DESGIN AND

FABRICARTION OF
WASTE COLLECTING MACHINE

A PROJECT REPORT
Submitted by

DON RAJAN P R (720319114006)

MATHIVANAN.S (720319114009)

SHANKAR.M (720319114019)

SIDHARTHA P KAIMAL (720319114020)

in partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

in

MECHANICAL ENGINEERING

AKSHAYA COLLEGE OF ENGINEERING AND TECHNOLOGY

KINATHUKADAVU, COIMBATORE-642109

ANNA UNIVERSITY: CHENNAI 600 025

1
 JUNE 2022
ANNA UNIVERSITY: CHENNAI 600 025
BONAFIDE CERTIFICATE

Certified that this project report “WASTE COLLECTING MACHINE’’ is

the bonafide work of

DON RAJAN P R (720319114006)

MATHIVANAN.S (720319114009)

SHANKAR.M (720319114019)

SIDHARTHA P KAIMAL (720319114020)

who carried out the project work under my supervision.

SIGNATURE SIGNATURE
DR.S.NAGARAJA,M.E.Ph,D. DR.S. NAGARAJA,M.E,Ph.D.
HEAD OF THE DEPARTMENT PROFESSOR&HEAD
Department of Mechanical Department of Mechanical
Engineering Engineering
Akshaya College of Engineering and Akshaya College of Engineering and
Technology Technology

Submitted for the ANNA UNIVERSITY practical examination-project work

viva-voce held on..................................

INTERNAL EXAMINER EXTERNAL EXAMINER

Date: Date:
2
 ACKNOWLEDGEMENT

The success of a work depends on the team and its cooperation. We take
this opportunity to express our gratitude and sincere thanks to everyone who
helped us in our project. First and foremost, we would like to thank the
management for the excellent infrastructure, facilities and the constant support
provided for the successful completion of the project work.
We are indebted to our Director, Dr. K. THANUSHKODI, M.Sc. (Eng.),
Ph.D., for his continuous motivation, inspiring words and guidance throughout
this project.
We express our sincere thanks to our Joint Director, Dr.N.SUGUNA,
M.E., Ph.D., for her valuable guidance and support.
We wish to express our heartfelt thanks and deep sense of gratitude of our
principle, Dr. K. SIVASANKARI, M.E., Ph.D., for her continuous
encouragement, guidance and support.
Our special thanks to Dr.S.NAGARAJA,M.E,Ph.D., Head of the
department, Department of Mechatronics Engineering for his valuable guidance,
continuous support and suggestion to improve the quality of project work.
We once again express our sincere thanks to our guide DR.S.NAGARAJA
M.E,Ph.D., for his valuable guidance, insightful comments and continuous
support to carry out the project work.
We express our deep sense of gratitude to all faculty members and
supporting Staff for their continuous support completing this project work
successfully.
Our sincere thanks to our family members and friends for their support and
motivation to carry out this project successfully.

3
 ABSTRACT

A smart city is incomplete without a smart waste management system. In this

purpose, Our project introduce waste collecting machine. This bot is aimed at

collecting waste from public places and offices. It is intended to move towards

the user by sensing the hand and allows the user to dispose the waste in the dust

bin. This is bot easily accessed and controlled manually through mobile phones

via Bluetooth. Additionally, the level of trash in the bin is detected and upon

reaching the limits a warning message is sent to the concerned personnel. DC

motors are used for achieving the desired movement of the bot, ultrasonic sensors

are used for obstacle detection and Infra red sensors will detect the level of waste.

Signals from the sensors are given to the microcontrollers, which then generates

commands that are given to the driver IC to achieve the desired motor operation.

A camera along with image detection technology using Open CV is used for hand

detection.

4
 TABLE OF CONTENTS

CHAPTER NO TITLE PAGE NO

ACKNWLEDEGEMENT

ABSTRACT 4

TABLE OF CONTENT 5

1. INTRODUCTION 8

1.1 Introduction of waste collecting machine 8

1.2 Objective 11
1.3 Methodology 12

2. LITERATURES REVIEW 15

3. DECSCRIPTION OF THE PARTS 16

3.1 Arduino uno controller 16
3.2 Ultrasonic sensor 17
3.3 Bluetooth module HC-05 19
3.4 600 rpm 12V motor 21
3.5 12V Lithium iron 22
3.6 DC-DC boost convector L6009 23
3.7 Motor driver L298N 25
3.8 MG995 servo motor 27

5
4. WORKING PRINCIPLE. 30
5. WORKING PRINCIPLE OF
WASTE COLLECTING MACHINE. 30
6. WORKING DIAGTRAM. 31
7. ADVANTAGES AND DISADVANTAGES. 32
8. COST OF ESTIMATIOM. 33
9. CONCLUTION. 34
10. PHOTOGRAPHY. 35

6
 LIST OF FIGURES

FIGURE TITLE PAGE

NO NO
1. Arduino uno controller 16

2. Ultrasonic Sensor HC-SR04 17

3. Working diagram of ultrasonic sensor 18

4. Bluetooth module HC-05 19

5. 12V DC Motor 21

6. 12V lithium ion battery 22

7. DC TO DC Boost Converter 23

9. Motor Driver l298N 25

10. MG 995 Servo Motor 27

11. Photography 35

7
 CHAPTER 1

INTRODUCTION

1.1 Introduction of automatic waste colleting machine:

In the past few decades there is a rapid growth in the rate of

urbanization and thus there are a number of sustainable urban development
plans. Waste management is one of the major problems that people are facing
now a day’s. Not only cities but also rural areas of India are facing waste
management problems. To bring about a difference in the macro scale to
eradicate this problem, we need to start measures from keeping our close
surroundings like houses, roads, public paces etc. clean and tidy. There are
various cleaning devices which are bulky that are used for cleaning industrial
waste and domestic wastes; they are unsuitable for cleaning household and
small areas of public places. Many times it is hard to find any means of proper
waste disposal bins near us and people tend to leave the garbage like plastics
and cans on the roads, streets, pavements, pits and other open areas which
tend to pile up and is a major cause of land, water and air pollutions. These
non-degradable wastes reduce soil fertility over time and make the earth a
barren land. It is not wrong to say that India is on verge of garbage crisis. The
breeding of insects and mosquitoes causes the environment unclean and this
may even cause dreadful diseases. These major public problems faced by
many developing countries because of the lack of uncollected trash littering
the streets, roads, sidewalk, shopping malls etc. So we aim to implement a
prototype of an automatic waste colleting machine with multiple attractive
features for maintaining cleanliness in public places like malls, parks, airports
and offices. We focus on reducing the amount of waste on the grounds
through an innovative approach. Robots are designed in such a way that it
interacts with humans and they are becoming part of lives. Robots support the

8
workers work more efficiently than earlier. At present, they are working in
our everyday life and are affect in our lives. Using the robotics human power
is being saved in various fields.

One such field where more human power required is the cleaning public
places. Now using new age technologies and strategic approach, the concept
of smart cities is coming up all around the world. Without a smart waste
management system, a smart city is incomplete. The iRobot Roomba and
Neato are the most widely used robot for autonomous cleaning purpose. In
2002, iRobot launched a first vacuum cleaner robot named Roomba. After
that a series of Roomba product were released. Initially its cost was $500. At
present Roomba 980 is used for cleaning purpose with the cost of $150. In
Roomba auto charging mechanism is used. After that Neato, a cleaning robot
was developed. Its cost is $399. Here laser finder technology and SLAM
algorithm is used for localization and
mapping. These two robots are efficiently cleaning the entire area. But these
two robots are not cost effective [3]. In our proposed project, we would like
to implement a much more cost efficient trash picking bot which can be used
for confined spaces that require to be cleaned. Our goal in this project was to
create a prototype cleaning robot capable of moving towards the user
detecting hand, identifying the obstacle during the course of motion and
alerting the concerned personnel when the bin is filled. The trash collecting
bots can provide the following services,

9
i. Waste management services to the people moving around can be provided.
ii. Move towards the person when it identifies the hand.
iii. Helps in replacing paid labor by cleaning the area around ;thus it is a smart
way of method.
iv. Provides an interactive way for people in waste disposal and encourage
kids and youngsters to appreciate the importance of the proper disposal of
waste in order to protect the environment.
v. It can be used for security monitoring purposes by capturing and wirelessly
transmitting the video stream from a location to the base station nearby.
vi. They can pick up the trash fallen on floor if the robotic arms are provided.
vii. Interactive screens can be provided for people for navigation purposes in
new and unfamiliar places. This is achieved by implementing GPS facility
and a touch screen with voice and recording inputs.

10
1.2 OBJECTIVE:

The primary aim is to introduce a way in which garbage could be

collected and disposed efficiently; To analyze the problem of garbage disposal at

a school, restaurant, office, hotel, production plant or any other suitable location;

To design and develop a system for solving the problem; To test and maintain the

implemented system.

11
1.3 Methodology:

We are aiming at creating a prototype model of the proposed

idea. Here we have used two microcontrollers in order to avoid any cases of

delay and for smooth functioning of the bot when a lot of components are

integrated by Arduino uno controller. They are highly cost effective and is

a good solution for basic computations, image processing etc. Arduino is an

open source computer hardware and software company, project community

that designs and manufactures kits for building digital devices and interactive

objects that can sense and control the physical world. There are 4 wheels

provided on the base of the bin. The geared motors used to drive the wheels

are of 600 rpm. Two wheels on each side are connected using a shaft and then

to the motor driver. The L293D Motor Driver IC allows DC motor to drive

on either direction. L293D works on the concept of H- bridge. H-Bridge is a

circuit which allows the voltage flow in either direction. Voltage has to

change its direction for being able to rotate the motor in clockwise or anti

clockwise direction, hence H-Bridge IC are ideal for driving a DC motor. In

a single L293D there are two H-Bridge circuit inside the IC which can rotate

the two DC motors independently. The motor driver gets its instructions to

move forward on the detection of object by ultrasonic sensor to stop the wheel

movement on detection of an obstacle using ultrasonic sensors (Arduino uno).

When the bot has to go in reverse direction, the motor driver commands the

four wheels to rotate in anti-clockwise direction. When it requires to move

12
left both the wheels on the left side are halted and driver commands

movement of the wheels on the right side. Similarly, the motion towards right

side can be achieved. Since the wheels on either side are connected via a shaft,

the wheels move in synchronism whether clockwise or counter clockwise.

C. Lid functioning

A lid is provided on the top of the bin to dispose waste from the user.

Servomotor is used to control the lid functioning. When camera detects the

user and moves towards it, the lid is closed and on reaching the user, the lid

is opened. After a delay of 10 seconds provided for the garbage disposal, the

lid is closed.

D. Bluetooth connectivity

The trash bot is controlled using Bluetooth by a mobile application when the

user is beyond the visibility range of the camera. We can customize the

application based on our functions of usage, modes of wheel movements

required etc. Since we are focused on a prototype, we have used a simple

version of Arduino Bluetooth Controller application Here, we can manually

control the wheel movement of our trash bot like a toy car and direct the motor

to us. Commands can be given to the wheels for forward (F), backward (B),

left(L) and right (R) movements for approaching the desired location of the

user. The Bluetooth module used is HC-05. HC- 05 module is an easy to use

Bluetooth SPP (Serial Port Protocol) module, designed for transparent

wireless serial connection setup. It is integrated with Arduino ATMEGA328.

13
When an obstacle is detected in the front of the path the bot moves towards

right; if an obstacle is on the right side and detected by the ultrasonic sensor

on the right, the bot can be moved to the left or reversed using the specific

controls.

E. Obstacle detection

Ultrasonic sensors are placed on the front and either sides of the base of the

bot for detecting any obstacle- people or otherwise on the path of the bot.

Obstacles up to 5-15 centimeters are detected. Ultrasonic sensor transmits the

ultrasonic waves from its sensor head and again receives the ultrasonic waves

reflected from an object and distance is calculated accordingly. Ultrasonic

sensors are connected to the Arduino uno.

14
 CHAPTER 2

2.1 LITERATURE REVIEW

[1] Hasitha Banda and Gowthami, “Smart Autonomous Multi-Purpose Trash

Picking Robot”, Asian Journal of Applied Science and Technology, Volume
1, Issue 5, June 2017.
[2] Tan, Haodan, Liping Sun, and Selma Šabanović. "Feeling green: Empathy
affects perceptions of usefulness and intention to use a robotic recycling
bin." 25th IEEE International Symposium on Robot and Human Interactive
Communication (RO-MAN), 2016.
[3] G. Sivasankar, B. Durgalakshmi and K. Seyatha, “Autonomous Trash
Collecting Robot”, International Journal of Engineering Research &
Technology, April 2017.
[4] Saravana Kannan G, Sasi Kumar S, Ragavan R, Balakrishnan M,
“Automatic Garbage Separation Robot Using Image Processing
Technique”, International Journal of Scientific and Research Publications,
Volume 6, Issue 4, April 2016.
[5] Chih-Hao Chen and Kai-Tai Song: “Complete Coverage Motion Control of
a Cleaning Robot Using Infrared Sensors”, Proceedings of the 2005 IEEE
International Conference on Mechatronics July 10, 2005, Taipei, Taiwan.

15
 CHAPTER 3

DESCRIPTION OF THE PARTS:

3.1Arduino uno controller:

FIG.3.1 Arduino uno

The Node MCU (Node Micro Controller Unit) is an open-source software and
hardware development environment built around an inexpensive System-on-a-
Chip (SoC) called the ESP8266. The ESP8266, designed and manufactured by
Express if Systems, contains the crucial elements of a computer: CPU, RAM,
networking (Wi Fi), and even a modern operating system and SDK. That makes
it an excellent choice for Internet of Things (IoT) projects of all kinds. However,
as a chip, the ESP8266 is also hard to access and use. You must solder wires, with
the appropriate analog voltage, to its pins for the simplest tasks such as powering
it on or sending a keystroke to the “computer” on the chip. You also have to
program it in low-level machine instructions that can be interpreted by the chip
hardware. This level of integration is not a problem using the ESP8266 as an
embedded controller chip in mass-produced electronics

16
3.2Ultrasonic Sensor HC-SR04:

Fig.3.2 ultrasonic sensor.

The purpose of this file is to explain how the HC-SR04 works. It will give

a brief explanation of how ultrasonic sensors work in general. It will also explain

how to wire the sensor up to a microcontroller and how to take/interpret readings.

It will also discuss some sources of errors and bad readings.

Ultrasonic sensors use sound to determine the distance between the sensor

and the closest object in its path. How do ultrasonic sensors do this? Ultrasonic

sensors are essentially sound sensors, but they operate at a frequency above

human hearing.

17
 ULTRASONIC SENSOR

WORKING:
The sensor sends out a sound wave at a specific frequency. It then
listens for that specific sound wave to bounce off of an object and come back.
The sensor keeps track of the time between sending the sound wave and the sound
wave returning. If you know how fast something is going and how long it is
traveling you can find the distance travel.

18
3.3Bluetooth module HC-05:

Fig.3.4 Bluetooth module.

19
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup. Serial port Bluetooth
module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR
Blue core 04-External single chip Bluetooth system with CMOS technology and
with AFH (Adaptive Frequency Hopping Feature). It has the footprint as small as
12.7mmx27mm. Hope it will simplify your overall design/development cycle.

Software features Default Baud rate: 38400, Data bits:8, Stop bit:1,Parity:No
parity, Data control: has.

Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.

Given a rising pulse in PIO0, device will be disconnected.

Status instruction port PIO1: low-disconnected, high-connected;

PIO10 and PIO11 can be connected to red and blue led separately. When master
and slave are paired, red and blue led blinks 1time/2s in interval, while
disconnected only blue led blinks 2times/s.

Auto-connect to the last device on power as default.  Permit pairing device to

connect as default.

Auto-pairing PINCODE:”0000” as default Auto-reconnect in 30 min when

disconnected as a result of beyond the range of connection.

20
3.4 DC MOTOR 12V:

Fig.3.5 dc motor
Motor 1 Specification – 12V DC Motor Features 12V – 200RPM – 3.6KG•CM
torque DC gearhead motor 30:1 Gear Ratio 2mm rear encoder shaft Good
compromise between speed and torque for small robotic designs.

Description Motor1 is a 12V DC geared motor with a .25” motor output shaft and
a 2mm rear encoder shaft. The 2mm shaft works with our ENC300 quadrature
encoder to allow the motor to be used in position control applications. Motor
controllers that are rated for 12V@2A are ideal for controlling this motor.
However, motor controllers with lower current ratings can also be used if they
have over-current and overtemperature protection.

2. Motor1 Specifications 2.1 DC Gearhead Motor Characteristics Characteristic

Value Unit Operating voltage 4.5-18 V Startup torque (kilogram-force
centimeter) 3.6 KG•CM Startup torque (inch-pound) 3.1 Inch • lbf Gear ratio 30:1
No-Load Current (12V) 0.053 A Stall Current 1.5 A No-Load Speed (12V) 200
RPM

21
3.5 12V LITHIUM ION BATTERY (2200MAH):
12V (2200mah) lithium ion battery is capable of maximum continuous discharge
rates up to 25C, placing this battery among the most powerful Lithium ion battery
packs in its class! it offers an excellent blend of weight, power and performance.

Features of 12V (2200mah) Lithium ion Battery:-

Charge capacity( c ) : 2200mah.
Rated voltage: 11.1v
Exact weight: 150 - 160 grams
lxhxw: 100*20*30mm approx
High energy density - Potential for yet higher capacities.
does not need prolonged priming when new. one regular charge is all that's
needed .relatively low self-discharge - self-discharge is less than half that of
nickel-based batteries. low maintenance - no periodic discharge is needed; there
is no memory .specialty cells can provide very high current to applications such
as power tools.
Applications of 12V (2200mah) Lithium ion Battery:-
It is applicable from indoor slow flyer to large-scale sport and aerobatic airplane
models, as well as micro to mid-sized helicopter models.

FIG.3.6 lithium battery

22
3.6 DC TO DC boost converter:

Fig.3.7 dc to dc booster converter.

A boost converter is one of the simplest types of switch mode converter. As the
name suggests, it takes an input voltage and boosts or increases it. All it consists
of is an inductor, a semiconductor switch (these days it’s a MOSFET, The key
principle that drives the boost converter is the tendency of an inductor to resist
changes in current by either increasing or decreasing the energy stored in the
inductor magnetic field. In a boost converter, the output voltage is always higher
than the input voltage. A schematic of a boost power stage is shown in Figure 1.

When the switch is closed (on-state), current flows through the inductor in the
clockwise direction and the inductor stores some energy by generating a magnetic
field. Polarity of the left side of the inductor is positive.
When the switch is opened (off-state), current will be reduced as the impedance
is higher. The magnetic field previously created will be reduced in energy to
23
maintain the current towards the load. Thus the polarity will be reversed (meaning
the left side of the inductor will become negative). As a result, two sources will
be in series causing a higher voltage to charge the capacitor through the diode D.
If the switch is cycled fast enough, the inductor will not discharge fully in
between charging stages, and the load will always see a voltage greater than that
of the input source alone when the switch is opened. Also while the switch is
opened, the capacitor in parallel with the load is charged to this combined voltage.
When the switch is then closed and the right hand side is shorted out from the left
hand side, the capacitor is therefore able to provide the voltage and energy to the
load. During this time, the blocking diode prevents the capacitor from discharging
through the switch. The switch must of course be opened again fast enough to
prevent the capacitor from discharging too much.

In the on-state, the switch S (see figure 1) is closed, resulting in an increase in the
inductor current;
In the off-state, the switch is open and the only path offered to inductor current is
through the flyback diode D, the capacitor C and the load R. This results in
transferring the energy accumulated during the on-state into the capacitor.
The input current is the same as the inductor current as can be seen in figure 2.
So it is not discontinuous as in the buck converter and the requirements on the
input filter are relaxed compared to a buck converter. nce you can get really nice
ones these days), a diode, and a capacitor. Also needed is a source of a periodic
square wave. This can be something as simple as a 555 timer or even a dedicated
SMPS IC like the famous MC34063A IC.

24
3.7 MOTOR DRIVER L298N:

Fig.3.8 motor driver.

A motor driver module is a simple circuit used for controlling a DC motor. It is

commonly used in autonomous robots and RC cars (L2938N and L298N are the
most regularly utilized motor driver chips). A motor driver module takes the low
voltage input from a controller like Arduino. This input logic controls the
direction of DC motors connected to the driver. To put it in simple words, you
can control the direction of DC motors by giving appropriate logic to the motor
driver module. The motor driver module consists of a motor driver IC, which is
the heart of the module. The IC alone can control the DC motor but using the
module makes the interfacing with Arduino easy.

L298 is a high voltage and high current motor drive chip which receives TTL
logic signals.

They are mostly used when

It is needed to operate different loads like motors and solenoid etc where an H-
Bridge is required.

High power motor driver is required.

Control unit can only provide TTL outputs.

Current control and PWM operable single-chip device are needed.

25
It has two enable inputs to enable or disable the particular device attached at its
output independently.

Thus, H-Bridge is basically used to control the rotating direction in DC motors.

Specification

Driver: L298N

Driver power supply: +5V~+46V

Driver Io: 2A

Logic power output Vss: +5~+7V (internal supply +5V)

Logic current: 0~36mA

Controlling level: Low -0.3V~1.5V, high: 2.3V~Vss

Enable signal level: Low -0.3V~1.5V, high: 2.3V~Vss

Max power: 25W (Temperature 75 cesus)

Working temperature: -25C~+130C

Dimension: 60mm*54mm

Driver weight: ~48g

26
3.8 MG 995 SERVO MOTOR:

Fig3.9 servo motor

The unit comes complete with 30cm wire and 3 pin 'S' type female header
connector that fits most receivers, including Futaba, JR, GWS, Cirrus, Blue Bird,
Blue Arrow, Corona, Berg, Spektrum and Hitec. This high-speed standard servo
can rotate approximately 120 degrees (60 in each direction). You can use any
servo code, hardware or library to control these servos, so it's great for beginners
who want to make stuff move without building a motor controller with feedback
& gear box, especially since it will fit in small places. The MG995 Metal Gear
Servo also comes with a selection of arms and hardware to get you set up nice
and fast! Specifications • Weight: 55 g • Dimension: 40.7 x 19.7 x 42.9 mm
approx. • Stall torque: 8.5 kgf·cm (4.8 V ), 10 kgf·cm (6 V) • Operating speed:
0.2 s/60º (4.8 V), 0.16 s/60º (6 V) • Operating voltage: 4.8 V a 7.2 V • Dead band
width: 5 µs • Stable and shock proof double ball bearing design • Temperature
range: 0 ºC – 55 ºC

27
Servomotors are generally used as a high-performance alternative to the stepper
motor. Stepper motors have some inherent ability to control position, as they have
built-in output steps. This often allows them to be used as an open-loop position
control, without any feedback encoder, as their drive signal specifies the number
of steps of movement to rotate, but for this the controller needs to 'know' the
position of the stepper motor on power up. Therefore, on first power up, the
controller will have to activate the stepper motor and turn it to a known position,
e.g. until it activates an end limit switch. This can be observed when switching
on an inkjet printer; the controller will move the ink jet carrier to the extreme left
and right to establish the end positions. A servomotor will immediately turn to
whatever angle the controller instructs it to, regardless of the initial position at
power up.

The lack of feedback of a stepper motor limits its performance, as the stepper
motor can only drive a load that is well within its capacity, otherwise missed steps
under load may lead to positioning errors and the system may have to be restarted
or recalibrated. The encoder and controller of a servomotor are an additional cost,
but they optimise the performance of the overall system (for all of speed, power
and accuracy) relative to the capacity of the basic motor. With larger systems,
where a powerful motor represents an increasing proportion of the system cost,
servomotors have the advantage.

28
Specifications

• Weight: 55 g

• Dimension: 40.7 x 19.7 x 42.9 mm approx.

• Operating speed: 0.2 s/60º (4.8 V), 0.16 s/60º (6 V)

• Operating voltage: 4.8 V a 7.2 V

• Stable and shock proof double ball bearing design

• Temperature range: 0 ºC – 55 ºC

29
3.9 WORKING PRINCIPLE:

3.10 WORKING PRINCIPLE OF WASTE COLLECTING MACHINE:

The working principle of the trash bot can be explained as follows:

There are two modes of operation in this bot – auto mode and manual mode. In
auto mode, the bot detects the hand when the camera is constantly scanning
using Open CV which is programmed in raspberry pi and command the wheels
to move towards the person. In our project, we have trained the bot to detect the
color yellow instead of the hand as it is a prototype of our proposed idea. Once
the bot reaches the user, the lid is opened. The lid remains opened for a specific
time during which the user disposes the trash inside the bin and the lid is closed.
In manual mode, the bot can be controlled using Bluetooth technology. Trash is
then disposed inside the bin when the lid is opened after color is detected by the
camera During the motion of the bot towards the user, ultrasonic sensors placed
in the front and either side of the trash bot helps to detect any obstacle in the
range of 5-10cms.

When the obstacle is detected, the bot stops its movement at once; in auto mode
for further motion the obstacle has to be removed manually. Whereas in the case
of manual mode, we can control the wheel movement and overcome the obstacle
in order to reach the user. The functioning of the lid is controlled by a servomotor
upon commands from the Raspberry pi 3b+ i.e., lid opens when bot reaches the
user by identifying the coordinates of the detected color using image processing
and closes after a 10 second delay during which the user can dispose the trash
inside the bin. The suction fan placed beneath the bot in order to absorb small
dust particles and dump it inside the bin through a pipe. Additionally, a level
detection using IR sensor is employed in the body of the bot which sends a
message to the concerned personnel for timely removal of waste upon reaching

30
 3.11 WORKING DIAGRAM:

12v bluetooth 12v

motor module motor

12v arduino motor driver

battery uno L298N

12v ultrasonic 12v

motor sensor motor

Hand - A Hand - B

MAIN PARTS:

1.Arduino uno controller 5. DC to DC boost converter

2. Bluetooth module hc-05 6. L298N Motor Driver

3.Ultrasonic Sensor 7.DC Motor 12V 600 rpm

4.Battery 12V 8. MG 995 servo moto

31
 • ADVANTAGES:

1. Saves Time.
2. Long Life.
3. Pollution Free.
4. Easy to Operate.
5. Choice of Models.

• DISADVANTAGES:

1. Expensive.
2. The Battery consumption is high.
3. Maintenance is necessary.

32
 3.12 COST ESTIMATION:

S.NO PARTS QUANTITY AMOUNT

(RS)
1 ARDUINO UNO 1 900

2 ULTRASONIC 1 150
SENSOR
3 BLUETOOH MODULE 1 400
HC-05
4 12V DC MOTOR 4 1000

5 12V LITHIUM-ION 1 1000

BATTERY
6 DC TO DC CONVERTER- 1 250
L6009
7 MOTOR DRIVER 1 600
L298N
8 SERVO MOTOR 2 700
MG995
TOTAL COST 5000

33
3.14 CONCLUSION:

This project work is an implementation of an automated

garbage collection and level detection system. The work is completed by using
components like Arduino uno,ultrasonic sensors, servo and geared motors, IR
sensors etc. This system uses its camera mounted on the top of the bin to identify
the user who wish to dispose trash and thereby moving towards them. It can also
be controlled manually when the user is beyond the visibility range of the
camera. Our project finds its applications in offices and malls but by further
technological improvements, it can be used for various other purposes like
security services by recording and live streaming through the camera; interactive
location finder and navigation through GPS; by providing robotic arm pick and
place of waste is possible. Also by complex image processing techniques we can
identify waste objects, distinguish it and dispose it. We aim to increase the
efficiency of the overall waste management system. Trash Bot ultimately helps
to maintain cleanliness in our society in a much interactive way than its
traditional counterparts.

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3.15 PHOTOGRAPHY:

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