Development of the restroom cleaning robot that can dispose of various types of garbage with a cleaning tool change function

- Attempt to develop a practical system utilizing World Robot Summit 2020 Future Convenience Store Challenge -

Abstract

We have developed a ROS-based mobile manipulator for restroom cleaning with the capability to recognize garbage of various types (pieces of paper, cups, and liquids) and to select the most appropriate tool from three cleaning tools (suction to hold, vacuuming, and moping) to effectively clean a restroom. Upon deployment at the Future Convenience Store Challenge of the World Robot Summit 2020, we obtained the 1st Place in the Restroom Cleaning Task with an almost perfect score (96%).