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Smart Intelligent Drone for Painting Using IoT: An Automated Approach for
Efficient Painting

Article · September 2022

DOI: 10.1007/978-981-19-4676-9_11

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 Smart Intelligent drone for painting using IoT: An automated
approach
1
for efficient
2
painting3 4
Dr.P.Vidyullatha , Dr. S. Hrushikesava Raju , N. Arun Vignesh , ,Haran Babu P , Kotakonda
Madhubabu5
1,2,4,5
Department of Computer Science and Engineering, Koneru Lakshmaiah Education
Foundation, Green Fields, Vaddeswaram, Guntur, Pincode – 522502, haranbabu@kluniversity.in,
madhuimp9@gmail.com
3
Assistant Professor, Department of ECE, Gokaraju Rangaraju Institute of Engineering and Technology, Hy-
derabad
Corresponding Author: pvidyullatha@kluniversity.in, hkesavaraju@gmail.com
Abstract: There are many occasions there few people may die because of lack of efficient resources,
lack of technology, and dependent more on human efforts when painting for high buildings and high
temple arches. Whenever the high buildings and temples arches need to be coloring, they consume
more time and a greater number of labor to complete it. The finishing of the given task depends on
many external factors. To be independent of many external factors, a smart drone with loaded colors
is assigned and loads the texture that is expected as output. As the intelligence is loaded to the drone
as well as the specific sensors are embedded to it in order to notify the information about the color’s
deficiency is detected, any resource to be required to complete the given task according to the given
texture, any accidental collisions also notified and be a safeguard, and etc. The output of this study is
an array that allows analysis on how many are identical textures, colouring were processed done us-
ing SSIM measure. The major advantages are manpower is becoming almost NIL while been paint-
ing; the time consumed for the task given is to be completed in less time. The accuracies and their
performances are measured and are depicted in the results when comparing this approach against the
traditional and semi-automated approaches.
Keywords: An IoT, Smart Drone, SSIM, Customized Colours, Texture, Intelligence, Alerting, Per-
formance, and Accuracy
1. Introduction:
Generally, the painting for temples as well as high buildings is a challenging task. This task is to be
simplified using IoT and image acquisition & color picking approaches. In conventional approach,
the man power is required as well as skilled labor is mandatory to get the design as we expect as out-
look. In this, the series of steps such as discussion with owner requirements from a variety of tex-
tures, designs, and etc, once confirmed the layout style, mix the appropriate colors, follow the color
layout design, need to start from one side and try to move to other sides, need to mix the colors ac-
cording to the design at color styles, need to mix again the colors when it became shortage for filling
or become wastage when more quantity is mixed for coloring, and etc. All these activities may some-
times become positives and other time may become disadvantages particular to the scenario. For a
small house or tiny hut, the scenario is somehow takes half day or one day but for a temple arches
and high buildings consume more time even for a month or even for more time. In the process, the
labor may die accidentally or mistakenly because of their negligence; cost for labor cost is more and
may miss painting at some sides and difficult portions outside. Although by giving the salaries or the
daily wages that would benefit the labor to survive their families, but results in time consuming and
is not effective. Hence, the trend is expecting to automate the painting process and quality of paint-
ing is improved using the drones. There were certain paintings from specific states that are to be cir-
culated to the public to get the revenue generation and these are available in ready made forms which
may be sticked to the walls. India is famous for certain painting types such Gond, Miniature,
Madhubani, Warli and etc. These are also translated to digital form which could be painted perma-
nently on the walls using our approach for user satisfaction.
The proposed approach involves the following activities to complete the goal.
1) Make a computer based image with customized colors on the each portion of original setup.
2) Would get the amount of colors needed based on partitions of the whole set-up
3) Set-up the drone with customized color load based on the portions and provided whole im-
age as well as partitioned regions.
2

4) Embedded few appropriate sensors for alerting certain issues and monitor the coloring taking
place correctly or not.
5) If any color to become shortage based on texture given and scenario when painting really,
would alert such scenario to fulfill the desired color design.
6) Drone set up with palette as well as brushes in order to paint the required regions, start paint-
ing from one region till last region is completed.
7) Estimate the time as well as the accuracy, generate the graphs over such parameters.
2. Literature Review:
Many studies are available but they are deal with different scenarios in which traditional approach
only would be used and demonstrated. As per demonstration of [1], it describes various mobile ro-
bots that would walk, fly, and etc. They are going to handle many services like network communica-
tion, coordination, implementing AI, Self driving, emotion expression, and etc. From the perspective
of [2], it demonstrates the automatic robotic spraying in the automobiles field and their advantages
such as reduced labor, improved quality, cost effectiveness and etc. It depends on control parameters
such as fir shaping and painting flow. The estimation of Dry Film Thickness (DFT) is computing us-
ing prediction model called multiple regressions. In regard to [3], it proposes trajectory planning
based on point cloud slicing technology. The point cloud work piece is obtained using laser scan-
ning. The section polysemy is computed on average and normal points are estimated for smooth
painting. Finally, interpolation algorithm is applied for space trajectory of spraying robot. It is pro-
posed for automobiles painting. From the description of [4], it deal with many approaches that are
used to paint the required free form surface in which few are automated and two are traditional of
kind. Among the models, electrostatic technique became more popular but facing a fire hazard issue.
In the view of [5], it deals with intelligent paint system that paints complex and any contour shape
with benefits no wastage of paint and operation efficiency. It may face electrical hazard during the
operation. In the view of [6], it captures the image using pi camera and it consists of DC motor, actu-
ator, and raspberry pi for spraying the paint intelligently w.r.to the input image. From the point of
[7], it provides smart robot to paint based on 3axis gantry approach that paints on the position of the
parts, and dry those parts. It increases production rate and operation efficiency is observed. With re-
gard to [8], it designed a specific spray gun based on PLC micro-controller, which would automate
the painting in most of industrial areas. Using gun and conveyor belt, the benefits such as cost re-
duced, productivity increased and reduces human efforts. As per [9], it deals with developing a spa-
tial painting with exponential mean Bezier curves. It leads to frame a trajectory optimization for
complex curves with satisfactory performance. From the discussion from [10], it proposes robotic
spraying that consist of scissor lift for vertical moving and four wheeled base for horizontal moving,
and IoT, sensors for distance measurement for painting. As per aim of [11], it proposes a Taguchi or-
thogonal array and gray relational analysis with parameters such thickness, surface roughness and
film adhesion. The result is better when compared with other existing methods. From the orientation
of [12], it proposes robot spraying of paint using path optimization approach. It discusses paint dis-
position rate as well as film thickness on the surface to get better performance. With respect to the
description of [13], It also provides a variety of methodologies for painting. Among them, few are
traditional; few are automated and discussed with pitfalls as well as benefits. From the source [14], it
designs robot spraying that computes trajectory using geometric primitives and paints the surfaces.
The laser scanner would read the surface and gun would spray the paint by following the trajectory.
In regard to [15], it deals with drawing the art digitally using supporting painting applications such as
3D paint, adobe and etc. The applications consist of tool kit as well as environment to draw. As per
[16], it deals with software with more effective resources that support the user to draw the image in
digital form. As per direction of [17], it provides variety of products that spray based on the com-
plexity of the surface, and it consist of motor, gun, bucket of colors instantly mix for design of the
texture.
In regard of [18] and [19], the former deal with the IoT and respective sensors are used to detect the
force of the pressure and simulates the cyclone there, and latter deal with detection of trained objects
 3

in the environment and generates a report on the objects. as per demonstration of [20] and [21], the
former denotes IoT and its sensors that interact with remote doctor that programmed to detect the
eye-sight and order the spectacle by the neatest shop tracked by the GPS, and latter provides a set up
of digital mask with enabled sensors and IoT for detecting infected COVID footprints in the envi-
ronment . In the perspective of [22] and [23], the former deals with embedding of IoT and its sen-
sors for automatic detection and payment of currency in the native form, and latter deals with detect-
ing the weighted object , catches it using appropriate sensors and IoT. Regarding of [24] and [25],
IoT and sensors are useful for detecting the ingredients in the food, also analyze the health bulletin
on the user and estimate health in the future days in the former case, and latter case deal with GPS,
IoT and sensors that deal with visited users reviews and recommend the places when user would plan
to make trip on a specific place. As per [26] and [27], the former deal with app where mobiles could
communicate for charging instantly using IoT and latter deals with detecting the fire leakages in the
pipe and alert to the authority in advance using appropriate sensors and IoT. In regard of [28], the de-
tection of fire in the forests using IoT and sensors and avoids by alerting. In regard to [29], it pro-
vides how to use SSIM measure efficiently so that computational burden is used. It leads to define
Multi scale SSIM (MS-SSIM) with accuracy and performance as expected.
Every study mentioned here would like to demonstrate the usage of IoT in their operation directly or
indirectly in addition to the sensors as well as with available resources.
3. Proposed Work:
In this, there are three modules identified which are such as setup resources, smart intelligent drone,
and reporting the status. These modules would interact with each other for further progress of the in-
tended objective.

Fig.1: Flow chart of modules in the smart drone painting

The architecture of smart drone painting system is demonstrated using entities and attributes in the
Fig.2.
A) Setup the resources: It requires the needed resources to start the painting. The inputs supplied
such as digital form of picture, the area which needs painting, feed these two to the smart intelligent
drone. It provides entities such as bucket with allowed permitted weight, multiple colors are provid-
ed which could be mixed based on the input digital picture, and specific sensors are equipped with
the drone for alerting when the obstacle is found, alerting when the operation is completed, alerting
when required to load colors required and etc.
Pseudo_Procedure Setup_Resources(Colors[][], Digitial_Pic, Area):
Input: Digital_Pic which should be whole image with sub-regions in case of large project or simple
image in case of small project
Output: Making ready to start painting
Step1: Design a digital image using available software where adobe is preferred
Step2: If Handling large project:
Decompose that image into sub-regions, each of which is demonstrated with further elab-
orated digital pictures
4

else
Single digital image that would guide drone
Step3: Provides allowed weight for carrying the predefined-color bucket for instant mixing and
painting
Step4: Provides sensors for taking appropriate action when specific behavior is identified
Step5: Based on time to finish, the drones count to be increased.

Fig.2: Smart Drone Painting architecture

B) Smart Intelligent Drone: It is powered by charging, it may be constraint which should be over-
came by instant charging from remote device when such low battery is found. The painting portion
whatever is did is to be saved and continue with remaining portion in the sub-regions in case of large
projects or rest in the small project when revoked the process. Hence, it is characterized by power,
continue from rest when revoked from its previous work state, alerting when specific activity is iden-
tified, dissipate the information among the sensors and to the authorized center, scan the portion be-
fore painting, apply the knowledge of area and texture color from the supplied digital picture, and
compare each sub-region against painting completed sub-region in case of large project and compare
the specific portion against completed painted same portion.
Pseudo_Procedure Smart_Intelligent_Drone(Sensors[],power, saving_painted_portions, specif-
ic_events):
Input: Power, drone
Output: Comparing the completed painting region against existing same region using structural simi-
larity index (SSIM)
Step1: Verifies which side to start when using single drone, Provides number of drones, Assign de-
composed digital images of the whole image differently to each drone.
Step2: Each sub-region when completed, report the time stamp for easy generation of the report.
Step3: For each sub-region, provide color bucket the drone carry for painting needs to be checked,
fill the bucket based on estimated colors % required to complete, loop this until all assigned
sub-regions are completed.
 5

Step4: In the loop process of painting, any obstacle is found during its painting, alerting and expect-
ing input from the user.
Step5: If the colors shortage is found, alert the specific color or combination of colors. It uses level
reading sensor.
Step6: If the specific surfaces are unable to paint, alert the location of the spot to the user for further
use action. It uses fixing sensor that return the co-ordinates and its spot in a digital form of
supplied picture.
Step7: When the iteration reaches nth sub-region, and found its successfully completed, Alert the us-
er operation is completed
Step8: Compare operation is applied in each sub-region against the painted and proposed, return 0 in
each identical case using SSIM measure.

C) Reporting status: It make a note on every abnormal activity s found and generates a report that
consist of duration of time taken to finish each sub-region in case of large project or the specific por-
tion in case of small project.
Pseudo_Procedure Report_Status_Intimation(Sub_regions[]):
Input: Painted Sub-regions
Output: Array of results after comparison
Step1: Loop from sub-region1 to sub-regionN
Result[i]=SSIM(painted_sub_region[i], sub_region[i])
Save time stamp when success
Save also time stamp when obstacle is identified, and expecting input from the user
Step2: Save all the components, generate a report
Step3: Based on painting result, further analysis is carried for improvement

4. Results:
The design of the smart drone intelligent painting system is demonstrated in Fig.3. The order of ac-
tivities from taking the input to processing, then to the output is stated in Fig.4. The illustrative case
study for this proposed system is demonstrated in Fig.5. The accuracy and performance of the pro-
posed method is demonstrated in Fig.6.

Fig.3: Smart drone intelligent system with equipped resources

In Fig.3, the integration of many resources would cause to form a prototyped form that would origi-
nate the intelligence of how to paint using spray gun and electro-static magnetic approach as default.
It leads to no wastage of paint while doing on proposed building or its interior or its exterior.
6

Fig.4: Order of activities occurrence in the smart drone intelligent system

For complex regions to paint although the digital form of the image is supplied, the intended ap-
proach plays a key role. For illustrating the temple type scenario, the digital image is supplied first. It
is sliced into sub-regions based on complexity, then automates the paint based on partitions assigned.

Fig.5: Illustrative scenario of temple Gopurams (Domes) painting

Fig.6: Performances and accuracies of proposed against other approaches

The data represented in Fig.6 for the proposed system against other existing approaches for evaluat-
ing the performance and accuracy. The performance is computed by taking the method in X-axis and
Time (Minutes) in Y-axis and concludes that intended system would complete in quick time than
other approaches. The accuracy is computed by taking the method in X-axis and % of accuracy in
the Y-axis and concludes that intended system would work more effectively than other approaches.
5. Conclusion:
 7

In this, the designed system would take digital form of the picture, which then broken into the sub-
regions based on complexity. The painting process is initiated by scanning the every texture from the
environment before painting in the order of sub-regions, start painting one after the other. Once all
sides of a given task is completed, the array that obtained would consist of how accurate the identical
portions are extracted using SSIM measure. During this process, any obstacle is found; user is alerted
on it for further input. It also has capability to revoke from where it stopped last time, also able to
notify when shortage of color composition is found, and alerted when certain surfaces are missed be-
cause of complex orientation, not able to track such portions. The performance and accuracy parame-
ters judges the intended approach is worthy when compared against other approaches. The time con-
sumed by this approach is very less and is not dependent on skill of the painter. The accuracy is
computed based on number of identical painted regions against partitioned digital image.
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