1、BS ISO 18646-1:2016Robotics Performancecriteria and related testmethods for service robotsPart 1: Locomotion for wheeled robotsBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS ISO 18646-1:2016 BRITISH STANDARDNational forewordThis British Standard is the UK impleme
2、ntation of ISO 18646-1:2016.The UK participation in its preparation was entrusted to TechnicalCommittee AMT/-/2, Robots and robotic devices.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryp
3、rovisions of a contract. Users are responsible for its correctapplication. The British Standards Institution 2016. Published by BSI Standards Limited 2016ISBN 978 0 580 83024 2ICS 25.040.30Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was publi
4、shed under the authority of theStandards Policy and Strategy Committee on 30 September 2016.Amendments/corrigenda issued since publicationDate Text affectedBS ISO 18646-1:2016 ISO 2016Robotics Performance criteria and related test methods for service robots Part 1: Locomotion for wheeled robotsRobot
5、ique Critres de performance et mthodes dessai correspondantes pour robots de service Partie 1: Locomotion des robots rouesINTERNATIONAL STANDARDISO18646-1First edition2016-09-15Reference numberISO 18646-1:2016(E)BS ISO 18646-1:2016ISO 18646-1:2016(E)ii ISO 2016 All rights reservedCOPYRIGHT PROTECTED
6、 DOCUMENT ISO 2016, Published in SwitzerlandAll rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior wri
7、tten permission. Permission can be requested from either ISO at the address below or ISOs member body in the country of the requester.ISO copyright officeCh. de Blandonnet 8 CP 401CH-1214 Vernier, Geneva, SwitzerlandTel. +41 22 749 01 11Fax +41 22 749 09 47copyrightiso.orgwww.iso.orgBS ISO 18646-1:2
8、016ISO 18646-1:2016(E)Foreword ivIntroduction v1 Scope . 12 Normative references 13 Terms and definitions . 14 Test conditions . 44.1 General . 44.2 Environmental conditions . 44.3 Travel surface conditions . 44.4 Operating conditions . 45 Rated speed 45.1 Purpose 45.2 Test facility 45.3 Test proced
9、ure . 55.4 Test result 56 Stopping characteristics . 56.1 Purpose 56.2 Test facility 66.3 Test procedure . 66.4 Test result 67 Maximum slope angle 67.1 Purpose 67.2 Test facility 77.3 Test procedure . 77.4 Test result 78 Maximum speed on the slope 78.1 Purpose 78.2 Test facility 78.3 Test procedure
10、. 88.4 Test result 89 Mobility over the sill . 89.1 Purpose 89.2 Test facility 99.3 Test procedure . 99.4 Test result . 1010 Turning width .1010.1 Purpose . 1010.2 Test facility . 1010.3 Test procedure 1010.4 Test result . 11Annex A (informative) Examples of test configurations for turning widths 12
11、Bibliography .13 ISO 2016 All rights reserved iiiContents PageBS ISO 18646-1:2016ISO 18646-1:2016(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally c
12、arried out through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the wor
13、k. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.The procedures used to develop this document and those intended for its further maintenance are described in the ISO/IEC Directives, Part 1. In particular the diffe
14、rent approval criteria needed for the different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).Attention is drawn to the possibility that some of the elements of this document may
15、 be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in the Introduction and/or on the ISO list of patent declarations received (see www.iso.org/patent
16、s).Any trade name used in this document is information given for the convenience of users and does not constitute an endorsement.For an explanation on the meaning of ISO specific terms and expressions related to conformity assessment, as well as information about ISOs adherence to the World Trade Or
17、ganization (WTO) principles in the Technical Barriers to Trade (TBT) see the following URL: www.iso.org/iso/foreword.html.The committee responsible for this document is Technical Committee ISO/TC 299, Robotics.A list of all the parts in the ISO 18646 series can be found on the ISO website.iv ISO 201
18、6 All rights reservedBS ISO 18646-1:2016ISO 18646-1:2016(E)IntroductionThis document is intended to facilitate understanding of performance of wheeled robots between users and manufacturers. It defines the important performance characteristics, describes how they are specified and recommends how to
19、test them.The characteristics for which test methods are given in this document are those considered to affect robot performance significantly. Users of this document are intended to select the performance characteristics to be tested, in accordance with the specific requirements.The performance cri
20、teria specified in this document are not intended to be interpreted as the verification or validation of safety requirements. This document deals with indoor environments only. ISO 2016 All rights reserved vBS ISO 18646-1:2016BS ISO 18646-1:2016Robotics Performance criteria and related test methods
21、for service robots Part 1: Locomotion for wheeled robots1 ScopeThis document describes methods for specifying and evaluating the locomotion performance of wheeled robots in indoor environments.2 Normative referencesThere are no normative references in this document.3 Terms and definitionsFor the pur
22、poses of this document, the following terms and definitions apply.ISO and IEC maintain terminological databases for use in standardization at the following addresses: ISO Online browsing platform: available at http:/www.iso.org/obp IEC Electropedia: available at http:/www.electropedia.org/3.1robotpr
23、ogrammed actuated mechanism with a degree of autonomy, moving within its environment, to perform intended tasksNote 1 to entry: A robot includes the control system and interface of the control system.Note 2 to entry: The classification of robot into industrial robot or service robot (3.2) is done ac
24、cording to its intended application.SOURCE: ISO 8373:2012, 2.6, modified3.2service robotrobot (3.1) that performs useful tasks for humans or equipment excluding industrial automation applicationsNote 1 to entry: Industrial automation applications include, but are not limited to, manufacturing, inspe
25、ction, packaging, and assembly.Note 2 to entry: While articulated robots used in production lines are industrial robots, similar articulated robots used for serving food are service robots.SOURCE: ISO 8373:2012, 2.10INTERNATIONAL STANDARD ISO 18646-1:2016(E) ISO 2016 All rights reserved 1BS ISO 1864
26、6-1:2016ISO 18646-1:2016(E)3.3mobile robotrobot (3.1) able to travel under its own controlNote 1 to entry: A mobile robot can be a mobile platform (3.5) with or without manipulators.SOURCE: ISO 8373:2012, 2.133.4wheeled robotmobile robot (3.3) that travels using wheelsSOURCE: ISO 8373:2012, 3.16.1,
27、modified3.5mobile platformassembly of all components of the mobile robot (3.3) which enables locomotionNote 1 to entry: A mobile platform can include chassis which can be used to support a load (3.7).Note 2 to entry: Because of possible confusion with the term “base”, it is advisable not to use the
28、term “mobile base” to describe a mobile platform.SOURCE: ISO 8373:2012, 3.183.6travel surfaceterrain on which the mobile robot (3.3) travelsSOURCE: ISO 8373:2012, 7.73.7loadforce and/or torque at the mechanical interface or mobile platform (3.5) which can be exerted along the various directions of m
29、otion under specified conditions of velocity and accelerationNote 1 to entry: The load is a function of mass, moment of inertia, and static and dynamic forces supported by the robot (3.1).SOURCE: ISO 8373:2012, 6.2.13.8rated loadmaximum load (3.7) that can be applied to the mechanical interface or m
30、obile platform (3.5) in normal operating conditions (3.9) without degradation of any performance specificationNote 1 to entry: The rated load includes the inertial effects of the end effector, accessories and workpiece, where applicable.SOURCE: ISO 8373:2012, 6.2.23.9normal operating conditionsrange
31、 of environmental conditions and other parameters which can influence robot (3.1) performance (such as electrical supply instability, electromagnetic fields) within which the performance of the robot specified by the manufacturer is validNote 1 to entry: Environmental conditions include, for example
32、, temperature and humidity.SOURCE: ISO 8373:2012, 6.12 ISO 2016 All rights reservedBS ISO 18646-1:2016ISO 18646-1:2016(E)3.10stopping distancemaximum distance travelled by the mobile platform (3.5) origin between the initiation of the stop and the full stop of the mobile platform3.11rated speedmaxim
33、um speed of the mobile platform (3.5) equipped with the rated load (3.8) in normal operating conditions (3.9)3.12turningturnmovement of the mobile platform (3.5) causing a change of orientation of the mobile platform coordinate systemNote 1 to entry: Turning is typically accompanied by a change in d
34、irection of travel of the mobile platform.3.13spin turnspinningin-place rotation, or rotation about the mobile platform (3.5) origin without translation3.14turning widthminimum width of the rectangular passage within which the mobile platform (3.5) can complete a specific type of turning (3.12)3.15r
35、everse turning widthturning width (3.14) for the mobile platform (3.5) with a 180 turn3.16U-turn widthU-shaped reverse turning widthreverse turning width (3.15) for the mobile platform (3.5) with a U-shaped turning pathNote 1 to entry: See Figure A.1.3.17three-point-turn widththree-point reverse tur
36、ning widthreverse turning width (3.15) for the mobile platform (3.5) using one initial forward travel, one backward travel and one final forward travelNote 1 to entry: See Figure A.2.3.18L-turn widthright angle turning widthturning width (3.14) for the mobile platform (3.5) with a 90 turn to pass th
37、rough the L-shaped passageNote 1 to entry: See Figure A.3. ISO 2016 All rights reserved 3BS ISO 18646-1:2016ISO 18646-1:2016(E)4 Test conditions4.1 GeneralThe robot shall be completely assembled and sufficiently charged and operational. All self-diagnostic tests shall be satisfactorily completed. It
38、 should also be ensured that the robot operates in a safe manner throughout the tests.The tests shall be preceded by the preparations for operation as specified by the manufacturer.All conditions specified in Clause 4 should be satisfied for the tests described in this document, unless it is stated
39、otherwise in the specific clauses.Each test described in each clause of this document may have different test configurations which require separate test procedures. For each test configuration, multiple trials can be conducted, if specified in the test procedure.4.2 Environmental conditionsThe follo
40、wing environmental conditions shall be maintained during all tests: ambient temperature: 10 C to 30 C relative humidity: 0 % to 80 %If the environmental conditions specified by the manufacturer are outside the given conditions, then this shall be declared within the test report.4.3 Travel surface co
41、nditionsA hard and even surface with a coefficient of friction between 0,75 and 1,0 (measured according to ISO 7176-13) shall be used.4.4 Operating conditionsAll performance shall be measured under normal operating conditions. When the performance is measured in other conditions, this shall be decla
42、red within the test report.For all tests, the robot shall be tested at the rated speed equipped with the rated load, unless otherwise specified.5 Rated speed5.1 PurposeThe purpose of this test is to determine how fast a robot can travel to its destination. Rated speed is an indication of how fast th
43、e robot can generally perform tasks that are related to travelling. In the test described in 5.2 to 5.4, the rated speed is determined from a series of measurements on horizontal travel surface.5.2 Test facilityThe setup for this test is shown in Figure 1. The speed measurement test area shall be at
44、 least 1 000 mm in length and of sufficient width. Enough space shall be provided at each end of the test area for acceleration and deceleration. Sensors should be allocated at each end of the speed measurement test area to measure the start time and finish time of the wheeled robot.4 ISO 2016 All r
45、ights reservedBS ISO 18646-1:2016ISO 18646-1:2016(E)Dimensions in millimetresKey1 mobile robot2 sensoraacceleration areabdeceleration areaFigure 1 Test area for rated speed5.3 Test procedureThis test consists of one test configuration. Each trial shall follow the procedure below.a) The wheeled robot
46、 equipped with the rated load is placed at the initial position.b) The robot starts from its initial position and accelerates so that it reaches the final attained speed before the start line.c) While the robot moves in a straight line through the speed measurement test area, the speed of the robot
47、is determined with the measurement system.d) After the robot reaches the finish line, it decelerates until it stops.A trial shall be considered to fail if the robot does not reach the finish line of the test area or if it deviates from the designated travel direction by more than 10 % of the length
48、of the speed measurement test area. The rated speed, specified in metres per second, shall be selected as the minimum speed value from three consecutive successful trials.5.4 Test resultRated speed along with the specific test conditions, including friction conditions, shall be declared in the test
49、report.6 Stopping characteristics6.1 PurposeThe purpose of this test is to determine stopping distance and stopping time that indicate the ability of the robot to navigate in a reliable way in its environment. A high stopping performance generally supports the manoeuvrability of the robot as it allows fast cessation of motion and turning manoeuvres. ISO 2016 All rights reserved 5BS ISO 18646-1:2016ISO 18646-1:2016(E)In the test described in 6.2 to 6.4, the stopping distance and stopping time are determined
