Standardization of Cleaning Robot Pf M tiIECPerformance ...

1 IEEE IROS 2010 IEEE IROS 2010 Workshop 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 PfMtiIECPfMtiIECP erformance Measurement in IEC Performance Measurement in IEC 2010. 10. 22 Sungsoo Rhim, of IEC TC 59/SC 59F/WG 5 Kyung Hee UniversityDepartment of Mechanical 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 ggpppublishes International Standards for all electrical, electronic and related technologies collectively known as "electrotechnology".

2 Http://www iec ch/ StructureIEC Structure4 IEC TC 59 IEC TC 59 TC 59: Performance of household and similar electrical appliancespp Secretariat : Germany Scope : TIttilStddthdftfTo 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 useNote : 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 59 Subcommittees(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 ?

3 : Surface Cleaning appliances Scope : To prepare international standards on performance measurement methods for floor treatment appliances SC 59 KOvens 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 appliances6SC 59F Member Countries Participating WG 5SC 59F Member Countries Participating WG 5 P-members (12) Brazil, China, Denmark, France, Germany, Italy, Japan, KNth l dSdUitdKidUitdSttKorea, Netherlands, Sweden, UnitedKingdom, 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 wet WG 4 Methods of measuring the performance of wet vacuum cleaners WG 5 - Methods of measuring the performance of gphousehold Cleaning robots Convener : PfSRhi (KR)Professor Sungsoo Rhim (KR) Scope : To prepare draft standard on measuring methods on performance of ppgphousehold Cleaning robots Title Change ?

4 : Sf Cl i RbtSurface Cleaning Robots WG 6 - Commercial Vacuum Cleaners8 Incubation of WG 5 Incubation 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 2006 PttifKS B 6934dDiif NWI Presentation of KS B 6934 and Discussion for NWI IEC Taskgroup Meeting in Frankfurt: September 2007 Presentation ofKS B 6934and 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 WG5 Discussion 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 5 History of WG 5 Meeting #1 : May, 2009, Seoul Sponsored by LG, Samsungpyg Meeting #2 : Sept, 2009, Stockholm Sponsored by Electrolux Meeting #3 : Feb, 2010, Boston Sponsored by iRobotSubmission of CD: End of MarchCirculation of CD (2 mo) Meeting #4 : July 2010 Seoul Meeting #4 : July, 2010, Seoul Sponsored by LG, Samsung, Sejong Univ, Yujin Meeting #5 : Oct 2010 Seattle Meeting #5.

5 Oct, 2010, Seattle 74thIEC General Meeting 10 Standard Development ProcedureStandard Development ProcedureProject stageNormalprocedureDraftSubmitted withproposal Fast-trackProcedure TechnicalSpecificationTechnicalreportPub liclyAvailableSpecification1 )2 )3 )4 )Proposal stage(see )PreparatoryAcceptance of ProposalPreparationAcceptance of ProposalStudy byAcceptance of ProposalAcceptance of ProposalAcceptance of ProposalPreparatory stage(see )CommitteePreparation of working draftDevelopment and acceptance Study by working groupDevelopment and acceptancePreparation of draftAcceptance Acceptance Approval of draft PASstage(see )Enquiry stage(see )pof committee draftDevelopmentand acceptance ofand acceptance of committee draftDevelopmentand acceptance ofAcceptance of enquiry draftpof draftpof draft()Approval stage(see )acceptance of enquiry draftApproval of FDIS acceptance of enquiry draftApproval of FDIS enquiry draftApproval of FDISP ublication stage(see )Publication of International StandardPublication of International StandardPublication of International StandardPublication of TechnicalspecificationPublication of TechnicalReportPublication of PAS11 Project StagesProject StagesAssociated documentNAbbi iNNameAbbreviationNotePreliminary stagePreliminary work itemPWIP roposal stageNew work item proposalNWPP reparatory stageWorking draft(s) WDCommittee stageCommittee draft(s)CDEnquiry stageEnquiry draftISO/DIS IEC/CDVVoteApproval stageFinal draft international standardFDISVoteISO IECP ublication stageInternational standardISO, IEC or ISO/IEC12 PlanPlan Meeting #5 : Oct 2010, Seattle, USARing test Meeting #6 : Feb 2011, Europe (Vorwerk, Germany)Submission of CD #2: Mar 2011 CirculationofCD#2(2mo)Circulation of CD #2 (2 mo) Meeting #7.

6 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?gy,pSubmission 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 revisionApproval 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 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 )tthi dj itf thtt b th Pbftha)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 )qnegative.

7 Abstentions are excluded when the votes are counted, as well as negative votes not accompanied by technical reasons14negative votes not accompanied by technical 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 ad oe15 Task for WG 5 Task for WG 5 Performance measurement of Household Cleaning Robot What is the better Cleaning Robot ? What do we mean by Better ? Cleaning wellCeag 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 ibtlvarious 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) Others17 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 Threshold18 Navigation (Coverage) Test Navigation (Coverage) Test 19 Navigation (Coverage) Test Navigation (Coverage) Test Current5mx4mNNoDustMoreObstacle20 Navigation (Coverage) Test Navigation (Coverage))

8 Test 4 StartingPositions2000 Partitioning item250050021 Obstacles in Navigation Test Obstacles in Navigation Test ItemQ tyDimensions* (mm)WeightColourRemarksDresser11000 (L) x 500 (W)Heavy enough so that it does not move by Robot , or fixing the legs on the floorWhite Table11000 (L) x 600 (W)Fixed on the floorNatural Cherry 4 legs of 40 x 40 Chairs4450 (L) x 450 (W)Fixed on the floorNatural Cherry4 legs of 40 x 40 Chairs4450 (L) x 450 (W)Fixed on the floor Natural Cherry4 legs of 40 x 40 Sofa12000 (L) x 600 (W)Same as in DresserWhiteLeg height of 125 mm, size is 48 mm in drop skirt12000 (L) X 120 (H)Fixed on the top of frameBeigeOnly in front of sofa. Made with Item11000 (L) x 500 (W)Same as in Dresser18% greyNo legs, all sides are enclosedFloor lamp1 Diameter 330 Same as in DresserMetal or white With slope of 10 degree aroundFloor electrical wire16 mm in dia. 500 mm LongOne end fixed with lamp base, one end fixed on the wallBlackThreshold (round)115 (D) x 500 (L) N/ANot redAluminiumes o d ( ou d)5 ( )500 ( )/ot eduuHeater baseboard12000 (L) x 40 (W) x 250 (H)Secured on the wallNatural CherryArea rug with tassels on the short edge11800 (L) x 1200 (W) X 10 IvoryWilton type area rug with tassels.

9 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 mm, carpet is 10 mm board11000 (L) x 1000 (W) X 7 (H)Black and WhiteNot larger than 150x150X7, surface finish shall be polishedMetal transition136 (W) x 2 (T)Aluminium (See figure 8 for installation)Metal transition136 (W) x 2 (T)Aluminium (See figure 8 for installation) M-D Building Products36"L x 2" #43858, polishedWooden (W) x 11 (T)Wood (see figure 9 for installation) BN tl R dM d l # 111778122 BruceNatural Reducer. Model # 11177810, finished woodRecess door1900 (L) x 300 (H)Navigation (Coverage) Test Navigation (Coverage) Test KITECH (Korea Institute of Industrial Technology)ABCDEFGHICGC leaning Head49%70%61%64%59%54%67%66%61% Cleaning Head +Side-brush92%92%91%64%75%75%67%86%92%Wh ole Size of Robot (on a maximum length of Robot basis)94%93%95%88%84%79%90%89%95%23[Clea ning 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.

10 IEC 60312 SandParticle size range[mm]Parts by weight[%]< 0 02020 ISO 679 Sand< 0,020200,020< 0,040100,040< 0,075100 075< 0 12510 Mixture(20%IEC Sand+80%ISO Sand)0,075< 0,125100,125< 0,25200,25< 0,51605<1011240,5< 1,0111,0< 2,03 Test DustTest Dust KITECH (Korea Institute of Industrial Technology)ABCDEIEC 60312 Sand (200g)30%4%49%39%60%(g)ISO 679 Sand (100g)72% (100g)Mixture (100g)(20%IEC Sand+80%ISO Sand)59%14%21%70%66%IEC 60312 5 1 2 1 ISO 679 Sand for CementNon-Laminated Pine Wood25 IEC 60312 679 Sand for CementNonLaminated Pine WoodDust Collection Dust Collection Box Test VS Straight Line TestBox Test VS Straight Line Test10W60026 Standard CarpetStandard Carpet typeWilton pile composition wool 8,6/2*2fff method of manufacturing Wilton fabric color dark, one color backing Jute and Cotton + latexg type cut -pile total height 7,5 mmsee also tolerances pile Height64mmsee also tolerances pile Height 6.