Design and Development of an

automatic robotic cleaning system for

PV panels

Team Members:
Anas Alasmari
Mohamed Alhajoj,
Ali khormi,
Ibrahim Alfar
Yahya Haddadi
LOGO
Ahmed Alsalameen
LOGO Contents

1 Introduction

2 Construction of Roomba robot

3 Program Development

4 Labview

5 Conclusion
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LOGO 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 Automatic Cleaning

of Solar Modules of Solar Modules

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LOGO 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 Heliotex automatic system
tools are used, and panels are
cleaned just by gravity.

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.

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LOGO Introduction:
EcoppiaE4 Nomadd

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LOGO Introdction:
SCR robot
Move from panel to an another by means of screws is
installed allow him to move.

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LOGO 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.

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LOGO Construction of Roomba Robot:

What’s Roomba robot?

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LOGO Construction of Roomba Robot
4 Cliff
Sensors

two
wheels Brush
with
servo
motor
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LOGO 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 .

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LOGO Program Development
There is a list of Roomba's open interface commands
For example:

Drive Opcode: 137 Data Bytes: 4

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LOGO Program Development

Drive Direct Opcode: 145 Data Bytes: 4

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

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LOGO Program Development

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

Start
point

straight

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LOGO Program Development

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LOGO Program Development
Back to the starting
point

starting
point

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LOGO 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.

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LOGO Program Development

What is an Arduino?
 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.

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 Program Development
LOGO
Types of Arduino ?

UNO MEGA LilyPad

Arduino Nano Arduino Mini

Arduino BT

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LOGO Program Development
Arduino MEGA pinout

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 Program Development
LOGO How to use Arduino

Phase 1 Phase 2 Phase 3

Vin

Compilation and
programming Arduino platform Test on Robot

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LOGO 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.

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 Program Development
LOGO
Accelerometer

What are accelerometers useful for?

•Protect hard drives from damage.
•Detecting car crashes and deploying airbags at just
the right time.

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LOGO Program Development

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

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

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LOGO 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 :

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 LOGO 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

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LOGO Labview

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LOGO Labview :Hot Tip

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LOGO Labview

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LOGO Labview

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LOGO 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 .

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LOGO 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.

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LOGO

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