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GB/T 37284-2019
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 33.100
L 06
Service robot machine - Electromagnetic compatibility
- Generic standards - Emission requirements and
limits
ISSUED ON: MARCH 25, 2019
IMPLEMENTED ON: OCTOBER 01, 2019
Issued by: State Administration for Market Regulation;
Standardization Administration of the PRC.
Table of Contents
Foreword ... 4
1 Scope ... 5
2 Normative references ... 5
3 Terms and definitions ... 7
4 General conditions ... 11
4.1 Overview ... 11
4.2 Test environment ... 12
4.3 Test site and equipment ... 12
4.4 Test methods ... 12
5 General requirements of test ... 13
5.1 Overview ... 13
5.2 Auxiliary equipment and load ... 14
6 Test arrangement ... 14
6.1 Overview ... 14
6.2 Test arrangement of fixed service robot ... 14
6.3 Test arrangement of mobile service robot ... 21
7 Harmonics, voltage fluctuations and flicker ... 23
7.1 Harmonic current ... 23
7.2 Voltage fluctuations and flicker ... 23
8 Disturbance limit grading ... 23
9 Conducted disturbance limits ... 23
9.1 Overview ... 23
9.2 Conducted disturbance limits of power terminal ... 24
9.3 Conducted common mode disturbance limits of telecommunications port ... 24
10 Radiated disturbance limits ... 25
10.1 Limits below 1 GHz ... 25
10.2 Limits above 1 GHz ... 25
11 Measurement uncertainties ... 26
12 Result report ... 27
Appendix A (Normative) EMC requirements for clean robot and air purification
robot ... 29
Bibliography ... 34
Service robot machine - Electromagnetic compatibility
- Generic standards - Emission requirements and
limits
1 Scope
This Standard specifies procedures for measuring the level of electromagnetic
disturbance generated by a service robot, and specifies the disturbance limits,
measurement methods, operating conditions, and processing of the results.
This Standard is applicable to all types of service robots with working
frequencies from 0 Hz~400 GHz, mainly including personal/household service
robots and public service robots. There is no need to measure the frequency
bands without specified limits.
The special robot can refer to the use of this Standard.
Note: In the case of relevant special product electromagnetic compatibility emission
standards, product standards take precedence over this Standard.
2 Normative references
The following documents are indispensable for the application of this document.
For the dated references, only the editions with the dates indicated are
applicable to this document. For the undated references, the latest edition
(including all the amendments) are applicable to this document.
GB 4343.1 Electromagnetic compatibility requirements for household
appliances, electric tools and similar apparatus - Part 1: Emission
GB/T 4365-2003 Electrotechnical terminology - Electromagnetic
compatibility
GB/T 6113.101 Specification for radio disturbance and immunity measuring
apparatus and methods of measurement - Part 1-1: Radio disturbance and
immunity measuring apparatus - Measuring equipment
GB/T 6113.102 Specification for radio disturbance and immunity measuring
apparatus and methods - Part 1-2: Radio disturbance and immunity
measuring apparatus - Coupling devices for conducted disturbance
measurements
GB/T 6113.104 Radio disturbance and immunity measuring apparatus and
methods - Part 1-4: Radio disturbance and immunity measuring apparatus -
Radiated disturbance measuring antenna and test site
GB/T 6113.201-2017 Specification for radio disturbance and immunity
measuring apparatus and methods - Part 2-1: Methods of measurement of
disturbances and immunity - Conducted disturbance measurements
GB/T 6113.202 Specification for radio disturbance and immunity measuring
apparatus and methods - Part 2-2: Methods of measurement of disturbances
and immunity - Measurement of disturbance power
GB/T 6113.203 Specification for radio disturbance and immunity measuring
apparatus and methods of measurement - Part 2-3: Methods of
measurement of radio disturbance and immunity - Radiated disturbance
measurements
GB/T 6113.402 Specification for radio disturbance and immunity measuring
apparatus and methods - Part 4-2: Uncertainties, statistics and limit
modelling - Measurement instrumentation uncertainty
GB/T 9254-2008 Information technology equipment - Radio disturbance
characteristics - Limits and methods of measurement
GB/T 12643-2013 Robots and robotic devices - Vocabulary
GB/T 17624.1 Electromagnetic compatibility - General - Application and
interpretation of fundamental definitions and terms
GB 17625.1 Electromagnetic compatibility - Limits - Limits for harmonic
current emissions (equipment input current ≤16 A per phase)
GB/T 17625.2 Electromagnetic compatibility (EMC) - Limits - Limitation of
voltage changes, voltage fluctuations and flicker in public low-voltage supply
systems, for equipment with rated current ≤16 A per phase and not subject
to conditional connection
GB/T 17625.7 Electromagnetic compatibility - Limits - Limitation of voltage
changes, voltage fluctuations and flicker in public low-voltage supply
systems for equipment with rated current ≤ 75 A and subject to conditional
connection
GB/T 17625.8 Electromagnetic compatibility - Limits - Limits for harmonic
currents produced by equipment connected to public low-voltage systems
3.5 Special robot; professional service robot
The robot which is used in a professional field and is generally operated or used
by specially trained personnel, to assist and/or replace a person to perform a
task.
Note: Special robots refer to robots other than industrial robots, public service robots, and
personal service robots. It generally refers to professional service robot.
3.6 Mobile platform
An assembly of all components which enable the mobile robot to move.
Note: The mobile platform contains a chassis for supporting the load.
[GB/T 12643-2013, definition 3.18]
3.7 Mobile service robot
A service robot based on its own control and movement.
Note 1: The mobile service robot can be a mobile platform with or without a manipulator.
Note 2: Modify GB/T 12643-2013, definition 2.13.
3.8 Clean robot
An apparatus which can independently seek or operate according to a
predetermined path within a certain area and uses a program to achieve a
specified cleaning function.
Note: Such as sweeping robot, window-cleaning robot.
3.9 Air purification robot
An apparatus which can independently seek or operate according to a
predetermined path without human intervention within a certain area and has a
certain ability to remove one or more pollutants such as solid pollutants,
gaseous pollutants, and microorganisms in indoor air.
3.10 Electromagnetic disturbance
Any electromagnetic phenomenon which may degrade the performance of a
device, equipment or system, or adversely affect living or inert matter.
Note: An electromagnetic disturbance may be an electromagnetic noise, an unwanted
signal or a change in the propagation medium itself.
The operating mode and other operating conditions of the EUT.
[GB/T 9254-2008, definition 3.9]
3.16 Artificial network; AN
The reference load specified to simulate the impedance presented to the EUT
by an actual network (such as an extended power circuit or communication line),
across which the radio frequency disturbance voltage can be measured.
[GB/T 6113.201-2017, definition 3.17]
3.17 Artificial mains network; AMN
A network which provides a specified impedance for the EUT in the radio
frequency range and can isolate the test circuit from unwanted radio frequency
signals on the power supply to couple the disturbance voltage to the
measurement receiver.
Note 1: There are two basic types of AMN: V-type (V-AMN) for coupling asymmetric
voltages and Δ-type (Δ-AMN) for coupling symmetric voltage and asymmetric
voltage.
Note 2: Line impedance stabilization network (LISN) and V-AMN are replaceable.
[GB/T 6113.201-2017, definition 3.18]
3.18 Highest internal frequency
The highest fundamental frequency or highest operating frequency generated
or used in the equipment under test (EUT).
Note: This includes frequencies which are used separately within the integrated circuit.
3.19 Table-top service robot
An equipment designed to be placed on a tabletop or on a surface other than
the ground.
Example: Surfaces other than the ground, such as ceilings and walls.
3.20 Floor-standing service robot
Equipment which is typically placed on the ground for use according to its
design and/or weight.
3.21 Combined service robot
report.
If specific measures shall be taken to comply with the standard requirements,
such as the use of shielded cables or special cables, the purchaser or user shall
be informed.
4.2 Test environment
In the specified test environment, tests shall be conducted, to ensure proper
operation of the EUT. The following temperature, humidity, and air pressure
should be used:
a) Ambient temperature 15 °C~35 °C;
b) Relative humidity 10%~75%;
c) Air pressure 86 kPa~106 kPa.
If the service robot does not work properly under the above environmental
conditions, according to the working environment required by the manufacturer,
it shall be tested.
4.3 Test site and equipment
The test site used in the measurement of radiation disturbance of this Standard
shall meet the requirements of
The emission test antenna used in this Standard shall meet the requirements
of GB/T 6113.104.
The measurement receiver used in this Standard shall meet the requirements
of GB/T 6113.101.
The conduction test equipment used in this Standard shall meet the
requirements of GB/T 6113.102.
4.4 Test methods
For the test method of conducted disturbance, see GB/T 6113.201-2017.
For the measurement method of radiated disturbance, see GB/T 6113.203.
Note: The test methods for harmonics, voltage fluctuations and flicker are given in Clause
7.
network is used for the power port, see Figure 1). Regardless of grounding or
not, table-top service robots shall be placed as follows:
- The bottom or back of the service robot shall be placed at a steerable
distance of 40 cm from the reference ground plane. The ground plane is
usually a wall or floor of shielded room. It may also be a grounded metal
plate of at least 2 m×2 m;
Note 1: The actual arrangement can be achieved as follows:
The service robot is placed on a test bench of insulating material at least 80
cm high, which is 40 cm away from any wall of the shielded room. Or the service
robot is placed on a 40 cm high test bench of insulating material, so that the
bottom of the service robot is 40 cm above the ground plane.
- The distance between all other conductive planes of the service robot and
the reference ground plane shall be greater than 40 cm;
- The cable connection of the service robot is shown in Figure 1;
- As shown in Figure 1, those artificial mains networks are placed on the floor
in such a way that one side of the artificial network enclosure is 40 cm from
the vertical reference ground plane and other metal components. The V-
type artificial mains network and the Y-type impedance stabilization network
are shown in Figure 1 and Figure 2.
Note 2: The configuration shown in Figure 3 may create some uncertainty, because the
metal interference source for some service robots is not at the center of the
non-metallic enclosure (see GB/Z 6113.401).
aspect ratio of no more than 3:1, this requirement can be achieved. The resonance
of the AMN grounding can be determined by field test of the voltage division
coefficient (see GB/T 6113.201-2017, Appendix E).
The arrangement of the service robot is as shown in Figure 1~Figure 4. The
distance between the boundary of the service robot and the nearest surface of
the AMN is 80 cm. The method of placing the table-top service robot in Figures
1 through 4 is to mount the AMN on a ground plane —— the front panel is flush
with the ground plane.
The power lines to the AMN and the connection cables from the AMN to the
measurement receiver shall be placed so that their positions do not affect the
measurement results. For service robots which do not have a fixed connection
cable, according to the provisions in the relevant service robot documentation,
USE a 1 m long wire to connect to the AMN. The 1 m long wire is chosen
because of its low standard compliance uncertainty.
Unless the service robot has special requirements for ground impedance, the
following provisions shall apply. If the service robot is to be connected to the
reference ground, it shall use a wire which is parallel to the power line and has
the same length and is no more than 10 cm away, unless the power line itself
contains a ground wire. If the service robot has a fixed power line, the wire shall
be 1 m long. If it exceeds 1 m, a part of the wire shall be folded back and forth
into an S-shape, to form a wiring harness having a length of 30 cm~40 cm as
much as possible; and placed in a noninductive S-shaped curve shape, so that
the total length of the power line does not exceed 1 m. However, when the
folded and bundled power line may affect the measurement results, the length
of the power line shall be shortened to 1 m.
6.2.2 Radiated disturbance test arrangement
6.2.2.1 Test arrangement of table-top service robot
Robots used as table-top service robots shall be placed on non-metallic tables.
The size of the tabletop is typically 1.5 m×1.0 m. However, the actual size
depends on the horizontal size of the service robot.
The service robot system under test (including the service robot and peripheral,
auxiliary equipment or devices connected to the service robot) shall be
arranged according to normal use situation. If not under normal use, the spacing
distance between adjacent units during the test arrangement shall be 0.1 m.
The cable between the units shall hang down from the back edge of the test
table. If the distance between the drooping cable and the horizontal ground
plate is less than 0.4 m, the extra-long part of the cable shall be folded back
and forth at its center and bundled in an 8-shape into a wiring harness of not
7 Harmonics, voltage fluctuations and flicker
7.1 Harmonic current
The service robot harmonic current emissions with input current not greater
than 16 A shall comply with the requirements of GB 17625.1.
The service robot harmonic current emissions with input current greater than
16 A shall meet the requirements of GB/T 17625.8.
7.2 Voltage fluctuations and flicker
The voltage fluctuations and flicker limits of the service robot with rated current
not greater than 16 A shall comply with the requirements of GB/T 17625.2.
The voltage fluctuations and flicker limits of the service robot with rated current
greater than 16 A shall comply with the requirements of GB/T 17625.7.
8 Disturbance limit grading
According to Clause 4 of GB/T 9254-2008, the service robot’s disturbance limit
is divided into Level A disturbance limit and Level B disturbance limit.
Service robots which meet Level A disturbance limit but do not meet Level B
disturbance limit shall include the following in their relevant instructions for use:
9 Conducted disturbance limits
9.1 Overview
The service robot shall:
a) Simultaneously satisfy the average limits specified when measuring using
an average detector and the quasi-peak limits specified when measuring
using a quasi-peak detector; or
b) The data measured using the receiver with a quasi-peak detector meets
the average limits.
Warning
In a living environment, this product may cause radio interference. In this case, the
user may be required to take practical measures for interference.
12 Result report
The test results shall be recorded in a comprehensive test report. The test
report shall have sufficient detail, to provide test repeatability. The test report
shall contain at least the following information:
- Basic description of service robot;
- Basic description of auxiliary equipment;
- Cable information;
- The highest internal frequency of service robot;
- Test arrangement photos;
- Test plan;
- Test environment;
- The configuration of service robot during the measurement;
- The working state of service robot during the measurement;
- Test equipment and configuration;
- Test data and results;
- Measurement uncertainties.
The test data and results of the test report shall include the following:
- The six maximum emission values of each type of detector shall be included,
unless the emission value is lower than the measurement system low noise
or at least 10 dB below the limit;
- Measuring port;
- The frequency and limits of emission disturbance;
- The margin between the measured value and the limit;
- The limit of the disturbance frequency point;
- The detector used;
- The measuring distance of radiated emissions. If the measuring distance is
not the limit specified in the standard, the calculation of the limit shall be
The moving parts shall be placed in the ground configuration, with a height of
(0.12±0.04)m; and measured on the reference plane of the test location.
The robot’s cleaner has a sensor. When there is no contact with a plane, the
predetermined function is stopped (to prevent dangerous actions). The roller
can be used to achieve the above conditions (see Figure A.2 for “roller”
example).
The bracket and roller used to maintain the height of the clean robot shall be
made of non-conductive material. The clean robot shall be placed directly on
them. The reference plane of the test location shall be the floor of semi-
anechoic chamber or fully anechoic chamber.
Each time the test is started, a fully charged battery shall be used. During the
test, the battery conditions shall be sufficient to maintain normal operation state.
The clean robot shall be tested in the following two states:
a) Charging state
At the beginning of the test, the battery shall be completely depleted. The
battery is continuously charged, during which time any other potentially
active functions are turned on.
b) Operating state
TURN on any function which may be active during motion (such as
boundary detection circuit).
The clean robot is a floor-standing service robot. The clean robot shall be
placed at (0.12±0.04)m above the reference plane for testing.
......
(Above excerpt was released on 2019-05-18, modified on 2021-06-07, translated/reviewed by: Wayne Zheng et al.)
Source: https://www.chinesestandard.net/PDF.aspx/GBT37284-2019