WASTE COLLECTOR ROBOT WITH MATERIAL RECOGNITION

How could robotics be used to address an institutional issue?

regarding waste collection and its classification?
The robot garbage collector project with material recognition
aims to develop and implement a robotic system that collects the
garbage and I classified it, this proposal arises from GEDE (Student Group of
electronics of the Federico Ozanam Educational Institution) as a solution to
an institutional problem related to the accumulation of waste
mainly in the classrooms. The robotic system consists of a
mobile platform that collects garbage during its movement
find in your journey and make a first classification. The proposal of
The research aims to conduct a recognition of the different types of waste.
that are generated within a classroom contributing to the first
stages of recycling related to the classification of waste, being not only
part of the solution to the problem of the Federico Educational Institution
Ozanam, to all establishments or spaces that face this
situation.
 GEDE (Student Electronics Group)
Names of the members Type of member: Degree Phones
Child, girl or young researcher
A: teacher or accompanying adult

MANUELA GALVEZ SERNA N 10 2161806

JOSE MIGUEL GARZON VARGAS N 10 2165756

CRISTIAN RIOS GOMEZ N 10 2390722
JUAN DAVID RESTREPO OCAMPO N 8 2280942

KAROLL ALEXANDRA CACUA PEÑALOZA A Teacher 4828169

The development of this research would not have been possible without the support and

knowledge of all the people and entities that have accompanied us

during this process.

Waves of Awareness Program (Advisors: Marian Natalia Torres and Erika)

Torres Hoyos

National University Medellín Campus: Creativity and Innovation Group

Leonardo Da Vinci (Advisors: Juan Esteban Castaño and Santiago Giraldo
Valencia

Engineer Diego Alejandro Gómez

The mechatronics student Julián Andrés Gálvez Serna (member of the

group GEDE)
Table of contents
INTRODUCTION
JUSTIFICATION .................................................................................................................................... 8
STATEMENT OF THE PROBLEM .................................................................................................... 10
GENERAL OBJECTIVE
SPECIFIC OBJECTIVES.................................................................................................................... 11
DELINEATION OF THE PROBLEM ........................................................................................................ 12
THEORETICAL FRAMEWORK............................................................................................ 13
BACKGROUND ......................................................................................................................... 13
BASIC ELECTRONICS: ELECTRONIC DEVICES..................................................... 14
PHYSICAL STRUCTURE: ................................................................................................................. 15
CONTROL SYSTEM............................................................................................................... 16
SENSORY SYSTEM................................................................................................................. 18
MOBILE PLATFORM ................................................................................................................ 19
METHODOLOGY
RESULTS
 INTRODUCTION

Man in his eagerness to make our lives easier and provide solutions to problems
daily delegated its work to autonomous systems called robots.

The GEDE group (student electronics group) of the Educational Institution

Federico Ozanam, established since 2009, has been motivated and
worried about understanding how these machines (robots) work
designed to solve problems whether they are repetitive or that pose.
risk to human integrity.

Being aware of the issues in our environment

close (the Educational Institution) and trying to give
solutions to the same through our interest in
learn and be active participants in development
sustainable development of our community, GEDE proposes the
diseño de un robot recolector de basura con
reconocimiento de algunos materiales con lo que se pretende contribuir al
process of solid waste separation, in a faster way and
effective, considering this a mechanical activity that can be delegated
to a machine. Also that it is capable of moving along a trajectory
defined achieving autonomy in its operation this way.

The electronics group has developed this research by dividing the

project in two main parts, one of which is to solve the problem of
robot displacement and the other the collection and separation mechanism
of materials, which initially determined the preparation
from a line follower who contributed to two important points of the
Research, one of them was the appropriation of concepts and foundations.
related to electronics and collaborative work as a strategy of
work, besides making us aware of the limitations that this could have
in the autonomy of the robot; in the research process, a is developed
new platform using ultrasonic sensors and the incorporation of a
control system through a PIC, to give viability to the robot of the
autonomy in its movement.
 JUSTIFICATION

The GEDE group (group of electronics students) of the Institution

Federico Ozanam Educational Institution has perceived from its perspective and from the taste for

robotics proposes a native alternative solution to a

problem that stands out in the Institution which refers to the
accumulation of waste generated within the institution and the lack of
awareness regarding the proper handling of waste
specifically the initial stages of the collection and classification process
through the design of a garbage collection robot that recognizes
some materials, with which it is additionally intended to start the
first stage of recycling which involves the separation of waste
solids.

The treatment given to waste in most cases is

inadequate, in the Federico Ozanam Educational Institution as in others
the awareness of waste management does not yet exist, our project is
I would focus on helping with the garbage collection process and the classification of
some waste, which we would be facilitating through robotics
the first stages of recycling.
The impact that the development of this robot would have on the environment is that of
to facilitate the recycling process and the cleaning of a designated area by the
displacement system, resulting in an environmentally friendly project
environment and sustainable as a result of the recycling process
it can generate an income for the institution through commercialization
of the collected material.

Through this type of experience, research and the

technological competencies to carry out the process of appropriation of
science and technology also provide the research group with a
a broader vision of the environment, with the ability to determine issues and
to provide possible solutions to them, through feasible proposals and with
social responsibility.
 STATEMENT OF THE PROBLEM

At the Federico Ozanam Educational Institution, there is no real awareness of

manejo de las basuras y del cuidado del ambiente escolar, se puede
determine that a large percentage of garbage accumulation in the classroom of
class are causes by the same students at the time of consuming
food or in the use of school supplies, the collection of garbage in
a classroom and in the institutional corridors can become a task
tedious for the cleaning staff, but if you look a little
beyond not only in the Institutions but in many spaces there is no
true classification of waste, worsening the problem even more
environmental.

The possible causes that lead to this situation are the lack of meaning of
belonging to the Institution, the lack of knowledge about waste management
solids, there is no awareness of the environmental damage caused by waste and the
importance of its classification to reduce pollution, collection and
sorting waste is a repetitive and tedious task.

As a consequence of this issue, a bad image is presented.

institutional, manifested by visual and environmental pollution
from odors and the accumulation of garbage, which can lead to
respiratory diseases, appearance of pests, and being participants on a large scale
of the deterioration of the Earth.
 GENERAL OBJECTIVE
Design and implement a robotic system that collects and classifies the
garbage.

SPECIFIC OBJECTIVES

1. Acquire basic knowledge of electronics, control, mechanics and

programming.
2. Determine which components in the market we can implement in
the stage of the construction of the platform.
3. Develop a control system for mobility that allows for
robot to move.
4. Build the garbage collection system that will be used by the robot.
5. Investigate what would be the best material recognition system
to thus develop the waste classification component.
 DEFINITION OF THE PROBLEM

This project aims to design a prototype of a robot capable of

to move along a specific trajectory, defined by the system of
sensors and control that are deemed suitable, which collects the garbage
produced in that environment, and classify it by recognizing different types of
materials as an initial option in the waste separation process
solids.
 THEORETICAL FRAMEWORK

BACKGROUND

In the field of Robotics, Mobile Robots are understood to be those robots

that use wheels or tracks as a locomotion system. There are other types
robots: manipulators, aerial, legged, serpentine, humanoids,
reconfigurables.

Among the applications of mobile robots are

find the cargo transport in the industry
explosive disarming robots, exploration
of lands not suitable for man among this
finally we can highlight the Spirit robots and
Opportunities developed by NASA.

Another notable application is found in a sophisticated

discharge port in England, where the cargo
coming from the ships is transported by mobile robots
the size of a bus, this operation being
totally controlled.

If there are systems in the middle that replace man for development.
From repetitive tasks, collecting garbage is no exception... Robot from Italy.
BASIC ELECTRONICS: ELECTRONIC DEVICES
Para el desarrollo del prototipo se utilizaron algunos dispositivos electrónicos
like:

RESISTANCES:

Resistances, also called resistors, are the components that most

They are found in all electronic devices.
As their name indicates, resistors present a
opposition or resistance to the flow of current, limiting the
amount of it that circulates through a circuit. The value of a
resistance, that is, how much it opposes the flow of current, is
expressed in a unit called Ohm and is indicated by bands of
colors around the body of the resistor. This identification method
it's called color code.

POTENTIOMETERS OR VARIABLE RESISTORS.

These resistors can vary their value within certain limits. For
Hello, a third terminal has been added connected to a mobile contact that
It can be moved over the resistive element providing variations.
in the value of the resistance. This third terminal can have a
angular (rotational) or longitudinal (sliding) displacement.
According to their function in the circuit, these resistors are called:
Potentiometers: They are used where the
the variation of resistance is carried out by the user
from the outside (audio controls, video,
etc.).
Presets: These components are mounted
on the plate and normally the user does not
they have access to them. They are used in cases
where it is rarely necessary to modify the value of the resistance (controls of
profit, polarization, pre-adjusted parameters, etc.
THE TRANSISTOR:
It also belongs to the semiconductor family, it is a component
used mainly to amplify or boost signals and as a switch
electronic. It has 3 terminals called emitter (E), base (B), and collector (C),
which have a certain configuration depending on the
transistor, to use it as an electronic switch, the base is energized
which allows the flow of current between the emitter and the collector. According to
a su fabricación los transistores pueden ser de tipo PNP o NPN.

OPERATIONAL AMPLIFIERS:
An operational amplifier (commonly abbreviated as O.A. or op-
amp), it is an electronic circuit (usually presented as
integrated circuitwhich has two inputs and one output. The output
it is the difference of the two inputs multiplied by a factor (G)
(profit):
Vout = G·(V+ − V−)

THE DIRECT CURRENT MOTOR:

It is a machine that convertselectric energyin mechanics,
mainly through rotary motion. Currently
there are new applications con electric motorsthat they do not produce
rotational movement, but with some modifications, exert
traction on a rail. These motors are known as motors
linear.

PHYSICAL STRUCTURE:
The structure of the mobile platform was implemented in balsam.
provides support for engines and offers protection and sustainability to all
the electronic components corresponding to the control stage,
collection and the sensors.
CONTROL SYSTEM
The robot is governed by a control system formed by an entity of
A microcontroller for this design uses the PIC 16F4550.
microchip, that makes decisions based on the information provided
through the ultrasonic sensors regarding the direction of the trajectory of
movement.

Microcontrollers

It is a programmable integrated circuit, capable of executing commands.

recorded in its memory. It is composed of several functional blocks, the
which perform a specific task

The diagram of a microcontrolled system

Input devices can be a keyboard, a switch, a sensor,

etc. In the case of the garbage collecting robot, it would be the sensors of
ultrasound.

Output devices can be LEDs, small speakers, buzzers,

power switches (thyristors, optocouplers), or other devices
like relays, lights, a hair dryer. For the system under development the
Output devices are the gear motors that direct the movement.
of the robot.
Block representation of the microcontroller:

As visualized in the diagram, the PIC resembles a computer, with its

power supply, a clock circuit, and the microcontroller chip, which
it has its CPU, its memories, and of course, its ports
communication ready to connect to the outside world.

MICROCONTROLLER PARTS

ROM memory (Read-Only Memory)

RAM Memory (Random Access Memory)

Input/output (I/O) lines also called ports

Control logic coordinates the interaction between the other blocks

SPECIAL FUNCTIONS OF MICROCONTROLLERS

Analog to digital converters (A/D) in case it is necessary to measure signals

analog signals, for example temperature, voltage, brightness, etc.

Programmable timers (Timer's) If it is necessary to measure periods of

time between events, generate timings or outputs with frequency
specific, etc.

RS-232 serial interface. When communication needs to be established with another

microcontroller or with a computer.
EEPROM Memory To develop an application where data is not
they retain despite the removal of power, which is a type of ROM memory
What can be programmed or erased electrically without the need for circuits?
specials.

PWM outputs (pulse width modulation) for those who require

control of DC motors or resistive loads, there are microcontrollers that
they can offer several of them.

Interruptions, When an external signal activates an interrupt line, the

microcontroller sets aside the task it is executing, attends to that
interruption, and then continues with what he was doing.

SENSORIAL SYSTEM
The input signal for the control unit is provided by the robot's sensors,
in this case, they were implemented with ultrasonic sensors that
determine the distance at which the obstacles are located
find during the trajectory.

ULTRASONIC SENSOR:: Ultrasonic sensors

their main function is object detection
través de la emisión y reflexión de ondas acústicas.
They operate by emitting an ultrasonic pulse against the
object to be sensed, and when it detects the reflected pulse, it stops
a timer that started counting when it was emitted
pulse. This time refers to a distance
determined and according to certain pre-established parameters
determined response is determined through
an electrical signal, whether digital or analog
result of the sensing.

The sensor used for the project was the Sfr05 sensor (see annex)
MOBILE PLATFORM
The platform consists of the tires, the engines with their respective
reduction boxes in order to obtain sufficient power to pull
the weight of the robot.

Engines, Tires, and Reduction Box

A DC motor, powered by the 12V source, to obtain the gain in

it is necessary to use a speed reducer box, which can be
obtain from a toy car, the important thing is to know how to assemble it well
with the motor shaft.

The tires must be soft to allow for better mobility. Reducing

the friction with the surface.
The freewheel is the one that provides support at the back, it must roll.
freely about itself, which facilitates the robot's mobility.
 METHODOLOGY

In order to contribute to the structuring of ways of thinking and

systematic, orderly actions that are in accordance with reality, based on the
identification of problems specific to our environment and the search for
native solutions the research process is carried out using the
methodology of question that corresponds to a problematic
applied research, which consists of using knowledge in
the practice.

After determining the problematic question:¿What would be the process?

more viable for developing a robotic system that collects and classifies the
garbage? The different ways to address the problem were analyzed and
he concluded to divide the development of the project into two phases one
corresponding to the robot's movement and another to the collection and
classification of solid waste.

In the process of developing the research, the consideration has been given to the

state of the art, the bibliographic search, study of management and application of
electronic devices, the development of different prototypes and the
advice from specialists in various fields who have contributed to the
robot development.

In the development of phase 1, the creation of prototypes began.

simple displacement tasks such as the line follower, where
They acquired basic concepts of electronics and appropriation of the process of
research. In this phase, the use of autonomous systems becomes necessary,
implemented with microcontrollers where they must be acquired
programming skills.
 1. The appropriation of concepts was made and
basic knowledge of electronics
development of practical workshops that allow
to have an approach to the principles and
electronic devices for development of
project. In this part of the development it is proposed
divide the project into phases with the first being the mobility of the robot.

2. Consultations are made from various sources of

information in order to determine the State
of project art, material that can
strengthen the theoretical framework and contribute to the

solution of the robot mobility phase,

as well as to enrich knowledge
of electronics.

3. Determine the design of the line-following prototype for the first

phase: mobility. After consulting various sources of
information and expand knowledge, a design is proposed of
line follower.
 4. Construction of the prototype and deployment in
functioning, with the necessary materials
for the development of the line follower to carry out
the verification tests of each part of the
line follower: sensory, comparison,
power and mechanics.

Solution to the presented problem. By making various adjustments to the design.

proposed in the sensory part due to the inefficient response of the sensors
selected infrared rays, the change of these is proposed; in the mechanical part
speed reducers are conditioned for the motor torque; and in the
external structure when making changes to the casing.

Refinement. To improve the response of the line follower, it is considered

necessary in the power section a voltage regulator, in order to
maintain a relatively constant speed.

1. To carry out the second phase of the preparation of

prototype of the garbage collection robot is required
a thorough search of the state of the art of
sensors that can contribute to the classification of
materials, such as the consultation of primary sources for
 the acquisition of knowledge about microcontrollers is essential
for the robot control part.

2. Prototype design: for this, a brainstorming session is held by

the team members, a design is approved with which we go
start working. Design software will be utilized for it.
preparation.

Analysis of other types of sensors for robot mobility: It

they conduct laboratory tests to have a better understanding of
its operation, for future use. (Sensors of
ultrasound
4. Necessary aspects to build the garbage collecting robot.
Design simulated by computer tools, practices with
microcontrollers, study and selection of sensors. Moving parts of the
robot.

5. Analysis for working with microcontrollers. It is necessary that a

a robot requires a brain to control its functioning, it is because
what the use of microcontrollers would greatly facilitate is
necessity, it is required to study the microcontrollers that exist in
the market that can meet the requirements of our project.

6. Design logic: the programming of the microcontroller will be carried out

end with tests and study of algorithms that allow to provide a
training on the use of microcontrollers, once acquired
this skill will start the logical diagram that allows
describe the functioning of the robot for all conditions
established work. With which it will proceed to carry out the
algorithm in the chosen programming language for that purpose (C ++)

7. Analyze material resistance: The robot will require a structure.

that allows them to perform their work optimally, for this is
It is necessary to analyze the suitable materials for its manufacture.

8. Construction, assembly, operational testing, improvements. Once

analyzed and studied the characteristics of the materials to be used in
the construction of the prototype will begin with the assembly of all
the parts of the robot:
 mobile
collection
classification

9. Refinement stage and conclusions: The necessary tests are conducted.

to make adjustments to the design, and conclusions are drawn that
were generated during the development of the project.
 RESULTS

At the end of the first phase of the project, which was the mobility stage that
I carry out the construction of a line-following robot
they obtained the following experiences from which the analysis was concluded
this process.

This is the first assembly of the follower robot. line, in this one
faults were discovered regarding the sensors and motors, which is why
they made changes in the assembly to solve these problems. Thus,
could reach the next phase.

First design of the

line follower
In this phase already with the assembly

decided the shortcomings were changed

what we find in the assembly
previous. Thus, this assembly remained

with a good operation, with

this prototype of a car
will put into practice.

Line follower
working
In the first phase of the project, it was intended that the group members would
they will appropriate basic concepts of electronics, determine the state of
art of our project, to determine how the robot was going to move
the line follower is designed.

In the process of making and designing the line follower, the following will be studied.

several physical principles, in addition knowledge was acquired about

electronic components that made the line follower operational are taken
I carry out processes of information searching, testing, and redesign.

The following conclusions are reached after this process:

If it is required that the robotic garbage collector moves through a

defined trajectory, the line follower would greatly limit the trajectory
it would involve drawing the movement path.

The sensitivity of the line follower to changes in light intensity affects

the correct functioning of the robot, although there is a way to
manual calibration would imply a certain dependence on the robot.

After conducting an analysis of the learning obtained from phase one of the
project, it is determined that it significantly limits the mobility of the robot using

the line follower for movement can achieve a better

solution if the displacement control is carried out through
microcontrollers and proximity sensors (ultrasonic).
Include the microcontroller in the project as the control unit of the
robot in order to achieve independence in movement of the
robot would also be used as a processing tool for the
information about the different materials the robot can collect, for the
posterior classification.

The project is in this implementation phase where they have

progress has been made in the design of the collection stage and is being carried out

the tests of the ultrasonic sensors for displacement are completed,

how to create the control part of the robot with the
microcontrollers, and the process of acquiring the materials is underway
for the construction and execution of the final product tests.
The development of a prototype that collects garbage while moving and evading
the obstacles with the use of ultrasonic sensors and the implementation of
a control system that allows you to collect the garbage you encounter
step.

The knowledge of concepts related to electronics and robotics, the

approach to programming languages, the recognition of
electronic devices and their application.
The research experience has provided the members of the
team a broader vision of the environment, with the ability to determine
problems and provide possible solutions to them, through proposals
feasible and with social responsibility.

Experience promotes research, technological competencies for

carry out the process of appropriation of science and technology.

The development of the project has allowed the members of the group to
research having a space where they can explore and admire science
Technology in a practical and fun way, where stimulation is encouraged
creativity and the culture of research.

The project of the garbage collection robot with material recognition

it has generated in the members of the GEDE group the awareness of care
of the environment, in search of a technological solution to a problem
through robotics; evidenced in the collection and classification of the
solid waste generated in the Institution.

Through this research experience, a way was forged to

think more critically and reflectively about new knowledge, questioning
the reasons behind things, not being mere spectators or receivers of
information rather than being active participants in the search processes
exploration of knowledge.
 BIBLIOGRAPHIC REFERENCES

Monographs. Robotics. [Online document] Available at:

[Link]
[Consulta:2010, marzo15]

P. Perez: Intelligent Module for Environment Capture Through

Ultrasound in Autonomous Robots. Final project, Faculty of
Computer Science, Polytechnic University of Valencia, Spain. 1998.

Danilo Navarro: Ultrasonic sensors used in mobile robotics for

measurement of distances. Scientia et Technica Year X, No 25, August 2004. UTP.
ISSN 0122-1701

Alejandro Vélez García: Electronics Handbook, Research Group

Leonardo Da Vinci, March 4, 2008
 ANNEXES
I include an attachments folder.