GB/T 43210.1-2023 English PDF

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GB/T 43210.1-2023: Robotics - Modularity for service robots - Part 1: General requirements
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Basic data

Standard ID: GB/T 43210.1-2023 (GB/T43210.1-2023)
Description (Translated English): Robotics - Modularity for service robots - Part 1: General requirements
Sector / Industry: National Standard (Recommended)
Classification of Chinese Standard: J28
Classification of International Standard: 25.040.30
Word Count Estimation: 64,636
Date of Issue: 2023-09-07
Date of Implementation: 2023-09-07
Issuing agency(ies): State Administration for Market Regulation, China National Standardization Administration

GB/T 43210.1-2023: Robotics - Modularity for service robots - Part 1: General requirements

---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
ICS 25.040.30 CCSJ28 National Standards of People's Republic of China Robot service robot modular Part 1.General requirements Part 1.General requirements Published on 2023-09-07 Implemented on 2023-09-07 State Administration for Market Regulation Released by the National Standardization Administration Committee

Table of contents

Preface V Introduction VI 1 Scope 1 2 Normative reference documents 1 3 Terms and Definitions 2 3.1 General terminology 2 3.2 Component-related terms 3 3.3 Module related terms 3 3.4 Module classification terminology 6 3.5 Characteristics of the main function module 6 4 General principles 7 4.1 Overview 7 4.2 General principles of modularization 7 4.2.1 General 7 4.2.2 Composability 7 4.2.3 Integration7 4.2.4 Interoperability7 4.2.5 Module granularity 7 4.2.6 Platform independence8 4.2.7 Openness 8 4.2.8 Reusability8 4.2.9 Security 8 4.2.10 (Information) Security 8 4.3 Abstraction 8 4.4 Electrical interface and communication protocol 9 4.5 Interchangeability9 4.6 Module properties 10 4.6.1 General 10 4.6.2 Module identification 10 4.7 Simulation 11 4.8 Data types for interoperability 11 5 Safety and (information) security principles 11 5.1 General 11 5.2 Robot system-level safety 13 5.3 Module-level security 14 5.4 General aspects of (information) security15 5.5 Design steps for module (information) security 15 5.6 Physical (information) security of modules 16 5.7 Module network (information) security 16 6 Hardware part of module design 16 6.1 Overview 16 6.2 Requirements and guidelines for the hardware part of the module 17 6.2.1 Mechanical interface 17 6.2.1.1 General 17 6.2.1.2 Accuracy and reliability of connections18 6.2.1.3 Connection stiffness18 6.2.1.4 Mechanical connectors and connections 19 6.2.2 Power interface 19 6.2.3 Other aspects of module description 19 7 Software part of module design 20 7.1 Overview 20 7.2 Information Model 20 7.2.1 General 20 7.2.2 Information exchange model between modules 20 7.2.3 Attribute access model and its access 21 7.2.4 Error handling and recovery model 22 7.2.5 Interoperability of software modules 22 7.3 Architectural model of software modules 23 7.3.1 General 23 7.3.2 Requirements for software modules 24 7.4 Security/(information) security related requirements for modules with software parts25 7.4.1 General 25 7.4.2 Interaction with the Security/(Information) Security Manager module 25 8 Usage information 26 8.1 General 26 8.2 Logo or marking27 8.3 Information to users 27 8.4 Service information 28 Appendix A (informative) Robot module template 29 Appendix B (informative) Robot module example 31 Appendix C (informative) Service robot modularization example 41 Appendix D (informative) Robot Testing Guide 50 Reference 54

Foreword

This document complies with the provisions of GB/T 1.1-2020 "Standardization Work Guidelines Part 1.Structure and Drafting Rules of Standardization Documents" Drafting. This document is Part 1 of GB/T 43210 "Robot Service Robot Modularization". GB/T 43210 has released the following part. ---Part 1.General requirements. This document is equivalent to ISO 22166-1.2021 "Robot Service Robot Modularization Part 1.General Requirements". Please note that some content in this document may be subject to patents. The publisher of this document assumes no responsibility for identifying patents. This document is proposed by China Machinery Industry Federation. This document is under the jurisdiction of the National Robot Standardization Technical Committee (SAC/TC591). This document was drafted by. Beijing Machinery Industry Automation Research Institute Co., Ltd., Shenzhen Yuntian Lifei Technology Co., Ltd., Aobo (Beijing) Beijing) Intelligent Technology Co., Ltd., Lihong Safety Equipment Engineering (Shanghai) Co., Ltd., Qingneng Dechuang Electric Technology (Beijing) Co., Ltd., Su State Collaborative Innovation Medical Robot Research Institute, Capital Normal University, Harbin Sizherui Intelligent Medical Equipment Co., Ltd., Suzhou University, Qingdao Hua University, Institute of Automation, Chinese Academy of Sciences, Suzhou Ouli Robot Co., Ltd., Shenyang Institute of Automation, Chinese Academy of Sciences, Shanghai Communications University, Chongqing Luban Robot Technology Research Institute Co., Ltd. The main drafters of this document. Yuan Jie, Wei Hongxing, Li Liyan, Wang Jian, Yang Shuping, Shao Zhenzhou, Su Yanyu, Zou Yibo, Pan Changyong, Sun Yuning, Wang Shuo, Ou Yongsheng, Zhu Zhikun, Wang Hongguang, Cao Qixin, Wang Heguo, Pan Xin'an, He Guotian.

Introduction

This document has been developed in response to the rapidly growing service robot industry. At present, the service robot market covers many small and small In different fields, it is difficult for people to develop the special and widely applicable components required. The market size and application of service robots are expected to be significant As it grows, its functions gradually increase. In order to realize the widespread application and interoperability development of service robots, a universal manufacturing service machine is needed robot method. This document lists general requirements. On the one hand, the current manufacturer-dependent architecture used in service robot design brings difficulties to design and development; In the product upgrade of robots, the replacement and reuse of modules is almost impossible. On the other hand, the research community has also established a huge machine We have established a knowledge base for modular robot design and continue to develop new methods to achieve modularity, but none of these methods has been widely used and has had an important impact. ring. In this case, this document can help service robot manufacturers produce high-quality products at the cost required by the market, and And there is an urgent need for new methods to help the market develop to meet global challenges. This document is about service robot modularization and interoperability of service robot modules, focusing on safety, (information) security, connectivity (from hardware (from the perspective of hardware and software) and functions, which are important for changing the pattern of service robots and accelerating the formation of a new service robot market. Crucial. This document divides service robot modularity into basic modules and composite modules with hardware and/or software parts. Requirements and The formation of guidelines facilitates the implementation of module-based design methods to meet users' needs in specific service robots and service robot system applications. requirements, and easy to configure. These issues are divided into a) security and (information) security, b) interoperability guidance. In addition, implementing open modules This approach makes the module easily replaceable by other modules with the same interface specifications, but its functionality may need to be enhanced. The safety requirements specified by current safety standards (for example, ISO 13482, ISO 10218-1, ISO 10218-2, ISO /T S15066) are both Applicable to system level and individual module level. This document establishes safety guidelines at the module level to ensure the safety of robot systems. Full compliance with Class C standards. (Information) security issues are very important when adopting an open modular approach and are therefore also included in this document Medium [for example, it is aligned with IEC /TC44 and IEC /TC65 (Information) Security related work items]. GB/T 43210 "Modularization of Robotic Service Robots" aims to standardize the modular design of various types of service robots. It is planned to be composed of the following departments. Composed into parts. ---Part 1.General requirements. The purpose is to propose general requirements and guidelines for modular design of service robots. ---Part.201.Common Information Model. The purpose is to propose a general information model for modular service robots. ---Part 202.Software information model. The purpose is to propose a software information model for modular service robots. ---Part 203.Hardware information model and physical interface. The purpose is to propose a hardware information model and object model for modular service robots. management interface. ---Part 301.Operation module. The purpose is to standardize the design of operating modules for modular service robots. ---Part 302.Mobile module. The purpose is to standardize the design of mobile modules for modular service robots. ---Part 303.Perception module. The purpose is to standardize the design of perception modules for modular service robots. ---Part 304.Mission planning and decision-making module. The purpose is to standardize the task planning and decision-making modules of modular service robots design. ---Part 401.Mobile Servant Robot Module. The purpose is to standardize the design of special modules for mobile slave robots. ---Part 402.Body assist robot module. The purpose is to standardize the design of special modules for body-assisted robots. ---Part 501.Medical Robot Module. The purpose is to standardize the design of special modules for medical robots. Robot service robot modular Part 1.General requirements

1 Scope

This document proposes a model for open module design and module integration of service robots for use in a variety of environments, including personal and professional domains. Block Frame Specification Requirements and Guidelines. This document is intended for the following users. ---Modular service robot framework developer (specifies the performance framework of service robots); ---Module designers and/or manufacturers (serving end users or robot integrators); ---Service robot integrator (select applicable modules to build a modular system). This document includes guidance on how to apply existing safety and (information) security standards to service robot modules. This document is not a safety standard. This document applies to service robots, but the modularization principles proposed in this document are not limited to robots and can also be used in other fields. Used by framework developers, module manufacturers and module integrators.

2 Normative reference documents

The contents of the following documents constitute essential provisions of this document through normative references in the text. Among them, the dated quotations For undated referenced documents, only the version corresponding to that date applies to this document; for undated referenced documents, the latest version (including all amendments) applies to this document. Note. GB/T 16977-2019 Robots and robot equipment coordinate systems and motion naming principles (ISO 9787.2013, IDT) ISO 12100.2010 Safety of machinery design, risk assessment and risk reduction (Safetyofmachinery-General) Note. GB/T 15706-2012 General principles for mechanical safety design risk assessment and risk reduction (ISO 12100.2010, IDT) ISO /T R22100-4 The relationship between machinery safety and ISO 12100 Part 4.Machinery manufacturers consider related IT security (website Guidance on cyber security [Safetyofmachinery-RelationshipwithISO 12100-Part 4.Guidancetomachin- Note. GB/T 34989-2017 Connector safety requirements and tests (IEC 61984.2008, MOD) IEC /T S62443-1-1 Industrial communication network network and system security Part 1-1.Terminology concepts and models (Industrial Note. GB/T 40211-2021 Industrial communication network network and system security terms, concepts and models (IEC /T S62443-1-1.2009, IDT) IEC 62443-2-1 Network and system security for industrial communication networks Part 2-1.Establishing security for industrial automation and control systems ......

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