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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 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
Acceptance of Proposal
Study by
Acceptance of Proposal
Acceptance of Proposal
Acceptance of Proposal
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
International Standard
Publication of
International Standard
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
Navigation (Coverage) Test Navigation (Coverage) Test
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)
Navigation (Coverage) Test Navigation (Coverage) Test
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
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
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