FABRICATION OF GARBAGE COLLECTION ROVER

A Project Work Report

Submitted to
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY, KAKINADA
In partial fulfilment of the requirements for the award of the degree of
BACHELOR OF TECHNOLOGY
IN
MECHANICAL ENGINEERING
Submitted By
CH.L.N.SWAMY 21761A0304
M. AKHILESWAR 22765A0315
O. PAWAN KUMAR 22765A0318
O. MANJUNADH 22765A0319

UNDER THE ESTEEMED GUIDANCE OF

Mr.K.V.VISWANADH
Sr.Assistant Professor LBRCE

DEPARTMENT OF MECHANICAL ENGINEERING

LAKIREDDY BALI REDDY COLLEGE OF ENGINEERING
(AUTONOMOUS)
L.B.Reddy Nagar, Mylavaram – 521 230. Krishna District
ISO 21001:2018, 50001:2018, 14001:2015 Certified
Accredited by NAAC with Grade ‘A’ & NBA under Tier-1
(Approved by AICTE , Permanently Affiliated to JNTUK, Kakinada)
April – 2025
 LAKIREDDY BALI REDDY COLLEGE OF ENGINEERING
(AUTONOMOUS)
ISO 21001:2018, 50001:2018, 14001:2015 Certified
Accrediated by NAAC with Grade ‘A’ & NBA under Tier-1
(Approved by AICTE , Permanently Affiliated to JNTUK, Kakinada)
L.B.Reddy Nagar, Mylavaram – 521 230. Krishna District
DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE
This is to certify that the Project Report entitled “FABRICATION OF GARBAGE
COLLECTION ROVER” that is being submitted for the partial fulfillment of degree on Bachelor
of Technology in Mechanical Engineering to JNTUK, Kakinada is a bona fide work done by
CH.L.N.SWAMY 21761A0304
M.D.S AKHILESWAR 22765A0315
O.PAWAN KUMAR REDDY 22765A0318
O. MANJUNADH 22765A0319
during the academic year 2024-2025 and it has been found worthy of acceptance according
to the requirement of University.

Mr.K.V.VISWANADH Dr. M.B.S.SREEKARA REDDY

Sr.Assistant Professor Professor & HOD
Project Supervisor Head of the Department

INTERNAL EXAMINER EXTERNAL EXAMINER

 ACKNOWLEDGEMENT

Behind every achievement lies an unfathomable sea of gratitude to those who activated it,
without whom it would ever have been in existence. To them we lay the words of
gratitude imprinted with us.
We express our deep sense of gratitude to our project guide Mr.K.V.VISWANADH
Sr.Assitant Professor, Department of Mechanical Engineering, Lakireddy Bali Reddy
College of Engineering, Mylavaram for giving technical guidance.
We like to pay our sincere thanks and gratitude toDr. M.B.S.SREEKARA REDDY
Professor & HOD of Mechanical Engineering, LBRCE, Mylavaram for their benevolent
support throughout this project.
We thank our Honourable Principal Dr. K. APPA RAO Professor for the moral support
and the excellent facilities provided.
We cannot conclude this without expressing our indebtedness towards our teaching, non-
teaching and family members, for providing necessary facilities to carry out this project
work.
We also express our heartfelt thanks to one and all, whose names could not be listed for
want to space and helped us during this project work during the academic pursuits.

PROJECT ASSOCIATES
CH.L.N.SWAMY 21761A0304
M.D.S AKHILESWAR 22765A0315
O.PAWAN KUMAR REDDY 22765A0318
O. MANJUNADH 22765A0319
 DECLARATION

We hereby declare that the work presented in this dissertation report titled “FABRICATION
OF GARBAGE COLLECTION ROVER” is submitted towards completion of main
project in B.Tech (Mechanical Engineering) at Lakireddy Bali Reddy College of Engineering
(Autonomous), Mylavaram. It is an authentic record of my original work pursued under the
supervision of Mr.K.V.VISWANADH, Sr.Asst.Professor, Department of Mechanical
Engineering, LBRCE.
We have not submitted the matter embodied in this dissertation for the award of any other
degree.

PROJECT ASSOCIATES
CH.L.N.SWAMY 21761A0304
M.D.S AKHILESWAR 22765A0315
O.PAWAN KUMAR REDDY 22765A0318
O. MANJUNADH 22765A0319
 INDEX

Chapter Content Page No

Abstract 1

Chapter 1 Introduction 2
 ABSTRACT

Rapid urbanization has resulted in a waste management crisis, and we must develop better
management systems to save resources and reduce waste. Garbage segregation is one of the
most crucial aspects of waste management. Hence, metropolitan areas must embrace
procedures that aid in the finest garbage management systems, allowing for better resource
and energy usage. We know human intervention has been the most popular method of waste
separation, but when dealing with a mixture of garbage, it jeopardizes the health and
cleanliness of the workers in the dumping yards . Hence, autonomous segregation systems
play a vital role in this scenario. We proposed an efficient automated waste segregation
vehicle based on a robotic assembly and Bluetooth in this study. The robotic arm sorts the
waste through a Pick- and-Place procedure. We can also reduce human labor and maintain
the environment clean this way. The designed vehicle separates garbage into three categories:
dry, wet, and metal. The servo motors and motor drivers are used for Pick-and-Place
procedures. The capacitive sensors like metal detector, moisture sensor are used to
distinguish the type of waste and pack all the waste in their respective bins. After that it
dumps in their respective areas of locations. It is an effective method to segregate and makes
it very easy for the recycling purpose and the effects of various diseases caused to the
workers is also reduced.

This project presents the design, fabrication, and development of a garbage collection rover, a
robotic system designed to efficiently collect and dispose of waste in urban environments.
The rover is equipped with sensors, motors, and a robotic arm, allowing it to navigate through
spaces, detect garbage, and collect it. The system is controlled using an Arduino UNO
microcontroller and utilizes Bluetooth connectivity for remote monitoring. The garbage
collection rover aims to reduce manual labor, increase efficiency, and promote cleanliness in
public spaces. This project demonstrates the potential of robotics and automation in waste
management, contributing to a more sustainable and environmentally friendly solution.
CHAPTER-I
 INTRODUCTION
The increasing urban population and rapid urbanization have led to a significant rise in waste
generation, posing a major challenge for municipalities and waste management authorities.
Traditional waste collection methods often rely on manual labor, which can be time-
consuming, inefficient, and hazardous. To address these challenges, this project aims to
design and fabricate a garbage collection rover, a robotic system that can efficiently collect
and dispose of waste in urban environments. The rover is equipped with advanced sensors,
motors, and a robotic arm, enabling it to navigate through spaces, detect garbage, and collect
it. By leveraging robotics and automation, this project seeks to improve waste management
efficiency, reduce manual labor, and promote cleanliness in public spaces.
Rapid increase in volume and types of solid and hazardous waste as a result of continuous
economic growth, urbanization and industrialization, is becoming a increasing problem for
national and local governments to ensure effective and sustainable management of waste. It is
estimated that in 2006 the total amount of municipal solid waste generated globally reached
2.02 billion tones, representing a 7% annual increase since 2003 (Global Waste Management
Market Report 2007). The segregation, handling, transport and disposal of waste are to be
properly managed so as to minimize the risks to the health and safety of patients, the public,
and the environment. Currently there is no such system of segregation of dry, wet and
metallic wastes. Numerous research have been reported using various technologies. the basic
Idea is to implement a smart way of handling the garbage by using the IOT protocol for
transmitting the dustbin status wirelessly, through e-mail to notify to the concerned person
that system is filled with garbage and need to be replaced. the system aims to schedule trucks
by finding shortest path for waste collection. This system set up smart waste bins/ trash cans
per society, which will be IoT enabled. It transmits information about dustbin fill status and
harmful gas levels. It finds efficient route to collect maximum waste with less cost and fuel.
this paper describes the application of Solar Smart Bin in managing the waste collection
system of an entire city. the proposed model has two dustbins (named as Dustbin A and
Dustbin B) which will be kept at public places mostly. Dustbin A can be used but Dustbin B
cannot be used until Dustbin A is full. Whenever any dustbin is filled up, a message is sent to
the concerned authority. This will avoid overflow of waste in the bin. it deals with the
increased level of environmental pollution due to different kinds of waste, unauthorized
landfills and the lack of counting and monitoring of the territories ecological conditions are
problems faced by all mega-cities around the world. the Paper is proposed IOT based smart
waste clean management system which checks the waste level over the dustbins by using
Sensor systems. Once it detected immediately this system altered to concern authorized
through GSM/GPRS. this paper is to enhance practicality of IoT based solid waste collection
and management system for smart city. As soon as dustbin has reached its maximum level,
Waste management department gets alert via SMS via GSM module placed at dustbin so
department can send waste collector vehicle to respective location

1.1.Background and Motivation:

The rapid urbanization and population growth have resulted in a significant increase in
waste generation, posing a major challenge for municipalities and waste management
authorities. Traditional waste collection methods often rely on manual labor, which can be
time-consuming, inefficient, and hazardous. Moreover, the lack of proper waste management
infrastructure and resources in many urban areas exacerbates the problem, leading to
environmental pollution, health risks, and decreased quality of life.
The motivation behind this project is to develop a sustainable and efficient solution for
waste management that can mitigate these challenges. By leveraging robotics and
automation, the garbage collection rover aims to:
1. Improve efficiency: Automate the waste collection process, reducing manual labor and
increasing productivity.
2. Enhance safety: Minimize the risk of injuries and health hazards associated with manual
waste collection.
3. Promote cleanliness: Ensure timely and effective waste collection, reducing litter and
environmental pollution.
4. Support sustainability: Contribute to a more environmentally friendly waste management
system, aligning with global sustainability goals.

1.2.Main objective:
The main objective of this project is When mixed dry and wet waste breaks down in lowland,
it creates nasty greenhouse gases. Segregation makes it attainable to utilize and recycle the
waste effectively. This waste segregator system can easily segregate waste. When waste is
thrown in the pipe, IR sensor will sense the waste. Waste is divided into three categories
namely Wet, Dry and Metallic. Another sensor will sense the garbage category. As per the
algorithm used, if the waste is metallic then the mechanism will bring the metal collecting bin
below the pipe and with the help of servo motor the waste will fall into the metal bin.
Similarly, the process will repeat if wet waste is sensed. If the sensor doesn’t activate both the
sensor category then the waste will be considered to be a dry waste.

1.3.Existing System:
The existing system of method can be designed discriminate waste into residual and
recyclable waste or non - recyclable waste only. This existing method uses moisture sensor
only for the detection of dry waste or wet waste based on theoretical values. It needs manual
help to start the work progress. This is because the moisture sensor detected a moisture
content of 10 %. On the other hand, when the samples of dry waste are placed onto the
prototype system, the servo motor rotated to 180 degree and the waste continued to stay on
the conveyor belt until it reach to the end and entered the recyclable dustbin. The system
cannot able to segregate the waste into more classification such as glass metal, dry waste etc.,
and this system was not that much efficient when we go for industrial applications
In the system aims to schedule trucks by finding the shortest path for waste collection.
This system sets up smart waste bins/ trash cans per society, which will be IoT enabled. It
transmits information about dustbin fill status and harmful gas levels. It finds an efficient
route to collect maximum waste with less cost and fuel. The system provides estimated dates
for collection of waste, Real-time bin status, expected fill updates for the bins, and optimized
the shortest path for waste collection. This is a bin monitoring system for waste collection.
The trucks landing at our doorstep irregularly for waste collection discard their further path if
they get filled at some point. Eventually delaying the collection of waste in some regions.
This leads to waste accumulation in such regions. To avoid such condition this system is
introduced for scheduling trucks for waste collection.

1.3.1.Problem Statement:
Inefficient waste collection systems in urban areas lead to:
 Environmental pollution: Improper waste disposal contaminates soil, air, and water,
posing health risks to citizens.
 Health hazards: Manual waste collection exposes workers to injuries, diseases, and
hazardous materials.
 Inefficient resource allocation: Traditional waste collection methods are time-
consuming, labor-intensive, and often ineffective.
  Decreased quality of life: Littered streets and public spaces negatively impact the
aesthetic appeal and livability of urban areas.
The garbage collection rover project aims to address these problems by developing a
robotic system that can efficiently collect and dispose of waste, reducing manual labor,
environmental pollution, and health risks.

1.4.Proposed Work:
Waste is pushed onto conveyer belt, first the waste moves for detection with inductive
sensor to detect it is metal. If it is detected as metal, motor rotates to in a direction to collect
the metallic waste. Then demagnetization takes place and waste is dropped into bin. for non
metal it moves further, now the capacitive proximity sensor detects, if the wet waste is
detected motor rotates at a certain angle and it is dropped into next bin or if it is detected as a
dry waste motor rotates with a different angle and itfalls into another bin. Three different bins
are used to collect metal dry and wet waste. If any out ofthe three bins become leveled thenit
is sensed by
Fig.1.Flow Chart
the ultrasonic sensors. This process of segregating the waste will help the people from not
being effected to the pollution caused by the waste. Ultrasonic sensors are used for
monitoring the level of bins, using the WiFi modem this information is updated on webpage.
By using our proposed concept we are able to overcome the drawback of the existing one.
In our proposed paper web camera is used to overcome these disadvantages in previous
system and it separates glass wastes based on pixel rate accuracy .In this work, a fully
automated waste separation system to segregate recyclab le and non recyclable waste of
different classifications such as glass, metal, dry waste of household as well as industry
wastes is proposed. Its main objective is to built a unique kind of algorithm to achieve new
kind of approachability in the
field of waste management. Segregation of the waste management had been fully automated
used for both household and industry purpose shown in fig 2. In our system, we used
Embedded C language in order to run the conveyor belt of the sorting system and to sort the
wastage units according to their types such as metal and dry waste.The robot is designed
using DC Motors and Motor Drivers. The robot will sense the presence of waste on a convey
or using IR Sensors. After that, the gripper will pick the waste and at the gripper ,there are
two types of sensors.The sensors are Moisture, metal proximity, and limit switch.

1.4.1.Working Principle
The Garbage Collection Rover works on the principle of:
 Sensor-Based Detection: Sensors detect garbage and obstacles.
 Autonomous Navigation: The rover navigates through the environment using sensors
and mapping algorithms.
 Robot Arm Operation: The robot arm collects and picks up garbage.
 Control System: The control system processes sensor data and controls the rover's
movements.
 Garbage Detection: Detecting garbage using sensors.
 Obstacle Avoidance: Avoiding obstacles using sensors and navigation algorithms.
 Garbage Collection: Collecting garbage using the robot arm.
 Navigation: Navigating through the environment using mapping algorithms.
The Garbage Collection Rover's working principle enables it to efficiently collect garbage
while navigating through various environments.

1.4.2.Benifits:
 Increased Efficiency: Automate waste collection, reducing manual labor and
increasing productivity.
 Improved Safety: Minimize the risk of injuries and health hazards associated with
manual waste collection.
 Environmental Sustainability: Reduce waste and promote sustainable practices,
contributing to a cleaner environment.
 Cost Savings: Decrease waste management costs by reducing manual labor and
improving efficiency.

1.4.3.Applications:
 Urban Waste Management: Efficiently collect and dispose of waste in urban areas,
reducing manual labor and environmental pollution.
 Public Spaces: Keep public spaces, such as parks, streets, and plazas, clean and free of
litter.
 Disaster Response: Deploy the rover in disaster scenarios to collect debris and
facilitate relief efforts.
 Industrial Settings: Use the rover in industrial settings, such as factories and
warehouses, to collect waste and improve workplace safety.
 Environmental Conservation: Contribute to environmental conservation efforts by
reducing waste and promoting sustainable practices.
 Research and Development: Utilize the rover as a platform for research and
development in robotics, automation, and waste management.
CHAPTER-II
 LITERATURE SURVEY

Agha Muhammad Furqan Durrani[1], An Automated Waste Control Management System

(AWCMS) using Arduino. In this work, when the bin gets completely filled the signal
received by the IR sensor reduces and it sends a signal to the microcontroller which locates
the position of the bin using GPS and sends alert SMS with location to a central unit that is
connected to the UI software. The central unit has a GSM module connected Arduino board
which receives the message from the bin. The UI has 2-3 windows and altogether serves the
purpose of storing the location of all bins, SIM numbers and also shows the status of each
bin.

Wesley Pereira et al., [2] proposed a system based on the ATMEGA328P microcontroller
which is programmed to control the IR and ultrasonic sensors, copper clads Indicator LED’s,
stepper motor, and Bluetooth module. The wet and dry waste is identified depending on the
capacitance measured between copper plates. Once identified the respective bin aligns itself
under the plates and one of the plates slides dropping the garbage. The method of
spectroscopy is used to identify plastic from dry waste. The app developed is connected to the
cloud and this data is used to analyze and optimize the route for the garbage disposal
vehicles.

S Nandhini et al., [3] proposed a system based on Arduino which will be connected to
robotic ARM, which picks the waste after receiving the signal from the ultrasonic sensor and
places the material on the binary classifier platform which classifies based on Convolution
Neural Network (CNN) classifier. Here the waste is assessed and classified into
biodegradable and non-biodegradable. In the lennet-5 architecture: the first convolution layer
where the image is processed as a matrix of pixel values and extracts features like boundaries,
color, etc., the second the non-linear layer added to the convolution layer extracts out the
nonlinear properties, the third the pooling layer performs down sampling operation, the fourth
fully connected layer has an Ndimensional vector of classes from which the desired class is
chosen for the image, and the final a soft max-classifier.
Nimisha.S.Gupta et al., [4] implemented a system, based on the waste input into the trash
bin increases, the signal received by IR sensor within the bin reduces and this is taken as the
identification for the presence of waste. In turn, alerts the microcontroller which runs the sub
conveyer belt connected to the respective bin and drops waste into the main conveyer belt
that transports waste to the main segregator.

Thota Arun, [5] Divyavani K1-Garbage Collection Robot and Monitoring SystemThe
Proposed System is to collect the garbage and also monitor the garbage level as well as the
moisture content present in the bin .The line follower is an autonomous robot that detects and
follows a line. The path may be visible like a black line on a white surface or vice versa. The
proposed system uses different sensors in order to acquire the data. The project uses an
Arduino UNO board as the central control unit .

N.Varuneshreddy, K. Nikhil[6] -Garbage Collection Robot on the Beach. This project

developed the robot for collecting the garbage at the beach. Wireless communication
(Bluetooth and Ad-hoc) was applied to the robot for remote controlling.This robot is expected
to overcome the garbage problem especially on the beach. However, this robot still be
improved to operate automatically and control from the more distance.

Tawanda Mushiri [7] -Design of a Garbage Collection Robot . The Arduino is programmed
to control the robot navigation. The Garbage Collection Robot is designed to collect solid
waste at public places (schools, workplaces, and parks) and residential areas. The design of
the robot is such that when it starts, it maneuvers as per programmed route. The Garbage
Collector can sense by means of capacitive proximity sensors if the obstacle is living (for
example, a human being) or non-living (for example, vehicle) and then gives appropriate
warning signals like flashing light, hoot, or voice commands.

A. K. Singh [8] - Autonomous Garbage Collection RobotFor our Garbage Collection Robot
project, we will utilize a combination of sensors, computer vision, and machine learning
algorithms to classify and separate waste into dry, wet, and metal categories. We will employ
a robotic arm or gripper to collect and sort waste, and navigation algorithms to enable the
robot to move around and transport waste.
CHAPTER-III
 SYSTEM DESCRIPTION

3.1. Overview of the garbage collection rover system:

3.1.1. System Components:

 Robot Arm: A robotic arm equipped with a gripper or claw to collect and handle
garbage.
 Sensors: Various sensors (e.g., ultrasonic, infrared, camera) to detect and navigate
around garbage.
 Motorized Wheels: Motorized wheels for mobility and navigation.
 Control System: A microcontroller (e.g., Arduino) or computer (e.g., Raspberry Pi) to
control the rover's movements and actions.
 Power Supply: A battery or power source to power the rover's systems.

3.1.2.System Functionality:
 Garbage Detection: The rover uses sensors to detect garbage and determine its
location.
 Navigation: The rover navigates to the garbage using mapping algorithms and sensor
data.
 Garbage Collection: The robot arm collects and stores the garbage in a designated
compartment.
 Obstacle Avoidance: The rover uses sensors to detect and avoid obstacles in its path.

3.1.3.Key Features:
 Autonomous Operation: The rover can operate autonomously, reducing manual labor
and increasing efficiency.
 Sensor Integration: The rover's sensors enable it to detect and navigate around
garbage, ensuring effective collection.
 Flexibility: The rover's design allows for customization and adaptation to different
environments and garbage types.

3.2.Hardware Components:

3.2.1.Arduino Uno:
The Arduino board is designed in such a way that it is very easy for beginners to get started
with microcontrollers. This board especially is breadboard friendly is very easy to handle the
connections. Let’s start with powering the Board.
There are totally four ways by which you can power your UNO
 USB Type-B Cable: Connect the mini USB jack to a phone charger or computer
through a cable and it will draw power required for the board to function
 Power Plug : Recommended power source is from 7 - 12 V. The current goes through
 the built in 5 V voltage regulator. You can also use a 4x AA/AAA 1.5 V Battery Pack,
which totals of around 6 V, but as the batteries lose capacity the voltage drops, which
makes powering with the 6 V last only for a short time.
 VIN PIN: Another way to power your board is by supplying voltage from a regulated
power source directly to the VIN pin. Just need to connect the positive wire from your
power supply to VIN and the negative to GND. Follow your board power
specifications to figure out the voltage range that your board can handle.
 +5V Pin: If you have a regulated +5V supply then you can directly provide this o the
+5V pin of the Arduino.
 Fig-2:Arduino Uno

Fig-3:Pin Configuration of Arduino Uno

Input /Outputs:
We know that an arguing Uno R3 includes 14-digital pins which can be used as
an input otherwise output by using the functions like pin Mode (), digital Read(), and
digital Write(). These pins can operate with 5V, and every digital pin can give or
receive 20mA, & includes a 20k to 50k ohm pull up resistor. The maximum current on
any pin is 40mA which cannot surpass for avoiding the microcontroller from the
damage. Additionally, some of the pins of an Arduino include specific functions.
 Pin Category Pin Name Details

Power Vin, 3.3V, 5V, GND Vin: Input voltage to Arduino when using an
external power source.
5V: Regulated power supply used to power
microcontroller and other components on the
board.
3.3V: 3.3V supply generated by on-board
voltage regulator. Maximum current draw is
50mA.
GND: ground pins.

Reset Reset Resets the microcontroller.

Analog Pins A0 – A5 Used to provide analog input in the range of

0-
5V
Input/Output Digital Pins 0 - 13 Can be used as input or output pins.
Pins

Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.

External 2, 3 To trigger an interrupt.

Interrupts

PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.

SPI 10 (SS), 11 (MOSI), 12 Used for SPI communication.

(MISO) and 13 (SCK)

Inbuilt LED 13 To turn on the inbuilt LED.

TWI A4 (SDA), A5 (SCA) Used for TWI communication.

AREF AREF To provide reference voltage for input voltage.

Tab-1:Specifications of Arduino Uno

3.2.2. DRY AND WET SENSORS:

 This is an easy to use digital soil moisture sensor. Just insert the sensor in the soil and it
can measure moisture or water level content in it. It gives a digital output of 5V when the
moisture level is high and 0V when the moisture level is low in the soil. The sensor includes
a potentiometer to set the desired moisture threshold. When the sensor measures more
moisture than the set threshold, the digital output goes high and an LED indicates the output.
When the moisture in the soil is less than the set threshold, the output remains low. The
digital output can be connected to a microcontroller to sense the moisture level. The sensor
also outputs an analog output which can be connected to the ADC of a microcontroller to get
the exact moisture level in the soil. This sensor is great for making water gardening projects,
water sensing, etc.
Specifications:
 Operating voltage: 3.3V~5V.
 Dual output mode, analog output more accurate.
 A fixed bolt hole for easy installation.
 With power indicator (red) and digital switching output indicator (green).
 Having LM393 comparator chip, stable.
 Panel PCB Dimension: Approx.3cm x 1.5cm.
 Soil Probe Dimension: Approx. 6cm x 3cm.
 Cable Length: Approx.21cm.

Fig- 4: Rain Sensor

3.2.3.METAL DETCTOR SENSOR:

A Metal Sensor is an electronic instrument which detects the presence of metal nearby. Metal
detectors are useful for finding metal inclusions hidden within objects, or metal objects
buried underground. They often consist of a handheld unit with a sensor probe which can be
swept over the ground or other objects. If the sensor comes near a piece of metal this is
indicated by a changing tone in earphones, or a needle moving on an indicator. Usually the
device gives some indication of distance; the closer the metal is, the higher the tone in the
earphone or the higher the needle goes. Another common type are stationary "walk through"
metal detectors used for security screening at access points in prisons, courthouses, and
airports to detect concealed metal weapons on a person's body. The simplest form of a metal
detector consists of an oscillator producing an alternating current that passes through a coil
producing an alternating magnetic field.

Fig-5: Metal Detector Sensor

Features:
 Coil technology

 Coil size

 Target identification

 Tone id

 Low battery indicator

 Multiple modes

3.2.4. SERVOMOTOR:

A servomotor is a rotary actuator or linear actuator that allows for precise control of
angular or linear position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servomotors.

Servomotors are not a specific class of motor, although the term servomotor is often
used to refer to a motor suitable for use in a closed-loop control system.

Servomotors are used in applications such as robotics, CNC machinery or automated

manufacturing.

A basic DC motor that is operated by an additional servomechanism for precise angular

rotation. Precision modulation of linear or angular position, acceleration, and velocity is
possible. When only a certain angle of rotation of the motor is necessary. A closed-loop
system that uses positional feedback to regulate rotational or linear speed and direction.

Fig-6: Serve motor MG995

Features of serve motor:
 For longer life, use a metal-geared servo.
 Double ball bearing feature that is both stable and shock resistant.
 For rapid reaction, use a high-speed rotation.
 Control reaction time is short.
 Torque remains constant in the servo travel length.
 exceptional holding power.
 55 g in weight.
 40.719.742.9mm x 40.719.742.9mm x 40.719.742.9mm x 40.719.
 The operating voltage frequency is 4.8 V to 7.2 V.
 9.4kg/cm (4.8v) stall torque; 11kg/cm stall torque (6v).
 Rate of operation: 0.2 s/60o (4.8 V), 0.16 s/60o (6 V).
 180o rotational degree.
 5 s is the diameter of the dead band.
 Temperature scale of operation: 0 C to +55 C.
 At idle, the current draw is 10mA.
 Operating current draw without load: 170mA.
 Maximum load current: 1200mA

3.2.5.DC Motor:

4mm & 6mm Gear Motors

Geared motors for robotics applications. Very easy to use and available in standard size. Nut
and threads on shaft to easily connect and internal threaded shaft for easily connecting it to
wheel.
Features:

 6mm shaft diameter with internal hole

 125gm weight

 Same size motor available in various rpm

 5kgcm torque

 No-load current = 60 mA(Max), Load current = 300 mA(Max)

  No-Load Current: 70mA (max)

 Brand Name Generic Torque:

2 kg-cm

Fig-
Included 1 x 10 RPM 12V DC motors with metal
Components gearbox

Item Weight 400 grams

Manufacturer robokart_126

Series Number

Model Number robokart_126

Number of Items 1

Part Number robokart_126

7:10rpm DC Motor
 Tab-2: Specifications of 10 rpm DC Motor

8.2.6. Robotic Arm:

A robot is electro-mechanical machines which is generally control and guided by computer or

electronic programming and is thus able to do tasks. Robots are outfitted with wide reaches
and slim arms, steady repeatability and precise tooling-all, of which allows them to be
extremely accurate. This high precision capability makes them a good match for pick and
place application. Controlling robotic arm wirelessly is very helpful for a wide range of
applications ranging from industrial to medical fields. The aim of this project is to develop a
robotic arm which should be controlled by an authorized person at any time and from any
place using the web technology. The robot is controlled by two methods, one through local
system which has zigbee and the other through the web server which allows the client to
access the robot from anywhere in the world. So the main advantage of our project is that
there is no any limited distance is needed for running the robot.
 Fig-8: Robot Arm

In this project ZigBee at local system connected via serial port with RS232 converter. The
architecture of ZigBee connection to PC is given. The local system controls the robotic arm
and wheel movement through wireless ZigBee communication.The communication between
Local system and client system has been communicated through web server. All the data are
sent to the web server through local system and the clients can easily access the information
from the server. Zigbee is mainly act as wireless communication between robot and the local
system and uploads the data to the web server. The local system must be in the range of the
zigbee module then only it can easily communicates the data to the local system and also to
the server.

8.2.7.Motor Drivers:
Motor drivers are electronic devices used to control and power electric motors. They act as
an interface between microcontrollers (or other control systems) and motors, allowing low-
power control signals to manage the high-power requirements of motors. Motor drivers can
control the speed, direction, and torque of motors, and are commonly used in robotics,
automation, and various electronic applications.

Key Functions:
 Direction Control: Change motor rotation direction.
 Speed Control: Adjust motor speed using PWM (Pulse Width Modulation).
 Current Amplification: Provide sufficient current that the control circuit cannot
supply.
 Protection: Safeguard motors and circuits from overloads or overheating.

Fig -9:Motor Driver

 CHAPTER-IV

FABRICATION

In this work, ROVER is designed using DC Motors and Motor Drivers. The ROVER will
sense the presence of waste on conveyor using IR Sensors. After that the gripper will pick the
waste and at the gripper there are two types of sensors. The sensors are Moisture, metal
proximity and limit switch. The block diagram of the proposed system is shown in fig.10 and
its flowchart is shown in fig.11.
 Fig-10:Block Diagram

4.1.Electronic Integration:
Electronic integration involves connecting and configuring the electronic components of the
Garbage Collection Rover, including:
 Microcontrollers: Programming and integrating microcontrollers to control the rover's
movements and actions.
 Sensors: Integrating sensors, such as Metal ,Wet and Dry sensors, to detect obstacles
and garbage.
 Motor Control: Integrating motor drivers to control the rover's movements.
 Power Supply: Connecting the power supply to the electronic components.
The goal of electronic integration is to ensure that all electronic components work together
seamlessly to enable the rover to operate efficiently and effectively.
 Fig 11: Circuit Diagram

4.2.Assembly Process:
The assembly process involves combining the fabricated components into a functional
Garbage Collection Rover. This includes:
 Mounting the robot arm: Attaching the robot arm to the rover's body.
 Installing sensors and electronics: Integrating sensors, microcontrollers, and other
electronic components.
 Connecting motors and power: Connecting motors to the wheels and power supply.
 Final inspection: Verifying that all components are properly assembled and
functioning.
The assembly process requires attention to detail, precision, and quality control to ensure the
rover operates efficiently and effectively.
4.2.1.Assembly Steps:
 Base Assembly: Assemble the rover's base plate, motors, and wheels.
 Robot Arm Assembly: Assemble the robot arm, including the gripper or claw.
 Sensor Installation: Install sensors, such as ultrasonic or infrared sensors.
 Electronic Component Installation: Install electronic components, such as
microcontrollers and motor drivers.
 Wiring and Cabling: Connect electronic components using wires and cables.
 Final Assembly: Assemble all components, including the robot arm and sensors.
Fig-12:Flow Chart

4.3.Controls:
 F -- ROVER FORWARD

B -- ROVER BACKWARD

R -- RIGHT TURN

L -- LEFT TURN

U -- ROBOT ARM UP

D -- ROBOT ARM DOWN

1 -- ARM CLOCKWISE ROTATION

2 -- ARM ANTI-CLOCKWISE ROTATION

3 -- GO TO SEGRIGATION POINT

E -- GRIPPER EXTENTION

C -- GRIPPER COMPRESSION

X -- AUTO SEGRIGATION

4.4.Out Come:
Fig 13:Automatic Waste Segregation and Management
CHAPTER-V
 RESULTS AND DISCUSSION

5.1.Waste Classification Test Results:

Waste Type Actual Count Correctly Classified Accuracy (%)
Wet Waste 20 18 90.0
Dry Waste 20 19 95.0
Metal Waste 20 20 100.0
Tab-3:Waste Classification Test Result

Accuracy is calculated using the formula:

Accuracy (%) = (Correct Classifications / Total Tests) × 100

Fig-15: Waste Classification Accuracy

5.2. Waste Processing Time:
The average time taken to classify and sort one waste item was 12 seconds.
Therefore, the processing rate is approximately 5 waste items per minute.
5.3. Ultrasonic Sensor Bin Level Detection:
The ultrasonic sensor reliably detects bin fill levels.
- Trigger Distance for Full Bin: < 5 cm
- Sensor Accuracy: ±1 cm
- Alerts are sent via serial monitor or Wi-Fi using AT+CIPSEND command.
5.4. Power Consumption Estimate:
Component Voltage (V) Current (A) Power (W)
Arduino Uno 5 0.05 0.25
DC Motors (x2) 12 0.6 7.2
Servo Motor 5 0.2 1.0
Sensors + Misc 5 0.1 0.5
Total estimated power consumption: 8.95W
With a 12V, 2200mAh battery:
Runtime ≈ (12V × 2.2Ah) / 8.95W ≈ 2.95 hours
CHAPTER-VI
 CONCLUSION AND FUTURE SCOPE

6.1.Significance of the project:

The Garbage Collection Rover project has significance in several areas:
 Environmental Sustainability: Contributes to environmental sustainability by
promoting efficient waste management.
 Technological Innovation: Demonstrates technological innovation in robotics and
autonomous systems.
 Public Health: Helps maintain public health by reducing waste and minimizing
disease transmission.
 Economic Benefits: Offers potential economic benefits through reduced labor costs
and improved efficiency.

6.1.1.Impact:
 Improved Waste Management: Improves waste management practices.
 Increased Efficiency: Increases efficiency in waste collection.
 Reduced Environmental Impact: Reduces environmental impact of waste.
The Garbage Collection Rover project has significance in promoting environmental
sustainability, technological innovation, and public health, while offering economic benefits.

6.2.Conclusion:

The Garbage Collection Rover is a promising solution for efficient and effective waste
management. Its autonomous navigation, sensor-based detection, and robot arm collection
capabilities make it an innovative approach to addressing waste management challenges.
With further development and refinement, the Garbage Collection Rover has the potential to:
 Improve waste management efficiency.
 Reduce labor costs and improve safety.
 Contribute to a cleaner and healthier environment.
The Garbage Collection Rover represents a step towards a more sustainable and
technologically advanced approach to waste management.

6.3.Future Scope:
The Garbage Collection Rover has potential for future development and expansion:
 Advanced Sensor Integration: Integrating advanced sensors for improved garbage
detection and classification.
 AI-Powered Navigation: Implementing AI-powered navigation for more efficient and
adaptive routing.
 Multi-Rover Systems: Developing multi-rover systems for large-scale waste
management applications.
 Integration with Smart City Infrastructure: Integrating the rover with smart city
infrastructure for seamless waste management.
 Adaptation for Different Environments: Adapting the rover for different
environments, such as indoor or underwater applications.

6.3.1.Potential Applications:

 Urban Waste Management: Implementing the rover in urban areas for efficient waste
collection.
 Disaster Response: Utilizing the rover for waste management in disaster response
scenarios.
 Environmental Conservation: Using the rover for environmental conservation efforts,
such as beach cleanup initiatives.
The future scope of the Garbage Collection Rover is vast, with potential for innovation and
impact in various fields.
 CHAPTER-VII

REFERENCES
 Santhosh Kumar B R, Rohit K, Manjunath, Varalakshmi N, Sondarya S
 Lokeshwari, Sahana D N,”Eco-friendly IOT based Waste segrega-tion and
management”, 2017 International Conference on Electrical, Electronics,
Communication, Computer, and Optimization Techniques, ,(ICEECCOT), 15-
16 Dec. 2017.
 Marloun, Joseph Bryan, Anrol Sarah, Lyra, Dianne Claudinne, John Phillip,
”Standalone frequency based automated trash bin and segregator of plastic
bottles and tin cans”, 2016 IEEE Region 10 Conference (TENCON), 22-25
Nov. 2016
 Fachmin Folianto, Yong Sheng Low, Wai Leong Yeow, ”Smartbin: Smart
waste management system” ,” 2015 (ISSNIP), 7-9 April 2015.
 Sharanya.A, U. Harika, N. Sriya, Sreeja Kochuvila, ”Automatic waste
segregator” ,2017 ICACCI, 13-16 Sept. 2017.
 Krishna Nirde , Prashant S. Mulay , Uttam M. Chaskar, ”IoT based solid waste
management system for smart city” ,,(ICICCS) 2017, 15-16 June 2017.
 Jia-Wei Lu, Ni-Bin Chang, Li Liao, and Meng-Ying Liao,”Smart and Green
Urban Solid Waste Collection Systems: Advances”, Challenges, and
Perspectives,IEEE SYSTEMS JOURNAL, VOL. 11, NO. 4, DECEMBER
2017.
 Wesley Pereira , 25TSaurabh Parulekar, Sopan Phaltankar 25T, 25TVijaya
Kamble25T, “Smart Bin (Waste Segregation and Optimisation)” in Amity
International Conference on Artificial Intelligence (AICAI),2019.
 25TS Nandhini 25T, 25TSharma S Mrinal 25T, 25TNaveen Balachandran
25T,25TK. Suryanarayana 25T, 25TD. S. Harish Ram25T, “Electronically
assisted automatic waste segregation” in 3rd International Conference on
Trends in Electronics and Informatics (ICOEI),2019
 Agha Muhammad Furqan Durrani , Ateeq Ur Rehman,Arslan Farooq, Jehangir
Arshad Meo, Muhammad Tariq Sadiq “An Automated Waste Control
Management System (AWCMS) by Using Arduino” 2019 International
Conference on Engineering and Emerging Technologies (ICEET)

Web links:
 https://www.researchgate.net/publication/317720527_Automatic_Waste_Segregator_an
d_Monitoring_System

http://ijariie.com/AdminUploadPdf/AUTOMATED_WASTE_MANAGEMENT_SYST
EM_AND_ITS_APPLICATION_ijariie4355.pdf

https://img.filipeflop.com/files/download/E32_User+Manual_EN_v1.00.pdf

https://ieeexplore.ieee.org/document/8711844/

ACTIVITY CHART:
 Activity Description October November December February March April

1st-4th 1st-4th 1st-4th 1st-4th 1st-4th 1st-4th

Week Week Week Week Week Week
Problem Identification

Problem Definition

Literature Review

Experimentation

Result Analysis

Report

COST ANALYSIS:
List of Materials and process Cost of processes and oils Total Cost
Required
Robot arm 5000 5000
Arduino Uno 500 500
10RPM Motor 4*300 1200
45RPM Motor 2*400 800
Motor Driver 3*300 900
Bluetooth Module 400 400
Rain Sensor 350 350
Metal Sensor 200 200
Wheels 250 250
Key 100 100
Wires 300 300
TOTAL = 1 0 , 0 0 0

APPENDIX
VISION OF THE INSTITUTION:

To empower students to become technologically vibrant, innovative and emotionally mature;

and to train them to face the challenges of the quality-conscious globalized world economy.

MISSION OF THE INSTITUTION:

M1: To provide an environment most conducive to learning and to create a

stimulating intellectual Atmosphere on the campus.
M2: To achieve Academic Excellence.
M3: To ensure a holistic development of personality.
M4: To spread education to rural areas.
M5: To establish partnership between Institution & Industry.
VISION OF THE DEPARTMENT:
To impart knowledge in Mechanical Engineering with global perspectives for the graduates
to serve the society and industry.

MISSION OF THE DEPARTMENT:

1. To enable the graduates technically sound with the state- of- the –art
curriculum and innovative teaching methods.
2. To provide training programs that bridge the gap between academia and
industry.

3. To create a conducive environment and facilities to improve overall

personality development of the graduates.
4. To make the graduates aware of role and responsibilities of an engineer in society.

COURSE OUTCOMES
At the end of the project work, should be able to
 Develop innovative prototypes/models using experimental setups with the knowledge of
CO1 mathematics, science and engineering.
CO2 Solve complex engineering problems relevant to society, industry and environment.
CO3 Apply modern tools to solve the complex engineering problems.
Exhibit the individual and team work skills with professional and ethical values and
CO4 communicate effectively with the engineering society.
Apply the project management tools and describe the rationale for the continuing
CO5 development.

PROGRAM OUTCOMES (POS)

PO1 - Engineering Knowledge: Apply the knowledge of mathematics, science,

engineering fundamentals, and an engineering specialization to the solution of
complex engineering problems.

PO2 - Problem Analysis: Identify, formulate, review research literature, and analyze
complex engineering problems reaching substantiated conclusions using first
principles of mathematics, natural sciences, and engineering sciences.

PO3 - Design / Development of Solutions: Design solutions for complex engineering

problems and design system components or processes that meet the specified needs
with appropriate consideration for the public health and safety, and the cultural,
societal, and environmental considerations.

PO4 - Conduct Investigations of Complex Problems: Use research-based knowledge

and research methods including design of experiments, analysis and interpretation of
data, and synthesis of the information to provide valid conclusions.

PO5 - Modern Tool Usage: Create, select, and apply appropriate techniques,
resources, and modern engineering and IT tools including prediction and modelling
to complex engineering activities with an understanding of the limitations.

PO6 - The Engineer and Society: Apply reasoning informed by the contextual
knowledge to assess societal, health, safety, legal and cultural issues and the
consequent responsibilities relevant to the professional engineering practice.
PO7 - Environment and Sustainability: Understand the impact of the professional
engineering solutions in societal and environmental contexts, and demonstrate the
knowledge of, and need for sustainable development.
PO8 - Ethics: Apply ethical principles and commit to professional ethics and
responsibilities and norms of the engineering practice.

PO9 - Individual and Team Work: Function effectively as an individual, and as a

member or leader in diverse teams, and in multidisciplinary settings.

PO10 - Communication: Communicate effectively on complex engineering activities

with the engineering community and with society at large, such as, being able to
comprehend and write effective reports and design documentation, make effective
presentations, and give and receive clear instructions.

PO11 - Project Management and Finance: Demonstrate knowledge and

understanding of the ring and management principles and apply these to one’s own
work, as a member and leader in a team, to manage projects and in multidisciplinary
environments.

PO12 - Life-long Learning: Recognize the need for, and have the preparation and
ability to engage in independent and life-long learning in the broadest context of
technological change.

PROGRAM SPECIFIC OUTCOMES (PSOS)

PSO1: To apply the principles of thermal sciences to design and develop various
thermal systems.
PSO2: To apply the principles of manufacturing technology, scientific management
towards improvement of quality and optimization of engineering systems in the
design, analysis and manufacturability of products.

PSO3: To apply the basic principles of mechanical engineering design for evaluation
of performance of various systems relating to transmission of motion and power,
conservation of energy and other process equipment.
COs PO1 PO PO PO PO PO PO PO PO PO PO PO PSO PSO PSO3
2 3 4 5 6 7 8 9 10 11 12 1 2

CO1
CO2

CO3

CO4

CO5

Course Outcomes, Program Outcomes (POs) and Program

Specific Outcomes (PSOs) mapping correlation

3: Strongly Correlation

2: Moderate Correlation

1: Light Correlation