Automatic Waste Sorter Machine using Proximity Sensor
Vivi Tri Widyaningrum, Ahmad Sahru Romadhon and Rahmawati Safitri
Mechatronics Engineering Department, University of Trunojoyo Madura, Bangkalan, Indonesia
Keywords: Capacitive Proximity Sensor; Inductive Proximity Sensor; Microcontroller; PIR Sensor; Ultrasonic Sensor,
Waste Sorter Machine
Abstract: The waste problem is not a new thing anymore in Indonesia. Public awareness is still lacking not to litter. One
solution that can be done is to make a special trash bin so that it is easy when sorting out which the waste can
be disposed of at a landfill or to be recycled. Therefore, in this study an automatic waste sorter machine was
made. This machine can sort metal trash, plastic bottles, or not both, which are sorted the waste will be put in
different bins according to type. In this machine, Arduino Mega 2560 is used as the main brain, which will
work according to the input obtained from PIR sensor, LDR sensor, inductive proximity sensor, capacitive
proximity sensor, and ultrasonic sensor. Testing on automatic waste sorter machine is carried out using five
types of waste, namely cans, non-transparent plastic bottles that contain water, transparent plastic bottles,
transparent plastic, and report books. From the test results obtained that the automatic waste sorter machine
can detect waste entering the trash can according to its type by 72%. Whereas 28% experienced a detection
error, which was the biggest error occurred in the detection of transparent empty plastic bottles.
1 INTRODUCTION
The problem of waste is not new anymore, especially
in Indonesia. Waste has become a severe problem.
Lack of awareness from the community is one of the
causes. Many people still litter, for example, in
sewers, rivers or the sea. According to a survey
conducted by BPS in 2018 there were 72% of the
public not yet concerned about waste management,
even 81% of plastic waste is dumped into the sea so
that it will be very dangerous to the sustainability of
the oceans (García Nieto et al., 2018). In 2025 it is
predicted that plastic waste entering the sea will
increase, if there is no improvement in waste
management (Jambeck et al., 2015). One solution that
can be done is to make a special trash bin so that it is
easy when sorting out which rubbish can be disposed
of in landfills or which will be recycled.
In some studies a smart trash bin has been created
which can provide information if the trash bin is full
(Fadel, 2017), (Zavare et al., 2017), (Navghane,
Killedar and Rohokale, 2016), but sorting has not
been done for the type of waste included. Subsequent
research has made waste sorting machines, but on
machines made using conveyors (Wath and Ughade,
2019), (Jude et al., 2019), (Chaithanya et al., 2017),
(Samreen et al., 2017), (Williams and Bentil, 2016),
(Ranjitha et al., 2018), (Engineering, 2019), (Chahine
and Ghazal, 2017). This is certainly not suitable for a
small-scale trash bins because to make or buy it
requires expensive costs. Therefore, in this study, an
automatic waste sorter machine designed for a small-
scale was created. This machine uses an inductive
proximity sensor to detect metal waste and a
capacitive proximity sensor to detect plastic bottle
waste. These sensors were chosen because they have
been proven to be able to sort out different types of
waste (Chahine and Ghazal, 2017), (Pushpa et al.,
2015), (C, Badami and H, 2017). Then this machine
is equipped with a PIR sensor to detect whether or not
people are going to throw waste, thus making opening
and closing the trash cans automatically. In addition,
there are also a LDR sensors and an ultrasonic sensors
as additional detectors so that bins become smart
(Mapari et al., 2020). The LDR sensor is used to
detect whether the waste has entered to the trash can
and the ultrasonic sensor is used as a warning when
the trash can is full.
264
Widyaningrum, V., Romadhon, A. and Safitri, R.
Automatic Waste Sorter Machine using Proximity Sensor.
DOI: 10.5220/0010331102640270
In Proceedings of the International Conference on Health Informatics, Medical, Biological Engineering, and Pharmaceutical (HIMBEP 2020), pages 264-270
ISBN: 978-989-758-500-5
Copyright
c
2021 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved
2 METHOD
2.1 System Description
The tool made is an automatic waste sorter machine.
In this machine, uses the Arduino Mega 2560
microcontroller as the main brain. The shape of the
Arduino Mega 2560 microcontroller is as shown in
Figure 1. This board has relatively many input/output
pins, namely 54 digital input/output pins of which 15
pins can be used as Pulse Width Modulation (PWM)
outputs, 16 pins as analog inputs, 4 pins as UART
(hardware serial port), 16 MHz crystal oscillator,
USB connection, jack power, header ICSP, and reset
button. Of course this makes it easier for us to make
tools.
Figure 1: The Arduino Mega 2560 Microcontroller.
In an automatic waste sorter machine, arduino will
work based on input obtained from Passive Infrared
Sensor (PIR) sensor, Light-Dependent Resistor
(LDR) sensor, inductive proximity sensor, capacitive
proximity sensor, and ultrasonic sensors. Then as the
output on this machine used a servo motor and
buzzer. The servo motor functions to push or rotate
the trash can cover with a high degree of precision in
terms of angle position, acceleration, and speed.
While the buzzer functions as a warning sound when
the trash can is full. The block diagram of this
automatic waste sorter machine is shown in Figure 2.
The PIR sensor is a sensor that can detect
movement, has a small size, requires small power,
and is quite easy to use, so it is suitable for use on
small-scale machine, such as this automatic waste
sorter machine. The shape of the PIR sensor is as
shown in Figure 3. In this machine, the PIR sensor
functions to detect whether someone is going to take
out the trash or not.
Figure 2: The block diagram of an automatic waste sorter
machine.
Figure 3: The PIR sensor.
The LDR sensor is a resistor component whose
resistance value will vary according to the intensity
of light hitting this sensor. The more light hitting the
LDR sensor, the resistance value will decrease.
Conversely, the less light hitting the LDR sensor, the
greater the resistance value so that it will inhibit the
electric current flowing. The shape of the LDR sensor
is as shown in Figure 4. In an automatic waste sorter
machine, the LDR sensor functions as a detector to
detect whether trash has been put in the trash can or
not.
Figure 4: The LDR sensor.
The proximity sensor is a sensor that is able to
detect objects that are close to within the detection
limit of the sensor even without touching. This sensor
detects the presence of objects using electromagnetic
fields or electromagnetic radiation rays to determine
whether there are certain objects around them. There
are several types of proximity sensors, which in this
automatic waste sorter machine uses an inductive
Automatic Waste Sorter Machine using Proximity Sensor
265
proximity sensor a capacitive proximity sensor. The
inductive proximity sensor functions as a detector
whether the incoming waste is metal waste or not.
The shape of the inductive proximity sensor is shown
in Figure 5. While the capacitive proximity sensor
functions as a detector for incoming waste in the form
of plastic bottles or not. The shape of the capacitive
proximity sensor is shown in Figure 6.
Figure 5: The inductive proximity sensor.
Figure 6: The capacitive proximity sensor.
The ultrasonic sensor is a distance sensor that is
able to read a distance of approximately 2 cm to 4
meters. The ultrasonic sensors work by emitting
ultrasonic waves, which are waves used to detect the
presence of an object by estimating the distance
between the sensor and the object. The shape of the
ultrasonic sensor is shown in Figure 7. In an
automatic waste sorter machine, the ultrasonic sensor
detects whether the trash can is full or not.
Figure 7: The ultrasonic sensor.
2.2 Automatic Waste Sorter Machine
Design
The PIR sensor is placed in the top position of the lid
of the outside of the trash that serves to detect whether
there is movement or not on top of the trash, which in
this case if there is movement means someone will
dispose of waste. The LDR sensor is placed on the lid
of the first inner bin, which serves as a detector
whether or not waste is put in the bin. Then in this
tool used two types of proximity sensors, namely
inductive proximity sensors and capacitive proximity
sensors. The inductive proximity sensor is placed on
the lid of the first inner bin, which is adjacent to the
LDR sensor, which functions as a detector for
incoming waste in the form of metal waste or not.
Whereas the capacitive proximity sensor is placed on
the lid of the second inner bin, which serves as a
detector for incoming waste in the form of plastic
bottles or not. Then as a complement to this machine
there is also an ultrasonic sensor as a detector when
the trash bin is full. Because this machine uses three
bins, there are also three ultrasonic sensors.
The workings of the automatic waste sorter
machine made can be seen in Figure 8, which starts
with a PIR sensor that detects whether there is
movement or not on the trash bin. If a movement is
detected above the trash can, it means that someone
will throw the trash, so the servo motor 1 will rotate
170°. In this case, it means that the outer lid of the
trash can will open automatically so that waste can be
put into the trash. Then on the inside of the trash bin
there are two more lids on the trash bin, which will
also work automatically based on the input it receives.
In an automatic wate sorter machine, when waste
enters the trash, the process is that the incoming waste
is first collected in the lid of the first inner trash can.
On the lid of the first inner trash bin there is an LDR
sensor equipped with an Light-Emitting Diode (LED)
so that the reading is more accurate, which is the
process if there is waste in this lid then the LDR will
read the dark. In this case, it means that garbage has
been detected that has entered the trash and the waste
sorting process wil be carried out.
HIMBEP 2020 - International Conference on Health Informatics, Medical, Biological Engineering, and Pharmaceutical
266
Figure 8: Automatic waste sorter machine flowchart.
The flowchart of the waste sorting process can be
seen in Figure 9. The process begins with an inductive
proximity sensor that will work to detect waste
entering the lid of the first inner trash bin whether
metal or not. The inductive proximity sensor is placed
on the lid of the first inner trash can, which is next to
the LDR sensor. The process is if the inductive
proximity sensor detects metal waste, the servo motor
2 which is also on the lid of the first inner trash bin
can will rotate so that the metal waste will enter the
metal trash can. However, if the inductive proximity
sensor detects it is not metal waste, the servo motor 2
which is on the lid of the first inner trash bin will
rotate 9so that the waste will enter the lid of the
second inner trash bin.
Figure 9: The flowchart of the waste sorting process.
On the lid of the second inner trash bin, there is a
capacitive proximity sensor that detects incoming
waste in the form of plastic bottles or not. If the
capacitive proximity sensor detects plastic bottle bins,
servo motor 3 which is on the lid of the second inner
trash bin will rotate so that the plastic bottle bins
will enter the plastic bottle trash bin. However, if the
capacitive proximity sensor detects that it is not
plastic bottle bins, servo motor 3 which is on the lid
Start
The object is near the trash
The PIR sensor detects
the movement of objects
Servo 1 rotates 170°
LDR sensor detects dark
Waste Sortin
g
Process
Garbage enters the
appropriate type
End
Yes
No
Yes
No
There is
movement?
Dark?
Start
Waste
Inductive proximity
sensor detects waste
Servo 2 rotates 90°
No
Servo 2 rotates
Ye
Capacitive proximity
sensor detects waste
Servo 3 rotates
Servo 3 rotates
Ye
No
Buzzer
ON
En
d
Metal
Ultrasonic
sensor 1 detects
metal bins
Ultrasonic sensor 3
detect non-metal and
n
o
n-
p
l
ast
i
c
b
in
s
Ultrasonic
sensor 2 detects
plastic bottle
Plastic
Ye
Full
No
Automatic Waste Sorter Machine using Proximity Sensor
267
of the second inner trash bin, will rotate 110° so that
the waste will enter the non-metal and not plastic
bottles trash bin. After the waste enters the
appropriate type of waste, then the ultrasonic sensor
will detect whether the trash bin is full or not. In this
machine three trash bins are used so that there are also
three ultrasonic sensors, namely ultrasonic sensor 1
placed in metal bins, ultrasonic sensor 2 placed in
plastic bottle bins, and ultrasonic sensor 3 placed in
non-metal and also not a plastic bottle bins. If any of
the three ultrasonic sensors detect that the trash bin is
full, the buzzer will sound as a warning sign.
3 RESULTS AND DISCUSSIONS
The results of making an automatic waste sorter
machine are shown in Figure 10. The description of
the numbering in the image is :
1. Tool wall
2. Power supply 12V 5A
3. Cover the second inner bin
4. Tool framework
5. Trash that is neither metal nor plastic bottle
6. Cover the first inner bin
7. Arduino Mega 2560
8. Metal trash can
9. Plastic bottle trash can
In Figure 10, the lid of the trash can number 6 is the
place for the LDR sensor, inductive proximity sensor,
and also the servo motor 2. Then for the placement of
the PIR sensor, servo motor 1, and buzzer is the top
position on the outer trash can cover, which is located
just above number 6. While the lid of the trash bin
number 3 is the place for the capacitive proximity
sensor and the servo motor 3.
Figure 10: The results of making an automatic waste sorter
machine.
Experiments on the automatic waste sorter
machine were carried out using five types of waste,
namely cans, non-transparent plastic bottles filled
with water, transparent empty plastic bottles, plastic,
and report books. Each type of waste was tested ten
times, the results are shown in Table 1, Table 2, Table
3, Table 4, and Table 5.
The results of automatic waste sorter machine
testing using cans waste are shown in Table 1. At ten
times the experiment carried out trash can be
announced as metal waste. This shows that the
detection has been done 100% correct.
Table 1: Automatic waste sorter machine testing results for
cans waste.
Trial to-
Cans included in the category
Metal Plastic Not Both
1
- -
2
- -
3
- -
4
- -
5
- -
6
- -
7
- -
8
- -
9
- -
10
- -
Percenta
g
e 100% 0% 0%
In Table 2 is the result of testing the automatic
waste sorter machine using the waste of non-
transparent plastic bottles filled with water. In ten
experiments that have been carried out the waste of
non-transparent plastic bottles filled with water were
detected as plastic waste. This of course also shows
that the detection has been done is 100% correct.
Table 2: Automatic waste sorter machine testing results for
the waste of non-transparent plastic bottles filled with
water.
Trial to-
The waste of non-transparent plastic
bottles filled with water included in the
category
Metal Plastic Not Both
1-
-
2-
-
3-
-
4-
-
5-
-
6-
-
7-
-
8-
-
9-
-
10 -
-
Percenta
g
e 0% 100% 0%
HIMBEP 2020 - International Conference on Health Informatics, Medical, Biological Engineering, and Pharmaceutical
268
In Table 3 is the result of testing the automatic
waste sorter machine using transparent empty plastic
bottles bins. In ten experiments that have been carried
out, transparent empty plastic bottles are detected as
non-metal and non-plastic waste (not both). This
certainly shows that the detection that has been done
is 100% wrong, because empty plastic bottles that are
transparent should be included in the type of plastic
waste.
Table 3: Automatic waste sorter machine testing results for
transparent empty plastic bottles.
Trial to-
Transparent empty plastic bottles
included in the category
Metal Plastic Not Both
1 - -
2 - -
3 - -
4 - -
5 - -
6 - -
7 - -
8 - -
9 - -
10 - -
Percenta
g
e 0% 0% 100%
In Table 4 is the result of testing the automatic
waste sorter machine using plastic waste. In ten
experiments carried out plastic waste was detected as
non-metal and non-plastic waste (not both). This
shows that the detection has been done 100% correct.
Table 4: Automatic waste sorter machine testing results for
plastic waste.
Trial to-
Plastic included in the category
Metal Plastic Not Both
1 - -
2 - -
3 - -
4 - -
5 - -
6 - -
7 - -
8 - -
9 - -
10 - -
Percentage 0% 0% 100%
In Table 5 is the result of testing automatic waste
sorter machine using the report book waste. In the ten
experiments that have been carried out, the report
book waste is twice detected as plastic waste and
three times it is detected as non-metal and non-plastic
waste. This shows that the detection has been done is
only 60% correct, while the 40% experienced an error
because the report book waste is detected as plastic.
Table 5: Automatic waste sorter machine testing results for
report book waste.
Trial to-
Report book included in the category
Metal Plastic Not Both
1-
-
2--
3--
4--
5-
-
6
- -
7
- -
8
- -
9
- -
10
- -
Percentage 0% 40% 60%
4 CONCLUSIONS
From the test results, it can be concluded that 72% the
automatic waste sorter machine can detect waste
entering the trash according to its type. Then the
automatic waste sorter machine has a detection error
of 28%. The biggest error occurred in detecting
transparent empty plastic bottles. This is because
capacitive proximity sensors are more sensitive if the
plastic bottles detected are not transparent.
ACKNOWLEDGEMENTS
The author would like to thank the financial support
of DIPA FT UTM 2020 until this article can be
published.
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