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CONTENTS

Particulars Page No.

Certificate i
Acknowledgement ii
Contents iii
List of Figures iv
Abstract v

Chapter 1 Introduction 1
1.1 Overview 1
1.2 Objectives 2

Chapter 2 Circuit Diagram of SMARTDUSTBIN ROBOT 3

Chapter 3 Construction of SMARTDUSTBIN ROBOT 4

3.1 Details of Components
3.2 Details of Program
3.3 Methodology

Chapter 4 Working Principle of SMARTDUSTBIN ROBOT 6

Chapter 5 Applications of SMARTDUSTBIN ROBOT 8

Chapter 6 Results 10

Chapter 7 Conclusion and Future Scope References 12

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 LIST OF FIGURES

Waste bins are being used in an indoor environment by every common man for over many
decades. Proper disposal of the waste and the waste collection system in an indoor environment
is an important aspect of the cleanliness of the environment, the outlook of the environment,
and as well as considering the health aspects of the people. An improper waste collection
system in an indoor environment leads to an unhygienic condition, thus inherently results in
environmental pollution. So, the crucial challenge is to develop a proper waste collection
system in the indoor environment for the welfare of the environment and the people. Therefore,
in this project, a robotic smart waste bin with an autonomous navigation technique is proposed
for a better waste collection system using the technical advancements in robotics and
automation. The navigation is based on the integration of a simple wall following algorithm
with a Rfid based marker identification technique which is employed in such a way that, when
a waste bin gets fully filled with the trash, it autonomously moves to a common collection
point with the help of a cloud service-based command, and when it reaches the common
collection point, another empty waste bin from that point starts moving autonomously to the
initial point. The performance of the proposed indoor robotic waste bin system is investigated
by proper modeling and development. Thus, the designed robotic waste bin and the proposed
waste collection system will be a better autonomous solution compared to existing ones in the
indoor environment of Smart Buildings.

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 ABSTRACT

Waste bins are being used in an indoor environment by every common man for over many
decades. Proper disposal of the waste and the waste collection system in an indoor environment
is an important aspect of the cleanliness of the environment, the outlook of the environment,
and as well as considering the health aspects of the people. An improper waste collection
system in an indoor environment leads to an unhygienic condition, thus inherently results in
environmental pollution. So, the crucial challenge is to develop a proper waste collection
system in the indoor environment for the welfare of the environment and the people. Therefore,
in this project, a robotic smart waste bin with an autonomous navigation technique is proposed
for a better waste collection system using the technical advancements in robotics and
automation. The navigation is based on the integration of a simple wall following algorithm
with a Rfid based marker identification technique which is employed in such a way that, when
a waste bin gets fully filled with the trash, it autonomously moves to a common collection
point with the help of a cloud service-based command, and when it reaches the common
collection point, another empty waste bin from that point starts moving autonomously to the
initial point. The performance of the proposed indoor robotic waste bin system is investigated
by proper modeling and development. Thus, the designed robotic waste bin and the proposed
waste collection system will be a better autonomous solution compared to existing ones in the
indoor environment of Smart Buildings.

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 INTRODUCTION

In recent years, automation and smart technology have revolutionized waste management
systems, contributing to cleaner and more efficient environments. A Smart Dustbin Robot is a
modern solution aimed at automating
the process of garbage collection and
disposal using intelligent sensors and
robotic mobility. Unlike traditional
static dustbins, this smart system
detects human presence or waste
proximity and responds
automatically—either by opening its
lid, moving toward the user, or sending
alerts when full.
The core concept behind the Smart
Dustbin Robot is to encourage proper
waste disposal habits while minimizing
human effort and maintaining hygiene.
It typically incorporates technologies
such as ultrasonic sensors, infrared sensors, microcontrollers (e.g., Arduino or Raspberry
Pi), motor drivers, and wireless communication modules. Some advanced models may also
feature voice control, IoT integration, or autonomous navigation capabilities.
This innovation not only improves user interaction with public and home waste systems but
also supports broader goals such as smart city development, contactless sanitation, and
automated waste tracking. As waste management becomes a growing global challenge, the
Smart Dustbin Robot stands out as a practical, efficient, and scalable solution.

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 Objectives of Smart Dustbin Robot

1. Promote Hygienic Waste Disposal

To reduce the need for physical contact with the dustbin, thereby minimizing the spread
of germs and promoting better hygiene.
2. Automate Waste Management
To design a system that automatically opens its lid or moves toward the user when it
detects motion or the presence of waste.
3. Encourage Smart Habits
To motivate people to dispose of waste properly by providing a responsive and
intelligent dustbin solution.
4. Enhance User Convenience
To offer a hands-free, user-friendly waste disposal method for homes, offices, hospitals,
and public areas.
5. Enable Efficient Monitoring
To implement features such as level detection or alerts when the bin is full, supporting
efficient waste collection and reducing overflow.
6. Support Smart City Goals
To contribute to the development of automated, connected infrastructure in urban
environments as part of smart city initiatives.
7. Educate on Robotics and IOT
To provide a practical learning experience in electronics, embedded systems, and
robotics, especially for students and hobbyists.

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 CIRCUIT DIAGRAM

Circuit Diagram explanation:

Ultrasonic Sensor (HC-SR04):
• VCC → 5V
• GND → GND
• Trig → D9
• Echo → D10
Servo Motor:
• VCC (Red) → 5V
• GND (Brown/Black) → GND
• Signal (Orange/Yellow) → D3
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 Construction of Smart Dustbin Robot

3.1 Details of Components

1. Arduino Uno Board
Acts as the brain of the system, receiving input from sensors and controlling the servo
motor and other outputs.
2. Ultrasonic Sensor (HC-SR04)
Used to detect the presence of a person or object in front of the dustbin by measuring
distance using sound waves.
3. Servo Motor (MG90S or SG90)
Controls the lid movement by rotating a set angle to open or close the dustbin.
4. 3.3V Cell with Cell holder
Powers the entire system. A cell holder ensures a steady power supply to the Arduino
and components.
5. Jumper Wires
Used to connect all components on the breadboard or directly to the Arduino board.
6. Dustbin Lid and Body
A plastic or metal dustbin, modified with hinges to allow lid movement, and enough
space to mount the electronics.

3.2 Details of Program

The smart dustbin robot is programmed using the Arduino IDE in C/C++ language.
The core logic includes:
• Initializing the ultrasonic sensor to measure distance.
• If a person or object is detected within a set range (e.g., 30 cm), the servo motor rotates
to open the lid.
• After a short delay (e.g., 3–5 seconds), the lid closes automatically.

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• The code also includes safety features to avoid unnecessary motor movement when
nothing is detected.
Sample logic snippet:
if (distance <= 30) {
servo.write(90); // Open lid
delay(3000);
servo.write(0); // Close lid
}
The program is uploaded to the Arduino board using a USB cable from the PC/laptop.

3.3 Methodology
1. Component Assembly:
All electronic components are securely mounted on the dustbin or in an enclosure. The
ultrasonic sensor is fixed on the front side of the bin for optimal object detection.
2. Wiring and Circuit Setup:
Jumper wires connect the sensor and servo to the appropriate Arduino pins. The circuit
is powered through a 9V battery connected to the Arduino via the DC jack or VIN pin.
3. Programming and Testing:
The Arduino is programmed and tested repeatedly to fine-tune the distance threshold
and servo angles.
4. Integration and Optimization:
Once verified, the system is permanently fixed, with wires secured, and tested in real-
world conditions for response time and lid movement reliability.
5. Final Assembly:
The dustbin is closed with all electronics enclosed, ensuring protection from waste and
damage.

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 Working Principle of Smart Dustbin Robot
The Smart Dustbin Robot operates on the principle of object detection using
ultrasonic sensing and automated actuation using a servo motor.
The Smart Dustbin Robot functions through a combination of sensor-based
detection, microcontroller logic, and servo motor actuation to automate the process
of waste disposal. Its primary goal is to provide a contactless, hygienic, and user-
friendly waste bin that opens and closes automatically upon detecting nearby human
presence.

1. Sensor-Based Detection System

At the core of the Smart Dustbin Robot is the Ultrasonic Sensor (HC-SR04). This
sensor consists of two components:
Transmitter: Emits ultrasonic sound waves.
Receiver: Detects the echo that bounces back from a nearby object.
The time taken for the echo to return is used to calculate the distance between the
sensor and the object using the formula:
Distance=Time×Speed of Sound/2
If the measured distance is less than or equal to a predefined threshold (e.g., 20–30 cm),
the system assumes that a person is attempting to use the dustbin.

2. Microcontroller Decision Making (Arduino Uno)

The Arduino Uno acts as the brain of the system. It is programmed to:
• Continuously read the distance data from the ultrasonic sensor.
• Compare the measured distance with the threshold.
• If the threshold condition is met, send a signal to the servo motor to rotate.
This logic is written in the Arduino C++ language using digitalRead(), digitalWrite(),
and servo.write() functions.

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 3. Servo Motor Mechanism
The servo motor (MG90S or SG90) is responsible for physically opening and closing
the lid. When the Arduino sends a signal:
• The servo rotates from 0° to 90° to open the lid.
• After a small delay (usually 2–3 seconds), it returns to 0° to close the lid.
The rotation angle and delay are adjustable in the code to suit different dustbin sizes
and user needs.

4. Power Supply and Integration

A 3.3V cell or rechargeable power bank is typically used to power the Arduino and
components. Some versions use voltage regulators to maintain consistent performance.
The entire system is integrated onto the dustbin body:
• The sensor is mounted on the front (to detect objects).
• The servo is fixed to the lid with a linkage arm for rotation.
• Wires are neatly routed to avoid damage and maintain aesthetics.

Sequence of Operation:
1. System is powered on.
2. Ultrasonic sensor continuously checks for nearby objects.
3. When a hand/object comes within the set distance:
o Arduino triggers the servo motor.
o Servo rotates to open the lid.
4. After a delay (e.g., 3 seconds), the servo rotates back to close the lid.
5. System resets and waits for the next detection.

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 Applications of Smart Dustbin Robot

The Smart Dustbin Robot is a versatile and practical innovation that can be deployed in
various environments to enhance cleanliness, hygiene, and automation in waste
management. Below are its key applications:

1. Smart Homes
• Provides a modern, hands-free waste disposal system.
• Enhances hygiene, especially in kitchens and bathrooms.
• Can be integrated with home automation systems.

2. Hospitals and Clinics

• Reduces the risk of infection and contamination by eliminating the need to touch the
dustbin.
• Ideal for disposing of medical waste safely.
• Encourages contactless disposal in sensitive zones like ICUs and operation theatres.

3. Schools and Colleges

• Helps promote cleanliness and environmental responsibility among students.
• Can be used as an educational model for teaching automation, robotics, and IoT.

4. Offices and Commercial Buildings

• Enhances workplace sanitation.
• Adds a tech-savvy element to modern office infrastructure.
• Suitable for shared spaces like cafeterias, restrooms, and reception areas.

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 5. Public Places
• Useful in parks, railway stations, bus stands, and malls where high foot traffic demands
frequent and hygienic waste disposal.
• Can reduce littering by encouraging people to dispose of garbage easily.

6. Hotels and Restaurants

• Improves customer experience by providing hygienic and automated waste
management.
• Can be used in kitchen areas, lobbies, and food courts.

7. Airports and Metro Stations

• Ensures high hygiene standards in high-traffic areas.
• Can be part of a smart infrastructure network for efficient waste monitoring and
management.

8. Industrial Areas
• Assists in safe disposal of packaging materials, waste parts, or used tools.
• Can be adapted for handling light industrial waste with minimal human involvement.

9. Events and Exhibitions

• Enhances crowd hygiene management during festivals, fairs, and conferences.
• Portable units can be deployed as temporary smart waste stations.

10. Smart Cities

• Contributes to the development of intelligent urban waste management systems.
• When integrated with IoT and cloud-based monitoring, it can help track and optimize
garbage collection schedules.

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 RESULTS
Results of Smart Dustbin Robot
The Smart Dustbin Robot was successfully designed, constructed, and tested to validate
its functionality. The outcomes of the project are outlined below:

1. Functional Performance
• The system accurately detects the presence of an object (e.g., hand or trash) within a
range of 20–30 cm using the ultrasonic sensor.
• Upon detection, the servo motor rotates the lid to open at approximately 90°, and
closes it after a delay of 3 seconds, achieving smooth and reliable operation.
• The detection and lid movement occur with minimal response time, ensuring quick and
hands-free operation.

2. Power Efficiency
• The robot operated efficiently using a 9V battery for several cycles without significant
voltage drops.
• Low power consumption was observed, especially since the motor is only activated
when needed.

3. Sensitivity and Range

• The ultrasonic sensor performed well in various lighting conditions.
• Ideal detection occurred within 20–30 cm range, while false triggering was minimal
due to proper threshold setting in the program.

4. Hygiene and Usability Improvement

• The hands-free mechanism eliminated the need to touch the lid, reducing chances of
spreading germs—especially beneficial in hospitals and kitchens.
• The user experience was enhanced by the responsive and silent movement of the lid.

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 5. System Stability and Reliability
• The dustbin responded consistently under normal indoor conditions during testing.
• No overheating or mechanical issues were found with the servo or microcontroller
during repeated operation.

6. Educational Impact
• The project served as a great learning tool in embedded systems, sensor integration,
and Arduino programming.
• Students gained hands-on experience in circuit design, coding, and hardware
implementation.

• Summary of Observed Results:

Parameter Observed Result

Detection Range 20–30 cm (adjustable)

Lid Opening Time 1 second

Lid Open Duration 3 seconds

Response Time Less than 1 second

Power Source 3.3V Battery

User Contact Zero (hands-free)

Operational Cycles Tested 30+ cycles without failure

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 Conclusion and Future Scope References

Conclusion
The Smart Dustbin Robot project successfully demonstrates how automation and sensor-
based technology can improve everyday waste management. By incorporating an ultrasonic
sensor and servo motor controlled through an Arduino microcontroller, the dustbin was made
responsive to human presence, enabling contactless and hygienic waste disposal.
The system effectively promotes cleanliness, reduces the spread of germs, and enhances user
experience. It also provides a platform for learning embedded systems, robotics, and real-world
applications of automation. The design is cost-effective, scalable, and can be implemented in
various settings, including homes, hospitals, schools, and public places.

Future Scope
The Smart Dustbin Robot has great potential for future upgrades and real-world applications.
Some possible improvements include:
1. IoT Integration
o Adding Wi-Fi or GSM modules to send alerts when the bin is full.
o Connecting multiple smart bins to a centralized waste monitoring system for
smart cities.
2. Solar Power
o Using solar panels to make the system more energy-efficient and
environmentally friendly.
3. Waste Segregation
o Enhancing the system with AI or weight sensors to automatically separate dry
and wet waste.
4. Voice and App Control
o Enabling the dustbin to respond to voice commands or mobile app inputs.
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5. Mobile/Autonomous Movement
o Converting it into a robot that moves around autonomously to collect garbage
from various areas.

References
1. Arduino Official Documentation – https://www.arduino.cc/en/Guide/HomePage
2. Ultrasonic Sensor HC-SR04 Datasheet –
https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf
3. Servo Motor MG90S Datasheet – https://components101.com/motors/mg90s-servo-
motor
4. Smart City Waste Management Concepts – Government of India Smart Cities
Mission
5. Engineering and DIY Forums like Instructables and Hackster.io for project
inspiration.

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