International Journal of Trend in Scientific Research and Development (IJTSRD)

Volume 8 Issue 4, Jul-Aug 2024 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470

Appraisal on An Automatic Solar Cleaning Robot

Abubakar Ibrahim1, Baba Abdullahi Alhaji2, Makinde Kayode3, Mohammed Mahmood Katun4,
Ibraheem Abimbola Ganiyu5, Owolabi Bilikisu Oluwabunmi6
1,2,3,4
Department of Electrical Engineering, Federal Polytechnic Bida, Niger State, Nigeria
5
Federal Airport Authority of Nigeria, Electrical Department Dugbe Ibadan, Oyo State, Nigeria
6
Department of Electrical and Computer Engineering Kwara State University Malete, Kwara State, Nigeria

ABSTRACT How to cite this paper: Abubakar

The efficiency of photovoltaic (PV) systems can be significantly Ibrahim | Baba Abdullahi Alhaji |
compromised by the accumulation of dust, dirt, and other pollutants Makinde Kayode | Mohammed
on solar panels. Traditional manual cleaning methods are labour- Mahmood Katun | Ibraheem Abimbola
Ganiyu | Owolabi Bilikisu Oluwabunmi
intensive, time-consuming, and often pose safety risks. This appraisal
"Appraisal on An Automatic Solar
evaluates the implementation and effectiveness of automatic solar Cleaning Robot" Published in
cleaning robots as a solution to these challenges. Automatic cleaning International
robots are designed to autonomously maintain the cleanliness of solar Journal of Trend in
panels, utilizing advanced sensors, mobility mechanisms, and various Scientific Research
cleaning technologies such as brushes, water jets, and air blowers. and Development
This study examines the advantages of these robots, including (ijtsrd), ISSN:
enhanced efficiency, cost-effectiveness, safety improvements, and 2456-6470,
consistent cleaning performance. Additionally, it addresses the Volume-8 | Issue-4, IJTSRD67171
challenges and limitations, such as high initial investment, August 2024,
maintenance requirements, compatibility issues, energy consumption, pp.437-444, URL:
www.ijtsrd.com/papers/ijtsrd67171.pdf
and the impact of weather conditions on performance. The appraisal
concludes that automatic solar cleaning robots offer a sustainable and Copyright © 2024 by author (s) and
efficient solution for maintaining solar panel performance, International Journal of Trend in
particularly in large-scale installations. Recommendations include Scientific Research and Development
conducting a cost-benefit analysis, ensuring regular maintenance, Journal. This is an
performing pilot testing, integrating with monitoring systems, and Open Access article
considering environmental factors. Overall, the adoption of automatic distributed under the
solar cleaning robots can lead to significant long-term benefits in terms of the Creative Commons
terms of energy yield and operational efficiency of PV systems. Attribution License (CC BY 4.0)
(http://creativecommons.org/licenses/by/4.0)
KEYWORDS: Photovoltaic system, sensors, microcontroller, solar
panel, cleaning robot, rail, software development board

1. INTRODUCTION
Solar panels are essential for harnessing renewable the means of photovoltaic panels (Ravikumar et al.,
energy from the sun. However, their efficiency can 2020).
significantly drop due to dust, dirt, bird droppings,
Since they have no moving parts, solar panels are one
and other pollutants accumulating on their surface.
of the most cost-effective and low-maintenance ways
Traditional manual cleaning methods are labour-
of generating electricity. Despite the advantages of
intensive, time-consuming, and sometimes unsafe. An
PVs, unclean panels’ surfaces hinder the efficiency of
automatic solar cleaning robot offers a promising
their output. In order to maintain the efficiency, panel
solution to maintain the efficiency of solar panels
surfaces should be kept clean. However, manual
through regular and automated cleaning.
cleaning of solar panels is hazardous and time-
As climate changes and global warming threaten the consuming (Omur et al. 2019).
future of our planet, it is becoming increasingly
The implementation of solar panel cleaning robot is to
crucial to find sustainable ways to fulfil our energy
maintain the panel’s efficiency and avoid associated
requirements (Babu et al., 2018). One of the most
risks. The robot consists of roller brush and water
reliable ways of moving towards sustainable and
sprayer. The sprayer is supplied with water through a
green energy sources is to provide electrical powerby
water tank. A caterpillar track was used to drive the

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robot on the surface of the panel. All cleanings of dirt Shilpa B., Shagufta A. S., Manjusha, Prajwal S. S.,
on the surface of the panel are achieved through the 2018) developed Automatic Cleaning of Solar Panel.
roller brush and water sprayer. This robot operates In the automatic cleaning system, when the dust
wirelessly and automatically. This designed robot is accumulates on the solar panel, Arduino sends a
not restricted to large solar farm; it can also find signal to activate the system. A DC motor was used in
application on rooftop mounted panels. the project to move the brush back anf forth while
2. RELATED WORKS another was dedicated for pumping water. The
Several works have been carried out on this topic, the horizontal movement of the brush cleans the panel.
summary of some of these are as follows: Two sensors (LDR and voltage sensors) were used,
and their sensitivity was dependent upon on sunlight
Babu K., Dinesh K. P, Kamala P. S, and Kathirvel P. incident on the panels. This design cannot be used for
(2018) developed a robot cleaning device that travels a large solar farm.
the entire length of the panel. A peripheral interface
controller (PIC) was used to implement robots control Ravikumar P., Abirami K, Anushiya R., Elakkiya M.,
system. The proposed systemconsists of two main and Harshidha P. R. (2020) designed a Solar Powered
parts, the first is the cleaning robot and the second is Unmanned Cleaning Robot (SPUCR). The aim of the
the carrier robot. The carrier robot, along with the work is to develop solar powered unmanned cleaning
cleaning robot moves towards the solar panel and robot without human guidance. The SPUCR consists
stops its movement by sensing the solar panel. A of Microcontroller, obstacle sensor, DC motors, LDR,
signal is then sent to the cleaning by the carrier robot. IR sensor, vacuum cleaner and a GSM module. An
By receiving the signal, the cleaning robot travels to Arduino mega microcontroller was used to control the
the entire length of the solar panel in both forward SPUCR. The system was integrated with a dry
and backward directions and cleans thepanel for the cleaner. The SPUCR navigates in all direction with
specified time duration. After each cleaning, the the help of motors connected to the wheel. Obstacle
cleaning robot then returns to the carrier robot, and sensor was used to detect the obstacles and helps the
the process will be repeated for the next panel. The SPUCR in self-navigation. The LDR was
devicewas used toremove the dirt and dust deposited incorporated in the device, fixed with solar panel to
on the solar panel as proposed thushelping the solar sense the solar light and convert it to battery voltage.
panelto absorb the maximum quantity of energy. The charging level of the battery is usually on the
However, the device lacks auto inspection, LCD.
communication and self-diagnostic features and has Nasib K., Aayush B., Binamra A., Ashish S. and
only two wheels. These set back was taken care of in Diwakar B. (2019) presented a paper on smart solar
the new design. The new design has 6 wheels and photovoltaic panel cleaning system. The prototype of
itself automation. this system comprises of a cleaning robot and a cloud
Omur A., Erdinc S., Timur O., and Mehmet A. (2019) interface: the cleaning robot is mobile and able to
designed a solar panel cleaning robot (SPCR). The clean the entire solar array back and forth, with its
design is a dual-motor and crawler robot type which separately driven cleaning rotatory brush; whereas,
moves horizontally and the cleaning brush runs on the the cloud interface is a human-machine interface
vertical axis. To keep the cleaning robot in the featuring the distant monitoring and control of the
working area, position switches were installed to robot. Furthermore, toadd an automatic cleaning
detect the length of the solar panel array. The design feature, a month-long data of totally clean and dusty
lacks light detection circuit and takes a longer time panel was processed with regression analysis, and the
for cleaning; its response time is delayed because it developed regressionmodel was programmed into the
uses Bluetooth connectivity. These limitations are sensing unit. The sensing unit and the regression
taken care of in the Automatic Solar Cleaning Robot. model predicts the suitable time for the cleaning.
Based on the system evaluation done on a
Rutvij P. K., Mandar A. K., Tushar T. S., Nitin B. S., demonstration PV module, it was found that the
and Atul D. A. (2018) published a paper on designed system can clean dry dust accumulated over
Automatic Solar Panel Cleaning System. Its the panel’s surface. This system can be used for a
automation system was implemented using large solar farm because of the ray tracks attached.
ATMEGA 328 microcontroller which controls the One major disadvantage of this design is the chain
DC gear motor. The mechanism consists of a sensor sprocket design of the wheel mechanism as it may get
light dependent resistor (LDR). For cleaning the solar rusted over time with rain water. Plastic wheel is
panel modules, slide brushes ware used. The design better in this case.
was a complete prototype.

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(Vamsi K. P. and Svav P., 2017) worked on Project V starting point. Once it reaches the top of the spine, the
Star Solar Panel Cleaning Robot. It was designed to cleaning unit stops there. Then the wheels move in
self-charge it’s battery and clean the dust on the solar the directionparallel to the edge of the solar panel
panel only during the night time. This method is not until it reaches the part of the panel that is not
100% efficient, because it does its cleaning at night. cleaned. After this, thecleaning unit again comes in to
Mohammad S., Sakibkhan P., Hrithik N., Bobby P., action and the process keeps on going until the entire
Awaiz Q, Zaid S, and Khandelwal K. K., (2022) array is cleaned. Once the array of the solar panel is
developed a Fabrication of Semi-Automatic Solar cleaned, it is moves on another array.
Panel Cleaning System and its Analysis. The cleaning 3. OVERVIEW OF AUTOMATIC SOLAR
unit moves on the central spine in a to and fro motion. CLEANING ROBOTS
A cylindrical brush is mounted on the cleaning unit Automatic solar cleaning robots are designed to
which rotates in the clockwise direction. The cleaning autonomously clean the surface of solar panels. They
unit along with the rotating brush moves along the can be programmed to clean at specific intervals or
central spine towards the bottom of the panel. Along based on sensor data indicating a drop in panel
the entire path, it forces the dust to move in the efficiency due to dirt accumulation. These robots
direction of the motion of the cleaning unit and typically use brushes, microfiber cloths, water jets, or
finally blows sit a way at the edge of the panel. The air blowers to remove dirt and debris without
cleaning unit refreshes its operation by returning to damaging the panels.
4. A TYPICAL ROBOT CONTROL PV CLEANING SYSTEM
The block diagram of the solar panel cleaning robot is shown in figure 1. It comprises of microcontroller unit,
RF sensor, four-wheel-drive (WD) robot with DC motors, waterpump, water tank, reservoir and brushes. The
major heart of this review is the microcontroller unit. The microcontroller unit controls the movement of the DC
motor based on the input given by the RF sensor. The time pump water to the brushes is also determined by the
sensor.

Figure 1: A block diagram illustrating a typical automatic PV panel cleaning system.

4.1. Description of Units that make-up a typical Robot Control PV Cleaning System
A. Photovoltaic Panel (PV Panel)
The top of the PV panels is the area where the cleaning is required. This unit also provide the power supply to
the microcontroller through the differential measurement unit. This means that the cleaning is meant to be done
in the day time.
B. Differential Measurement Unit (DMU)
It is a decision making component of this device. DMU makes decision from the microcontroller unit either to
clean the panel with wiper and spray mechanism or to continue the conversion. DMU consists of adjustable

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timer which automatically allocates time for cleaning of the PV panels. As the time elapses and timer reaches its
count value, then, DMU activates the wiper and spray mechanism and start the cleaning of PV panel.
C. Wiper and Spray Mechanism
It is a mechanism used to clean the PV panel. It consists of brush mounted on PV panel. When timer activate this
mechanism then the mechanism will start moving from one end of PV panel to clean it and it will move towards
the other end of a PV panel. This mechanism is controlled by motor and spray valve control block.
D. Microcontroller
This controls the whole system. The Microcontroller control various blocks of this robot that is DMU, Wiper
and Spray Mechanism and Motor etc.
E. Motor and Spray Valve Control
This block is used to control the motor assembly and spray valve. It will pump the water from water tank to the
wiper and spray mechanism. The motor assembly will move the wiper and spray mechanism across the PV
panel.
F. Water Pumping Mechanism
This block is used to pump water from the reservoir once the motor and spray valve control tank is empty. It will
pump water from the reservoir to the wiper tank.
G. Power Supply:
This block supplies the power required for operation of the whole system. A 12 V DC supply will be required to
operate the motors for rotating the PV panel and to move the robot on the PV panel. Another power supply of 5
V DC supply will also be required to operate the ICs in the circuit e.g. Microcontroller.
H. Liquid Crystal Display (LCD):
The LCD display is used to display the current state of the system. It displays when the panels are dirty as well
as when the cleaning process is ongoing.
I. Stepper Motor Mechanism
These are theDC Motors responsible to control the movement of the robot for to and fro movement and also for
left and right movement.
4.2. Working principle
A remote controller was used to wirelessly control the movement of data to the robotic vehicle. The sensor
communicates the controller, the data received are then processed and in turn operates the wheel of the motor in
a desired direction. A brush is fixed to the main DC motor. The front panel is integrated with a water pipe. The
pipe is then used to channel water to the front brush with the aid of the DC pump. The followings are
components that make up a typical solar cleaning robot as shown in figure 2.
4.3. Components:
1. DC Motor
2. Depth Meter
3. Tracks
4. Pump Motor
5. Filter
6. Water Tank
7. Water connections
8. Controller Circuitry
9. Shafts
10. Water Gutter
11. Screws & Bolts
12. Supporting Frame
4.4. Functions of Components in Solar Cleaning Robots
1. DC Motor: The DC motor is responsible for driving the mechanical movements of the robot. It powers
various components such as the tracks for mobility, brushes for cleaning, and other moving parts. The speed
and direction of the motor are controlled by the robot’s control system, allowing precise movements and
operations.

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2. Depth Meter: The depth meter measures the distance between the cleaning apparatus and the surface of the
solar panels. It ensures that the cleaning brushes or nozzles maintain an optimal distance from the panels,
preventing damage while ensuring effective cleaning. This sensor helps in adjusting the cleaning mechanism
dynamically to accommodate variations in panel surface levels.
3. Tracks: Tracks provide the mobility needed for the robot to move across the surface of the solar panels.
They allow the robot to navigate different sections of the solar array, ensuring comprehensive cleaning
coverage. Tracks are designed to grip the panel surface securely, even at inclined angles, and move smoothly
without causing scratches or damage.
4. Pump Motor: The pump motor is used to drive the water pump, which supplies water to the cleaning
nozzles. This motor ensures a consistent and adequate flow of water needed for cleaning, particularly for
systems that use water jets or sprays to remove dirt and debris from the panels.
5. Filter: The filter is used to remove impurities from the water before it is sprayed onto the solar panels. This
prevents contaminants from scratching or damaging the panel surfaces during cleaning. Clean, filtered water
enhances the effectiveness of the cleaning process and extends the life of the cleaning equipment.
6. Water Tank: The water tank stores the water used by the cleaning system. It ensures that the robot has an
adequate supply of water to perform cleaning operations over extended periods. The size and capacity of the
tank are designed to match the operational requirements of the robot, balancing weight and cleaning
efficiency.
7. Water Connections: Water connections, including hoses and nozzles, distribute water from the tank to the
cleaning mechanism. They ensure a controlled and directed flow of water, facilitating effective cleaning
action. These connections are designed to withstand pressure and prevent leaks.
8. Controller Circuitry: The controller circuitry acts as the brain of the cleaning robot. It processes inputs
from various sensors, controls the motors and actuators, and coordinates the overall operation of the robot.
The circuitry ensures that the cleaning operations are performed efficiently and responds to real-time
conditions such as dirt levels and obstacles.
9. Shafts: Shafts are mechanical components that transfer rotational motion from the motors to the cleaning
brushes or other moving parts. They are critical in ensuring the smooth operation of these components,
providing the necessary mechanical linkage to perform cleaning tasks.
10. Water Gutter: The water gutter collects and channels runoff water away from the cleaned panels. This
component prevents water from pooling on the panel surfaces or dripping down onto other parts of the
installation. It helps manage water flow, keeping the panels dry after cleaning and preventing water damage
to surrounding equipment.
11. Screws & Bolts: Screws and bolts are used to assemble and secure various components of the robot. They
provide structural integrity and stability, ensuring that all parts are firmly held together. Proper fastening is
crucial for the durability and reliability of the robot, especially under operational stresses.
12. Supporting Frame: The supporting frame provides the structural foundation for the robot. It holds all the
components together, ensuring they are aligned and securely mounted. The frame is designed to withstand
operational loads and environmental conditions, maintaining the robot’s functionality and robustness during
cleaning operations.

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Figure 2: A typical implemented solar robot cleaning system (Ra’ed, 2022).

4.5. Factors Influencing Dust Settlement on PVs and Advantages of Solar Panel Cleaning Robot System
Dust on PVs are usually influenced by certain environmental factors. The variables differ according to
geographical location. Some of the common factor highlighted in the literature are the rainfall, temperature,
wind speed, humidity et cetera. These factors reduce the efficiency of the PV output(Mustafa et al., 2022).
Whilst the impact of dust settlement on PVs are experience globally, is effect are more in dry climates with
dusty wind (Bubnova, 2016). Figure 3 shows the factors that influence dust accumulation on PVs. The
advantages and drawback of different methods of PV cleaning system are presented on table 1.

Figure 3: Factors influencing dust accumulation on PVs (Mustafa et al., 2022).

Table 1: Advantages and shortfalls of different PV cleaning system (Pickerel, 2017).
Cleaned Labours Electric Panel
Water Electricity Cleaning
Surface Injuries Shock Damage
Wasting Consumption Cost
Quality Risk Risk Risk
Intelligent Cleaning High - - - - - Low
Visual
Manual Cleaning High High High High Low High
method
Visual
Vacuum Cleaning High Low High Low High Low
method
Electrostatic
Low - - - - Low High
Precipitator
Automatic Wiper
Low Low Low High Low Low High
Cleaning

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Coatings With
Low - - - Low - High
Nanoparticles
Robotic Cleaning
High Low Low High Low Low High
Solutions:
Observing the analysis on table 1, it can be concluded that the cleaning quality, labour risk, panel damage risk,
water and electricity consumption, and the cost influence the existing cleaning technologies. However, the
robotic technique presented in the paper shows superior performance with little energy demand.
5. ADVANTAGES B. Recommendations
A. Improved Efficiency: Regular cleaning helps A. Investment Justification: Conduct a cost-benefit
maintain optimal performance and efficiency of analysis to justify the initial investment based on
solar panels. long-term savings in maintenance costs and
B. Cost-Effective: Reduces the need for manual improved energy efficiency.
labour and associated costs over the long term. B. Customization: Select a robot model that can be
C. Safety: Minimizes the risks associated with customized or is compatible with the specific type
manual cleaning, especially in large-scale solar of solar panels and installation layout.
farms or difficult-to-reach areas. C. Regular Maintenance: Establish a regular
D. Consistent Cleaning: Ensures consistent and maintenance schedule for the cleaning robots to
thorough cleaning, which can be difficult to ensure they operate efficiently and have a long
achieve manually. service life.

E. Water Conservation: Some robots are designed to D. Pilot Testing: Implement a pilot test before full-
use minimal water, which is beneficial in arid scale deployment to identify any potential issues
regions. and ensure the robot meets the specific needs of
the installation.
6. CHALLENGES AND LIMITATIONS
A. Initial Cost: High initial investment for E. Integration with Monitoring Systems: Integrate
purchasing and installing the robots. the cleaning robots with existing solar panel
monitoring systems to automate cleaning based
B. Maintenance: Requires regular maintenance to on performance data.
ensure proper functioning.
F. Consider Environmental Factors: Choose robots
C. Compatibility: May need customization to fit that are designed to operate effectively under the
different types of solar panel installations. specific environmental conditions of the
D. Energy Consumption: Power requirements for installation site.
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