TT2 Photovoltaic Roof Cleaner

TT2 Photovoltaic Roof Cleaner

TT2 Photovoltaic Roof Cleaner is a mobile robot with autonomous displacement designed to clean photovoltaic solar rooftops, integrating IoT communication, computer vision, and a Python-based web interface built with Dash and Flask.

The project implements a communication and control system using a Raspberry Pi 5 for remote robot operation via WiFi, focusing on modularity, usability, and real-time feedback through an interactive dashboard.

🧠 System Overview

1️⃣ Communication & Control Modules

• Hardware Setup: Raspberry Pi 5 configured with Raspberry Pi OS, case, power adapter, HDMI connection, and SD storage.
• WiFi Communication: Validation of connectivity and remote access using the VNC protocol.
• GPIO Management: Python-based scripts tested for real-time control of motor drivers, relays, and sensors.

2️⃣ Web Application Implementation

A Dash-based web application was developed to serve as the robot’s control and monitoring interface, including:

• User Authentication: Security via flask_login and password encryption with bcrypt.
• Callback Structure: Modular handling of interactive elements and real-time updates.
• Responsive UI: Built with dash_bootstrap_components and React.js for cross-device usability.

💻 Architecture & Project Structure

• Assets Folder: CSS stylesheets and local storage management.
• Callback Modules: Logical interaction and event handling.
• UI Definition Files: Layout and structure of main views.
• Frameworks: Dash + Flask backend, React.js frontend components.
• Security: Authentication and encrypted session management.

⚙️ Core Functionalities

🔸 Robot Motion & Control

• Interactive Buttons: Move the robot in multiple directions via UI.
• Serial Communication with Arduino:
  • Roller activation (speed, inversion, power).
  • Sensor data reception (ultrasonic, temperature, humidity, battery).
  • Control of float sensors, water pump relays, and H-bridge actuators.
• Navigation Improvements: Lateral ultrasonic sensors integrated for obstacle avoidance and path correction.

🔸 Image Capture & Computer Vision

• Camera Integration: Capture and store images through the robot’s camera.
• OpenCV-based Processing: Image preprocessing for cleaning surface verification.

🔸 Web Interface Functionality

• Network Inspection: Monitoring of HTTP requests and UI performance.
• Error Handling: Logged 500 errors under loss of Raspberry Pi connection.
• Accessibility Testing: Verified responsive and intuitive user interactions.

📊 Results

🔍 Conclusions

The TT2 system successfully integrates IoT architecture, web-based control, and embedded automation for photovoltaic maintenance applications.

This project demonstrates:

• The feasibility of low-cost, remotely operated cleaning systems for solar energy infrastructure.
• The integration of Python-based dashboards for real-time robotic control.
• A foundation for future implementations using AI-based vision and autonomous path planning.