DESIGN AND FABRICATION OF CLEANING ROBOT FOR

GREENHOUSE ROOF

ABSTRACT
The growth of hydroponic vegetables cultivated in a greenhouse is influenced by the
photosynthesis process. Sunlight, an important factor to grow crops with high productivity, is
blocked by the plastic sheerings of the greenhouse roof and at heir cleanliness. A layer of
dust can build up and needs to be removed. In the traditional method, cleaners have to climb
onto the high-level roof and use brushes to clean the plastic sheets. It is time-consuming,
labour-intensive, and the cleaners are prone to accidents. There is a need for some tools to
clean the roof instead of cleaning by workers. Therefore, a cleaning robot for greenhouse roof
is developed in this study. The light-weight frames of four sponge wiper blades are used to
clean the roof sheerings in wet condition. The robot can move along the greenhouse via a
guide way on top of the roof by a guiding module. The average moving speed that provide
good cleaning quality is 1.3 meters per minute. The cleaning quality is very good and the dust
can be removed by about 85-95%. Additionally, the proposed a cleaning robot helps the
worker clean the roof efficiently without any damage to the plastic sheeting and it can clean
the roof twice as fast as manual cleaning.
1. Introduction
A greenhouse is used to exert greater control over the growing environment of plants. The
growth of greenhouse plants may be affected by various factors, with sunlight being a
primary influencer. Insufficient sunlight can hinder the photosynthesis process, thus impeding
plant growth. Moreover, the accumulation of dirt and dust particles on the greenhouse roof
can lead to scratches on its plastic surface if left uncleansed [1]. To mitigate this issue, it's
imperative to clean the roofs once or twice every two weeks. The roofing material typically
comprises Poly Vinyl Chloride (PVC) sheets [2]. Manual cleaning of such roofs is not only
time-consuming but also prone to causing damages. In response, a cost-effective solution in
the form of a greenhouse roof cleaning robot is being developed to address these challenges.
The robot leverages GSM technology to initiate and ensure the completion of the cleaning
process. Upon receiving a message from the owner/user, the robot automatically commences
cleaning and notifies the user via SMS once the task is completed, signaling "cleaning done"
[3]. The implementation of such a cleaning robot aims to enhance plant growth while
minimizing the risk of accidents to humans associated with manual roof cleaning.
Additionally, a non-pressurized water system is employed to effectively remove dust from
the PV panels, utilizing water and a surfactant [6]. Furthermore, monochromatic radiation is
utilized to measure the directional hemispherical transmittances of both dry and wet materials
under controlled laboratory conditions [7].

2. Objectives
The objectives of a cleaning robot developed in this study are to improve light
transmission into the greenhouse in order to obtain maximum crop yield, to reduce the
cleaning time and risks to cleaners. The cleaning robot developed in this study was tested
both in artificial roof structure and the real greenhouse in a hydroponic farm in Thailand.
3. Methodology
The methodology for designing and fabricating a cleaning robot for greenhouse roofs
involves a systematic approach. Initially, thorough research and analysis are conducted to
understand the specific requirements and challenges of greenhouse roof cleaning. This
includes studying the greenhouse environment, types of contaminants, and materials used in
construction. Following this, conceptual designs are developed, considering factors such as
cleaning mechanisms, mobility systems, and power sources. Detailed designs are then created
using CAD software, specifying dimensions, materials, and components. After selecting and
procuring appropriate components, a prototype is fabricated and tested to verify functionality
and performance. Iterative design iterations based on testing feedback help optimize the
robot's effectiveness and reliability. Documentation and reporting are maintained throughout
the process, leading to the final production and deployment of the cleaning robot,
accompanied by training and ongoing support for users.

Fig: Project Methodology

4. Budget

No. of unit
Amount/Unit Amount
S.No Particulars Required
(In Rs.) (In Rs.)
(In Rs.)
1. Body Frame 01 1200 1200
2. Windshield 01 1000 1000
3. Wiper 01 500 500
4. Motor 01 600 600
5. Sensor 01 800 800
6. Step-down Transformer 01 500 500
7. PCB 02 450 900
8. Relay 01 200 200
9. Connecting Wires 08 20 160
10. Micro Controller 01 950 950
11. Resistor 02 75 150
12. Diode 01 50 50
13. Transistor 04 50 200
14. Capacitor 01 200 200
15. LED 01 50 50
16. Display 01 1850 1850
 Total 9310-/-

5.References
[1] Seemuang N. (2017). "A Cleaning Robot for Greenhouse Roofs." Department of
Production Engineering, King Mongkut's University of Technology North
Bangkok, Thailand. Presented at the 2nd International Conference on Control and
Robotics Engineering.

[2] Manor G, Geva A, Jacobs D, Secker I, Tabak S, Singer L. (2004). "Cleaning

Machine for Dusty Greenhouse Soft Roofs." In Proceedings of the International
Conference on Sustainable Greenhouse Systems, pp. 641-648.

[3] Nie Y, Liang Y, Li Q, Kang J, He J, Xu D, et al. (2017). "Design and Working

Parameter Optimization of Cleaning Device for Greenhouse Film Roofs."
Engineering in Agriculture, Environment and Food, Vol. 10, No. 1, pp. 14-19.

[4] He P, Wang Y, He J, Liang Y. (2015). "Design and Experiment of Cleaning

Device with Magnetic Wheels for Plastic Greenhouses." Transactions of the
Chinese Society of Agricultural Engineering, Vol. 31, pp. 102-108.

[5] Mijinyawa Y, Akpenpuun T D. (2012). "Development of a Greenhouse Roof

Cleaner." African Journal of Agricultural Research, Vol. 7, pp. 5363-5371.

[6] Moharram K A, Abd-Elhady M S, Kandil H A, and El-Sherif H. (2013).

"Influence of Cleaning Using Water and Surfactants on the Performance of
Photovoltaic Panels." Energy Conversion and Management, Vol. 68.

[7] Jaffrin A and Morisot A. (1994). "Role of Structure, Dirt, and Condensation on
the Light Transmission of Greenhouse Covers." Plasticulture, Vol. 94, No. 1, pp.
33-44.