Special Issue - 2018 International Journal of Engineering Research & Technology (IJERT)

ISSN: 2278-0181
NCESC - 2018 Conference Proceedings

Automatic Garbage Collection using Firebird-5

Robot
Kumari N N Shoib Pasa S
Department of Electronics and Communication, Department of Electronics and Communication,
VVCE, Mysuru, Karnataka, India, VVCE, Mysuru, Karnataka, India,

Roushan Harris Ahmed

Sarfara Haider Department of Electronics and Communication,
Department of Electronics and Communication, VVCE, Mysuru, Karnataka, India,
VVCE, Mysuru, Karnataka, India,
Shyma Zaidi
Mahadevaswamy Department of Electronics and Communication, VVCE,
Department of Electronics and Communication, Mysuru, Karnataka, India
VVCE, Mysuru, Karnataka, India

Abstract—The world today faces major Garbage crises like processing procedure to recognize the waste items, as there
the product of Rapid economic growth, Overcrowding, Poor are n number of waste items are accessible in nature we are
urban planning etc. The present trade & tested method of thinking about a round and square as two waste items in this
garbage collection has so far been proven ineffective, and the venture and gathering them from the encompassing with the
world today is looking at smarter ways of overcoming the assistance of this robot. There are diverse kinds of
garbage collection problems to reduce human work. In this microcontrollers that can be utilized as a stage. In this venture
project, we are focusing on designing a robot which is capable of we are utilizing FIRE BIRD-5 Robot which gives a
collecting the waste products from various places like footpaths, magnificent remote control utilizing zigbee innovation.
parks, schools & colleges etc. The robot is capable of detecting
the objects in random movement. After detecting the objects, the II. EXISTING SYSTEM
robot senses by webcam & followed by Image processing, after
segmentation process the object gets collected. To do this we are The old innovation utilized has the equipped for gathering
using a robot called Firebird-5 robot, which provides an the waste inside the predefined line by the Arduino controller
excellent wireless control using Zigbee technology, by designing as smaller scale controller and the robot utilized can ready to
this controller it is capable of reaching nearer to the waste gather the waste in that predefined line and after the
product & collecting them. By image processing technique, accumulation of certain amount of refuse it will look for the
modifications in the robotic arm, navigation, image, & container to transfer of the garbage
interfacing modules that encountered various problems in
garbage collection. III. PROPOSED SYSTEM
The proposed approach is that the firebird-5 robot
Keywords— Automatic, Garbage, Image Processing, recognizes the object by the utilization of sharp IR sensor and
Collection, Micro-Controller, Firebird-5.
it can gather the object automatically by detecting that object
I. INTRODUCTION (Heading 1) utilizing web camera mounted on robot by the image
processing strategy utilizing mat lab as stage after this, the
Waste gathering is one of the significant issue in urban firebird-5 robot has the ability to identify the object into round
areas as well as in rustic regions of India, it is real wellspring or not round. Embedded c programming dialect is utilized for
of contamination. Indian urban areas alone create in excess of the arm and holding activity of the robot development by the
100 million tons of strong waste in a year. It is right to state ATMEGA2560 controller and the division of garbage is
that India is on skirt of refuse emergency despite the fact that finished by the image processing procedure of shape, color.
9000 crore rupees assigned for SWATCH BHARATH
ABHYAN. In this task we are concentrating on gathering IV. REQUIREMENT SYSTEM ANALYSIS
garbage from specific places and after that arrange it at a
The programmed refuse accumulation utilizing Firebird-5
solitary place from where the waste will at that point be taken
robot requires the accompanying necessities to serve to finish
for transfer or procedure of reusing. As there are expanding a
the undertaking. The necessity is acquired are given beneath.
wide range of waste transfers numerous advancements are
utilized for squander accumulation. Today the refuse  Firebird-5 robot is modified with embedded C
gathering is manual which takes parcel of endeavors and programming dialect with ATMEGA2560
tedious, to lessen human work and time we are making a robot microcontroller.
which is equipped for gathering waste item from the
encompassing with the goal that the human work will get  The robot development is done by two outfitted
diminished for certain moment. Here we are utilizing a image engines of 120 gms weight and one castor wheel at 12

Volume 6, Issue 13 Published by, [Link] 1

Special Issue - 2018 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
NCESC - 2018 Conference Proceedings

v and which is worked at DC engine gearbox of 125 Working stream of robot to do additionally process is
gm 5-6v of voltage. delineated in beneath stream graph.
 Arm utilized are comprise of servo engine control and
servo engine control 3 (S3) for picking activity and
servo engine control 2 (S2) is for here and there
activity.
 The gripper is settled at the edge end of the arm which
is mounted on robot.
 The control supply circuit is available to give supply
control as indicated by input limit control
V. DESIGNING HARDWARE AND SOFTWARE
The ATMEGA2560 Micro-controller is utilized as a part
of that ATMEGA2560 fills in as a master control and
ATMEGA8 functions as slave control.
 The robot along with the gripper movement is
controlled using embedded C programming language.
 Processing of the recognized picture is finished by
Mat-lab picture preparing as appeared in Figure 1.

Fig. 1. MATLAB image processing

VI. FEATURE EXTRACTION

Fig. 2. Software flow diagram in matlab.
A. Color Feature Extraction
In color image feature in R, G, B color feature projection
values are extracted and stored in database using specified
programming methods.
 Step 1: - Several images are taken in working
directory of matlab.
 Step2: -By using MATLAB program all the captured
image feature in R, G, B color projection values are
extracted and that is stored in database of specified
programming methods of matlab.
 Step 3: -Threshold values are taken into consideration
for categorizing the detected images as different object
if the image into inverse grayscale image
B. Shape Feature Extraction
Shape highlight extraction is utilized to identified the
specific state of the recognized object utilizing matlab. By
considering the object as round, discover the edge of the circle
utilizing the predetermined recipe. Set some inexact limit
border an incentive to recognize the identified object as round
or not round. The stream chart of shape highlight extraction is
conveyed by portrayed by Figure 2.
C. Hardware Working Flow
Fig. 3. Hardware flow
Once the MATLAB handling is done it will give the
charge to Firebird-5 robot through Zigbee remote innovation D. Working Principle
module. It has the correspondence speed up to [Link]
its equipment structure contains 6- 10-bit ADC input pins and The firebird-5 robot works under the rando movement and
advanced IO pins. if any object is detected by the sharp IR sensor, the robot stops
and the object is sensed by web camera by the image

Volume 6, Issue 13 Published by, [Link] 2

Special Issue - 2018 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
NCESC - 2018 Conference Proceedings

processing technique using matlab of color and shape feature VIII. CONCLUSION
extraction. After the processing of image the robot can able to Although the completion of Automatic Garbage Collection
detect the object is whether round or not , which is done by Robot was a relative success, the team has exposure to do a
programming in the matlab and then it is picked by means of work for future improvement in terms of research and theory,
gripper and place it in a predefined place in way as garbage or implementation, and program management. In addition, more
not a garbage. time should have been spent researching mechanical design of
VII. EXPERIMENTAL RESULTS the robotic arm, whose problems led to a limited functionality
of the robot. And also providing bin for the collection of the
The test comes about after the handling of matlab apparatus object into garbage or not a [Link] code for
gives the object recognizable proof outcomes movement of the robot in a well-defined path will be
provided.

Fig. 6. Automatic Garbage Collection usingFIREBIRD-5 ROBOT

Fig. 4. Object detection of circle as round. ACKNOWLADGEMENT

Once the preview taken from the live video, it will send The authors expresses sincere acknowledgement to Dr. B.
the database to Matlab process the picture by changing over it Sadashive Gowda, principal VVCE, Mysuru. The authors also
into reverse grayscale picture from RGB picture utilizing expresses sincere thanks to Dr. D.J. Ravi, HOD, Dept. of
peremeter of the hover as real parameter to identify the ECE, VVCE. The also expresses gratitude to our internal
question as round. guides Mr. Mahadevaswamy, Asst. Professor, VVCE. and Ms.
Shyma Zaidi, Asst. Professor, VVCE. for their helpful
contribution in this project work and for their encouragement
and support.
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[1] Osiany Nurlansa, Dewi Anisa Istiqomah, Mahindra Astu Sanggha

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Volume 6, Issue 13 Published by, [Link] 3

Special Issue - 2018 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
NCESC - 2018 Conference Proceedings

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