Performance evaluation methods of mobile household robots

IEC 62849:2016 applies to mobile household robots and provides performance testing and evaluation methods for common features of various mobile household robots. This standard is neither concerned with safety nor with performance requirements. 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.

Méthodes d'évaluation de l'aptitude à la fonction des robots mobiles à usage domestique

L'IEC 62849:2016 s'applique aux robots mobiles à usage domestique et fournit des essais d'aptitude à la fonction ainsi que des méthodes d'évaluation applicables aux caractéristiques communes de plusieurs robots mobiles à usage domestique. La présente norme ne couvre ni les exigences de sécurité ni les exigences d'aptitude à la fonction. La présente norme couvre les méthodes d'essai génériques pour l'aptitude à la fonction des robots mobiles à usage domestique dans un seul document. Toutefois, la présente version est applicable aux robots à roues ou à chenilles pouvant être utilisés sur un sol intérieur et met l'accent sur les aptitudes à la fonction relatives à la mobilité et à la consommation d énergie. À mesure que les besoins associés à l'aptitude à la manipulation augmentent, ils sont ajoutés à la présente Norme générique sur l'aptitude à la fonction.

General Information

Status
Published
Publication Date
24-Aug-2016
Current Stage
PPUB - Publication issued
Completion Date
25-Aug-2016
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IEC 62849
Edition 1.0 2016-08
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Performance evaluation methods of mobile household robots
Méthodes d’évaluation de l’aptitude à la fonction des robots mobiles à usage
domestique
IEC 62849:2016-08(en-fr)
---------------------- Page: 1 ----------------------
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---------------------- Page: 2 ----------------------
IEC 62849
Edition 1.0 2016-08
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Performance evaluation methods of mobile household robots
Méthodes d’évaluation de l’aptitude à la fonction des robots mobiles à usage
domestique
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 97.030 ISBN 978-2-8322-3596-6

Warning! Make sure that you obtained this publication from an authorized distributor.

Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé.

® Registered trademark of the International Electrotechnical Commission
Marque déposée de la Commission Electrotechnique Internationale
---------------------- Page: 3 ----------------------
– 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 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 ............................................................................................ 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 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 Test 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

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IEC 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 ........................................................................................................................ 27

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 avoidance 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 Configuration ........................................ 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 transitions .................................................... 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

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– 4 – IEC 62849:2016 © IEC 2016
INTERNATIONAL 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 to promote

international co-operation on all questions concerning standardization in the electrical and electronic fields. To

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patent rights. IEC shall not be held responsible for identifying any or all such patent rights.

International Standard IEC 62849 has been 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 report on

voting indicated in the above table.

This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.

---------------------- Page: 6 ----------------------
IEC 62849:2016 © IEC 2016 – 5 –

The committee has decided that the contents of this publication will remain unchanged until

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related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
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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.
---------------------- Page: 7 ----------------------
– 6 – IEC 62849:2016 © IEC 2016
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.
---------------------- Page: 8 ----------------------
IEC 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 neither 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 references, 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, 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.

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 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 return to the charge station(s) for charging or after

completion of the work task or called by user
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– 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 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 conducting any series of tests, the age, condition, and history of the product shall be

recorded.

NOTE Condition information can include model number/name, software version, and accessories used, if

available.
4.2 Operating and environmental conditions
4.2.1 General

The performance characteristics determined by the related test methods in this International

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 in accordance 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
Air pressure: 86 kPa to 106 kPa

Temperature and humidity conditions if provided shall be aligned with manufacturer’s

instruction for good repeatability and reproducibility. Care should be taken to avoid changes

during a test.
---------------------- Page: 10 ----------------------
IEC 62849:2016 © IEC 2016 – 9 –
4.2.4 Lighting conditions

Unless otherwise specified, the test procedures and measurements shall be carried out under

the following lighting conditions:
Intensity: (200 ± 50) lux
Colour temperature: 2 000 K to 6 000 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.

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

according to 4.2.3.
4.4 Number of samples

All measurements of performance shall be carried out on the same sample(s) of the robot with

its attachments, if any.

Tests carried out to simulate stresses a robot may be exposed to during normal use, possibly

causing impairment of the robot performance, may require additional samples of replaceable

parts. Such tests shall be carried out at the end of a test programme.
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 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.

4.6 Operation of the mobile household robot
If not otherwise specified in this standard,

• The mobile household robot, its attachments, the docking station and any accessories

shall be used and adjusted in accordance with the manufacturer's instructions for normal

operation before a test is carried out, and

• The operation mode of the robot can be selected and adjusted per manufacturer published

instructions only before the test to fit the environment to be operated.
• The operation mode shall be recorded.
Any safety-related device shall be allowed to operate.
4.7 Tolerance of dimensions

For all dimensions which are not presented as a range and no tolerance is specified, the

tolerance shall be determined as Table 1.
---------------------- Page: 11 ----------------------
– 10 – IEC 62849:2016 © IEC 2016
Table 1 – Tolerance of linear dimension (from ISO 2768-1)
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
NOTE Values are taken from Table 1 of ISO 2768-1:1989.
Table 2 – Tolerance of external radius and chamfer heights (from ISO 2768-1)
Nominal size range Tolerance
mm mm
> 0,5 ≤ 3 ± 0,4
> 3 ≤ 6 ± 1,0
> 6 ± 2,0
NOTE Values are taken from Table 2 of ISO 2768-1:1989.
5 Units
Unless otherwise stated, all dimensions are as follows:
– length in millimetres (mm)
– angle in degrees (°)
– time in seconds (s)
– mass in kilograms (kg)
– velocity in metres per second (m/s)
6 Pose measurements
6.1 General

This test assesses the ability of a robot to accurately arrive at a predetermined pose.

NOTE This test is most relevant to mobile household robot where the end point/orientation of the run is critical to

success.
6.2 Test bed
6.2.1 General

The test shall be carried out in the centre area of the test room defined in IEC 62929 without

area rug, chair legs, table legs and other items placed on the floor.

The size of the test bed is 4 000 mm × 5 000 mm. The floor shall be untreated laminated pine

tree plate or equivalent and its thickness shall be at least 15 mm, or Wilton carpet as

specified in IEC TS 62885-1.
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IEC 62849:2016 © IEC 2016 – 11 –
6.2.2 Test mode

This mode shall enable the robot to perform a repeatable test mode action in which it shall be

driven forward 1 000 mm and turned 90 degrees 4 times in order to form a single loop. This

test shall be carried out in clockwise and anticlockwise loop as shown in Figure 1.The precise

nature of access to the test mode shall be clearly stated by the manufacturer and it should be

simple to execute. Once the test mode operation is completed it should leave the machine in

an idle state.

NOTE Examples of access methods to the test mode could be to require the user to have a combination of

buttons on the machine pressed when the robot is switched on, or for a combination of buttons to be held for a

period of time which would not occur during normal robot operation. The only condition is that this access method

is to be documented.
6.3 Test method

The fully charged robot with test mode shall be placed at the starting position as shown in

Figure 1. The body centre of robot shall be on top of the starting point, and the robot body

shall be aligned along the direction of travel. Clockwise and anti-clockwise operation

commands shall be given to robot to follow the commanded paths individually as shown in

Figure 1.

After the operation has been performed, the deviation (position and orientation) between

actual pose and the commanded pose of
...

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