Early Warning and IoT-based Reporting System for Mobile Trash Bin Robot Application

This paper presents an early warning and reporting system to support mobile trash bin robot operations when collecting trashes. To support its task, we equipped it with an ability to estimate working time of the robot by considering robot's power supply and the trash level. To estimate the availability of robot's working time, we utilize the power supply voltage data that is smoothed using Kalman Filter to reduce noises. The output of the working time estimation system and trash level are then fed to the decision-making system. The warning will be reported to the cleaning service operator when a specific condition occurs. To do that, our robot is also equipped with an ability to communicate with the operator over internet which is specifically developed by us using TelegramBot. Operator can request data from the robot as needed, such as battery information, trash level, estimated working time from the battery, and operator can also turn off the robot's work. Our experiments using 4G LTE Network has an average latency of 11.94011 seconds and using WiFi network has an average latency of 6.066273 seconds.