SWACH: Smart Waste Autonomous Collector and Handler

Team DRISHTI | Technical Member

Project Overview

SWACH (Smart Waste Autonomous Collector and Handler) is an innovative solar-powered autonomous waste management robot designed for automated waste collection and handling in public and community spaces. The system integrates waste detection, autonomous navigation, collection, segregation, and disposal, with camera and sensor-based perception and solar-assisted power management.

CAD MODEL

SWACH CAD Model

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Technical Implementation

Hardware

  • Aluminium structural frame
  • Four-wheel mobility platform
  • DC gear motors
  • Servo motors
  • Stepper motor
  • Ultrasonic sensors
  • Front and rear cameras
  • Raspberry Pi
  • Arduino Mega 2560
  • Motor drivers
  • Solar panels
  • MPPT controller
  • Battery and power regulation

Mechanisms

  • Loader bucket mechanism for collecting waste from the ground.
  • Lead-screw-driven flap mechanism for controlled opening and closing of the collection assembly.
  • Segregation mechanism for directing waste into biodegradable and non-biodegradable categories.
  • Pulley-driven bin mechanism for positioning the internal bins during waste disposal.
  • Rear-facing bin disposal mechanism for transferring collected waste into designated disposal locations.

Waste Detection & Segregation

  • Camera-based waste detection.
  • YOLO-based object detection and classification.
  • Classification of biodegradable and non-biodegradable waste.

Autonomous Navigation

  • Autonomous path planning.
  • Obstacle avoidance.
  • Camera-based environmental perception.
  • Ultrasonic distance sensing.
  • ROS-based navigation architecture.

Power System

  • Solar panels for energy generation.
  • MPPT controller for solar power management.
  • Battery storage.
  • Power regulation for motors and electronic systems.

Software & Development

  • YOLO
  • ROS
  • Gazebo
  • Arduino IDE
  • Raspberry Pi Environment
  • SolidWorks

My Contributions

  • Contributed to the conceptualisation and development of the SWACH system, helping define its functional workflow and integrated waste-management approach.
  • Prepared and structured the technical documentation and system representation, including CAD views, system architecture, mechanisms, component descriptions, working principle, and proposed implementation methodology.

Technical Documentation

DOCUMENT ↗