Design and Development of an automatic robotic cleaning system for PV panels Team Members: Anas Alasmari Mohamed Alhajoj, Ali khormi, Ibrahim Alfar Yahya Haddadi Ahmed Alsalameen

Construction of Roomba robot Contents 1 Introduction 2 Construction of Roomba robot 3 Program Development 4 Labview 5 Conclusion

Introduction The sun on the deserts in the Middle East and North Africa region are prime candidates for solar energy projects, but who is going to dust off the windblown sand to keep solar panels operating at top efficiency? Manual Washing of Solar Modules Automatic Cleaning of Solar Modules

Introduction Automatic system cleaning with water Heliotex has been manufacturing automatic cleaning systems since 2008. There are no moving parts or robotic elements; the Heliotex system looks like a sprinkler. No tools are used, and panels are cleaned just by gravity. Heliotex automatic system WATER-FREE automatic cleaning system Dry regions are usually the ones with the most solar installations. So why not use a waterless cleaning system? Here are three robots fresh to the market.

Introduction: EcoppiaE4 Nomadd The E4 water-free, robotic solution from Ecoppia cleans panels every day with a soft microfiber and gentle air flow. Floating over a frame that travels alongside each row of panels, Ecoppia claims the E4 removes 99% of dust during its daily cleanings Nomadd Move like a train on the both side of PV panel

Introdction: SCR robot Move from panel to an another by means of screws is installed allow him to move. It has a limited dgree it is 15 deg

Introduction For our project we choose to use a robot that moves on the panel to avoid the problems of the mechanical design of the other automatic systems used to clean the solar panels.

Construction of Roomba Robot: What’s Roomba robot? It’s a robotic vacuum cleaner that automatically drives it self around your home, its picks up dirt around the room by using brushes and vacuum .

Construction of Roomba Robot 4 Cliff Sensors two wheels with servo motor Brush

Construction of Roomba Robot Serial ports The external serial port with open interface let you to controlling and manipulating Roomba's behavior , for example you can read and controlling the sensors , you can controlling the speed of the motor , direction of the movement and so on .

Program Development There is a list of Roomba's open interface commands For example: Drive Opcode: 137 Data Bytes: 4

Program Development Drive Direct Opcode: 145 Data Bytes: 4

Program Development Serial sequence: [142] [Packet ID]

Program Development

Program Development Rotate 180 deg Back 10cm Final point straight Start point straight

Program Development

Back to the starting point Program Development Back to the starting point starting point

Program Development How dock charger works? The IR transmitter consists of the LED that emits the IR(Infra Red) radiation.This is received by the photo diode, which acts as IR receiver at the receiving end. Since the IR radiation is invisible to human eye it is perfect for using in wireless communication.

What is an Arduino? Program Development A microcontroller board, contains on-board power supply, USB port to communicate with PC, and an Atmel microcontroller chip. Arduino is an open-source prototyping platform based on easy-to-use hardware and software.

Program Development Types of Arduino ? UNO MEGA LilyPad Arduino Nano Arduino Mini Arduino BT

Program Development Arduino MEGA pinout It has more gigital i/o more serial port and these will gonna use it to

Program Development How to use Arduino Test on Robot Arduino platform Compilation and programming Phase 1 Phase 2 Phase 3 Vin

Program Development Accelerometer To have butter control strategy for the Robot we used an accelerometer and a PID controller. Defination: It is an electromechanical device that will measure acceleration forces.

Program Development Accelerometer What are accelerometers useful for? Protect hard drives from damage. Detecting car crashes and deploying airbags at just the right time.

Program Development What’s MEMS The Micro-Electro-Mechanical-Systems (MEMS)

Program Development what is PID controller? PID stands for proportional, integral and derivative, referring to the mathematical equations used to calculate the output.

Program Development If the robot miss a spot that doesn’t clean it so we have to control it manually from control room. There are famous wireless technologies used such as :

Program Development Why the zigbee? Low power consumption battery life ranging from months to years High density of nodes per network (Mesh networking) Low cost Simple implementation Small packet devices. small size

Labview

Labview :Hot Tip

Labview

Labview

Conclusion 1-A control strategy for the Robotic Vacuum Cleaner has been designed and tested 2- It has been proved experimentally that the robot can traverse on inclined surfaces (tilt angle 10°-15°) without any difficulty 3- If battery level falls below a threshold, it is confirmed that the robot returns to the docking station and charges itself automatically. 4- we used the arduino ,labview,Xbee, for programming and controlling . 5-we complete 80% of the project and we minimized the cost .

Conclusion 1-we can improve the programming to increase the artificial intelligence. 2-we can do work on the mechanical part to improve the movement. 3-Using more powerful batteries, vacuum motors and gripper wheels would be helpful in implementing the robot on a larger scale.

Thank You !