AUTONOMOUS ROVER FOR CLEANING PHOTOVOLTAIC PANEL

A PROJECT REPORT

Submitted by

G.LALITHA (ALIAS) LATCHANA (Reg.No.910619105019)

K.SAKTHI ESWARI (Reg.No.910619105031)

S.SIVASANKARI (Reg.No.910619105034)

in partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

in

ELECTRICAL AND ELECTRONICS ENGINEERING

K.L.N. COLLEGE OF ENGINEERING, POTTAPALAYAM

(An Autonomous Institution, Affiliated to Anna University, Chennai)

APRIL 2023
 BONAFIDE CERTIFICATE

Certified that this project report “ AUTONOMOUS ROVER FOR CLEANING

PHOTOVOLTAIC PANEL ” is the bonafide work of “ G. LALITHA (ALIAS)
LATCHANA (Reg. No.910619105019), K. SAKTHI ESWARI
(Reg.No.910619105031), S. SIVASANKARI (Reg.No.910619105034) ” who carried
out the project work under my supervision.

SIGNATURE SIGNATURE

Dr.S.M.KANNAN, M.E., Ph.D., Dr.M.GANESH KUMARI, M.E., Ph.D.,

HEAD OF THE DEPARTMENT SUPERVISOR
PROFESSOR ASSISTANT PROFESSOR (Sr.Gr)
DEPARTMENT OF ELECTRICAL& DEPARTMENT OF ELECTRICAL &
ELECTRONICS ENGINEERING ELECTRONICS ENGINEERING
K.L.N. COLLEGE OF ENGINEERING K.L.N. COLLEGE OF ENGINEERING
POTTAPALAYAM. POTTAPALAYAM.

Submitted for the Project Viva-Voce Examination held on

INTERNAL EXAMINER EXTERNAL EXAMINER

 ACKNOWLEDGEMENT

First and fore most we thank God Almighty for his grace enabling us to
complete this project work successfully.

Our sincere thanks to Principal Dr. A. V. RAMPRASAD,M.E., Ph.D., for his

wholehearted support and kind cooperation.

We are highly grateful to Dr. S. M. KANNAN, M.E., Ph.D., F.I.E., MIEEE

(USA), Professor and Head of the Electrical and Electronics Engineering department
whose kind co-operation and valuable suggestions helped us in finishing this project
successfully.

We thank our guide Dr. M.GANESH KUMARI, M.E., Ph.D., Assistant

Professor (Sr. Gr)/EEE for her untiring efforts, continuous encouragement, and
guidance in bringing out this project in a successful manner.

We would like to express our heartful thanks to our project coordinator,

Dr.S.VENKATESAN, M.E., Ph.D. Professor/EEE, for their valuable guidance
and suggestions in rightful comments.

Our sincere thanks to INNOVATION PROMOTION CELL (IPC) for

approved and sanctioned seed money, which helped us to finish this project
successfully.

We wish to extend our gratitude to our parents, the Department of Electrical

and Electronics Engineering staff members, and our friends who inspired and actively
assisted our project.
 TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO.

ABSTRACT i

LIST OF TABLES ii

LIST OF FIGURES iii

LIST OF ABBREVIATION iv

1. INTRODUCTION 1

1.1 Project Overview 1

1.2 Necessity of our proposal 2

1.3 Proposal classification 2

1.4 Objectives of the Project 3

1.5 Importance of work 3

1.6 Chapter Summary 4

2. LITERATURE REVIEW 5

3. PROBLEM DESCRIPTION 8

4. CIRCUIT DESCRIPTION 9
 4.1 Block Diagram 9

4.2 Flow Chart 11

4.3 Algorithm 12

4.4 Circuit Diagram 13

5. HARDWARE REQUIREMENTS 15

5.1 Specifications 15

5.2 Components involved 15

5.2.1 Arduino UNO 16

5.2.1.1 Specifications 16

5.2.1.2 Arduino Diagram 16

5.2.1.3 Pin Diagram of Arduino 17

5.2.2 Ultrasonic Sensor 19

5.2.2.1 Specifications 19

5.2.2.2 Ultrasonic Sensor Diagram 20

5.2.2.3 Pin Diagram of Ultrasonic 20

Sensor
5.2.3 L298N Motor Driver 21
 5.2.3.1 Specification 21

5.2.3.2 Motor Driver Diagram 21

5.2.3.3 Pin Diagram of Motor Driver 22

5.2.4 Buck Converter 23

5.2.4.1 Specifications 23

5.2.4.2 Buck Converter Diagram 24

5.2.4.3 Circuit of Buck Converter 24

6.
ARDUINO CODING 25

6.1 Program 25

7.
RESULT AND DISCUSSION 30

7.1 Prototype Model 30

7.2 Proposed System 31

7.3 Hardware Module 32

CONCLUSION 36

FUTURE SCOPE 37

REFERENCE 38
 ABSTRACT

Accumulation of dust on the surface of solar panels decreases the amount of

sunlight reaching the solar cells underneath and thus the efficiency of the solar panel is
severely impacted. The dust accumulates in the solar panel and reduces power efficiency
by 50% if the solar panel is not cleaned at regular intervals. The cleaning of a photovoltaic
panel is to maintain its efficiency by removing dirt, debris, and other contaminants that
may accumulate on its surface over time. When a photovoltaic panel is dirty, its ability to
absorb sunlight and convert it into electricity decreases, leading to reduced energy output.
Regular cleaning helps to ensure that the panel operates at its optimal level, maximizing its
energy production and extending its lifespan. In addition, cleaning may also help to
prevent damage to the panel by reducing the risk of scratches and other surface defects
that can affect its performance. This is done with the help of a Microcontroller board
Arduino Uno R3 which easily controls all the devices used in this particular model and
therefore helps us to understand the required parameters which deal with the change in
efficiency brought about by the cleansing of the solar panel arrays.

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 LIST OF TABLES

TABLE NO TABLE NAME PAGE NO

5.3.1.1 Arduino UNO specifications

5.3.2.1 Ultrasonic Sensor specifications

5.3.3.1 L298N Motor Driver specifications

5.2.4.1 Buck Converter Specifications

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 LIST OF FIGURES

FIG NO FIGURE NAME PAGE NO

4.1 Block Diagram

4.2 Flow Chart

4.3 Circuit Diagram

5.1 Arduino UNO

5.2 ATmega328 Pin Diagram

5.3 Ultrasonic Sensor

5.4 Ultrasonic Sensor Pin Diagram

5.5 L298N Motor Driver

5.6 Motor Driver Pin Diagram

5.7 Buck Converter

5.8 Circuit of Buck Converter

7.1 PV Panel Before Cleaning by the Autonomous Rover

7.2 Dust Deposition on PV Panel

7.3 PV Panel Cleaning by Autonomous Rover

7.4 PV Panel After Cleaning by the Autonomous Rover

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 LIST OF ABBREVIATIONS

ABBREVIATION EXPLANATION

DC/AC Direct Current/Alternating current

RPM Revolution per Minute

Pin Input Power

Pout Output power

RTC Realtime Clock

USB Universal Serial Bus

TTL Transistor-Transistor Logic

LED Light Emitting Diode

L Length

W Width

V Voltage

P Power Rating

Ma Milli ampere

A(0-7) Analog input pin

D(0-13) Digital input & output pin

iv
 CHAPTER 1

INTRODUCTION

1.1. PROJECT OVERVIEW

We are here to explain our project named “Autonomous Rover for Cleaning
Photovoltaic Panels”. Cleaning methods for Photovoltaic panels are used to keep panels
efficient. The effect of dust, dirt, and bird drop accumulators on photovoltaic cell’s
performance varies concerning different factors such as:

● Differences in Photovoltaic panel surface material.

● Tilt angle.
● Surrounding atmosphere.
● Pollution and variation in weather conditions.
● The dirt particles affect the performance of Photovoltaic cells because soiling is site-
specific.

Electricity, which is a daily necessity, can be generated from a variety of resources

including hydroelectric power, nuclear power, and off-grid systems such as solar, wind,
and biomass. Light energy from the Sun is used by solar panels to generate electricity
through the PV effect. The electricity is charged in a battery and controlled by a charge
controller. This can ensure a stable power supply that can operate at night time when the
system receives no solar energy. The charge controller controls the electricity from the
solar PV panel and distributes the Alternating Current (AC) or Direct Current (DC) to the
electrical equipment. Cleaning photovoltaic panels is the problem of engineering
interested in solar Photovoltaic panels’ power generation. The problem was reviewed and
methods for the removal of dust, dirt, and also bird drop were discussed. This cleaner
rover was used to clean the Photovoltaic panels and provided favorable results and shows
that the rover helped to clean the dust, dirt, and birds drop clean on Photovoltaic panels

1
and work in rated efficiency.
Cleaning a photovoltaic panel typically involves removing any dirt, dust, or debris
that may have accumulated on its surface.
It is important to avoid using abrasive materials or harsh chemicals that could
scratch or damage the surface of the panel.
If the panel is installed at an angle, it is important to clean it from the bottom up to
avoid streaks.
Regular cleaning can help maintain the efficiency of the panel and ensure
maximum energy production.
It is recommended to clean photovoltaic panels at least once or twice a year, or
more frequently in areas with high levels of dust, pollution, or other contaminants.
In addition, cleaning may also help to prevent damage to the panel by reducing
the risk of scratches and other surface defects that can affect its performance.

1.2. NECESSITY OF PROPOSAL

• Design a solar panel cleaning system that can increase the efficiency of solar panels.

• Increase the use of solar panels.

• Make the cleaning of solar panels simple and automated.

• Minimize human intervention.

• A cleaning system that does not affect the quality of the original solar panel.

• An environmentally friendly cleaning system.

1.3. PROPOSAL CLASSIFICATION

Our proposal is broadly classified into two parts:

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 ● Hardware

● Software

1.3.1. HARDWARE

Ultrasonic Sensors sense the surface and give the signal to the Arduino UNO
and the microcontroller processes it and sends the signal to the L298N Motor Driver to
control the motors.

1.3.2. SOFTWARE

We have used the Arduino IDLE for programming the system. Language used-
Embedded C.

1.4.OBJECTIVES OF THE PROJECT

The main objectives of the project are:

 To improve the efficiency of the solar panel from the accumulation of dust, dirt,
and bird droppings on the panels by the pneumatic-based cleaning method.
 Regular cleaning helps ensure that the panel operates optimally, maximizing its
energy production and extending its lifespan.

1.5.IMPORTANCE OF WORK

 Detector–Detects the panel surface when the rover is in running condition

 Programming–It is simple and easy to use

 Compact–This project is compact in size so It can be carried easily.

3
1.6.CHAPTER SUMMARY

In this chapter, the growth of Autonomous Rover For Cleaning Photovoltaic Panel
technology in history, our project’s advantages and necessity have been discussed along
with technological classification and their methodology have also been discussed.

4
 CHAPTER 2

LITERATURE REVIEW

Referring to various research papers and getting an idea about cleaning the
photovoltaic panel in an efficient way and implementing the ideas in this work. The
reviewed literature papers are mentioned and discussed below,

[1] The force of the robot arm’s impact on the cell, and its speed which are required to
clean the cell, are the most important factors that have been focused on and controlled so
as not to damage the cell. The results of the design simulation were close to the results
based on theoretical equations describing the movement of this robot. A unit step response
is verified to robot arm velocity. To control the robot, a specific simulated control method
was used. The design shows that it is appreciated not only regarding cost reduction but
also in terms of reducing the force acting on a solar panel by controlling the speed of the
robot arm.

[2] A solar panel cleaning robot has been designed and tested in real time. The designed
dual-motor and crawler robot moves horizontally and the cleaning brush runs on the
vertical axis. In addition, the length of the solar panel array can be detected by position
switches to keep the solar panel cleaning robot in the desired working area.

[3] A linear piezoelectric actuator based solar panel cleaning system is proposed in order
to make a solar panel operate at the best power generation state while the solar panel is
used in a dusty environment. A piezoelectric actuator linearly moving on a guide is
employed to drive a wiper fixed on the actuator. At a proper pressure force between the
wiper and the solar panel, the actuator can drive the wiper to effectively wipe a dust layer
away from the solar panel’s surface.

5
[4] An autonomous device that performs cleaning operations based on the commands
received from the controller. It can do sucking and mopping tasks and obstacle detection
duties on the table. Sensors are used to avoid the robot from dropping down from the table.
Sensors and motors are connected to the input/output ports of the controller. The robot
roams around the table, if any obstacles are available on the table it sucks and sprays water
to clean the surface. Wiper- based wheels are attached to the robot to remove dust on the
surface.

[5] An autonomous robot that can collect waste from the environment. Then it will
discharge the waste to the area which is already predefined autonomously. The robot was
tested in a designed region. It performs task like avoiding static and dynamic obstacles,
and sucking the waste mechanism.

[6] The design proposes to develop a Solar Panel Cleaning System which could remove
the accumulated dust or objects on its surface on a regular basis and maintain the solar
power plant output. This design also aims to reduce human involvement in the process of
solar panel cleaning as it is a very hazardous environment for them in scorching sun.

[7] The cleaning of dust particles on the solar panel is a huge job and a time taking
process and requires a lot of manpower and money. To remove this limitation robotics is
a good choice for no-man operations, it is also economical and autonomous as it requires
no man to monitor.

[8] This design discusses a comprehensive overview of the dust problem and the recent
developments made on the automated cleaning system of solar photovoltaic modules
which gives a brief overview of techniques like electrical, mechanical, chemical, and
electrostatic. The main objective of the study is to review the literature on solar
photovoltaic module automated cleaning techniques for identifying research gaps in

6
automated cleaning systems.

[9] The design and fabrication process of a prototype is able to clean the panel surface.
The prototype of this system comprises a cleaning robot and a cloud interface: the
cleaning robot is mobile and able to clean the entire solar array back and forth, with its
separately driven cleaning rotary brush; whereas, the cloud interface is a human-machine
interface featuring the distant monitoring and control of the robot.

7
 CHAPTER 3

PROBLEM DESCRIPTION

 One of the main problems faced while cleaning a photovoltaic panel is the risk of
damaging its delicate surface. Scratches or other surface defects can affect the
panel's ability to absorb sunlight and convert it into electricity, reducing its
overall efficiency.

 To avoid causing damage, it is important to use the right cleaning tools and
techniques and to avoid using abrasive materials or harsh chemicals that could
scratch or etch the surface.

 Another problem that can arise when cleaning photovoltaic panels is safety.
Depending on the location of the panels, cleaning them may require working at
heights, which can pose a risk of falls or other accidents.

 Finally, weather conditions can also pose a challenge when cleaning photovoltaic
panels. Cleaning should be avoided during extreme weather conditions which can
make it difficult to work safely and effectively.

8
 CHAPTER 4

CIRCUIT DESCRIPTION

4.1. BLOCK DIAGRAM

Fig.4.1. BLOCK DIAGRAM OF AUTONOMOUS ROVER FOR

CLEANING THE PHOTOVOLTAIC PANEL

 This Block diagram explains, in the rover we have three ultrasonic sensors which is used
to sense the particle which is accumulated on the solar panel in the right, left and middle
direction. The ultrasonic sensor is connected to the Arduino UNO, which is a
9
 microcontroller used to control the rover. The Arduino used in the rover is AT mega 328.
The Arduino is connected to the motor driver, the main use of the motor driver is to
change and control the direction of the motor. The motor driver used in the rover is
L298N. The motor driver is connected to the four motors which are kept in the rover.

 Ultrasonic sensors are widely used in many applications to detect the presence of objects
or obstacles. With the help of an Arduino Uno microcontroller and a motor driver, three
ultrasonic sensors can be integrated to create a comprehensive sensing system. The
Arduino Uno acts as the main control unit, receiving the data from the ultrasonic sensors
and processing it to control the motor driver.

 The ultrasonic sensors operate by sending out high-frequency sound waves, which bounce
off any nearby objects and return to the sensor. By measuring the time taken for the sound
wave to travel to the object and back, the distance of the object can be calculated. This
information can then be used to determine the movement of the object, such as its speed
and direction.

 By using three ultrasonic sensors, the sensing system can detect objects in a 360-degree
range around the sensors. This allows for comprehensive and accurate detection of any
nearby obstacles. The sensors can be mounted in different directions to optimize the
sensing area and minimize blind spots.

 The motor driver is used to control the movement of a motor, such as a robot or a car. By
integrating the ultrasonic sensors with the motor driver, the system can detect and avoid
any obstacles in its path. The Arduino Uno acts as the central control unit, processing the
data from the ultrasonic sensors and sending commands to the motor driver to change the
movement of the motor.

 Overall, the integration of three ultrasonic sensors with an Arduino Uno and motor driver
provides a comprehensive sensing system for detecting objects and obstacles.

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 4.2.FLOW CHART

Fig.4.2. FLOW CHART DIAGRAM

 This is a brief description of the process involved in a cleaning rover using ultrasonic
sensors and an Arduino microcontroller. The process starts with the ultrasonic sensor
sensing the panel, and the microcontroller checking if the signal is OK to start cleaning the
panel and moving forward.

 If the ultrasonic sensor on the right side of the rover is ON, it turns right, and if the sensor
on the left side is ON, it turns left. If the sensor in the middle of the rover is OFF, it stops

11
 moving forward and runs backward for a particular number of steps.

 The rover is programmed to turn to the other side if the ultrasonic sensors on both the right
and left sides are ON at the same time. The cleaning process stops when the opposite side
of the ultrasonic sensor from the starting position is changed, indicating that the rover has
cleaned the entire panel.

 Overall, this process demonstrates the use of ultrasonic sensors and an Arduino
microcontroller to control the movement of a rover for a specific task, in this case,
cleaning a panel. The sensors provide the necessary feedback to the microcontroller, which
then sends commands to the rover to move and turn in the required direction to complete
the task.

4.3. ALGORITHM FOR FLOW CHART WORKING

Step 1: Start the process.

Step 2: Ultrasonic Sensor senses the panel.
Step 3: Microcontroller checks whether the US signal is OK and starts cleaning the
panel and moving forward.
Step 4: If the US(M) sensor is OFF the rover stops forwarding and runs backward
particular steps and if the US(R) sensor is ON the rover turns right side and starts
cleaning.
Step 5: If the US(M) sensor is OFF the rover stops forwarding and runs backward
particular steps and if the US(L) sensor is ON the rover turn left side and starts
cleaning.
Step 6: If the US(R) sensor and US(L) Sensor are ON at the same time the rover was
used to turn to the other side which was turned by the rover using the (if) statement in
Arduino IDLE programming.
Step 7: The rover stops the cleaning process when the opposite side of the US from the
starting position was changed and the rover cleaned the entire panel.

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 4.4. CIRCUIT DIAGRAM

Fig.4.3. Schematic diagram of a circuit

 The circuit diagram for connecting three ultrasonic sensors, an Arduino Uno
microcontroller, and a motor driver is relatively straightforward. The ultrasonic sensors
are connected to the digital pins of the Arduino, while the motor driver is connected to
the analog pins of the Arduino.

 Each ultrasonic sensor has four pins: VCC, GND, Trig, and Echo. The VCC pin is
connected to the 5V pin of the Arduino, while the GND pin is connected to the ground
pin of the Arduino. The Trig pin of each sensor is connected to a separate digital pin of
the Arduino, while the Echo pin of each sensor is also connected to a separate digital

13
 pin of the Arduino.

 The motor driver has four input pins: IN1, IN2, IN3, and IN4. These pins are connected
to four analog pins of the Arduino. IN1 and IN2 are connected to one pair of analog
pins, while IN3 and IN4 are connected to another pair of analog pins. The motor driver
also has two output pins: OUT1 and OUT2, which are connected to the motor.

 Once the connections are made, the Arduino can be programmed to read the data from
the ultrasonic sensors and send commands to the motor driver based on the data. The
ultrasonic sensors will continuously send out sound waves and measure the time it takes
for the waves to bounce back. This data is then processed by Arduino to calculate the
distance of any nearby objects.

 Based on the distance measurements, the Arduino will send commands to the motor
driver to control the movement of the motor. For example, if an object is detected in
front of the motor, the Arduino will send a command to the motor driver to stop the
motor or change its direction to avoid the obstacle.

 Overall, the circuit diagram for connecting three ultrasonic sensors, an Arduino Uno
microcontroller, and a motor driver is relatively simple, and once the connections are
made, the system can be programmed to provide accurate and reliable sensing and
control of the motor.

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 CHAPTER 5

HARDWARE REQUIREMENTS

5.1. SPECIFICATION DETAILS:

This project consists of ARDUINO UNO which is the major component of the
project. The sensor unit consists of US(Ultrasonic Sensors), which senses the surface
of the panel and the Arduino gives the output Motor Driver of the rover.

5.2. COMPONENTS INVOLVED:

1. Arduino Uno
2. Ultrasonic Sensors
3. L298n Motor Driver Module
4. Buck Converter

5.2.1. ARDUINO UNO

The Arduino Uno is an open-source microcontroller board based on the

Microchip ATmega328P microcontroller and developed by Arduino.cc. It can be
powered by the USB cable or by an external 9-volt battery, though it accepts voltages
between 7 and 20 volts. The word "UNO" means "one" in Italian and was chosen to
mark the initial release of Arduino Software. The Uno board is the first in a series of
USB-based Arduino boards; The ATmega328 on the board comes pre-programmed
with a bootloader that allows uploading new code to it without the use of an external
hardware programmer.

15
5.2.1.1. SPECIFICATIONS

Microcontroller ATmega328P – 8 bit AVR family microcontroller

Operating Voltage 5V

Recommended Input Voltage 7-12V

Input Voltage Limits 6-20V

Analog Input Pins 6(A0–A5)

Digital I/O Pins 14(Out of which 6 provide PWM output)

DC Current on I/O Pins 40mA

DC Current on 3.3V Pin 50mA

Flash Memory 32KB(0.5KB is used for Boot loader)

SRAM 2KB

EEPROM 1KB

Frequency(ClockSpeed) 16Hz

5.2.1.2. ARDUINO UNO

Fig.5.1. ARDUINO UNO

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 The ATmega328P microcontroller provides UART TTL (serial
communication which can be done using digital pin 0 (Rx) and digital pin 1 (Tx).
An ATmega16U2 on the board channels this serial communication over USB and
appears as a virtual com port to software on the computer. A Software Serial library
allows for serial communication on any of Uno's digital pins. The ATmega328Palso
supports I2C (TWI) and SPI communication. The Arduino software includes a Wire
library to simplify use of the I2C bus.

5.2.1.3. ATmega328 PIN DIAGRAM

Fig.5.2. ATmega328 PIN DIAGRAM

Vin: This is the input voltage pin of the Arduino board used to provide an input
supply from an external power source.

5V: This pin of the Arduino board is used as a regulated power supply voltage and
it is used to give supply to the board as well as onboard components.

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3.3 V: This pin of the board is used to provide a supply of 3.3V which is generated
from a voltage regulator on the board.

GND: This pin of the board is used to ground the Arduino board.

Reset: This pin of the board is used to reset the microcontroller. It is used to Resets
the microcontroller.

Analog Pins: The pins A0 to A5 are used as an analog input and it is in the range of
0-5V.

Digital Pins: The pins 0 to 13 are used as a digital input or output for the Arduino
board.

Serial Pins: These pins are also known as a UART pins. It is used for
communication between the Arduino board and a computer or other devices. The
transmitter pin number 1 and receiver pin number 0 are used to transmit and receive
the data resp.

External Interrupt Pins: This pin of the Arduino board is used to produce the
External interrupt and it is done by pin numbers 2 and 3.

PWM Pins: These pins of the board are used to convert the digital signal into an
analog by varying the width of the Pulse. The pin numbers 3,5,6,9,10 and 11 are
used as a PWM pin.

SPI Pins: This is the Serial Peripheral Interface pin, it is used to maintain SPI
communication with the help of the SPI library. SPI pins include:

1. SS: Pin number 10 is used as a Slave Select

2. MOSI: Pin number 11 is used as a Master Out Slave In
3. MISO: Pin number 12 is used as a Master In Slave Out

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 4. SCK: Pin number 13 is used as a Serial Clock

LED Pin: The board has an in-built LED using digital pin-13.The LED glows only
when the digital pin becomes high.

AREF Pin: This is an analog reference pin of the Arduino board. It is used to
provide a reference voltage from an external power supply.

5.2.2 ULTRASONIC SENSOR

An ultrasonic sensor is an electronic device that measures the distance of a target

object by emitting ultrasonic sound waves, and converts the reflected sound into an
electrical signal. Ultrasonic waves travel faster than the speed of audible sound.
Ultrasonic sensors have two main components: the transmitter (which emits the sound
using piezoelectric crystals) and the receiver (which encounters the sound after it has
traveled to and from the target). In order to calculate the distance between the sensor
and the object, the sensor measures the time it takes between the emission of the sound
by the transmitter to its contact with the receiver. The formula for this calculation is D =
½ T x C (where D is the distance, T is the time, and C is the speed of sound ~ 343
meters/second).

5.2.2.1. SPECIFICATIONS

Operating voltage +5v

Theoretical Measuring Distance 2cm to 450 cm

Practical Measuring Distance 2cm to 80 cm

Accuracy 3mm

Measuring angle covered <15

Operating current <15mA

Operating Frequency 40Hz

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5.2.2.1. ULTRASONIC SENSOR

Fig.5.3.ULTRASONIC SENSOR

5.2.2.2. ULTRASONIC SENSOR PIN DIAGRAM

Fig.5.4.ULTRASONIC SENSOR PIN REPORT

Pin Name Description

VCC Power Supply +5v

TRIG Trigger pin is an input pin

ECHO Echo pin is an output pin

GND Ground

The Vcc pin powers the sensor, typically with +5V. The trigger pin is an input pin. This
pin has to be kept high for 10us to initialize measurement by sending US wave. The echo

20
pin is an output pin. This pin goes high for a period of time which will be equal to the
time taken for the US wave to return back to the sensor.is This pin connected to the Gd
the system.
5.2.3. L298N MOTOR DRIVER MODULE

This L298N Motor Driver Module is a high power motor driver module for
driving DC and Stepper Motors. This module consists of an L298 motor driver IC
and a 78M05 5V regulator. L298N Module can control up to 4 DC motors, or 2 DC
motors with directional and speed control.
5.2.3.1. SPECIFICATIONS

Driver Model L298N2A

Driver Chip Double H BridgeL298N

Motor Supply Voltage(Max) 46V

Motor Supply Current(Max) 2A

Logic Voltage 5V

Driver Voltage 5-35V

Driver Current 2A

5.2.3.2. L298N MOTOR DRIVER

Fig.5.5. L298N MOTOR DRIVER

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 The L298N motor driver is based on the H-bridge configuration(an H-
bridge is a simple circuit that lets us control a DC motor to go backward or
forward.),which is useful in controlling the direction of rotation of a DC motor.
5.2.3.3. MOTOR DRIVER PIN DIAGRAM

Fig.5.6. MOTOR DRIVER PIN DIAGRAM

● VCC pin supplies power to the motor. Voltage anywhere between 5 to 35Vcan be
applied. Remember, if the 5V-EN jumper is in place, you need to supply 2 extra
volts than the motor’s actual voltage requirement, in order to run the motor at its
maximum speed.
● GND is the common ground pin.

● 5V pin supplies power to the switching logic circuitry inside the L298N IC. If the
5V-EN jumper is in place, this pin acts as output and can be used to power up the
Arduino. If the 5V-EN jumper is removed, you need to connect it to the 5V pin on
Arduino.
● ENA pins are utilized to control the speed of Motor A. Supplying this pin with
HIGH logic makes the Motor A rotate, supplying it with LOW logic causes the
motor to stop. Removing the jumper and connecting this pin to the PWM input let
us control the speed of the Motor A.
● IN1 & IN2 pins are used to control the direction of Motor A. If IN1 is HIGH and

22
 IN 2 is LOW, Motor As pins in a certain direction. To change the direction, make
IN1 LOW and IN2 HIGH. If both the inputs are either HIGH or LOW, the Motor
A stops.
● IN3 & IN4 pins are used to control the direction of Motor B. If IN3 is HIGH and
IN4 is LOW, Motor B spins in a certain direction. To change the direction IN3
LOW and IN4 HIGH. If both the inputs are either HIGH or LOW, the Motor B
stops.
● ENB pin can be used to control the speed of Motor B. Supplying this pin with the
HIGH signal makes the Motor B turn, supplying it LOW causes the motor to stop.
Eliminating the jumper and interfacing this pin to PWM information let us control
the speed of Motor B.
● OUT1 & OUT2 pins are connected to Motor A. OUT3 & OUT4 pins are
connected to Motor B.

5.2.4. BUCK CONVERTER

This Buck Converter is a type of chopper circuit that is designed to perform

step-down conversion of the applied dc input signal. In the case of buck converters,
the fixed dc input signal is changed into another dc signal at the output which is of
lower value. This means it is designed to produce a dc signal as its output that
possesses a lower magnitude than the applied input. It is sometimes called Step-
down DC to DC Converter or Step-down Chopper or Buck Regulator.

5.2.4.1. SPECIFICATIONS

Input Voltage 3-40V

Output Voltage 15-3.5V(Adjustable)
Output Current Rated current is 2A,Maximum 3A
Switching Frequency 150KHz
Operating Temperature Industrial grade(-40 to +85)

23
5.2.4.2. BUCK CONVERTER

Fig.5.7. BUCK CONVETER

5.2.4.3. CIRCUIT OF BUCK CONVERTER

Fig.5.8. BUCK CONVETER

In this circuit, the input voltage is connected to a controllable solid state device
which operates as a switch. In circuit diagram represent that switch which is power
MOSFET. There is another switch used in the circuit which is a freewheeling diode (FD).
The switch and diode FD are connected to a low pass LC filter in order to reduce the
current and voltage ripples which help in generating regulated dc output.

24
 CHAPTER 6

Arduino UNO with Arduino IDE for programming the system in Embedded C language:

6.1. PROGRAM

int trig1=2;
int echo1=3;
int trig2=4;
int echo2=5;
int trig3=6;
int echo3=7;

int duration1;
int distancel;
int duration2;
int distancem;
int duration3;
int distancer;

int rmp=10;
int rmn=11;
int lmp=12;
int lmn=13;

int count;
int n;

void stright();
void stops();
void right();
void left();

void setup() {

pinMode(trig1,OUTPUT);
pinMode(echo1,INPUT);
pinMode(trig2,OUTPUT);
pinMode(echo2,INPUT);
pinMode(trig3,OUTPUT);
pinMode(echo3,INPUT);

pinMode(rmp,OUTPUT);
pinMode(rmn,OUTPUT);
pinMode(lmp,OUTPUT);
pinMode(lmn,OUTPUT);

25
Serial.begin(9600);}

void loop() {

int dis=8;

digitalWrite(trig1,LOW); //left ultrasonic

delayMicroseconds(2);
digitalWrite(trig1,HIGH);
delayMicroseconds(2);

duration1=pulseIn(echo1,HIGH);
distancel=duration1*0.034/2;

digitalWrite(trig2,LOW); //middle ultrasonic

delayMicroseconds(2);
digitalWrite(trig2,HIGH);
delayMicroseconds(2);

duration2=pulseIn(echo2,HIGH);
distancem=duration2*0.034/2;

digitalWrite(trig3,LOW); //right ultrasonic

delayMicroseconds(2);
digitalWrite(trig3,HIGH);
delayMicroseconds(2);

duration3=pulseIn(echo3,HIGH);
distancer=duration3*0.034/2;

if(distancem>dis)
{
++count;
goto a;
}

a:
n=count%2;
Serial.println(count);

if((distancel>dis)&&(distancem>dis)&&(distancer<dis)&&(count>2)) //permenent stop while ends with right

{
stops();
exit(0);
}
else if((distancel<dis)&&(distancem>dis)&&(distancer>dis)&&(count>2)) ////permenent stop while ends
with left
{

26
stops();
exit(0);
}
else if((distancel>dis)&&(distancem>dis)&&(distancer<dis)) //right
{
right();
delay(2750);
stright();
delay(950);
right();
delay(2750);
}
else if((distancel<dis)&&(distancem>dis)&&(distancer<dis)&&(n==0)) //leftu
{
left();
delay(2750);
digitalWrite(trig2,LOW); //middle ultrasonic
delayMicroseconds(2);
digitalWrite(trig2,HIGH);
delayMicroseconds(2);

duration2=pulseIn(echo2,HIGH);
distancem=duration2*0.034/2;

if(distancem<dis)
{
stright();
delay(950);
left();
delay(2750);
}
else
{
stops();
exit(0);
}}
else if((distancel<dis)&&(distancem>dis)&&(distancer<dis)&&(n!=0)) //rightu
{
right();
delay(2750);
digitalWrite(trig2,LOW); //middle ultrasonic
delayMicroseconds(2);
digitalWrite(trig2,HIGH);
delayMicroseconds(2);

duration2=pulseIn(echo2,HIGH);
distancem=duration2*0.034/2;

if(distancem<dis)

27
{
stright();
delay(950);
right();
delay(2750);
}
else
{
stops();
exit(0);
}}
else if((distancel>dis)&&(distancem<dis)&&(distancer<dis)) //stright
{
stright();
}
else if((distancel<dis)&&(distancem<dis)&&(distancer>dis))
{
stright();
}
else if((distancel<dis)&&(distancem<dis)&&(distancer<dis))
{
stright();
}
else if((distancel>dis)&&(distancem<dis)&&(distancer>dis))
{
stright();
}
else //stop
{
stops();
}

/*delay(3000);
Serial.println("start");*/
delay(500);
}

void stright()
{
digitalWrite(lmp,HIGH);
digitalWrite(lmn,LOW);
digitalWrite(rmp,HIGH);
digitalWrite(rmn,LOW);

Serial.println("stright");
}

void stops()
{

28
digitalWrite(lmp,LOW);
digitalWrite(lmn,LOW);
digitalWrite(rmp,LOW);
digitalWrite(rmn,LOW);

Serial.println("stop");
}

void right()
{
digitalWrite(rmp,LOW);
digitalWrite(rmn,HIGH);
digitalWrite(lmp,HIGH);
digitalWrite(lmn,LOW);

Serial.println("right");
}

void left()
{
digitalWrite(rmp,HIGH);
digitalWrite(rmn,LOW);
digitalWrite(lmp,LOW);
digitalWrite(lmn,HIGH);

Serial.println("left");
}

29
 CHAPTER 7

RESULT AND DISCUSSION

7.1. PROTOTYPE MODEL

The prototype is represented in a Rover. We have Four major components

1. Arduino UNO

2. Ultrasonic Sensor

3. L298N Motor Driver module

4. Buck converter

 The Arduino UNO is used to integrate into a variety of electronic projects.

 The L298N Motor Driver module is used to control the motors of the rover and the
direction of the rover.
 The Ultrasonic Sensor is used to measure the distance to an object using ultrasonic
sound waves.
 The Buck Converter is used to step down the voltage of the given input in order to
achieve the required output.

30
7.2. PROPOSED SYSTEM

The Arduino based cleaner rover is proposed to clean the Photovoltaic panels
which the rover is fixed to the solar panel and moves on the panel while cleaning it.
This rover utilizes a pneumatic system of compressed air to the panel with a dry system
of brushes to clean the Photovoltaic panels, and the water is processed in this method to
clean the Photovoltaic panels. In this method, the water usage is low, because the water
was used in a very low quantity with the compressed air setup to clean the hard
substance formation of birds drops and also dirt on the Photovoltaic panels. Once the
cleaning process is done the rover is transferred to the next track of Photovoltaic panels
in the form of an automated setup. To move the rover from one panel to another panel
the system has two main parts that are cleaning the panel and the automated carrier
tracking the rover which moves in a semi-circular form that connects the neighbor
panels. The cleaning system design has the capability to clean multiple panels in a
Photovoltaic plant with a single rover. In order to use multiple rovers, a single rover
performs multiple operations. The tracks transfer the rover from one panel to another.
The carrier tracks align themselves with the Photovoltaic panel which points the rover
leaves the track to clean the panel through forward and reverse directions. The rover has
a water spraying system and two brushes set up with the motors on the extreme ends.
Four wheels setup with the Two motor concept and ultrasonic sensor, pneumatic relay,
Portable compressor, Motor controlling drive with controlled subsystems. Two motors
are used to drive the two special back wheels of the rover and two motors are used to
drive each brush at the front and back of the rover to increase the stability of the rover.

31
7.3. HARDWARE MODULE

Fig.7.1. PV Panel before Cleaning by the Autonomous Rover

Fig.7.2. Dust deposition on PV panel

FOR EXAMPLE: IN RUBBER INDUSTRY

Not cleaning the photovoltaic (PV) panel in a rubber industry can have several negative
effects, including:
Reduced energy production: If the PV panel is covered in dirt, dust, or debris, it can reduce
the amount of sunlight that reaches the solar cells. This results in decreased energy production
and lower overall system efficiency. Over time, this can lead to lower profits for the rubber
industry.

32
Higher operating costs: When the PV panel is not cleaned regularly, it requires more energy
to produce the same amount of power. This can increase operating costs and reduce
profitability.
Reduced lifespan of the panel: If dirt and debris are not removed from the PV panel, they can
cause scratches and other damage to the surface of the solar cells. This can lead to a shortened
lifespan of the panel and may require costly replacements.
Safety risks: Dirt and debris can accumulate on PV panels, making it difficult to see any signs
of damage or cracks. This can pose safety risks for workers who need to perform maintenance
or cleaning on the panel.

FOR EXAMPLE: IN OIL INDUSTRY

Reduced energy production: When the PV panel is covered in dirt, dust, or debris, it can
reduce the amount of sunlight that reaches the solar cells. This results in decreased energy
production and lower overall system efficiency. Over time, this can lead to lower profits for
the oil industry.
Higher operating costs: When the PV panel is not cleaned regularly, it requires more energy
to produce the same amount of power. This can increase operating costs and reduce
profitability.
Chemical damage: Oil and gas industries are known to use chemicals in their operations,
which can be harmful to PV panels. If the panels are not cleaned regularly, these chemicals can
accumulate on the surface, leading to corrosion, discoloration, and other types of damage.

FOR EXAMPLE: IN THE FOOD PROCESSING INDUSTRY

Reduced energy production: When the PV panel is covered in dirt, dust, or debris, it can
reduce the amount of sunlight that reaches the solar cells. This results in decreased energy
production and lower overall system efficiency. Over time, this can lead to higher energy costs
for the food processing industry
Hygiene concerns: Food processing industries have high standards for cleanliness and

33
hygiene. If the PV panel is not cleaned regularly, it can accumulate dust, dirt, and other
contaminants that can be harmful to the food processing environment.
Aesthetics: The accumulation of dirt, dust, and debris on the PV panel can negatively affect
the appearance of the food processing facility, which can be important for customer perception
and overall reputation.

Fig.7.3. PV Panel Cleaning by Autonomous Rover

Fig.7.4. PV Panel after Cleaning by the Autonomous Rover

34
 There are several advantages of cleaning solar panels using a pneumatic-based cleaning
system, including:
Effective cleaning: Pneumatic-based cleaning systems use compressed air to blow away dust,
dirt, and debris from the solar panel surface. This method is highly effective and can remove
even stubborn dirt and grime that may be difficult to remove using other methods.
Efficient: Pneumatic-based cleaning systems are very efficient and can clean large solar arrays
quickly and easily, reducing the cleaning time and minimizing any downtime or loss of
productivity.
Cost-effective: Pneumatic-based cleaning systems are typically less expensive than other
cleaning methods, such as manual cleaning or using chemical cleaners. They require less water
and can reduce labor costs, resulting in overall cost savings.
Environmentally friendly: Pneumatic-based cleaning systems use less water than other
cleaning methods, making them more environmentally friendly. They also do not require the
use of harsh chemicals or detergents, reducing the risk of pollution and harm to the
environment.
Safe: Pneumatic-based cleaning systems are safe to use and do not pose any health risks to
workers. They do not require the use of ladders or scaffolding, reducing the risk of falls or
other accidents.
Extended panel lifespan: Regular cleaning using a pneumatic-based system can extend the
lifespan of the solar panels by preventing the accumulation of dirt, dust, and debris that can
cause damage to the panel surface over time.

Overall, cleaning solar panels using a pneumatic-based cleaning system can provide
effective, efficient, cost-effective, environmentally friendly, and safe cleaning, while also
extending the lifespan of the panels.

35
 CONCLUSION

This project highlights the effect of dust, dirt, pollen, and bird droppings on the PV
system’s efficiency. Dust has a major impact on the efficiency and performance of solar
panels. The reduction in the peak power generation can be up to 10 to 30%. Power
reduction was observed due to dust accumulation on the panels and this can be
improved by using robotic cleaning methods. It has increased the Power generation
capacity of solar panels. Easy maintenance, low cost, and less power usage are a few
advantages of this process. Finally, the reduction in peak power generation can also be
overcome by using this cleaning system. The device is lightweight because most of its
material is made of aluminum. Comparing the costs of cleaning by Manual operation
and Automatic operation, the cost of automatic cleaning is proved to be more economic
and significantly less cumbersome, particularly, in systems with large numbers of solar
panels. Frequent and periodical cleaning ensures that the solar panels work consistently
with good transmittance at all times.

36
 FUTURESCOPE

The device that is developed, reduces the number of workers needed to

clean the arrays significantly. Further development could be done to optimize the
system to be smaller, lighter, and easier to assemble in higher volumes and to
become more user-friendly. The next focus will be on diversifying the robot’s
functionality by including auto inspection, communication, and self-diagnostic
features. The installation of a thermal camera module will allow for the
inspection of the panels since the cleaning head is in direct contact with every
individual panel. Cold spots just under the glass surface will indicate a section of
the panel that remains sun-cleaned and will prompt the cleaner to make another
pass if needed. Solar panel energy can be used instead of using individual
batteries. Wireless cameras can also be attached for perfect wireless operation.

37
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