Energy-Autonomous Smart Waste Collection in Green Environments Using Arduino–ESP32 Control and Sensor-Based Monitoring

Abstract

Urban green spaces parks, campuses, public lawns, and gardens demand frequent waste collection to preserve hygiene, aesthetics, and ecological sustainability. This paper presents the design and prototype implementation of an Autonomous Solar Waste Collector (ASWC) that detects, collects, and monitors litter with minimal human intervention. Waste presence is identified using infrared (IR) sensing, and a servo-driven robotic arm performs pick-and-place collection into an onboard bin. Bin fill-level is continuously estimated using an HC- SR04 ultrasonic sensor, and the bin status (empty/partial/full) is uploaded via an ESP32 IoT module for remote supervision. Real-time actuation and sensor coordination are handled by an Arduino controller, while Bluetooth manual override is provided for operator-assisted maneuvering in congested zones. The system is powered by a solar PV module with rechargeable battery storage, enabling uninterrupted daytime operation and extended duty cycles under variable sunlight. In prototype testing, the ASWC achieved 92.6% waste- detection accuracy for common dry litter (paper/plastic) within a 0.10–0.35 m sensing range, with an average pick-and-drop cycle time of 6.8 s per item. The ultrasonic bin monitoring estimated fill level with a mean absolute error of ±1.7 cm, and full-bin alerts were transmitted with an average end-to-end latency of 0.9 s over Wi-Fi. Under clear-sky outdoor conditions, the solar charging subsystem sustained ~4.5 h of continuous autonomous operation, reducing manual collection effort by ≈60% compared to conventional periodic cleaning routines. The proposed ASWC provides a low- cost, renewable-powered solution for smart waste management in green environments, supporting cleaner public spaces and scalable IoT-based maintenance.