WRS Future Convenience Store Challenge
2024
Stock and Disposal Task
Rulebook
2024/07/1

Revision History
July 1 , 2024
 Update for FCSC2024

0. Terminology
TermDefinition

Mobile Robot

A robot that can move autonomously.

Infrastructure

Unique infrastructure that can be installed inside theconvenience store to support the robot’s tasks. Thisequipment includes markings, IC tags, sensors,
actuators, and auxiliary tools attached to products,
etc. Infrastructure consisting of sensors andactuators can also be considered as stationary robots.

Manipulator

Robot arms, end effectors, and other equipment for
manipulation tasks which can be installed on amobile robot or as part of the infrastructure.

Product(s)Item(s)or Article(s) for sale in the convenience store.

Customer

Person who visits the store to purchase products.

Container

Box-like repository for holding and transporting
multiple products.

Product
Area

Display Section of the convenience store where display casesor shelves are installed.

Display Cases

Shelves for displaying products. At the start, multiple
products are mixed in these cases.

Chief Judge

Judge who declares the start of the task and issues
instructions to the participants.

Assistant Judge

Judge who assists the Chief Judge by performing
measurements for scoring, catching rule violations,etc.

Operator

Team member who starts the robot operation inside
the competition field. After starting the robot, theoperator leaves the competition field.

Safety Observer

Team member who manages the safety of the system
inside the competition field and performs operations
such as emergency stop. This team member may be
the same as the Operator.

1. Overview
The challenge aims to develop technologies to automate the stocking ofproducts and the collection of expired items in a convenience store.
Participants in the competition will develop a robot system that
autonomously moves and performs these tasks, as well as the infrastructure
they deem necessary to install inside the convenience store. In the challenge,
the participants will use their developed robots and infrastructure to compete
in stocking and disposal demonstrations inside a simulated convenience store
as competition field.
In the competition field, a display case is placed in a predetermined position
and the robot is placed in a workable position. Stock and Disposal task
consists of the following two subtasks.
Stock subtask: the robot competes for the speed of stocking products thathave been previously stored in a container.
Stock and disposal subtask: the robot collects expired products from thedisplay cases and the products are displayed on a first-in, first-out along withthe products stored in the containers.
In addition, the proposed system must contribute to energy saving in general,
and/or to work efficiency.

2. Flow of the Competition Task
The competition consists of two subtasks and are carried out separately.
The participants have completed setup for the demonstration before it starts
and give a 10-minute demonstration at the competition.
The following describe the flow during the preparation and the demonstration.

2.1. Preparation of the Robot System and Infrastructure

The participants can start the system setup for the demonstration on thefield at the preparation time indicated by the organizer. The preparation timeis 15 minutes before the starting time of demonstration, The system setup
must be finished within this time. At this time, up to 10 participants can work.
The robot system used for both sub tasks must be the same. However, theexchange of end-effectors is permitted.
The following provides details on the stock subtask and the stock anddisposal subtask, respectively.
2.1.1 Stock Subtasks(a) Receive the products
The participants receive a container filled with several types of rice balls
and places this container in a predetermined position on the robot system.
(b) Renovate the store
Participants can install infrastructure inside the competition field, replace
the display case, and so on, if necessary. No infrastructure may be installedoutside the competition field.
(c) Place the robot to start position and demonstration preparation
The robot is placed at the competition start position which is in front of thedisplay case. Participants prepare to start the demonstration at thecompetition start time.
2.1.2 Stock and Disposal Subtasks(a) Receive the products and install of infrastructure
The participants receive a container with products to be pre-installed on
the display shelves and a container with new products. If necessary,participants install infrastructure such as markers. After the infrastructure
is installed, the participants give the referee the products to be pre-arrangedon the display cases and the products are placed on the shelves by the referee.
(b) Renovate the Store
Participants can install infrastructure inside the competition field, replace
the display case, and so on, if necessary. No infrastructure may be installedoutside the competition field.
(c) Place the robot to the start position and demonstration preparation.
The robot is placed at the competition start position in front of the display
case. Participants prepare to start their demonstrations at the time of thecompetition start time. Then, the IDs of disposal items are announced andparticipants input the information to the system.

2.2. Demonstrations

After the chief judge announces the start of the demonstration, theassistant judge will start the timer. Once the system starts, the operator mustleave the competition field, and after that, no one is allowed to control therobot or take any actions that will influence the operation of the system. Any
participants who are found to interrupt the operation of the system will bedisqualified.
However, the safety observer may stay in the competition field to check the
robot’s operation and press the emergency stop switch if necessary. The safety
observer must not get within 1.5m of the robot, and they must try to avoid
the not to block the view of the judges or the audience.
A retry can be declared if the system behaves unexpectedly. After thedeclaration, the operator prepares for the retry. Simultaneously, the referee
returns all products to their initial position. However, items which have fallen
to the floor are not returned. The demonstration is restarted when the retry
is ready. The retry preparation is included in the competition time and thetimer is not stopped.
After 10 minutes have passed, or when the operator declares the taskfinished or withdraws from the task, the demonstration time is finished.

3. Details of the Challenge
The details of the task for each subtask are described below.
If there are multiple teams with the same score, the team with the fewest
number of retries is a winner. If there is no tie in the retry times, the teamwith the shortest demonstration time is a winner. If there is still nosuperiority or inferiority, a winner will be decided based on the deliberationby the jury.

3.1 Stock Subtask (out of 54 points)

There are three types of rice balls to be displayed, each with 18 pieces, fora total of 54 pieces.
Display the rice ball in the correct position awarded 1 point each: total 54
points
3.1.1 Use of Display Case

The display case consists of five shelves. The stock subtask uses one of thefive shelves. The participants can decide which shelf to use.
3.1.2 Initial Conditions of the Display CaseAt the start of the demonstration, the display case is empty of items.
3.1.3 New Items to be Displayed

Items are placed on display shelves from containers densely packed withthree types of rice balls by type. Each type is displayed in a different position,with a specified number of items in each row. 1 point is awarded for placing
one rice ball in the correct position and giving 54 points in total.
3.1.4 Initial State of the Display Container

In initial state, the display container must be mounted on the robot.

3.2 Stock and Disposal Subtask (out of 96 points)

The assignment points are as follows. Before the start of the demonstration,
there are 18 items on the display shelf (2 items each of 9 types) and 9 itemsin the containers mounted on the robot (1 item each of 9 types). For cases
where markers or other infrastructure are not installed to all items, pointsare given if the items are stocked or disposed correctly.
・ Disposing expired items and straightening preexisting items (2 points foreach): 36 points.
・・・・

Stocking new items (2 points for each): 18 points.
Detection of approaching customer and its notification: 5 points
Operation for all types of items: 10 points.
Points awarded unused infrastructure for items (1 point each): 27 points

3.2.1 Use of Display Case

The display case consists of five shelves. Two of five shelves are used in thissubtask. The upper shelf is used to display three types of rice balls,
sandwiches, and packaged drinks, and the lower shelf is used to display boxedlunches, coleslaw, and salad sticks.
3.2.2 Initial State of the Display Case

When the demonstration starts, there are 18 items in the shelf in a nonstraightened state: 2 items per each of the 9 types of items. Straighteningmeans that after the items are removed from the shelves by customers, theitems behind them must be brought forward until they are at the front of thedisplay case. Of the 18 items, 9 items need to be collected as they are close to
their expiration date.
The robot system must check the label of each item, and dispose the itemswith expiration date from the shelf and straighten the remaining items.
Points are awarded by arranging items in their designated positions andremoving the disposal items from the shelf, as follows:
・ 2 points are awarded for each disposal item stored in the disposal
container.
・ 2 points are awarded for each remaining item straightened up in thecorrect position.
If all preexisting items are processed correctly, a total of 36 points will beawarded.
3.2.3 Stocking New Items

Assuming a scene in which new items are placed on display shelves, the
new items stored in display containers are placed on the robot.

The display container stores a total of nine items: three types of rice balls,
two types of lunch boxes, and one each of sandwiches, packaged drinks, stick
salad, and coleslaw. Each item must be placed next to or behind like items on
the display shelve. It is allowed to stack up the lunch boxes, in which case thenew one should be below the already stored one.
Each correctly placed item will be awarded 2 points. The maximum scoreof 18 points can be awarded by correctly placing all the items from the display
container.
3.2.4 Display of Multiple Types of Items

Displayed items come in a variety of shapes and sizes and require flexible
grasping devices and strategies to correctly display and dispose of each item.
In this regard, a bonus of 10 points is awarded for correctly displaying or
disposing of at least one of each type of product.
3.2.5 Initial State of the Display Container

Initially, the display container must be mounted on the robot.
3.2.6 Stopping the Work and Inform When a Customer Gets Close

If a customer gets close to the display case during the demonstration, thesystem should temporarily stop working and move away from the front of thedisplay case so that the customer can access the items. When the system
detects the approaching customer, it should stop the operation immediately
and notify the customer has been detected. The notification should be
provided by voice or by a method that is visually recognizable. Originally, it
is necessary to open the front of the shelves and return the shelves position
so that customers can access the products. However, in order to facilitate theprogress of the demonstration, only a notification of customer detection isrequired, and the operation is resumed after the notification. If the customer
can be detected and notified correctly, and if the demonstration ends without
any retry, the participants awards a bonus of 5 points.
3.2.7 Infrastructure for Products

Only markers are allowed to be placed on the infrastructure for eachproduct. 20 mm x 20 mm (400 mm2) is the maximum area allowed for markers
per product, and no more than this area may be used for markers. However,any number of markers may be placed within a total area of 20 mm x 20 mm(400 mm2).
Possible example: 4 markers of 10 mm x 10 mm
Not allowed: 1 marker of 30mm x 30mm
Markers that cannot be placed in a microwave oven are not acceptable.
Markers must be placed by the participants before the demonstration starts.
If even one marker is used, no points are awarded for display or disposal of
the items.

3.3

Retry

If an error occurs during the demonstration, the demonstration can be
stopped and can be restarted from the initial state by operating an emergency
stop switch by the operator declaring a retry. At this time, the scores obtained
up to the retry stage and the conditions for obtaining bonuses are also reset.
At this time, the referee will rearrange the items on the display shelves totheir initial state*.
The timer is not stopped during the preparation for the retry. In the case ofmultiple demonstrations due to retries, the score will be awarded for the lastdemonstration.
*If an item is dropped from a shelf or container onto the floor during an
operation, or if an item is damaged, the item is removed when a retry isdeclared, and the operation is resumed with the total number of items
reduced from the initial state.

4. Specifications and Restrictions
4.1. Products for the Task

In the stock subtask, there are three types of rice balls. In the stock anddisposal task, there are three types of rice balls, two types of lunch boxes, andone each of sandwich, coleslaw, salad stick, and drink pack, for a total of nine
types of items. Examples of each item are outlined below. The competition
organizers will prepare the items. Please note that some of these products
may not be used for the task on the day of the challenge due to changes in the
product availability. Alternative items with similar specifications will be usedin the event of a change. These changes will be announced on the official
website of the competition.
4.1.1. Rice Balls type 1
・ Product name: Plum Rice Ball.
・ Outer dimensions: approx. H75 x W80 x D35 mm.
・ Weight: approx. 110g.
4.1.2. Rice Balls type 2
・ Product name: Salmon Rice Ball.
・ Outer dimensions: H75 x W80 x D35 mm.
・ Weight: approx. 110g.
4.1.3. Rice Balls type 3
・ Product name: Tuna Rice Balls.
・ Outer dimensions: H75 x W80 x D35 mm.
・ Weight: approx. 110g.
4.1.4. SandwichesProduct name: Egg Sandwich.
Outer dimensions: approx. H140 x W90 x D70 mm.
Weight: approx. 105g.

4.1.5. ColeslawProduct name: Coleslaw
Outer dimensions: approx. H30 x W180 x D220 mm

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Weight: approx. 145ｇ

4.1.6. Salad stick・ Product name: Salad stick.
・ Outer dimensions: approx. H100 x φ105 mm
・ Weight: approx. 145g
4.1.7. Packed drink
・ Product name: Orange juice.
・ Outer dimensions: approx. H120 x W47 x D38 mm
・ Weight: approx. 220g
4.1.8. Lunch Box 1・ Product name: Deep-fried Chicken Lunch Box.
・ Outer dimensions: approx. H50 x W250 x D175 mm.
・ Weight: approx. 535g.
4.1.9. Lunch Box 2・ Product name: TBD.
・ Outer dimensions: TBD.
・ Weight: TBD.

4.2. Container
4.2.1. Standard Container Specifications
・ Sanko SN Container C#32S.
・ Outer dimensions: W690 x D441 x H136 mm.
・ Inner dimensions: W629 x D380 x H120 mm.
4.2.2. Usage Restrictions for Unique Containers

Participants can create their own containers to use instead of the standard
containers. However, the following requirements must be satisfied:
・Products used for the stocking task must all fit inside the container.
・The containers must be stackable.
・The size must be equivalent to the standard container (outer dimensions:approx. W760 x D480 x H150 mm).

If an original container is used, the applicant may be requested to submit
documents showing that the above requirements are met in advance.

4.3. Display Case
4.3.1. Standard Display Case Specifications
・・・・

Slit-type system fixture (gondola shelving).
Outer dimensions: H1500 x D454 x W950 mm.
Five display shelves (D400 x W900 mm): approx. 200 mm between shelves.
The first shelf from the top is the top shelf, the third shelf is the middle
shelf, and the fifth shelf is the bottom shelf.

・ The heights of each shelf are: 500 mm, 700 mm, 900 mm, 1100 mm, 1300
mm from the floor, respectively.
・ Each shelf is transparent and has a transparent front rail to prevent
products from falling (H35 mm).
・ Both sides of the display case have a side mesh.
4.3.2. Usage Restrictions for Unique Display Cases

Participants can create their own display cases to use as infrastructure
instead of the standard display cases. However, the following requirements
must be satisfied:・・・・Outer dimensions: within H2000 x D2000 x W2000 mm.
The display cases must not protrude into the aisles.
The display cases must have five or more shelves (D400 x W900 mm).
The minimum height of the bottom shelf is 300 mm, and the maximum
height of the top shelf is 1500 mm.

・ The shelves must have 150 to 250 mm of space between them. *1
・ Each shelf must be transparent, or it must be possible to see the shelf
below it if there are no products on the shelf (mesh, netting, etc.). There
must be measures in place to keep products from falling.
・ The products displayed on the shelves must be accessible to customers.
・ The display case cannot be secured to the ceiling, floor, or walls of thevenue.
・ When using drawer-type shelves, the shelves must be stowed at the
beginning and end of the demonstration. *2*1 The standard for shelf spacing shall be the distance from the top surface

of the shelf board located below to the bottom surface of the shelf board on thenext level.
*2 Note that if the shelves are not stowed at the beginning or end of thedemonstration, no score will be awarded for actions on the non-compliant
shelves.

4.4. Mobile Robot and Infrastructure Restrictions
4.4.1. Hardware Restrictions
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There are no restrictions for the number of mobile robots.
Each mobile robot must be within 1m x 1m of the floor.
A mobile robot must have a maximum size of 1 m2 in its initial positionand during movement. Please note that the container will be consideredas part of the robot if the container is built into the robot. However, therobot may exceed this maximum size temporarily while unloading thecontainer, stocking products, or collecting disposal items.
Infrastructure can be installed anywhere inside of the convenience store
but different restrictions apply according to the area of the store. Please
see the documents provided for more information.
The weight of robot system should be within 200 kg.
If the mobile robot or infrastructure separates during the demonstration,
the team members should remove any separated objects from the field
after the demonstration has finished.

4.4.2. Software Restrictions
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The mobile robots and infrastructure must operate autonomously after
the start of the task. However, participants may monitor the internal
status remotely to know the state of their system.
Mobile robots are prohibited from moving outside of the convenience store.

4.4.3. Energy Source Restrictions
Participants should prepare an energy source for their mobile robots.
A power supply within AC100 V/1500 W is planned as the energy sourcefor participants to use.
Any energy source deemed to be dangerous or inappropriate for use will
not be allowed.

4.4.4. Venue Restrictions
Participants are prohibited from intentionally dirtying or damaging theconvenience store.
Infrastructure must be removed immediately after the task ends to returnthe venue to its original state.
The convenience store has no ceiling.
Field lighting conditions are dependent on the regulation of thecompetition venue and cannot be controlled.

4.4.5. Safety Restrictions
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Systems must have an emergency stop switch.
The emergency stop switch must be separate from the switch used to start
the system.
The emergency stop switch must be located in a place where it can besafely pressed while the system is in motion or activated remotely.
When activating the emergency stop remotely, only a wired push-button
emergency stop switch may be used, and it must be located more than 1.5
m away.
If the emergency stop switch is pressed, all of the movable parts includedin the system must immediately stop operating.
The design must prevent the system from tipping over at all times,
including during an emergency stop.
Measures must be taken to shield any area with a danger of pinching thearms and legs of people in the vicinity.
Hot areas and sharp edges must not protrude.
Energy sources utilizing fire or high temperatures are prohibited.
Any laser used in the system must be class 1 or lower.
Products and parts of robots must not eject anything.

5. OtherThis rulebook is subject to change without notice.