IEC 63327:2021 管的是商用室内自主地板处理机

IEC 63327:2021 covers commercial indoor automatic floor treatment machines

很多买家把清洁机器人当成普通洗地机采购，认证只要一份 CE 就完事，这在欧盟客户验厂时经常被打回。真正对口的国际标准是 IEC 63327:2021《商用自动地板处理机 特殊要求》，2021 年 5 月 4 日发布，覆盖室内商用场景下的清扫、擦洗、干湿吸取、抛光、打蜡与密封剂及粉状洗涤剂涂布、地毯洗涤这六类作业。标准明确：它的要求是在 IEC 60335-2-72（商用地板处理机）之上叠加的，而不是替代；如果机器只做干湿吸取，则叠加适用 IEC 60335-2-69。也就是说，一台自主洗地机器人需要同时满足基础的 60335-2-72 与自主功能相关的 63327，缺一不可。

Many buyers purchase a cleaning robot as if it were an ordinary scrubber and assume a single CE mark closes the file. That assumption is routinely rejected during EU customer audits. The matching international standard is IEC 63327:2021, Automatic floor treatment machines for commercial use - Particular requirements, published on 4 May 2021. It covers six indoor commercial applications: sweeping, scrubbing, wet or dry pick-up, polishing, application of wax, sealing products and powder-based detergents, and shampooing of floors. The standard states explicitly that its requirements are applied in addition to IEC 60335-2-72 for commercial floor treatment machines, not instead of it. For machines solely designed for wet or dry pick-up, additional or modified requirements of IEC 60335-2-69 apply. An autonomous scrubber therefore needs both the base 60335-2-72 file and the autonomy-specific 63327 file.

十四项排除条款，才是选型真正的分水岭

The fourteen exclusions matter more than the scope

IEC 63327 明确列出不适用的机型，这份排除清单对买家判断比正文更有价值：家用吸尘器与吸水机、家用地板处理机与湿式擦洗机、电池充电器、商用地板处理机本体、商用喷雾提取机、道路清扫机、坡度超过 20% 的斜坡用机、配备动力输出装置 PTO 的机器、用于腐蚀性或爆炸性环境（粉尘、蒸汽、气体）的机器、用于车辆或船舶飞机上的机器、设计用于拾取可燃粉尘的真空吸尘器、医疗器械、无人驾驶工业卡车及其系统、个人护理机器人，以及零件伸出机器接触区之外的机器、拾取闪点低于 55 摄氏度液体的机器。换句话说，如果供应商拿一份 IEC 63327 报告来证明机器可以进防爆车间或者上马路清扫，那份报告用错了地方。

IEC 63327 lists what it does not apply to, and that list is often more useful to a buyer than the scope itself: household vacuum and water-suction cleaners, household floor treatment and wet scrubbing machines, battery chargers, commercial floor treatment machines as such, commercial spray extraction machines, road sweepers, machines for slopes with a gradient exceeding 20 percent, machines with a power take-off, machines for corrosive or explosive environments (dust, vapour or gas), machines for use in vehicles or on board ships or aircraft, vacuum cleaners designed for pick-up of combustible dust, medical appliances, driverless industrial trucks and their systems, personal care robots, machines with parts extending beyond the contact zone, and machines designed to pick up liquids with a flash point below 55 degrees Celsius. If a supplier waves an IEC 63327 report to prove a robot can enter a hazardous area or sweep a public road, the report is being used for the wrong purpose.

无人驾驶工业卡车走 ISO 3691-4，个人护理机器人走 ISO 13482

Driverless trucks fall under ISO 3691-4, care robots under ISO 13482

排除清单里最容易混淆的两条是 ISO 3691-4 与 ISO 13482。前者是无人驾驶工业卡车（AGV/AMR 叉车类）及其系统的安全要求，后者是个人护理机器人的安全要求。清洁机器人虽然在技术栈上与 AMR 高度重合——同样用激光雷达建图、同样做动态避障——但只要它的本质功能是地板处理而不是搬运，合规路径就应落在 IEC 63327 而非 ISO 3691-4。采购时如果供应商混用这两个标准编号，通常说明它的合规工作是外包贴牌而非自己做的。

The two most confused exclusions are ISO 3691-4 and ISO 13482. The former sets safety requirements for driverless industrial trucks and their systems; the latter covers personal care robots. A cleaning robot shares most of its technology stack with an AMR, using the same LiDAR mapping and dynamic obstacle avoidance, but as long as its function is floor treatment rather than material transport, the compliance route is IEC 63327 and not ISO 3691-4. When a supplier mixes these standard numbers in one datasheet, the compliance work was usually outsourced rather than performed in-house.

没有手动模式的全自主机型，要额外看附录 FF

Fully autonomous machines without manual mode follow Annex FF

IEC 63327 允许机器以自动或手动两种模式运行，并在附录 FF 中对不配备手动模式的全自主机器给出修改后的要求。这一条对采购方有直接的商务含义：一台带方向盘或推杆、可人工接管的机型，与一台只有触摸屏和调度 App 的纯自主机型，在标准里走的是两条不同分支。标准起草时明确考虑到商用自主机器可能需要在人群密集处运行，例如购物中心和学校，因此整份文件的核心目标就是避免机器与人发生危险接触。买家在人流场景招标时，可以直接要求供方说明其机型适用的是正文还是附录 FF。

IEC 63327 allows machines to operate in automatic or manual mode, and Annex FF gives modified requirements for automatic machines that are not equipped with a manual mode. This has a direct commercial meaning. A machine with a steering wheel or push handle that a human can take over follows a different branch of the standard than a purely autonomous unit controlled only through a touchscreen and a fleet app. The drafters explicitly recognised that commercial autonomous machines may need to operate close to large groups of people, such as in shopping malls and schools, which is why the entire document is built around avoiding hazardous contact with persons. In a people-heavy tender, ask the supplier to state whether its model is assessed under the main body or Annex FF.

欧盟已转化为 EN IEC 63327，中国正在等同采用为国家标准

The EU has adopted EN IEC 63327; China is adopting it identically

在欧盟，该标准已转化为 EN IEC 63327:2021，丹麦标准协会 2021 年 6 月 22 日发布 DS/EN IEC 63327:2021 版本，归口委员会 CLC/TC 61 与 IEC/TC 61/SC 61J，全文 48 页，国际标准分类号 97.080（地板处理设备）与 13.120（家庭安全）。在中国，国家标准计划 20221076-T-607《商用自主地板处理机 特殊要求》由全国家用电器标准化技术委员会（TC46）归口、清洁器具分会（TC46SC2）执行，主管部门为中国轻工业联合会，主要起草单位包括中国家用电器研究院，采标情况标注为等同采用 IEC 63327:2021。这意味着国内产线按 IEC 63327 做设计，未来同时满足国标与欧标的成本最低。

In Europe the standard exists as EN IEC 63327:2021. Danish Standards published DS/EN IEC 63327:2021 on 22 June 2021, under committees CLC/TC 61 and IEC/TC 61/SC 61J, 48 pages, ICS 97.080 for floor treatment equipment and 13.120 for domestic safety. In China, national standard project 20221076-T-607, Autonomic floor treatment machines for commercial use - Particular requirements, is administered by TC46 (National Technical Committee on Household Electric Appliances) and executed by its cleaning appliances subcommittee TC46SC2 under the China National Light Industry Council, with the China Household Electric Appliance Research Institute among the drafting bodies. Its adoption status is recorded as identical adoption of IEC 63327:2021. Designing a line to IEC 63327 therefore satisfies both the Chinese and European routes at the lowest incremental cost.

导航方案：激光 SLAM、视觉 SLAM 与融合的真实边界

LiDAR, vSLAM and where each one actually breaks

激光雷达通过发射激光脉冲并测量飞行时间来建立 360 度二维或三维地图，精度可达厘米级，并且自带光源，可在夜班全黑仓库里正常作业；短板是对镜面和透明物体不稳定，玻璃幕墙容易被激光穿透，造成地图轮廓缺失与定位漂移。视觉 SLAM 依赖立体相机识别视觉地标，硬件成本更低、语义信息更丰富，但需要照明，在夜间熄灯或货物堆垛频繁变化的越库场景中地标不可靠。当前商用主流做法是融合：以二维单线激光雷达做全局建图与实时避障，前置三维深度相机补低矮与悬空盲区，超声波阵列识别玻璃与细反光立柱，加上轮式里程计与惯性单元做打滑补偿。

LiDAR emits laser pulses and measures time of flight to build a 360-degree 2D or 3D map with centimetre-level accuracy. Because it generates its own light, it works in a fully dark warehouse on a night shift. Its weakness is mirrors and transparent surfaces: laser light passes through glass curtain walls, leaving map gaps and localisation drift. Visual SLAM uses stereo cameras to track visual landmarks, costs less in hardware and carries richer semantic data, but it needs light and its landmarks become unreliable in cross-docking areas where stacks of goods appear and disappear. Mainstream commercial practice is sensor fusion: a 2D single-line LiDAR for global mapping and real-time avoidance, a forward 3D depth camera for low and overhanging blind spots, an ultrasonic array for glass and thin reflective posts, plus wheel odometry and an IMU to compensate for wheel slip.

三个高频失效场景，招标时应当现场复现

Three failure scenarios worth reproducing during the demo

第一是玻璃幕墙大堂：纯激光方案会出现地图缺口，工程上的解法是用视觉语义分割识别通透区域，在建图阶段标记为透明虚拟障碍。第二是高峰期人流：密集行人与移动推车会干扰点云匹配，需要动态目标剔除算法，只保留墙体与固定设施作为定位锚点。第三是长走廊与空旷大厅：特征稀疏导致回环检测失效，行业普遍采用分区建图与分层地图管理，通过拓扑节点与楼层标识实现跨区域导航。此外，大理石镜面地面在强光下会产生光斑虚警，需要硬件滤光与算法修正。这三种场景成本几乎为零就能在验机现场复现，比看参数表有效得多。

First, the glass curtain-wall lobby. A pure LiDAR stack leaves holes in the map; the engineering fix is visual semantic segmentation that identifies transparent zones and marks them as virtual obstacles during mapping. Second, peak-hour foot traffic. Dense pedestrians and moving trolleys corrupt point-cloud matching, so a dynamic-object rejection algorithm is needed to keep only walls and fixed structures as localisation anchors. Third, long corridors and open halls. Sparse features break loop closure, so the industry uses zone-based mapping and layered map management with topological nodes and floor identifiers. Polished marble under strong light also produces false positives from glare, which requires optical filtering and algorithmic correction. All three can be reproduced on site at almost no cost, and they tell you more than any spec sheet.

买家应当问供应商的八个问题

Eight questions to put to your supplier

一，是否同时提供 IEC 60335-2-72 与 EN IEC 63327 的测试报告，报告出具机构是谁；二，机型是否配备手动模式，如无则是否按附录 FF 评估；三，最大适用坡度是多少，是否超过标准适用的 20% 上限；四，是否声称可用于爆炸性或腐蚀性环境，如是则该机型不在 IEC 63327 范围内，需要另走防爆认证；五，激光雷达的防护等级与是否配防撞围边、缓震底座；六，玻璃幕墙与镜面地面的处理方案；七，首次建图与调试交付周期、后续布局变更的重新建图成本；八，易损件（刷盘、吸水胶条、滤芯、电池）的备件供应与质保条款。ApexClean 隶属常州永乐环境工程有限公司，25 年清洁设备制造与出口经验，通过 CE 与 ISO9001 体系，可按上述清单逐项出具书面答复。

One, can you provide both IEC 60335-2-72 and EN IEC 63327 test reports, and which laboratory issued them. Two, does the model have a manual mode, and if not, was it assessed under Annex FF. Three, what is the maximum gradient, and does it exceed the 20 percent limit of the standard scope. Four, do you claim use in explosive or corrosive environments, because such machines are outside IEC 63327 and need a separate hazardous-area route. Five, what is the ingress protection rating of the LiDAR and does it have a bumper guard and shock-absorbing mount. Six, how do you handle glass walls and mirror-finish floors. Seven, what is the lead time for first mapping and commissioning, and what does re-mapping cost after a layout change. Eight, what are the spare-part terms for brushes, squeegee blades, filters and batteries. ApexClean, part of Changzhou Yongle Environmental Engineering Co., Ltd., with 25 years in cleaning equipment manufacturing and export and CE and ISO9001 certification, answers this checklist in writing.

诚实的边界：机器人不该进的四类现场

An honest boundary: four sites where a robot is the wrong tool

自主清洁机器人不是万能替代。可燃粉尘车间、爆炸性气体区域应选专用防爆吸尘设备而非机器人；室外道路与市政清扫属于道路清扫机范畴，明确被排除在 IEC 63327 之外；坡度超过 20% 的坡道、装卸平台引桥不在标准适用范围；机加工车间的长条铁屑、切削液混合污染，仍然是驾驶式扫地机加工业干湿两用吸尘器的组合更经济。合理的做法是机器人负责大面积重复性区域，人工加手推设备负责边角、坡道与特殊污染，这样整体人效才算得过来。

Autonomous cleaning is not a universal substitute. Combustible dust workshops and flammable gas zones need purpose-built explosion-protected vacuums, not robots. Outdoor and municipal road sweeping falls under road sweepers, explicitly excluded from IEC 63327. Ramps above a 20 percent gradient and dock approach bridges are outside the standard scope. In machine shops, long steel swarf mixed with coolant is still handled more economically by a ride-on sweeper plus an industrial wet and dry vacuum. The workable split is simple: let robots take the large repetitive floor area, and keep manual and walk-behind equipment for edges, ramps and special contamination. Only that combination makes the labour maths work.