa
All other tests:
Temperature: (23 ± 5) °C
Relative humidity: (45 ± 15) %
Air pressure: 86 kPa to 106 kPa
– 12 – IEC/ASTM 62885-7:2020+AMD1:2022 CSV
© IEC/ASTM 2022
Temperature and humidity conditions within the specified ranges are required for good
repeatability and reproducibility. Care shall be taken to avoid changes during a test.
4.3 Lighting conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under
the following lighting conditions.
Intensity: (200 ± 50) lx
Colour temperature: 2 000 K to 7 000 K
Measurements shall be made at floor level.
NOTE Lighting conditions for autonomous navigation/coverage test (Clause 7) are different from the general lighting
conditions, which are defined in 9.3.3.
4.4 Test equipment and materials
To minimize the influence of electrostatic phenomena, measurements on carpets shall be
carried out on a level floor consisting of a smooth untreated pine plywood or equivalent panel,
at least 15 mm thick and of a size appropriate for the test.
Unless otherwise specified, equipment and materials for measurements (devices, test carpets,
test dust, etc.) to be used in a test shall, prior to the test, be kept for at least 16 h at standard
atmospheric conditions in accordance with the type of test (see 4.2).
Carpets that have already been used shall be stored beaten at standard atmospheric conditions
in accordance with 4.2.
When not in use, carpets shall be hanging free, or lying flat, pile upwards and uncovered.
Carpets shall not be rolled when stored between testing. Carpets that have been rolled shall be
laid flat for a minimum of 16 h before use.
4.5 Number of samples
All measurements of performance shall be carried out on the same sample(s) of the cleaning
robot with its attachments, if any. During a set of tests, the sample robot shall not be changed.
A minimum of three samples of the same model shall be tested.
If possible, the software shall be updated to the latest available for the robot in the region of
purchase in accordance with the manufacturer's instructions.
If available, the manufacture date, the serial number, and the software version of the samples
shall be reported.
4.6 Preparation of the battery
Any unused Li-ion battery shall be fully charged and fully discharged once prior to conducting
the first test on a cleaning robot. Any unused other type of battery shall be fully charged and
fully discharged three times prior to conducting the first test on a cleaning robot.
Full discharge shall be done by carrying out one or more normal cleaning operation(s) in a clean
area following the manufacturer's instructions until the robot ceases to function. Remove the
charge station once it is in operation to ensure full discharge.
NOTE It is understood that some robots do not allow discharge below a certain energy level for battery protection.
Full discharge means either low battery signal without robot motion or robot stops operation without being able to
restart.
© IEC/ASTM 2022
4.7 Running-in of a new cleaning robot
Prior to the first test on a new cleaning robot, it shall be run in accordance with 4.6 for one
battery cycle. Prior to conducting any series of tests, the age, condition, and history of the
product shall be recorded.
4.8 Operation of the cleaning robot
Unless otherwise specified,
• the cleaning robot, its attachments, the docking station and any accessories shall be
used and adjusted in accordance with the manufacturer's instructions before a test is carried
out; and
• the operation mode of the robot can be selected and adjusted in accordance with the
manufacturer's published instructions only before the test to fit the environment to be
cleaned.
The mode and settings used for the test shall be recorded and reported.
Any safety-related device shall be able to operate.
4.9 Measurement of collected dust weight
Some reusable receptacles consist of a rigid container and an integral filter. In this case, the
container and the filter are considered to be the receptacle and should be treated as if they
were a single component.
The dust receptacle and removable filtration units shall be carefully removed from the r
...
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