Patent ID: 6419190
Filing Date: 2002-07-16
Classification: B05B,B05C,B08B

Abstract:
A flying unit for cleaning and painting tall structures comprising of:two electric-powered counter-rotating rotors for providing lift, stability and altitude control; one back propeller for providing forward and backward motion and more importantly the pushing force needed to keep the flying unit on a vertical and sloped surface; five control actuators for flight stability: main rotors collective pitch for upward and downward motion, cyclic control for lateral motion, tail rotor pitch for backward and forward motion, and engine throttle; a flux-gate compass for measuring heading; three downward facing ultrasonic sensors (two mounted towards the front of the flying unit and one mounted below the back propeller) for determining roll, pitch, and altitude of the flying unit; a gyroscope for sensing rotation around the vertical axis; an interchangeable cleaning or painting apparatus; two proximity sensors mounted on the cleaning and painting apparatus for avoiding obstacles and keeping the flying unit at preprogrammed distance from surfaces; a revolution counter mounted on the cleaning and painting apparatus for measuring distance traveled on contact surface; a programmable controller that receives the inputs from the sensors and guide and control the flying unit.