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WO2019240709A2 - A multi cleaning system - Google Patents

A multi cleaning system Download PDF

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Publication number
WO2019240709A2
WO2019240709A2 PCT/TR2019/050177 TR2019050177W WO2019240709A2 WO 2019240709 A2 WO2019240709 A2 WO 2019240709A2 TR 2019050177 W TR2019050177 W TR 2019050177W WO 2019240709 A2 WO2019240709 A2 WO 2019240709A2
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
provides
processes
flight
unmanned air
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/TR2019/050177
Other languages
French (fr)
Other versions
WO2019240709A3 (en
Inventor
Faruk SAÇAN
Hakan FIRTINA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2019240709A2 publication Critical patent/WO2019240709A2/en
Publication of WO2019240709A3 publication Critical patent/WO2019240709A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
    • F24S40/20—Cleaning; Removing snow
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B11/00—Brushes with reservoir or other means for applying substances, e.g. paints, pastes, water
    • A46B11/0006—Brushes with reservoir or other means for applying substances, e.g. paints, pastes, water specially adapted to feed the bristle upper surface
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/001—Cylindrical or annular brush bodies
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/31—Supply or distribution of electrical power generated by photovoltaics
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B10/00—Integration of renewable energy sources in buildings
    • Y02B10/10—Photovoltaic [PV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B10/00—Integration of renewable energy sources in buildings
    • Y02B10/20—Solar thermal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/40—Solar thermal energy, e.g. solar towers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/50—On board measures aiming to increase energy efficiency

Definitions

  • the present invention is related to a multi cleaning system which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements, performs the exterior surface cleaning in a fast, remote controlled, unmanned and semi-autonomous or full-autonomous manner by means of having equipment, design and algorithms.
  • living spaces can not only comprise separate houses in the direction of the demands of a region but also high-rise residences.
  • cleaning the window and exterior surface in living spaces is very important.
  • this cleaning process requires besides man power, additional devices and configurations. Said devices may be insufficient in providing same efficient cleaning on any surface. For this reason different devices are used for different surfaces. As a consequence of that extra cost is created besides loss of time and labor.
  • the present invention purpose to solve the abovementioned disadvantages by being inspired from the current situations.
  • the main purpose of the invention is to be used in the exterior surface cleaning of the tower blocks and additionally any kind of such elements and is to make this exterior surface cleaning in a fast, remote controlled and unmanned manner.
  • Another purpose of the invention is to be operated semi-autonomously or full- autonomously.
  • Another purpose of the invention is to present low cost.
  • Another purpose of the invention is to prevent time and labor loss.
  • Figure 1 is an illustrative perspective view of an example embodiment of the multi cleaning system subject to the present invention.
  • Figure 2 is an illustrative front view of the unmanned air vehicle in the multi cleaning system subject to the present invention.
  • Figure 3 is an illustrative top view of the unmanned air vehicle in the multi cleaning system subject to the present invention.
  • Figure 4 is an illustrative perspective view of the unmanned air vehicle in the multi cleaning system subject to the present invention from a side angle.
  • Figure 5 is an illustrative perspective view of the unmanned air vehicle in the multi cleaning system subject to the present invention from another side angle.
  • Figure 6 is an illustrative perspective view of the unmanned air vehicle in the multi cleaning system subject to the present invention from another angle.
  • Figure 7 is an illustrative perspective view of the remote control unit in the multi cleaning system subject to the present invention.
  • the present invention is related to a multi cleaning system (100) which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements (U), performs the exterior surface cleaning in a fast, remote controlled, unmanned and semi-autonomous or full-autonomous manner by means of having equipment, design and algorithms.
  • a multi cleaning system 100 which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements (U)
  • Multi cleaning system (100) subject to the present invention essentially comprises the following;
  • - can have the location information of the element (U) required to be cleaned and can realize unmanned flight by surrounding that element (U) by means of said location information,
  • Each unmanned air vehicle (200) preferably comprises the following;
  • ⁇ at least one main body (201 ) which acts as a support and a housing for the parts positioned onto it,
  • ⁇ at least one wing (202) which provides flight of said main body (201 ) and performs flight processes
  • ⁇ at least one wing motor (203) which provides said wing (202) gaining rotational motion in order to provide flight processes
  • ⁇ at least one function module (205) wherein opening, closing, testing and failure detection processes are performed
  • ⁇ at least one gyro (206) which is used for balancing and direction finding
  • At least one solar panel (207) which is used for taking the required electric energy for the operation from the solar energy
  • ⁇ at least one battery (209) which provides the required electric energy and which has a rechargeable structure
  • ⁇ a plurality of sensors (210) which is used for obtaining/seeing environmental information by using optical, infrared, altimeter, sound wave and such features,
  • ⁇ at least one driver module (213) which provides driving the movable parts and thus giving motion to the movable parts,
  • ⁇ at least one spraying nozzle (216) for liquid and/or air spraying processes
  • ⁇ at least one liquid spraying pump (217) which provides spraying liquid through said spraying nozzle (216),
  • ⁇ at least one brush (218) which provides cleaning the surface whereupon liquid is sprayed and has a rotational structure
  • ⁇ at least one brush motor (219) which provides said brush (218) to gain rotational motion
  • ⁇ at least one wiper (222) which provides wiping the remained cleaning liquid on the surface of the element (U) after the cleaning process performed by said brush (218), as a result of positioning said bridge (220) by said bridge motor (221 ),
  • At least one air spraying pump (223) which provides spraying dry/hot air through said spraying nozzle (216) and thus provides drying the cleaned surface during wiping the remained cleaning fluid after the performed cleaning process
  • At least one telescopic arm (224) which is used for not damaging the surface or unmanned air vehicle (200) by the sudden movements of said brush (219) and said wiper (222) which contacts to the cleaned surface and at least one damper (225) which prevents shocks and hard movements and
  • ⁇ at least one control unit (226) which controls and commands all parts by receiving distance and object definitions from said sensors (210), thus performs unmanned flight processes, finds location of the element (U) to be cleaned by means of said navigation module (208), cleans the exterior surface of said element (U) by means of said driver module (213) and transmits status report of the performed cleaning processes to the operator (O) by means of said communication module (204).
  • the equipment placed on the unmanned air vehicle (200) is on or beneath the main body (201 ) as shown in Figure 2.
  • the unmanned air vehicle (200) can not only work alone, but also plurality of unmanned air vehicle (200) can work together at the same time in the same field as it can be seen in Figure 1 .
  • the unmanned air vehicle (200) obtains and/or sees environmental information by means of a plurality of sensors (210) which uses optical, infrared, altimeter, sound wave features and the like.
  • the unmanned air vehicle (200) can perform flight processes in an autonomous manner.
  • a navigation module (208) is included in the unmanned air vehicle (200).
  • the unmanned air vehicle (200) provides a stable flight process and provides route information by means of the gyro (206).
  • the gyro (206) sends shimmy values of the unmanned air vehicle (200) to the control unit (226) and provides the required information for stable flight of the unmanned air vehicle (200).
  • the required electrical energy of the unmanned air vehicle (200) during the flight is provided by means of the battery (209), said battery (209) has a rechargeable structure.
  • the battery (209) preferably a lipo battery or fuel is used.
  • every unmanned air vehicle (200) comprises a solar panel (207).
  • the camera (212) included within the unmanned air vehicle (200) is used for observing performed processes and thus performing a cleaning process without any problem.
  • Start cleaning command is transmitted to the unmanned air vehicle (200) which is equipped with one or a plurality of cleaning process by means of the control unit (226).
  • the unmanned air vehicles (200) which receive said command are positioned autonomously according to the element (U) to be cleaned.
  • gyro (206) and navigation module (208) are used.
  • unmanned air vehicles (200) In order to perform a cleaning process on the exterior surface of a building, for example 10 unmanned air vehicles (200) begin to fly towards the positions which are predefined to them.
  • the driver module (213) is activated by means of the control unit (226).
  • the drive module (213) is used for driving all movable parts.
  • the wing motor (203) starts to be rotated and it rotates the wings (202) as well.
  • each unmanned air vehicle (200) continues flying/positioning by means of the gyro (206) and the navigation module (208) by controlling the current location in order to reach the defined location.
  • the unmanned air vehicles (200) take their positions for the cleaning process in said flight process when they comply with the predefined location.
  • each unmanned air vehicles (200) are known, their fields of work (area/region) on the exterior surface of the element (U) are predefined.
  • the cleaning fluids put within the liquid reservoirs (214) of the unmanned air vehicles (200) are put by means of opening the liquid filler hole (215).
  • the unmanned air vehicles (200) start to fly from downwards to upwards when they take their positions.
  • first of all the cleaning fluid included within the liquid reservoir (214) is sprayed by means of the liquid spraying pump (217) and the spraying nozzle (216).
  • the bridge motor (221 ) moves the bridge (220) and thus it positions the brush (218) in a manner such that it contacts to the surface to be cleaned.
  • the brush motor (219) starts to rotate the brush (218).
  • the cleaning fluid is sprayed and on the other hand the brush (218) rotates and cleans the surface and this process continues to the uttermost level of the element (U).
  • Starting the process and completing the process functions of all movable equipment are done by means of the commands received from the driver module (213).
  • the control unit (226) in which there is software controls the drive module (213).
  • the flight made by the unmanned air vehicle (200) continues from the top portion of the element (U) to the lower portion.
  • the bridge motor (221 ) moves the bridge (220) and thus positions the wiper (222) in a manner such that it contacts to the surface to be cleaned.
  • the wiper (222) contacts to the surface and the unmanned air vehicle (200) make a flight from the top portion of the element (U) to downwards direction.
  • dry/hot air is sprayed by means of the air spraying pump (223) and the spraying nozzle (216) shown in Figure 4. This process continues to the starting point/location of the element (U).
  • each element (U) is not flat, in order to detect the obstacles and continue the flight and cleaning processes according to them, the sensor (210) shown in an illustrative manner in Figure 6 are used. The distance and object definitions coming from these sensors (210) are informed to the control unit (226) and the control unit (226) continues the flight and cleaning processes in an appropriate manner.
  • All processes performed by the unmanned air vehicles (200) can be monitored by means of the data exchange made by the camera (212) and the communication module (204).
  • the cleaning process made by the unmanned air vehicle (200) is started from the top of the element (U).
  • the unmanned air vehicles (200) make flights from upwards to downwards in groups.
  • the unmanned air vehicles (200) included within the lower group which makes flight from upwards to downwards perform liquid spraying and brushing processes, on the other hand the unmanned air vehicles (200) included within the upper group provides wiping the remained cleaning fluid on the surface of the element (U) and drying the surface by blowing dry/hot air.
  • the unmanned air vehicles (200) come to the lowest position, then the cleaning process is completed. Therefore cleaning process is performed in a very fast manner.
  • unmanned air vehicles (200) operate in a semi- autonomous manner by remote control according to user’s preference.
  • multi cleaning system (100) comprises at least one remote control unit (300) which makes wireless data exchange with said unmanned air vehicles (200) over said communication modules (204), provides remote control and command of the flight and exterior surface cleaning processes by the user which is made by said unmanned air vehicles (200) by informing route, direction, location, speed and the like information to said unmanned air vehicles (200).
  • a remote control unit (300) as it is seen in Figure 7 has the following, according to a preferred embodiment of the invention; at least one touch interface (301 ) which is used for inputs and outputs, ⁇ at least one height indicator (302) which provides informing the height information,
  • ⁇ at least one keyboard (303) which provides controlling and commanding the cleaning processes and ⁇ at least one control lever (304) which performs manual flight processes such as direction changing, rising and lowering and the like.
  • the remote control unit (300) has a wireless communication, provides controlling one or a plurality of unmanned air vehicle (200) at the same time. For example numerical names are given to a plurality of unmanned air vehicle (200) and the locations of the elements (U) to be cleaned are informed to these unmanned air vehicles (200) by means of the remote control unit (300). As a result of this each unmanned air vehicle (200) performs its flight and cleaning processes in the area/region informed to them.
  • the remote control unit (300) is in communication with the control unit (226) for the remote control and command processes. In other words, the processes to be performed by means of the remote control unit (300) are provided by the control unit (226) which is located on the unmanned air vehicle (200). Any kind of data exchange such as image, sound, signal and the like provided for the remote control and command processes between the remote control unit (300) and the control unit (226) are made through the communication module (204).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Structural Engineering (AREA)
  • Electrochemistry (AREA)
  • Civil Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Physics & Mathematics (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Thermal Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention is related to a multi cleaning system (100) which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements (U), performs the exterior surface cleaning in a fast, remote controlled, unmanned and semi-autonomous or full-autonomous manner by means of having equipment, design and algorithms.

Description

A MULTI CLEANING SYSTEM
Technical Field
The present invention is related to a multi cleaning system which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements, performs the exterior surface cleaning in a fast, remote controlled, unmanned and semi-autonomous or full-autonomous manner by means of having equipment, design and algorithms.
State of the Art
Today the concept of comfort and adaptation to the cosmopolite living brought with it also shapes the architectural living spaces. In this sense, living spaces can not only comprise separate houses in the direction of the demands of a region but also high-rise residences. Whatever style or size is the architectural design of the living space, cleaning the window and exterior surface in living spaces is very important. Particularly, in high-rise buildings and buildings with very large surfaces, this cleaning process requires besides man power, additional devices and configurations. Said devices may be insufficient in providing same efficient cleaning on any surface. For this reason different devices are used for different surfaces. As a consequence of that extra cost is created besides loss of time and labor.
Although cleaning devices are used, man power continues to be used widely, the effort for reaching any kind of surfaces and cleaning said surfaces in an equal manner sometimes causes serious work accidents. The effort of the person both to reach the surface to be cleaned and to control the cleaning device manually in his/her hand causes an inefficient cleaning. Also this condition can leave the cleaning companies in a difficult situation in terms of the work safety and can create risky situations in terms of the life security of the employee.
For this reason, today a multi cleaning system which can be used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements, can perform the exterior surface cleaning in a fast, remote controlled, unmanned and semi- autonomous or full-autonomous manner by means of having equipment, design and algorithms, is required.
As a result due to the abovementioned disadvantages and the insufficiency of the current solutions in terms of the subject matter, an improvement is required within the relevant technical field.
Purpose of the Invention
The present invention purpose to solve the abovementioned disadvantages by being inspired from the current situations.
The main purpose of the invention is to be used in the exterior surface cleaning of the tower blocks and additionally any kind of such elements and is to make this exterior surface cleaning in a fast, remote controlled and unmanned manner.
Another purpose of the invention is to be operated semi-autonomously or full- autonomously.
Another purpose of the invention is to present low cost.
Another purpose of the invention is to prevent time and labor loss.
The structural and characteristic features of the present invention will be understood clearly by the following drawings and the detailed description made with reference to these drawings. For this reason, the evaluation shall be made by taking these figures and the detailed description into consideration.
Figures Clarifying the Invention
Figure 1 is an illustrative perspective view of an example embodiment of the multi cleaning system subject to the present invention.
Figure 2 is an illustrative front view of the unmanned air vehicle in the multi cleaning system subject to the present invention.
Figure 3 is an illustrative top view of the unmanned air vehicle in the multi cleaning system subject to the present invention.
Figure 4 is an illustrative perspective view of the unmanned air vehicle in the multi cleaning system subject to the present invention from a side angle. Figure 5 is an illustrative perspective view of the unmanned air vehicle in the multi cleaning system subject to the present invention from another side angle.
Figure 6 is an illustrative perspective view of the unmanned air vehicle in the multi cleaning system subject to the present invention from another angle.
Figure 7 is an illustrative perspective view of the remote control unit in the multi cleaning system subject to the present invention.
Description of Part References
100. Multi cleaning system
200 Unmanned air vehicle (drone)
201 . Main body
202. Wing
203. Wing motor
204. Communication module
205. Function module
206. Gyro
207. Solar panel
208. Navigation module
209. Battery
210. Sensor
212. Camera
213. Driver module
214. Liquid reservoir
215. Liquid filler hole 216. Spraying nozzle
217. Liquid spraying pump
218. Brush
219. Brush motor
220. Bridge
221 . Bridge motor
222. Wiper
223. Air spraying pump
224. Telescopic arm
225. Damper
226. Control unit
300. Remote control unit
301 . Touch interface
302. Height indicator
303. Keyboard
304. Control lever O. Operator
U. Element
Detailed Description of the Invention
In this detailed description, preferred embodiments of the multi cleaning system (100) subject to the present invention are described only for clarifying the subject matter.
The present invention is related to a multi cleaning system (100) which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements (U), performs the exterior surface cleaning in a fast, remote controlled, unmanned and semi-autonomous or full-autonomous manner by means of having equipment, design and algorithms.
Multi cleaning system (100) subject to the present invention essentially comprises the following;
❖ A plurality of unmanned air vehicles (200) which,
- can move integrally as one body at the same time by means of the algorithms in their software,
- can work full-autonomously according to the user’s requirement,
- can have the location information of the element (U) required to be cleaned and can realize unmanned flight by surrounding that element (U) by means of said location information,
- can define the ip numbers of each of them and the place of duty (area/region) on the exterior surface of the element (U),
- can clean the exterior surface of the element (U) around which it makes a flight by means of the equipment it has, within the possible shortest time without risking human life,
- can spray the cleaning fluid on the surface, brush the sprayed cleaning fluid during cleaning process, after brushing process can wipe remaining cleaning fluid and dry the wiped surface and
- can transmit the result of the cleaning made to the operator (O).
Each unmanned air vehicle (200) preferably comprises the following;
❖ at least one main body (201 ) which acts as a support and a housing for the parts positioned onto it,
❖ at least one wing (202) which provides flight of said main body (201 ) and performs flight processes, ❖ at least one wing motor (203) which provides said wing (202) gaining rotational motion in order to provide flight processes,
❖ at least one communication module (204) which is used for display, sound and any kind of data exchange like this,
❖ at least one function module (205) wherein opening, closing, testing and failure detection processes are performed,
❖ at least one gyro (206) which is used for balancing and direction finding,
❖ at least one solar panel (207) which is used for taking the required electric energy for the operation from the solar energy,
❖ at least one navigation module (208) which is used for determining full autonomous flight route,
❖ at least one battery (209) which provides the required electric energy and which has a rechargeable structure,
❖ a plurality of sensors (210) which is used for obtaining/seeing environmental information by using optical, infrared, altimeter, sound wave and such features,
❖ at least one camera (212) which is used for observing the performed process,
❖ at least one driver module (213) which provides driving the movable parts and thus giving motion to the movable parts,
❖ at least one liquid reservoir (214) in which cleaning fluid is placed,
❖ at least one liquid filler hole (215) which provides pouring the cleaning fluid into said liquid reservoir (214),
❖ at least one spraying nozzle (216) for liquid and/or air spraying processes,
❖ at least one liquid spraying pump (217) which provides spraying liquid through said spraying nozzle (216),
❖ at least one brush (218) which provides cleaning the surface whereupon liquid is sprayed and has a rotational structure, ❖ at least one brush motor (219) which provides said brush (218) to gain rotational motion,
❖ at least one bridge (220) which provides said brush (218) to be positioned on the contact surfaces of the element (U),
❖ at least one bridge motor (221 ) which facilitates movement to said bridge (220) and thus positioning said brush (218) on the surfaces to be contacted by means of said bridge (220),
❖ at least one wiper (222) which provides wiping the remained cleaning liquid on the surface of the element (U) after the cleaning process performed by said brush (218), as a result of positioning said bridge (220) by said bridge motor (221 ),
❖ at least one air spraying pump (223) which provides spraying dry/hot air through said spraying nozzle (216) and thus provides drying the cleaned surface during wiping the remained cleaning fluid after the performed cleaning process,
❖ at least one telescopic arm (224) which is used for not damaging the surface or unmanned air vehicle (200) by the sudden movements of said brush (219) and said wiper (222) which contacts to the cleaned surface and at least one damper (225) which prevents shocks and hard movements and
❖ at least one control unit (226) which controls and commands all parts by receiving distance and object definitions from said sensors (210), thus performs unmanned flight processes, finds location of the element (U) to be cleaned by means of said navigation module (208), cleans the exterior surface of said element (U) by means of said driver module (213) and transmits status report of the performed cleaning processes to the operator (O) by means of said communication module (204).
The equipment placed on the unmanned air vehicle (200) is on or beneath the main body (201 ) as shown in Figure 2.
Starting, closing, testing processes of the unmanned air vehicle (200) and detecting the failures in the unmanned air vehicle (200) is performed by means of the function module (205) seen in Figure 3. The unmanned air vehicle (200) can not only work alone, but also plurality of unmanned air vehicle (200) can work together at the same time in the same field as it can be seen in Figure 1 .
In order to perform the flight processes of the unmanned air vehicle (200), the wing (202) and the wing motor (203) is used. The unmanned air vehicle (200) obtains and/or sees environmental information by means of a plurality of sensors (210) which uses optical, infrared, altimeter, sound wave features and the like.
The unmanned air vehicle (200) can perform flight processes in an autonomous manner. In order to perform autonomous flight processes, a navigation module (208) is included in the unmanned air vehicle (200).
The unmanned air vehicle (200) provides a stable flight process and provides route information by means of the gyro (206). The gyro (206) sends shimmy values of the unmanned air vehicle (200) to the control unit (226) and provides the required information for stable flight of the unmanned air vehicle (200).
The required electrical energy of the unmanned air vehicle (200) during the flight is provided by means of the battery (209), said battery (209) has a rechargeable structure. As the battery (209) preferably a lipo battery or fuel is used. Also every unmanned air vehicle (200) comprises a solar panel (207).
All kind of exchange processes such as image, sound and the like is performed by means of the communication module (204).
The camera (212) included within the unmanned air vehicle (200) is used for observing performed processes and thus performing a cleaning process without any problem.
Start cleaning command is transmitted to the unmanned air vehicle (200) which is equipped with one or a plurality of cleaning process by means of the control unit (226). The unmanned air vehicles (200) which receive said command are positioned autonomously according to the element (U) to be cleaned. In all autonomous usages like this, gyro (206) and navigation module (208) are used.
In order to perform a cleaning process on the exterior surface of a building, for example 10 unmanned air vehicles (200) begin to fly towards the positions which are predefined to them. For these processes the driver module (213) is activated by means of the control unit (226). The drive module (213) is used for driving all movable parts. In this case, the wing motor (203) starts to be rotated and it rotates the wings (202) as well.
If the autonomous mode is selected, each unmanned air vehicle (200) continues flying/positioning by means of the gyro (206) and the navigation module (208) by controlling the current location in order to reach the defined location. The unmanned air vehicles (200) take their positions for the cleaning process in said flight process when they comply with the predefined location.
The ip numbers of each unmanned air vehicles (200) are known, their fields of work (area/region) on the exterior surface of the element (U) are predefined. The cleaning fluids put within the liquid reservoirs (214) of the unmanned air vehicles (200) are put by means of opening the liquid filler hole (215). The unmanned air vehicles (200) start to fly from downwards to upwards when they take their positions. In this case, first of all the cleaning fluid included within the liquid reservoir (214) is sprayed by means of the liquid spraying pump (217) and the spraying nozzle (216). When this spraying process is performed, the bridge motor (221 ) moves the bridge (220) and thus it positions the brush (218) in a manner such that it contacts to the surface to be cleaned. During this process the brush motor (219) starts to rotate the brush (218). In other words on one hand the cleaning fluid is sprayed and on the other hand the brush (218) rotates and cleans the surface and this process continues to the uttermost level of the element (U). Starting the process and completing the process functions of all movable equipment are done by means of the commands received from the driver module (213). The control unit (226) in which there is software controls the drive module (213).
In order to clean the liquid remained on the brushed surface, the flight made by the unmanned air vehicle (200) continues from the top portion of the element (U) to the lower portion. In this case the bridge motor (221 ) moves the bridge (220) and thus positions the wiper (222) in a manner such that it contacts to the surface to be cleaned. The wiper (222) contacts to the surface and the unmanned air vehicle (200) make a flight from the top portion of the element (U) to downwards direction. At this stage, dry/hot air is sprayed by means of the air spraying pump (223) and the spraying nozzle (216) shown in Figure 4. This process continues to the starting point/location of the element (U).
In order to prevent the damage to be given to the surface by means of the sudden movements of the brush (218) and the wiper (222) which touch the exterior surface of the element (U), the telescopic arm (224) and the damper (225) included within Figure 5 are used.
Because the surface of each element (U) is not flat, in order to detect the obstacles and continue the flight and cleaning processes according to them, the sensor (210) shown in an illustrative manner in Figure 6 are used. The distance and object definitions coming from these sensors (210) are informed to the control unit (226) and the control unit (226) continues the flight and cleaning processes in an appropriate manner.
All processes performed by the unmanned air vehicles (200) can be monitored by means of the data exchange made by the camera (212) and the communication module (204).
In one embodiment of the multi cleaning system (100) subject to the present invention, the cleaning process made by the unmanned air vehicle (200) is started from the top of the element (U). In said embodiment, the unmanned air vehicles (200) make flights from upwards to downwards in groups. The unmanned air vehicles (200) included within the lower group which makes flight from upwards to downwards perform liquid spraying and brushing processes, on the other hand the unmanned air vehicles (200) included within the upper group provides wiping the remained cleaning fluid on the surface of the element (U) and drying the surface by blowing dry/hot air. When the unmanned air vehicles (200) come to the lowest position, then the cleaning process is completed. Therefore cleaning process is performed in a very fast manner.
In one embodiment of the invention, unmanned air vehicles (200) operate in a semi- autonomous manner by remote control according to user’s preference. In said embodiment multi cleaning system (100) comprises at least one remote control unit (300) which makes wireless data exchange with said unmanned air vehicles (200) over said communication modules (204), provides remote control and command of the flight and exterior surface cleaning processes by the user which is made by said unmanned air vehicles (200) by informing route, direction, location, speed and the like information to said unmanned air vehicles (200).
A remote control unit (300) as it is seen in Figure 7 has the following, according to a preferred embodiment of the invention; at least one touch interface (301 ) which is used for inputs and outputs, ❖ at least one height indicator (302) which provides informing the height information,
❖ at least one keyboard (303) which provides controlling and commanding the cleaning processes and ❖ at least one control lever (304) which performs manual flight processes such as direction changing, rising and lowering and the like.
The remote control unit (300) has a wireless communication, provides controlling one or a plurality of unmanned air vehicle (200) at the same time. For example numerical names are given to a plurality of unmanned air vehicle (200) and the locations of the elements (U) to be cleaned are informed to these unmanned air vehicles (200) by means of the remote control unit (300). As a result of this each unmanned air vehicle (200) performs its flight and cleaning processes in the area/region informed to them. The remote control unit (300) is in communication with the control unit (226) for the remote control and command processes. In other words, the processes to be performed by means of the remote control unit (300) are provided by the control unit (226) which is located on the unmanned air vehicle (200). Any kind of data exchange such as image, sound, signal and the like provided for the remote control and command processes between the remote control unit (300) and the control unit (226) are made through the communication module (204).

Claims

1. A multi cleaning system (100) which is used for cleaning the exterior surfaces of particularly apartments, residences, skyscrapers and such tower blocks, also the superliners, solar panel systems and any kind of such elements (U), performs the exterior surface cleaning in a fast, remote controlled, unmanned and semi-autonomous or full-autonomous manner by means of having equipment, design and algorithms, characterized by comprising; a plurality of unmanned air vehicle (200) which,
- can move integrally as one body at the same time by means of the algorithms in their software,
- can work full-autonomously according to the user’s requirement,
- can have the location information of the element (U) required to be cleaned and can realize unmanned flight by surrounding that element (U) by means of said location information,
- can define the ip numbers of each of them and the place of duty (area/region) on the exterior surface of the element (U), can clean the exterior surface of the element (U) around which it makes a flight by means of the equipment it has, within the possible shortest time without risking human life,
- can spray the cleaning fluid on the surface, brush the sprayed cleaning fluid during cleaning process, after brushing process can wipe remaining cleaning fluid and dry the wiped surface and
- can transmit the result of the cleaning made to the operator (O).
2. A multi cleaning system (100) according to claim 1 , characterized by comprising;
❖ at least one main body (201 ) which acts as a support and a housing for the parts positioned onto it, ❖ at least one wing (202) which provides flight of said main body (201 ) and performs flight processes,
❖ at least one wing motor (203) which provides said wing (202) gaining rotational motion in order to provide flight processes,
❖ at least one communication module (204) which is used for display, sound and any kind of data exchange like this,
❖ at least one function module (205) wherein opening, closing, testing and failure detection processes are performed,
❖ at least one gyro (206) which is used for balancing and direction finding,
❖ at least one solar panel (207) which is used for taking the required electric energy for the operation from the solar energy,
❖ at least one navigation module (208) which is used for determining full autonomous flight route,
❖ at least one battery (209) which provides the required electric energy and which has a rechargeable structure,
❖ a plurality of sensors (210) which is used for obtaining/seeing environmental information by using optical, infrared, altimeter, sound wave and such features,
❖ at least one camera (212) which is used for observing the performed process,
❖ at least one driver module (213) which provides driving the movable parts and thus giving motion to the movable parts,
❖ at least one liquid reservoir (214) in which cleaning fluid is placed,
❖ at least one liquid filler hole (215) which provides pouring the cleaning fluid into said liquid reservoir (214),
❖ at least one spraying nozzle (216) for liquid and/or air spraying processes, ❖ at least one liquid spraying pump (217) which provides spraying liquid through said spraying nozzle (216),
❖ at least one brush (218) which provides cleaning the surface whereupon liquid is sprayed and has a rotational structure,
❖ at least one brush motor (219) which provides said brush (218) to gain rotational motion,
❖ at least one bridge (220) which provides said brush (218) to be positioned on the contact surfaces of the element (U),
❖ at least one bridge motor (221 ) which facilitates movement to said bridge (220) and thus positioning said brush (218) on the surfaces to be contacted by means of said bridge (220),
❖ at least one wiper (222) which provides wiping the remained cleaning liquid on the surface of the element (U) after the cleaning process performed by said brush (218), as a result of positioning said bridge (220) by said bridge motor (221 ),
❖ at least one air spraying pump (223) which provides spraying dry/hot air through said spraying nozzle (216) and thus provides drying the cleaned surface during wiping the remained cleaning fluid after the performed cleaning process,
❖ at least one telescopic arm (224) which is used for not damaging the surface or unmanned air vehicle (200) by the sudden movements of said brush (219) and said wiper (222) which contacts to the cleaned surface and at least one damper (225) which prevents shocks and hard movements and
❖ at least one control unit (226) which controls and commands all parts by receiving distance and object definitions from said sensors (210), thus performs unmanned flight processes, finds location of the element (U) to be cleaned by means of said navigation module (208), cleans the exterior surface of said element (U) by means of said driver module (213) and transmits status report of the performed cleaning processes to the operator (O) by means of said communication module (204).
3. A multi cleaning system (100) according to claim 1 , characterized by comprising; the unmanned air vehicles (200) which provide cleaning process by starting from the top of the element (U), make flights from upwards to downwards, while they make flights from upwards to downwards, the ones within the lower group perform liquid spraying and brushing processes, the ones within the upper group provides wiping the remained cleaning fluid on the surface of the element (U) and drying the surface by means of blowing dry/hot air, completing the cleaning process when they come to the lowest position and thus providing a very fast cleaning process.
4. A multi cleaning system (100) according to claim 1 , characterized by comprising; at least one control unit (300) which provides the operation of said unmanned air vehicles (200) in a remote controlled manner or a semi- autonomous manner according to the user’s preference, makes wireless data exchange with said unmanned air vehicles (200) over said communication modules (204), provides remote control and command of the flight and exterior surface cleaning processes by the user which is made by said unmanned air vehicles (200) by informing route, direction, location, speed and the like information to said unmanned air vehicles (200).
5. A multi cleaning system (100) according to claim 4, characterized by comprising; the remote control unit (300) which has the following;
❖ at least one touch interface (301 ) which is used for inputs and outputs,
❖ at least one height indicator (302) which provides informing the height information,
❖ at least one keyboard (303) which provides controlling and commanding the cleaning processes and
❖ at least one control lever (304) which performs manual flight processes such as direction changing, rising and lowering
PCT/TR2019/050177 2018-03-22 2019-03-19 A multi cleaning system Ceased WO2019240709A2 (en)

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Cited By (2)

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CN114194396A (en) * 2021-12-29 2022-03-18 南京银锐科技有限公司 Be applied to intelligent unmanned aerial vehicle pesticide sprinkler of plant protection
MA63389A1 (en) * 2023-11-28 2025-05-30 Université Sidi Mohammed Ben Abdellah Automated three-rotor drone for cleaning solar panels

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Publication number Priority date Publication date Assignee Title
KR20030025662A (en) * 2001-09-22 2003-03-29 김종율 Cleaning apparatus using model helicopter
US20170210470A1 (en) * 2014-04-03 2017-07-27 Ricard Pardell Agcfds: automated glass cleaning flying drone system
US10618652B2 (en) * 2016-04-20 2020-04-14 Drone Wash, Inc. Surface washing drone

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114194396A (en) * 2021-12-29 2022-03-18 南京银锐科技有限公司 Be applied to intelligent unmanned aerial vehicle pesticide sprinkler of plant protection
CN114194396B (en) * 2021-12-29 2022-10-04 南京银锐科技有限公司 Be applied to intelligent unmanned aerial vehicle pesticide sprinkler of plant protection
MA63389A1 (en) * 2023-11-28 2025-05-30 Université Sidi Mohammed Ben Abdellah Automated three-rotor drone for cleaning solar panels
MA63389B1 (en) * 2023-11-28 2025-08-29 Université Sidi Mohammed Ben Abdellah Automated three-rotor drone for cleaning solar panels

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