ISO 18646-2:2019 pdf free download – Robotics – Performance criteria and related test methods for service robots – Part 2: Navigation.
4.1 General
The robot shall be completely assembled, fully charged and operational, based on the manufacturer specification. All self-diagnostic tests shall be satisfactorily completed. Appropriate precautions should be taken to protect the personnel during the test.
The tests shall be preceded by the preparations for operation as specified by the manufacturer. These preparations shall he reported in the test report.
All conditions specified in Clause 4 should be satisfied for the tests described in this document, unless it is stated otherwise in the specific clauses.
Each test described in each clause of this document can have different test configurations which require separate test procedures. For each test configuration, multiple trials should be conducted if specified in the test procedure.
4.2 Environmental conditions
The following typical indoor environmental conditions should be maintained during all tests:
— ambient temperature: 10 °C to 30 °C;
— relative humidity: 0 % to 80 %;
— illumination: 100 lux to 1 000 lux.
The environmental conditions shall be declared in the test report. The manufacturer may specify environmental conditions outside these ranges (see Annex A).
NOTE Even though reflectivity can affect performance, it is not included in these environmental conditions.
4.3 Travel surface conditions
A hard, even and horizontal travel surface with a coefficient of friction between 0,6 and 1,0, measured in accordance with ISO 7176-13, shall be used.
A.l General
This annex is intended to clarify the usage of this document to evaluate the navigation performance of mobile robots for outdoor usage.
These tests are also applicable for indoor environments where normal operating environmental conditions or travel surface conditions deviate from the conditions as stated in 42 and 4.
A.2 Wheel selection
The navigation performance of mobile robots intended for outdoor use is largely determined by the rolling resistance of the wheels.
Prior to performing the tests as described in Clauses 5, .& and Z the wheel that best suits the outdoor conditions shall be selected.
A.3 Test conditions
A.3.1 General
All test conditions as prescribed in Clause 4 are applicable for outdoor testing, except the following sub cia uses.
A.3.2 Environmental conditions
Instead of 4.2, the test shall be performed with the same conditions as identified with normal outdoor usage.
A.3.3 Travel surface conditions
Instead of 4.3. the test shall be performed with the same travel surface conditions as identified with normal outdoor usage.
A.4 Pose characteristics
A mobile robot intended for outdoor usage shall he tested using the same tests as described in Clause 5.
For outdoor testing, corrected GPS equipment having a measurement accuracy sufficient to produce a linear measurement tolerance of ±0,5 % is also considered suitable for performing the test as described in Clause 5.