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A comprehensive review on solar panel cleaning robot technologies

Conference Paper in AIP Conference Proceedings · January 2023

DOI: 10.1063/5.0127800

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RESEARCH ARTICLE | APRIL 24 2023

A comprehensive review on solar panel cleaning robot

technologies
Nishant Sarode; Paras Ghugal; Shivam Yadav; ... et. al

AIP Conference Proceedings 2753, 020018 (2023)

https://doi.org/10.1063/5.0127800

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 A Comprehensive Review on Solar Panel Cleaning Robot
Technologies

Nishant Sarodea), Paras Ghugalb), ShivamYadavc), Samiksha Dantuled), Praful

Nandankare)
Electrical Engineering Department,
Government College of Engineering, Nagpur, Maharashtra, India
a)
[email protected]
b)
[email protected]

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c)
[email protected]
d)
[email protected]
e)
Corresponding Author: [email protected]

Abstract. The world is inclined toward cleaner non-conventional and renewable energy sources. The Sun is an
inexhaustible and abundant source of energy. The PV Solar Panel helped us harness the power of the sun and convert it
into electrical energy with sufficient efficiency and convenience. But the efficiency is adversely affected by the
accumulation of dust, mist, bird droppings, and snow and therefore it is the need of the hour to have regular cleaning of
solar panels. Along with the scheduled cleaning, it is also essential to have appropriate and effective solar panel cleaning.
Conventionally, Solar panels are cleaned manually. The disadvantages of manual cleaning are non-uniform cleaning,
inaccessibility, damage to panels, risk of human casualties (especially in roof-top panels) and movement difficulties. The
labour-hire is also a cumbersome task for PV panel cleaning. The task of PV panel cleaning becomes difficult and costly
if labour is hired. These disadvantages can be overcome with the help of an automated robotic cleaning solution. In this
paper, we have a comprehensive discussion and review of various technologies developed for this purpose all over the
world.

Keywords: PV panel cleaning, Automated robot, Solar PV O&M services, PV Maintenance, Performance Improvement,
Dust removal, Robot Drives, Renewable Energy.

INTRODUCTION

Solar energy is emerging as the fastest-growing alternative source of energy due to its benefits to the
environment, being a renewable form of energy, it is widely adopted in all sorts of environments, especially in
regions of good annual insolation period. The solar power plant in India generates around 0.20 kWh per meter on a
daily basis. The efficiency of the solar power plant decreases due to the accumulation of dust on solar panels. The
efficiency reduces drastically in the presence of dust in surrounding environments. The particles of dust and soil
spread in the atmosphere. The smoke, fog and other aerial particles come under the category of dust and these
materials are responsible for the amount of dust in the atmosphere. Dust can be formed due to the accumulation of
sand, unwanted particles from factories, remaining particles from forest fires etc. The dust formed from these
substances. These particles which are foreign to solar panels gets deposited on PV panel and prevents the light to
reach the solar panel. Due to this problem, the energy production from solar panels reduces. Moreover, solar panels
are positioned in such a way that they come directly in contact with bird droppings that get stuck to the panels so
that even rainwater cannot clean them completely. [1]. The study was done on dusty solar panels and cleaned solar
panels and the study period was around 5 months. The experimental setup of outdoor installation was carried out and
it was found that the efficiency of solar panels decreased by 29.76% when it is kept open for the natural deposition
of dust. The efficiency of these panels which were left open for natural deposition of dust has shown a drastic
decrease in efficiency as compared to cleaned solar panels which were cleaned on a daily basis.
The above-discussed problems can be easily overcome using regular cleaning of panels. Along with regular
cleaning of PV panels, uniform cleaning is also required. Scheduled automatic robot tech-solution, without human
intervention will solve this problem. The energy output increases if an automatic cleaning system is incorporated. It
has been found that solar panel provides 30% more power output if it is compared with dusty solar panels. The
automatic cleaning of solar panels is more effective as compared to dusty solar panels.
Advances in Material Science and Manufacturing Engineering
AIP Conf. Proc. 2753, 020018-1–020018-9; https://doi.org/10.1063/5.0127800
Published by AIP Publishing. 978-0-7354-4424-9/$30.00

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 Further, a review of existing technology has been done for automatic robotic cleaning of solar panels which are
available on the market. The classification and comparison of various solutions on the basis of methodology,
technology, and approach have also been done in this review paper.

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FIGURE 1. Factors affecting Dust settlement

1. CLASSIFICATION OF SOLAR CLEANING ROBOT TECHNOLOGIES

The Solar Panel Cleaning robots can be classified on the basis of various parameters as given below:

FIGURE 2. Classification of solar cleaning robots

A. On the basis of drives

1] Holonomic Drives
A holistic or holonomic drive mentions that it can proceed in all directions and rotate independently. Such robots
can spin while expressing their body in the forward direction.
It will prevent scratches on the solar panel as it uses rubberized cushioning at the contacting surface of the
wheels. Since there would be less contact between the solar panel and the wheel, which would result in less traction.
Because of the lower traction, the inclination angle of the solar panel must be low to avoid slipping of the robot. It
has better manoeuvrability and the ability to clean hard-to-reach areas. It is difficult to control, hence there is a need
for complex control programming. It is expensive to implement.

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2] Tank Thread Drive
Tank thread drives are driven by two or more wheels and it runs on a continuous track. These types of drives are
normally used in tracked vehicles. The weight of the vehicle will be distributed uniformly on a large surface area of
tracks and these are better as compared to steel or rubber tyre vehicles. This drive provides high traction owing to its
large surface area even on the slippery surface area. Compared to wheels, tracks have an optimized traction system,
which delivers more power. Due to more friction, the system with a continuous track will be slower than the wheels.
Due to tank thread drive, it is difficult for the system to manoeuvre on steep edges, and requires more power while
turning. If the track gets damaged the whole thread drive gets changed, which increases the cost.
3] Linear Wheel Drive
Four-Wheel Drive- The power is normally provided to all four wheels in a system driven by four wheels. Due to
the uniform distribution of power to all four wheels, optimal traction is obtained and this is very critical on angled
surfaces. The proper traction and control are achieved due to the uniform distribution of power. This type of traction
plays an important role in uphill driving. It will provide more stability to the vehicle at a high inclination. It will

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allow vehicles to cover the edges of the panels which may be difficult in 2-wheel drive. It is expensive and less
efficient. It consumes more power.
Two Wheel Drive-In two-wheel-drive the torque is generated by two of the system's wheels while allowing the
other two wheels to spin. The two-wheel-drive system is lighter and more power-efficient. It is less expensive and
easier to implement. It is lighter in weight. It can only be used for flat surfaced solar plates. It is not suitable for high
inclination.

B. On the basis of cleaning method

1] Dry Cleaning
a) Dusting- This type of system is a simple cleaning system and is economically viable. This system incorporates
a brush or microfiber cloth which moves very easily on solar panels. This is used to clean the surface of the glass.
The brush which is used in this system is a rolling brush which can run smoothly on the glass surface. This cleaning
approach is widely accepted in the middle east and in regions where the availability of water is limited. The cleaning
of PV modules using water droplets is a rare solution in dry subtropical areas. Access to water is limited in these
regions and procurement of water is a costly affair and also depends on location.
b) Compressed Airflow- This type of system is normally constructed using an air-compressor unit and this unit
has a compressor, tank filled with air, a valve for controlling airflow and a bunch of nozzles. This cleaning
technique is used in northwestern parts of India and this type of mechanism is tested on solar PV panels which are
located in these areas. The solar PV panels are used to drive the compressor and valves are used to control the
release of air which is compressed in the compressor unit. This valve is regulated as per the requirements of
cleaning. This system is installed at the edges of solar PV panels and the air is released from the nozzles in turn
forming a shape of a flake which removes the dust from the surface of solar panels.

2] Water Cleaning [Mist/Wiping]

In general, wet cleaning is more effective than dry cleaning. In a wet cleaning medium, water or other types of
chemicals are used as a medium to clean the layers of dust that are having salt or other deposited chemicals. The
dust layer can be dissolved easily with the help of water. The particles can be easily removed from surfaces of solar
PV modules using fluid as a cleaning medium. Water used for cleaning solar panels puts strain on underground
water reservoirs.
3] Vaccum Cleaning
It uses a motor which creates a vacuum but it demands high energy consumption. It cannot remove stuck
particles and bird droppings effectively. We will have to extract some additional efforts for the proper cleaning of
solar panels. This method requires high maintenance and hence it is expensive in the long run. The frequency and
speed of operation will be reduced. As the motor is heated up, it will take time to cool down which makes the speed
of operation moderate. It is generally not used in solar panel cleaning projects due to the above difficulties.

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 2. MAJOR TECHNOLOGIES ALL OVER THE WORLD
A) Ecoppia T4, Israel- Ecoppia‟s T4 which is located in Israel is a perfect cleaning mechanism for solar PV panels.
This cleaning solution doesn‟t use water. It is an autonomous solution for cleaning PV panels. This robot removes
almost 99% of dust particles which get deposited in solar panels and this type of mechanism can be used up to 400
sq. m. This mechanism can easily cover 200 solar PV modules. The cleaning is normally performed after the
production of energy from panels. The cleaning is done when trackers are at a low angle (up to 2 degrees). In this
water cleaning technique, a combination of microfiber elements and controlled airflow is used. This combination
helps to remove deposited dust particles from the solar panels. This type of cleaning machine has lightweight. This
robot follows an optimal and smooth path as multiple sensors are incorporated into this cleaning mechanism. These
sensors detect the edges of solar panels and depending on the signals provided by sensors, this robot moves along an
accurate and efficient path. This robot easily travels to the neighbouring table with the help of connecting bridges.

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FIGURE 3. Ecoppia T4
B) Aegeus, India- The water-free cleaning mechanism is developed by Aegeus Technologies in India and this
water-free approach is developed for roof-top PV panels. This cleaning robot has a weight of 5kg along with the
battery weight and it can be controlled from remote locations using a web application. The panels are cleaned with
the help of air and therefore water is not used for cleaning panels. This approach eliminates harmful chemicals used
for cleaning panels. The Shreem robot is exclusively developed for rooftop solar panels and this robot has been
introduced by Aegeus technologies whose headquarters are situated in Bengaluru. This shreem robot uses wiping
brushes in axial and radial mode. These wiping brushes are made up of microfiber cloth. The controlled airflow
takes care of the dust particles and it wipes off the dust effectively. The radial brush removes the leftover dust from
the edges. The set of wiping brushes and controlled airflow from the air wash mechanism of the Shreem robot. This
technology doesn‟t use water or any type of harmful chemicals. This robot can be easily controlled using a web
application and its control is possible from remote places. Due to operation from a remote location, the rooftop
panels can be accessed easily which is generally considered dangerous. The robot is operated manually with the help
of a mobile application as it is Bluetooth enabled. The control of this robot can also be done with the help of an RF
controller. This robot can be made to start at any desired daytime.

FIGURE 4. ShreemAegeus India

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C) Resola, Sinfonia Technology Co. Ltd., Japan- A cleaning robot known as “Resola” is developed which cleans
the panel surface with the help of water. This Resola robot is developed by Sinfonia Technology Co. Ltd. The
sensors are incorporated in this robot and hence the robot automatically finds an optimal and efficient path according
to the decision given by the sensors. This robot understands the environment of solar panels. This Resola robot
cleans the solar panels using water and a wiper and brush are also used to enhance the cleaning process. This robot
has an inherent lithium-ion battery and tank for the storage of water. The tank capacity is around 2.7 litres. This
Resola robot cleans 45 panels in 30-45 minutes with a fully filled tank. The Resola robot covers 75 sq. m. in the
same amount of time. The rechargeable battery of this robot runs for five hours after full charging. The battery can
be easily replaced with a new one. Initially, the company was of the view to clean the panels using water. There are
some robots which blow off dust with a flow of controlled air but this technique doesn‟t remove the dust effectively
therefore, water is used in coordination with controlled airflow. In many existing robots, water is supplied externally
via a hose etc. but this robot overcomes all the challenges faced by existing robots.

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FIGURE 5. Resola Cleaning Robot

D) Miraikikai Inc. Type 1, Japan- Miraikikai Inc. claims that it is cost-effective as when compared to manual
cleaning, it cost almost 80% less when a Robot is used. The recovery rate of solar Power generation of Miraikkai is
equivalent to or more when compared to that of any other method of manual cleaning. Irrespective of the workers‟
skills the output of the cleaning is High and constant. There is no requirement for water for its operation as it comes
under comprehensive dry cleaning. The Robot uses a fully autonomous control system and different kinds of sensors
that clean all over the PV array automatically. A specialized mechanism system is made such that it crosses the gaps
between two PV Modules. Its Design is very optimized and made such that it is very lightweight and easy to carry.
These Robots are Tested by various PV Module Manufacturers including the likes of TuvRheinland which claims
that the robots are Durable, can perform rigorously and have High safety standards as compared to other robots.
They have proved that without the modules getting damaged they can sustain for a period of 25 years or more even
when operating the robots in Dusty or Hot Environments. It uses holistic drive utilizing mecanum wheels, it can
drive the machine up to a 10-degree inclination.

FIGURE 6. Miraikikai Inc. Type 1, Japan

E) hyCLEANER® SOLAR facelift, Germany- The „hyCLEANER® SOLAR facelift‟ is an easy-to-use automated
solar cleaning robot. It can be controlled via a radio frequency remote control with a range of 100 m. Its operation
speed is adjustable according to the requirements of the site. It has an operating pressure of 2-8 bar, which does not
harm the solar panel. The brush structure and high angular speed of the bristle tips, ensure the optimum cleaning of

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panels. The brushes are designed to be self-supporting which ensures an effective edge cleaning. It requires
minimum human supervision or interference which not only ensures regular and uniform cleaning but also provides
convenience to the operator. It can also operate effortlessly on panels installed with moderate inclination. The
surface load applied by the robot on the solar panel is considerably low and is below the allowed snow and wind
loads. It has lightweight and modular attachments which ensure portability and easy handling. It has multiple fixing
and fastening points, this allows the robot to be adjusted to ensure a flat positioning of the robot. This ensures
stability in hard-to-reach and inclined areas. It can utilize rainwater, tap water or demineralized water without any
issue. The driving pad uses a velcro fastener which allows easy replacement.

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FIGURE 7. hyCleaner

F) SolarcleanO, JTK Solar Solutions, Netherlands- SolarCleano is a highly efficient solar panel cleaning system
that uses numerous fibres and brush types. It is mobile and easily usable by one person to clean. The manufacturers
of Solar Panels make solar panels such that they can withstand pressure up to 5200 Pa on their Solar panels. The
SolarCleano never applies pressure more than 4000 Pa on the panels taking the risk of damaging the panel to almost
nil. It uses rubber pads, allowing the robot to move smoothly on the panels without vibrations. SolarCleano can
work on all the different rooftops with an inclination angle up to 25°. After 25°, it is advised to the customers to use
it with a safety system depending upon the condition of the rooftops some customers use it up to 30 degrees. The
standard autonomy of a battery is 2h30 and the remote control has a 200-yard range. Around 1 MW can be cleaned
in one passage depending upon how the customer has installed the solar panels. There is no need for additional
electricity connection or compressor as SolarCleano is fully autonomous and its batteries are more than sufficient
and capable of completing the task.

FIGURE 8. SolarCleanO

G) GEKKO Solar Hightec Robot, SERBOT, Swiss- The „GEKKO Solar Hightec Robot‟ is well suited for
cleaning PV panels on rooftops as well as solar farms. It can clean the PV panels which are difficult to reach
manually. It is compact, versatile and readily portable weighing about 55 kg without a brush. Therefore, solar PV
O&M cleaning companies offer their services to PV plants. The efficiency of the robot peaks up to 1'040 m2 per
hour and averages up to 670 m2 per hour. It is suitable for extended rooftop installation, where manual cleaning is
risky or not possible. It employs rotating brushes along with a pressurized spray of demineralized water which
efficiently cleans solar PV panels. The robot is paired with a dedicated Mobile work platform which allows users to
control the robot remotely. The operator can put the robot on the panel array and comfortably control the robot
remotely. The water and energy are supplied via a hose of about 100 m in length. The robot can be utilized
efficiently for small solar farms with narrow panels. In this case, it would require a support trolley to supply water

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and pressurized air to enable an independent operation.

FIGURE 9. GEKKO Solar Cleaning Robot

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TABLE 1. Comparison of major automated solar PV cleaning robots

GEKKO,
Sr. Ecoppia Shreem, Aegus, SolarcleanO
Parameters hycleaner Solar SERBOT,
No T4, Israel India JTK
SWISS

METAL &
1 Body type ABS METAL METAL METAL
FIBER

Dimensions
2 0.7x0.63 NA 1.2x0.9x0.5 0.24x0.14x0.17 1.44x1.3x0.33
(in m)

60 kg without 55 kg without 84 kg without

3 Weight 13.5 Kg 5 Kg
brush brush brush

4 Battery NA 10Ah Li-ion 42 V NA 20Ah Li-Ion

Compressed Water
5 Cleaning Type Dusting Water Cleaning Water Cleaning
Airflow Cleaning

Radio-frequency Radio-
Control web-based web-based app Radio-frequency
6 remote control frequency
System control and RF control remote control
remote control

Water
7 NA NA Hose Pipe Hosepipe Hose Pipe
Capacity

Inclination Up to 2 Up to 25 Up to 45 Up to 25
8 Up to 5 degrees
Angle degrees degrees degrees degrees

9 Range Web-based NA 100m 300m 180m

3. CONCLUSION
With the increase in PV installations and demand for cleaner energy, the solar PV O&M services sector is on the
boom. Many national and international players have emerged in this sector. We have reviewed various major
companies that are offering their services in this sector, and provide technologies that enable solar utilities to
perform at their utmost potential. Each of them uses different technologies and methods to complete desired tasks.
The areas with abundant and accessible water supply use water as a medium of cleaning along with wiping and
dusting. As we have already discussed, water cleaning is a better method as compared to dry cleaning. But in the

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areas where water is a scarce resource such as Deserts, the Arid region prefers dry cleaning. It sufficiently increases
the performance of PV. Dusting using various radial and axial brushes along with compressed air flow provides
sufficient cleaning in a dry atmosphere. Various drives are best suited to the application. Holonomic drives are used
where the low inclination of panels is implemented. Tank Thread drives are widely used as they generate sufficient
traction to operate up to30–45-degree angles. They can cross comparatively larger gaps in the arrays. A comparison
of major technologies used over the world has been made in this review paper. From the above discussion, it is felt
that the robot with dry cleaning with controlled airflow and tank thread drive is widely accepted and implemented.
As dry cleaning requires no water, is low cost, and improves the performance of PV sufficiently. Tank thread drives
have a rubberized band that prevents damage, provides sufficient traction and can cross comparatively larger gaps in
adjacent arrays. The demand for Solar Panel Cleaning is projected to increase further as there is Solar energy
increase penetration in the energy market. Not only at Industrial, and Utility-Scale but also at a domestic level. The
government is pushing and subsidizing the use of cleaner Solar PV energy, it is also trending due to its low
operation and maintenance costs. Hence, the Solar PV O&M service sector has high growth prospects and high
demand for innovation.

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