WALL CLIMBING ROBOT

a project report

For the degree of

Bachelor of engineering (BE)
In
Electronics & telecommunication

Submitted by
Kiran Bhandari
Kritika Yadav
Saurav Kumar
Palash Sorte

Under guidance of
Prof. Rupesh Mahamune

Department of electronics & telecommunication engineering

Rungta college of engineering & technology, Bhilai (India)
(recognized by A.I.C.T.E New Delhi, accredited by N.B.A., New Delhi)

1
 July-December 2013
Department of electronics & telecommunication engineering

Rungta college of engineering & technology, Bhilai (India).

Date:

Certificate

Certified that the contents of the project report entitled, “Wall Climbing Robot" is
a bonafide work carried out under my guidance by Kiran Bhandari, Kritika Yadav,
Saurav Kumar, Palash Sorte in partial fulfillment of the requirements for the
degree of bachelor of engineering in electronics and telecommunication .

Signature Signature Signature

Prof. Lalit P. Bhaiya Prof. RupeshMahamune
H.O.D. External Project Guide

2
 Acknowledgement

A few words of gratitude written on sheet of paper can never completely describe
our feeling of incompetence to the people involved in the successful completion in
our project.

It is a matter of profound privilege and pleasure to extend our sense of respect and
deepest gratitude to our project guide Prof. Rupesh Mahamune, department of
electronics & Telecommuniacation Engineering under whose precise guidance and
gracious encouragement i had the privilege to work.

We avail this opportunity to thank Lalit P. Bhaiya, head of department,

Electronics & Telecommunication Engineering, for facilitating such a congenial
environment in my department and also his unending encouragement throughout.

Last but not least, We would like to express our deepest grateful to our parents for
their continuous moral support and encouragement. We hope we will make them
proud of our achievements, as we are proud of them.

KiranBhandari

KritikaYadav

Saurav Kumar

Palash Sorte

Students, B.E., Final Year.

3
 Abstract

This project is to build a wall climbing robot. This robot is a suction type of wall

Climbing robot; using pic to do the interfacing, control the movement of the robot,

Ventilation fan and the sensors. The position sensors are used to sense any things

Blocking its path while it is climbing up, therefore it can be rotated left, right, up

And Down.

Background

In all suction adhesion robot that are used for wall climbing robot, they used

onboardPump that created a pressure drop inside the vacuum cups that are pressed

against theWall or ceiling. As the vacuum cup are pressed against the wall, the on

board pump willStart to pump the air in the vacuum cup out to the surrounding.

After so time, the pressure Inside the vacuum cup is lower than that outside the

vacuum cup thus it is able to “stick”Onto the wall.This type of wall climbing

robots require a smooth and flat vertical surface, therefore ifThere is a crack in the

wall or the vertical surface is uneven, it will not work. AnotherProblem of this

type of robot is that it is much sloir than other type of walk climbingRobot. As it

need time to build up the require pressure to hold itself on to the wall.The suction

adhesion robots are normally used on valley bridges and the temperatureCould be

around 0 to 50 degree celsius. As for the iight of this type of robot should not

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Be more than 35 kg, thus the body of this robot should be make of non metallic
material.The center of gravity of the robot must be kept as close as to the vertical

surface asPossible, as the force required to hold the whole iight of the robot will

be reduced.Although this kind of robot are normally used to do the cleaning for

high buildings andUnder the high way bridges. This will in turn replaced human

beings thus reducing theAccident rate. This will farther increase the human being

rate of living.

Kiran Bhandari

Kritika Yadav

Saurav Kumar

Palash Sorte

Students, B.E, Final Year

5
 Contents

Chapter 1 Project Introduction PageNo.

1.1 Introduction 9
1.2 Problem Statements10
1.3 Conclusion 10

Chapter 2 Component Used

2.1 Microcontroller 8bit – Atmega 3212
2.2 Vaccum Pumps 19
2.3 Stepper Motor 20
2.4 Power And Voltage Regulating Ics 22
2.5 Suction Cups23

Chapter 3 Analytical Review

3.1 Block Diagram of Project 26
3.2 Flow Chart 27

Chapter 4 Conclusions 29

Chapter 5 Future Expansion 31

Application

Bibliography 32

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 LIST OF FIGURES

S.No. Figure Figure name Page No.

No.
1. 2.1.1 Block Diagram 14
2. 2.1.2 Pin Diagram 17
3. 2.3.1 Full wave stepping position 21
4. 2.3.2 Robot arm movement using 22
half wave stepping
5. 2.4.1 Power supply 23
6. 2.5.1 Suction force 24
7. 3.1 Block diagram of circuit 26
8. 3.2 Flow chart circuit 27

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Chapter 1

Project Introduction

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1.1Introduction
This project is to build a wall climbing robot. This robot is a suction type of wall climbing robot;

Using pic to do the interfacing, control the movement of the robot and the sensors. The position

Sensors are used to sense any things blocking its path while it is climbing up, therefore it can be

Rotated left, right, up and down.

In all suction adhesion robot that are used for wall climbing robot, they used onboard pump that

Created a pressure drop inside the vacuum cups that are pressed against the wall or ceiling. As
the

Vacuum cup are pressed against the wall, the on board pump will start to pump the air in the

Vacuum cup out to the surrounding. After so time, the pressure inside the vacuum cup is loir

Than that outside the vacuum cup thus it is able to “stick” onto the wall.

The major components required for building targeted robot are as follows:-

1. Microcontroller 8bit – atmega 32.

2. Suction cups or supersonic air jet.

3. Stepper motors.

4. Robot legs and accessories.

5. Chassis for robot.

6. Pressure or ir sensors.

7. Poir and voltage regulating ics.

8. Poir and connecting cables.

9. Fluid control pipes and vacuum pump

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1.2 Problem Statement
This type of wall climbing robots require a smooth and flat vertical surface, therefore if there is a

Crack in the wall or the vertical surface is uneven, it will not work. Another problem of this type

Of robot is that it is much sloir than other type of walk climbing robot. As it need time to build

Up the require pressure to hold itself on to the wall.

1.3 Conclusion
The problem lies on the vacuum pad used for this project. It is not a good material as we have to

consider the friction coefficiency, the surface area of contact as ill as the power of the computer

fan. The computer fan is not a good choice of creating the suction power. AsThe cfm of the

computer is not strong enough to hold the whole robot, and it will take aLong time for the

pressure to build up. Thus this is the main reason the robot is about toClimb up the wall. But if

the material of the vacuum pad can be change, or the surfaceArea of contact to be increase, the

robot might be able to climb the wall.

Improvements that has to be done are listed below:

improvement can be make to the software programming.

better workmanship when fabricating the individual parts.

do research on welding as it is needed for this project.

10
 Chapter 2
Components Used

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2.1 ATmega32
The Atmel®AVR®ATmega32 is a low-power CMOS 8-bit microcontroller based on the AVR

enhanced RISC architecture. By executing powerful instructions in a single clock cycle, the

ATmega32 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to

optimize power consumption versus processing speed.

Features
• High-performance, Low-power Atmel®AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 131 Powerful Instructions – Most Single-clock Cycle Execution
– 32 × 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16MHz
– On-chip 2-cycle Multiplier
• High Endurance Non-volatile Memory segments
– 32Kbytes of In-System Self-programmable Flash program memory
– 1024Bytes EEPROM
– 2Kbytes Internal SRAM
– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
– Data retention: 20 years at 85°C/100 years at 25°C
– Optional Boot Code Section with Independent Lock Bits
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
– Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
– Boundary-scan Capabilities According to the JTAG Standard
– Extensive On-chip Debug Support
– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface

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– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator
• Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby
and Extended Standby
• I/O and Packages
– 32 Programmable I/O Lines
– 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
• Operating Voltages
– 2.7V - 5.5V for ATmega32L
– 4.5V - 5.5V for ATmega32
• Speed Grades
– 0 - 8MHz for ATmega32L
– 0 - 16MHz for ATmega32
• Power Consumption at 1MHz, 3V, 25°C
– Active: 1.1mA
– Idle Mode: 0.35mA
– Power-down Mode: < 1μA

13
Block Diagram

Figure 2.1.1: Block Diagram

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The Atmel®AVR®AVR core combines a rich instruction set with 32 general purpose working

registers.All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU),

allowing twoindependent registers to be accessed in one single instruction executed in one clock

cycle. Theresulting architecture is more code efficient while achieving throughputs up to ten

times fasterthan conventional CISC microcontrollers.The ATmega32 provides the following

features: 32Kbytes of In-System Programmable FlashProgram memory with Read-While-Write

capabilities, 1024bytes EEPROM, 2Kbyte SRAM, 32general purpose I/O lines, 32 general

purpose working registers, a JTAG interface for Boundaryscan,On-chip Debugging support and

programming, three flexible Timer/Counters with comparemodes, Internal and External

Interrupts, a serial programmable USART, a byte orientedTwo-wire Serial Interface, an 8-

channel, 10-bit ADC with optional differential input stage withprogrammable gain (TQFP

package only), a programmable Watchdog Timer with Internal Oscillator,an SPI serial port, and

six software selectable power saving modes. The Idle mode stopsthe CPU while allowing the

USART, Two-wire interface, A/D Converter, SRAM, Timer/Counters,SPI port, and interrupt

system to continue functioning. The Power-down mode saves the registercontents but freezes

the Oscillator, disabling all other chip functions until the next External Interrupter Hardware

Reset. In Power-save mode, the Asynchronous Timer continues to run,allowing the user to

maintain a timer base while the rest of the device is sleeping. The ADCNoise Reduction mode

stops the CPU and all I/O modules except Asynchronous Timer andADC, to minimize switching

noise during ADC conversions. In Standby mode, the crystal/resonatorOscillator is running

while the rest of the device is sleeping. This allows very fast start-upcombined with low-power

consumption. In Extended Standby mode, both the main Oscillatorand the Asynchronous Timer

continue to run.The device is manufactured using Atmel’s high density nonvolatile memory
technology. The OnchipISP Flash allows the program memory to be reprogrammed in-system

15
through an SPI serialinterface, by a conventional nonvolatile memory programmer, or by an On-

chip Boot programrunning on the AVR core. The boot program can use any interface to

download the applicationprogram in the Application Flash memory. Software in the Boot Flash

section will continue to runwhile the Application Flash section is updated, providing true Read-

While-Write operation. Bycombining an 8-bit RISC CPU with In-System Self-Programmable

Flash on a monolithic chip,the Atmel ATmega32 is a powerful microcontroller that provides a

highly-flexible and cost-effectivesolution to many embedded control applications.The Atmel

AVR ATmega32 is supported with a full suite of program and system developmenttools

including: C compilers, macro assemblers, program debugger/simulators, in-circuit emulators,

and evaluation kits.

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Figure 2.1.2: Pin Diagram

17
Pin Descriptions

VCC Digital supply voltage.

GND Ground.

Port A (PA7..PA0) Port A serves as the analog inputs to the A/D Converter.
Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins
can provide internal pull-up resistors (selected for each bit). The Port A output buffers have
symmetricaldrive characteristics with both high sink and source capability. When pins PA0 to
PA7are used as inputs and are externally pulled low, they will source current if the internal pull-
upresistors are activated. The Port A pins are tri-stated when a reset condition becomes active,
even if the clock is not running.

Port B (PB7..PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit). ThePort B output buffers have symmetrical drive characteristics with both
high sink and sourcecapability. As inputs, Port B pins that are externally pulled low will source
current if the pull-upresistors are activated. The Port B pins are tri-stated when a reset condition
becomes active,even if the clock is not running.Port B also serves the functions of various
special features of the ATmega32

Port C (PC7..PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit). ThePort C output buffers have symmetrical drive characteristics with both
high sink and sourcecapability. As inputs, Port C pins that are externally pulled low will source
current if the pull-upresistors are activated. The Port C pins are tri-stated when a reset condition
becomes active,even if the clock is not running. If the JTAG interface is enabled, thepull-up
resistors on pinsPC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset
occurs.The TD0 pin is tri-stated unless TAP states that shift out data are entered.
Port C also serves the functions of the JTAG interface and other special features of the

Port D (PD7..PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit). ThePort D output buffers have symmetrical drive characteristics with both
high sink and sourcecapability. As inputs, Port D pins that are externally pulled low will source
current if the pull-upresistors are activated. The Port D pins are tri-stated when a reset condition
becomes active,even if the clock is not running.
Port D also serves the functions of various special features of the ATmega32

RESET Reset Input. A low level on this pin for longer than the minimum pulse length will
generate areset, even if the clock is not running. The minimum pulse length is given in
. Shorter pulses are not guaranteed to generate a reset.

XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating
circuit.

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XTAL2 Output from the inverting Oscillator amplifier.

AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be
externally connectedto VCC, even if the ADC is not used. If the ADC is used, it should be
connected to VCC
through a low-pass filter.

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

2.2 vaccume pumps

In order to build this robot, we need to know how a vacuum cleaner works as we are using

This theory for this project. Now i need to discuss on how the vacuum cleaner works

First. Below is the diagram of a vacuum cleaner:The fan, when switch on, are used to suck in the

air from the in take port and transfer toThe exhaust port. As soon as the fan is turn on, the

pressure level behind the fan is beenDrop below the pressure outside the vacuum cleaner. This is

known as the ambient airPressure which causes the suction inside the vacuum cleaner. The

ambient air pushesItself into the vacuum cleaner thus suction is build. A as the fan is running,

there willAlways be a suction force available on the vacuum cleaner.With this basic idea, i will

now work on the theory of the vacuum pad/cup theory. ThisWill be shown in the next section.

Theory of how the vacuum pads works

The air has been compressed under the pressure apply from the top of the vacuum pad, as

The theory of the pressure is that the volume in the enclosure area, is indirectlyProportional to

that of the pressure. This means as the area is reduced, the pressure increases, let force to be

equal to 1.Thus as the area inside the vacuum pad is reduce the pressure inside it is greater than

thePressure outside the vacuum pad, this pressure difference is achieved by connecting the

Suction pad to a vacuum generator, which draws air out of the suction pad. When theSuction

pad touches the workpiece, it forms a seal betien the atmosphere and the spaceUnder the

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suction pad. As for how strong the vacuum pressure is depends on how much air the vacuum

movesAnd how fast it move because the strength of the suction keeps the air turbine spinning

When tension increases, all of this is measure or shown by therecfm of the fan or othervacuum

pumps.

2.3 stepper motor

A stepper motor can be view as a dc motor with the number of poles on both rotor andStator.

Additional, soft magnetic material with many teeth on the rotor stator cheaplyMultiplies the

number of poles. The number of steps can be control by software by usingA certain formula;

they are control by the number of poles on the stator as ill. BasicallyThere are two different

kinds of stepping known as full wave stepping and half wave Stepping. Once the kindOf

stepping have being decided, the next thing to discuss is about the angle of each step The motor

rotates. Next thing is to know that it is possible to drive unipolar stepper motor with bipolar

Drivers. The way to do so is to connect the output pins of the driver to 4 transistors. The

Transistor must be grounded at the emitter and the driver pin must be connected to the

Base. Collector is connected to the coil wire of the motor.In order for the motor to move in bi-

directional, which mean the motor can turnClockwise and anticlockwise. A circuit has to be

designed to do that. It will have to use aH-bridge circuit to do that.Lastly i need to consider the

time for the motor to reach one complete revolution. ThisWill determine the agilities of the

robot and how fast it is going to move. And differentClock pulses ire applied to the chip to test

whether the motor speed will reactAccordingly. Lastly is the explanation on what is pulse width
modulation (pwm).

full wave and half wave stepping

As discuss earlier in this report, there are two different kind of stepping. First we will

20
Discuss about the full wave stepping and then the half wave stepping.For full wave stepping,

there are only 4 positions, as each position is 90° different of thePervious point. Therefore there

is only 4 steps altogether for a full wave stepping, we canAlso control whether it rotates in a

clockwise direction or an anti-clockwise direction.This work the same way in the half wave

stepping too. The difference between a halfWave stepping and full wave stepping will be shown

in the diagram below in this section. Below show the full wave diagram:

Figure 2.3.1: full wave stepping position

For half wave stepping, there are 8 positions, as each position is 45° different of the

Pervious point. Therefore there are only 8 steps altogether for a half wave stepping.

Below show the half wave diagram:

21
Figure 2.3.2: robot arm movement using half wave stepping

2.4 Power Supply

Power supply is a reference to a source of electrical power. A device or system that supplies

electrical or other types of energy to an output load or group of loads is called a powersupply

unitor psu. The term is most commonly applied to electrical energy supplies, less often to

mechanical ones, and rarely to others. Here in our application i need a 5v dc power supply for all

electronics involved in the project. This requires step down transformer, rectifier, voltage

regulator, and filter circuit for generation of 5v dc power.

Circuit diagram of power supply

22
Figure 2.4.1: Power Supply

2.5 Suction cups

A suction cup, also sometimes known as a sucker, is an object that uses negative fluid pressure
of air or water to adhere to nonporous surfaces and in the process creates a partial vacuum.They
exist both as artificially created devices, and as anatomical traits of some animals such as
octopuses and squid. The working face of the suction cup has a curved surface. When the center
of the suction cup is pressed against a flat, non-porous surface, the volume of the space between
the suction cup and the flat surface is reduced, which causes the fluid between the cup and the
surface to be expelled past the rim of the circular cup. When the user ceases to apply physical
pressure to the centre of the outside of the cup, the elastic substance of which the cup is made
tends to resume its original, curved shape. Because most of the fluid has already been forced out
of the inside of the cup, the cavity which tends to develop between the cup and the flat surface
has little to no air or water in it, and therefore lacks pressure. The pressure difference between
23
the atmosphere on the outside of the cup, and the low-pressure cavity on the inside of the cup, is
what keeps the cup adhered to the surface.
The length of time for which the suction effect can be maintained depends mainly on how long it
takes for fluid to leak back into the cavity between the cup and the surface, equalizing the
pressure with the surrounding atmosphere. This depends on the porosity and flatness of the
surface and the rim of the cup.

Figure 2.5.1: Suction force

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Chapter 3

Analytical Review

25
BLOCK DIAGRAM

Figure 3.1: Block Diagram of Circuit

26
FLOW CHART

Figure 3.2: Flow Chart of Circuit

27
Chapter 4
Conclusions

28
4.1 Conclusion
The problem lies on the vacuum pad used for this project. It is not a good material as we have to

consider the friction coefficiency, the surface area of contact as ill as the power of the computer

fan. The computer fan is not a good choice of creating the suction power. As The cfm of the

computer is not strong enough to hold the whole robot, and it will take a Long time for the

pressure to build up. Thus this is the main reason the robot is about to Climb up the wall. But if

the material of the vacuum pad can be change, or the surface Area of contact to be increase, the

robot might be able to climb the wall.

Improvements that has to be done are listed below:

 improvement can be make to the software programming.

 better workmanship when fabricating the individual parts.
 do research on welding as it is needed for this project.

29
 Chapter 5
Future Expansion
Application

30
5.1 Future Expansion
In future we can add survaliance camera as well as gsm module to expand it in to a perfect spy

robot which can be used under army section of the country.

Application
A Wall-Climbing Robot system has wide applications include remotely monitoring hazardous

environments, reconnaissance, defects inspection, and fire fighting. However, for current needs

in areas such as biomedical, aerospace, environmental and military systems, walking or climbing

autonomous robots are needed. Object manipulation and surveillance are crucial for many

applications, and in many cases, require an ability to climb walls.

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Biblography:
 About AT89s8252 from www.atmel.com

 About how other type of wall climbing robot move

http://www.netmotion.com/htm_files/mc_sensors_pe.htm

 About mechanism to control wall climbing robot movement

http://sun-valley.stanford.edu/papers/BretlMRL;2003pdf
http://ai.stanford.edu/~latombe/papers/iser04/iser04.pdf

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