CHAPTER 6: ELECTRONICS CONFIGURATION
6.2 Circuit Simulation
6.2.1 When robot is in the Air
As the edge detection sensor is not getting any reflected light, it means the robot is in the air and all motors are in OFF state.
Figure 67 circuit diagram when the robot in the air
[Mohammad Tahir Aqeil_ 0061012769] 86 6.2.2 When robot is on solar panel surface:
The robot is on the surface of the panel and it starts to move forward.
Figure 68 circuit diagram when robot is on solar panel surface
[Mohammad Tahir Aqeil_ 0061012769] 87 6.2.3 When front sensor is out and in again:
The front sensor is out of panel’s surface. So, the motors are stopped.
Figure 69 circuit diagram when front sensor is out and in again
[Mohammad Tahir Aqeil_ 0061012769] 88 6.2.4 When right sensor is out and in again:
The right sensor is out of the panel’s surface. Thus, the robot is turning left by stopping the left motor until the sensor is back on the surface again.
Figure 70 circuit diagram when right sensor is out and in again
6.2.5 When left sensor is out and in again:
Figure 71 circuit diagram when left sensor is out and in again
[Mohammad Tahir Aqeil_ 0061012769] 89 6.2.6 When front sensor is out only:
When front sensor is out of surface, a torch is indicating that there is no light or very low light by moving away from the sensor.
Figure 72 circuit diagram when front sensor is out only
6.2.7 Front sensor is back on surface:
Now, light is back and robot starts moving forward.
[Mohammad Tahir Aqeil_ 0061012769] 90
Figure 73 circuit diagram front sensor is back on surface
6.2.8 Robot is in the air again:
Figure 74 circuit diagram when the robot is in the air again
6.2.9 Robot is back on surface:
Now robot is on surface and it starts moving and also it activated blower by energizing relay switch.
[Mohammad Tahir Aqeil_ 0061012769] 91
Figure 75 circuit diagram when the robot is back on surface
[Mohammad Tahir Aqeil_ 0061012769] 92
CHAPTER 7: SOFTWARE 7.1 system operation flowchart
Figure 76 System operation flowchart
[Mohammad Tahir Aqeil_ 0061012769] 93
7.2 coding
The code for the robot is written in Arduino IDE, the syntax is same as c and c++ but with little bit modifications. Code is written so that at the start robot will be in a stand by position and robot will look for solar panel surface by executing following line continuously
while(analogRead(PanelDetectSensor)>PanelDetectSensorLimit);
When robot is placed on the surface of the solar panel the output of Solar Panel detector becomes more than solar panel detection sensor set limit so now code is on surface and it will start moving.
It will first look for front sensor by executing following command
if(analogRead(frontSensor)>frontSensorLimit)
If front sensor was out of surface while rotation of robot then condition inside if() will become true and code execute the block of this if statement.
First, all motors will be turned off by executing the following list of commands.
analogWrite(leftMotorNegative,0);
analogWrite(rightMotorNegative,0);
analogWrite(leftMotorPositive,0);
analogWrite(rightMotorPositive,0);
Then, the robot will move back until its front sensor get back on the solar surface by executing the following commands.
When sensor is on the surface, then robot will take left turn and start moving forward.
Then program algorithm will look for left sensor if it gets out of solar surface by executing line of code given below
if(analogRead(leftSensor)>leftSensorLimit)
[Mohammad Tahir Aqeil_ 0061012769] 94 If sensor was out of surface, then the following code will get executed and make the robot stop and move right until its sensor get back on the surface of the panel.
Serial.println("left sensor out");
analogWrite(leftMotorNegative,0);
analogWrite(rightMotorNegative,0);
analogWrite(leftMotorPositive,0);
analogWrite(rightMotorPositive,0);
delay(500);
//turn right
Serial.println("Turning Right");
analogWrite(leftMotorNegative,0);
analogWrite(rightMotorNegative,255);
analogWrite(leftMotorPositive,255);
analogWrite(rightMotorPositive,0);
//keep it turning until sensor get back on screen while(analogRead(leftSensor)>leftSensorLimit);
Same logic will be executed for right solar edge detector sensor. The code is in (Appendix B).
[Mohammad Tahir Aqeil_ 0061012769] 95
CHAPTER 8: DISCUSSION
8.1 Results
The chosen cleaning method for the system involves the use of a blower and a wheel base robot that can be transported by a drone. The cleaning method was picked from different options, which were water based cleaning and brush cleaning. Water based cleaning was excluded to eliminate water wastage by the system. Brush cleaning method was ideal, however, the constant contact between the panel’s surface and the rotating brush can corrode the surface of the panel. The blower is ideal for arid regions where it can perform efficiently. It does not require the use of water and it will not cause corrosion to the panel’s surface as there is no constant sweeping occur on the surface. The type of the cleaning system was chosen as a cheap, accessible and portable way to perform the cleaning. The literature review covered different system types such as mounted systems, Wheel based robot with brushes and wheel based robot with water spray. The mounted systems are bulky and cannot be transported to different panels and the wheel based robots are cheap and portable but they lack easy accessibility to the panels.
The chosen system utilize the use of drone to aid the wheel based robots to gain access to panels.
The components were picked based on their suitability for the system. Motors and gearmotors selection was based on their torque and capability to move the system around. Chosen wheels have suitable diameters to operate the robot effectively. Arduino UNO is the chosen microcontroller. It was picked for its appropriateness for the proposed system, its huge library and for the reason that it is easy to use. The type of sensors that was picked to be integrated into the system were edge detecting sensors and dust sensors. Edge detectors help preventing the system from falling off the panels. Dust sensors were intended to be used to measure the dust in the air, but it was not used in the final simulation. The air blower, which is the crucial component of the system, was picked based on its power and weight.
[Mohammad Tahir Aqeil_ 0061012769] 96 The chassis 3D model is designed to be carried by a drone and be able to contain other components including the air blower. The chassis has a special designed tube and openings that direct the air flow from the blower to the front of the robot. At the front of the chassis, there are specific sensor holder that will be used to mount sensors that will detect edges. At the top of the chassis there is an arch that has two slits at the top where drone’s legs can slide in. The back of the chassis will accommodate the air blower. Other components can be scattered under the blower’s tube.
The system’s electrical components were modeled in a circuit diagram. The diagram included the microcontroller, L293 dual full H bridge IC, 5v relay, LED & LDR and 7805 5V regulator IC. The simulation of this circuit was done. Different situations were captured in different diagrams.
Finally, a code was written to operate the system. It was tested partially and it did what is expected of it.
[Mohammad Tahir Aqeil_ 0061012769] 97
CHAPTER 9: CONCLUSIONS AND FURTHER WORK
9.1 Conclusion
In conclusion, this paper covered literature review, design development and design simulation of solar panel cleaning system. The literature review talked about the effect of soiling on solar panels and their power output. It discussed different cleaning methods that can be used with solar panels and provided examples of existing systems that are used to clean solar panels. The design development of solar panel cleaning system gave a proposal to a system that uses wheel based robot to clean the solar panels by using an air blower and it is transported by using a drone. In the design development, appropriate components where chosen and 3D model of a chassis where produced. The chassis has features that enable it to be carried by a drone and mount an air blower and sensors. In the design simulation, the system’s electrical circuit was built and simulated and a code was written for the microcontroller and tested partially. In theory, the proposed design can work as it is intended to work.
9.2 Achievement of Project Objectives
1. Literature review covered all the required aspects of the proposed objectives.
2. Literature review was used in developing a design proposal.
3. Components were chosen with consideration to the proposed design.
4. The chassis was modeled in 3D.
5. A circuit was designed and simulated.
6. A code was written for the chosen microcontroller.
7. A prototype was not built. So, no physical testing was done.
9.3 Further Work
Further work can be done in the following aspects.
Stability: The stability of the system can be tested by building a porotype and test how the system behave on an inclined panel/
[Mohammad Tahir Aqeil_ 0061012769] 98
Sensors: additional sensors can be added to the system to increase stability and performance.
Damage to solar panel: The damage that the system causes to the panels can be investigated and solved.
[Mohammad Tahir Aqeil_ 0061012769] 99
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[Mohammad Tahir Aqeil_ 0061012769] 105
APPENDIX A: PROJECT SPECIFICATION
ENG4111/4112 Research Project Project Specification
For: Mohammad Tahir Aqeil
Title: Autonomous Solar Panels Cleaning System Major: Mechatronic Engineering
Supervisor: Dr Tobias Low
Enrolment: ENG4111-ONC S1,2017 ENG4112-ONC s2,2017
Project aim: The aim of the project is to design a system that can clean solar panels.
Some aspects of the system can be neglected, such as batteries duration. Other aspects that the project will focus on are:
The system will be used on small solar panel systems.
The system should be operated and mounted on the solar panel autonomously.
The system should use the best method of cleaning.
The system will obtain parts from existing systems or the parts can be modelled and 3D printed.
Program: Issue A, 31st March 2017
1. Background and literature review: researching the background information related to the soiling effect on solar panels and existing cleaning methods. Also, investigating the positive and negative sides of these methods to design a new suitable system.
2. Research the limitations of designing the system and choose the type of the system that will be designed.
3. The design step can be done by designing the different parts of the system and obtaining other parts from existing systems.
4. Create a prototype.
[Mohammad Tahir Aqeil_ 0061012769] 106 5. Test the prototype.
6. Results and discussion.
7. Conclusion.
[Mohammad Tahir Aqeil_ 0061012769] 107
APPENDIX B: SOURCE CODE
/*Begining of Auto generated code by Atmel studio */
#include <Arduino.h> //arduino core
//defining meaningful names of pins of arduino
#define leftMotorPositive 11
//declaration and assigning of some useful variables. In these variables value of sensors will be stored
unsigned int leftSensorValue=0;
unsigned int rightSensorValue=0;
unsigned int frontSensorValue=0;
unsigned int PanelDetectSensorValue=0;
//Max limit set. you can change it to adjust sensitivity unsigned int leftSensorLimit=900;
unsigned int rightSensorLimit=900;
unsigned int frontSensorLimit=900;
unsigned int PanelDetectSensorLimit=900;
//main setup. Code in these brackets will run one on each reset void setup() {
// setting all driving pins for motors as output pinMode(leftMotorPositive, OUTPUT);
pinMode(leftMotorNegative, OUTPUT);
pinMode(rightMotorPositive, OUTPUT);
pinMode(rightMotorNegative, OUTPUT);
pinMode(blowerPin, OUTPUT);
//turning off blower at start digitalWrite(blowerPin, 0);
//Serial port initialization Serial.begin(9600);
//print on serial monitor
Serial.println("Robot is in the Air!");
Serial.println("Bower is OFF");
//halt program while robot in the air.
while(analogRead(PanelDetectSensor)>PanelDetectSensorLimit);
//Now robot is placed on ground
Serial.println("Solar Panel Detected");
Serial.println("Moving Forward");
Serial.println("Bower is running");
[Mohammad Tahir Aqeil_ 0061012769] 108
// code in loop will run forever void loop() {
//check if front sensor is get out of solar panel if(analogRead(frontSensor)>frontSensorLimit) {
Serial.println("front sensor out");
//turn off all motors and stop robot.
analogWrite(leftMotorNegative,0);
analogWrite(rightMotorNegative,0);
//rotate motors in reverse direction analogWrite(leftMotorNegative,255);
analogWrite(rightMotorNegative,255);
analogWrite(leftMotorPositive,0);
analogWrite(rightMotorPositive,0);
//keep reversing robot until its sensor again comes on solar surface
//start moving forward
Serial.println("Moving Forward");
}
//check if left sensor is out from solar panel if(analogRead(leftSensor)>leftSensorLimit) {
//stop robot
Serial.println("left sensor out");
analogWrite(leftMotorNegative,0);
analogWrite(rightMotorNegative,0);
analogWrite(leftMotorPositive,0);
analogWrite(rightMotorPositive,0);
[Mohammad Tahir Aqeil_ 0061012769] 109
//keep it turning until sensor get back on screen while(analogRead(leftSensor)>leftSensorLimit);
Serial.println("Moving Forward");
}
//same working as described in previous option if(analogRead(rightSensor)>rightSensorLimit) {
Serial.println("right sensor out");
analogWrite(leftMotorNegative,0);
Serial.println("Robot is Again in the Air!");
Serial.println("Blower is OFF");
Serial.println("Please put it on surface to clean solar panel.");
//turn off blower and stop all motors
//stay here until robot again placed on solar cell.
[Mohammad Tahir Aqeil_ 0061012769] 110 while(analogRead(PanelDetectSensor)>PanelDetectSensorLimit);
Serial.println("Moving Forward");
Serial.println("Blower if running");
digitalWrite(blowerPin, 1);
} }