George Gibson, from Streetwave, said phone and internet access was one of the most important forms of infrastructure, but it had not been “mapped out” like roads and railways.
“We don’t understand which of our communities are suffering from digital exclusion,” he said.
He added that bin lorries were ideal for the project because as they already had to drive to every residential and commercial property in the region.
Similar projects have been carried out in places including Norfolk, Dorset and Gloucestershire.
South Yorkshire’s Mayor Oliver Coppard said: “Digital connectivity isn’t a luxury, it’s a necessity, whether it’s accessing public services, running a business or just staying in touch with friends and family.
“Too many people in South Yorkshire are still stuck in mobile ‘not spots’ where coverage is patchy or non-existent.
“That’s why it’s important this project is giving us the data we need to change, to make sure everyone in South Yorkshire can get the signal they need, wherever they live.”