DEVELPOMENT OF SOLAR PANEL CLEANING

DEVICE

A Project Report Submitted to

Shri Ramdeobaba College of Engineering & Management, Nagpur
in Partial fulfillment of VI semester of

Bachelor of Engineering
In

INDUSTRIAL ENGINEERING
By
Aditya Chaudhary 27
Muskan Tekchandani 51
Gressy Shripad 67
Zarna Kanojiya 68
Vineet Bhoyar 85
Anurag Mishra 87

Guide
Dr. T A Madankar

Department of Industrial Engineering

Shri Ramdeobaba College of Engineering and Management
Nagpur, 440013
(An Autonomous Institute affiliated to Rashtrasant Tukdoji Maharaj Nagpur
University Nagpur)
JUNE’23
 Shri Ramdeobaba College of Engineering and Management, Nagpur
(An Autonomous Institute Affiliated to Rashtrasan Tukdoji Maharaj Nagpur University
Nagpur)
Department of Industrial Engineering

CERTIFICATE

This is to certify that the Thesis on “DEVELOPMENT OF SOLAR PANEL

CLEANING DEVICE” is a bonafide work of Aditya Chaudhary, Muskan Tekchandani,
Gressy Shripad, Zarna Kanojiya, Vineet Prakashrao Bhoyar, Anurag Mishra submitted to
the Rashtrasant Tukdoji Maharaj Nagpur University, Nagpur in partial fulfillment of the
award of a Bachelor of Engineering in Industrial Engineering has been carried out at the
Department of Industrial Engineering, Shri Ramdeobaba College of Engineering and
Management, Nagpur during the academic year 2019-20.

Date: 23/06/2023
Place: Nagpur

Dr. T A Madankar Dr. M.M Gupta

Project Guide H.O.D.,

Department of Industrial Department of Industrial

Engineering Engineering

ii
 DECLARATION

I, hereby declare that the thesis titled “DEVELOPMENT OF SOLAR PANEL

CLEANING DEVICE” submitted herein, has been carried out in the Department of
Industrial Engineering of Shri Ramdeobaba College of Engineering & Management,
Nagpur. The work is original and has not been submitted earlier as a whole or part for the
award of any degree / diploma at this or any other institution/University.

Date: 23/06/2023

Place: Nagpur

Aditya Chaudhary 27
Muskan Tekchandani 51
Gressy Shripad 67
Zarna Kanojiya 68
Vineet Bhoyar 85
Anurag Mishra 87

iii
 ACKNOWLEDGEMENTS

With immense pleasure and great respect we take this opportunity to express
deep sense of gratitude to our project guide Dr. T A Madankar, Department of Industrial
Engineering, RCOEM, Nagpur, for his invaluable guidance, inspiration, constant
encouragement and motivation throughout the project work.
We also express our sincere gratitude towards Dr. M.M Gupta, Head of
Department of Industrial Engineering, RCOEM, Nagpur, for his invaluable guidance
and motivation to do this project work.
We are indebted to the faculty members of Department of Industrial
Engineering, RCOEM, Nagpur, for giving us valuable time and helping us to get
through the difficulties came across at each stage of project work.
We would like to express our special gratitude and thanks to Dr. Rajesh Pande,
Principal, RCOEM, Nagpur, for his cooperation and encouragement.
Last but not least, we are very much thankful to our parents and friends who
directly or indirectly supported us at every stage to bring this project towards successful
completion.

Projectee

Aditya Chaudhary 27
Muskan Tekchandani 51
Gressy Shripad 67
Zarna Kanojiya 68
Vineet Bhoyar 85
Anurag Mishra 87

iv
 TABLE OF CONTENTS

Title Page
No.
Certificate 2
Declaration 3
Acknowledgements 4
Table of Contents 5
List of Figures 7
List of Notations and Abbreviations 8

Chapter 1 INTRODUCTION 1-6

1.1 What is cleaning? 1
1.2 Problem Identification 1
1.3 Solution 3
1.4 Scope of work 5
1.5 Objective of work 5

Chapter 2 LITERATURE REVIEW 7-21

2.1 1st Review
2.1.1 Solar panel cleaning mechanism 7
2.1.2 Automatic solar panel cleaning mechanism 8
2.2 2nd Review
2.2.1 Design and development of solar panel
cleaning machine 9
2.2.2 Design and development of PV solar panel
cleaning mechanism using Arduino UNO 12
rd
2.3 3 Review
2.3.1 Design and development of waterless panel cleaning 14
system.
2.3.2 Automatic solar panel cleaning system 15

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 2.4 4th Review
2.4.1 Artificial intelligence based solar panel cleaning robots 17
2.4.2 Aerodynamic drone to remove dust from solar panel
19
2.5 5Th Review
2.5.1 Automatic solar panel cleaning system based on Arduino
for dust remover
20
2.5.2 Automatic solar panel cleaning system
21

Chapter 3 DEVELOPMENT OF DESIGN 22-26

3.1 Introduction 22
3.2 Methodology 22
3.3 System Design 23
3.3.1 Wiper 23
3.3.2 Connecting rod 24
3.3.3 Ball 24
3.3.4 Working 25
3.4 Iterative development 26
3.5 Summary 26

Chapter4 CONCLUSION
4.1 Results 27
4.2 Conclusion 27

REFERENCES 28

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 LIST OF FIGURES

Fig. No. Name of Figure Page No.

Fig. 2.1 Block diagram 7
Fig.2.2 Algorithm 9

Fig. 2.3 Assembly of solar cleaning machine 10

Fig. 2.4 Prototype of solar cleaning machine 12

Fig. 2.5 Assembled robot front view 14

Fig. 2.6 Assembled robot side view 15

Fig 2.7 Top view of solar panel cleaner 16

Fig 2.8 Block Diagram 18

Fig 2.9 Robotic cleaning system used in thuswal 19

Fig 2.10 Dry clean assembly 20

Fig 3.1 Orthographic projection 23

Fig 3.2 Wiper 24

Fig 3.3 Connecting rod 24

Fig 3.4 Ball 26

Fig 3.5 Final design of device 26

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LIST OF NOTATIONS AND ABBREVIATION

Notations Abbreviations

PV Photo Voltic

CAGR Compound Annual Growth rate

GW Giga Watt

ESP Event Stream Processing

UI User Interface

IOT Internet Of Things

LDR Light Dependent Resistor

DC Direct Current

12V 12 Volt

AI Artificial Intelligence

viii
 CHAPTER 1
INTRODUCTION

Development of device for cleaning of solar panels

1.1 What is cleaning ?

As we all know, cleaning is an essential part of our environment and cleaning is
necessary to keep our environment free from any kind of external bodies which intend
to harm us. There are many advantages of cleaning as there cannot be any disadvantage
as there is no such thing as over-cleaned environment. If we go into the details, Cleaning
refers to the process of removing dirt, grime, and other unwanted materials from
surfaces, objects, or environments. It is an essential aspect of maintaining hygiene,
preventing the spread of disease, and ensuring a safe and healthy living or working
environment. Cleaning can involve a wide range of activities, such as sweeping,
mopping, dusting, vacuuming, and disinfecting. Different cleaning methods and
techniques are used depending on the type of surface or object being cleaned. Proper
cleaning practices require knowledge of appropriate cleaning products and tools, as
well as an understanding of safety measures to avoid injury or damage to property.
Effective cleaning can help improve air quality, reduce the risk of illness, and enhance
the overall aesthetic appeal of a space.

As worshipped in our culture, we adhere to the saying “ Cleanliness is next to

Godliness”. So, this project is based upon cleaning of a body engineered in such a way
that the efficiency of the system will be increased positively.

1.2 Problem Identification:

As we are aware that India is a tropical geographical location so that there is more heat
in this part of the hemisphere and temperatures are relatively higher in India than most
of the countries so there is vast amount of heat generated by the sunlight thus further
creating solar energy which is widely used in India as India has favourable conditions
to handle all types of solar powerplants. Solar energy is an effective alternative and a
great source of energy because it is renewable unlike other sources of energy.

These are several factors as to why solar energy is important:

1. Energy security: India is heavily dependent on imported fossil fuels to meet its
energy needs. Solar energy provides an opportunity to reduce this dependence
and increase energy security by harnessing a domestic and renewable energy
source.

1
 2. Cost competitiveness: The cost of solar energy has declined significantly in
recent years, making it increasingly competitive with conventional sources of
energy. This has made it an attractive option for meeting India's growing
energy demand.
3. Environmental benefits: Solar energy is a clean and renewable source of
energy that produces no greenhouse gas emissions or other harmful pollutants.
This makes it an attractive option for reducing India's carbon footprint and
improving air quality.
4. Rural electrification: India has a significant rural population that lacks access
to reliable electricity. Solar energy provides an opportunity to meet the energy
needs of these communities in a sustainable and cost-effective manner.
5. Government initiatives: The Indian government has launched several
initiatives to promote the development of solar energy in the country. These
initiatives include financial incentives, regulatory support, and capacity
building programs.
Overall, solar energy has the potential to play a significant role in India's energy mix in
the coming years, providing a reliable and sustainable source of energy to meet the
country's growing energy demand.

India has become a major player in the global solar energy market, with a rapidly
expanding solar power sector. Here are some statistics about solar power plants in India:

1. Installed capacity: As of March 2021, India's total installed solar power

capacity was over 40 GW, making it one of the top solar energy producers in
the world.
2. Growth rate: India's solar power capacity has grown at a compound annual
growth rate (CAGR) of around 43% over the past five years, indicating strong
and sustained growth in the sector.
3. Large-scale solar parks: India has established several large-scale solar parks
across the country, including the Bhadla Solar Park in Rajasthan, which has a
capacity of over 2.2 GW, making it one of the largest solar parks in the world.
4. Rooftop solar: In addition to large-scale solar power plants, India has also seen
a significant increase in rooftop solar installations. As of March 2021, India
had installed over 6.5 GW of rooftop solar capacity.
5. Investment: The Indian government has made significant investments in the
solar energy sector, including launching the International Solar Alliance and
providing subsidies and incentives for solar power producers.
6. Future plans: India has set ambitious targets for solar energy production,
including a target of 100 GW of solar power capacity by 2022 and 450 GW by

2
 2030, which would make it one of the largest solar energy producers in the
world.
Overall, these statistics demonstrate the significant growth and potential of solar power
plants in India, as the country continues to increase its investment in renewable energy
and work towards a more sustainable and clean energy future.

Solar panels are an important source of renewable energy, but there are several
problems that can reduce their efficiency, including:

1. Dirt and debris: Accumulation of dirt, dust, leaves, and other debris on the
surface of the solar panels can reduce the amount of sunlight that reaches the
solar cells, reducing their efficiency.
2. Shading: Partial shading of solar panels can significantly reduce their
efficiency. Even small amounts of shading, such as from trees or buildings,
can cause a significant decrease in energy production.
3. Temperature: High temperatures can reduce the efficiency of solar panels.
Solar panels are most efficient at cooler temperatures, so they are less efficient
in hot climates.
4. Aging: Over time, solar panels can degrade and lose efficiency. This can be
due to a variety of factors, including exposure to the elements, wear and tear,
and exposure to ultraviolet radiation.
5. Electrical issues: Electrical issues, such as damaged or corroded wiring or a
malfunctioning inverter, can reduce the efficiency of solar panels.
6. Poor installation: Poor installation, including improper mounting or alignment,
can reduce the efficiency of solar panels.
7. Inefficient system design: The overall design of the solar power system can
also affect the efficiency of solar panels. Poorly designed systems, such as
those with mismatched components, can reduce overall efficiency.

1.3 Solution:
Cleaning solar panels is an important maintenance task that can help ensure optimal
energy production and efficiency. Here are some of the reasons why cleaning solar
panels is necessary:

1. Improved energy production: Dirt, dust, and debris can accumulate on the
surface of solar panels over time, blocking sunlight and reducing the amount
of energy they produce. Regular cleaning of the panels can help remove these
obstructions and improve energy production.

3
 2. Extended lifespan: Accumulated dirt and debris can also contribute to the
degradation of solar panels over time, reducing their lifespan. Regular
cleaning can help prevent this degradation and extend the lifespan of the
panels.
3. Cost savings: Cleaner solar panels can produce more energy, which can result
in lower energy bills for homeowners and businesses. Regular cleaning of the
panels can also help prevent the need for costly repairs or replacements due to
reduced efficiency or damage.
4. Improved safety: Solar panels are often located on rooftops or in hard-to-reach
areas, which can make them difficult to access and clean. However,
accumulated dirt and debris can create slippery surfaces, increasing the risk of
falls and accidents. Regular cleaning can help ensure a safer working
environment.
5. Warranty requirements: Some solar panel manufacturers require regular
cleaning as part of their warranty requirements. Failure to follow these
guidelines can void the panel's warranty, resulting in additional costs for
repairs or replacements.

Cleaning solar panels is an important maintenance task that helps to ensure maximum
energy production and efficiency from your solar system. Over time, dust, dirt, and
other debris can accumulate on the surface of solar panels, reducing their ability to
absorb sunlight and convert it into electricity.

There are several methods for cleaning solar panels, including:

1. Manual cleaning: This involves physically scrubbing the surface of the solar
panels with a soft-bristled brush and water. This method is typically used for
smaller solar systems.
2. Automated cleaning: This method uses specialized cleaning equipment that is
designed to automatically clean solar panels without any human intervention.
This method is ideal for larger solar installations.
3. Water-free cleaning: This method involves the use of specialized cleaning
solutions that can be applied to the surface of the solar panels without the need
for water. This method is ideal for areas with limited water availability.
Regardless of the method used, it is important to ensure that the cleaning process is
performed safely and in accordance with the manufacturer's recommendations. Regular
cleaning of solar panels can help to ensure that they remain in optimal condition and
provide maximum energy production for years to come.
4
1.4 Scope of work:
The scope for solar panel cleaning is significant, as it is an essential aspect of
maintaining the efficiency and performance of solar energy systems.

Points that highlight the scope for solar panel cleaning:

1. There will be maximization of the energy production by cleaning the solar

panel.
2. Dirty solar panel can experience reduce energy production, leading to lower
electricity generation and potential financial losses.
3. Cleaning the solar panels manually by people for regular can be difficult, this
process can become easy by using solar cleaning devices.
4. Launching an solar cleaning devices at lower prices will attract lot of
customers.
5. Many Modifications can be done on theses cleaning devices so that it ensures
more efficiency in cleaning the panel
6. By seeing the advantages of these cost effective device for cleaning solar
panel, more people would prefer to use these cleaning device.
7. Also from this people will become aware of the benefits of cleaning the solar
panel and can select their suitable cleaning device.
8. Reducing the cost and maintenance of the device will divert the mind of
people who are using solar panels in their house, and those people will also
prefer to use these devices.

1.5 Objective of the work:

There are many types of devices have been developed to clean the solar panels from
and debris ultimately to improve the efficiency of the solar panel system because the
less amount of decay the more efficient will be the system and most of the devices
which have been developed have managed to improve the efficiency of the system by
using different kinds of mechanisms and machines but most of these devices are costly
and require bigger amount of money to implement at mass level. There are vary
compact and heavy electronic devices involved which may be better for individual or
smaller facility of solar panels but not feasible larger solar panel facilities and layouts.
We propose the mechanism which less costlier than all other mechanisms and machines
and beneficial for the customers, solar industries, etc. this mechanism consists of a
motor, a viper and several joints which will clean the each and every edge of solar panel
in less time and less money.

5
It is a slotted-lever mechanism which will convert the angular motion of the input to
the linear motion of the output (wiper).

6
 CHAPTER 2

LITERATURE REVIEW

2.1 1stReview

2.1.1 Solar panel cleaning mechanism

Abstract:
In the research paper the researcher professor Bhavin Khatri used a mechanism that is
automatically controlled by ESP328 controller. The mechanism is wi-fi based.

Introduction:
From this research paper we have understand about the mechanism that has been used.
The mechanism that is used is operated using mobile phone with the help of hotspot.
When the user connect it with the mobile phone it will show UI interface through this
UI interface a user can set the time for cleaning of the solar panel. In this model a 12wt
battery has been used which will give power to move the mechanism. They use four
motors and four silicon rubber wheel and two support wheel in the middle of the model.
They use a viper and sponge for the cleaning of the solar panel. There are two nozzle
attached to the mechanism which sprays water on the panel. These two nozzles are
attached with water motor which pump water from the tank.

Fig 2.1 Block Diagram

7
Scope:
1. They can add a sump to collect the dirty water and they can filter it with the
help of filter and then the water will be reuse.
2. Efficiency of the solar panel has been increased after using this mechanism.

Research gap:
1. For cleaning purpose they used a sponge which is not good for removing the
proper form of dust from the solar panel.
2. The technology used in this mechanism is not too much good as it will creates
problem in rainy season in connecting and disconnecting.

Conclusion:
The system can be applicable at any plant, it should not only guarantee a zero pressure
on the PV cells but also should be easy to control and maintain.

2.1.2 Automatic solar panel cleaning mechanism

Abstract:
In another paper professor Yashwesh sing Rajwat used internet of things (IOT)
technology to implement the project. The system will be controlled by micro-controller
and various sensors.

Introduction:
In this research paper we have seen that the system is operate via microcontroller and
it moves with the help of stepper motors with wheels. The power to the entire system
is supplied with the help of battery.

The project is consist of 4 modules:

1. Sensor module: The dust sensor detects the dust on the solar panel if there is
dust on the sensor the sensor gives a positive value and if there is no dust the
sensor gives negative value.
2. Motor module: The motor module deals with the movement of the cleaning
device.
3. Cleaning module: The cleaning module deals with the cleaning of the panel.
The cleaning operation is performed till the dust sensor gives a negative value.
4. User interface: The user interface enables the communication between the user
and the device.
8
Fig 2.2 Algorithm

Research gap:
1. The mechanism can’t get installed on dwelling roofs.
2. They are installing this mechanism only on big houses and buildings.

Scope:
1. In future they will install this mechanism on the small houses and small
buildings also.
2. The mechanism will be able to clean the dust more speedily after doing some
upgradation in mechanism.

Conclusion:
Existing automated cleaning system focus primarily on large solar power plants and are
not generally useful for installation on smaller solar panel on dwelling roofs.

2.2 2nd Review

2.2.1 Design and Development of Solar Panel Cleaning Machine

Abstract:
This research focuses on the design and development of an automated solar panel
cleaning machine to improve the efficiency of solar photovoltaic (PV) modules. Dust
accumulation on the front surface of PV modules, particularly in dusty environments
like tropical countries, can block the incident sunlight and reduce the power generation
9
capacity by up to 50% if not cleaned for a month. The manual cleaning process has
limitations and drawbacks, such as staff accidents, damage to panels, and poor
maintenance. Therefore, an automatic cleaning system is proposed to overcome these
challenges and ensure effective, non-abrasive cleaning.

The developed cleaning machine utilizes a motorized chain sprocket arrangement to

control the movement and cleaning of PV modules. The cleaning unit, equipped with a
wiper, roller brush, and water sprinkles, moves back and forth along the central spline
of the panel. The rotating brush forces the dust to move in the direction of the cleaning
unit's motion and blows it away at the edge of the panel. The cleaning process continues
until the entire array of panels is cleaned.

Fig 2.3 Assembly of Solar Cleaning Machine

Scope:
•
• The design and application of a microcontroller-based solar panel dust
removal system.
• Evaluation of solar panel performance across various time periods (a day, a
week, and a month) with and without dust buildup.
• Efficiency comparisons between before and after cleaning to show the
cleaning system's efficacy.
• Emphasis on the necessity of using renewable energy, especially solar energy,
to satisfy the nation's energy needs.

Research Gap
10
 • There isn't an in-depth review of the literature on methods for cleaning solar
panels.
• There has been limited discussion of the specific gaps in prior research on
solar panel cleaning.
• Rather than investigating different strategies or technology, concentrate on
designing and developing the suggested cleaning machine.
• Inadequate investigation of the potential issues and restrictions related to the
suggested cleaning system.

Conclusion:
The design and implementation of an automated solar panel cleaning machine have
been successfully achieved. The developed system effectively removes dust from PV
modules, improving their power efficiency. By regularly cleaning the panels, the
reduction in power output caused by dust accumulation can be minimized. The use of
an automated cleaning system eliminates the need for manual labor, reduces the risk of
accidents and panel damage, and ensures consistent cleaning quality.

Advantages:
• Increased power efficiency: Regular cleaning of PV modules ensures optimal
power generation capacity by preventing dust blockage.
• Automated operation: The cleaning machine eliminates the need for manual
cleaning, reducing labor requirements and associated risks.
• Non-abrasive cleaning: The system provides an effective cleaning method that
avoids panel damage and ensures consistent cleaning quality.
• Cost-effective: By improving power efficiency, the system helps maximize the
return on investment in solar panels.
• Potential for expansion: The technology can be further enhanced with
additional features like de-ionized water cleaning, inspection cameras, and
climate-based cleaning.

Disadvantages:
• Initial investment: The implementation of an automated cleaning system
requires an upfront investment in equipment and installation.
• Maintenance: The cleaning machine itself may require periodic maintenance
and calibration to ensure optimal performance.

11
 • System compatibility: The design and compatibility of the cleaning machine
should be considered for different types and sizes of PV modules.
• Overall, the developed solar panel cleaning machine offers significant
advantages in terms of improving power efficiency, reducing manual labor,
and ensuring consistent cleaning quality. With further advancements and cost
optimizations, this technologyhas the potential for widespread adoption in
solar energy applications

2.2.2 Design & Development of PV Solar Panel Cleaning Mechanism

Using Arduino UNO

Abstract:
This paper proposes the design and development of an automatic cleaning system for
solar PV panels using an Arduino UNO microcontroller. The accumulation of dust on
the surface of solar panels reduces their efficiency and power generation capacity. To
address this issue, an automated cleaning mechanism is designed using a sensor (LDR)
to detect dust on the panels and a sliding brush mechanism for cleaning. The Arduino
UNO microcontroller controls the DC gear motor for the cleaning mechanism. The
objective is to improve overall solar panel efficiency by detecting obstructions and
efficiently cleaning the panels.

Fig 2.4 Prototype Solar Cleaning Mechanism

12
Scope:
• The scope of the project is to design and develop an automatic cleaning
mechanism for PV solar panels using Arduino UNO.
• The mechanism aims to detect dust on the solar panels and clean them
automatically to improve power generation capacity.
• The project focuses on addressing the issue of dust accumulation on solar
panels in dusty environments, particularly in tropical countries like India.
• The proposed mechanism utilizes a sensor (LDR) to detect dust and a sliding
brush mechanism for cleaning the PV modules.
• The project also considers environmental factors such as wind speed,
humidity, solar radiation, and atmospheric dust that affect the power
generation process.

Research Gap:
• Although the project proposes an automatic cleaning mechanism, there is a lack
of detailed information on the specific design and development process.
• The project mentions the use of an Arduino UNO and a sensor (LDR), but it
does not provide comprehensive information on how these components will be
integrated and programmed.
• The project could benefit from a more in-depth literature survey, including a
review of existing automatic cleaning systems for solar panels, to identify the
strengths and weaknesses of previous approaches.
• The research gap lies in the need for a comprehensive analysis of the
efficiency, effectiveness, and cost-effectiveness of the proposed cleaning
mechanism compared to other available methods.
• The project could further explore the impact of dust accumulation on the
power output and performance characteristics of PV modules, providing a
quantitative analysis of the reduction in power generation capacity.

Conclusion:
The design and development of an automatic cleaning system for PV solar panels using
an Arduino UNO microcontroller can effectively address the issue of dust
accumulation. The proposed mechanism aims to improve the efficiency and power
generation capacity of solar panels by detecting obstructions and implementing an
efficient cleaning process. This automated system can contribute to the overall
productivity of solar power generation.

13
2.3 3rd Review

2.3.1 Design and development of waterless solar panel cleaning system:

Abstract:
With India experiencing around 300 sunny days each year, the potential for solar energy
is vast, estimated at 5000 trillion kilowatt-hours annually. This exceeds the energy
output of all fossil fuel reserves in the country. However, the efficiency of solar panels
is compromised when they are dirty, and traditional water-based cleaning methods are
costly and environmentally damaging. Additionally, manual cleaning poses risks of
electrical hazards, deposits, scratches, and damage to panel coatings. To address these
issues, the design in this research paper incorporates nylon-bristled brushes that gently
clean the panels without causing harm. The self-powered and automated cleaner robot
navigates the entire panel area and returns to its docking position, completing one
cleaning cycle. It lifts dust away from the panels, ensuring optimal performance. The
cleaner robot can be customized to fit existing or modified solar panels.

Methodology used:The functional design of a solar panel cleaning robot includes

specially designed nylon wheels, high-torque motors, and roller brushes. It operates
using a 12V DC power supply and ultrasonic sensors to determine its starting and
ending positions. The objective of this prototype is to increase solar panel productivity
by removing dust, reduce manual labor and cleaning time, and conserve water
resources. The mechanical design involves using aluminum for the frame, nylon for
wheels and brushes, and assembling the components accordingly. Electric motors and
sensors are carefully selected to meet the requirements, with ultrasonic sensors being
preferred for their accuracy and resistance to environmental factors.

Fig 2.5 Assembled Robot Front View

14
Fig 2.6 Assembled Robot Side View

Scope of device: The working prototype of the solar panel cleaning system
demonstrates its mechanical design, durability, and feasibility. Future enhancements
may include integrating dust sensors calibrated to activate the system automatically, a
Bluetooth module for remote control, and uploading cleaning results to a cloud server
for monitoring and remote commands.

Conclusion: The assembly of the solar panel cleaning system was carried out
meticulously, prioritizing precision. After running the code, the system performed
flawlessly without any errors. The mechanical components responded accurately to the
code, and the ultrasonic sensors exhibited excellent response times. Through
calibration, the sensors were set to detect objects at a distance of 4 cm from the solar
panel. As anticipated, the system responded accordingly, traversing across the panel
when the sensor value exceeded the threshold. The testing sessions confirmed the
validity of our hypothesis, as the system performed well without encountering any
major difficulties. Minor adjustments were made to optimize wheel alignment for
reduced friction and ensure efficient and synchronized movement

2.3.2 Automatic Solar Panel Cleaning System

Abstract: Energy supply is a significant challenge in India, affecting both urban and
rural households. The country heavily relies on fuelwood and agriculture residues to
meet around 60% to 70% of its energy demand. To address this, there is a need to
enhance the application of solar energy, which is a renewable and abundant resource
radiated by the sun. Solar power has emerged as a promising solution, but the efficiency
of solar photovoltaic (PV) modules is hindered by dust accumulation on their surfaces,
particularly in dusty environments common in tropical countries like India. This
reduces the power generation capacity of the modules, with potential power output
reduction of up to 50% within a month. To tackle this issue, a cleaning system
15
controlled by Arduino programming has been designed to improve the power efficiency
of PV modules by removing dust accumulation.

Working Principle: The solar panel cleaning system is designed with specific
dimensions to accommodate a flat plate panel. It consists of a brush that is driven by
DC motors, and the actions of the brushes are controlled by signals generated by
Arduino. The system incorporates a frame that carries the cleaning brush and moves
vertically along the 11ft length of the solar panel, resulting in a mopping action that
cleans the panels. This frame is equipped with DC motors that generate rotational
motion, which is then converted into linear motion through a rack system. The shifting
of the frame from one solar panel array to another is facilitated by gear motors. The
frame is shifted horizontally for 9ft, enabling the cleaning of three sets of solar panel
arrays. The entire cleaning process, including the mopping action and both horizontal
and vertical movements, takes approximately 300 seconds. Once one array of the solar
panel is cleaned, the system moves on to the next array, repeating the cleaning process.

Fig 2.7 Top view of solar panel cleaner

Future scope: The project offers several possibilities for modification and
improvement. These include incorporating surface vacuum cleaners and water spray
16
mechanisms, implementing sensors for enhanced functionality, utilizing solar panels
for power supply instead of electric supply, using silicon brushes for improved
durability, exploring alternative micro-controllers to replace Arduino programs,
integrating remote controllers for convenient control, substituting the rack system with
belt drives, and recognizing the potential for further enhancements to optimize the
cleaning process.

Research Gap: Some areas for improvement have been identified in the project. The
rolling brush with electrostatic cloth may need to be replaced, and the system should be
scaled for larger projects by increasing the motor torque. Another consideration is the
reliance on electric power instead of utilizing photovoltaic cells, which adds to the
overall cost. Furthermore, the current system is ineffective for removing sticky dust and
cannot clean corners effectively. It is suggested that a hard brush or mopping action be
employed for addressing sticky dust.

Conclusion: In a nutshell, existing automated solar panel cleaners are not suitable
for smaller arrays found on residential roofs. Our proposed system addresses this issue,
providing a significant advantage for sites with limited space. The designed model
underwent testing, revealing the successful functioning of the rack and pinion
mechanism and the linear actuator system. While the brush cleaning action was
effective, it struggled with sticky dust, which can be remedied by incorporating a hard
brush or mopping action. Overall, the cleaning action of our system serves as a
preventive measure, minimizing the accumulation of surface dust on solar panels before
it becomes too difficult to remove.

2.4 4th Review

2.4.1 Artificial Intelligence-Based Solar Panel Cleaning Robots:

A comprehensive search was conducted using academic databases and relevant

research journals. The keywords used included "solar panel cleaning," "robotics,"
"artificial intelligence," and "machine learning." Peer-reviewed articles published
within the last five years were selected for analysis.

AI Algorithms for Navigation and Mapping: The algorithms utilize techniques such
as Simultaneous Localization and Mapping (SLAM), Reinforcement Learning (RL),
and Computer Vision (CV) to enable the robot to navigate efficiently and accurately
map the cleaning areas.
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Cleaning Mechanisms and Strategies: AI-based decision-making algorithms are
employed to optimize the cleaning strategy, considering factors like panel tilt, weather
conditions, and contamination levels.

Fault Detection and Maintenance: Anomalies in performance, sensor malfunctions,

and mechanical issues can be detected using machine learning algorithms. Early fault
detection enables timely maintenance, reducing downtime and maximizing the robot's
operational efficiency.

Energy Optimization: Researchers have developed AI algorithms to optimize the

energy consumption of the robot, ensuring longer operational time and reduced
charging requirements.

Safety and Risk Mitigation: Collision avoidance systems, obstacle detection, and
emergency stop mechanisms are integrated to prevent accidents and minimize risks to
the robot and surrounding infrastructure.

Fig 2.8 Block diagram

Conclusion: Integration of AI algorithms enables autonomous navigation, adaptive

cleaning strategies, fault detection, energy optimization, and safety enhancements.
Further research is needed to address challenges such as scalability, cost-effectiveness,
and real-time decision-making capabilities to enhance the practical application of these
robots in large-scale solar installations.

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2.4.2.Aerodynamic drone to remove dust from solar panel

A thorough search was conducted using academic databases and relevant research
journals. The keywords used included "drone," "dust removal," "aerodynamics," "PV
panels," and "solar energy." Peer-reviewed articles published within the last five years
were selected for analysis.

Aerodynamic Design Optimization: Studies have investigated the impact of drone

size, wing design, rotor configuration, and propeller characteristics on the aerodynamic
performance during the dust removal process. Optimized designs can improve flight
stability, ability, and energy efficiency.

Dust Removal Mechanisms: Different dust removal mechanisms have been developed
and tested for drone-based PV panel cleaning. These mechanisms include brushes, air
jets, electrostatic or ultrasonic methods, and combinations thereof.

Flight Control and Path Planning: Efficient flight control and path planning
algorithms are essential for precise and effective dust removal. Researchers have
developed AI-based control systems that take into account factors such as wind
conditions, panel orientation, dust distribution, and flight dynamics.

Dust Detection and Monitoring: Image processing algorithms, thermal imaging, and
spectroscopy are utilized to identify areas with high dust accumulation, enabling
targeted cleaning and reducing unnecessary energy expenditure.

Performance Evaluation: Studies have focused on quantifying the effectiveness of

drone-based dust removal methods. Parameters such as dust removal efficiency, power
output improvement, and cleaning time reduction are evaluated to assess the overall
performance of the drone system.

Fig 2.9 Robotic cleaning system used in Thuswal

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Conclusion: The literature review highlights the significance of drone aerodynamics
in dust removal from PV panels. Optimized designs, efficient flight control, appropriate
dust removal mechanisms, and accurate monitoring techniques are essential for
effective cleaning. Further research is needed to optimize drone aerodynamics for
different panel orientations, dust compositions, and environmental conditions.

2.5 5th Review

2.5.1Automatic Solar Panel Cleaning System Based on Arduino for

Dust Removal

Abstract:
Solar panel is vulnerable to accumulated dust on its surface. The efficiency of the solar
panel gradually decreases because of dust accumulation. In this paper, an Arduino
based solar panel cleaning system is designed and implemented for dust removal. The
proposed solar panel cleaner is waterless, economical and automatic.

It has two simple mechanism used in this system consists of an exhaust fan which works
as an air blower and a wiper to swipe the dust from the panel surface, a dc motor is used
to power the wiper. Since, the system does not need water to clean solar panel, it avoids
the wastage of water and effective in desert areas. Experimental results show that the
proposed cleaning system can operate with an efficiency of 87-96% for different types
of sands.

2.10 Dry Cleaning Assembly

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2.5.2 Automatic solar panel cleaning system Design by Ali Al Dahoud
and Mohamed Fezari

Abstract:
This paper aims to develop an automatic cleaning system for Photovoltaic (PV) solar
panels, in this model a dust detector is designed and its accuracy is checked properly.
The brain of the system is an Arduino Uno microcontroller, which gets data from the
dust sensor then makes treatment and sends instructions to the system to perform the
cleaning process. The cleaning process is based on-power circuit that controls the speed
and direction of a motor to scan all surface of the PV panel. GUI is used here to monitor
the system and sensor status and the collected data is transmitted to the central unit.

Scope:
This cleaning device enhance the efficiency of generating electricity by cleaning the
Panels. It is very important to clean the panel because solar panel work by converting
light into electricity, if there is dirt on the surface of the panel, it can reduce the
absorption rate of electricity.

Research Gap

• The efficiency of the first model is very less which is 81-90%, and our aim is
not getting satisfied by the required efficiency.
• Many components are used in 2nd model, any defect in any of those
component will lead to dysfunction in the whole function easily.
• Many Components are used in the 2nd model which is very costly also and
their maintenance would be very high.

Conclusion: Both of the solar panel cleaning models design and working have been
achieved but there are some factors on those two models which should have to be
developed. By analyzing those factors we should design a model in such a way that the
factors which were lagging should be solved.

Our model should have more efficiency, it shouldn’t lag in any way in cleaning the
panel, it should be cost effective with less maintenance and simple mechanism should
be used in the model so that it should be cost effective.

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 CHAPTER 3

DEVELOPMENT OF A DEVICE

3.1 Introduction
This chapter presents the development process of the device for our project, titled "
Development of a solar panel cleaning device". The device plays a crucial role in when
it comes to preventing efficiency of solar panels from external agents such as dust and
other debris. This chapter will cover all the details of the device which has been made
to clean the solar panel to improve its efficiency. In this chapter, we will discuss the
methodology, system design, implementation details, as well as any iterative
developments made during the project. Previously in chapter 2 titled "Literature
review" we have examined several research papers, analyzed their importance, studied
their scope and found out the research gaps which were needed to be fulfilled in
developing this device. We have considered every perspective while designing this
device and also considered various financial considerations.

3.2 Methodology
To develop the device, we adopted an iterative development methodology. This
approach allowed us to make progress in stages while incorporating feedback and
improvements at each iteration. The development process consisted of several key
steps, including system design, with the existing solar panel cleaning device
infrastructure. We analyzed various types of mechanism from several research paper
used for developing device for cleaning of solar panels based different parameters such
as cost, components used, system reliability, complexity, feasibility, etc. After
analyzing various mechanism, we developed an approach for choosing the best possible
solution for cleaning the solar panels.

This system consists of a very few number of components in which the water will be
sprayed upon the solar panels and to clean the solar panel more efficiently, wipes is
being used. There is motor attached at one end of the solar panel which gives rise to the
angular motion of the connecting link resulting into the linear motion of the wiper, thus
cleaning the whole area from top to bottom of solar panel.

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3.3 System Design
The system design phase focused on creating an architecture that efficiently manages
and improves efficiency within a solar panel. We utilized a systematic approach, where
the components interact with each other forming an open kinematic chain. The design
is incorporated in such a way that it will not cost much.

Fig 3.1 Orthographic projection

3.3.1 Wiper
A motorized wiper is essentially powered by electricity. The wiper arms are moved by
an electric motor that is connected to a worm gear, which transfers the required force
to a long rod. The wipers can move as quickly as they need to because the worm gear
can produce the force needed. Additionally, the motor is placed in a convenient location
so that it can operate the wiper’s mechanism. As far as we are aware, a car's wiper
cleans the windscreen of the vehicle in an angular action, however in this design, the
wiper will produce a reciprocating motion.

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Fig 3.2 Wiper

3.3.2 Long Rod (Connecting Rod)

In general, connecting rods deliver the motion from one link to another. In this design,
the connecting rod essentially acts as an angular actuator. and a ball is connected to
that which is termed as a ball joint.

Fig 3.3 Connecting Rod

3.3.3 Ball
The ball and connecting rod are inserted into the wiper and attached to it so that the
wiper can reciprocate in response to the connecting rod's angular motion.

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Fig 3.4 Ball

These three elements are crucial parts of the mechanism.

3.3.4 Working
The design of development of solar panel cleaning device contains four main components such
as wiper, connecting rod, ball joints and electric motor. Wiper is used to clean the surface of
the solar panel from one end to another. Connecting rod is used to connect the motor with wiper
and one small ball joint is used which connects the wiper with the connecting rod. The ball will
have the sliding motion. The electric motor connected with the connecting rod transmits the
necessary force to a rod that sets another component in motion. The connecting rod with the
external force of the electric motor moves in an angular motion. The input of the electric motor
will give the output in the connecting rod with angular motion. This rod’s one end is inserted
in the ball. The ball and the connecting rod is having a joint between them, so it will be called
as ball joint. This joint is important because the angular motion starts and then the ball will
slide. This ball joint is having the sliding motion in the wiper. The sliding of ball creates a
motion in the wiper. The wiper is the component which gives the output of the mechanism. The
input absorbed from the connecting rod is resulting into output. The wiper is the component
which is cleaning the whole surface of the solar panel. This mechanism works for the cleaning
of the surface of the solar panel which improves the efficiency of solar panel. The connecting
rod is having an angular motion and ball joint slides in the wiper but what will be the output?

So, the output will be the wiper moving in the reciprocating motion to clean the entire
surface of the solar panel. Finally, it concludes that the input of an angular motion is
converting into output of reciprocating motion.

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Fig 3.5 Final Design OF The System

3.4 Iterative Development

Throughout the development process, we incorporated feedback from the 1st seminar
conducted for the project from faculties and noted their valuable inputs about the
project. The feedback highlighted the need for other factors which are causing reduction
to efficiency of solar panels and also highlight the need of cost. In response, we found
out various ways to decrease the cost of components and also searched for several other
reasons affecting efficiency of a solar panel. After all considerations, we developed a
device consisting of basic components fulfilling basic functions simultaneously
improving efficiency of solar panel.

3.5 Summary
This chapter detailed the development of the device for our project, "Development of
solar panel cleaning device." We discussed the introduction, methodology, system
design and iterative developments. The device developed is totally feasible to
implement and carries less cost of components requiring minimum amount of
maintenance for different parts of the device. All the components of the device can be
replaced individually if they attain failure. The device has a simple mechanism and
basic system of motion which will clean the entire solar panel ultimately improving
efficiency of solar panels
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 CHAPTER 4
RESULT AND CONCLUSION

4.1 Result: Structure of a device is developed consisting of very few number of

components such as wiper, connecting rod, ball and electric motor. One end of a
connecting rod is attached to the electric motor so that the rod moves in angular
motion and the other end of the connecting rod is linked with the wiper which moves
in reciprocating motion resulting in the cleaning of entire solar panel. The electric
motor gives rise to the angular motion of the connecting rod which further gets
transformed into reciprocating motion of the wiper. The model is developed on
solidworks designing software and it is eligible for testing and observation which is
the further part of our project.

4.2 Conclusion: In a nutshell, we have covered four chapters in the thesis of our
project initially. These chapters consisted of introduction, literature review,
development and results. Handful of data was analyzed during the making of this
project and various mechanisms were studied for choosing the best possible solution.
The agenda was to make simple and less costlier device for solar panel clients. The
device simply converts angular motion of the connecting rod into reciprocating
motion of the wiper with the help of electric motor attached to the connecting rod.
The wiper is linked to connecting rod giving rise to reciprocating motion. The wiper
has hollow section inside it where the ball is linked with the connecting rod and the
ball moves up and down in the hollow section of the wiper converting the angular
motion of the connecting rod into reciprocating motion of the wiper. When the
electric motor is turned on, the system will start its working and will finish within the
ample amount of time cleaning the entire surface of solar panel.

References:

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