SIST EN 62929:2014

Cleaning robots for household use - Dry cleaning: Methods of measuring performance

EN IEC 62929 is applicable to dry cleaning robots for household use in or under conditions similar to those in households. The purpose of this standard is to specify the essential performance characteristics of dry cleaning robots and to describe methods for measuring these characteristics. This standard is neither concerned with safety nor with performance requirements.

Reinigungsroboter für den Hausgebrauch - Trockenreinigung: Verfahren zur Messung der Gebrauchseigenschaften

Robots de nettoyage à usage domestique - Nettoyage à sec: Méthodes de mesure de l'aptitude à la fonction

L'IEC 62929:2014 s'applique aux robots de nettoyage à sec pour usage domestique ou utilisation dans des conditions similaires à celles rencontrées dans des conditions domestiques. La présente norme internationale a pour but de spécifier les principales caractéristiques d'aptitude à la fonction des robots de nettoyage à sec et de décrire les méthodes de mesure de ces caractéristiques.
La présente norme internationale ne couvre ni les exigences de sécurité, ni les exigences d'aptitude à la fonction.

Čistilni roboti za uporabo v gospodinjstvu - Suho čiščenje - Metode merjenja lastnosti (IEC 62929:2014)

Standard EN IEC 62929 se uporablja za čistilne robote za suho čiščenje za uporabo v gospodinjstvu pod pogoji, ki ustrezajo pogojem v gospodinjstvih ali so jim podobni. Namen tega standarda je določiti glavne lastnosti delovanja čistilnih robotov za suho čiščenje ter opisati metode za merjenje teh lastnosti. Ta standard ne opredeljuje varnostnih zahtev niti zahtev glede zmogljivosti.

General Information

• Status: Published
• Publication Date: 22-Oct-2014
• ICS: 97.080 - Cleaning appliances
• Technical Committee: FGA - Consumer information related to household electrical appliances
• Current Stage: 6060 - National Implementation/Publication (Adopted Project)
• Start Date: 30-Sep-2014
• Due Date: 05-Dec-2014
• Completion Date: 23-Oct-2014
• Ref Project: EN 62929:2014 - Cleaning robots for household use - Dry cleaning: Methods of measuring performance

Relations

• Replaced By: SIST EN IEC/ASTM 62885-7:2021 - Surface cleaning appliances - Part 7: Dry-cleaning robots for household use - Methods of measuring performance
• Effective Date: 01-Mar-2021

Standards Content (Sample)

SLOVENSKI STANDARD
SIST EN 62929:2014
01-november-2014
ýLVWLOQLURERWL]DXSRUDERYJRVSRGLQMVWYX6XKRþLãþHQMH0HWRGHPHUMHQMD
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Cleaning robots for household use - Dry cleaning: Methods of measuring performance

Reinigungsroboter für den Hausgebrauch - Trockenreinigung: Verfahren zur Messung
der Gebrauchseigenschaften
Robots de nettoyage à usage domestique - Nettoyage à sec: Méthodes de mesure de
l'aptitude à la fonction
Ta slovenski standard je istoveten z: EN 62929:2014
ICS:
97.080 Aparati za nego tal Floor treatment appliances
SIST EN 62929:2014 en

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST EN 62929:2014
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SIST EN 62929:2014
EUROPEAN STANDARD EN 62929
NORME EUROPÉENNE
EUROPÄISCHE NORM
September 2014
ICS 97.080
English Version
Cleaning robots for household use - Dry cleaning: Methods of
measuring performance
(IEC 62929:2014)

Robots de nettoyage à usage domestique - Nettoyage à Reinigungsroboter für den Hausgebrauch -

sec: Méthodes de mesure de l'aptitude à la fonction Trockenreinigung: Verfahren zur Messung der

(CEI 62929:2014) Gebrauchseigenschaften
(IEC 62929:2014)

This European Standard was approved by CENELEC on 2014-08-26. CENELEC members are bound to comply with the CEN/CENELEC

Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration.

Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC

Management Centre or to any CENELEC member.

This European Standard exists in three official versions (English, French, German). A version in any other language made by translation

under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the

same status as the official versions.

CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic,

Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,

Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland,

Turkey and the United Kingdom.
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels

© 2014 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.

Ref. No. EN 62929:2014 E
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SIST EN 62929:2014
EN 62929:2014 - 2 -
Foreword

The text of document 59F/258/FDIS, future edition 1 of IEC 62929, prepared by SC 59F "Surface

cleaning appliances" of IEC/TC 59 "Performance of household and similar electrical appliances" was

submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 62929:2014.

The following dates are fixed:
– latest date by which the document has to be implemented at (dop) 2015-05-26
national level by publication of an identical national
standard or by endorsement
– latest date by which the national standards conflicting with (dow) 2017-08-26
the document have to be withdrawn

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. CENELEC [and/or CEN] shall not be held responsible for identifying any or all such

patent rights.
Endorsement notice

The text of the International Standard IEC 62929:2014 was approved by CENELEC as a European

Standard without any modification.

In the official version, for Bibliography, the following notes have to be added for the standards indicated:

IEC 60335-1:2001 NOTE Harmonized as EN 60335-1:2002 (modified)
+ A1:2004 + A1:2004 (not modified)
+ A2:2006 + A2:2006 (not modified).
IEC 60335-2-2:2009 NOTE Harmonized as EN 60335-2-2:2010 (not modified).
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SIST EN 62929:2014
- 3 - EN 62929:2014
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications

The following documents, in whole or in part, are normatively referenced in this document and are

indispensable for its application. For dated references, only the edition cited applies. For undated

references, the latest edition of the referenced document (including any amendments) applies.

NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod),

the relevant EN/HD applies.

NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is

available here: www.cenelec.eu.
Publication Year Title EN/HD Year
IEC 60312-1 (mod) 2010 Vacuum cleaners for household use - EN 60312-1 2013
Part 1: Dry vacuum cleaners - Methods for
+ A1 2011 - -
measuring the performance
ISO 554 - Standard atmospheres for conditioning - -
and/or testing - Specifications
ISO 679 2009 Cement - Test methods - Determination of - -
strength
ISO 2768-1 1989 General tolerances - EN 22768-1 1993
Part 1: Tolerances for linear and angular
dimensions without individual tolerance
indications
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SIST EN 62929:2014
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SIST EN 62929:2014
IEC 62929
Edition 1.0 2014-07
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Cleaning robots for household use – Dry-cleaning: Methods of measuring
performance
Robots de nettoyage à usage domestique – Nettoyage à sec: Méthodes
de mesure de l'aptitude à la fonction
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XA
ICS 97.080 ISBN 978-2-8322-1685-9

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
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SIST EN 62929:2014
– 2 – IEC 62929:2014 © IEC 2014
CONTENTS

FOREWORD ........................................................................................................................... 5

INTRODUCTION ..................................................................................................................... 7

1 Scope .............................................................................................................................. 8

2 Normative references ...................................................................................................... 8

3 Terms and definitions ...................................................................................................... 8

4 General conditions for testing ........................................................................................ 10

4.1 Atmospheric conditions ......................................................................................... 10

4.2 Lighting conditions ................................................................................................ 10

4.3 Test equipment and materials ............................................................................... 10

4.4 Number of samples ............................................................................................... 10

4.5 Running-in of a new cleaning robot ....................................................................... 10

4.6 Preparation of battery ........................................................................................... 11

4.7 Operation of the cleaning robot ............................................................................. 11

4.8 Measurement of dust receptacle weight ................................................................ 11

4.9 Measurement resolution and accuracy .................................................................. 11

4.10 Tolerance of dimensions ....................................................................................... 12

5 Dust removal test – Box ................................................................................................. 12

5.1 General ................................................................................................................. 12

5.2 Dust removal from hard flat floors ......................................................................... 12

5.2.1 Test bed ........................................................................................................ 12

5.2.2 Preparation of test ......................................................................................... 13

5.2.3 Test method .................................................................................................. 15

5.2.4 Determination of dust removal ability and operation time ............................... 16

5.3 Dust removal from carpets .................................................................................... 17

5.3.1 Test bed ........................................................................................................ 17

5.3.2 Preparation of test ......................................................................................... 18

5.3.3 Test method .................................................................................................. 19

5.3.4 Determination of dust removal ability and operation time ............................... 20

Dust removal – Straight line ........................................................................................... 20

6.1 General ................................................................................................................. 20

6.2 Test Mode ............................................................................................................. 20

6.2.1 General ......................................................................................................... 20

6.2.2 Access to test mode ...................................................................................... 20

6.2.3 Test mode action ........................................................................................... 21

6.2.4 Test mode speed verification ......................................................................... 21

6.3 Dust removal from hard floor ................................................................................. 21

6.3.1 Test bed ........................................................................................................ 21

6.3.2 Preparation of test ......................................................................................... 22

6.3.3 Test method .................................................................................................. 23

6.3.4 Determination of dust removal ability ............................................................. 24

6.4 Dust removal from carpet ...................................................................................... 26

6.4.1 Test bed ........................................................................................................ 26

6.4.2 Preparation of test ......................................................................................... 26

6.4.3 Test method .................................................................................................. 27

6.4.4 Determination of dust removal ability ............................................................. 27

7 Autonomous navigation/coverage test ........................................................................... 27

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SIST EN 62929:2014
IEC 62929:2014 © IEC 2014 – 3 –

7.1 General ................................................................................................................. 27

7.2 Test bed ............................................................................................................... 27

7.2.1 Test conditions .............................................................................................. 27

7.2.2 Floor configuration ......................................................................................... 27

7.2.3 Wall and ceiling configuration ........................................................................ 33

7.2.4 General conditions ......................................................................................... 38

7.3 Preparation of test ................................................................................................ 39

7.4 Test method .......................................................................................................... 40

7.5 Performance measurement ................................................................................... 41

8 Average robot speed ..................................................................................................... 43

8.1 Test bed ............................................................................................................... 43

8.2 Preparation ........................................................................................................... 44

8.2.1 Preconditioning of test floor ........................................................................... 44

8.2.2 Pre-treatment of cleaning robot ..................................................................... 44

8.2.3 Visual tracking system (VTS) ......................................................................... 44

8.3 Test method .......................................................................................................... 44

8.4 Determination of average speed ........................................................................... 45

9 Instructions for use ........................................................................................................ 46

Annex A (informative) Calculation of coverage ..................................................................... 47

A.1 Robot metrics ....................................................................................................... 47

A.2 Calculating robot coverage ................................................................................... 47

Annex B (informative) Comprehensive cleaning performance metric .................................... 50

Bibliography .......................................................................................................................... 51

Figure 1 – Dust removal from hard flat floor test bed configuration ........................................ 14

Figure 2 – Dust distribution devices ...................................................................................... 14

Figure 3 – Starting positions and orientations ....................................................................... 15

Figure 4 – Dust removal (box test) from carpet floor test bed configuration ........................... 18

Figure 5 – Description of test mode action ............................................................................ 22

Figure 6 – Straight line dust removal from hard floor test bed configuration .......................... 22

Figure 7 – Straight line dust removal from carpet floor test bed configuration ........................ 26

Figure 8 – Navigation/Coverage test bed configuration ......................................................... 28

Figure 9 – Details of obstacles around table ......................................................................... 29

Figure 10 – Illustration of metal transition installation ............................................................ 31

Figure 11 – Illustration of wood transition Installation ............................................................ 31

Figure 12 – Detail view of checker board and transitions....................................................... 32

Figure 13 – Configuration of four walls and ceiling ................................................................ 33

Figure 14 – Illustration of four-panel door ............................................................................. 36

Figure 15 – Illustration of window .......................................................................................... 36

Figure 16 – Illustration of baseboard ..................................................................................... 37

Figure 17 – Illustration of pendant light ................................................................................. 37

Figure 18 – Illustration of clock ............................................................................................. 38

Figure 19 – Illustration of mirror ............................................................................................ 39

Figure 20 – Illustration of picture ........................................................................................... 39

Figure 21 – Illustration of curtains ......................................................................................... 39

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SIST EN 62929:2014
– 4 – IEC 62929:2014 © IEC 2014

Figure 22 – Starting positions for navigation test................................................................... 41

Figure 23 – Exemplary graph of coverage test result............................................................. 43

Figure 24 – Location of average speed test area within coverage test environment .............. 44

Figure A.1 – Robot coordinate frame .................................................................................... 47

Figure A.2 – The first coverage step ..................................................................................... 48

Figure A.3 – Incremental coverage step ................................................................................ 48

Table 1 – Tolerance of dimensions ....................................................................................... 12

Table 2 – Dimensions of furniture and obstacles ................................................................... 30

Table 3 – Wall and ceiling furniture ....................................................................................... 34

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SIST EN 62929:2014
IEC 62929:2014 © IEC 2014 – 5 –
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
CLEANING ROBOTS FOR HOUSEHOLD USE –
DRY-CLEANING: METHODS OF MEASURING 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 62929 has been prepared by subcommittee 59F: Surface cleaning

appliances, of 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
59F/258/FDIS 59F/262/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.

In this standard, the following print types are used:
– bold for terms defined in Clause 3.
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SIST EN 62929:2014
– 6 – IEC 62929:2014 © IEC 2014

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

the stability date indicated on the IEC web site under "http://webstore.iec.ch" in the data

related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.

IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates

that it contains colours which are considered to be useful for the correct

understanding of its contents. Users should therefore print this document using a

colour printer.
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SIST EN 62929:2014
IEC 62929:2014 © IEC 2014 – 7 –
INTRODUCTION

In addition to the performance measurement methods which are included in this International

Standard, a few more performance items have been reviewed and considered. The list of the

performance items which have been discussed over time but have not yet been included

comprises corner/edge dust pick-up, noise, docking, fall-off prevention, fibre pick-up and

emissions.

The performance items which have been left out in this edition will be continuously reviewed

and will soon be included in future editions of this standard.
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SIST EN 62929:2014
– 8 – IEC 62929:2014 © IEC 2014
CLEANING ROBOTS FOR HOUSEHOLD USE –
DRY-CLEANING: METHODS OF MEASURING PERFORMANCE
1 Scope

This International Standard is applicable to dry cleaning robots for household use in or

under conditions similar to those in households.

The purpose of this standard is to specify the essential performance characteristics of dry

cleaning robots and to describe methods for measuring these characteristics.

This standard is neither concerned with safety nor with performance requirements.

2 Normative references

The following documents, in whole or in part, are normatively referenced in this document and

are indispensable for its application. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any
amendments) applies.

IEC 60312-1:2010, Vacuum cleaners for household use – Part 1: Dry vacuum cleaners –

Methods for measuring the performance
IEC 60312-1:2010/AMD1:2011
ISO 554, Standard atmospheres for conditioning and/or testing – Specifications
ISO 679:2009, Cement – Test methods – Determination of strength

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 terms and definitions given in IEC 60312-1, as well as

the following apply.
3.1
cleaning robot
automatic battery-powered cleaners

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 using by

means other than with the aid of solutions or liquids
______________

There is a consolidated edition 1.1 (2011), that includes IEC 60312-1:2010 and its amendment IEC 60312-

1:2010/AMD1:2011.
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SIST EN 62929:2014
IEC 62929:2014 © IEC 2014 – 9 –

Note 1 to entry: Typical means of cleaning include vacuum, brush(es), pad(s) and duster.

3.3
cleaning head
air intake nozzle at the bottom of the cleaning robot

Note 1 to entry: The width of the cleaning head is the width of the air intake nozzle in the direction of forward

travel.
Note 2 to entry: It does not include any agitation device.
3.4
agitation device

motorized mechanical part or an air-blower attached to the cleaning robot used to assist dirt

removal
3.5
docking station
base unit

unit that may provide manual or automatic battery charging facilities, dust removal from the

robot, data processing facility or other robot support functions
3.6
passive cleaning head
cleaning head without agitation device

[SOURCE: IEC 60312-1:2010, 3.5, modified – "nozzle" has been replaced by "cleaning

head".]
3.7
visual tracking system
VTS
measurement system which enables the tracking of robot position and orientation
3.8
secondary collection system

peripheral device outside of the robot that collects the dust from the cleaning robot

3.9
dust receptacle
container inside of the robot used to hold the collected dust
3.10
test

entirety / superset of all (test) runs and (test) trials of all samples to be measured for a

single robot
3.11
trial

single instance of a performance measurement carried out under identical conditions that can

be repeated multiple times
3.12
run

subset of a trial where one or more factors affecting the test results is (are) changed

3.13
pass
traverse of the cleaning head over the test area
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SIST EN 62929:2014
– 10 – IEC 62929:2014 © IEC 2014

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.
3.14
dust area
area where the test dust is distributed for the dust removal test
4 General conditions for testing
4.1 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: (23 ± 2) °C
Relative humidity: (50 ± 5) %
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.

4.2 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 6 000 K
Measurements shall be made on the floor level.
4.3 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.

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 4.1.

Carpets that have already been used shall be stored unbeaten at standard atmospheric

condit
...