Project Title: Over-/Under-Voltage Protection of Electrical ... January... · Web viewBased on the studies the solar energy is been widely used globally. 1.2 Need for this project

PROJECT REPORT: Advanced Diploma : SEM 01: 2020-2021 December 2020

CHAPTER 1

INTRODUCTION

1.1 Overview

Renewable energy provides substantial benefits for our climate, our health, and our

economy. One major advantage with the use of renewable energy is that as it is renewable it

is therefore sustainable and so will never run out [1], [2]. Renewable energy facilities gener-

ally require less maintenance than traditional generators. Their fuel being derived from natu-

ral and available resources reduces the costs of operation [3]. Even more importantly, renew-

able energy produces little or no waste products such as carbon dioxide or other chemical

pollutants, so has minimal impact on the environment. Renewable energy projects can also

bring economic benefits to many regional areas, as most projects are located away from large

urban centers and suburbs of the capital cities. These economic benefits may be from the in-

creased use of local services as well as tourism. Most of the literatures identifies that the so-

lar energy plays a vital role in the field of renewable energy. Based on the studies the solar

energy is been widely used globally.

1.2 Need for this project

Literatures prove that there are several factors involved which affects the energy pro-

vided by the photovoltaic (PV) panels [1]. One important reason which affects the accumu-

lated energy provided by the PV panels are dust formation on the PV panels. When the solar

panels are kept in the remote places more likely to be in deserts due to heavy wind the dust

can be easily formed on the PV panels which in turn affects the productivity. So it’s required

to keep a dedicated person to clean the PV panels manually. In this project we implemented a

technique based on signaling pathway unmanned vehicles (UV) to clean the PV panels when

dust is formed.

SAVE PAPER & SAVE THE PLANET Page 1 of 23


1.3 Working of the project

The implemented robot aims to work in two different modes: 1. Auto and 2. Manual.

The control system used in this project is Raspberry pi 3 and the programming language used

is python 3. Using the python program a GUI is created which will be displayed in the touch

screen. The GUI contains two buttons, one is for Auto mode and the other is for Manual

mode. In the automatic mode following operations are performed. The dust sensor is used to

determine the intensity of dust and accordingly the robot will moves to the specific location

and clean the dust.

Figure 1.1 Flow chart of project working


START

GUI1-AUTO 2-MANUAL

Forward ()Right ()

Reverse ()Right ()

Forward ()Right ()

Reverse ()Original ()

Return diagonal

Move location

STOP

If Auto/ ManuaI

AutoManual

If Dust density >3

Yes

No


The robot will take the shortest path to reach the identified location and after cleaning it will

return to the original position. In the manual mode, the entire panel will be cleansed by the

robot. The dust formed in different locations are identified by a dust sensor and the amount

of dust formed is calculated by the control system. The control system enables the robot to

move to the exact location by determining the shortest path

1.4 Goals and Objectives

The main goal of the project is to develop a prototype model of a robot which can be used for

cleaning the solar panels. The pointed out objectives of the proposed work is,

To construct the base of the robot.

To program the motor movement and testing it.

To program the dust sensor and test it.

To connect the touch screen and cheek the display.

To combine the module and test it.

1.5 Scope and Limitation

The implemented prototype can be used in all kinds of solar panels but the identified limita-

tion is the robot requires reprogramming if the different size of solar panel is fixed.



CHAPTER 2

BLOCK DIAGRAM

2.1 Block Diagram

Figure 2.1 Block diagram of the project

2.2 Block Diagram Description

This project uses the Raspberry pi 3 hardware module as the smart control systems. All the

required parts and circuits are connected to it. The GUI based python program will enable the

different connected circuits to operate in the designated intervals. The different modes of op-

erations are controlled by the control system.


DC INPUT

DC MOTOR

WHEELS

RASPBERRY PI3

DC MOTOR

DUST SENSOR

BRUSH

DISPLAY

WATER PUMP


The block diagram can be categorized according to the different modules illustrated below.

1. Control System Module

2. Sensing Module

3. Power Input Module

4. Display Module

5. Pumping & Cleaning Module

2.2.1 Control System Module

The processing module is the brain of the system which contains the program to con-

trol the various operations. The processing module uses the Raspberry Pi 3 to control the dif-

ferent interfaces of the project. The processing module is enabled by a power supply and the

program is embedded using a PC through the Python program. In this project the Raspberry Pi

is used for processing. The pins in the raspberry pi 3 is termed as GPIO – General purpose

Input / Output. All input sensors and the output components are connected to the different

GPIO pins. The raspberry pi operates the output devices according to the input in the dust

sensor. The detailed description of raspberry pi is explained in the following section.

The Raspberry Pi is a series of small single-board computers developed in the United King-

dom by the Raspberry Pi Foundation to promote the teaching of basic computer science in

schools and in developing countries The original model became far more popular than antici-

pated selling outside its target market for uses such as robotics. It does not include peripher-

als (such as keyboards, mice and cases). Raspberry Pi 3 Model B was released in February

2016 with a 64 bit quad core processor, and has on-board WiFi, Bluetooth and USB boot ca-

pabilities.[19] On Pi Day 2018 model 3B+ appeared with a faster 1.4 GHz processor and a 3

times faster network based on gigabit ethernet (300 Mbit / s) or 2.4 / 5 GHz dual-band Wi-

Fi (100 Mbit / s).[1] Other options are: Power over Ethernet (PoE), USB boot and network

boot (an SD card is no longer required). This allows the use of the Pi in hard-to-reach places

(possibly without electricity).


https://en.wikipedia.org/wiki/SD_card

https://en.wikipedia.org/wiki/DHCP

https://en.wikipedia.org/wiki/DHCP

https://en.wikipedia.org/wiki/Universal_Serial_Bus

https://en.wikipedia.org/wiki/Power_over_Ethernet

https://en.wikipedia.org/wiki/Raspberry_Pi#cite_note-RapsberryPi3B+Release-1

https://en.wikipedia.org/wiki/Wi-Fi


https://en.wikipedia.org/wiki/Gigabit_ethernet

https://en.wikipedia.org/wiki/Pi_Day

https://en.wikipedia.org/wiki/Raspberry_Pi#cite_note-19

https://en.wikipedia.org/wiki/Bluetooth


https://en.wikipedia.org/wiki/Multi-core_processor

https://en.wikipedia.org/wiki/Computer_case

https://en.wikipedia.org/wiki/Mouse_(computing)

https://en.wikipedia.org/wiki/Keyboard_(computing)

https://en.wikipedia.org/wiki/Robotics

https://en.wikipedia.org/wiki/Target_market

https://en.wikipedia.org/wiki/Developing_countries

https://en.wikipedia.org/wiki/Computer_science

https://en.wikipedia.org/wiki/Raspberry_Pi_Foundation

https://en.wikipedia.org/wiki/United_Kingdom

https://en.wikipedia.org/wiki/United_Kingdom

https://en.wikipedia.org/wiki/Single-board_computer


The organization behind the Raspberry Pi consists of two arms. The first two models were

developed by the Raspberry Pi Foundation. After the Pi Model B was released, the Founda-

tion set up Raspberry Pi Trading, with Eben Upton as CEO, to develop the third model, the

B+. Raspberry Pi Trading is responsible for developing the technology while the Foundation

is an educational charity to promote the teaching of basic computer science in schools and in

developing countries.

.

Figure 2.2 Raspberry pi 3 module

2.2.2 Sensing Module

This automation system consists of a sensing module. The main component of the sensing

module is the dust sensor. In the auto mode the dust sensor will continuously sense the dust

from 10.00 AM to 5.00 PM. If the dust concentration is more than 3 oc/pi, then the control

module will activate the robot to move and clean the dust in the exact location.

Sharp’s GP2Y1010AU0F is an optical air quality sensor, designed to sense dust particles. An

infrared emitting diode and a phototransistor are diagonally arranged into this device, to al-

low it to detect the reflected light of dust in air. It is especially effective in detecting very fine

particles like cigarette smoke, and is commonly used in air purifier systems. The sensor has a

very low current consumption (20mA max, 11mA typical), and can be powered with up to

7VDC. The output of the sensor is an analog voltage proportional to the measured dust den-

sity, with a sensitivity of 0.5V/0.1mg/m3.


https://en.wikipedia.org/wiki/Eben_Upton


The features of the dust sensor are,

Highly responsive

Reliable

Figure 2.3 Dust Sensor

2.2.3 Power Input Module

The power input module consists of high current rated battery supply. Two different voltages

ae retrieved from the module. The 5v for the dc components and for the raspberry pi is take

through USB cables. The motor used in the wheels are geared DC motors so that it needs

high current rating to drive the robot. Hence from the same power input module another sup-

ply of 9 v with 9mAH is pulled to drive the wheels.

2.2.4 Display Module

TFTs, also called TFT screens, are a type of active matrix LCD display ca-pable of displaying millions of high-contrast, clear and bright color pixels. TFTs are used in HDTV sets, computer monitors, laptop monitors, tablets, personal media players, and smartphones and even feature phones. The first TFT screen came with the IBM ThinkPad's 1992 model. The TFT tech-nology works by controlling brightness in red, green and blue sub-pixels through transistors for each pixel on the screen. The pixels themselves do



not produce light; instead, the screen uses a backlight for illumination. The TFT family also includes LEDs, which are a type of LCD screen that uses an LED as a backlight.

Figure 2.4 TFT touch Screen

2.2.5 Pumping and Cleaning Module

This module is intended for cleaning the solar panels. To pump the water, a water pump is

used and is controlled by a relay. In order to clean the panel a soft brush is connected with a

motor and kept at the base of the robot. The brush motor also controlled with a relay. When

the relay receives the high signal from the control module the relay get activate and in turn

will make the water pump and the brush motor to function based on the programmed proto-

cols.

2.2.5.1 DC Geared Motor

Geared DC motors can be defined as an extension of DC. A geared DC Motor has a gear as-

sembly attached to the motor. The speed of motor is counted in terms of rotations of the shaft

per minute and is termed as RPM .The gear assembly helps in increasing the torque and re-

ducing the speed. Using the correct combination of gears in a gear motor, its speed can be re-

duced to any desirable figure. This concept where gears reduce the speed of the vehicle but



increase its torque is known as gear reduction. This Insight will explore all the minor and

major details that make the gear head and hence the working of geared DC motor.

Figure 2.5 DC Geaered Motor

2.2.5.2 Water Pump

As with most pumps, the primary specifications to consider when discerning DC powered

pump performance are flowrate, pump head, pressure, horsepower, and operating tempera-

ture. DC powered pumps can also be distinguished based on the features they provide, such

as adjustable speed, run-dry capability, and corrosion resistance. Engineering360’s Pump

Features page provides a full list and explanation of these different pump features.

Figure 2.6 DC Water Pump

2.2.5.3 L293D Dual H Bridge Motor driver circuit

L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on ei-

ther direction. L293D is a 16-pin IC which can control a set of two DC motors simultane-

ously in any direction. It means that you can control two DC motor with a single L293D


http://www.rakeshmondal.info/High-Torque-Motor-Low-RPM-Motor

https://www.globalspec.com/pfdetail/pumps/features

https://www.globalspec.com/pfdetail/pumps/features


IC. Dual H-bridge Motor Driver integrated circuit (IC). The l293d can drive small and quiet

big motors as well, check the Voltage Specification at the end of this page for more info.

It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be

flown in either direction. As you know voltage need to change its direction for being able to

rotate the motor in clockwise or anticlockwise direction, hence H-bridge IC are ideal for

driving a DC motor. In a single L293D chip there are two h-Bridge circuit inside the IC

which can rotate two dc motor independently. Due its size it is very much used in robotic ap-

plication for controlling DC motors. Given below is the pin diagram of a L293D motor con-

troller.

Fig 2.7: Driver Circuit

L293D Logic Table

• Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

• Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction

• Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation]

• Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]

2.2.5.4 Relay circuit


http://www.rakeshmondal.info/pik/l293d%20pin%20diagram.png


Relays are switches that open and close circuits electromechanically or electronically. Relays

control one electrical circuit by opening and closing contacts in another circuit. As relay dia-

grams show, when a relay contact is normally open (NO), there is an open contact when the

relay is not energized. When a relay contact is Normally Closed (NC), there is a closed con-

tact when the relay is not energized. In either case, applying electrical current to the contacts

will change their state. Relays are generally used to switch smaller currents in a control cir-

cuit and do not usually control power consuming devices except for small motors and Sole-

noids that draw low amps. Nonetheless, relays can "control" larger voltages and amperes by

having an amplifying effect because a small voltage applied to a relays coil can result in a

large voltage being switched by the contacts.

Figure 2.8 Relay board



CHAPTER 3

CIRCUIT DIAGRAM

Figure 3.1 Driver Circuit for Connecting Front wheel motors

Figure 3.2 Driver Circuit for Connecting Rear wheel motors



Figure 3.3 Relay circuit for water pump

3.1 CIRCUIT DIAGRAM EXPLANATION

The motor driver circuit is connected with pins 38,40,37,35,32,36,15 and 16 respectively as

the input pins. When one of the pin pair become HIGH and the other LOW the wheel moves

in forward direction and in reverse its vice versa. Raspberry Pin 11 is connected to the relay

and when this pin becomes HIGH the relay will activate and the water pump and brush motor

will start working. The dust sensor is connected to pin number 5 and it is set in a way that all

time it receives the input from the sensor.



CHAPTER 4

RESULTS & DISCUSSION

4.1 Results

The project is tested in real time and the movement is tested. All wheel movements are

achieved in all direction as per the design. Table 4.1 describes the different achieved robot

movements.

Table 4.1 Robot direction

Motor A Motor B Motor C Motor D Robot Direction

Forward Forward Forward Forward Forward

Backward Backward Backward Backward Reverse

Forward Backward Backward Forward Right

Forward Stop Stop Forward Diagonal

Table 4.2 illustrates the distance covered by the different movements of the robot

Table 4.2 Distance covered

Direction Distance in cms

Forward 180 cms

Right 30 cms

Diagnal 370 cms

The distance measurement is the average of ten repeated trials. There is few leverages in the

distance covered based on the power supplied by the input power supply module.



4.2 AutoCAD Design

The acrylic base of the robot is designed with AutoCAD and the fabrication is done by the

CNC machine. Figure 4.1 illustrates the design of the acrylic cover.

Figure 4.1 AutoCAD design

4.3 Final Output

Figure 4.2 depicts the final design of the implemented robot.

Figure 4.2 Final Design



CHAPTER 5

CONCLUSION AND FUTURE SCOPE

The implemented project can be used in all solar power plants. By adding few more sensors

the robot can be used for estimate the power generated by the solar panels. This robot can

produce a revolution in the field of renewable energy.



REFERENCES

[1]. Nathan S.Lewis and Daniel G. Nocera, “ Powering the planet : Chemical challenges in

solar energy utilization”, Proceedings of the national academy of science of the USA,

Vol.103, No.443.

[2]. Carrasco, Franquelo and Bialasiewicz, “Power-Electronics systems for the grid integra-

tion of renewable energy sources: A Survey”, IEEE transactions on industrial electron-

ics, Vol 53, issue.4.

[3]. Martin Pehnt, “ Dynamic life cycle assessment of renewable energy technologies”, Else-

vier renewable energy, Vol.31, Issue.1.



APPENDICES

A I. PROGRAM

import RPi.GPIO as GPIOfrom datetime import datetimefrom time import sleepfrom guizero import App,Text,PushButton,info,yesnoimport timeGPIO.setwarnings(False)

GPIO.setmode(GPIO.BOARD)channel = 5 GPIO.setup(channel, GPIO.IN)pum = 11GPIO.setup(pum,GPIO.OUT)

sampletime_ms = 3;lowpulseoccupancy = 0;ratio = 0;concentration = 0;

# Get the current timestarttime = time.time()

Motor1A = 38Motor1B = 40Motor2A = 37Motor2B = 35Motor3A = 15Motor3B = 16Motor4A = 32Motor4B = 36GPIO.setup(Motor1A,GPIO.OUT)GPIO.setup(Motor1B,GPIO.OUT)GPIO.setup(Motor2A,GPIO.OUT)GPIO.setup(Motor2B,GPIO.OUT)GPIO.setup(Motor3A,GPIO.OUT)GPIO.setup(Motor3B,GPIO.OUT)GPIO.setup(Motor4A,GPIO.OUT)GPIO.setup(Motor4B,GPIO.OUT)

def dust(): global concentration global lowpulseoccupancy global starttime



print("Started") # Get the low pulse duration on the input signal GPIO.wait_for_edge(channel, GPIO.FALLING) print("fall") tstart = time.time() GPIO.wait_for_edge(channel, GPIO.RISING) tend = time.time() duration = tend - tstart

lowpulseoccupancy += duration #print(lowpulseoccupancy) #print(time.time() - starttime) time.sleep(1)

if ((time.time() - starttime) > sampletime_ms): ratio = lowpulseoccupancy/(sampletime_ms*10.0) concentration = 1.1*pow(ratio,3)-3.8*pow(ratio,2)+520*ratio+0.62 print ("Concentration = {0} pcs/0.01cf".format(concentration)) lowpulseoccupancy = 0 starttime = time.time()

def pump(): print ("on") GPIO.output(pum,GPIO.LOW) sleep(5) print ("off") GPIO.output(pum,GPIO.HIGH) sleep(5)

def forward(): GPIO.output(Motor1A,GPIO.LOW) GPIO.output(Motor1B,GPIO.HIGH) GPIO.output(Motor2A,GPIO.LOW) GPIO.output(Motor2B,GPIO.HIGH) GPIO.output(Motor3A,GPIO.LOW) GPIO.output(Motor3B,GPIO.HIGH) GPIO.output(Motor4A,GPIO.LOW) GPIO.output(Motor4B,GPIO.HIGH) sleep(1.5)

def right(): GPIO.output(Motor1A,GPIO.LOW) GPIO.output(Motor1B,GPIO.HIGH) GPIO.output(Motor2A,GPIO.HIGH) GPIO.output(Motor2B,GPIO.LOW) GPIO.output(Motor3A,GPIO.HIGH) GPIO.output(Motor3B,GPIO.LOW) GPIO.output(Motor4A,GPIO.LOW) GPIO.output(Motor4B,GPIO.HIGH) sleep(0.75)



def reverse(): GPIO.output(Motor1A,GPIO.HIGH) GPIO.output(Motor1B,GPIO.LOW) GPIO.output(Motor2A,GPIO.HIGH) GPIO.output(Motor2B,GPIO.LOW) GPIO.output(Motor3A,GPIO.HIGH) GPIO.output(Motor3B,GPIO.LOW) GPIO.output(Motor4A,GPIO.HIGH) GPIO.output(Motor4B,GPIO.LOW) sleep(1.5)

def left(): GPIO.output(Motor1A,GPIO.HIGH) GPIO.output(Motor1B,GPIO.LOW) GPIO.output(Motor2A,GPIO.LOW) GPIO.output(Motor2B,GPIO.HIGH) GPIO.output(Motor3A,GPIO.LOW) GPIO.output(Motor3B,GPIO.HIGH) GPIO.output(Motor4A,GPIO.HIGH) GPIO.output(Motor4B,GPIO.LOW) sleep(2.25)

def stop(): GPIO.output(Motor1A,GPIO.LOW) GPIO.output(Motor1B,GPIO.LOW) GPIO.output(Motor2A,GPIO.LOW) GPIO.output(Motor2B,GPIO.LOW) GPIO.output(Motor3A,GPIO.LOW) GPIO.output(Motor3B,GPIO.LOW) GPIO.output(Motor4A,GPIO.LOW) GPIO.output(Motor4B,GPIO.LOW)

def man(): info("information","Manual mode enanbled") #forwaed forward() pump() #right right() pump() #reverse reverse() pump() right() pump() forward() right() forward() #left left()



stop() def auto(): #info("information","Automatic mode enanbled") now=datetime.now() hour=now.hour print(hour) try: while (hour>10 and hour<=17): dust() if (concentration > 3): print ("mazoon") GPIO.output(Motor1A,GPIO.HIGH) GPIO.output(Motor1B,GPIO.LOW) GPIO.output(Motor2A,GPIO.LOW) GPIO.output(Motor2B,GPIO.LOW) GPIO.output(Motor3A,GPIO.LOW) GPIO.output(Motor3B,GPIO.LOW) GPIO.output(Motor4A,GPIO.HIGH) GPIO.output(Motor4B,GPIO.LOW) sleep(1.5)

GPIO.output(Motor1A,GPIO.LOW) GPIO.output(Motor1B,GPIO.HIGH) GPIO.output(Motor2A,GPIO.LOW) GPIO.output(Motor2B,GPIO.LOW) GPIO.output(Motor3A,GPIO.LOW) GPIO.output(Motor3B,GPIO.LOW) GPIO.output(Motor4A,GPIO.LOW) GPIO.output(Motor4B,GPIO.HIGH) sleep(1.5) except Exception as inst: pass app = App(title="Mazoon",width=250, height=100, layout="grid")

bm=PushButton(app,text="Intelligent Robot",grid=[0,0])b1=PushButton(app,command=auto, text="Automatic",grid=[0,1])b=PushButton(app,text=" ",grid=[1,1])b2=PushButton(app,command=man, text="Manual",grid=[2,1])app.display()



B. ACTION PLAN




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Project Title: Over-/Under-Voltage Protection of Electrical ... January... · Web viewBased on the studies the solar energy is been widely used globally. 1.2 Need for this project