IEC_62849-2016.pdf

-2-1EC62849:20161EC2016CONTENTSFOREWORD.4INTRODUCTION.612Normative references.73Terms and definitions.74 General conditions for testing.84.1Conditions prior to testing.84.2Operating and environmental conditions.84.2.1General84.2.2Operating conditions.84.2.3Atmospheric conditions.84.2.4Lighting conditions.94.3Test equipment and materials.94.4Number of samples.94.5Preparation of battery.94.6Operation of the mobile household robot.94.7Tolerance of dimensions.95 Units0.106Pose measurements.106.1General.106.2Test bed.106.2.1General.106.2.2Test mode.116.3 Test method.117 Capability of homing function.127.1General.127.2Test bed.127.3 Test method.138 Operation time per single charge.148.1 General.148.2Test bed.148.3Test method.159 Managing a single step.159.1General.159.2Test bed.169.3Test method(autonomous modes).169.4Test method(manual modes).1710 Obstacle avoidance.1710.1General.1710.2 Test bed.1710.3 Test method.1811 Cable traversing behaviour.1911.1General.1911.2 Test bed.1911.2.1General.1911.2.2Circles mark setting.20Copyright Imtemational Electrolechnical CommissionIEC62849:2016IEC2016-3-11.2.3Cable.2011.3 Test method.21Annex A(normative).23A.1General.23A.2 Door specification.26Bibiography.27Figure 1-Pose measurements configuration.12Figure 2-Capability of homing function configuration.13Figure 3-Operation time per single charge configuration.14Figure 4-Managing a single step configuration.16Figure 5-Starting position for managing a single step test.17Figure 6-Obstacle avoidance configuration.18Figure 7-Starting position for obstacle avoidance test.18Figure 8-Wire fastening configuration.2Figure 9-Floor circle marks schematic diagram.2oFigure 10-Floor circle marks schematic diagram with robot.2Figure 11-Top view of cable traversing behaviour Configuration.1Figure 12-Side view of cable traversing behaviour Configuration.2Figure A.1-Details of obstacles around table.23Figure A.2-Illustration of metal transition installation.25Figure A.3-Illustration of wood transition Installation.2Figure A.4-Detail view of checker board and transitions.26Figure A.5-Illustration of four-panel door.26Table 1-Tolerance of linear dimension(from ISO 2768-1).10Table 2-Tolerance of external radius and chamfer heights(from ISO 2768-1).10Table A.1-Dimensions of furniture and obstacles.24Copyright Imtemational Electrolechnical Commission