SIST EN 62849:2017
(Main)Performance evaluation methods of mobile household robots
Performance evaluation methods of mobile household robots
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.
Verfahren zur Bewertung der Leistungsfähigkeit von mobilen Haushaltrobotern
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.
Vrednotenje učinka mobilnih hišnih robotov
Ta mednarodni standard se uporablja za mobilne hišne robote ter določa preskuse učinkovitosti in metode vrednotenja skupnih lastnosti različnih mobilnih hišnih robotov. Ta standard ne opredeljuje varnostnih zahtev niti zahtev glede zmogljivosti.
General Information
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN 62849:2017
01-februar-2017
9UHGQRWHQMHXþLQNDPRELOQLKKLãQLKURERWRY
Performance evaluation methods of mobile household robots
Verfahren zur Bewertung der Leistungsfähigkeit von mobilen Haushaltrobotern
Méthodes d'évaluation de l'aptitude à la fonction des robots mobiles à usage domestique
Ta slovenski standard je istoveten z: EN 62849:2016
ICS:
97.030 (OHNWULþQLDSDUDWL]DGRPQD Domestic electrical
VSORãQR appliances in general
SIST EN 62849:2017 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN 62849:2017
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SIST EN 62849:2017
EUROPEAN STANDARD EN 62849
NORME EUROPÉENNE
EUROPÄISCHE NORM
December 2016
ICS 97.030
English Version
Performance evaluation methods
of mobile household robots
(IEC 62849:2016)
Méthodes d'évaluation de l'aptitude à la fonction Verfahren zur Bewertung der Leistungsfähigkeit
des robots mobiles à usage domestique von mobilen Haushaltrobotern
(IEC 62849:2016) (IEC 62849:2016)
This European Standard was approved by CENELEC on 2016-09-29. 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
© 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.
Ref. No. EN 62849:2016 E
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SIST EN 62849:2017
EN 62849:2016
European foreword
The text of document 59/655/FDIS, future edition 1 of IEC 62849, prepared by IEC/TC 59
"Performance of household and similar electrical appliances" was submitted to the IEC-CENELEC
parallel vote and approved by CENELEC as EN 62849:2016.
The following dates are fixed:
(dop) 2017-06-29
• latest date by which the document has to be implemented at
national level by publication of an identical national
standard or by endorsement
(dow) 2020-09-29
• latest date by which the national standards conflicting with
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 62849:2016 was approved by CENELEC as a European
Standard without any modification.
In the official version, for Bibliography, the following note has to be added for the standard indicated :
IEC 60335-1:2010 NOTE Harmonized as EN 60335-1:2012 (modified).
2
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EN 62849:2016
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/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 EN 62929 2014
cleaning: Methods of measuring
performance
ISO 554 - Standard atmospheres for conditioning - -
and/or testing - Specifications
ISO 2768-1 1989 General tolerances - EN 22768-1 1993
Part 1: Tolerances for linear and angular
dimensions without individual tolerance
indications
3
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SIST EN 62849:2017
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
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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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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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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
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 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.
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The committee has decided that the contents of this publication will remain unchanged until
the stability date indicated on the IEC website under "http://webstore.iec.ch" in the data
related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours 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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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.
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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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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.
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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.
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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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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 the robot shall be measured. A single test for each
operation (clockwise or anticlockwise) consists of three runs.
The floor material used shall be reported in the
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