EN ISO 13482-2014 en Robots and robotic devices - Safety requirements for personal care robots《机器人和机器人设备 个人护理机器人安全要求(ISO 13482 2014)》.pdf

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1、BSI Standards PublicationBS EN ISO 13482:2014Robots and robotic devices Safety requirements forpersonal care robotsBS EN ISO 13482:2014 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of EN ISO13482:2014.The UK participation in its preparation was entrusted to Technic

2、alCommittee 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 necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Stand

3、ards Institution 2014. Published by BSI StandardsLimited 2014ISBN 978 0 580 69655 8ICS 25.040.30Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 28 February 2014.Am

4、endments issued since publicationDate Text affectedEUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 13482 February 2014 ICS 25.040.30 English Version Robots and robotic devices - Safety requirements for personal care robots (ISO 13482:2014) Robots et composants robotiques - Exigences de scur

5、it pour les robots de soins personnels (ISO 13482:2014) Roboter und Robotikgerte - Sicherheitsanforderungen fr nicht-industrielle Roboter - Nichtmedizinische Haushalts und Assistenzroboter (ISO 13482:2014) This European Standard was approved by CEN on 4 January 2014. CEN members are bound to comply

6、with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Ma

7、nagement Centre or to any CEN member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management Centre has the same

8、status as the official versions. CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, M

9、alta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom. EUROPEAN COMMITTEE FOR STANDARDIZATION COMIT EUROPEN DE NORMALISATION EUROPISCHES KOMITEE FR NORMUNG CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2014

10、CEN All rights of exploitation in any form and by any means reserved worldwide for CEN national Members. Ref. No. EN ISO 13482:2014 EBS EN ISO 13482:2014EN ISO 13482:2014 (E) 3 Foreword This document (EN ISO 13482:2014) has been prepared by Technical Committee ISO/TC 184 “Automation systems and inte

11、gration” in collaboration with Technical Committee CEN/TC 310 “Advanced automation technologies and their applications” the secretariat of which is held by BSI. This European Standard shall be given the status of a national standard, either by publication of an identical text or by endorsement, at t

12、he latest by August 2014, and conflicting national standards shall be withdrawn at the latest by August 2014. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. CEN and/or CENELEC shall not be held responsible for identifying any or

13、all such patent rights. This document has been prepared under a mandate given to CEN by the European Commission and the European Free Trade Association, and supports essential requirements of EU Directive. For relationship with EU Directive, see informative Annex ZA, which is an integral part of thi

14、s document. According to the CEN-CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia,

15、 France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. Endorsement notice The text of ISO 13482:2014 has been approved by CEN as E

16、N ISO 13482:2014 without any modification. BS EN ISO 13482:2014EN ISO 13482:2014 (E) 4 Annex ZA (informative) Relationship between this European Standard and the Essential Requirements of EU Directive 2006/42/EC This European Standard has been prepared under a mandate given to CEN by the European Co

17、mmission and the European Free Trade Association to provide one means of conforming to Essential Requirements of the New Approach Directive 2006/42/EC Machinery safety. Once this standard is cited in the Official Journal of the European Union under that Directive and has been implemented as a nation

18、al standard in at least one Member State, compliance with the normative clauses of this standard confers, within the limits of the scope of this standard, a presumption of conformity with the relevant Essential Requirements of that Directive and associated EFTA regulations. WARNING: Other requiremen

19、ts and other EU Directives may be applicable to the products falling within the scope of this standard. BS EN ISO 13482:2014ISO 13482:2014(E) ISO 2014 All rights reserved iiiContents PageForeword vIntroduction vi1 Scope . 12 Normative references 23 Terms and definitions . 34 Risk assessment 94.1 Gen

20、eral . 94.2 Hazard identification . 94.3 Risk estimation . 95 Safety requirements and protective measures 105.1 General 105.2 Hazards related to charging battery 115.3 Hazards due to energy storage and supply . 125.4 Robot start-up and restart of regular operation .145.5 Electrostatic potential 155.

21、6 Hazards due to robot shape 165.7 Hazards due to emissions . 175.8 Hazards due to electromagnetic interference .215.9 Hazards due to stress, posture and usage 225.10 Hazards due to robot motion . 235.11 Hazards due to insufficient durability . 315.12 Hazards due to incorrect autonomous decisions an

22、d actions 335.13 Hazards due to contact with moving components 345.14 Hazards due to lack of awareness of robots by humans 355.15 Hazardous environmental conditions 355.16 Hazards due to localization and navigation errors .376 Safety-related control system requirements .386.1 Required safety perform

23、ance 386.2 Robot stopping . 406.3 Limits to operational spaces 436.4 Safety-related speed control 446.5 Safety-related environmental sensing . 446.6 Stability control .466.7 Safety-related force control . 476.8 Singularity protection 476.9 Design of user interface 486.10 Operational modes . 496.11 M

24、anual control devices .517 Verification and validation .528 Information for use .528.1 General 528.2 Markings or indications .538.3 User manual 558.4 Service manual .56Annex A (informative) List of significant hazards for personal care robots 58Annex B (informative) Examples of operational spaces fo

25、r personal care robots 66Annex C (informative) Example of the implementation of a safeguarded space .69Annex D (informative) Examples of functional tasks of personal care robots .72Annex E (informative) Examples of markings for personal care robots 75BS EN ISO 13482:2014ISO 13482:2014(E)iv ISO 2014

26、All rights reservedBibliography .77BS EN ISO 13482:2014ISO 13482:2014(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 carried out through ISO techn

27、ical 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 work. ISO collaborates closely

28、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 different approval criteria neede

29、d 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. www.iso.org/directivesAttention is drawn to the possibility that some of the elements of this document may be the subject of patent rights.

30、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. www.iso.org/patentsAny trade name used in this document

31、is information given for the convenience of users and does not constitute an endorsement.The committee responsible for this document is ISO/TC 184, Automation systems and integration, Subcommittee SC 2, Robots and robotic devices. ISO 2014 All rights reserved vBS EN ISO 13482:2014ISO 13482:2014(E)In

32、troductionThis International Standard has been developed in recognition of the particular hazards presented by newly emerging robots and robotic devices for new applications in non-industrial environments for providing services rather than manufacturing applications in industrial applications. This

33、International Standard focuses on the safety requirements for personal care robots in non-medical applications.This International Standard complements ISO 10218-1, which covers the safety requirements for robots in industrial environments only. This International Standard includes additional informa

34、tion in line with ISO 12100 and adopts the approach proposed in ISO 13849 and IEC 62061 to formulate a safety standard for robots and robotic devices in personal care to specify the conditions for physical human-robot contact.This International Standard is a type-C standard, as stated in ISO 12100.W

35、hen a type-C standard deviates from one or more technical provisions dealt with by type-A or by type-B standards, the type-C standard takes precedence.It is recognized that robots and robotic devices in personal care applications require close human-robot interaction and collaborations, as well as p

36、hysical human-robot contact.The robots or robotic devices concerned, and the extent to which hazards, hazardous situations or hazardous events are covered, are indicated in the scope of this International Standard.Hazards are well recognized, and the sources of the hazards are frequently unique to p

37、articular robot systems. The number and types of hazards are directly related to the nature of the robot application, the complexity of the installation, and the level of human-robot interaction incorporated.The risks associated with these hazards vary with the type of robot used and its purpose, an

38、d the way in which it is installed, programmed, operated, and maintained.Not all of the hazards identified by this International Standard apply to every personal care robot, nor will the level of risk associated with a given hazardous situation be the same from robot to robot. Consequently, the safe

39、ty requirements, and/or protective measures can vary from what is specified in this International Standard. A risk assessment is conducted to determine the protective measures needed when they do not meet safety requirements and/or protective measures specified in this International Standard, and fo

40、r the particular application being considered.In this International Standard, the following verbal forms are used: “shall” indicates a requirement; “should” indicates a recommendation; “may” indicates a permission; “can” indicates a possibility or a capability.In recognition of the variable nature o

41、f hazards with personal care robot applications, this International Standard provides guidance for the assurance of safety in the design and construction of the non-medical personal care robot, as well as the integration, installation, and use of the robots during their full life cycle. Since safety

42、 in the use of personal care robots is influenced by the design of the particular robot system, a supplementary, though equally important, purpose is to provide guidelines for the information for use of personal care robots and robotic devices.The safety requirements of this International Standard h

43、ave to be met by the manufacturer and the supplier of the personal care robot.Future editions of this International Standard might include more specific requirements on particular types of personal care robots, as well as more complete numeric data for different categories of people (e.g. children,

44、elderly persons, pregnant women).vi ISO 2014 All rights reservedBS EN ISO 13482:2014Robots and robotic devices Safety requirements for personal care robots1 ScopeThis International Standard specifies requirements and guidelines for the inherently safe design, protective measures, and information for

45、 use of personal care robots, in particular the following three types of personal care robots: mobile servant robot; physical assistant robot; person carrier robot.These robots typically perform tasks to improve the quality of life of intended users, irrespective of age or capability. This Internati

46、onal Standard describes hazards associated with the use of these robots, and provides requirements to eliminate, or reduce, the risks associated with these hazards to an acceptable level. This International Standard covers human-robot physical contact applications.This International Standard present

47、s significant hazards and describes how to deal with them for each personal care robot type.This International Standard covers robotic devices used in personal care applications, which are treated as personal care robots.This International Standard is limited to earthbound robots.This International

48、standard does not apply to: robots travelling faster than 20 km/h; robot toys; water-borne robots and flying robots; industrial robots, which are covered in ISO 10218; robots as medical devices; military or public force application robots.NOTE The safety principles established in this International

49、Standard can be useful for these robots listed above.The scope of this International Standard is limited primarily to human care related hazards but, where appropriate, it includes domestic animals or property (defined as safety-related objects), when the personal care robot is properly installed and maintained and used for its intended purpose or under conditions which can reasonably be foreseen.This International Standard is not applicable to robots manufactured prior to its publication date.This International Standard deals with all significant h