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.

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 CHAPTER- 2
LITERATURE SURVEY

4
 2. LITERATURE SURVEY

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

5
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, 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

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 3. PROPOSED PROJECT PLAN

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

8
 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 :
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, ATmega328, 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

9
 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.

3.2 Components
 Rope Drum
 Wheel
 Spray Paint
 Frame
 ATmega328
 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)

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  Conserves energy (Potential energy in momentum)
 Dissipates 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.

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 remote 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

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

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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, which reverses the chemical

15
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

Features of ATmega328

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  High Performance, Low Power AVR 8-Bit Microcontroller
 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 un-programmed, 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 Care elaborated
in ”Alternate Functions of Port C”

Port D (PD7:0)

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

22
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.

Fig. 3.2.13: Optocoupler

Specification

 Small size
 Logic circuit is easy

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  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

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

24
 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.

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.

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 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.
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

26
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.

Fig. 3.2.18: RF module circuit

Pin Diagram

Transmitter Module Receiver Module

Pin Description

27
 Table No. 3.2.1: Pin Description (Transmitter and Receiver Module)
Transmitter Module
Pin Number Functi Nam
1 on
Ground e
GN
2 (0V) Input Pin
Serial Data D
DAT
3 Supply Voltage (5V) A
VC
4 Antenna Output Pin C
AN
T

Receiver Module
Pin Number Functi Nam
1 on
Ground e
GN
2 (0V)
Serial Data Output Pin D
DAT
3 Linear Output Pin; Not Connected A
NC
4 Supply Voltage (5V) VC
5 Supply Voltage (5V) C
VC
6 Ground C
GN
7 (0V)
Ground D
GN
8 (0V)Input
Antenna D
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.

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 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:

A project manager

A make facility.

Tool configuration

Editor

29
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.

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.

30
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.

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.

31
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:

Fig. 3.3.1: Block diagram of Transmitter section

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Receiver Section:

Fig. 3.3.2: Block diagram of Receiver section

33
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 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

34
 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

35
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

36
 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

37
 CHAPTER- 4
FABRICATION PROCESS

38
 4. FABRICATION PROCESS
PCB Layout:

Fig. 4.1: Transmitter PCB layout

Fig. 4.2: Receiver / Machine driver circuit PCB layout

39
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
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.

40
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.

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

41
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 2-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.

42
 CHAPTER- 5
ADVANTAGES AND LIMITATION

43
 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 investment)
 Long term warranty
 No pollution
 Wirelessly controlled

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

44
 CHAPTER- 6
COST ESTIMATION

45
 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

ATmega328 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

46
CHAPTER - 7
APPLICATION

47
 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

48
 CHAPTER- 8
TRIAL REPORT AND ANALYSIS

49
 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.

50
 CHAPTER – 9
RESULT AND CONCLUSION

51
 8. RESULT AND CONCLUSION

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.

52
CHAPTER- 10
FUTURE SCOPE

53
 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.

54
 RESEARCH PUBLICATION

International Journal of Innovative Research in Technology

JOURNAL DETAIL

PAPER ID 149087

55
 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

56
PHOTOGRAPHY OF MODEL

57