1. 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

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

3. 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

4. Introduction
Automatic system cleaning with water Heliotex has been manufacturing automatic cleaning systems since 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.

5. 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

6. 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

7. 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.

8. 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 .

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

10. 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 .

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

12. Program Development
Drive Direct Opcode: Data Bytes: 4

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

14. Program Development

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

16. Program Development

17. Back to the starting point
Program Development
Back to the starting point
starting point

18. 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.

19. 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.

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

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

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

23. 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.

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

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

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

27. 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 :

28. 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

29. Labview

30. Labview :Hot Tip

31. Labview

32. Labview

33. 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 .

34. 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.

35. Thank You !