Proceedings of the International Conference on Artificial Intelligence and Smart Systems (ICAIS-2021)

IEEE Xplore Part Number: CFP21OAB-ART; ISBN: 978-1-7281-9537-7

Garbage Zero (Garb0): An IoT Framework for Effective Garbage

Management in Smart Cities
Sagar Chavan, Umesh Patil, Santosh Sam Koshy, S.V. Srikanth
Centre for Development of Advanced Computing (C-DAC)
Hyderabad, India
2021 International Conference on Artificial Intelligence and Smart Systems (ICAIS) | 978-1-7281-9537-7/20/$31.00 ©2021 IEEE | DOI: 10.1109/ICAIS50930.2021.9395970

Email: {sagarc, umeshp, santoshk, venkatas}@cdac.in

Abstract— Today, there is a significant trend of blending
optimized waste management strategies with low power, low-cost
Internet of Things (IoT) solutions. This paper discusses and
investigates Garbage Zero (Garb0), an indigenous product developed
for outdoor garbage bins. Garb0 aims at developing a power efficient
IoT based real-time solid waste monitoring solution that helps cities
to optimize their waste collection and maintain clean and green
environment. The Garb0 sensor module can be installed within public
garbage bins to provide real time fill level data. The related
information regarding the current fill level of the garbage bin will be
transmitted to a cloud using the Low Power Wide Area Networks
(LPWAN) based Long Range (LoRa) technology [1][2], which will
be further processed and forwarded to garbage collector’s mobile
application and to the municipal dashboard for updating the status.
Optimized schedule and route for collecting the garbage from the
garbage bins will be generated on the garbage collector’s app and
accordingly directs the driver to follow the most efficient route. The
main focus of this paper is on the hardware and software architecture
implemented to achieve low cost, low power consumption and long
battery life.
status [5][6]. Optimized schedule and route for collecting the
garbage from the garbage bins will be generated on the
garbage collector’s app and accordingly directs the driver to
follow the most efficient route [7][8]. Waste collected in a
timely manner would not only prevent overflows but also
keeps garbage out of city surroundings. Optimizing garbage
pick-ups reduces time and harmful emissions associated with
garbage trucks.
The remainder of this paper is organized as
follows. Section II presents related literature on waste
management, showing the most relevant solutions available
globally. Section III describes all the developed components
that includes hardware architecture, software architecture and
mobile application. Section IV explains the optimized routing
algorithm for garbage collection. Section V investigates the
product in a real-time outdoor deployment environment to
perform different operations . Finally, Section VI concludes
and identifies the future work.

II. RELAT ED W ORK

Keywords— Solid Waste Management, Smart Bin, IoT,
Ultrasonic Sensor, Smart Cities, LPWAN, LoRa Many researchers and companies have evaluated,
investigated, developed, and deployed lot of
I. INT RODUCT ION prototypes/products pertaining to garbage management
Solid waste management is a big challenge for the solutions. A survey of smart garbage bins available globally
environment in smart cities across the globe [3]. In order, to are as follows [9][10][11][12][13][14]:
maintain a clean and green environment, there is a need for an
S. Product Manufacturer Country Se nsors &
efficient waste management solution. The solution should No Name Components
include all the activities necessary for monitoring the waste 1 Netbin Mobiquest Singapore Level, location, fire
from its level inside the garbage bin to the collection of sensors, GSM
garbage. Currently followed mechanisms include the garbage module
collector to wander through different garbage bin zones and 2 Smartbin Smartbin Australia, Ultrasonic Level
check for the waste. The garbage vans /trucks follow a definite Intelligent New Sensor (UBi)
path for picking up the garbage from bins and eventually monitoring Zealand module comprising
dumping at various dump yards by evening. This traditional Systems of GPS and GSM
process of detection, monitoring and collection of garbage is 3 Hi-tech bin Renew London Level sensor, LED
complex, cumbersome and involves lot of manual efforts and Screen and GSM
cost. modem.
A supervised and a controlled waste monitoring solution is 4 Solar Bigbelly New York Level, Radiation,
a challenge that Internet of Things (IoT) tends to address. A powered T emperature sensor,
power efficient IoT based real-time solid waste monitoring trash GSM Modem. Solar
solution would help cities to optimize their waste collection compactors powered.
5 Bins with EcoGarb Vellore, Ultrasonic Sensor,
and maintain clean and green environment [4]. A fill level
Sensors India GPS
sensor module can be installed within waste containers and
6 Enevo Enevo USA Ultrasonic fill-level
public garbage bins to provide real time fill level data. The sensor, IP Rating: IP
WE-008
related information regarding the current fill level o f the 66
garbage bin will be transmitted to a cloud which will be 7 Smart Waste NEC Spain M2M sensors, GPS,
further processed and forwarded to garbage collector’s mobile Management Environment
application and to the municipal dashboard for updating the sensors

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 Proceedings of the International Conference on Artificial Intelligence and Smart Systems (ICAIS-2021)
IEEE Xplore Part Number: CFP21OAB-ART; ISBN: 978-1-7281-9537-7

This smart bin module named Garb0 is equipped with three

T able.1: Survey of Smart Garbage Bins sensors i.e., Ultrasonic Sensor, T/RH sensor, and GPS module.
The interfacing of Ultrasonic and T/RH sensors is done
III. SYST EM A RCHIT ECT URE
through Inter-integrated circuit (I2C) and GPS through
Universal Asynchronous Receiver/Transmitter (UART)
A. Architecture Overview interface whereas LoRa module uses Serial Peripheral
Interface (SPI) interface. The LoRa module is used as a Radio
This proposed system is an automated waste management Frequency (RF) physical communication channel. The board
system where sensors are attached to each of the garbage bin. supports a Serial Wire Debug (SWD) based programming
The detection method consists of measuring the level of
garbage by an ultrasonic sensor and when the fill level crosses
a particular threshold value or if the garbage has been not
collected for more than the stipulated/estimated amount of
time, the Garb0 sensor module transmits a packet to the
respective cloud. The Garb0 sensor module is also equipped
with Temperature/Relative Humidity (T/RH) sensor for
smoke/fire detection and Global Positioning System (GPS)
module for location. The cloud processes these packets and
further ascertains which bins in a particular zone/area need
clearing on a particular day.

interface.

Fig.2 Block diagram of Hardware Architecture of Garb0

The Garb0 module is powered through a Lithium-thionyl

chloride battery (Li-SOCI2) battery, which is good enough for
the proper operation of the Garb0 module. The microcontroller
board has an on-board software control switches that are used
to control the functionality of the various peripherals. so that
power consumption is limited, by turning off the peripherals,
when they are not functional. System time is maintained
through a Real Time Clock (RTC), provided with the
microcontroller board.
2) Hardware Requirement Specifications
Fig.1 System Architecture
Following are the components used for development of
The processed information on the cloud is further sent to Garb0 sensor module.
Google Maps for optimized path calculation covering all the T able 2: Hardware Requirement Specifications
bins to be cleared. Apart from that, 2 mobile applications will
be provided to both the garbage collectors and citizens. The S.No Components Specifications
first application will help the garbage collectors to find the Ultrasonic Sensor (MB7137) [16]
1 Sensors
T emperature Sensor (SHT 31) [17]
efficient route for collection of garbage from garbage bins ARM cortex M0+
located in the city. The second application will help the 2 Processor
(ST M32L083cz)
citizens in case any delay from the garbage collectors to Wireless
3 LoRa + 868MHz antenna [18]
collect the garbage, can scan the Quick Response (QR) code Connectivity
and send it to the respective departments for taking necessary 4 GPS Device NEO-6M module + Antenna [19]
Environmental
action. 5
Protection
IP 67 [20]
Lithium-thionyl chloride (Li-
6 Power
SOCI 2 ) [21]
B. Hardware Architecture & Description
3) Selection of Processor/microcontroller board
1) Garb0 module- Block Diagram Representation The selection of microprocessor is one of the most
important factor, as it influences the power consumption of the
Fig. 2 depicts the block diagram representation of LoRa system. This is generally investigated in terms of the trade-off
Wide Area Network (LoRaWAN) enabled Smart Bin (Garb0). between features and power consumption. As the
The core component of the Garb0 module is the microcontroller is rich in features, it also carries the greater
microcontroller Board. The board is based on the ARM Cortex burden on power requirements, which limits or affects the
M0+ architecture STM32L083CZT6 microcontroller [15].

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 Proceedings of the International Conference on Artificial Intelligence and Smart Systems (ICAIS-2021)
IEEE Xplore Part Number: CFP21OAB-ART; ISBN: 978-1-7281-9537-7
outdoor deployment of devices. Moreover, fundamental
hardware architectures like Complex Instruction Set Computer
(CISC) and Reduced Instruction Set Computer (RISC) impose
restrictions in terms of power consumption, with CISC
architectures proving to be more power hungry.
The proposed Garb0 module is based on the ARM Cortex-
M0+ architecture based STM32L803CZT6 microcontroller,
developed by STMicroelectronics. The Cortex-M0+ processor
is an entry level 32-bit ARM Cortex processor designed for a
broad range of embedded applications. It offers a simple
architecture, ultra-low power, and energy-efficient operation.
The processor has 192KB flash and 20KB RAM memories
and has 20 bytes of backup register. It supports up to 25MHz
operating frequency and provides UART, USART, I2C, SPI,
ADC, Timers and GPIO pins for users. This processor
provides SLEEP, STOP and STANDBY low power modes.
4) Peripherals and Interfacing
The processor board provides SWD programming
interface. Two sensors are interfaced with the processor board.
Maxbotix MB7137 which is an Ultrasonic sensor interfaced
with the processor board with I2C interface. SHT31 is the
T/RH sensor interfaced via I2C. GPS module NEO-6M is
interfaced via UART and LoRA breakout module uses SPI.
Fig.3 Hardware board
Fig.4 LoRa breakout board
Fig.3 is the snapshot of hardware board based on
STM32L083CZT6 processor indigenously designed. Fig.4 is
the breakout board designed which is based on SX1276
HopeRF chip. This breakout board provides a UFL connector
to connect the antenna.
5) Power Supply Design
The Garb0 sensor module is powered through a Lithium-
thionyl chloride battery (Li-SOCI2 ). The power supply on the
Garb0 sensor module is designed for providing over 1-year
battery life without replacing battery. A single bobbin type
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cell is used to power up the sensor module. The design
employs one DC-DC buck-boost converter which is
responsible for step down the battery voltage to 3.3V and step
up to 3.6V for proper operation of the sensor module for long
duration of time. The Garb0 sensor module requires 3.3V for
proper operation.
C. Software Architecture & Description
1) Software Architecture
The Garb0 sensor module software is developed using
CooCox CoOS [22]. CoOS is an Embedded real-time multi-
task OS specially for ARM Cortex M series processor. It is
scalable and the minimal system kernel is only 974 bytes. It
supports preemptive and round robin scheduling and zero
interrupt latency. The Garb0 software architecture with
CooCox CoOS is shown in below Fig.5.
Fig.5 Software architecture
The CooCox OS is used on top of the Cortex
Microcontroller Software Interface Standard (CMSIS) and
Hardware Abstraction Layer (HAL) layer. All the peripheral
drivers are used from the HAL layer. The LoRa and
LoRaWAN stack from Semtech [23] and Command line,
buffer and VT100 libraries are used as a external component
in the software. The main application software is divided into
6 system tasks and up to 8 dynamic sensor sub tasks, each of
them to perform specific tasks. Real Time Operating System
(RTOS) kernel services like scheduling, Timing, Task
Management, Interrupt Management, and IPC is provided by
the CooCox CoOS, which later used by the user tasks as well
as other components of software. All the user tasks and their
functionality described below in Table. 3.
As the Garb0 sensor module is equipped with 3 sensors so
application has 3 sensor sub tasks which will be dynamically
created by sampler task. Table. 4 describes the sensor sub
tasks and their functionalities.
T able 3: User T asks and their description
Category Task Name Priorit Periodici Functionality
y ty
1338
 Proceedings of the International Conference on Artificial Intelligence and Smart Systems (ICAIS-2021)
IEEE Xplore Part Number: CFP21OAB-ART; ISBN: 978-1-7281-9537-7

Watchman 1 1 It performs POST . whenever not in use by software. Those two methods greatly
Maintains watchdog reduce the power consumption by the Garb0 sensor module.
timer (only if sleep
mode enabled) a. Watchman Task
User/Syst This task is responsible for calling POST (Power-On Self-
T ime 2 1 Read sensor/system
em T asks T abler(TT)/ cron and calculate Test) sequence whenever the system boots for the first time.
Scheduler next sensing time. POST sequence performed at the boot up, checks for battery
Sets alarm and put status and LoRa module status. If all the low power modes are
system into low- disable in the software, then this task initiates the watchdog
power mode
timer and reload the counter, in this case watchmen task
Sampler 3 1 T riggers sensor and executes after every 20sec. If software uses any of the low
creates sensor power modes of operation, then watchdog facility gets
subtasks. disabled. Watchman task has execution priority 1.
Its creation depends
on the T T task.
b. Time Tabler (TT) Task/ Scheduler
System 5 1 Dynamic creation Time Tabler task is created when a system boots up. The
Admin depends on the RT C main responsibility of this task is to read the system and
register set by the T T sensor cron, check their syntax and calculate the timestamp
task.
Responsible for
after parsing the cron. It supports 5 types of cron i.e.,
battery health check STAR_ONLY, STAR_DIV, NUM_ONLY, NUM_RANGE,
and LoRa module NUM_MULTI. This task also writes respective RTC backup
check registers as per the calculated timestamp. Separate RTC
backup registers are allocated for sampler task, system admin
Upload 6 1 Dynamic creation
depends on the task and for the upload task. The system moderator is the
RT Cregister set by the function called at the end to set the alarm with the calculated
T T task. timestamp and then puts the system in one of the low power
Prepares LoRaWAN modes (Either sleep or standby). This task has a second
data packets and
upload to remote execution priority
server
c. Sampler Task
Debug 7 1 Provides command The sampler task is responsible for triggering sensors and
line functionality at creating sensor sub tasks dynamically for enabling sensors.
the system boot.
Reconfiguration of the This sampler task is dynamically created by the Time Tabler
system (TT) task by reading the RTC backup register. Sampler keeps
track of completion of sensors sub task. Its default execution
priority is 3 but when it creates and comes for execution its
priority upgrades to the highest level as the sensing is the key
T able 4: Sensor subtask and their description
task for the system.
Cate gory Task Name Priority Periodicity Functionality
d. System Admin Task
US sensing Level System Admin task will be created only if the RTC backup
measurement register is already set by TT task. This task was specially
and calculate created to check the system's health. It checks for the battery
fill level. health and LoRa module. This task has execution priority set
One shot
Sensors 4 (Delete to 5. The battery health is divided as shown below in Table.5.
T RH Reads
tasks sensing (default) itself once T emperature in
complete) degree Celsius T able 5: Power Level classification

GPS Reads GPS Battery Range Power Level Garb0 Se nsor

sensing coordinates S.No (%) Function
from GPS
module
1 79 - 100 Good All functions

Each task has their own metadata stored in flash memory. 2 71 - 80 Medium All functions
Once the specified work is done by the task that task gets
deleted by itself. The software can be used in two low power 3 60 - 70 Low LoRa & GPS
modules are not
modes i.e., SLEEP and STANDBY mode of operation. Power available
switches are also used to turn ON and OFF peripheral

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4 > 60 Down LoRa & GPS x Complaint button which enables to complaint with
modules are not Image or QR code scanning from dustbin.
available x Location verification of entry of garbage dumping to
avoid false dumping.
e. Upload Task x Priority option in complaint to intimate administrator
Upload task is dynamically created by TT task if RTC about the seriousness of complaint.
backup register is set. It prepares LoRaWAN data packets and
sends the packets over defined frequency, channel, and port.
Upload task execution priority is 6.

f. Debug Task
Debug task is created at the sys tem boot-up with lowest
execution priority. It enables command line functionality for
users. Users can reconfigure their system parameters using the
command line interface. The command line interface is only
available at a first system boot only.

All the dynamic created tasks (Sampler, System Admin

and Upload) depended on RTC backup registers and clears
their respective RTC register once the specified task is
completed to prevent the false creation of tasks.
g. Battery Level/Status Classification:
The total battery is classified into four levels, Good,
Medium, Low and Power Down. Good level is assigned as 79
to 100% battery level. From 71% to 80% battery level is
classified as Medium level. Range of 60% to 70% of total
battery voltage is assigned as Low power level while battery
range below 60% is known as Power Down level. In Good and
Medium level all the functions and peripherals or modems are
available while in Low and Down level LoRa and GPS
modules are not available for their working.
D. Mobile APP
An interactive android application for citizens and
collectors. Complaint feature for any problem related to
dustbin and features locating dustbins in nearby areas.
Optimized route display with real time values of dustbin
parameters is also provided in the app. The app has 2 views 1)
Garbage Collector and 2) Citizen
1) Garbage Collector
x Minimalistic interaction for collectors.
x Login based dependency of collectors and their
respective dustbins.
x Optimized route display based on dustbin parameters
and distance.
x Numbering of dustbins order for better visualization
of route.
x Display of dustbin parameters in a single click on
marker.
2) Citizen
x Login and signup to view and store entries regarding
garbage dumping.
x Finding nearby Garbo bin from the user’s location.
Fig.6 UI of Garb0 APP
IV. OPT IMIZED ROUT E A LGORIT HM FOR GARBAGE
COLLECT ION
Whenever a Garbage Collector opens Garb0 application,
all his corresponded garbage bins and their last updated values
are fetched from cloud and those dustbins which already
crossed threshold values are considered for algorithm as
depicted in Fig.7. Road distance between Garbage Collector’s
current location and garbage bin locations is calculated using
Google Application Programming Interface (API) [24] and
added into list with other all parameters. All garbage bins are
then sorted out based on the distance. Garbage bins having
temperature reading higher than 70 Degree Celsius to be given
higher priority and separated out from the list containing all
the garbage bins. An Optimized path between such garbage
bins of having high temperature is calculated by using Google
APIs and response order is recorded. Remaining garbage bins
are then passed directly to Google API to provide an
optimized path between them and order of such response is
recorded too. Final order of garbage bins is created by
merging above 2 lists and path is drawn onto google maps by
using combination of Latitude and Longitude. In case of no
garbage bins requiring the temperature attention, all garbage
bins are passed to Google API for calculation of optimized
path between them.
V. OUT DOOR DEPLOYMENT
To protect the Garb0 sensor module from the outdoor
environmental conditions the Garb0 hardware is enclosed in
IP67 compliant Polycarbonate enclosure. The Garb0 module
equipped with LoRa module and antenna. The flex antenna is
fixed inside the enclosure. Also, the GPS antenna is fixed
inside it which makes the installation very handy. The
ultrasonic sensor is brought out through specific knockout.
As shown in Fig. 8, the sensor module is packaged in a dust
proof enclosure with all antenna’s fixed inside the box. The

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box has been tested for outdoor conditions like in heavy rain and Development of Systems and Solutions for Smart Cities,
and in sunny conditions and proves that it provides robust using Internet of Things ”
packaging for sensor modules. Fig. 9, shows the installation
and outdoor deployment of Garb0 sensor module.

Fig.8 Garb0 sensor module with packaging

Fig.9 Garb0: Outdoor Deployment

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A CKNOWLEDGMENT https://www.hoperf.com/modules/lora/RFM95.html
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[23] LoRAWAN Stack, https://github.com/Lora-net/LoRaMac-node

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[24] Google API Documentation,

https://developers.google.com/maps/documentation

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