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機器人障礙物類型
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2026-06-25廠商性質
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7.2.5 Obstacle test
The robot shall be operated per the manufacturer's instructions with the identified obstacles in the path of the robot and robot subassembly (e.g. , manipulator and/or end-effector) in motion under the following conditions. The robot shall start at a distance that allows the robot to reach its maximum speed before encountering the obstacle. The robot shall either stop prior to impacting the obstacle, avoid the obstacle or impact the obstacle with a force not exceeding the specified force in 7.2.2, General testing requirements. These tests shall be repeated for each robot subassembly that moves independently from the mobile robot.
a) Adult torso
– Cylinder of 200 mm diameter x 600 mm length;
– Placed horizontally; and
– Material with reflectance between 5 % – 1 0 % using black felt or coarse fabric.
NOTE 1 Source ISO 1 8646-2
b) Adult lower leg
– Cylinder of 70 mm diameter x 400 mm height;
– Placed vertically; and
– Material with reflectance between 5 % – 1 0 % using black felt or coarse fabric.
NOTE 2 Source ISO 1 8646-2
c) Child's body
– Toddler dummy (1 4.5 kg) with mass distribution specified in Table 2 and dimensions specified in Figure 1 . The dummy shall be placed in both standing and sitting positions;
– Material with reflectance between 5 % – 1 0 % using black felt or coarse fabric; and
– Infant dummy (9.4 kg) with mass distribution specified in Table 3 and dimensions specified in Figure 2. The dummy shall be placed in both crawling and laying flat positions.
d) Wall
– Plate resembling wall segment; both wood (e.g. pine) plate and uncolored acrylic plate with transmissivity of more than 95 %; and
– 1 .5 m height, 1 m width.
e) Table
– Plate with four legs resembling a table; both wood (e.g. pine) and metal (e.g. steel) legs;
– Height: 0.7 m – 0.8 m;
– Width: 1 .5 m – 2.0 m;
– Depth: 0.5 m – 0.8 m;
– Thickness of legs: 0.03 m – 0.05 m; and
– Weight: 1 6.6 kg minimum.
f) Semi-solid wall (railing or fence)
– Aluminium or metal material of dimensions shown below in Figure 3.
Additional obstacles shall be considered by the manufacturer as part of their verification and validation activities for functional safety. See 8.4.5, Additional test cases to consider in functional safety verification and validation activities.
測試對象（障礙物類型）
成人軀干
圓柱：直徑 200
mm × 長度 600
mm；水平放置；表面反射率 5%-10%（黑色氈布或粗布）
成人小腿
圓柱：直徑 70
mm × 高度 400
mm；垂直放置；表面反射率同上
兒童身體
幼兒假人（14.5
kg），站立和坐姿；嬰兒假人（9.4 kg），爬行和平躺；表面反射率同上
墻面
木板（如松木）+ 透明亞克力板（透光率 >95%）；尺寸：高 1.5 m × 寬 1 m
桌子
木質或金屬腿；高度：0.7–0.8 m；寬度：1.5–2.0 m；深度：0.5–0.8 m；
桌腿厚度：0.03–0.05
m；重量 ≥16.6 kg
半實墻（欄桿或圍欄）
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