Technical answers for real world problems

(TARP)
REVIEW- 3
AUTONOMOUS WASTE MANAGEMENT ROBOT

TEAM MEMBERS: FACULTY NAME:

SHANE SHIH – 18BEC0834 PROFF. Srinivasa Rao Inabathini

ADARSH SAHU – 18BEC0812
SUBHASHISH RAY – 18BEC0829
 PROBLEM STATEMENT
• In this age where waste management seems to be a critical problem due to untimely dumping of
waste. This in turn creates a bad atmosphere which becomes a home for breeding insects which
in turn cause many diseases. This is due to a lack of real time tracking . For a society to prosper
a clean environment is of utmost importance. Considering all this, we decided to create a robot
to eliminate this problem.
 OBJECTIVE
The objective of our project is to build a fully autonomous robot that has a waste bin attached
to its chassis that runs under the user’s voice commands and whose prime task is to seamlessly
track the waste level and open the lid of the bin in the close proximity of someone whilst the
waste level doesn’t crosses the threshold value and upon crossing of the limits an API call to
IFTTT web applet is initiated and an alert message gets sent to the target’s phone and after that
the user can simply give a voice command to dump the waste content and which gets dumped
automatically and the whole process keeps on running.
 LITERATURE SURVEY
• An Ultrasonic Sensor for Distance Measurement in Automotive Applications Alessio Carullo and Marco Parvis, Senior
Member, IEEE

This paper describes an ultrasonic sensor that is able to measure the distance from the ground of selected points of a motor vehicle. The
sensor is based on the measurement of the time of flight of an ultrasonic pulse, which is reflected by the ground. A constrained
optimization technique is employed to obtain reflected pulses that are easily detectable by means of a threshold comparator. Such a
technique, which takes the frequency response of the ultrasonic transducers into account, allows a sub-wavelength detection to be
obtained.

• VOICE CONTROLLED ROBOT CAR USING ARDUINO - Shubh Srivastava, Rajanish Singh ,UG Students, Department of Computer Science and
Engineering, Raj Kumar Goel Institute of Technology, Ghaziabad affiliated to Dr A.P.J. Abdul Kalam Technical University, Lucknow, Uttar
Pradesh, India.

In this project, explains how to make Voice Controlled Robot Car Using Arduino. The robotic car can be controlled wirelessly via voice commands
directly from the user. The robot can move forward, backward, left, and right and can also be stopped .The Arduino voice-controlled robot car is
interfaced with a Bluetooth module HC-05 or HC-06. We can give specific voice commands to the robot through an Android app installed on the
phone. At the receiving side, a Bluetooth transceiver module receives the commands and forwards them to the Arduino and thus the robotic car is
controlled.
 METHODOLOGY
• The whole functionality of the robot is divided into three parts/blocks :-
a) Moving the robot in all possible directions using serial commands via Bluetooth module
b) The sensor block to track the waste level and proximity of someone
c) Dumping mechanism controlled by the actuation of 3 servo motors

• The chassis has a bin with the servo motor mechanism attached to it. The movement of the
robot via serial commands is completely governed by the HC05 master Bluetooth module that
serially transmits and receive the data to the node MCU and by the help of integration of motor
driver module with Arduino coding each and every wheel movement of the robot along with
the special dumping function is controlled.
• Coming to the second block, there are two sensors in the bin one inside to continuously track
the waste level and another outside the bin to sense someone’s presence. The outer sensor is
operational as long as the waste level inside the bin doesn’t crosses the set threshold level. The
moment it crosses the limit an API call is sent to IFTTT where the web applet runs and an alert
message gets sent to the target’s phone.
• Coming to the third component, the dumping mechanism is made up of a arm which has the waste bin attached to it and the
3 servo motor mechanism. After a dumping function is called by the user, all of the servo motor rotates in a specific direction
that makes the waste bin dump the waste content automatically. And after the actuation of the motors the system is reset into
its original state by rotating in the reverse direction.
FLOW DIAGRAM
Servo motor mechanism bluetooth
 Current Results
Software Simulation:
Dumping Mechanism
RESULTS
RESULTS
• The complete software verification of our robot and its working has successfully been completed in Tinkercad.

• In the hardware implementation and prototyping of the robot, a customised waste bin which had two sensor setup has been
made. For better demonstration and visualisation purpose, it also has a waste level regulator that can be controlled
manually.

• The sensor 1 remains operational and it keeps on tracking the waste level of the bin as soon as the sensor 2 detects
someone’s presence in the close proximity, the sensor 1 stops working and the microcontroller triggers the event created for
sending a notification to the concerned and thus it is received by which he/she can start to send the Bluetooth command for
the waste content via the HC-05 Bluetooth module.

• The dumping mechanism was made up by a wooden arm that has all the integration of the 5 servo motors on it. A set of 3
servo motors are attached to the base of the chassis with their shaft holding the bin. The 3 servo motor rotates in the such
direction and with angle that the bin gets lifted up the and other two servo motors rotates to achieve the remaining
rotational motion programmed by the user.

• All the rotational motions are progressed with a suitable delay of 2 or 3 seconds and after the inverting and closing of the
bin, all the motors start rotating back to the initial position and thus the robot gets ready for the next dumping task.
Working Video
 Future Scope

• Integration of a solar panel. This would help reduce the dependence on batteries for power and solar panels are much more
environment friendly.

• Obstacle Detection and path finding functionality can also be integrated in it to make it a fully autonomous robot. This would be
something to keep working as our society is moving towards automation and a making huge leaps in the same.

• For the API calling and serial communication, WiFi could be used which would improve the range of working of the robot and will
give the user a lot more access to the cloud.

• A movable arm with a grip or claw could be integrated to the robot which would enable it to do much more than what it is capable of
doing now, for example – garbage picking.

• Through the use of various sensors like DHT moisture and humidity sensor, the garbage separation could also be achieved in the
future, The robot would then be able to segregate garbage based on their properties like dry/wet waste etc)
 REFERENCES
• Smart phone based robotic control for surveillance applications By M.Selvam,(IJRET 2014) 
• Basic Feature, “Solid waste Management Project by MCGM”.
• Android Controlled Mobile Robot By Jorge Kazacos Winter,(July2013). 
•  Design of a Bluetooth Enabled Android Application for a  

Microcontroller Driven Robot By Vito M. Guardi,(May 2014).