VISVESVARAYA TECHNOLOGICAL UNIVERSITY BELAGAVI -

590018

Project Synopsis
on
DESIGN AND IMPLEMENTATION OF ROBOTIC CLEANING FOR SOLAR FARMS
[18ECP78]
Submitted in partial fulfillment for the award of degree
BACHELOR OF ENGINEERING
in
ELECTRONICS AND COMMUNICATION ENGINEERING
By

AFFAN AHEMED 1JT20EC003

TARUN V 1JT20EC051
YUKTHA DR 1JT20EC059
KRUTHIK HM 1JT21EC400

Under the Guidance of

MR.CHANDRASHEKAR BM
Associate professor
Department of ECE
Jyothy Institute of Technology

Department of Electronics and Communication Engineering

Jyothy Institute of Technology
Tataguni, Off Kanakapura Road, Bangalore-560 082
Academic Year 2023-2024
ABSTRACT

This project aims to develop an advanced solar panel cleaning robot tailored for solar arrays.
The adverse impact of dust and debris accumulation on solar panels, resulting in decreased
efficiency and energy output, necessitates an effective and sustainable solution. Existing market
offerings, including robots moving directly on panels or rail-guided robots, face limitations due
to impracticality in navigating multiple arrays or significant infrastructure expenses.

Our innovative solution introduces a dynamic two-part design—a mobile frame and a
specialized cleaning robot capable of traversing the frame for smart and efficient cleaning of
individual panels. Key features of our cleaning robot include effective removal of persistent
contaminants like bird droppings, ensuring sustainable operation. The design avoids direct panel
contact, preventing potential damage and ensuring adaptability to various rooftop configurations
with multiple arrays and gaps.The project's focus on effective, sustainable, and smart cleaning
aims to significantly enhance the overall efficiency and energy output of solar panels.
 TABLE OF
CONTENTS

0.0 ABSTRACT............................................................ 4
1.0 INTRODUCTION .................................................. 6
2.0 AIM AND OBJECTIVE ......................................... 7
3.0 LITERATURE REVIEW ....................................... 8
4.0 Methodology ......................................................... 17
5.0 References ............................................................. 20
6.0 Future scope .......................................................... 21
6.0 Expected outcome ................................................. 22
1.0 INTRODUCTION

1.1 GENERAL INTRODUCTION

Solar panels are now becoming a common infrastructure worldwide. As the

demand for renewable energy increases, solar panels have become an essential
source of clean energy. The installation of solar panels is increasing from year to
year. Especially for industrial and commercial areas, they have a wide space for
the installation of solar panels.

Just like most of the infrastructure and appliances, solar panels also require
maintenance services to ensure their sustainability and performance. The cleaning
service is required to remove the dirt, leaves, water marks, and bird drops on the
surface of the solar panels. The primary purpose of the project is to develop a solar
panel cleaning robot. The solar panel cleaning robot is targeted for the cleaning
service of wide commercial solar panels. Traditional cleaning methods are not
efficient, manpower intensive, high risks, and high costs . Therefore, an automatic
smart system is suggested for the solar panel cleaning robot so that it could
perform the cleaning task independently and effectively.

The development of the solar panel cleaning robot involves two parts, mainly the
hardware construction and the software systems. The structural construction
includes the structural design and electrical circuits design. The software system
includes the basic tasks program and the smart systems development.
1.1 PROBLEM STATEMENT

The accumulation of dirt on solar photovoltaic (PV) panels, including dust, bird droppings,
and water marks, can significantly reduce the performance and efficiency of the panels,
leading to the generation of hot spots and fire hazards. Routine cleaning of PV panels is
necessary to improve the energy output of solar PV systems and prevent damage. Dust
accumulation can often be removed by rainwater, but blockages caused by leaves must be
eliminated to prevent unnecessary reduction of sunlight exposure. However, the most
significant challenge arises from bird droppings, which are highly stubborn and aggressive
types of soiling that can cause hot spots and permanent damage to the solar panels if not
cleaned promptly and thoroughly.

Hence, the development of an effective solar panel cleaning robot is essential to maintain
the efficiency and longevity of solar PV systems. Several studies had emphasized the
importance of regular cleaning and maintenance of solar PV panels to optimize their
performance and minimize the risk of damage. In conclusion, the soiling loss caused by
dirt, bird droppings, and other debris is a significant challenge that affects the performance
and efficiency of solar PV systems. Therefore, developing an automated solar panel
cleaning robot is crucial to maintain the longevity and efficiency of the system. The
utilization of advanced technologies, such as artificial intelligence and machine learning,
can further enhance the effectiveness and accuracy of the cleaning process.

2.0 AIM AND OBJECTIVE

The primary aim of this project is to design, develop, and implement an advanced solar panel
cleaning robot capable of efficiently maintaining the cleanliness and optimal performance of
solar arrays
1. Efficient cleaning operation
2.Sustainable operation
3.Autonomos operation
4.Integration of sensor technologies
5.Contribution to sustainable energy goals
3.0 LITERATURE REVIEW

The global focus on renewable energy has led to the rapid growth of the solar energy industry
in recent years. Solar panels are the primary components of solar energy systems, and their
efficiency is critical to the success of solar power generation. However, the accumulation of
dirt, dust, and other debris on solar panels can significantly reduce their performance by
causing shading and hot spots. Manual cleaning methods, such as using water and brushes, are
commonly used to clean solar panels. However, manual cleaning can be time consuming,
labour intensive, low efficiency, and potentially dangerous.

Automated cleaning technologies, such as solar panel cleaning robots, offer a more efficient
and sustainable solution for maintaining the optimal performance of solar panels. This literature
review aims to explore the existing research on solar panel cleaning robots, their design,
functionality, and potential benefits. The review will analyse the advantages and disadvantages
of different types of solar panel cleaning robots, such as mobile robots and fixed robotic arms,
and compare their performance to traditional manual cleaning methods.

Additionally, the review will examine the different cleaning techniques used by these robots,
such as water-based cleaning and dry cleaning, and evaluate their effectiveness. Moreover, the
review will analyse the current gaps in the literature and suggest areas for future research to
enhance the development of sustainable and efficient solar panel cleaning technologies. This
review will provide a foundation for the design and development of solar panel cleaning robots
and contribute to the development of a more sustainable and efficient method of solar panel
maintenance.
3.1 Solar Panel Cleaning Techniques: Current Methods and Challenges

Several methods are currently employed for cleaning solar panels, including manual labor
cleaning, water cleaning, and brush cleaning. Manual cleaning involves wiping off dirt with a
cloth, water cleaning utilizes a hose and spray nozzle, and brush cleaning employs a soft-
bristled brush. The choice of method depends on panel size, dirt type, and available resources,
with adherence to manufacturer guidelines crucial to avoiding damage or warranty issues.

1.Manual Cleaning:
Traditional and labor-intensive, manual cleaning utilizes water, soap, and squeegees. It poses
safety risks due to working at heights, variable results based on worker skill, and inefficiency,
necessitating improvements for enhanced safety and efficacy.

2.Water Cleaning Methods:

 Hose and Spray Nozzle: Involves spraying clean water to remove dirt, offering ease
and cost-effectiveness. However, challenges include limitations in hard water areas and
potential thermal shock.
 High-Pressure Water Jets: More efficient than manual cleaning, but availability of clean
water is essential. Potential issues include mineral deposits and reduced efficiency if
water quality is poor.

3.Deionized Water:
Involves spraying purified water to prevent mineral deposits, but challenges include water
availability, cost, and the need for high-quality water to prevent efficiency-reducing water
marks.

4.Brush Cleaning:
Utilizes a soft-bristled brush to remove stubborn stains and build-up, effective and
environmentally friendly. Challenges include potential surface damage, time-consumption for
larger arrays, and the need for proper brush use.

5.Self-Cleaning Coatings:
Protective hydrophobic coatings reduce manual cleaning needs by repelling dirt. Advantages
include time and resource savings, with some coatings breaking down organic matter.
However, challenges include initial cost, reduced effectiveness over time, and climate
suitability.

Despite challenges, self-cleaning coatings offer a low-maintenance option for efficient solar
panels. Continued research is expected to yield improved coatings, expanding their applications
in the solar industry.
3.2 Solar Panel Cleaning Robots: Existing Solutions and their
Limitations

Numerous methods exist for cleaning solar panels, including water-free cleaning, solar brush
robots, a combination of brush and water, and robotic arm-based cleaning. Each method
presents advantages and limitations that influence their suitability for specific applications.

1. Water-free Cleaning Robot:

Utilizes air flow and microfiber pads or rolling brushes for panel cleaning without water.
Environmentally friendly, suitable for water-scarce regions, and efficient. However, may be
less effective for heavily soiled panels or stubborn debris.

2. Solar Brush Robots:

Utilize rotating brushes for affordable and effective cleaning. Advantages include affordability,
ease of operation, and portability. Limitations include reduced effectiveness on very dirty
panels, susceptibility to adverse weather conditions, and potential risk of panel damage.

3. Cleaning Robot with Brush and Water:

Combines rotating brushes with water-based cleaning for efficient cleaning of heavily soiled
panels. Effective, faster than manual methods, and conserves water. Limitations include
potential water damage to panels, higher costs, and brushes requiring frequent replacement.

4. Robotic Arm-Based Cleaning Robot:

Employs a robotic arm with brushes and nozzles for versatile and efficient cleaning. Suitable
for panels of various shapes, sizes, and locations with limited access. Advantages include
versatility and efficiency, but limitations include high costs, susceptibility to adverse weather,
and potential risks of frequent brush replacement and panel damage if not properly calibrated.

In conclusion, each robotic cleaning system offers unique advantages and limitations, requiring
careful cons
3.3 Control Systems and Sensors for Solar Panel Cleaning Robots

The control system and sensors play a pivotal role in ensuring the efficient and safe operation
of solar panel cleaning robots. Managing movement and cleaning mechanisms falls under the
control system's purview, while sensors detect obstacles, prevent collisions, and ensure
accurate navigation. Different approaches to control systems and sensor design have been
explored in various studies.

1.Microcontroller Method:
Arduino and Raspberry Pi: Microcontrollers, such as Arduino and Raspberry Pi, are commonly
used for robot prototype development. Arduino Uno, for instance, is sufficient for basic
operations in a simple solar panel cleaning robot. The prototype manages wheel motors, water
pump, cleaning brush, and an ultrasonic sensor using Arduino Uno, showcasing its adequacy
for hardware components.

2.Programmable Logic Controller (PLC) Method:

Reliability and Durability: PLC offers high reliability and durability, making it suitable for
industrial applications. It enhances flexibility and scalability, allowing easy modifications or
updates to the programming. However, it may not be suitable for applications requiring
complex decision-making due to potential complexity in the PLC program.

3.Artificial Intelligence Method:

Smart Detection System: In the initial development stage, a microcontroller suffices for
hardware control. As the robot advances, a more powerful processing unit becomes essential
for a smart detection system, enabling automation and intelligence. Image processing,
recognition algorithms, and machine vision contribute to achieving a fully automated and
intelligent solar panel cleaning robot.

4. Summary:
Microcontroller Method: Simple and suitable for basic operations.
PLC Programming Method: Fast and useful for low-complexity applications.
Artificial Intelligence Method: The final goal in robot development, offering advanced
automation and intelligence.

In conclusion, control systems and sensors are critical for efficient and safe solar panel cleaning
robot operation. The choice between microcontroller, PLC programming, or artificial
intelligence methods depends on specific requirements and expectations for the robot's
functionality and complexity.
3.4 Design Considerations for Solar Panel Cleaning Robots:

Designing an effective solar panel cleaning robot requires careful consideration of various
factors to ensure optimal cleaning performance while minimizing the risk of damage. The
following key design considerations play a crucial role in the development of a successful
solar panel cleaning robot:

1. Cleaning Mechanism:
 Must effectively remove dirt, dust, and debris without causing damage.
 Explore different mechanisms such as brushes, wipers, or air blowers based on the
panel type and debris.

2. Mobility:
 Ensure the robot can move around, up and down, and side to side for comprehensive
cleaning.
 Navigate around obstructions, handle changes in panel slope, and adapt to different
surfaces.

3. Power Supply:
 Select an appropriate power supply method considering operational time and
efficiency.
 Battery-powered robots may be limited in range; direct electricity through wiring
may be more suitable for large-scale farms.

4. Control System:
 Guide the robot around the panel and adjust the cleaning mechanism for effective
cleaning.
 Monitor performance and detect issues; consider different control system solutions,
with artificial intelligence being an advanced option.

5. Safety:
 Equip the robot with sensors to detect obstacles and prevent collisions with panels
and equipment.
 Ensure the design prevents damage to the solar panel and minimizes the risk of the
robot falling during operation.
 Handle water usage carefully to avoid contact with electronic circuits,
implementing proper insulation and waterproofing measures.

By addressing these factors, designers can create solar panel cleaning robots that are both
effective and safe. The design considerations serve as a comprehensive guide for developing
successful solar panel cleaning robots.
 3.4.1. Design Considerations of Solar Panel Cleaning Robot.

3.5 Power and Energy Management of Solar Panel Cleaning Robots:

Efficient power and energy management are pivotal aspects in the design of solar panel
cleaning robots, ensuring prolonged operation without frequent recharging or refuelling.
These robots utilize a mix of renewable and non-renewable energy sources, including solar
panels, batteries, and fuel cells. The design of their power and energy management system
involves strategic selection of energy sources, optimizing energy efficiency, and meticulous
energy consumption management for sustained operation.

Key Considerations:

1. Energy Source Selection:

 Solar Panels: Harness energy from the sun and store it in batteries.
 Batteries and Fuel Cells: Essential for areas with limited sunlight or shaded regions,
supplementing or replacing solar panels.

2. Optimizing Energy Efficiency:

 Employ energy-efficient components.
 Minimize weight, size, and power losses in the system.
3. Managing Energy Consumption:
 Implement intelligent energy management systems to monitor and adjust energy
sources.
 Prevent battery depletion by optimizing the use of renewable and non-renewable
sources.

4. Energy Storage Systems:

 Batteries: Common for storing energy from solar panels; limited capacity.
 Fuel Cells: Convert chemical energy directly into electrical energy, offering longer
operating times.

Efficient and sustainable solar panel cleaning robots are achieved by considering these
factors, allowing for extended operation without frequent recharging or refueling. Figure
3.5.1 provides a summarized overview of the power and energy management of solar panel
cleaning robots.

3.5.1. Power and Energy Management of Solar Panel Cleaning Robot

3.6 Comparative Analysis of Solar Panel Cleaning Robots

1. Ecoppia E4 Robot:
 Cleaning System: This robot is fully autonomous, utilizing a water-free mechanism
with microfiber and airflow.
 Power: It is powered by solar energy.
 Performance: The robot boasts an impressive cleaning capacity of up to 10,000 solar
panels per day, achieving a remarkable 99% cleaning efficiency.
 Features: Known for its low power consumption, it can operate effectively even in
extreme temperatures.

2.SolarBrush Robot:
 Cleaning System: Operating without water, this robot relies on a rotating brush for
effective cleaning.
 Power: It is powered by solar panels.
 Performance: With a capacity to clean up to 1,200 solar panels per day, this robot is
recognized for its high cleaning efficiency.
 Features: Compact and lightweight, it includes an autonomous navigation system for
efficient movement.

3. SunBrush Mobil:
 Cleaning System: This robot uses a waterless cleaning method, employing a rotating
brush system.
 Power: The power source is not explicitly specified.
 Performance: With a cleaning rate of up to 200 panels per hour, it maintains a high
level of cleaning efficiency.
 Features: Mounted on a vehicle, it exhibits low power consumption and functions
well in extreme temperatures.

4. Helios Hexacopter:
 Cleaning System: Utilizing a water-based approach with spray and brush technology,
this drone is designed for solar panel maintenance.
 Power: It is powered by a rechargeable battery.
 Performance: Offering a cleaning efficiency of up to 95%, it can clean around 100
panels per hour at heights of up to 50 meters.
 Features: The drone's design is portable and compact, and it can be equipped with
additional sensors and cameras for comprehensive inspection.

Factors to Consider:
 Cleaning efficiency.
 Power consumption rate.
 Ability to operate in extreme temperatures.
Conclusion:

When selecting a solar panel cleaning robot, careful consideration of factors such as cleaning
efficiency, power consumption, and adaptability to various conditions is crucial. The summary
of the mentioned solar panel cleaning robots is presented in Table 3.6.1.

3.6.1.Comparative Analysis of Solar Panels Cleaning Robots.

3.7 Summary

Solar panel cleaning robots have gained prominence for their efficiency and cost-effectiveness
in maintaining solar installations. The Ecoppia E4 boasts an autonomous, water-free cleaning
system powered by solar energy, achieving an impressive cleaning capacity of 10,000 panels
per day with 99% efficiency. Notably, it operates with low power consumption and excels in
extreme temperature conditions.
The SolarBrush introduces a waterless cleaning solution using a rotating brush mechanism,
demonstrating a cleaning rate of 1,200 panels per day. Its compact, lightweight design is
complemented by an autonomous navigation system, making it an efficient and sustainable
solution. SunBrush Mobil stands out with its waterless cleaning using a rotating brush system,
achieving high efficiency at 200 panels per hour. Mounted on a vehicle, it combines mobility
with low power consumption for effective solar panel maintenance.
The Helios Hexacopter, a water-based cleaning drone, employs spray and brush technology,
achieving a cleaning efficiency of up to 95% at heights of 50 meters. Powered by a rechargeable
battery, its portability, compact design, and customization options with additional sensors make
it a versatile solution. When choosing a solar panel cleaning robot, factors such as cleaning
efficiency, power consumption, and adaptability to extreme conditions should be considered to
make an informed decision.
4.0 Methodology

4.1 Introduction

This section details the methodology and work plan implemented for the solar panel cleaning
robot project. The project comprises two main components: the moving frame and the cleaning
robot. The moving frame transports the cleaning robot, which is responsible for cleaning the
solar panels. We divided the project into three primary sections: mechanical structure, electrical
and electronic circuit systems, and software systems.

The methodology sections outline the design process for the mechanical structure, circuit
systems, and the flow chart of the Arduino codes. Additionally, we provide a list of the
hardware used in constructing the prototype. This section aims to offer a comprehensive insight
into the development approach for the solar panel cleaning robot, covering its physical
structure, electronic systems, and the software controlling its operations.

4.2 Block diagram

4.3 Components

1. Cushion Brush (360 mm):

 Cushion brushes, equipped with bristles, play a role in the cleaning mechanism to
remove debris and dirt from solar panels.

2.Wheels Motor - 30 rpm (GA36Y-555-CE):

 Motors responsible for driving the wheels, facilitating the robot's movement across
the surface of solar panels.

3. Cleaning Brush Motor - 150 rpm (JGY-370-CE):

 This motor is dedicated to driving the cleaning brush, ensuring effective cleaning of
solar panels.

4. Linear Actuators (L = 250mm, Extend = 150 mm):

 Linear actuators extend and retract, potentially used for adjusting the height or
position of the cleaning mechanism.

5. Cleaning Brush Motor Coupler:

 Couplers connect and transfer motion from the motor to the cleaning brush,
facilitating the cleaning process.

6. Mecanum Wheels (152 mm):

 Mecanum wheels enable omnidirectional movement, allowing the robot to move in
any direction with ease.

7. Cleaning Robot Rubber Wheels:

 Rubber wheels contribute to traction and stability, especially during the cleaning
process.

8. Water Pump:
 The water pump is used for a water-based cleaning mechanism, spraying water
onto solar panels during the cleaning process.

9. Motor Driver (MDD10A):

 Motor drivers control and regulate the power supplied to the motors, ensuring
smooth and controlled movement.

10. Radio Transceiver (nRF24L01+):

 Radio transceivers enable wireless communication, allowing different parts of the
robot to communicate and coordinate their actions.

11. Arduino Mega:

 The Arduino Mega serves as the central processing unit, executing programmed
instructions and controlling the overall operation of the robot.
12. Arduino Nano:
 The Arduino Nano may be used for specific tasks or subsystems, contributing to
the overall control and coordination of the robot.

13. InfraRed Sensor (SN-IR-MOD):

 Infrared sensors are likely used for detecting obstacles or specific conditions during
the robot's operation.

14. Ultrasonic Sensor (HC-SR04):

 Ultrasonic sensors measure distance and are commonly used for obstacle
avoidance.

15. Switching Power Supply (220 AC – 24 DC):

The switching power supply converts AC power to DC power, providing a stable power
source for the robot's electronic components.

16. Buck Converter:

 Buck converters regulate voltage, ensuring that different components receive the
appropriate voltage for optimal performance.

4.4 Flow chart:

5.0 References

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Intelligence and Lotus Effect in an Emerging Intelligent Drone for Persevering Solar Panel
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Arabatzis, I., Todorova, N., Fasaki, I., Tsesmeli, C., Peppas, A., Li, W.X. and Zhao, Z., 2018.
Photocatalytic, self-cleaning, antireflective coating for photovoltaic panels: Characterization
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Bari, A., M, P.C., Student, U. and professor, A., 2018. International Journal of Advances in
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6.0 Future scope

The future development of the solar panel cleaning robot can focus on the following areas:

1. Weight Reduction:
 Exploring lighter materials for the cleaning robot body to improve its
maneuverability and efficiency, particularly in situations where weight is a critical
factor.

2. Optimized Power and Water Supply Handling:

 Developing efficient methods for managing power and water supply, tailoring
solutions based on the scale of solar panel sites. This includes improvements in wire
and hose handling for larger sites and exploring battery power supply for smaller
sites.

3. Integration of Machine Vision:

 Advancing the robot's capabilities through the integration of machine vision
technology. This involves incorporating cameras and a more powerful processing
unit to enable the robot to identify dirt, locate itself autonomously, and perform
intelligent cleaning operations.

In conclusion, the continuous improvement of the solar panel cleaning robot should be context-
specific, focusing on reducing weight, optimizing power and water supply handling, and
integrating advanced technologies like machine vision. These enhancements aim to create a
more versatile and efficient robot tailored to the specific requirements of different solar panel
environments.
6.0 Expected outcome

The objective of the solar panel cleaning robot project is to develop an autonomous system for
efficient solar panel cleaning. Anticipated outcomes include adjustable cleaning mechanisms,
obstacle detection, and reliable hardware-software integration. Success is marked by a user-
friendly, durable robot optimizing solar panel efficiency and complying with safety standards.