Design And Implementation of Automatic Garbage Collecting Robot using Background Subtraction based Computer Vision Algorithm

摘要

Twenty-first century has endorsed for remarkable growth in technical as well as economic sectors, yet there remains the lack of proper waste management techniques in most countries. This paper focuses on implementation of a fully autonomous robotic device as part of the initial stage to ensure a hygienic environment for us to live in. The main idea was to design and implement a robotic device that collects garbage lying on corridors, large halls, or even a house, by recognizing the refuse using a computer vision system and picking up the same using a Robotic arm. This was realizable through expeditious background subtraction algorithms, which was later implemented on the computer vision module of a motor driven robot. The device embodies a tough chassis, a computer vision and video analysis module, microcontroller module, a sensor network and a precise robotic arm with actuators. The algorithms incorporated to the intelligence of the robot adopt the fundamentals of background subtraction algorithms in order to obtain accurate results accompanied with a faster computational speed. The Image processing unit was implemented using a Raspberry Pi 3 and a Pi Camera module.