CHAPTER- 1

INTRODUCTION

1
 1. INTRODUCTION

1.1 Background of Project

In spite of the advances in the robotics and its wide spreading applications, painting also
considered to be the difficult process as it also has to paint the whole building. Also Building
and construction is one of the major industries around the world. In this fast moving life
construction industry is also growing rapidly. But the labours in the construction industry are
not sufficient. This insufficient labour in the construction industry is because of the difficulty
in the work.

In construction industry, during the work in tall buildings or in the sites where there is
more risky situation like interior area in the city. It can also be used to do hazardous and
dangerous jobs in construction. For example, currently house painting is done manually. This
process can be simplified using a special dedicated robot. It is very difficult and trouble some
for human being to work in an upright position, especially for painting and cleaning in the
ceiling for a long time. Painting in an upright position is also very dangerous for the eyes. To
overcome this difficulty, a wall painting robot system is proposed, designed and developed.
The testing results indicate that the performance of the painter robot is better compared with
that of using manual painting technique.

1.2 Problem Identification

● Wall painting, conventionally, has been carried out by human hands on scaffolds or
ladders provisionally built around a subject wall. This, however, not only is a kind of
work performed on dangerous elevated spots and in unclean environment but also
requires extra work to take down the scaffolds, thus often making it difficult to
shorten a construction term or to reduce cost.
● These repetitive actions of pushing, pulling or lifting of heavy loads such as rollers,
ladders or even paint tray may lead to back ache.
● when loading the paint brush with paint, the amount of paint absorbed is often
difficult to control and thus, the brush is often overloaded. This causes paint to be
wasted by either dripping. Further to that, if much force is not applied on the brush,
paint is wasted due to the absorption of paint in the paint
● It takes more time to paint with the traditional method.
● Most paint contains chemicals and compounds that are harmful to painters.

2
 ● conventional painting of the walls of buildings which is carried out using scaffolding
or ladders has proved to be costly and labour-intensive. It is also unsafe as it involves
working at considerable height.
● Labors in the construction industry are not sufficient.
● Riskier situation like interior area in the city.

1.3 AIM AND OBJECTIVE

Aim:
The primary aim of the project is to design, develop and implement of wall painting robot
which helps to achieve low cost painting equipment and safety.

Objective:
The actual targets for development of the wall Painting robot, in order to solve the for
mentioned situation, were set as follows:

● To make robot structure simple to enable easy mounting as well as for safety.
● To perform only painting in a single colour.
● To avoid hazard effect of paint on human body.
● The Painting Section is limited in height.
● Accurate and Smooth Painting.
● To minimize time requirement for painting work.

3
 CHAPTER- 2
LITERATURE SURVEY

2. LITERATURE SURVEY

4
Automatic Wall Painting Robot, (P.Keerthanaa, K.Jeevitha, S.Jayamani,
V.Navina )
In this paper author aim of the project is to design, develop and implement Automatic Wall
Painting Robot which helps to achieve low cost painting equipment. Despite the advances in
robotics and its wide spreading applications, interior wall painting has shared little in research
activities. The painting chemicals can cause hazards to the human painters such as eye and
respiratory system problems. Also the nature of painting procedure that requires repeated
work and hand rising makes it boring, time and effort consuming. When construction workers
and robots are properly integrated in building tasks, the whole construction process can be
better managed and savings in human labor and timing are obtained as a consequence. In
addition, it would offer the opportunity to reduce or eliminate human exposure to difficult
and hazardous environments, which would solve most of the problems connected with safety
when many activities occur at the same time.

Design and Development of a Wall Painting Robot for the Houses Wall,
(Kundan Jawale, Ramesh Kumar, Vishal Kale)
In this paper author project after integrating the total system, the painting test was
performed. By observation it was seen that the painting quality depends on the air pressure,
the paint–air ratio and the speed of the y-axis motor. The paint–air ratio can be adjusted by a
screw on the spray gun. The speed of the y-axis motor can be adjusted by the inverter. The
maximum painting area that can be painted by the robot is 7200cm2 in one positioning. To
paint this area this painter robot takes 180 seconds. The painting quality is smooth and
consistent. From this test it is observed that the single coating is enough to get the standard
quality painting. To paint the same ceiling area manually takes more than 300 seconds and
the painting quality is not so smooth. Good-quality painting requires at least two coats.

Automatic Wall Painting Machine, ( Utkarsha S. Bawane, Ritesh D.

Bakkar, Dhananjay V. Bansod, Abhilash J. Khandar, Roshan R. More )
In this paper author exterior wall painting robot for the purpose of automating this painting
operation. The robot is mounted on equipment which permits it to move up and down, left
and right along the exterior walls of a building. It is computer controlled and is activated
simply by the operator pressing a switch on the control panel located on the ground.
Automatic Wall Painting Robot which helps to achieve less human interaction and low cost
painting equipment. Despite the advances in robotics and its wide spreading applications,

5
interior wall painting has shared little in research activities. The painting procedure specifies
how to apply spray gun motions to the surfaces in order to achieve a satisfactory process
quality. The basic idea is to enable planning of paint strokes that continue throughout the
parts even though different geometric primitives must be covered along the surface and even
though continuous robot motions cannot follow the surface. A method has been developed for
automatic spray painting of unknown parts. This machine is very useful for painting of any
shape with very less time period.

Design of An Autonomous wall Painting Robot, (Mohamed Abdellat )

In this paper author introduced wall painting robot to avoid the repetitive work of painting
the process which makes exhausting and hazards to human they introduce the conceptual
design of robot .which contain arm that work vertically. The arm is fitted on the mobile for
give the motion to arm to paint the wall area. This robot is fast painting or working using
ultrasonic sensors. For adjusting the motion of the limit the control system is used for guide
the arm motion. It is only used for interior walls of building. In this robot the roller contains
painting liquid and paint the area. The robot can adjust man over itself in front of the wall

Design And Fabrication Of Automatic Spray Painting Machine, (Chetan D.

Ghode, Jayant R. Swarakar, Rupesh D. Belkhade, Vivek G. Dalal)
In this paper authors of the project is to design, develop and utensil Automatic Wall Painting
machine which helps to resolve low cost painting attachment. The advances in machining and
its wide spreading applications, interior wall painting has shared little in research activities.
The painting chemicals can cause unsafe to the human painters such as eye and inhaling
system problems. Also the nature of painting procedure that requires repeated work and hand
rising makes it boring, time and effort consuming. When construction workers and robots are
properly combine in building tasks, the whole architecture process can be better managed and
savings in human labor and timing are obtained as a consequence. In addition, it would offer
the opportunity to reduce or eliminate human exposure to difficult and unsafe environments,
which would solve most of the problems connected with safety when many activities occur at
the same time. These factors motivate the development of an automated robotic painting
system

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 CHAPTER- 3
PROPOSED PROJECT PLAN

3. PROPOSED PROJECT PLAN

7
Project Planning Steps:

Table No. 3.1: Project Planning Steps

Work Complete Month

1. Project Survey June

2. Literature Survey July

3. Material August

4. Welding August

5. PCB Design September

6. Etching & Drilling September

7. Soldering September

8. Programming December

9. Testing Project January

3.1 Methodology

● Start:
First, we found out the problems in peoples, and then we have to decide we are
inventing a wall painting robot.
● Find the definition of project:
Wall Painting robot which helps to achieve low cost painting equipment and safety.
The painting chemicals can cause hazards to human painters such as eye and
respiratory system problems. Also, the nature of the painting procedure that requires
repeated work and hand rising makes it boring, time and effort consuming.
● Survey of field construction And gather information :

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 Then we search a project of wall painting robot and that’s pries, we search most of
projects based on wall painting.
1) Automatic Wall Painting Robot: Automatically paint the wall of given
dimension has been designed and implemented. The approach uses IR transmitter
and IR receiver to detect the presence of wall. The microcontroller unit to control
the movement of the DC motor.
2) Design and Fabrication of Automatic Spray Painting Machine: Outlining of
the painting process, planning of encounter free spray gun motions. Specifies a
trajectory of the spray gun, which satisfies the desired paint quality. In this module
only spray gun motions are considered in relation to process quality. DP/DT
switch has an central OFF position, when operated to one of the ON position, the
motor will rotate in clockwise direction, operating the worm gear box and thereby
the pinion shaft. The pinion rotates to rotate the gear and thereby the main shaft
and stand in clockwise direction taking the stand to close position.
● Redefine definition of project :
Man free wall painting robot is not using complicated portable robot is designed using
low-cost equipment. In this robot components used are 1 rope drum, dc motor 5, 2
battery, 4 wheels, rest switches, ATmega328,Spray paint, RF module etc. We are
designing a low-cost product, so common man easily used and save the money, also
chemicals problem occurs in painting time they also overcome.

● Design of components:
Rope Drum, Wheel, Spray Paint, Frame, ATmega 328, Battery, Motor, LED, IC7805,
IC L293D, Capacitor, Resistor , Transistor, Optocoupler, Relay, Diode, RF
MODULES (434MHz)
● Modification :
Working with Man free wall painting robot is simple no needed for skilled workers.
This robot is easy and movable. Due to smart and simple control systems it can easily
control noise, perform the silent operation and no vibration is produced. We are trying
to make a wireless wall painter in which we are using RF-based wireless remote using
TX-RX Modules (434MHz). Four switches are associated with moving system
forward, reverse, left and right. The remaining two switches are associated with spray
assembly upward and downward.

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3.2 Components
● Rope Drum
● Wheel
● Spray Paint
● Frame
● ATmega 328
● Battery
● Motor
● LED
● IC7805, IC L293D
● Capacitor
● Resistor
● Transistor
● Optocoupler
● Relay
● Diode
● RF MODULES (434MHz)

COMPONENTS AND SOFTWARE DESCRIPTION

Rope Drum:
Windlasses, manual winches, power winches and cranes are commonly used hoisting
equipment. A common feature among these devices is the use of a revolving rope drum, in
conjunction with wire rope, to transform the turning force applied at the rope drum axis into a
pulling force in the wire rope.

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 Fig. 3.2.1: Rope Drum

Specification

● Resistant to corrosion
● Optimum strength

Wheel:
A wheel is a disc or circle-shaped mechanical device. Its main purpose is to allow
things to roll; in other words, the wheel spins, and objects on the wheels moves more easily
along the ground. It is a simple machine.

Fig. 3.2.2: Wheel

Specification

● Support mass of the motor.

● Absorbs impact (Road hazards)
● Conserves energy (Potential energy in momentum)
● Dessipates Heat.

Spray Painting:
Spray painting is a technique where a device sprays a coating (paint,ink,varnish,etc)
through the air onto a surface. The most common types employ compressed gas usually air to
atomize and direct the paint particles.

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 Fig. 3.2.3: Spray Paint

Frame:
A frame is often a structural system that supports other components of a physical
construction and/or iron frame that limits the construction's extent.

The frame stand is the iron welded in such a way that it can carry the whole
equipment. The iron are welded strongly in welding laboratory with an idea to carry the entire
robot with the control unit, battery and DC motor in the remot platform and the RF sensor
and spray gun in the roller shaft .Four wheels are attached to the frame stand in order to move
the robot in the direction specified. The movement of these wheels are controlled by the DC
motor rotation which is controlled by the microcontroller. Since it is obvious that if either the
movement of front or back wheels are controlled automatically the movement of the other
one will be controlled. Therefore, in this robot the movement of the back wheels are
controlled using the DC motor such that the movement of entire robot is controlled.

Frame is the base part of the paint booth automation project. Entire components of the
paint booth was take place on the top of the frame, so the frame design is made with suitable
spaces for holding and orienting the components. Figure shows the design of the frame.

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 Fig. 3.2.4: Design of Frame

Specification

● It has support the all physical construction.

● The frame stand is the iron welded.

DC Motor:
It is an electric motor is a machine Which convert electric energy into mechanical energy.

Fig. 3.2.5: DC Motor

Motor Specifications

1. Voltage: 12.0VDC

2. Output Speed: 200 +/- 10% RPM

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3. No-Load output current: =< 50 mA

4. Rotation Output: CW / CCW

5. Noise: No Gear Noise

6. Stall output: : Slip Gear, Broken Gear is no allowed

7. Output shaft of the axial clearance: =< 0.1 ~ 0.3mm, Horizontal clearance requirement =<
0.05

Electrical Specifications

1. No-Load Speed: 60 RPM

2. No-Load Current: =< 300mA

3. Rotation: CW

4. Motor#: 370

Motor Drivers IC L293D:

A motor driver IC is an integrated circuit chip which is usually used to control
motors in autonomous robots. Motor driver ICs act as an interface between microcontroller in
robots and the motors in the robot. The most commonly used motor driver IC’s are from the
L293 series such as, L293NE, etc. These ICs are designed to control 2 DC motors
simultaneously. L293D consist of two H-bridge. H-bridge is the simplest circuit for
controlling a low current rated motor. For this purpose we will be used the motor driver IC as
L293D only.

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 Fig. 3.2.6: Motor Drivers IC L293D
Specification

● Separate Input-Logic Supply

● 600-mA Output Current Capability Per Driver

● Pulsed Current 1.2-A Per Driver

● Wide Supply Voltage Range 4.5 V to 36 V

● Separate Input-Logic Supply

Battery:
Batteries are classified into two broad categories, each type with advantages and
disadvantages .Primary batteries irreversibly (within limits of practicality) transform
chemical energy to electrical energy. When the initial supply of reactants is exhausted, energy
cannot be readily restored to the battery by electrical means. Secondary batteries can be
recharged; that is, they can have their chemical reactions reversed by supplying electrical
energy to the cell, restoring their original composition, Secondary batteries must be charged
before use; they are usually assembled with active materials in the discharged state.
Rechargeable batteries or secondary cells can be recharged by applying electrical current,

15
which reverses the chemical reactions that occur during its use. Devices to supply the
appropriate current are called chargers or rechargers.

Fig. 3.2.7: 12v Lead Acid Battery

Specification

● Long Life
● Wide. Temp. range of operation (-30 to + 70 ͦ C)
● Quick Charge
● High Working Voltage (>3.8V)

Power supply:

Fig. 3.2.8: Power Supply

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WORKING:

The power supply gives +12v supply to the circuit. The power supply consists of two
stages namely filter, and regulator. 12V battery supply taking input of 12v and giving output
of 5v at the secondary. The next stage is the filter stage consisting of capacitor, which
converts the fully rectified wave into the DC wave with some ripple. Last stage is the
regulator stage. Regulator removes the entire ripple and gives pure DC. The LED is
connected to indicate that power supply is ON.

Filter Capacitor:
As mentioned above we have to use filter capacitor to remove the pulsating DC signal
from the output of battery. Filter capacitor is used in order to remove ripples from the
pulsating DC and convert it to unregulated DC.

A capacitor is an electrical device that can store energy in the electric field between a
pair of closely spaced conductors (called ‘plates’). When voltage is applied to the capacitor,
electric charges of equal magnitude, but opposite polarity, build up on the plate.

Capacitors are used in electrical circuits as energy storage devices. They can also be
used to differentiate between high frequency and low frequency signals and this makes them
useful in electronic filters. These small deviations from the ideal behavior of the device can
become significant when it is operating under certain conditions, i.e. high frequency, high
current, or temperature extremes.

Fig. 3.2.9: Capacitor

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Specification

● Temperature Coefficient
● Equivalent Series Resistance (ESR)
● Dielectric Absorption
● Insulation Resistance
● Capacitor Leakage

Voltage Regulator:

To separate voltage, regulators are used after the filter capacitor so as to generate
constant DC voltage supply of 5 volts. We have used IC7805 as a voltage regulator. Both of
them are three pin IC which are namely input, ground and output. We have to give output of
filter capacitor to the input of regulator, and we get 5 volts supply at the output pin of the
respective regulator.

Fixed voltage regulator IC 7805 produces +5V regulated output voltage with respect to the
ground.

● Output Current in Excess of 1.0 A

● No External Components Required

● Internal Thermal Overload Protection

● Internal Short Circuit Current Limiting

● Output Transistor Safe–Area Compensation

● Output Voltage Offered in 2% and 4% Tolerance

● Available in Surface MountD2PAK, DPAK and Standard 3–Lead

● Transistor Packages

Features

● Internal Thermal Overload Protection.

● Internal Short Circuit Current Limiting.

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 ● Output Current up to 1.5A.

● Satisfies IEC-65 Specification. (International Electronical Commission).

● Package is TO-220AB

Fig. 3.2.10: IC 7805

Resistors:
Resistor is an electrical component that reduces the electric current.
The resistor's ability to reduce the current is called resistance and is measured in units of
ohms (symbol: Ω). If we make an analogy to water flow through pipes, the resistor is a thin
pipe that reduces the water flow. A resistor is a passive two-terminal electrical
component that implements electrical resistance  as a circuit element.  Resistors are common
elements of electrical networks and electronic circuits and are ubiquitous in electronic
equipment. Practical resistors as discrete components can be composed of various compounds
and forms. Resistors are also implemented within integrated circuits. The electrical function
of a resistor is specified by its resistance: common commercial resistors are manufactured
over a range of more than nine orders of magnitude. The nominal value of the resistance falls
within the manufacturing tolerance

Fig. 3.2.11: Resistor

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ATmega328:

Pin Layout

Fig. 3.2.12: Pin Diagram ATmega328

20
Features of ATmega328

● High Performance, Low Power AVR 8-Bit Microcontoller

● Advanced RISC Architecture
● Fully Static Operation
● On chip 2-cycle Multiplier
● High Endurance Non-Volatile Memory Segments
● 512 Bytes internal SRAM
● 256 Bytes EEPROM
● In System Programming by On chip Boot Program
● True Read write operation
● Programming Lock for Software Security
● Two 8-bit Timer/Counters with Separate Prescaler and Compare Mode
● Real Time Counter with Separate Oscillator
● Six PWM Channels
● Programmable Serial USART
● Master/Slave SPI Serial Interface
● On-chip Analog Comparator
● Interrupt and Wake-up on Pin Change
● Power-on Reset and Programmable Brown-out Detection
● Internal Calibrated Oscillator
● External and Internal Interrupt Sources
● Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby,
and Extended Standby
● 23 Programmable I/O Lines
● 28-pin PDIP, 32-lead TQFP, 28-pad QFN/MLF and 32-pad QFN/MLF
● Operating Voltage: – 1.8 - 5.5V
● Temperature Range: -40 °C to 85°C
● Power Consumption at 1 MHz, 1.8V, 25°C
● Active Mode: 0.2 mA
● Power-down Mode: 0.1 µA
● Power-save Mode: 0.75 µA (Including 32 kHz RTC)

Pin Descriptions

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Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for

each bit). The Port B output buffers have symmetrical drive characteristics with both high
sink and source capability. As inputs, Port B pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset

condition becomes active, even if the clock is not running.

Depending on the clock selection fuse settings, PB6 can be used as input to the
inverting Oscillator Amplifier and input to the internal clock operating circuit. Depending on
the clock selection fuse settings, PB7 can be used as output from the inverting Oscillator
amplifier. If the Internal Calibrated RC Oscillator is used as chip clock source, PB7...6 is used
as TOSC2...1 input for the Asynchronous Timer/Counter2 if the AS2 bit in ASSR is set. The
various special features of Port B are elaborated in and ”System Clock and Clock Options”.

Port C (PC5:0)
Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected for

each bit). The PC5...0 output buffers have symmetrical drive characteristics with both high

sink and source capability. As inputs, Port C pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset
condition becomes active, even if the clock is not running.

PC6/RESET
If the RSTDISBL Fuse is programmed, PC6 is used as an I/O pin. Note that the
electrical characteristics of PC6 differ from those of the other pins of Port C. If the
RSTDISBL Fuse is unprogrammed, PC6 is used as a Reset input. A low level on this pin for
longer than the minimum pulse length will generate a Reset, even if the clock is not running.
Shorter pulses are not guaranteed. To generate a Reset. The various special features of Port C
are elaborated in ”Alternate Functions of Port C”

Port D (PD7:0)

22
 Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for

each bit). The Port D output buffers have symmetrical drive characteristics with both high

sink and source capability. As inputs, Port D pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset

condition becomes active, even if the clock is not running.

AVCC
AVCC is the supply voltage pin for the A/D Converter, PC3:0, and ADC7:6. It
should be externally connected to VCC even if the ADC is not used. If the ADC is used, it
should be connected to V through a low-pass filter. Note that PC6...4 use digital supply
voltage, V

AREF
AREF is the analog reference pin for the A/D Converter.

ADC7:6 (TQFP and QFN/MLF Package Only)

In the TQFP and QFN/MLF package, ADC7:6 serve as analog inputs to the A/D
converter. These pins are powered from the analog supply and serve as 10-bit ADC channels.

Optocoupler

An optocoupler is an electronic component that transfers electrical signals between

two isolated circuits by using light. Optocoupler prevent high voltages from affecting the
system receiving the signal.  Commercially available optocoupler withstand input-to-output
voltages up to 10 kV  and voltage transients with speeds up to 25 kV/μs.

23
 Fig. 3.2.13: Optocoupler

Specification

● Small size
● Logic circuit is easy
● Unidirectional signal transfer

Transistor:
A transistor is a semiconductor device used to amplify or switch electronic signals
and electrical power. It is composed of semiconductor material with at least
three terminals for connection to an external circuit. A voltage or current applied to one pair
of the transistor's terminals controls the current through another pair of terminals. Because
the controlled (output) power can be higher than the controlling (input) power, a transistor
can amplify a signal. Today, some transistors are packaged individually, but many more are
found embedded in integrated circuits.

Fig. 3.2.14: Transistor Pin Diagram

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Diode:

A diode is defined as a two-terminal electronic component that only conducts current

in one direction (so long as it is operated within a specified voltage level). An ideal diode will
have zero resistance in one direction, and infinite resistance in the reverse direction. A
diode vacuum tube or thermionic diode is a vacuum tube with two electrodes, a
heated cathode and a plate, in which electrons can flow in only one direction, from cathode to
plate. A semiconductor diode, the most commonly used type today, is a crystalline piece
of semiconductor material with a p–n junction connected to two electrical terminals.  The
discovery of asymmetric electrical conduction across the contact between a crystalline
mineral and a metal was made by German physicist Ferdinand Braun in 1874. Today, most
diodes are made of silicon, but other materials such as gallium arsenide and germanium are
also used

Fig.3.2.15: Diode

LED:
A light-emitting diode (LED) is a semiconductor light source that emits light
when current flows through it. Electrons in the semiconductor recombine with electron holes,
releasing energy in the form of photons. The color of the light (corresponding to the energy of
the photons) is determined by the energy required for electrons to cross the band gap of the
semiconductor.[5] White light is obtained by using multiple semiconductors or a layer of
light-emitting phosphor on the semiconductor device.

25
 Fig. 3.2.16: LED

Relay Drive Circuit:

● It is an electromagnetic switch.

● It is used to control the electrical devices.

● Copper core, magnetic flux plays main role here.

Fig. 3.2.17: Relay circuit diagram

● The Relays switch connection are usually labled COM, NC and NO:
i. COM = Common, always connect to it’s the moving part of the itch
ii. NC=Normally Closed, COM is connected to this when the relay coil is
OFF.
iii. NO= Normally Open, COM is connected to this when the relay coil is
ON.

26
Specification

● Min. operating voltage 8V

● Max. operating voltage 68V
● System Voltage 12 - 48V
● Channel Current 750mA
● Temperature Sensor Range –40°C to +85°C

RF Module:
The RF module, as the name suggests, operates at Radio Frequency. The
corresponding frequency range varies between 30 kHz & 300 GHz. In this RF system,
the digital data is represented as variations in the amplitude of carrier wave. This kind of
modulation is known as Amplitude Shift Keying (ASK). Transmission through RF is
better than IR (infrared) because of many reasons. Firstly, signals through RF can travel
through larger distances making it suitable for long range applications. Also, while IR
mostly operates in line-of- sight mode, RF signals can travel even when there is an
obstruction between transmitter & receiver. Next, RF transmission is more strong and
reliable than IR transmission. RF communication uses a specific frequency unlike IR
signals which are affected by other IR emitting sources.

This RF module comprises of an RF Transmitter and an RF Receiver. The

transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz. An RF transmitter
receives serial data and transmits it wirelessly through RF through its antenna connected
at pin4. The transmission occurs at the rate of 1Kbps - 10Kbps.The transmitted data is
received by an RF receiver operating at the same frequency as that of the transmitter.

27
 Fig. 3.2.18: RF module circuit

Pin Diagram

Transmitter Module Receiver Module

Pin Description

Table No. 3.2.1: Pin Description ( Transmitter and Receiver Module)

Transmitter Module
Pin Number Functi Nam
on e
1 Ground GN
(0V) D
2 Serial Data Input Pin DATA
3 Supply Voltage (5V) VC
C

28
 4 Antenna Output Pin AN
T

Receiver Module

Pin Number Functi Nam

on e
1 Ground GN
(0V) D
2 Serial Data Output Pin DATA
3 Linear Output Pin; Not Connected NC
4 Supply Voltage (5V) VC
C
5 Supply Voltage (5V) VC
C
6 Ground GN
(0V) D
7 Ground GN
(0V) D
8 Antenna Input AN
Pin T

Specification

● Receiver frequency 434MHz

● Receiver supply current 3.5mA
● Low power consumption
● Receiver operating voltage 5v
● Transmitter output power 4v~12v

Reset Switch:
In electronics and technology, a reset button is a button that can reset a device. The
reset button restarts the Project, losing the robot unsaved progress. On personal computers the
reset button clears the memory and reboots the machine forcibly. Reset buttons are found on
circuit breakers to reset the circuit. Usually, in computers and other electronic devices, it is
present as a small button.

29
 Fig. 3.2.19: Reset Switch

Software Description:

In this chapter the software used and the language in which the program code is
defined is mentioned and the program code dumping tools are explained. The chapter also
documents the development of the program for the application. This program has been
termed as “Source code”. Before we look at the source code we define the two header files
that we have used in the code.

C51 Compiler &A51 Macro Assemble:

Source files are created by the µVision IDE and are passed to the C51 Compiler or
A51 Macro Assembler. The compiler and assembler process source files and create
replaceable object files. The Keil C51 Compiler is a full ANSI implementation of the C
programming language that supports all standard features of the C language. In addition,
numerous features for direct support of the 8051 architecture have been added.

µ Vision:

Feature of µVision4

µVision4 adds many new features to the Editor like Text Templates, Quick Function
Navigation, and Syntax Coloring with brace high lighting Configuration Wizard for dialog
based startup and debugger setup. µVision4 is fully compatible to µVision4 and can be used
in parallel with µVision4.

New µVision4

µVision4 is an IDE (Integrated Development Environment) that helps you write,

compile, and debug embedded programs. It encapsulates the following components:

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A project manager

A make facility.

Tool configuration

Editor

A powerful debugger

To help you get started, several example programs (located in the \C51\Examples,
\C251\Examples, \C166\Examples, and \ARM\...\Examples) are provided.

SIEVE is the SIEVE Benchmark.

DHRY is the Dhrystone Benchmark.

HELLO is a simple program that prints the string "Hello World" using the Serial Interface.

MEASURE is a data acquisition system for analog and digital systems.

TRAFFIC is a traffic light controller with the RTX Tiny operating system. WHETS are the
Single-Precision Whetstone Benchmark. Additional example programs not listed here are
provided for each device architecture.

Building an Application In µvision

To build (compile, assemble, and link) an application in µVision4, you must:

Select Project -(forexample,166\EXAMPLES\HELLO\HELLO.UV4).

Select Project - Rebuild all target files or Build target.

µVision4 compiles, assembles, and links the files in your project.

Creating Your Own Application in µVision4

To create a new project in µVision4, you must:

Select Project - New Project

Select a directory and enter the name of the project file.

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Select Project - Select Device and select an LP2148 or C16x/ST10 device from the device
database

Create source files to add to the project.

Select Project - Targets, Groups, Files. Add/Files, select Source Group1, and add the source
files to the project.

Select Project - Options and set the tool options. Note when you select the target device from
the Device Database™ all special options are set automatically. You typically only need to
configure the memory map of your target hardware. Default memory model settings are
optimal for most applications

Select Project - Rebuild all target files or Build target.

Debugging an Application in µVision4

To debug an application created using µVision4, you must:

Select Debug - Start/Stop Debug Session

Use the Step toolbar buttons to single-step through your program. You may enter G, main in
the Output Window to execute to the main C function.

Open the Serial Window using the Serial #1 button on the toolbar.

Debug your program using standard options like Step, Go, Break, and so on.

Starting µVision4 and Creating a Project

µVision4 is a standard Windows application and started by clicking on the program icon. To
create a new project file select from the µVision4 menu

Project – New Project…. This opens a standard Windows dialog that asks you for the new
project file name.

We suggest that you use a separate folder for each project. You can simply use the icon
Create New Folder in this dialog to get a new empty folder. Then select this folder and enter
the file name for the new project, i.e. Project1.

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µVision4 creates a new project file with the name PROJECT1.UV4 which contains a default
target and file group name.

You can see these names in the Project Window – Files.

Now use from the menu Project – Select Device for Target and select a CPU for your project.
The Select Device dialog box shows the µVision4 device database. Just select the
microcontroller you use. We are using for our examples the Philips ARM7 LPC2128 + CPU.
This selection sets necessary tool options for the ARM7 LPC2148+ device and simplifies in
this way the tool Configuration.

3.3 Block Diagram:

Transmitter Section:

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 Fig. 3.3.1: Block diagram of Transmitter section

Receiver Section:

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 Fig. 3.3.2: Block diagram of Receiver section

Description:
Above block diagram shows that remote control section consists of microcontroller
with RF Transmitter module. Switches which are associated with different function are
interfaced with microcontroller. Microcontroller sends the serial data through RF 434 MHz
module. The transmitter module takes serial input and transmits these signals through RF.

On the other side receiving end RF module receives the signal from transmitting end
and sends data serially to the microcontroller. ATmega32 microcontroller is used in both
sides. Receiving end microcontroller operate four 12V DC relay which are associated with

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machine’s forward , reverse ,left and right motion. Four relay are responsible for two DC
motor which are associated with machine’s movement. Wall painting mechanisms drive by
DC motor. For this we should have to run DC motor in both clockwise and anticlockwise
direction. For this we use motor driver IC L293D. Microcontroller drive DC motor in both
direction using L293D motor driver IC. Microcontroller send control signal to the L293D IC
and IC drive DC motor in both direction..

3.4 Circuit Diagram:

Fig. 3.4.1: Transmitter circuit or Remote circuit

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 Fig. 3.4.2: Receiver Circuit or Machine driving circuit

3.5 Construction:
Our project is driving on two DC motors so our structure is iron channel rectangular
shape base. Motors are on one end of structure. Two wheels are fixed on shaft of motors
combine of wheel and motors are the driving system of model. Two dummy wheels are on
another end of structure. Thus four wheels are responsible for model driving. A small
rectangular structure fixed on upper side on one channel and two rods. On this two rods a two
wooden plate are fixed like a slider. A spray is fixed on this wooden plate. This wooden plate
is move upward and downward through rope. This rope is tie with the pulley.

A pulley mechanism consists of a wheel and string assembly and is designed for
lifting heavier loads through a comparatively lower magnitude of effort. For driving pulley
we use a one more DC motor. DC motor move clockwise and anticlockwise for tie and
release the rope. Electronics circuits are fixed on the base structure of the model.

3.6 Working:
Our project is move towards forward and reverses by pressing forward and reverse
switch placed on remote. It can also move left and right by using left, right switch. Top DC

37
motor which is responsible for moving rope upward and downward is move by two switches.
Two individual switches use for move downward and upward rope is placed on remote. Our
project can move at place where user want to paint and for spraying user should have to
switch on spray switch. For painting, spray which is fixed on slider can move upward and
downward by pressing up and down switch. For moving model, power is in only one end and
another end have only two dummy wheels which is responsible for only driving. One end
which has two DC motors is act as a power end.

Model is controlled by wirelessly through RF 434 MHz TX- RX pair. User can move
whole assembly from a safe place using RF transmitter by pressing only switches. User can
paint wall from a place away from that wall. All movement of model controlled remotely by
user with the help of remote.

Fig. 3.6.1: Block diagram of Project

1. Frame
2. Wheels
3. Spray

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 4. Rope
5. Drum
6. Motor
7. Control Unit
8. Adjusting Screw
9. Limit Switch

3.7 Specification:
● Working time periods of robot 6 to 8 Hours
● Spray Paint used for painting
● Finishing of Wall Painting is good.
● Project Program Lock
● Charging time minimum of 3 hour
● Wireless controlling distance 20Meter

39
 CHAPTER- 4
FABRICATION PROCESS

40
 4. FABRICATION PROCESS
PCB Layout:

Fig. 4.1: Transmitter PCB layout

Fig. 4.2: Receiver / Machine driver circuit PCB layout

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A printed circuit board, or PCB, is used to mechanically support and electrically connect
electronic components using conductive pathways, tracks or traces etched from copper sheets
laminated onto a non-conductive substrate. It is also referred to as printed wiring board
(PWB) or etched wiring board. A PCB populated with electronic components is a printed
circuit assembly (PCA), also known as a printed circuit board assembly (PCBA).

Printed Circuit Boards play a vital role here in determining the overall performance of the
electronic equipment. A good PCB design ensures that the noise introduced as a result of
component placement and track layout is held within limits while still providing components
years of assembly maintenance and performance reliability.

Printed circuits boards are used to route electric signals through copper track which are firmly
bonded to an insulating base

Advantages of PCB over common wiring are:

1. PCB’s are necessary for connecting a large number of electronic components in a very
small area with minimum parasitic effects.

2. PCB’s are simulated with mass production with less chance of writing error.

3. Small components are easily mounted.

Base Materials used for PCB:

The base materials used for PCB’s are glass epoxy, epoxy paper, polyester etc. Copper
foil used for copper clad is manufactured by the process of electronic deposition

Preparation of Single Sided PCB:

In single sided PCB conductor tracks are present on one side of copper clad board. So
crossing of conductors is not allowed. It is mechanically & chemically cleansed. The photo
resist is an organic solution which when exposed to light of proper wavelength, changes their
solubility in developer but after exposure to light is not soluble. Laminate coating of photo
resist is done by: (i) Spray coating (ii) Dip coating (iii) Roller coating. The coated copper
clad and laminated film negative is kept in intimate contact with each other. The assembly is
exposed to UV light and is rinsed in the developer tank. Proper developer has to be used for a

42
particular photo resist and then the PCB is dyed in a tray. The dye reveals the flux to be used
for a particular photo resist. Then the PCB is dyed in a tray.

Etching:
The copper clad PCB is etched with ferrous chloride solution containing a small
amount of Hydro Chloric Acid for increasing activeness of Ferric Chloride in etching.
Wherever the varnish coating is there the copper remains.

The vast majority of printed circuit boards are made by bonding a layer of copper
over the entire substrate, sometimes on both sides, (creating a “blank PCB”) then removing
unwanted copper after applying a temporary mask (e.g. by etching), leaving only the desired
copper traces. A few PCBs are made by adding traces to the bare substrate (or a substrate
with a very thin layer of copper) usually by a complex process of multiple electroplating
steps.

There are three common “subtractive” methods (methods that remove copper) used for the
production of printed circuit boards:

1.Silk screen printing uses etch-resistant inks to protect the copper foil. Subsequent etching
removes the unwanted copper. Alternatively, the ink may be conductive, printed on a blank
(non-conductive) board. The latter technique is also used in the manufacture of hybrid
circuits.

2.Photoengraving uses a photomask and chemical etching to remove the copper foil from the
substrate. The photomask is usually prepared with a photo plotter from data produced by a
technician using CAM, or computer-aided manufacturing software. Laser-printed
transparencies are typically employed for photo tools however, direct laser imaging
techniques are being employed to replace photo tools for high-resolution requirements.

3. PCB milling uses a two or three-axis mechanical milling system to mill away the copper
foil from the substrate. A PCB milling machine (referred to as a ‘PCB Prototyper’) operates
in a similar way to a plotter, receiving commands from the host software that control the
position of the milling head in the x, y, and (if relevant) z axis. Data to drive the Prototyper is
extracted from files generated in PCB design software and stored in HPGL or Gerber file
format.

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Drilling:

Holes through a PCB are typically drilled with tiny drill bits made of solid tungsten
carbide. The drilling is performed by automated drilling machines with placement controlled
by a drill tape or drill file. These computer-generated files are also called numerically
controlled drill (NCD) files or “Excellon files”.

The drill file describes the location and size of each drilled hole. These holes are often
filled with annular rings (hollow rivets) to create bias. Bias allow the electrical and thermal
connection of conductors on opposite sides of the PCB.

Plating And Coating:

PCBs are plated with Solder, Tin, or Gold over Nickel as a resist for etching
(removal) away the (unneeded after plating) underlying copper. Matte solder is usually fused
to provide a better bonding surface or stripped to bare copper.

Treatments, such as benzimidazolethiol, prevent surface oxidation of bare copper. The

places to which components will be mounted are typically plated, because untreated bare
copper oxidizes quickly, and therefore is not readily solderable. Traditionally, any exposed
copper was coated with solder by hot air solder levelling (HASL). This solder was a tin-lead
alloy, however new solder compounds are now used to achieve compliance with the RoHS
directive in the EU and US, which restricts the use of lead. One of these lead-free compounds
is SN100CL, made up of 99.3% tin, 0.7% copper, 0.05% nickel, and a nominal of 60ppm
germanium.

Soldering:

Soldering is the process of joining of two metals using an alloy solder consisting of
Tin and Lead (Sn-Pb). Tin determines the melting whereas the Lead is used to reduce the
cost. After the PCB fabrication is done, the various components are arranged at proper
locations on the PCB and then the soldering is done. All liquids consist of particles which
attract each other. The surface is always trying to shrink and this is because of surface
tension. The principle behind soldering is that when liquid particles are brought in contact
with the walls of the solid surface, it may happen that the solid attracts the liquid surface.
This property is called adhesive property. Care must be taken that the melting point of solder
is below that of the metal so that its surface is melted without melting without the metal.

44
 CHAPTER- 5
ADVANTAGES AND LIMITATION

45
 5. ADVANTAGES AND LIMITATIONS

Advantages:
● High energy output
● low maintenance cost (there is nothing to replace)
● Clean and pure energy
● Very high reliability
● long term sustainability
● cost saving (only one time investement)
● Long term warranty
● No pollution
● Wirelessly controlled

Limitation:
● Battery Discharging Fast.
● External circuit required for charge the battery.
● Spray painting losses is more

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 CHAPTER- 6
COST ESTIMATION

47
 6. COST ESTIMATION

Table No. 6.1: Cost Estimation

Name of Part No. of Part Cost (in Rs.)

Wheels 4 200

DC Motor 5 2800

Iron Rode 2 600

Rope Drum 1 350

Battery 2 1020

RF Module (TX & RX ) 1 560

ATmega 328 1 420

IC 7805 & IC L293D 1 80

Capacitor 4 30

Resistor 18 36

Transistor 4 40

Relay 4 600

Diode 2 40

Optocoupler 4 200

LED 5 10

Switch 10 20

Spray Paint 1 530

Crystal oscillator 1 20

Total - 7,906

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CHAPTER - 7
APPLICATION

49
 7. APPLICATION

Application:
● It is very useful in wall painting.
● In hotels for application other then painting .
● It can be used to paint furniture’s
● It can be used to paint in companies for different types of materials.
● It can be used in industries who mass produce wood products.
● Painting internal and external surfaces of storage tanks
● Painting oil refinery installations

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 CHAPTER- 8
TRIAL REPORT AND ANALYSIS

51
 8. TRIAL REPORT AND ANALYSIS

Trial 1:

The wall painting machine project was made by foot operated method but it was not
completely possible because vibration were created when the roller of the painting machine
was deeping in the paint tank.

Analysis:

For this we removed the roller and put the rock and pinion gear so that there would be no
vibration.

Trial 2:

I tried to operate the machine after installing the rack and pinion gear but the gear broke due
to high torque of the machine.

Analysis:

Then we put a printed circuit board on the wall painting machine and made a wall painting
robot.

52
 CHAPTER – 9
RESULT AND CONCLUSION

8. RESULT AND CONCLUSION

53
Result And Conclusion:
Thus an automatic intelligent wall painting robot has been designed fabricated from
painting wall easily an effectively. The robot can able to coat minimum 5 feet height in a pass
So the painting time can be reduce.

The wall painting robot has been design fabricated for painting walls easily. This
robot can be used in interior work in industries and houses. It saves human power and time as
well as labour cost. It gives the opportunity to reduce human exposure to difficult and
hazardous environment.

54
CHAPTER- 10
FUTURE SCOPE

55
 10. FUTURE SCOPE

Future Scope:

● If we used a solar panel for charging the battery that increases the working time
period of the wall painting robot.
● The project which we have done surely reaches the average family because the wall
painted with minimum cost and with minimum time finally this project may give an
inspiration to the people, who can modify and can obtain better results. 

56
 RESEARCH PUBLICATION

International Journal of Innovative Research in Technology

JOURNAL DETAIL

PAPER ID 149087

57
 REFERENCES

[1] Principle of Electronics By B. L. Thareja

[2] Microcontroller and its Application by using C-Programming – M. Z. Majidi

[3] Utkarsha S. Bawane, Ritesh D. Bakkar, Dhananjay V. Bansod, Abhilash J. Khandar,

Roshan R. More, Automatic Wall Painting Machine. (IJETER) February 2018

[4] P.Keerthanaa, K.Jeevitha, S.Jayamani, V.Navina, AUTOMATIC WALL PAINTING

ROBOT (IJIRSET) July 2013

[4] Chetan D. Ghode, Jayant R. Swarakar, Rupesh D. Belkhade, Vivek G. Dalal, DESIGN
AND FABRICATION OF AUTOMATIC SPRAY PAINTING MACHINE, (IJARIIE)
February 2018

[5] Dhaval Thakar, Chetan P. Vora, A Review on Design & Development of

Semi-Automated Colour Painting Machine, (IJERA) April 2014

[6] B. Sai Krishna, B.V Sandeep Kumar, Chandrashekar. M, Fabrication of Automatic Wall
Painting Machine, (IJERT) January 2019

[7] Mr. Swapnil Choudhary, Akash Hattimare, Mangeshkumar Shahare, Rohit Singh
Chauhan, Abhishek Vaidya, Design & Fabrication of Automatic Wall Spray Painting
Machine, (IJSRD) January 2018

[8] Tambe Vaibhav, Sumit Karpe, Neelam Gaidhani, Amol Dive, Automatic Wall Painting
Machine, (IRJET) Jan 2019

[9] Kundan Jawale, Ramesh Kumar, Vishal Kale ,Design and Development of a Wall Painting
Robot for the Houses Wall, (IJMRED) April 2015

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PHOTOGRAPHY OF MODEL

59