standardization of cleaning robot pf m tiiecperformance ...€¦ · iec structure 4. iec tc 59 ......

IEEE IROS 2010IEEE IROS 2010Workshop on Performance Evaluation and Benchmarking forWorkshop on Performance Evaluation and Benchmarking forWorkshop on Performance Evaluation and Benchmarking for Workshop on Performance Evaluation and Benchmarking for Intelligent Robots and System with Cognitive and Autonomy Intelligent Robots and System with Cognitive and Autonomy Capabilities Capabilities

Standardization of Cleaning Robot Standardization of Cleaning Robot P f M t i IECP f M t i IECPerformance Measurement in IEC Performance Measurement in IEC

2010. 10. 22

Sungsoo Rhim, Ph.D.

C f C C 9/SC 9 / GConvener of IEC TC 59/SC 59F/WG 5Kyung Hee University

Department of Mechanical [email protected]

ContentsContents

Overview of IEC– IEC

History and Plan of IEC TC 59/SC 59F/WG 5

Current Discussion – Cleaning Robot Performance Measurement

Remaining Issues

2

IEC OverviewIEC Overview

IEC (International Electrotechnical Commission)– The IEC is the world's leading organization that prepares and g g p p

publishes International Standards for all electrical, electronic and related technologies — collectively known as "electrotechnology". http://www iec ch/– http://www.iec.ch/

3

IEC StructureIEC Structure

4

IEC TC 59IEC TC 59

TC 59: Performance of household and similar electrical appliancespp– Secretariat : Germany– Scope :

T I t ti l St d d th d f t fTo prepare International Standards on methods of measurement of characteristics which are of importance to determine the performance of household and similar electrical appliances and are of interest to the consumer. This may include associated aspects related to the use of the appliances and aspects such as the classification, accessibility and usability of appliances, ergonomic characteristics and conditions for the information provided at the point of sale.

– Note - "similar" doesn't mean appliances for industrial use– Note - similar doesn t mean appliances for industrial use

Note : TC 59 does not deal with appliances which are already explicitly covered by the scope of other IEC or ISO TCsexplicitly covered by the scope of other IEC or ISO TCs.

5

Subcommittees(SCs) in TC 59Subcommittees(SCs) in TC 59

SC 59A - Electric dishwashers SC 59C - Heating appliances SC 59C Heating appliances SC 59D - Home laundry appliances SC 59F - Floor treatment appliances SC 59F Floor treatment appliances

– Title change ?: Surface cleaning appliances – Scope :

To prepare international standards on performance measurement methods for floor treatment appliances

SC 59K Ovens and microwave ovens cooking ranges and SC 59K - Ovens and microwave ovens, cooking ranges and similar appliances

SC 59L - Small household appliances SC 59L Small household appliances SC 59M - Performance of electrical household and similar

cooling and freezing appliancescooling and freezing appliances

6

SC 59F Member Countries Participating WG 5SC 59F Member Countries Participating WG 5

P-members (12) – Brazil, China, Denmark, France, Germany, Italy, Japan,

K N th l d S d U it d Ki d U it d St tKorea, Netherlands, Sweden, United Kingdom, United States of America

– Participation (8+1)p ( )

O-members (23)– Australia, Austria, Belgium, …

7

Working Groups in SC 59F`Working Groups in SC 59F`

WG 3 - Maintenance of IEC 60312 (Vacuum Cleaner)WG 4 - Methods of measuring the performance of wetWG 4 Methods of measuring the performance of wet

vacuum cleanersWG 5 - Methods of measuring the performance of g p

household cleaning robots– Convener :

P f S Rhi (KR)Professor Sungsoo Rhim (KR) – Scope :

To prepare draft standard on measuring methods on performance of p p g phousehold cleaning robots

– Title Change ?: S f Cl i R b tSurface Cleaning Robots

WG 6 - Commercial Vacuum Cleaners

8

Incubation of WG 5Incubation of WG 5 IEC Taskgroup in SC59F: 2004 Korean Standard : April 2006KS B 6934

− KS B 6934, First of its kind

IEC TC 59 Meeting in Korea: October 2006P t ti f KS B 6934 d Di i f NWI− Presentation of KS B 6934 and Discussion for NWI

IEC Taskgroup Meeting in Frankfurt: September 2007Presentation of KS B 6934 and Discussion for NWI– Presentation of KS B 6934 and Discussion for NWI

IEC TC 59/SC 59F Meeting in Sydney: September 2008– Discussion of NWI for WG5Discussion of NWI for WG5

Proposal NWI 59F/183: November 2008 Voting Results and Comments Voting Results and Comments Announcement of RVN59f-183: Mar, 2009

– WG 5 is establishedWG 5 is established

9

History of WG 5History of WG 5

Meeting #1 : May, 2009, Seoul – Sponsored by LG, Samsungp y g

Meeting #2 : Sept, 2009, Stockholm– Sponsored by Electrolux

Meeting #3 : Feb, 2010, Boston– Sponsored by iRobot

Submission of CD: End of MarchCirculation of CD (2 mo)

Meeting #4 : July 2010 SeoulMeeting #4 : July, 2010, Seoul− Sponsored by LG, Samsung, Sejong Univ, Yujin

Meeting #5 : Oct 2010 SeattleMeeting #5 : Oct, 2010, Seattle− 74th IEC General Meeting

10

Standard Development ProcedureStandard Development Procedure

Project stageNormal

procedureDraft

Submitted withproposal

“Fast-trackProcedure”

TechnicalSpecification

Technicalreport

PubliclyAvailable

Specification1 ) 2 ) 3 )

4 )

Proposal stage(see 2.3)

Preparatory

Acceptance of Proposal

Preparation


Study by




Preparatory stage

(see 2.4)

Committee

Preparation of working

draft

Development and acceptance

Study by working group

Development and acceptance

Preparation of draft

Acceptance Acceptance

Approval of draft PAS

stage(see 2.5)

Enquiry stage(see 2.6)

pof committee

draft

Developmentand

acceptance of

and acceptance of committee

draft

Developmentand

acceptance ofAcceptance of enquiry draft

pof draft

pof draft

( )

Approval stage(see 2.7)

acceptance of enquiry draft

Approval of FDIS

acceptance of enquiry draft

Approval of FDIS

enquiry draft

Approval of FDIS

Publication stage

(see 2.8)

Publication of

International Standard

Publication of


Publication of


Publication of Technical

specification

Publication of Technical

Report

Publication of PAS

11

Project StagesProject Stages

Associated document

N Abb i i NName Abbreviation Note

Preliminary stage Preliminary work item PWI

Proposal stage New work item proposal NWP

Preparatory stage Working draft(s) WD

Committee stage Committee draft(s) CD

Enquiry stage Enquiry draft ISO/DIS IEC/CDV Vote

Approval stage Final draft international standard FDIS Vote

ISO IECPublication stage International standard ISO, IEC or ISO/IEC

12

PlanPlan

Meeting #5 : Oct 2010, Seattle, USARing test

Meeting #6 : Feb 2011, Europe (Vorwerk, Germany)Submission of CD #2: Mar 2011

Circulation of CD #2 (2 mo)Circulation of CD #2 (2 mo)Meeting #7 : June 2011, China (Tek, Shoju)

Preparation of CDV (2mo Bilingual Draft may be optional)Preparation of CDV (2mo, Bilingual Draft may be optional)Submission of CDV: July, 2011

Circulation of CDV (5 mo)( )Meeting #8 : Jan 2012, USA?Meeting #9 : May 2012, Europe?g y , p

Submission of FDIS: May, 2012 (2 mo + 4 wk )Publication of IS: Aug, 2012(2 mo + 4 wk )

13

Two meetings/year for new issues and revision

Approval of DraftsApproval of Drafts

An enquiry draft (CDV) is approved if a) a two-thirds majority of the votes cast by the P-members of the

technical committee or subcommittee are in favor, and b) not more than one-quarter of the total number of votes cast are

negative.negative. Abstentions are excluded when the votes are counted, as well as negative votes not accompanied by technical reasons.

A final draft International Standard (FDIS) having been circulated for voting is approved if ) t thi d j it f th t t b th P b f tha) a two-thirds majority of the votes cast by the P-members of the

technical committee or subcommittee are in favor, and b) not more than one-quarter of the total number of votes cast are ) q

negative. Abstentions are excluded when the votes are counted, as well as negative votes not accompanied by technical reasons

14

negative votes not accompanied by technical reasons.

Participating Companies and Organizations Participating Companies and Organizations

Dynson Electrolux Hanwool HHI iR b t iRobot Karcher LG LG Mearsdon Philips Samsung Tek Vorwerk Vorwerk Yujin and More a d o e

15

Task for WG 5Task for WG 5

Performance measurement of Household Cleaning Robot

What is the better cleaning robot?

What do we mean by “Better”?– Cleaning wellC ea g e

What do we mean by that really? – More dust: Vacuum suction, side brush, air blower – More coverage: Autonomy, Navigation, Intelligence– Faster– Any environment?– Cost: Power consumption product cost maintenance life cycle– Cost: Power consumption, product cost, maintenance, life cycle,– Noise

16

Performance CriteriaPerformance Criteria

Dust Removal (Collection) Performance– Wooden floor, Carpet floorp

Autonomous Navigation Performance– measure the coverage rate in a standard test environment with

i b t lvarious obstacles

Operation-time per Full-chargeSource of major complain from the user (drastic decrement of– Source of major complain from the user (drastic decrement of operation-time per charge)

Fiber Pick-upp Corner/Edge Dust Pick-up Fall-off Docking Noise (removed) Noise (removed) Others

17

Navigation (Coverage) Test Navigation (Coverage) Test

Initial Version (Current KS) – 5 m x 5m – No dust – Hardwood– Sofa– Table– Chair– Chair– Drawer– Drop zone– Lamp– Threshold

18


19


Current

5mx4m

NNoDust

MoreObstacle

20


4 StartingPositions

2000Pa

rtitio

ning

ite

m

2

500

500

21

Obstacles in Navigation Test Obstacles in Navigation Test Item Q’ty Dimensions* (mm) Weight Colour Remarks

Dresser 1 1000 (L) x 500 (W) Heavy enough so that it does not move by robot, or fixing the legs on the floor

White

Table 1 1000 (L) x 600 (W) Fixed on the floor Natural Cherry 4 legs of 40 x 40

Chairs 4 450 (L) x 450 (W) Fixed on the floor Natural Cherry 4 legs of 40 x 40Chairs 4 450 (L) x 450 (W) Fixed on the floor Natural Cherry 4 legs of 40 x 40

Sofa 1 2000 (L) x 600 (W) Same as in Dresser White Leg height of 125 mm, size is 48 mm in dia.

Sofa drop skirt 1 2000 (L) X 120 (H) Fixed on the top of frame Beige Only in front of sofa. Made with polyester.

Partitioning Item 1 1000 (L) x 500 (W) Same as in Dresser 18% grey No legs, all sides are enclosed

Floor lamp 1 Diameter 330 Same as in Dresser Metal or white With slope of 10 degree around

Floor electrical wire

1 6 mm in dia. 500 mm Long

One end fixed with lamp base, one end fixed on the wall

Black

Threshold (round) 1 15 (D) x 500 (L) N/A Not red Aluminiumes o d ( ou d) 5 ( ) 500 ( ) / ot ed u u

Heater baseboard 1 2000 (L) x 40 (W) x 250 (H)

Secured on the wall Natural Cherry

Area rug with tassels on the short edge

1 1800 (L) x 1200 (W) X 10

Ivory Wilton type area rug with tassels. Tassels on both 1200 sides. Tassel size is 60 mm long, with 4mm diameter, and deng, ,sity of 2 tassel/20 mm. Pile height is 7.0 mm, carpet is 10 mm thick.

Checker board 1 1000 (L) x 1000 (W) X 7 (H)

Black and White

Not larger than 150x150X7, surface finish shall be polished

Metal transition 1 36 (W) x 2 (T) Aluminium (See figure 8 for installation)Metal transition 1 36 (W) x 2 (T) Aluminium (See figure 8 for installation) M-D Building Products36"L x 2"W.Model #43858, polished

Wooden transition 36.5 (W) x 11 (T) Wood (see figure 9 for installation) B N t l R d M d l # 1117781

22

Bruce Natural Reducer. Model # 11177810, finished wood

Recess door 1 900 (L) x 300 (H)


KITECH (Korea Institute of Industrial Technology)

A B C D E F G H IC G

Cleaning Head 49% 70% 61% 64% 59% 54% 67% 66% 61%Cleaning Head +

Side-brush 92% 92% 91% 64% 75% 75% 67% 86% 92%

Whole Size of Robot(on a maximum

length of robot basis)94% 93% 95% 88% 84% 79% 90% 89% 95%

23

[Cleaning Head] [Cleaning Head & Side Brush] [Whole Size of Robot]

Test DustTest Dust

Hardwood test : 80% of ISO 679 + 20% of IEC-Sand for Hardwood

Carpet test: 80% of ISO 679 + 20% of IEC-Dust for Carpet

Open to other suggestion based on the ring test results.

IEC 60312 5.1.2.1Dolomite Sand

Particle size range[mm]

Parts by weight[%]

< 0 020 20

ISO 679 Sand

< 0,020 200,020 < 0,040 100,040 < 0,075 100 075 < 0 125 10

Mixture(20%IEC Sand+80%ISO Sand)

0,075 < 0,125 100,125 < 0,25 200,25 < 0,5 160 5 < 1 0 11

24

0,5 < 1,0 111,0 < 2,0 3

Test DustTest Dust

KITECH (Korea Institute of Industrial Technology)

A B C D EIEC 60312 5.1.2.1

Dolomit Sand (200g) 30% 4% 49% 39% 60%( g)ISO 679

Sand (100g) 72% 26.2% 12% 51% 78%

Mixture (100g)Mixture (100g)(20%IEC Sand+80%ISO Sand) 59% 14% 21% 70% 66%

IEC 60312 5 1 2 1 ISO 679 Sand for Cement Non-Laminated Pine Wood

25

IEC 60312 5.1.2.1 ISO 679 Sand for Cement Non Laminated Pine Wood

Dust Collection Dust Collection –– Box Test VS Straight Line TestBox Test VS Straight Line Test

10

W

600

26

Standard CarpetStandard Carpet

• type Wilton• pile composition wool 8,6/2*2

f f f• method of manufacturing Wilton fabric • color dark, one color• backing Jute and Cotton + latexg• type cut -pile• total height 7,5 mm see also tolerances• pile Height 6 4 mm see also tolerances• pile Height 6,4 mm see also tolerances• total Weight/m² 2100 g/m² see also tolerances• pile weight/m² 1500 g/m² see also tolerances• number of Knots/m² 96 000 knots/m² see also tolerances• reed 320 r/m• shots 300 sh/mshots 300 sh/m• standard width 400 cm• tolerances +/- 5 %

27

ConerConer/Edge Cleaning Test/Edge Cleaning Test

Dust pick-up near edge and cornerg

Dust distributionon blue area

28

Fiber Pickup TestFiber Pickup Test

Hair (human, pet) Fiber Fiber Amount

29

FallFall--off Test off Test

Being modified

30

Docking TestDocking Test

Different distance, Different angle Failure test Failure test

31

Energy ConsumptionEnergy Consumption

EU Regulation on Standby Energy Consumption

32

Side Brush Impact Side Brush Impact

33

Side Brush Impact Side Brush Impact

34

Coverage Test Coverage Test

35

Corner/Edge Dust PickCorner/Edge Dust Pick--up Testup Test

36

Issues being DiscussedIssues being Discussed

Orthogonality– Factoring independent capabilities VS practical realization g p p p– Decoupling MOBILITY (NAVIGATION) from DUST PICK-UP– Overall performance VS individual performance

Fairness– Normalization (Capability/Cost): Battery power, Motor spec, Size, …

F t VS L l f t h l ( lit f ti l f ti )– Features VS Level of technology (quality of particular function)• Vision based navigation VS Random navigation • Side-brush and other accessories

Weighting– Which factor is important enough? How much?

Comparison with existing similar product – Cleaning Robot VS Vacuum Cleaner

Consumer Perception

37

More Issues being DiscussedMore Issues being Discussed

Lighting Condition– Intensityy– Temperature

Visual Pattern – Shape, Marks, Color – Interference with tracking system

C fi ti f b t l Configuration of obstacles – Consistent results

Level of difficulty– Level of difficulty

Test Dust

REPEATABILITY

38

Ring TestRing Test Test Method

– Multiple samples (no shipping) – 2 robot samples per model per place

14 b t d d d– 14 robots per mode are needed – Samsung, iRobot, TEK agreed to provide 14 samples per model

Test Group (blue for test leader)D t C ll ti B T t iR b t S Phili D T k LG V k– Dust Collection :Box Test : iRobot, Samsung, Philips, Dyson, Tek, LG, Vorwerk

– Dust Collection: Straight Line Test : iRobot, Samsung, Philips, Dyson, Tek , LG , VorwerkNa igation iRobot Sams ng Philips D son LG– Navigation : iRobot, Samsung, Philips, Dyson, LG

– Corner/Edge : iRobot, Samsung, Philips, Dyson, Tek, LG, Vorwerk– Fall-off : iRobot, Samsung, Philips, Dyson, Tek, LG, Vorwerk

Fib iR b t S Phili D T k LG V k– Fiber : iRobot, Samsung, Philips, Dyson, Tek, LG, Vorwerk– Docking : iRobot, Samsung, Philips, Dyson, Tek, LG, Vorwerk– Operation time : iRobot, Samsung, Philips, Dyson, Tek, LG, Vorwerk

ff S G– Energy Efficiency : iRobot, Samsung, Philips, Dyson, Tek , LG, Vorwerk Test Sample

– iRobot 560 (random), Samsung NaviBot (vision), Tek D540 (random), LG VR5901 (vision)

39

Time – Three month from now

Thank you !

Q & A

40

IEC Standards on Service RobotsIEC Standards on Service Robots

Number Title Status

IEC 60312-3 Ed. 1.0 Methods of measuring the performance of household cleaning robots

Approved CDin 2010

IEC 60335-2-2 Ed6.0 Household and similar electricalappliances - Safety - Part 2-2: Particular requirements for vacuu

Published,2009-12-14

qm cleaners and water-suction cleaning appliances

IEC 60335 2 107 Ed 1 0 Household and similar electrical ApprovedIEC 60335-2-107 Ed. 1.0 Household and similar electricalappliances - Safety - Part 2-107:Particular requirements for robotic battery powered electrical la

Approved CDV 2010-03-12

ic battery powered electrical lawnmowers

41

Noteworthy Subjects in New IEC 60335Noteworthy Subjects in New IEC 60335--22--22

Clause Contents

Mechanical strengthAn evenly distributed load of 60 kg is placed on top of the mobile part for 60 sec. During this test, no short circuit shall occur. After the test, there shall be no visible damage that could impair compliance with the standard.

ConstructionMobile parts of automatic battery-powered cleaners shall be equipped with– a device to stop movement within 1 sec of accessible hazardous moving

parts when they lose contact with the surface being cleaned, and– a device to protect the appliance from dropping off the cleaning surfacea device to protect the appliance from dropping off the cleaning surface

(e.g. stairways, etc.). When the mobile part senses that it has reached a critical edge, it shall reverse and move away from the edge of the cleaning surface and then continue to operate normally.

When operating on a sloped surface, the speed of the mobile part shall not be excessive. For the test, the mobile part is directed to move down a glass surface inclined at 10 deg to the horizontal and its speed is measuredsurface inclined at 10 deg to the horizontal and its speed is measured.

The measured speed shall not exceed the speed measured on the flat surface by more than 10 %.

42

Noteworthy Subjects in CD of IEC 60335Noteworthy Subjects in CD of IEC 60335--22--107107Clause Sub clause ContentsClause Sub-clause Contents

Stability and mechanical ha ards

Controls Operator presence control, Traction drive, Remote setting device, Manual controller, Emergency stop

hazards Safety Requirements

Cutting means enclosure, Cutting means stopping time, Thrown object hazard, Access to cutting means, Stopping distance, Noise

M h i l G l Strength of c tting means and c tting means mo ntiMechanical strength

General Strength of cutting means and cutting means mountings, Imbalance, Structural integrity, Strength of cutting means enclosure

Construction Disabling device Removable disabling device Code protected disabliConstruction Disabling device Removable disabling device, Code protected disabling device.

Working Area Perimeter delimiter, Working area programming

S Tilt Ob t ti Lift P i iSensors Tilt sensor, Obstruction sensors, Lift sensor, Proximity Sensor

Manual controller Drop test

Batteries and accumulators

Battery/Accumulator type, Terminal protection

Cutting means Warning light or audible indicator, Time interval befoCutting means start-up Warning

g g ,re start-up

43

standardization of cleaning robot pf m tiiecperformance ...€¦ · iec structure 4. iec tc 59 ......

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