National Conference on Innovative Researches In
Engineering, Science &Technology
(A High Impact Factor, Monthly, Peer Reviewed Journal)
7, March 2019
Robot Based Automatic Dustbin Picker and
Garbage Collector (ROADPGC)
E.Karunamoorthy1, N.Kishore Kumar1, M.Lakshminarayanan1, M.Sudalaimanikandan1,
Dr.K.Karthikeyan2
UG Student, Dept. of EEE, Ramco Institute of Technology, Rajapalayam, Tamilnadu, India 1 Assistant professor, Dept. of
EEE, Ramco Institute of Technology, Rajapalayam, Tamilnadu, India 2
---------------------------------------------------------------------------------------------------------------------------------------
ABSTRACT: Now a days in industries, Hospitals, and
Educational institutions, there is a need of well organized
waste clearance system is mandatory by keeping green
environment. Currently the waste gathering is
conventional which acquire a lot of labour and is time
overwhelming process. To make this tedious job facile a
new concept of smart dustbin has been taken into
considerations for smart buildings, hospitals, schools and
railway stations.Bin makes use of Ultrasonic sensor for
level detection and updates the coeval level of the bin
through RF Transmitter module to the robot whenever it
reaches the particular limit. This is a fully automated
system in which after receiving the signal by RF receiver
it was processed with the help of a microcontroller
Arduino mega for taking respective action. The color
sensor is used to distinguish the dustbin which was
transmitting the signal and the location was tracked with
the help of the IR sensors and Ultrasonic sensors (obstacle
detecting).After reaching the location, using parallel
gripper mechanism and robotic arm of dc motor and
motor driver IC module setup the dustbin was picked up
and the garbage in the dustbin was loaded to the collection
tank. After unloading the garbage in the collection tank of
the robot, the dustbin is placed in the respective position
KEYWORDS: Autonomous, Smart bin, RF Module,
Robot.
I.INTRODUCTION
India’s urban population of 429 million citizens produce a
whopping 62 million tonnes of garbage every year.
According to a report from Delhi Development Authority,
the city of Delhi alone produces 25000 tons of waste
every day. In most cases, in collecting and segregating the
garbage young kids aged 13-18 years. Keeping in mind
that the cleanliness of the environment, health and
hygiene of humans, it is very important to occur a
effective usage of dustbins and garbage disposal. The
most common ways of collecting and disposing the
62
garbage are by using normal bins and by handling the
garbage with hands manually. This means a highly
difficult process in places such as schools, restaurants,
hotels, offices, production plants including with health
hazards. To overcome this problem, an automated robotic
system, implemented with the use of electronic
background such as arduino based system, introduced in
such places, would prove to be helpful, less hazardous and
high efficient use of dustbin. It would get job done easily,
with minimum labor and time saving. This idea was the
base background for us to undertake this project. The
thought of easing the task of collecting and disposing
garbage was highly motivating because we, as engineering
students, are very much familiar with this unpleasant job.
So that is where the foundation of our project was laid.
The aim of the project is to first have fully functioning
robot that can collect garbage efficiently. That robot will
collect the garbage from the designated area without need
for human intervention. Robot based automatic dustbin
picker and garbage collector is an advancement of
traditional garbage collector by levitating it to become
smart inculcating sensors and some form of logics. This
Smart robot is revolutionary idea of application of line
tracking vehicle and robotic arm assembly. The collecting
process involves the two major parts. The first one is
dustbin part, which is going to transmit the signal to the
robot whenever the garbage in the dustbin reaches the
certain level. The second part is robot, which receives the
signal then predicts particular filled dustbin then move
there to collect it.
II. LITERATURE SURVEY
The following are the literature that are surveyed
regarding this identified problem and with our new
proposed methodology. In “Waste management by
robot – A Smart and autonomous Technique”[1] the
authors ShikarParashar and PankajTomar used a smart bin
in which ultrasonic, IR Sensors and RF transmitter and
receiver module. Whenever the garbage reaches certain
level that will be sensed and transmitted to the agent, who V. BLOCK DIAGRAM
collects the garbage by garbage truck. In “Automatic
Garbage Collector Bot Using Arduino and GPS”[2] the
authors Niharika Mehta , ShikharVerma and
ShivaniBhattacharjeeused a robot to collect the garbage
in a particular location with the help of software support
of NILabview which incorporated with google map
coordinates through wifimmodule. To provide sense of
direction gyroscope is used, GPS with arduino was
inculcatedto support the action In “Autonomous/Manual
Trash collection segregation robot with IOT
interface”[3] the authors Adarsh A, Anu Narayan R,
NanduHarikumar, SebinKuriyakose S used a coverage
path planning algorithm/random path planning algorithm.
The trash detection is made possible using 4 ultrasonic
sensors with limited sensing range of 30cm. The entire
operation of waste collection can be viewed by the
operation through internet using a mobile camera attached
to robot In “Robotic arm for trash collecting robot” the
authors Junyu GUO and Salih Al Rashid used the dual
motor assembly for a robotic arm to share load torque
needed in particular forearm, shoulder positions and
gripper mechanism. They used spur gear setup.
Servomotors are used to control the robotic arm positions
In “Waste bin monitoring system using integrated
technologies” the authors Kanchan Mahajan and Prof.
J.S. Chitode used ARM7 controller. They used zigbee
communicating module for sending the signal from the
dustbin as soon as the dustbin was filled at a rate of 250
kbits per second with 2.4 GHz radio frequency. The
controller sends message to the agent who collect the
garbage with the help of the GSM module incorporated in
the system.

IV COMPONENTS
Arduino Mega is used as the controller in this robot. It has
54 digital IO pins. Out of which 16 can be used as PWM
output and it also has 16 analog input pins. The analog
input pins accept signals from various sensors and digital
IO pins are used to send control output from Arduino. The
12 V, 2.2Ah Li-po battery and 12 V 2 A is used to power
all the components present in the robot. Two 12 V high
torque gear motors are used for the motion of the robot.
During the line tracking ultrasonic sensor helps to avoid
the robot collision with the obstacles by sensing the
distance priorly. It is also used in level sensing in dustbin
with IR sensor. L298N Driver IC Module is used to
control the rotation of the motor direction as well as for
the speed control purposes. The relay module acts as a
controlled switch to give 12V directly to the motor. RF
transmitter and Receiver module is present in the system
to provide wireless communication between smart bin and
the robot. It operates at 433MHz. The robotic arm which
used to grip the dustbin is made with spur and worm gear
setup to give high efficient gripping operation. The
collection tank is placed on the robot in such a way that
dumping operation is carried out in optimum way.
The transmitter part of the block diagram represents the
dustbin part which uses level sensors like IR or Ultrasonic
sensors to detect the garbage of certain level. The encoded
IC with RF transmitter transmits signal to the robot after
the above mentioned action is carried out. The entire
system is powered by battery backup mounted on the
dustbin. The receiver part is nothing but the robot which is
going to collect the garbage. The robot includes the
components shown in the block diagram. After receiving
the signal from the RF module, with the help of the
arduino controller and other components, it will takes
respective actions. The actions includes line following and
gripping and dumping of dustbin with robotic arm of the
robot. This system is powered by Lipo batrtery. The
following components are present in the robot for tracking
and arm actions – IR sensors, Ultrasonic sensors,
Potentiometer, Driver IC, 8 channel relay module, 4 12V
DC gear motor, Arduino Mega 2560 and other connecting
cables and wires. The ROADPGC is having the two major
parts as above mentioned in the block diagram.

63
 VI. DEVELOPED VIEW OF ROADPGC

Side View Front view

VII. FLOWCHART
The coding is done using arduino IDE and dumped into
Arduino mega. After executing the motion control logic as
shown in the flow chart.

Top view of arm

64
 VII. CONCLUSION
After detailed study, it is concluded that hardly a complete
autonomous robot suitable for garbage collecting from the 11. Bradin, J. P. (2003). U.S. Patent No. 6,566,997.
dustbin. This work could be a solution to that problem. Washington, DC: U.S. Patent and Trademark Office.
Our future work would be to develop a robot to collect
garbage from multiple smart bins which gives signal when 12. Heinonen, J. (1999). U.S. Patent No. 5,896,562.
it attains the certain level. Washington, DC: U.S. Patent and Trademark Office.

13. Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T.

VIII. REFERENCE
(1998, May). The development of Honda humanoid robot.
1.Wahab, M. H. A., Kadir, A. A., Tomari, M. R., &
In Proceedings. 1998 IEEE International Conference on
Jabbar, M. H. (2014, October). Smart recycle bin: a
Robotics and Automation (Cat. No. 98CH36146) (Vol. 2,
conceptual approach of smart waste management with
pp. 1321-1326). IEEE.
integrated web based system. In 2014 International
Conference on IT Convergence and Security
14. Aung, W. P. (2007). Analysis on modeling and
(ICITCS) (pp. 1-4). IEEE.
simulink of DC motor and its driving system used for
2.Thakker, S., & Narayanamoorthi, R. (2015, March). wheeled mobile robot. World Academy of Science,
Engineering and Technology, 32, 299-306.
Smart and wireless waste management. In 2015
International Conference on Innovations in Information,
15. Pakdaman, M., & Sanaatiyan, M. M. (2009,
Embedded and Communication Systems (ICIIECS) (pp. 1-
December). Design and implementation of line follower
4). IEEE.
robot. In 2009 Second International Conference on
Computer and Electrical Engineering (Vol. 2, pp. 585-
3.Gundupalli, S. P., Hait, S., & Thakur, A. (2017). A
590). IEEE.
review on automated sorting of source-separated
municipal solid waste for recycling. Waste
16. Engin, M., & Engin, D. (2012, September). Path
management, 60, 56-74.
planning of line follower robot. In 2012 5th European
DSP Education and Research Conference (EDERC) (pp.
4.Parashar, S., & Tomar, P. Waste Management by a
1-5). IEEE.
Robot-A Smart and Autonomous.
17. Osorio, R., Romero, J. A., Peña, M., & López-Juárez,
5.Jajoo, P., Mishra, A., Mehta, S., & Solvande, V. (2018,
I. (2006). Inteligent line follower mini-robot
January). Smart Garbage Management System. In 2018
system. International Journal of Computers,
International Conference on Smart City and Emerging
Communications & Control, 1(2), 73-83.
Technology (ICSCET) (pp. 1-6). IEEE.
18. Hasan, K. M., Al-Nahid, A., Reza, K. J., Khatun, S., &
6. Yi, K. Z., & Razali, Z. B. Design, analysis and
Basar, M. R. (2013, April). Sensor based autonomous
fabrication of robotic arm for sorting of multi-materials.
color line follower robot with obstacle avoidance. In 2013
IEEE Business Engineering and Industrial Applications
7. Arebey, M., Hannan, M. A., Basri, H., Begum, R. A., &
Abdullah, H. (2010, June). RFID and integrated Colloquium (BEIAC)(pp. 598-603). IEEE.
technologies for solid waste bin monitoring system.
19. Kaiser, F., Islam, S., Imran, W., Khan, K. H., & Islam,
In Proceedings of the world congress on
K. M. A. (2014, April). Line follower robot: Fabrication
engineering (Vol. 1, pp. 316-32).
and accuracy measurement by data acquisition. In 2014
International Conference on Electrical Engineering and
8. Arebey, M., Hannan, M. A., Basri, H., Begum, R. A., &
Information & Communication Technology (pp. 1-6).
Abdullah, H. (2011). Integrated technologies for solid
IEEE.
waste bin monitoring system. Environmental monitoring
and assessment, 177(1-4), 399-408.

9. Mahajan, K., & Chitode, J. S. (2014). Waste bin

monitoring system using integrated
technologies. International Journal of Innovative
Research in Science, Engineering and Technology, 3(7).

10. Mehta, N., Verma, S., & Bhattacharjee, S. (2018).

Automatic Garbage Collector Bot Using Arduino and
GPS. In Proceedings of International Conference on
Wireless Communication (pp. 273-280). Springer,
Singapore.

65