Surface washing drone

A surface washing drone with a modular cleaning head unit. The surface washing drone may also include a safety failover mechanism. The surface washing drone communicates and works together with other surface washing drones in a group.

FIELD OF THE INVENTION

The subject matter described herein relates generally to a surface washing drone, and more particularly, to a surface washing drone with a modular cleaning head unit.

BACKGROUND OF THE INVENTION

Window washing is an established service that is often expensive, dangerous, labor intensive, and time-consuming. In the United States, high-rise window washing is governed by OSHA which has very specific standards with relation to safety. As a result, insurance, equipment, and labor make window washing cost prohibitive. For example, it may cost about $1 million to install a system, get the appropriate insurance policy, and hire washers to wash the windows of the 16 stories of a Los Angeles Condo building. For larger scale jobs, workers must lower themselves by rope and pulley or by a platform system, and there have been a large number of fatalities as a direct result of high-altitude window washing in the past 15 years, according to Health Day. Furthermore, a 50 story building may take a month or more to wash all the windows, according to the City Room blog of the New York Times.

In addition, experts agree that dirty solar panels don't produce as much power as clean panels. That loss may range as high as 25% in some areas according to the National Renewable Energy laboratory. Individual dealers have reported losses as high as 30% for some customers who failed to ever clean their panels. Global solar panel installation companies have frequently seen sizeable increases of solar efficiency on agricultural sites, of up to 30%. This has been proved by customers who have sent readings to prove solar panel cleaning has increased the output and efficiency of their array. On industrial and commercial sites there has have been increases of up to 60% and on residential arrays of up to 21%. These findings are confirmed by the World Academy of Science, Engineering & Technology, who say a drop in the efficiency of a solar photovoltaic (PV) panel is not desired. One of the contributing factors in the drop of efficiency in PV panels is the accumulated dust on the panel. Solar Energy Power Association notes that dirty solar panels can lose 20% of their energy output. The National Renewable Energy Laboratory puts that figure even higher, at 25%. Recent University research has shown that a dirty solar panel can lose 50% of its efficiency compared to a clean panel.

It would therefore be desirable to provide a method and system of providing a surface washing drone that can be controlled from a safe location to efficiently wash windows of high rises, solar panels, and other surfaces. The present invention meets these and other needs.

SUMMARY OF THE INVENTION

Briefly, and in general terms, provided herein are embodiments of surface washing drones with a pivoting, rotatable modular cleaning head unit, or drone head. The surface washing drones (which may also be referred to herein as drones for brevity) will enable building owners and property managers to significantly reduce expenses and risk when washing their windows. In some embodiments, a surface washing drone is able to fly up to about 1,600 feet in altitude and can therefore wash windows on some of the tallest buildings in the world with an operator located remotely, for example, on the ground.

The surface washing drone may clean surfaces at different angle, including surfaces that are convex or concave in nature.

In some embodiments, the surface washing drone may be equipped with a camera to enable the operator to see the location being cleaned as well as the surrounding environment. The camera may also operate to position the surface washing drone in place relative to its target. The surface washing drone may have an applicator (or cleaning head) to apply the washing fluid and the applicator may be manipulated to properly and appropriately apply the fluid and friction on the surface to create a clean surface. The surface washing drone may also contain a squeegee blade to remove the fluid and leave a clean and dry surface on the window. The surface washing drone may include a spray mechanism which sends out a jet stream of fluid.

In some embodiments, the surface washing drone may include a high-pressure air blowing device used to clean an area of debris and may also be used to dry a surface.

In some embodiments, the surface washing drone may be fitted with safety failover mechanism, such as a parachute, for safety in case of failure, for example, when one or more of the rotors fail.

In some embodiments, the surface washing drone may be powered by a tethered power cable, or by battery power, or by some other suitable power source.

In some embodiments, the surface washing drone may be fed fluid, or liquid, by tethered liquid feeding cable or by reservoir or by some other liquid feeding source.

In some embodiments, the surface washing drone tether may feed both power and liquid through the same conduit.

In some embodiments, the surface washing drone may include one or more rotating cameras, and a computer vision function to assist in at least navigation, ranging, and interaction with a cleaning target.

In some embodiments, the surface washing drone may transmit data using encryption.

In some embodiments, the surface washing drone may clean a target to a predetermined standard.

The surface washing drone may be used to clean windows with or without screens, skylights and other surfaces such as solar panels, billboards, bridges, tall structures, difficult-to-reach structures and objects, and even boats or planes.

In some embodiments, the surface washing drone may include a clamp arm to hold a hose that may be connected to the top of a building, the ground, or through an opening in the building. In some embodiments, the surface washing drone may include a water reservoir and a water pump.

In some embodiments, the cleaning head may pivot and rotate clockwise or counterclockwise at an angle from 0 up to approximately 180 degrees. In some embodiments, the modular cleaning head unit and a control (or central) unit, as described in more detail herein, may be configured to fit other consumer, commercial, or industrial drones that can support the weight and dispersal of liquid.

In some embodiments, the surface washing drone may be operated by a remote control device. In some embodiments, the surface washing drone may include a processor that can be programmed for autonomous operations.

In some embodiments, the surface washing drone may also be configured to operate in a group, or swarm format, for example, a plurality of the drones of the invention may communicate and work together.

In some embodiments, the drones of the inventions may be used in other applications, for example, painting (e.g., spraying paint, lacquer, or other coatings), firefighting (e.g., spraying water or other fire suppression material), farming, entertainment (e.g., spray battles), and so on. The drones of the invention may be configured with different spray nozzles and different tubing for the different applications.

These and other aspects and advantages of the invention will be apparent from the following detailed description and the accompanying drawings, which illustrate by way of example the features of the invention. Other systems, devices, methods, features and advantages of the subject matter described herein will be or will become apparent to one with skill in the art upon examination of the drawings and detailed description. It is intended that all such additional systems, devices, methods, features and advantages be included within this description, be within the scope of the subject matter described herein, and be protected by the accompanying claims. In no way should the features of the example embodiments be construed as limiting the appended claims, absent express recitation of those features in the claims.

DETAILED DESCRIPTION OF THE INVENTION

The above described drawing figures illustrate the described apparatus and its method of use in at least one of its preferred, best mode embodiments, which is further defined in detail in the following description. Those having ordinary skill in the art may be able to make alterations and modifications to what is described herein without departing from its spirit and scope. Therefore, it should be understood that what is illustrated is set forth only for the purposes of example and should not be taken as a limitation on the scope of the present apparatus and its method of use.

In the following description and in the figures, like elements are identified with like reference numerals. The use of “e.g.,” “etc.,” and “or” indicates non-exclusive alternatives without limitation, unless otherwise noted. The use of “including” or “includes” means “including, but not limited to,” or “includes, but not limited to,” unless otherwise noted.

Described now in detail are example embodiments of surface washing drones. The surface washing drones may be referred to herein as drone system, drones or drone.

Generally, the drone system, or maybe referred to herein as drone for brevity, of the embodiments described herein may be operated by an operator located remotely from the drone, or it may operate autonomously. The drone may clean different surfaces at variable altitudes. In some embodiments, the drone may clean surfaces at altitudes ranging from 10 to 1600 feet AGL (Above Ground Level) in the majority of use cases as well as in off-nominal surface cases. In some embodiments, the drone may clean variable surfaces at different altitude blocks, for example, at altitude block 10 to 300 feet AGL, at altitude block 300 to 1100 feet AGL, and at altitude block 1100 to 1600 feet AGL. The drone may clean different types of areas to a certain cleanliness standard. In some embodiments, a cleanliness standard may be measured by using a light meter to measure the amount of light that passes through the surface that has been cleaned by the drone. In some other embodiments, a cleanliness standard may determine that a surface that is at least as clean as a surface cleaned in the same amount of time by human as a measurement of success.

In some embodiments, the drone may clean a given amount of square footage in a proportional amount of time with varying factors. The amount of time may be predetermined. For example, the drone may clean a predetermined square footage of glass in a nominal case (e.g., vertical glass surface, low wind, normal temp) within a predetermined amount of time, within a predetermined cleanliness criteria. In some exemplary operations, the drone may clean a predetermined square footage in off-nominal cases to the test grid below, units in minutes.

Exemplary high temperature may be between 32-48 degree Celsius. Exemplary low temperature may be between 0-15 degree Celsius. Exemplary nominal temperature may be between 16-31 degree Celsius.

In some embodiments, the drone may have stabilization characteristics that may allow it to recover from incidental contact with various forces or objects, and resume its flight profile. A flight profile may include information of the cleaning target, distance, cleanliness standard, and so on.

In some embodiments, the drone may have water-resistant flight system, which may allow it to remain flying in the presence of light water contact, for example, from rain or washing material.

In some embodiments, the drone may include at least one camera, for example, a High Definition (HD) camera, that may allow the drone to complete all of its functions, including, for example, spotting dirty surfaces from certain distance, take-off and landing. The camera may have at least a 180-degree field of view when rotated.

In some embodiments, the drone may include a transponder device that may allow the operator to track and display the drone's location on a Graphical User Interface (GUI).

In some embodiments, the drone may transmit data using encryption. Data encryption may provide defense against hacking. In some events of failure, for example, hacking, loss of communication, or minimum power, the drone's automatic flight computer may initiate and land the drone at a known point of origin. In some other events of failure, for example, loss of flight scenario (such as loss of power, broken flight surface), the drone may have an automatic failover capability such as deploying a parachute or harness.

In some embodiments, an operator may configure and re-configure the drone. The drone may be configure, or re-configure, for example, for different use cases or future development. The drone may include a flight software that may be reconfigurable for different types of situations and future development.

In some embodiments, a group, or fleet, of the drones, in swarm format, may communicate and work together without any repeated work in an autonomous fashion, to clean to a predetermined standard. As described herein, the drone may be operated by an operator located remotely from the drone, or it may operate autonomously. In a swarm operation, the drones may be operable by an individual remote control system and/or by a swarm control system whereby many drones may be operated by an individual control system (Pilot in Command) or by an automated control system.

In some embodiments, the drone may include a clamp arm that holds a hose from different parts of a building. The drone may include different spray nozzles and structure for attaching one or more cleaning devices.

The drone may be compliant to all pertinent regulations. For example, in the United States, the drone may be compliant to all pertinent portions of the Federal Aviation Administration (FAA) and the Occupational Safety and Health Administration (OSHA) regulations, among others. The drone may also be compliant to pertinent regulations of another country of operation.

FIGS. 1 to 10illustrate example embodiments of a surface washing drone100.FIG. 1illustrates a front, left perspective view of an example embodiment of the drone100. Generally, the drone100may include a body110with a plurality of landing legs coupled to the body110. The drone100may also include a central unit coupled to the body110. The central unit may include, for example, battery, sensor towers, a water reservoir, a water pump, a processor, and a safety failover mechanism, for example, a parachute module. The drone100may also include a modular cleaning head unit, which may also be referred to herein as drone head, disposed at a front part of the body110. For brevity, the modular cleaning head unit may also be referred to herein as cleaning head unit. The cleaning head unit may include one or more front view cameras, one or more sprayers, an active head control, an orientation control, and a cleaning head or applicator. The cleaning head unit may include both an applicator and a squeegee.

FIG. 2illustrates a top view of an example embodiment of the drone100. In some example embodiments, the drone100may have a width of approximately 26.45 inches, and a length of approximately 34.27 inches, including the head unit.

FIG. 3illustrates a left side view of an example embodiment of the drone100. In some example embodiments, the drone100may have a height of 8.97 inches, including the central unit and the landing legs.

FIG. 4illustrates another front, left perspective view of an example embodiment of the drone100. As described herein, the drone100includes a main body110. The main body110may include a back cross bar12in the rear or distal end of the body110, two opposite side cross beams8and8′, two extension tubes10and a mounting bar20disposed at the front or proximal end of the body110, four booms5, and four boom extensions7. The back cross bar12may be coupled to the rear, distal end of the two side cross beams8and8′ using tube junctions11. The two side cross beams may be coupled at their front, proximal end to the two extension tubes10using tube junctions9. The two extension tubes10may be coupled to the mounting bar20using mounting bar connectors16. The four boom extensions7may be coupled to the two tube junctions11and the two tube junctions9respectively. The four booms5may then be coupled to the central unit.

For flying, the drone100may include four propellers4. The four propellers4may be coupled to the four booms5and four boom extensions7, using four motor mounts6. Each propeller may be controlled by a motor3coupled to each propeller respectively. The motors3are controlled by a remote control device (not shown) operated by an operator positioned, for example, on the ground. In some embodiments, the drone100may need to be in the line of sight of the remote control device. In some embodiments, the drone100may not need to be in the line of sight of the remote control device. Although four propellers are illustrated, the number of propellers is not limited to four. In some embodiments, the drone100may include less than four propellers. In some embodiments, the drone100may include more than four propellers.

The communication between the remote control device and the drone100uses standards and technology known in the art.

The body110may also include at least four landing legs13. Two landing legs13may be coupled to the side cross beam8, and two landing legs13may be coupled to the opposite side cross beam8′. Although four landing legs are illustrated, more or less number of landing legs may be included.

The central unit may include a water reservoir36, a water pump35, two sensor towers37, a safety failover mechanism, for example, a parachute module33, and a processor (not shown). In some embodiments, when one or more propellers4fail, for example, as monitored by the sensors37, the parachute module operates to deploy a parachute, so the drone100can land safely. The parachute module may include a launching tube, a launching puck, and a top.

In some embodiments, the safety failover mechanism may include a tether mechanism. For example, the drone may be tethered to a power supply connection or a cleaning material connection. The tether may also operate as a safety failover, for example, in a loss of control scenario where an operator may retract the drone away from areas of danger.

When the drone is tethered to a power supply, for example, from above or below, the tether may provide lift relief if the drone is suspended by the tether. In these embodiments, power may not be limited to the capacitance onboard the drone, and may be provided from the larger power supply that is grounded.

In some embodiments, the central unit may also include a reservoir for holding soap or other cleaning material.

In some embodiments, the drone100may use an automated swapping system to swap out a liquid reservoir.

The central unit may also include a battery module14with a quick change battery plate. The battery module14may receive one or more batteries. In some embodiments, the drone100may support rechargeable batteries. In some embodiments, the drone100may support non-rechargeable batteries. In some embodiments, the battery module14may include a receptacle or connector for charging batteries.

In some embodiments, the drone100may use an automated swapping system to swap out batteries or other power sources.

The drone100may include at least one front view camera34. The camera34may be positioned on a cleaning head unit80, which will be described in more detail herein. The camera34will enable the operator of the drone100to see the area being washed with detail. In some embodiments, the camera34may also be operated to position the surface washing drone in place relative to its target. The positioning of the drone100may be controlled by the operator. In some embodiments, the positioning of the drone100may be controlled autonomously by software located in the drone100, for example, in a central processing unit (CPU) of the processor as part of a computer vision function of the drone100.

The computer vision function of the drone100may include one or more cameras and a CPU software that may allow the drone100to recognize and react to objects. The computer vision function may assist in navigation, ranging, and interaction with its cleaning target (for example, cleaning surfaces). The computer vision function may work with the modular cleaning head unit80to adjust accordingly. The computer vision function may assist in reconnaissance, 3D mapping, survey to identify cleanable surfaces of a building. It may identify when a cleaning target may count as clean and when a cleaning target may not count as clean. The cleanliness standards described herein above may be used.

In some embodiments, a software may use results from a survey of the cleaning target and mathematically arrange the best scheduling of the drone or drones available, for example, against the number of panes to be cleaned. The survey results may come from computer vision functions as described herein using camera, or may be provided. The software may also create a flight plan and control the drone or drones. The software may also optimize based on current status of supply and power from each drone. Such optimization may include, for example, precise cleaning, stability algorithms, and details about the type of cleaning interaction.

The stability algorithms may be part of a stability mechanism of the drone100, In some embodiments, the stability mechanism may include a function of a collection of sensors, physical structure, and algorithms that allow the drone100to maintain a steady platform in challenging conditions. Challenging conditions may include, for example, wind up to 30 knots and a disruptive force on the drone100of up to 7 G's. Physical structure components may include ducts around propellers to protect them, shock absorbers, use of a tether, or an arm like clamp that may hold the drone in place. Sensors may include laser range finders or cameras, or other suitable devices, to position the drone in place relative to its cleaning target. In some embodiments, the stability algorithms may function on a feedback system that may take in orientation data from the sensors and may adjust output to the propellers accordingly, for example, to compensate for disruptive forces.

In some embodiments, the CPU may include a drone-hack failover function. In the event of an electronic loss of communication or a hacking event, a hacking resistant firmware or software as well as an electronic failover of the CPU may autonomously direct the drone100to a safe position. In some embodiments, the firmware or software may be able to resist at least 95% of the most common hacking methods.

A spray tubing31connects the water reservoir36to one or more sprayers29. The spray tubing31is coupled to the body110using one or more hose mounts32. The sprayers29may be disposed at the cleaning head unit80. The water pump35transfers fluid stored in the water reservoir36to the sprayers29via the spray tubing31.

In some embodiments, the water pump35and the sprayers29may be controlled by a remote control device. The sprayers29may support various spray speeds and patterns.

In some embodiments, the drone100may include a high-pressure air blowing device used to clean an area of debris and may also be used to dry a surface.

FIGS. 5 to 9illustrates example embodiments of the cleaning head unit80of a surface washing drone as used in, for example, the drone100.FIG. 5illustrates an example embodiment of a bottom view of the cleaning head unit80.FIG. 6illustrates an example embodiment of a top view of the cleaning head unit80.FIG. 7illustrates an example embodiment of a left side view of the cleaning head unit80.

FIG. 8illustrates an example embodiment of a front, left perspective view of a cleaning head unit80. The cleaning head unit80may be coupled to the mounting bar20of the body110. In some embodiments, the cleaning head unit80may include the mounting bar20. The cleaning head unit80may include a cleaning head, or applicator,25. In some embodiments, the cleaning head25may be flexible, or bendable. As a result, the cleaning head25may adapt to the contours of various surfaces, for example, skylights, sides of boats, and so on, including surfaces that are convex or concave in nature. The cleaning head unit80may also include a squeegee17disposed above the cleaning head25. In some embodiments, the squeegee17may be flexible, or bendable. The cleaning head25and the squeegee17may be referred to together as a washing head. In some embodiments, the cleaning head25and the squeegee17may operate and move as a unit.

The cleaning head25and the squeegee17are coupled to the mounting bar20at least via swivel hubs18, spur gears19, angle block26, and washing head swivel mount24. A right angle gear motor27and spur gear28may be coupled to the washing head swivel mount24such that the spur gear28engages the proximal, front spur gear19. The right angle gear motor27may be controlled, via a remote control device or software on the drone100, to rotate the washing head clockwise or counterclockwise at an angle from 0 up to approximately 180 degrees.

The cleaning head unit80may also include a stepper motor29coupled to the mounting bar20. The stepper motor29controls the operation of a spur gear23attached to the stepper motor29. The spur gear23engages the distal, rear spur gear19′. When the spur gear23rotates, it causes the rear spur gear19′ to rotate, which causes the washing head to rotate clockwise or counterclockwise at an angle from 0 up to approximately 180 degrees. The movements of the spur gears19,19′,23, and28create a pivot point that may swap the squeegee17and cleaning head25from contacting the surface being washed, and another pivot point that may control the orientation of the “active” part.

In some embodiments, the spur gears19,19′,23, and28may operate in a non-rotating operation, causing the cleaning head unit80to operate in a sweeping function.

In some embodiments, the cleaning head unit80may self-adjust to the variable cleaning surface. For example, the cleaning head unit80may self-adjust to operate in either a rotating, sweeping, or stationary function, or in a combination thereof.

The cleaning head unit80may also include at least two sprayers29, mounted on sprayers mounts30, which are coupled to the mounting bar20. The sprayers29may be connected to the water reservoir via the spray tubing31. The sprayers include spray mechanism which sends out a jet stream of fluid.

In some exemplary operations, when the washing head is rotated 180 degrees up, it gets in the way of the sprayers29. In this position, the sprayers29spray fluid on and wet the cleaning head or applicator25.

In some embodiments, the drone100may also include suction cups (not shown) for attaching the drone100to a cleaning target, for example, to the surface of a window, a skylight, a side of a boat, and so on. The drone100may include a vacuum pump for controlling the holding force applied to the suction cups. An advantage of the suction cups is to keep the drone100steady during windy weather.

In some embodiments, the drone100may use an automated swapping system to swap out specific parts of a device that may be needed to be replaced or refreshed. These parts may include, for example, rotors or mechanical parts.

FIG. 9illustrates an example embodiment of an exploded view of the cleaning head unit80.

FIG. 10illustrates an exemplary partial list of the components of the drone100.

FIGS. 11 to 15illustrate example embodiments of a surface washing drone200. It should be noted that the drone200includes components, features and functions similar to those of the drone100described herein above. In some embodiments, the drone200may include a tether, or connection, for water supply, in place of, or in addition to, a water reservoir.

In some embodiments, the drone100tether may feed both power and liquid through the same conduit.

FIG. 11illustrates a front, left perspective view of an example embodiment of the drone200. Generally, the drone200may include a body with a plurality of landing legs coupled to the body. The drone200may also include a central unit coupled to the body. The central unit may include, for example, battery, sensor towers, a connection for water supply, a safety failover mechanism, for example, a parachute module, and a processor. The drone200may also include a cleaning head unit disposed at the front of the body. The cleaning head unit may include one or more front view cameras, one or more sprayers, an active head control, an orientation control, and a cleaning head or applicator. The cleaning head unit may include both an applicator and a squeegee.

In some embodiments, the safety failover mechanism may include a tether mechanism. For example, the drone may be tethered to a power supply connection or a cleaning material connection. The tether may also operate as a safety failover. The water supply connection discussed above may also operate as a safety failover.

FIG. 12illustrates a top view of an example embodiment of the drone200. In some example embodiments, the drone200may have a width of approximately 26.45 inches, and a length of approximately 34.27 inches, including the cleaning head unit.

FIG. 13illustrates a left side view of an example embodiment of the drone200. In some example embodiments, the drone200may have a height of 8.97 inches, including the central unit and the landing legs.

FIG. 14illustrates another front, left perspective view of an example embodiment of the drone200. The drone200may include a main body110as described herein for the drone100. The drone200may also include a cleaning head unit80as described herein for the drone100. For flying, the drone200may include four propellers4as described herein for the drone100. Although four propellers are illustrated, the number of propellers is not limited to four. In some embodiments, the drone100may include less than four propellers. In some embodiments, the drone100may include more than four propellers.

The drone200includes a central unit95. The central unit95may include a water connection tether hose tower35, two sensor towers37, and a safety failover mechanism, for example, a parachute module33. In some embodiments, when one or more propellers4fail, for example, as monitored by the sensors37, the parachute module33operates to deploy a parachute, so the drone100can land safely. The parachute module33may include a launching tube, a launching puck, and a top.

In some embodiments, the water connection tether hose tower35is sized to receive a hose that may be connected to the top of a building, the ground, or through an opening in the building, to receive water supply.

FIG. 15illustrates an exemplary partial list of the components of the drone200.

In some embodiments, the drones of the disclosure may wash windows having screens. In order to wash the window with a screen, a solution may be sprayed over the screen and then it would air dry.

The definitions of the words or drawing elements described herein are meant to include not only the combination of elements which are literally set forth, but all equivalent structure, material or acts for performing substantially the same function in substantially the same way to obtain substantially the same result. In this sense it is therefore contemplated that an equivalent substitution of two or more elements may be made for any one of the elements described and its various embodiments or that a single element may be substituted for two or more elements.

The scope of this description is to be interpreted only in conjunction with the appended claims and it is made clear, here, that each named inventor believes that the claimed subject matter is what is intended to be patented.