An arduino based waste sorting project.

1. AWMS
AUTOMATED WASTE
MANAGEMENT SYSTEM
EEE 318 | Control Systems I Laboratory
Group No.: 4 & 5
Mostakin Ahmed Rafat (1706173)
Ahnaf Shahriyar (1706176)
Hasin Azfar Pantha (1706177)
Abhishek Das (1706178)
Md. Fatin Ishraq Faruqui (1706179)
Safayat Chowdhury Nirjon (1706192)
Zawad Zulfiker (1706193)
Siratul Mostakim Ifty (1706194)

2. MOTIVATION OF THE PROJECT
 Only 40%-60% of Dhaka’s waste is collected and transported to the city’s two landfills.
Uncollected wastes are dumped in the open places.
 The world, facing major garbage crisis, are now looking at smarter ways of overcoming
garbage problem, such as garbage collector robot and proper sorting system.
 Like waste collection, waste sorting is no less important as it paves the way of recycling the
wastes and hence has a great economic value.
 In this project, we looked for an Arduino based robotic vehicle with arm which is capable of
handling wastes in different areas of Dhaka city; and sorting the wastes for recycling purposes.

3. OBJECTIVE OF THE PROJECT
 To build a waste lifting robotic car and arm assemble that
will lift waste buckets from different places in the city.
 To build a metal and non-metal sorting system that will
keep the wastes into two different buckets of metal and
non-metal

4. BLOCK DIAGRAM OF THE VEHICLE WITH THE ARM
Command from app
Bluetooth module HC-05
Arduino mega
"Front" Command
All wheels rotate in
forward direction
Back Command- All
wheel rotate in the
backward direction
Predetermined
automated
movement of
Arm
All wheels off &
arms at reset
position
"Right" Command​
Left wheels will be on
Right wheels will be
turned off
"Left" Command
Right wheels will be on
Left
wheels will be turned off

5. Interface of the Application Software
Reset Front
Arm Movement
Right
Left
Back
Internal Circuit Diagram of
vehicle with arm

6. STRUCTURE OF
THE ROBOTIC
ARM
There are six motors used in the arm:
 Base
 Shoulder
 Elbow
 Hand
 Wrist-1
 Wrist-2

7. BLOCK DIAGRAM OF THE SORTER
Wastes are
dumped in cone
shaped structure
Conveyor starts
running
Objects come one by one before
the capacitive proximity sensor
Data is sent to Arduino
uno from the sensor
If the signal value is
less than 150, metal
is detected.
Else, non-
metal is
detected.
Signal is sent to servo from arduino uno.
Servo will act accordingly by rotating
metal pot or non-metal pot
Valve opens after a
certain time and objects
fall into the conveyor

8. WORKING PRINCIPLE OF CAPACITIVE
PROXIMITY SENSOR
 Used for detecting metal and non-metal objects
(conductive and non-conductive)
 They operate by measuring the impedance of the sensor as
a highly stable oscillating signal propagates through the
sensing element.
 When an object is brought nearby, the object and the
sensor have some mutual impedance, that changes the
impedance of the sensing element.
 Much more flexible, available and cheap than the inductive
proximity sensor

9. PROBLEMS &
SOLUTIONS
Problem faced
Arm with vehicle
• If we move shoulder more the whole system would
fall
• Grip part of the robotic arm could not move
perfectly
• At first, we tried with a vehicle with a low torque
motor which was unable to carry the weight
perfectly
Sorting
• Capacitive sensor missed the object at first as the
object should be 5 mm far from the sensor
• Sorting bin was not perfectly synchronized with the
motion of the conveyor belt.
• Arm with vehicle
• Shoulder movement was fixed in a
short range
• A motor with 2.5 kg torque was used
• Sorting
• The sensor was mounted before the
valve in a cone shaped structure
Problems solved

10. SPECIAL
FEATURES
Developing an efficient binary sorting system, which is
currently absent in our mega city Dhaka.
Metal non-metal sorting is an important feature in scrap
industry, which has huge monetary value.
Use of less complex power sources, microcontrollers
making it very easy to handle.
Completely automated waste-box lifting process.
In short, next generation waste management system.

11. LIMITATIONS
Only binary sorting available (metal, non-metal)
Movement of the arms is slightly mechanically unstable.
Sharp rotation of the car is not possible.
The proximity sensor works well in only in close vicinity.
The servo of the sorter is sometimes late while responding to the proximity sensor

12. SCOPE OF
IMPROVEMENT
Sorting into more than two categories can be
developed
Using proper controller (like PID and feedback) the
movement of the arm can be improved.
Using mecanum wheels and stepper motors, we
smooth rotation and movement of the vehicle.
Using AI, we can automate the whole system in a
very smart way.

13. THANK YOU!