FORM-2
THE PATENT ACT,1970
(39 OF 1970)
AND
THE PATENT RULES, 2003
(As Amended)
COMPLETE SPECIFICATION (See section 10;rule 13)
"PAINTING ROBOT APPARATUS AND METHOD FOR PAINTING A STRUCTURE"
THE TATA POWER COMPANY LIMITED, a corporation organized and existing under the laws of India, of BOMBAY HOUSE,24 HOMI MODY STREET, FORT, MUMBAI 400001, Maharashtra, India.

PAINTING ROBOT APPARATUS AND METHOD FOR PAINTING A STRUCTURE FIELD OF THE INVENTION
This present subject matter, generally, relates to robotic painting system and in particular relates to a painting robot apparatus used for the purpose of painting building, chimneys or any other high rise tall structures without any human intervention.
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BACKGROUND OF THE INVENTION
Power plants unit in the world which are primarily installed for electricity generation. Tall height chimneys are provided to each generating units for disposal of flue gas in to atmosphere at safe height. Greater the chimney height lower the pollution level. Commonly, the chimneys are of RCC / Steel chimneys. Any activity related to chimney like during construction phase and maintenance phase is termed as high risk activity due to its height. Chimneys are painted externally for durability and to avoid the corrosion effect as they have to sustain the life till the life of generating unit. Hence, painting of power plant chimney is essential for longer life and durability of chimney. There are various traditional methods that are available for chimney painting which are currently operated in world where direct involvement of humans is more. Hence, the risk factor associated with traditional methods is more. Such traditional methods are like rope suspended cage, erecting scaffolding and then carrying out painting where erecting of scaffolding is itself risky, time consuming and costly, where lot of human beings are engaged for carrying out the activity from start to end. Lot of accidents like fatal, injuries are continuously happening while working on chimney. There is no other way of working on chimney for maintenance other that traditional methods. Safety

of human being is very important. Its mandatory and responsibility of each one us to take care of safety of human being. Life of human being cannot be compared with money.
If safety fails, it has impacts on organisation reputation, organisation growth. In the developing era, there is great need to organisation to find some alternative solutions over the traditional. It is the need of the hour for the organisation to build a strong and safe working environment. Hence, it is required and todays need to bring some innovative methods for working on chimney while painting in order to avoid the direct involvement of human being and make fell them safer. By adopting such innovative methods, will convert the high risk painting activity to low risk painting activity.
Thus, there is a need for an apparatus or a device that minimizes the human work and automates the maintenance activities, for example, painting, cleaning, and the like, of a chimney or a tall building.
SUMMARY OF THE INVENTION
It is an object of the present subject matter to provide a device that minimizes human work and automates the maintenance activities of a tall building.
It is another object of the present subject matter to high efficiency while performing the maintenance activities of a tall building.
It is another object of the present subject matter to ensure operators safety or minimize or eliminate the risk to the life of the operator by avoiding the direct involvement of human being the while performing the maintenance activities of a tall building.
It is yet another object of the present subject matter to provide an automated device that is capable of performing maintenance activates, for example, painting, cleaning, and the like, of a tall building of preferably, all heights.

The present subject matter provides a painting robot apparatus used for the purpose of painting building, chimneys or any other high rise tall structures without any human intervention. The present subject matter also provides an automated method for painting a structure and further synchronisation different component of the apparatus thereon.
The present subject matter relates a painting robot apparatus for a structure comprising an overhead suspension mechanism comprising a body mounted on a side frame; a painting robot mechanism comprising a painting machine; and a ground control station configured to control, wirelessly, the overhead suspension mechanism and the painting robot mechanism. The overhead suspension mechanism is connected with the painting robot mechanism, using cables, for movement of the painting robot mechanism. The painting robot mechanism comprises a painting means which carries out the operation of painting a surface of the structure.
In an embodiment of the present subject matter, the body is mounted on a first side arm of the side frame.
In another embodiment of the present subject matter, the body comprises a first compartment and a second compartment enclosed between a first side wall and a second side wall.
In yet another embodiment of the present subject matter, the first compartment comprises a switch board.
In yet another embodiment of the present subject matter, the second compartment comprises a first protruding arm and a second protruding arm, and wherein each protruding arms are attached with body tyres.
In yet another embodiment of the present subject matter, the body comprises a driving motor or a power driven mechanism arranged on each of the side walls of the body.

In yet another embodiment of the present subject matter, the painting machine comprises a first side arm and a second side arm, each side arms are attached with the painting means.
In yet another embodiment of the present subject matter, the ground control station is configured to control, wirelessly, the painting means which performs the operation of painting the surface of the structure and ensure smooth movement of the panting machine of the painting robot mechanism across the surface of the structure.
In yet another embodiment of the present subject matter, the painting means are painting brush, painting tyre, painting spray, painting roller, or painting gun.
In yet another embodiment of the present subject matter, the painting machine comprises two circuit boxes which are actuated on receiving commands from the switch board.
In yet another embodiment of the present subject matter, the painting machine comprising a paint tank and a camera are mounted on a top surface of the painting machine.
In yet another embodiment of the present subject matter, the ground control station actuates the overhead suspension mechanism having the driving motors, wherein the driving motors actuates the switch board which actuates the painting machine to perform the operation of painting, cleaning, and/or other maintenance activities of the structure.
The present subject matter, also, relates to a method for painting a structure. The method comprising the steps of: connecting a painting robot mechanism with an overhead suspension mechanism, using cables, for movement of the painting robot mechanism across the surface of the structure; operating, by the overhead suspension mechanism, the painting robot mechanism for the movement the painting robot mechanism across a surface of the structure; sending control signals, by a ground control station, to control the overhead suspension mechanism and to enable the movement of the painting robot mechanism; sending

control signals, by the ground control station to the painting robot mechanism, to perform operation of painting the surface of the structure, and operating, by the painting robot mechanism, a painting means to perform the operation of painting the surface of the structure.
The painting robot apparatus reduces the risk involved in painting of tall building or any high rise structure. The aim of the present subject matter is to remove high risk factor and further to paint the entire structure efficiently in terms of time, quality and cost. The automated robotic device of the present subject matter increase the efficiency of the painting the tall building by reducing the time taken to paint the tall building. The automated robotic device is capable of painting the building structures 3 times faster than manual painting method. It also reduces the cost involved in the entire process drastically. In addition, it saves around 30 % in terms of manpower and the raw material involved in painting activity due to the automatic robotic painting.
The present subject matter also relates to a process for making the painting robot and comprise of the steps of design and drawing of each robot components; according to finalised the design, ordering the material and collecting the same; fabrication of each robot components as per design and drawing; assembling the components on site; trial implementations on site; feedback and corrections if any after trial implementation; third party design check; regular implementation.
BRIEF DESCRIPTION OF THE DRAWINGS
The foregoing and further objects, features and advantages of the present subject matter will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings, wherein like numerals are used to represent like elements.

It is to be noted, however, that the appended drawings illustrate only typical embodiments of the present subject matter, and are therefore, not to be considered for limiting of its scope, for the subject matter may admit to other equally effective embodiments.
Figure 1 illustrates a front view and side view of a painting robot apparatus in accordance with an embodiment of the present subject matter.
Figure 2 illustrates a body frame of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 3 illustrates a switch board and a camera of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 4 illustrates side frame of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 5 illustrates a painting machine of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 6 illustrates a paint tank and a driving motor of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 7 illustrates a machine tyre, a body tyre, wheel, hook, and cable of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 8 illustrates a block diagram depicting the interconnection of the overhead suspension, the painting robot mechanism, and the ground control station of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 9 illustrates the overhead suspension mechanism of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 10 illustrates the spooler assembly of the overhead suspension mechanism of the painting robot apparatus in accordance with an embodiment of the present subject matter.

Figure 11 illustrates the painting robot mechanism comprising the painting machine of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 12 illustrates the painting robot mechanism comprising the painting machine of the painting robot apparatus in accordance with another embodiment of the present subject matter.
Figure 13 illustrates a tri-wheel assembly of the painting machine of the painting robot mechanism in accordance with another embodiment of the present subject matter.
Figure 14 illustrates the ground control station of the painting robot apparatus in accordance with an embodiment of the present subject matter.
Figure 15 illustrates a block diagram depicting the method of painting the structure in accordance with an embodiment of the present subject matter.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
The following presents a detailed description of various embodiments of the present subject matter with reference to the accompanying drawings.
The embodiments of the present subject matter are described in detail with reference to the accompanying drawings. However, the present subject matter is not limited to these embodiments which are only provided to explain more clearly the present subject matter to a person skilled in the art of the present disclosure. In the accompanying drawings, like reference numerals are used to indicate like components.
The specification may refer to “an”, “one”, “different” or “some” embodiment(s) in several locations. This does not necessarily imply that each such reference is to the same

embodiment(s), or that the feature only applies to a single embodiment. Single features of different embodiments may also be combined to provide other embodiments.
As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless expressly stated otherwise. It will be further understood that the terms “includes”, “comprises”, “including” and/or “comprising” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being “attached” or “connected” or “coupled” or “mounted” to another element, it can be directly attached or connected or coupled to the other element or intervening elements may be present. As used herein, the term “and/or” includes any and all combinations and arrangements of one or more of the associated listed items.
The figures depict a simplified structure only showing some elements and functional entities, all being logical units whose implementation may differ from what is shown.
Figure 1 illustrates a front view and side view of a painting robot apparatus 100 in accordance with an embodiment of the present subject matter. The painting robot apparatus 100 comprises an overhead suspension mechanism 101, a painting robot mechanism 102, and a ground control station 103.
The overhead suspension mechanism 101 comprises a housing or a body 1 housed or mounted on a hollow side frame 2; the painting robot mechanism 102 comprises a painting machine 3, and the ground control station 103 is responsible for wirelessly controlling both the overhead suspension 101 and the painting robot mechanism 102.
The overhead suspension mechanism 101 comprises a body 1 that is housed or mounted on a hollow side frame 2. The body 1 of the overhead suspension mechanism 101

also includes a spooler assembly 14. Further, the side frame 2 of the overhead suspension mechanism 101 is a horizontal U-shaped structure having a first side arm 2a, a second side arm 2b, and a third side arm 2c as can be seen in Figure 4.
In an embodiment of the present subject matter, the body 1 is attached or mounted on the first side arm 2a of the horizontal U-shaped frame 2 of the overhead suspension mechanism 101. The hollow side frame 2 includes an arrangement of cable 12 and wheels 10 running through the side frame 2 and further attached with the painting machine 3. The side frame 2, using the cables 12, is responsible for the movement of the painting machine 3. In an example, the movement of the painting machine 3 may be up and don movement or sideways movement.
In another embodiment of the present subject matter, the body 1 is made up of two compartments, i.e., a first compartment 1a and a second compartment 1b having a first side wall 1e and a second side wall 1f. The second compartment 1b further comprises two protruding arms, a first protruding arm 1c and a second protruding arm 1d. The first protruding arm 1c and the second protruding arm 1d includes body tyres 9 placed on the spooler assembly 14 of the overhead suspension mechanism 101.
In another embodiment of the present subject matter, the body 1 comprises a driving motor or a power driven mechanism 5 arranged on each of the side walls 1e, 1f of the body.
In another embodiment of the present subject matter, the body comprises a switch board 6 arranged inside the first compartment 1a of the body 1.
In another embodiment of the present subject matter, the painting machine 3 is attached, by way of cables 12, for example, metal cables, attached using hooks 11, to the side frame 2 and the body 1. As can been seen in Figure 5, the painting machine 3 comprises a first side arm 3a and a second side arm 3b, wherein each side arms 3a, 3b have painting tyres/brushes/spray/rollers/gun 13 which ensure smooth movement and operation of the

panting machine 3 across the vertical structure or wall structure of any building or chimney. Further, a paint tank 4 and a camera 7 are mounted on a top surface 3c of the painting machine 3. Furthermore, the painting machine 3 comprises two circuit boxes 3e, 3f which may be actuated on receiving commands from the switch board 6.
Figure 2 illustrates the body frame 1, affixed on the first side arm 2a of the side frame 2 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
Figure 3 illustrates a switch board 6 and a camera 7 placed on the top surface 3c of the painting machine 3 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
Figure 4 illustrates a side frame 2 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter. The side frame 2 is a horizontal U-shaped structure having a first side arm 2a, a second side arm 2b, and a third side arm 2c. The first side arm 2a has a plurality of recesses where the body 1 of the device 100 is fastened using screws or any other fastening means.
Figure 5 illustrates the painting machine 3 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter. As can been seen in Figure 5, the painting machine 3 comprises the first side arm 3a and the second side arm 3b. Each of the side arms 3a, 3b of the painting machine 3 may include a brush or a spray or painting tyres or painting rollers or painting gun 13 which may be used as means to paint the surface of the building. Further, Figure 5 depicts that the painting machine 3 comprises two circuit boxes 3e, 3f which are actuated on receiving commands from the switch board 6.
Figure 6 illustrates the paint tank 4 and driving motors 5 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter. The paint tank 4 is arranged on the top surface 3c of the painting machine which may be used to

store paint. The driving motors 5 are arranged on the side walls 1e, 1f of the body 1. The driving motors 5 are used to actuate the switch board 6 which further actuates the painting machine 3 to perform the operation of, for example, painting, cleaning, and other maintenance activities of the building or chimney.
Figure 7 illustrates the machine tyres 8, the body tyres 9, the wheel 10, the hook 11, and the cable 12 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
In accordance with an implementation of the present subject matter, the overhead suspension mechanism 101 having the side frame 2 and the body 1, may be fixed, temporarily or permanently, on the top of a tall building or a chimney for the purpose of painting, cleaning, and other maintenance activity.
In an example, the driving motors 5 placed on the side walls 1e, 1f of the body 1 are actuated wirelessly by the ground control station 103. The actuation of driving motors 5 actuates the switch board 6 which may be further used to actuate the painting machine 3 of the paining robot system 102. The switch board 6 may be used to change the position of the painting machine, connected with the side frame 2, using the cables in real time while the painting machine 3 is the mode of operation of, for example, painting the building. In an operation, the painting machine 3 may use the paint stored in the paint tank 4 to paint the surface of the building using the tyres/sprays/gun/brushes 13 arranged on the first side arm 3a and the second side arm 3b of the painting machine 3.
Further, the ground control station 103 is configured to send signals to actuate the drive motors and send signals to the switch board 6 for the movement of the painting robot mechanism 102 and the painting machine thereon. In an example, the movement of the painting robot mechanism 102 and the painting machine thereon may be up and don movement or sideways movement. Furthermore, the ground control station 103 is configured

to control the movement of painting tyres/sprays/gun/brushes 13 to perform the operation of painting across the structure and also ensure a smooth movement of the painting machine 3 of the painting robot mechanism 102 across the surface of the structure.
Further, the camera 7 arranged on the top surface 3c of the painting machine 8 may be used to monitor the operation of painting by the painting machine 3.
Figure 8 illustrates a block diagram depicting the interconnection of the overhead suspension 101, the painting robot mechanism 102, and the ground control station 103 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
The painting robot apparatus 100 may be used for automated painting of tall chimneys and high rise structures. In an alternate embodiment of the present subject matter, the painting robot apparatus 100 may be further divided in three main parts, one is overhead suspension mechanism 101, second is main painting robot mechanism 102, and third is a ground control station 103.
The overhead suspension mechanism 101 is used to support the painting robot mechanism 102 and to carry out movement of the painting robot mechanism 102 using control signals from the ground control station 103. In an example, the movement of the painting robot mechanism 102 may be up and down movement or sideways movement across the structure.
Figure 9 illustrates the overhead suspension mechanism 101 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
As can be seen from Figure 8 and Figure 9, the overhead suspension mechanism 101 comprises variable frequency drive hoister motors 5 and the spooler assembly 14. The VFD hoister motors 5 pulls the metal cable on which the painting robot mechanism 102 is suspended.

In an example, the hoister motor 5 requires 3 phase 4 wire system of 415 VAC / 50Hz. The hoister motors 5 have an inbuilt 433 MHz 4 channel receiver for receiving command from the ground control station 103 for up and down motion of the painting robot mechanism 102 with failsafe controls.
The overhead suspension mechanism 101 has two independent hoisters 5 for safety and redundancy. Further, the speed of the motors is controlled from the ground control station 103.
Figure 10 illustrates the spooler assembly of the overhead suspension mechanism 101 of the painting robot apparatus 100 in accordance with an embodiment of the present subject matter.
In an embodiment of the present subject matter, the overhead suspension mechanism
101 has two spooler assemblies 14 and is used for winding the metal cable 12 coming from
hoister motors 5, both works simultaneously with better synchronization so that no wire left
suspended. The spooler assembly 14 has capability of winding the longer length metal wire
that results the painting robot mechanism 102 going further down while performing the
painting operation on the structure.
Figure 11 illustrates the painting robot mechanism 102 comprising the painting machine 3 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
In another embodiment of the present subject matter, the painting robot mechanism
102 comprises the painting machine 3 as can be seen in Figure 11. The painting machine 3
comprises a tri-wheel assembly 17 which ensures smooth up and down movement of the
painting gun across the structure. The painting machine 3 also includes linear slider that
works on electric motor and which are responsible for the horizontal movement and speed of
the paint gun/brush/spray/tyre/roller 13 so that the painting operation or cleaning operations

is done smoothly. The linear actuator’s movement is responsible for the up-down motion of camera box 7a. The painting machine 3 has on board 3 cameras for monitoring the entire painting activities or the cleaning activities.
The painting robot mechanism 102 may have on-board 3 cameras out of that one camera for monitoring entire painting activities and monitoring of the painting robot mechanism 102. Rod less cylinder of 950mm stroke length is used for covering 1.2 meter of width for painting at a time using automated pneumatic operated paint gun.
There are three different type of radio frequencies are used to control the painting robot mechanism 102. Further, a frequency of 433 MHz is used to relay the motor command from the painting robot mechanism 102 to the overhead suspension mechanism 101, a frequency of 2.4 GHz is used to control the painting robot mechanism 102 using RC Remote controller and a frequency of 5.8 GHz is used to transmit live video from the on-board camera to monitor painting activity of the painting robot apparatus 100.
Figure 12 illustrates the painting robot mechanism 102 comprising the painting machine 3 of the painting robot apparatus 100 in accordance with another embodiment of the present subject matter.
In another embodiment of the present subject matter, as can be seen in Figure 12, the painting machine 3 performs the cleaning operation. The painting machine 3 comprises high density brush 15 and low density brush 16 for cleaning operation.
In this embodiment, for cleaning activity/operation, the painting machine 3 uses additional attachments like using pressurized water jet nozzle instead of paint gun and adds the rotary cylinder brush 15, 16 in contact with the wall that leads to the good cleaning activity.

In an example, the painting machine 3 may be used for cleaning of outer glass windows of the sky scrapers, tall structure of the windmill, tall structure of chimneys in thermal power-plant and the other industries.
Figure 13 illustrates a tri-wheel assembly of the painting machine 3 of the painting robot mechanism 102 in accordance with another embodiment of the present subject matter.
In an embodiment of the present subject matter, the tri-wheel assembly 17 touches the wall/surface of the structure which is to be painted and the mechanism of the tri-wheel assembly 17 allows the painting machine 3 to travel in up-down motion without any difficulty as the tri-wheel assembly 17 jumps from the obstacle and never stuck while travelling. If the surface of the wall of the structure which is to be painted or cleaned is uneven or is small obstacles, in that case, initially two wheels makes the contact with wall, at the obstacle, and one wheel gets stuck and due to free motion of the tri-wheel assembly adjacent wheel takes place of previous wheel while machine coming down or going up, then stuck part of the wheel gets automatically removed, due to thrust, from obstacle due to free motion of the assembly.
Figure 14 illustrates the ground control station 103 of the painting robot apparatus 100 in accordance with an embodiment of the present subject matter.
In an embodiment of the present subject matter, the ground control station 103 has all the type of controls which are required for the controlling of the movement of the painting robot mechanism 102, and the painting machine 3 thereon, and the speed control of hoister motors 5 of the overhead suspension mechanism 101. The ground control station 103 also controls of the paint gun 13 of the painting machine 3 by which the mass flow rate of paint, from the pain tank 4, and the speed of linear slider of the painting machine 3 for better painting results. The ground control station 103 may also be rectified as per requirement.

In another embodiment of the present subject matter, a live camera streaming may be seen in the ground control station 103 as the cameras were installed in the painting robot mechanism 102 for observation of painting operations. All the parameters like speed of motor, the paint gun ON/OFF condition and other parameters is monitored in ground control station 103 which has LCD display installed in it. All the controls were done through bidirectional wireless communication system so that the operator may be able to operate the painting robot mechanism 102 from a safe distance.
This painting robot apparatus 100 is power using 12 V / 18 Ah dry type maintenance free batteries mounted on the robot with auto float and boost chargers. In one full charge this painting robot can be used for around 30 Hours and battery get full charged in 4 to 5 hours.
Figure 15 illustrates a block diagram depicting the method of painting the structure in accordance with an embodiment of the present subject matter. The present subject matter relates to a method 1500 for painting a structure. In a first step 1502, the method connects a painting robot mechanism 102 with an overhead suspension mechanism 101 for movement of the painting robot mechanism 102 across the surface of the structure. In an example, the movement of the painting robot mechanism 102 may be up and down movement or sideways movement across the structure. Further, the painting robot mechanism 102 may be connected with the overhead suspension mechanism 101 by using metallic cables. In a second step 1504, the overhead suspension mechanism 101 operates the painting robot mechanism 102 for the movement the painting robot mechanism 102 across a surface of the structure. In a third step 1506, a ground control station 103 send control signals, wirelessly, to control the overhead suspension mechanism 101 and to enable the movement of the painting robot mechanism 102. In a fourth step 1508; the ground control station 103 sends control signals to the painting robot mechanism 102, to perform operation of painting the surface of the

structure. In a fifth step 1510, the painting robot mechanism 102 operates a painting means 13 to perform the operation of painting the surface of the structure.
In an example, the ground control station 103 may comprise a controller or an electronic control unit (ECU) for sending a receiving control signals and further enabling the functions of the ground control station 103. Further, the overhead suspension mechanism 101 and the painting robot mechanism 102 both comprises trans-receiver units respectively to send and received control signals on real time basis and perform their respective functions thereon.
In another example, the ground control station 103 comprising the controller may send real time control signals to the overhead suspension mechanism 101. The overhead suspension mechanism 101 may receive these control signals by using the trans-receiver unit. Further, the overhead suspension mechanism 101 may further perform the function of controlling the movement of the painting robot mechanism 102 on real time basis by sending control signals which may be received by the trans-receiver unit of the painting robot mechanism 102. Upon receiving such control signals, the painting robot mechanism 102 may move on the surface of the structure and may continue to send feedback control signals to ground control station 103 about the movement of the painting robot mechanism 102 on real time basis. Furthermore, the ground control station 103 may send control signals directly to the painting robot mechanism 102 for performing the function the painting the surface of the structure. These control signals from the ground control station 103 may be received by the trans-receiver unit of the painting robot mechanism 102. Upon receipt of such control signals, the painting robot mechanism 102 may actuate a painting means for painting the surface of the structure and may send feedback signals to the ground control station, about the painting operation, on real time basis.

The painting robot apparatus may help to convert the high risk activity at height to low risk or zero risk activity. Particularly, the present invention provides the painting robot apparatus with help of which high risk painting activity of tall structure like chimney may be converted to low risk or zero risk by avoiding the direct involvement of human being by implementing the advanced automated painting robot apparatus at all heights of tall buildings, chimneys or any other high rise tall structures.
The painting robot apparatus eliminates all possible risk to human life as the entire painting or cleaning operation are done automatically without involvement of the human being for the painting and cleaning work, which further leads to minimal chances of error and converts very high-risk activity to no risk activity. The painting or cleaning operation is done in lesser time using same automated technology as compared to manual painting or cleaning method. The ground control station ensures the operator’s safety as it has bidirectional wireless communication system that enable operator to control the machine from safer distance. The live camera streaming from the on-board cameras can be seen in the ground control station which helps to monitor the painting or cleaning operation. The ground control station helps to monitor the different parameters without going closer to the painting robot mechanism and the painting machine (reduces the risk factor). The tri-wheel assembly enables the smooth up-down motion of e painting robot mechanism and the painting machine as it jumps the obstacles and never get stuck in between. The overhead suspension mechanism has two independent hoisters for safety and redundancy.
Apart from safety features, the device is fully automated that improves the quality of painting (uniform painting is done). The device is less health hazardous as there is no involvement of human being. Further, due to uniform painting, loss of paint or wastage of paint and raw material in painting operation gets reduced that leads to reduction in the air pollution, ultimately it provides the beneficiary effects to the environment.

The painting robot apparatus finds its application in painting of the chimneys in the thermal power plant and other industries; painting of tall structures of the windmill; painting as well as the cleaning of the outer glass structure of the skyscrapers or any height buildings; cleaning and painting (or coating) of the both metallic and concrete overhead water tanks; painting of the oil storage tanks in the oil refinery ensuring more safety to the workers; cleaning and painting of the chemical tanks (which contains hazardous chemicals for humans) ensuring the safety of the maintenance personnel; and painting of the all type of tall structures can be done in the various industries.
Although the invention has been described with reference to specific embodiments, this description is not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternate embodiments of the invention, will become apparent to persons skilled in the art upon reference to the description of the invention. It is therefore, contemplated that such modifications can be made without departing from the spirit or scope of the present invention as defined.

I/We Claim:
1. A painting robot apparatus (100) for painting a structure comprising:
an overhead suspension mechanism (101) comprising a body (1) mounted on a
side frame (2);
a painting robot mechanism (102) comprising a painting machine (3); and
a ground control station (103) configured to control, wirelessly, the overhead
suspension mechanism (101) and the painting robot mechanism (102),
wherein the overhead suspension mechanism (101) is connected with the painting robot mechanism (102), using cables, for movement of the painting robot mechanism (102); and wherein the painting robot mechanism (102) comprises a painting means (13) which carries out the operation of painting a surface of the structure.
2. The painting robot apparatus (100) as claimed in claim 1, wherein the body (1) is mounted on a first side arm (2a) of the side frame (2).
3. The painting robot apparatus (100) as claimed in claim 1, wherein the body (1) comprises a first compartment (1a) and a second compartment (1b) enclosed between a first side wall (1e) and a second side wall (1f).
4. The painting robot apparatus (100) as claimed in claim 3, wherein the first compartment (1a) comprises a switch board (6).
5. The painting robot apparatus (100) as claimed in claim 3, wherein the second compartment (1b) comprises a first protruding arm (1c) and a second protruding arm (1d), and wherein each protruding arms (1c, 1d) are attached with body tyres (9).

6. The painting robot apparatus (100) as claimed in claim 1, wherein the body (1) comprises a driving motor or a power driven mechanism (5) arranged on each of the side walls (1e, 1f) of the body (1).
7. The painting robot apparatus (100) as claimed in claim 1, wherein the painting machine (3) comprises a first side arm (3a) and a second side arm (3b), each side arms (3a, 3b) are attached with the painting means (13).
8. The painting robot apparatus (100) as claimed in claim 7, wherein the ground control station (103) is configured to control, wirelessly, the painting means (13) which performs the operation of painting the surface of the structure and ensure smooth movement of the panting machine (3) of the painting robot mechanism (102) across the surface of the structure.
9. The painting robot apparatus (100) as claimed in claim 8, wherein the painting means (13) are painting brush, painting tyre, painting spray, painting roller, or painting gun.
10. The painting robot apparatus (100) as claimed in claim 1, wherein the painting machine (3) comprises two circuit boxes (3e, 3f) which are actuated on receiving commands from the switch board (6).
11. The painting robot apparatus (100) as claimed in claim 1, comprising a paint tank (4) and a camera (7) are mounted on a top surface (3c) of the painting machine (3).
12. The painting robot apparatus (100) as claimed in claim 1, wherein the ground control station (103) actuates the overhead suspension mechanism (101) having the driving motors (5), wherein the driving motors (5) actuates the switch board (6) which actuates the painting machine (3) to perform the operation of painting, cleaning, and/or other maintenance activities of the structure.
13. A method (1500) for painting a structure, the method comprising:

connecting (1502) a painting robot mechanism (102) with an overhead suspension mechanism (101), using cables, for movement of the painting robot mechanism (102) across the surface of the structure;
operating (1504), by the overhead suspension mechanism (101), the painting robot mechanism (102) for the movement the painting robot mechanism (102) across a surface of the structure;
sending (1506) control signals, by a ground control station (103), to control the overhead suspension mechanism (101) and to enable the movement of the painting robot mechanism (102);
sending (1508) control signals, by the ground control station (103) to the painting robot mechanism (102), to perform operation of painting the surface of the structure, and
operating (1510), by the painting robot mechanism (102), a painting means (13) to perform the operation of painting the surface of the structure.