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Introduction to EMI testing of service robots

Release time:

2022-06-20 00:00

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　　In order to better promote the development of the domestic robot industry and build a robot standard system, led by the National Standardization Management Committee, a number of testing institutions and robot manufacturing companies jointly formulated GB/T 37284-2019 "General Standard Emission Requirements and Limits for Electromagnetic Compatibility of Service Robots" value". This article introduces the methods and requirements of the EMI part in the EMC test of service robots.

1. General requirements for testing

　　1. Classification of service robots

　　Service robots can be divided into mobile service robots and stationary service robots according to different installation methods.

　　2. For test conditions and test items, refer to Table 1. Among them, please refer to the third section for the EMC requirements of cleaning robots and air cleaning robots.

Service Robot Category	Test conditions	Pilot projects
Stationary Service Robot	Operating mode	Harmonic currents, voltage fluctuations and flicker, conducted emissions, radiated emissions
Mobile Service Robot	Charging mode (body + charger)	Harmonic currents, voltage fluctuations and flicker, conducted emissions, radiated emissions
	Working mode (ontology)	radiation emission
	Recharge search mode (body + charger)	Harmonic currents, voltage fluctuations and flicker, conducted emissions, radiated emissions
Note: Working mode test status: The service robot should be tested at a maximum speed of 60%~80% or a typical speed with the bottom supported by an insulating support to ensure that the robot is suspended. The typical speed is preferred.

Table 1 Description of service robot test

2. Test items:

　　1 Conducted emission

　　1.1 Limits

　　1.1.1 Power Port Conducted Emission Limits

Frequency range/MHz	QP/dB(μV）	AV/dB( μV）
0.15~0.50	79	66
0.50~30	73	60

Table 2 Class A limits for conducted emissions from power ports

Frequency range/MHz	QP/dB(μV）	AV/dB( μV）
0.15~0.50	66~56	56~46
0.50~5	56	46
0.50~30	60	50

Table 3 Limits of Class B Conducted Emissions at Power Ports

　　1.1.2 Limits for conducted emissions from telecommunication ports

Frequency range/MHz	Voltage limit/dB(μV）		Current limit/dB(μA)
Frequency range/MHz	QP	OF	QP	OF
0.15~0.50	97~87	84~74	53~43	40~30
0.50~30	87	74	43	30

Table 4 Class A limits for conducted emissions from telecommunication ports

Frequency range/MHz	Voltage limit/dB(μV）		Current limit/dB(μA)
Frequency range/MHz	QP	OF	QP	OF
0.15~0.50	84~74	74~64	40~30	30~20
0.50~30	74	64	30	20

Table 5 Class B limits for conducted emissions from telecommunication ports

　　1.2 Test arrangement

Fig.1 Layout of the conduction launch test of the desktop service robot

Fig. 2 Conducted emission test layout of floor-standing service robot

Figure 3 Conduction launch test layout of combined service robot

　　2 Radiation emission

　　2.1 Limits

　　2.1.1 Limits below 1GHz

Frequency range/MHz	10 meters measuring distance	3 meters measuring distance
Frequency range/MHz	QP/dB(μV/m)	QP/dB(μV/m)
30~230	40	50
230~1000	47	57
Note: The lower limit is used at the transition frequency (230MHz).

Table 6 Radiated Emission Class A Limits

Frequency range/MHz	10 meters measuring distance	3 meters measuring distance
Frequency range/MHz	QP/dB(μV/m)	QP/dB(μV/m)
30~230	30	40
230~1000	37	47
Note: The lower limit is used at the transition frequency (230MHz).

Table 7 Radiated Emission Class B Limits

　　2.1.2 Limits above 1GHz

Frequency range/GHz	AV/dB( μV/m)	PK/dB(μV/m)
1~3	56	76
3~6	60	80
Note: The lower limit is used at the transition frequency (3GHz).

Table 8 Radiated emission Class A limits (3m measurement distance)

Frequency range/GHz	AV/dB( μV/m)	PK/dB(μV/m)
1~3	50	70
3~6	54	74
Note: The lower limit is used at the transition frequency (3GHz).

Table 9 Radiated emission Class B limits (3m measurement distance)

　　Note:

　　1. If the highest internal operating frequency of the service robot is lower than 108MHz, it is measured to 1GHz;

　　2. If the highest internal operating frequency of the service robot is 108MHz~500MHz, then measure to 2GHz;

　　3. If the highest internal operating frequency of the service robot is 500MHz~1GHz, measure to 5GHz;

　　4. If the highest internal operating frequency of the service robot is higher than 1GHz, measure 5 times the highest frequency or 6GHz, whichever is smaller;

　　2.2 Test arrangement

Fig. 4 Layout of radiation emission test of desktop service robot

Figure 5 Layout of radiation emission test of mobile service robot

　　3 Harmonic current

　　3.1 Limits

　　Refer to the harmonic current emission limits specified in GB 17625.1 and GB/T 17625.8.

　　2.3.2 Test Status

Figure 6

　　4 Voltage fluctuations and flickering

　　4.1 Limits

　　Refer to the voltage fluctuation and flicker limits specified in GB/T 17625.2 and GB/T 17625.7.

　　2.4.2 Test Status

Figure 7

3. EMC requirements for cleaning robots and air purification robots

　　1. Conducted emission test limit

Frequency range/MHz	power port
Frequency range/MHz	QP/dB(μV）	AV/dB( μV）
0.15~0.50	66~56	59~46
0.50~5	56	46
0.50~30	60	50

Table 10 Power Port Conducted Emission Test Limits

　　2. 30MHz~1000MHz radiation disturbance measurement

　　According to method A or B, evaluate the emission of the equipment under test in the frequency range of 30MHz~1000MHz, as shown in Figure 8.

Figure 8 30MHz~1000MHz emission measurement flow chart

　　A. In the 30MHz~230MHz frequency band, cleaning robots must meet the limits in Table 11. If A.1 and A.2 are met at the same time, it is considered that the sweeping robot meets the standard requirements in the 300MHz~1000MHz frequency band, and no testing is required.

　　A.1 All emission values of the equipment under test in the frequency range of 200MHz~300MHz are lower than the limit value (Table 11) minus the corresponding margin (Table 12);

　　A.2 The maximum clock frequency is less than 30MHz.

　　If any of A.1 and A.2 is not met, radiation measurement in the 300MHz~1000MHz frequency band is required (Table 13), and 30MHz~300MHz must meet the disturbance power limit (Table 11)

　　B, 30MHz~1000MHz radiation disturbance limits are shown in Table 13

Frequency range/MHz	Household and similar appliances
Frequency range/MHz	QP/dB(pW)	QP/dB(pW)
30~300	45~55	35~45

Table 11 Disturbance power limit

Frequency range/MHz	Household and similar appliances
Frequency range/MHz	QP/dB(pW)	QP/dB(pW)
200~300	0~10	-

Table 12 Disturbance power measurement margin

Frequency range/MHz	10 meters measuring distance	3 meters measuring distance
Frequency range/MHz	QP/dB(μV/m)	QP/dB(μV/m)
30~230	30	40
230~1000	37	47
Note: The lower limit is used at the transition frequency (230MHz).

Table 13 Radiation disturbance limits

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