SOLAR CLEANING ROBOT
Teacher: Mac Thi Thoa
Hoang Hong Hai
Students: Le Thu Nguyet - 20206072 Nguyen Bao Ngoc - 20206069
Tran Viet Manh - 20206063
Class code: 143321
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Working tasks:
Members Tasks
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
Part IV: Algorithm
1 Hardware2 PID controller3 Coding
Trang 4PART I
Introduction about the robot ( SCR – Solar Cleaning Robot)
1 What is Solar panel ?
Solar panels
Solar panels, generally comprising of arrays of photovoltaic cells,
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.
What causes dirty solar panels ?
There are several reasons why your solar panels could be dirty Here are some of the most common causes:
Trang 5Dust buildup: Dust can slowly build up on your solar panels over
time if you don’t clean them often enough.
Water damage: If water gets inside the panel, it can cause corrosion
and reduce the amount of electricity from it.
Debris: Debris from plants or animals may get stuck in between the
cells and cause blockages that prevent electricity from flowing freely through the panel.
Rainwater: Rainwater can seep into your panel and cause water
damage and rusting around metal connections due to corrosion caused by moisture inside the cells.
2 Why we need Solar Cleaning Robot ?
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.
Increase Durability: Cleaning your solar panels will help them
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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Module L298N
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.
Trang 10This 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:
Fomex
We can easily manufacture with this fomex, that can protect the microcontroller and other hardware inside the robot.
Trang 112 Robot design calculation:
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 Angle of panel: α=150
R: radius of the wheel = 65 mm Fms=μ N=μ mg cos
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
Drag force due to gravitation: FG=G sin α=mg.sinα
=> For the robot to be able to move:
Trang 13Here 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
Trang 15In general, the robot will be controlled through the QT app With the
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.
2 Electric diagram:
Trang 16After 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.
3 QT App:
Trang 17This is log-in screen of QT app User need to enter correct usernameand password to open the app
After logging, working screen will appear with many functions in the picture below:
Trang 18With 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.
Qt provides a comprehensive set of tools for designing visually
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
Trang 19PART IV
1 Hardware
Trang 252 QT App
Design for log-in and user control Interface
Trang 28The back-end handles the button signal and transmits the data to Firebase
Trang 29For 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.
Thank you !