Project Solar Cleaning Robot.pdf

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<b>SOLAR CLEANING ROBOT</b>

<small> Teacher: Mac Thi Thoa </small>

<i> Hoang Hong Hai</i>

<i><b> Students: Le Thu Nguyet - 20206072 Nguyen Bao Ngoc - 20206069</b></i>

<i> Tran Viet Manh - 20206063</i>

<i><b> Class code: 143321</b></i>

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Working tasks:

<b> Members Tasks</b>

Nguyen Bao Ngoc - 20206069

- Providing electronic components- Hardware programing, motor control, movement of Robot- User Interface: Console and button handling

Le Thu Nguyet - 20206072

- 3D Robot design on Solidwork and 3D printing, hardware arrangement.

- Login Interface

- Providing electronic components- Project report document and video demo

Tran Viet Manh - 20206063

- Providing electronic components

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1. What is solar panel ?

2. Why we need solar cleaning robot ?

1. Necessary components2. Robot design

1. Block diagram2. Electrical diagram3. QT App

<b>Part IV: Algorithm</b>

1. Hardware2. PID controller3. Coding

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<b>PART I</b>

<small> </small>

<small> </small><i><b> Introduction about the robot ( SCR – Solar Cleaning Robot)</b></i>

<b>1. What is Solar panel ?</b>

<small> </small>

<i><small> Solar panels</small></i>

<b> Solar panels, generally comprising of arrays of photovoltaic cells, </b>

use the solar energy directly from the sun to generate electricity for our daily use. Being environment friendly in nature, solar panels collect the solar energy which is available in abundance on our planet and convert it using the advanced technology developed by human beings. This invention of humans has led to a great achievement in world’s history of conserving non-renewable resources and saving the planet as well as the natural resources from depletion.

<b>What causes dirty solar panels ?</b>

There are several reasons why your solar panels could be dirty. Here are some of the most common causes:

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<b>Dust buildup: Dust can slowly build up on your solar panels over </b>

time if you don’t clean them often enough.

<b>Water damage: If water gets inside the panel, it can cause corrosion</b>

and reduce the amount of electricity from it.

<b>Debris: Debris from plants or animals may get stuck in between the </b>

cells and cause blockages that prevent electricity from flowing freely through the panel.

<b>Rainwater: Rainwater can seep into your panel and cause water </b>

damage and rusting around metal connections due to corrosion caused by moisture inside the cells.

<b>2. Why we need Solar Cleaning Robot ?</b>

Solar panels need to be cleaned regularly because dirt, grime, bird droppings, and other substances can block the sunlight from entering the panel and reduce its electrical output. Solar cleaning robots are designed to clean solar panels efficiently and on a large scale. The surface cleaning of photovoltaic panels is an urgent industrial problem, as it not only determines power conversion efficiency but can also lead to permanent damage to photovoltaic panels. The target of this study is to delineate innovation of robotics technology for cleaning photovoltaic boards.

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Here we detailed some advantages and disadvantages of solar cleaning robot:

Advantages of SCR:

cleaning system protects your investment by keeping the solar panels clean all the time, which can lead to an increased production of up to 30 percent more energy.

<i><b>Increase Durability: Cleaning your solar panels will help them </b></i>

last longer and increase the lifespan of your system. You can also apply some cleaning products to ensure they’re protected against dust and debris that might cause damage over time.Disadvantages of SCR:

During Solar panel cleaning, the panels should not be stepped on. If micro cracks occur on the panels, water and other liquids that may enter inside may cause major problems in the plant.

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1.2. Module L298:

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<i> Module L298N</i>

The L298N is a dual H-Bridge motor driver which allows speed and direction control of two DC motors at the same time. The module can drive DC motors that have voltages between 5 and 35V, with a peak current up to 2V.

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This pin is very common , it can provide enough power for the systems, it also can be charged easily and safe to use.

Battery capacity: 9800 MHz.1.7. Fomex:

<i> Fomex </i>

We can easily manufacture with this fomex, that can protect the microcontroller and other hardware inside the robot.

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<b>2. Robot design calculation:</b>

<small>Overall, this robot has:</small>

<small>Dimensions: 322mm in length 255mm in width 110mm in height</small>

<small>Robot area: 82110mm2Weight: 1.9kg</small>

<small>Cleaning area of broom per revolution: 6283.19 mm2 Angle of panel: α=150</small>

<b> </b>

<small> </small><b><small>R: </small></b><small>radius of the wheel = 65 mm F</small>_ms<small>=μ N=μ . mg. cos</small>

<small> µ is the coefficient of friction depending on the properties of the surface and the belt, between glass and rubber has a coefficient of 0.6</small>

<small> Drag force due to gravitation: FG=G . sin α=mg.sinα</small>

<small> => For the robot to be able to move:</small>

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Here are some pictures about the robot:Overall, this robot has:

Dimensions: 322mm in length 255mm in width 110mm in height

Robot area: 82110mm2Weight: 1.9kg

Cleaning area of broom per revolution: 6283.19 mm2

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<b> In general, the robot will be controlled through the QT app. With the </b>

display of the user interface, the user can perform the desired control actions for the robot such as increasing, decreasing the movement speed or the rotation speed of the broom. The execution command will be

transmitted to the back-end, then the data will be transmitted to Firebase (real-time database) over the internet, then transmitted to the robot's hardware. From there, the microcontroller will receive the command and transmit the signal to control the dc motor.

The speed of data transmission is fast or slow depending on the internet speed.

The Firebase is real-time database that allow to store and collect the data, can update data and transmit the data to the hardware continouslywith high accurately.

<b>2. Electric diagram:</b>

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After receiving data from Firebase, micro-controller outputs motor control signal through L298N bridge circuit. Power source is the battery used to power the microcontroller, motor. Use 1 source of 3 batteries in parallel to power 3 L298.

The L298N motor driver shield consists of an L298 motor driver IC, voltage regulators, pin-outs to provide input signals from micro-controllers,and pins to connect two DC motors. It consists of 3 H-Bridge circuits to drive 5 separate DC motors. On top of that each H-Bridge has an enable pinwhich is used to provide ON/OFF signal. The microcontroller sends a signal to the L298N motor driver IC which then drives the DC motor. The ESP32 can be interfaced with the L298N motor driver module to control the direction and speed of a DC motor using the ESP32. The ESP32sends signals to the L298N motor driver IC which then drives the DC motor.

<b>3. QT App:</b>

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This is log-in screen of QT app. User need to enter correct usernameand password to open the app.

<b> </b>

After logging, working screen will appear with many functions in the picture below:

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With this app, user can easily control the movement of robot by wifi connection, like: increase or decrease speed of wheels or brush, stop the robot if it has some problems. Apps provide intuitive and user-friendly interfaces that make it easier for users to interact with the robot. Besides, you can control the robot remotely from a distance, allowing you to navigate it through different environments without having to be physically present near the robot. Control apps can include safety features, such as emergency stop buttons or obstacle detection algorithms, to prevent accidents during robot operation.

Also, app-based control allows for scalability in terms of adding new functionalities or supporting additional robot models without the need for hardware changes.

<b> Qt provides a comprehensive set of tools for designing visually </b>

appealing and responsive user interfaces. Developers can create modern and intuitive interfaces using Qt's QML (Qt Modeling Language) for UI design, which allows for rapid prototyping and flexible layouts.

That’s why we choose Qt App

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<b>PART IV</b>

<small> </small>

<b>1. Hardware</b>

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<b> 2. QT App</b>

<b> Design for log-in and user control Interface</b>

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The back-end handles the button signal and transmits the data to Firebase

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For example, we will add cameras to the robot, and also use image processing to detect obstacles in the way, making the process of moving easier and safer. At the same time, the user can observe the robot through the app to see if the robot works normally or has some problems.

We will install more brushes in both the upper and lower parts of the robot so that the cleaning area is cleaner each time the robot sweeps, thereby increasing the cleaning efficiency.

We would like to thank Dr. Duong Van Lac for enthusiastic guided and gave us suggestions and during the implementation of the topic.

<i> Thank you !</i>

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