Research Article
BibTex RIS Cite

DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION

Year 2023, , 801 - 807, 16.12.2023
https://doi.org/10.31796/ogummf.1233759

Abstract

Autonomous vehicles are becoming increasingly popular in a variety of applications, including waste collection and fire detection. In this work, we present the design and implementation of an autonomous vehicle for these tasks in urban environments. The vehicle is equipped with sensors and control algorithms to navigate, detect and collect plastic bottle wastes, and detect fires in real-time. The system uses an off-the-shelf, small-sized, battery-operated vehicle, a simple conveyor belt, and a vision-based, computerized system. Machine learning (ML-) based vision tasks are implemented to direct the vehicle to waste locations and initiate the waste removal process. A fire detection and alarm system are also incorporated, using a camera and machine learning algorithms to detect flames automatically. The vehicle was tested in a simulated urban environment, and the results demonstrate its effectiveness in waste material collection and fire detection. The proposed system has the potential to improve the efficiency and safety of such tasks in urban areas.

Supporting Institution

Eskisehir Teknik Universitesi , Tubitak 2209 /A

Project Number

21LTP040 , 1919B012004030.

Thanks

This work was performed as a graduation project under courses EEM 413 (P) and EEM 414 (P) in the Dept. of Electrical and Electronics Eng. at Eskisehir Technical University. It was supported by Eskisehir Technical University Scientific Research Projects Commission under grant no: 21LTP040. It was also supported by TUBITAK 2209/A with grant no 1919B012004030. The authors would like to thank DEPARES for the mechanical part and Hisarlar Makine Inc. for providing us with all the required components.

References

  • Giacovelli C. (2018). Single-Use Plastics: A Roadmap for Sustainability (rev. 2). https://www.unep.org/resources/report/single-use-plastics-roadmap-sustainability
  • Andrady AL, Neal MA (2009). Applications and societal benefits of plastics. Phil. Trans. R. Soc. B364, 1977–1984. doi: 10.1098/rstb.2008.0304
  • Padervand M, Lichtfouse E, Robert D, Wang C. (2020). Removal of microplastics from the environment. A review. Environ Chem Let. 18(3): 807-828. https://doi.org/10.1007/s10311-020-00983-1
  • Azoulay D, Villa P, Arellano Y, Gordon MF, Moon D, Miller KA, Thompson K. (2019). Plastic & health: the hidden costs of a plastic planet. CIEL. https://www.ciel.org/wp-content/uploads/2019/02/Plastic-and-Health-The-Hidden-Costs-of-a-Plastic-Planet-EXECUTIVE-SUMMARY-February-2019.pdf
  • Wall RW, Bennett J, Eis G. Creating a low-cost autonomous vehicle (2002). IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02, 2002; 3112-3116. DOI: 10.1109/IECON.2002.1182894
  • Anderson JM, Nidhi K, Karlyn DS, Paul S, Constantine S, Oluwatola TA (2016) Autonomous Vehicle Technology: A Guide for Policymakers. Santa Monica, CA: RAND Corporation. DOI: https://doi.org/10.7249/RR443-2
  • Nielsen KM, Andersen P, Pedersen TS, Bak T, Nielsen JD (2002). Control of an autonomous vehicle for registration of weed and crop in precision agriculture. Proceedings of the International Conference on Control Applications, 909-914. DOI: 10.1109/CCA.2002.1038723
  • Naranjo JE, Clavijo M, Jiménez F, Gómez O, Rivera JL, Anguita M. Autonomous vehicle for surveillance missions in off-road environment (2016). 2016 IEEE Intelligent Vehicles Symposium (IV); 98-103. DOI: 10.1109/IVS.2016.7535371
  • Yu JJQ, Lam AYS. Autonomous Vehicle Logistic System: Joint Routing and Charging Strategy (2018). IEEE Trans. Intell. Transp. 2175-2187. DOI: 10.1109/TITS.2017.2766682
  • Arai Y, Miyagusuku R, Ozaki K. Development and Testing of Garbage Detection for Autonomous Robots in Outdoor Environments (2021). 2021 IEEE/SICE International Symposium on System Integration; 138-143. DOI: 10.1109/IEEECONF49454.2021.9382646
  • Evan A., Volvo Takes the Right First Step in Autonomous Garbage Collection. IEEE Spectrum, 2017.
  • Jha A, Singh A, Kerketta R, Prasad D, Neelam K, Nath V. Development of Autonomous Garbage Collector Robot. In: Nath V., Mandal J. (eds) (2019). Proceedings of the Third International Conference on Microelectronics, Computing and Communication Systems. Lecture Notes in Electrical Engineering, (556). Springer, Singapore. https://doi.org/10.1007/978-981-13-7091-5_46
  • Mayorga C, et al. GABOT: Garbage Autonomous Collector for Indoors at Low Cost (2019). 2019 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), 56-61. DOI: 10.1109/ICMEAE.2019.00018
  • Banu NMI, Florence SM. Convergence of Artificial Intelligence in IoT Network for the Smart City—Waste Management System. In: Jeena, JI, Gonzalez-Longatt FM, Kolandapalayam SS., Izonin I. (eds) (2022). Expert Clouds and Applications. Lecture Notes in Networks and Systems;(209). Springer, Singapore. https://doi.org/10.1007/978-981-16-2126-0_21
  • Divya B V and Latha N, "Smart Garbage Collection Autonomous Vehicle," 2021 4th International Conference on Recent Developments in Control, Automation & Power Engineering (RDCAPE), Noida, India, 2021, pp. 615-618, doi: 10.1109/RDCAPE52977.2021.9633553.
  • Pyo J-W, Bae S-H, Joo S-H, Lee M-K, Ghosh A, and Kuc T-Y. Development of an Autonomous Driving Vehicle for Garbage Collection in Residential Areas. Sensors. 2022; 22(23):9094. https://doi.org/10.3390/s22239094
  • Ying Wang, Xu Zhang. Autonomous garbage detection for intelligent urban management. MATEC Web Conf. 232 01056 (2018) DOI: 10.1051/matecconf/201823201056
  • Kulshreshtha M, Chandra SS, Randhawa P, Tsaramirsis G, Khadidos A, Khadidos AO. OATCR: Outdoor Autonomous Trash-Collecting Robot Design Using YOLOv4-Tiny. Electronics. 2021; 10(18):2292. https://doi.org/10.3390/electronics10182292
  • Assis A, Biju A R, Alisha N, Dhanadas A, Kurian N. Garbage Collecting Robot Using YOLOv3 Deep Learning Mode. 2021 International Conference on Advances in Computing and Communications (ICACC), Kochi, Kakkanad, India, 2021, pp. 1-5, doi: 10.1109/ICACC-202152719.2021.9708298.
  • Bai J, Lian S, Liu Z, Wang K, and Liu D., Deep Learning Based Robot for Automatically Picking Up Garbage on the Grass. in IEEE Transactions on Consumer Electronics, vol. 64, no. 3, pp. 382-389, Aug. 2018, doi: 10.1109/TCE.2018.2859629.
  • Huang X R-, Chen W H, Pai W Y, Huang, G Z, Hu W C, and Chen L B. An AI Edge Computing-Based Robotic Automatic Guided Vehicle System for Cleaning Garbage," 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech), Osaka, Japan, 2022, pp. 446-447, doi: 10.1109/LifeTech53646.2022.9754931.
  • Aydın O, Molla E, Karadağ F, Güzeltepe B. (2021). Autonomous Garbage Vehicle for Public Parks. BSc, Eskişehir Technical University, Eskişehir, Turkey.
  • Zhao ZQ, Zheng P, Xu ST, Wu X. (2019) Object detection with deep learning: A review. IEEE T Neur Net Lear. 30(11): 3212-3232. DOI: 10.1109/TNNLS.2018.2876865
  • Zou Z, Shi Z, Guo Y, Ye J. (2019). Object detection in 20 years: A survey. arXiv preprint arXiv:1905.05055. https://doi.org/10.48550/arXiv.1905.05055
  • Tivelius M. (2021) Real-time Small Object Detection using Deep Neural Networks. MSc thesis, KTH Royal Institute Of Technology School, Stockholm, Sweden. https://www.diva-portal.org/smash/get/diva2:1587035/FULLTEXT01.pdf
  • Redmon J, Divvala S, Girshick R, Farhadi A. (2016). You only look once: Unified, real-time object detection. In: IEEE conference on computer vision and pattern recognition, 779-788. https://www.cv-foundation.org/openaccess/content_cvpr_2016/html/Redmon_You_Only_Look_CVPR_2016_paper.html
  • Park HJ, Lee S, Yun S, Kim H, Kim W-T. (2019) Dependable Fire Detection System with Multifunctional Artificial Intelligence Framework. Sensors; 19(9). Doi: 10.3390/s19092025
  • Savla DV, Parab AN, Kekre KY, Gala JP, Narvekar M. (2020). IoT and ML based Smart System for Efficient Garbage Monitoring: Real Time AQI monitoring and Fire Detection for dump yards and Garbage Management System. Third International Conference on Smart Systems and Inventive Technology (ICSSIT). DOI: 10.1109/ICSSIT48917.2020.9214202

ÇÖP MATERYALİ TOPLAMA VE YANGIN TESPİTİ İÇİN BİR OTONOM ARAÇ TASARIMI VE GERÇEKLEŞTİRİLMESİ

Year 2023, , 801 - 807, 16.12.2023
https://doi.org/10.31796/ogummf.1233759

Abstract

Otonom araçların, çöp toplama ve yangın tespitini de içeren çok çeşitli uygulamalarda popülerliği artmaktadır. Bu çalışmada, kentsel alanlarda kullanılmak üzere bu uygulamalar için bir otonom araç tasarımı ve gerçeklemesi sunulacaktır. Araç, üzerinde bulunan algılayıcılar ve tasarlanan kontrol algoritmaları ile gerçek zamanda etrafını tarayıp plastik çöp şişelerini tespit edip toplayacak ve yangın tespiti yapacaktır. Sistem, özel olarak tasarlanmış ve akü ile çalışabilen küçük boyutlu bir araba, basit bir konveyör bant, görüntü tabanlı küçük bir bilgisayar sistemi kullanmaktadır. Aracı, çöplerin olduğu yere yönlendirip çöpü ayırma işlemini başlatması için Makine öğrenimi (ML-) tabanlı görüntü algoritmaları uygulanmıştır. Bir kamera ve alevleri otomatik tespit edecek makine öğrenme algoritmaları ile, yangın tespiti ve alarm sistemi de sisteme entegre edilmiştir. Araç, kentsel ortama benzetilmiş bir alanda test edilmiş ve edilen sonuçlar çöp materyali toplama ve yangın tespitinde ne kadar etkili olduğu göstermiştir. Önerilen sistem, kentsel alanlarda daha verimli ve güvenli olacak şekilde geliştirilebilir potansiyeli vardır.

Project Number

21LTP040 , 1919B012004030.

References

  • Giacovelli C. (2018). Single-Use Plastics: A Roadmap for Sustainability (rev. 2). https://www.unep.org/resources/report/single-use-plastics-roadmap-sustainability
  • Andrady AL, Neal MA (2009). Applications and societal benefits of plastics. Phil. Trans. R. Soc. B364, 1977–1984. doi: 10.1098/rstb.2008.0304
  • Padervand M, Lichtfouse E, Robert D, Wang C. (2020). Removal of microplastics from the environment. A review. Environ Chem Let. 18(3): 807-828. https://doi.org/10.1007/s10311-020-00983-1
  • Azoulay D, Villa P, Arellano Y, Gordon MF, Moon D, Miller KA, Thompson K. (2019). Plastic & health: the hidden costs of a plastic planet. CIEL. https://www.ciel.org/wp-content/uploads/2019/02/Plastic-and-Health-The-Hidden-Costs-of-a-Plastic-Planet-EXECUTIVE-SUMMARY-February-2019.pdf
  • Wall RW, Bennett J, Eis G. Creating a low-cost autonomous vehicle (2002). IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02, 2002; 3112-3116. DOI: 10.1109/IECON.2002.1182894
  • Anderson JM, Nidhi K, Karlyn DS, Paul S, Constantine S, Oluwatola TA (2016) Autonomous Vehicle Technology: A Guide for Policymakers. Santa Monica, CA: RAND Corporation. DOI: https://doi.org/10.7249/RR443-2
  • Nielsen KM, Andersen P, Pedersen TS, Bak T, Nielsen JD (2002). Control of an autonomous vehicle for registration of weed and crop in precision agriculture. Proceedings of the International Conference on Control Applications, 909-914. DOI: 10.1109/CCA.2002.1038723
  • Naranjo JE, Clavijo M, Jiménez F, Gómez O, Rivera JL, Anguita M. Autonomous vehicle for surveillance missions in off-road environment (2016). 2016 IEEE Intelligent Vehicles Symposium (IV); 98-103. DOI: 10.1109/IVS.2016.7535371
  • Yu JJQ, Lam AYS. Autonomous Vehicle Logistic System: Joint Routing and Charging Strategy (2018). IEEE Trans. Intell. Transp. 2175-2187. DOI: 10.1109/TITS.2017.2766682
  • Arai Y, Miyagusuku R, Ozaki K. Development and Testing of Garbage Detection for Autonomous Robots in Outdoor Environments (2021). 2021 IEEE/SICE International Symposium on System Integration; 138-143. DOI: 10.1109/IEEECONF49454.2021.9382646
  • Evan A., Volvo Takes the Right First Step in Autonomous Garbage Collection. IEEE Spectrum, 2017.
  • Jha A, Singh A, Kerketta R, Prasad D, Neelam K, Nath V. Development of Autonomous Garbage Collector Robot. In: Nath V., Mandal J. (eds) (2019). Proceedings of the Third International Conference on Microelectronics, Computing and Communication Systems. Lecture Notes in Electrical Engineering, (556). Springer, Singapore. https://doi.org/10.1007/978-981-13-7091-5_46
  • Mayorga C, et al. GABOT: Garbage Autonomous Collector for Indoors at Low Cost (2019). 2019 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), 56-61. DOI: 10.1109/ICMEAE.2019.00018
  • Banu NMI, Florence SM. Convergence of Artificial Intelligence in IoT Network for the Smart City—Waste Management System. In: Jeena, JI, Gonzalez-Longatt FM, Kolandapalayam SS., Izonin I. (eds) (2022). Expert Clouds and Applications. Lecture Notes in Networks and Systems;(209). Springer, Singapore. https://doi.org/10.1007/978-981-16-2126-0_21
  • Divya B V and Latha N, "Smart Garbage Collection Autonomous Vehicle," 2021 4th International Conference on Recent Developments in Control, Automation & Power Engineering (RDCAPE), Noida, India, 2021, pp. 615-618, doi: 10.1109/RDCAPE52977.2021.9633553.
  • Pyo J-W, Bae S-H, Joo S-H, Lee M-K, Ghosh A, and Kuc T-Y. Development of an Autonomous Driving Vehicle for Garbage Collection in Residential Areas. Sensors. 2022; 22(23):9094. https://doi.org/10.3390/s22239094
  • Ying Wang, Xu Zhang. Autonomous garbage detection for intelligent urban management. MATEC Web Conf. 232 01056 (2018) DOI: 10.1051/matecconf/201823201056
  • Kulshreshtha M, Chandra SS, Randhawa P, Tsaramirsis G, Khadidos A, Khadidos AO. OATCR: Outdoor Autonomous Trash-Collecting Robot Design Using YOLOv4-Tiny. Electronics. 2021; 10(18):2292. https://doi.org/10.3390/electronics10182292
  • Assis A, Biju A R, Alisha N, Dhanadas A, Kurian N. Garbage Collecting Robot Using YOLOv3 Deep Learning Mode. 2021 International Conference on Advances in Computing and Communications (ICACC), Kochi, Kakkanad, India, 2021, pp. 1-5, doi: 10.1109/ICACC-202152719.2021.9708298.
  • Bai J, Lian S, Liu Z, Wang K, and Liu D., Deep Learning Based Robot for Automatically Picking Up Garbage on the Grass. in IEEE Transactions on Consumer Electronics, vol. 64, no. 3, pp. 382-389, Aug. 2018, doi: 10.1109/TCE.2018.2859629.
  • Huang X R-, Chen W H, Pai W Y, Huang, G Z, Hu W C, and Chen L B. An AI Edge Computing-Based Robotic Automatic Guided Vehicle System for Cleaning Garbage," 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech), Osaka, Japan, 2022, pp. 446-447, doi: 10.1109/LifeTech53646.2022.9754931.
  • Aydın O, Molla E, Karadağ F, Güzeltepe B. (2021). Autonomous Garbage Vehicle for Public Parks. BSc, Eskişehir Technical University, Eskişehir, Turkey.
  • Zhao ZQ, Zheng P, Xu ST, Wu X. (2019) Object detection with deep learning: A review. IEEE T Neur Net Lear. 30(11): 3212-3232. DOI: 10.1109/TNNLS.2018.2876865
  • Zou Z, Shi Z, Guo Y, Ye J. (2019). Object detection in 20 years: A survey. arXiv preprint arXiv:1905.05055. https://doi.org/10.48550/arXiv.1905.05055
  • Tivelius M. (2021) Real-time Small Object Detection using Deep Neural Networks. MSc thesis, KTH Royal Institute Of Technology School, Stockholm, Sweden. https://www.diva-portal.org/smash/get/diva2:1587035/FULLTEXT01.pdf
  • Redmon J, Divvala S, Girshick R, Farhadi A. (2016). You only look once: Unified, real-time object detection. In: IEEE conference on computer vision and pattern recognition, 779-788. https://www.cv-foundation.org/openaccess/content_cvpr_2016/html/Redmon_You_Only_Look_CVPR_2016_paper.html
  • Park HJ, Lee S, Yun S, Kim H, Kim W-T. (2019) Dependable Fire Detection System with Multifunctional Artificial Intelligence Framework. Sensors; 19(9). Doi: 10.3390/s19092025
  • Savla DV, Parab AN, Kekre KY, Gala JP, Narvekar M. (2020). IoT and ML based Smart System for Efficient Garbage Monitoring: Real Time AQI monitoring and Fire Detection for dump yards and Garbage Management System. Third International Conference on Smart Systems and Inventive Technology (ICSSIT). DOI: 10.1109/ICSSIT48917.2020.9214202
There are 28 citations in total.

Details

Primary Language English
Subjects Computer Software, Electrical Engineering
Journal Section Research Articles
Authors

Orkun Aydın 0000-0001-8458-8910

Ersin Molla 0000-0003-0431-5862

Ferhat Karadağ 0000-0001-5197-0419

Burak Guzeltepe 0000-0003-3609-200X

Hakki Ulaş Ünal 0000-0001-8979-4625

Ömer Nezih Gerek 0000-0001-8183-1356

Project Number 21LTP040 , 1919B012004030.
Early Pub Date December 16, 2023
Publication Date December 16, 2023
Acceptance Date August 14, 2023
Published in Issue Year 2023

Cite

APA Aydın, O., Molla, E., Karadağ, F., Guzeltepe, B., et al. (2023). DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, 31(3), 801-807. https://doi.org/10.31796/ogummf.1233759
AMA Aydın O, Molla E, Karadağ F, Guzeltepe B, Ünal HU, Gerek ÖN. DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION. ESOGÜ Müh Mim Fak Derg. December 2023;31(3):801-807. doi:10.31796/ogummf.1233759
Chicago Aydın, Orkun, Ersin Molla, Ferhat Karadağ, Burak Guzeltepe, Hakki Ulaş Ünal, and Ömer Nezih Gerek. “DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi 31, no. 3 (December 2023): 801-7. https://doi.org/10.31796/ogummf.1233759.
EndNote Aydın O, Molla E, Karadağ F, Guzeltepe B, Ünal HU, Gerek ÖN (December 1, 2023) DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 31 3 801–807.
IEEE O. Aydın, E. Molla, F. Karadağ, B. Guzeltepe, H. U. Ünal, and Ö. N. Gerek, “DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION”, ESOGÜ Müh Mim Fak Derg, vol. 31, no. 3, pp. 801–807, 2023, doi: 10.31796/ogummf.1233759.
ISNAD Aydın, Orkun et al. “DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION”. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 31/3 (December 2023), 801-807. https://doi.org/10.31796/ogummf.1233759.
JAMA Aydın O, Molla E, Karadağ F, Guzeltepe B, Ünal HU, Gerek ÖN. DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION. ESOGÜ Müh Mim Fak Derg. 2023;31:801–807.
MLA Aydın, Orkun et al. “DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, vol. 31, no. 3, 2023, pp. 801-7, doi:10.31796/ogummf.1233759.
Vancouver Aydın O, Molla E, Karadağ F, Guzeltepe B, Ünal HU, Gerek ÖN. DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS VEHICLE FOR WASTE MATERIAL COLLECTION AND FIRE DETECTION. ESOGÜ Müh Mim Fak Derg. 2023;31(3):801-7.

20873 13565 13566 15461 13568  14913