Surface cleaning unmanned aerial vehicle

Described embodiments include an unmanned aerial vehicle and a method. The unmanned aerial vehicle includes an airframe and a rotary wing system coupled with the airframe and configured to aerodynamically lift the vehicle in the air. The unmanned aerial vehicle includes a flight controller configured to control a movement of the vehicle while airborne. The unmanned aerial vehicle includes a cleansing controller configured to manage a removal of a surface contaminant from a selected portion of a surface of an external object using an airflow generated by the rotary wing system.

CROSS-REFERENCE TO RELATED APPLICATIONS

PRIORITY APPLICATIONS

All subject matter of the Priority Applications and the Related Applications and of any and all parent, grandparent, great-grandparent, etc. applications of the Priority Applications and the Related Applications, including any priority claims, is incorporated herein by reference to the extent such subject matter is not inconsistent herewith.

SUMMARY

For example, and without limitation, an embodiment of the subject matter described herein includes an unmanned aerial vehicle. The unmanned aerial vehicle includes an airframe. The unmanned aerial vehicle includes a rotary wing system coupled with the airframe and configured to aerodynamically lift the vehicle in the air. The unmanned aerial vehicle includes a flight controller configured to control a movement of the vehicle while airborne. The unmanned aerial vehicle includes a cleansing controller configured to manage a removal of a surface contaminant from a selected portion of a surface of an external object using an airflow generated by the rotary wing system.

In an embodiment, the unmanned aerial vehicle includes a proximity sensor configured to generate data indicative of at least one of a distance and a bearing of the external object relative to the vehicle. In an embodiment, the unmanned aerial vehicle includes a sensor carried by the airframe and configured to acquire the data indicative of the surface contaminant. In an embodiment, the unmanned aerial vehicle includes an attachment member having a first portion coupled to the airframe and a second portion configured to removably attach to the external object. In an embodiment, the unmanned aerial vehicle includes a wireless communication device configured to communicate with a base station. In an embodiment, the unmanned aerial vehicle includes a tether controller configured to communicate with a base station via a tether. In an embodiment, the unmanned aerial vehicle includes a power receiver configured to receive wirelessly transmitted energy.

For example, and without limitation, an embodiment of the subject matter described herein includes a method implemented in an unmanned aerial vehicle. The method includes launching the unmanned aerial vehicle. The unmanned aerial vehicle includes a rotary wing system coupled with an airframe and configured to aerodynamically lift, hover, and maneuver the vehicle. The method includes selecting a portion of an exterior surface of an object having a surface contaminant. The method includes maneuvering the vehicle to a working proximity to the selected portion of the surface. The method includes removing the surface contaminant from the selected portion of the surface using an airflow generated by the rotary wing system.

For example, and without limitation, an embodiment of the subject matter described herein includes an unmanned aerial vehicle. The unmanned aerial vehicle includes means for aerodynamically lifting and hovering the unmanned aerial vehicle in the air. The unmanned aerial vehicle includes means for selecting a portion of an exterior surface of an object having a surface contaminant. The unmanned aerial vehicle includes means for aerodynamically maneuvering the vehicle to a working proximity to the selected portion of the surface. The unmanned aerial vehicle includes means for removing the surface contaminant from the selected portion of the surface using an airflow generated by the means for aerodynamically lifting and hovering.

DETAILED DESCRIPTION

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here.

In some implementations described herein, logic and similar implementations may include software or other control structures suitable to implement an operation. Electronic circuitry, for example, may manifest one or more paths of electrical current constructed and arranged to implement various logic functions as described herein. In some implementations, one or more media are configured to bear a device-detectable implementation if such media hold or transmit a special-purpose device instruction set operable to perform as described herein. In some variants, for example, this may manifest as an update or other modification of existing software or firmware, or of gate arrays or other programmable hardware, such as by performing a reception of or a transmission of one or more instructions in relation to one or more operations described herein. Alternatively or additionally, in some variants, an implementation may include special-purpose hardware, software, firmware components, and/or general-purpose components executing or otherwise invoking special-purpose components. Specifications or other implementations may be transmitted by one or more instances of tangible transmission media as described herein, optionally by packet transmission or otherwise by passing through distributed media at various times.

Alternatively or additionally, implementations may include executing a special-purpose instruction sequence or otherwise invoking circuitry for enabling, triggering, coordinating, requesting, or otherwise causing one or more occurrences of any functional operations described below. In some variants, operational or other logical descriptions herein may be expressed directly as source code and compiled or otherwise invoked as an executable instruction sequence. In some contexts, for example, C++ or other code sequences can be compiled directly or otherwise implemented in high-level descriptor languages (e.g., a logic-synthesizable language, a hardware description language, a hardware design simulation, and/or other such similar mode(s) of expression). Alternatively or additionally, some or all of the logical expression may be manifested as a Verilog-type hardware description or other circuitry model before physical implementation in hardware, especially for basic operations or timing-critical applications. Those skilled in the art will recognize how to obtain, configure, and optimize suitable transmission or computational elements, material supplies, actuators, or other common structures in light of these teachings.

Those skilled in the art will further recognize that at least a portion of the devices and/or processes described herein can be integrated into an image processing system. A typical image processing system may generally include one or more of a system unit housing, a video display device, memory such as volatile or non-volatile memory, processors such as microprocessors or digital signal processors, computational entities such as operating systems, drivers, applications programs, one or more interaction devices (e.g., a touch pad, a touch-sensitive screen or display surface, an antenna, etc.), control systems including feedback loops and control motors (e.g., feedback for sensing lens position and/or velocity; control motors for moving/distorting lenses to give desired focuses). An image processing system may be implemented utilizing suitable commercially available components, such as those typically found in digital still systems and/or digital motion systems.

FIG. 1schematically illustrates an example environment100in which embodiments may be implemented. The environment includes an unmanned aerial vehicle105, and an external object190having an exterior surface192. The unmanned aerial vehicle includes an airframe110. The unmanned aerial vehicle includes a rotary wing system130coupled to the airframe and configured to aerodynamically lift the vehicle in the air.FIG. 1illustrates an example embodiment where the rotary wing system includes two rotors, illustrated as rotors132A and132B. Airflow136from the two rotors is illustrated as a downwash136A and downwash136B. In an embodiment, the rotary wing system includes four rotors, such as a quadcopter. In an embodiment, the rotary wing system is configured to aerodynamically lift and hover. In an embodiment, the rotors of the rotary wing system are configured to facilitate controllably directing a portion of the airflow. For example, such configuration may include ducted rotors, illustrated by ducts134A and134B.

The unmanned aerial vehicle105includes a flight controller142configured to control a movement of the vehicle while airborne. In an embodiment, the flight controller includes a flight and guidance controller configured to control a movement and a flight path of the vehicle. In an embodiment, the flight controller is configured to control flight and hovering of the vehicle. The unmanned aerial vehicle105includes a cleansing controller144configured to manage a removal of a surface contaminant196from a selected portion194of the surface192of the external object190using a portion of an airflow generated by the rotary wing system130. For example, the surface may include an exterior surface of the external object. For example, the cleansing controller may manage directing a portion of the downwash toward the selected portion.

In an embodiment, the rotary wing system130includes a helicopter, tri-copter, quad-copter, or quad-rotor configuration. In an embodiment, the rotary wing system includes a protective structure to decrease any damage caused by a contact between the rotary wing system and the external object.

In an embodiment, the flight controller142is further configured to control a cleaning route of the vehicle105relative to the selected portion194of the surface192. For example, the cleaning route may be random, or may be a specified pattern such as a grid or raster pattern. In an example, the cleaning route or path may be determined by an optimization engine responding to a location or characteristic of the selected portion of the surface, or a characteristic of the surface contaminant196. In an embodiment, the flight controller is configured to control a cleaning route of the vehicle relative to the selected portion surface in response to a history of a previous cleaning activity. In an embodiment, the flight controller includes an autonomous flight controller. For example, the autonomous flight controller may be responsive to sensor outputs, global positioning data, or visual data. In an embodiment, the flight controller includes a remotely-controlled flight controller. In an embodiment, the flight controller includes a pre-programmed flight controller. In an embodiment, the flight controller is further configured to control a movement of the vehicle relative to the external object190. In an embodiment, the flight controller is further configured to control a movement of the vehicle relative to the external object in response to data received from a proximity sensor, illustrated as a sensor146. In an embodiment, the unmanned aerial vehicle includes the proximity sensor configured to generate data indicative of a distance and/or bearing of the external object relative to the vehicle.

In an embodiment, the surface contaminant196includes dust, particles, stain, soiling, or something that distorts transmitted light. In an embodiment, the cleansing controller144is configured to direct at least a portion of the airflow136generated by the rotary wing system130at the selected portion194of the surface192with sufficient force to dislodge the surface contaminant196. In an embodiment, the flight controller142is responsive to an instruction from the cleansing controller to direct at least a portion of the airflow136generated by the rotary wing system at the selected portion with sufficient force to dislodge the surface contaminant.

In an embodiment, the external object190includes a solar panel. In an embodiment, the external object includes an exterior window of a building or other stationary structure. In an embodiment, the external object includes a component of an electrical power transmission line. In an embodiment, the external object includes a mirror or an array of mirrors.

In an embodiment, the unmanned aerial vehicle105includes the sensor146carried by the airframe110and configured to acquire the data indicative of the surface contaminant196. In an embodiment, the sensor is configured to acquire data indicative of a contamination state of the surface. For example, a surface contamination state may include a size or characteristic of particles located on a portion of the external surface192. In an embodiment, the sensor includes an optical sensor. In an embodiment, the sensor includes an ultrasound sensor. In an embodiment, the sensor is configured to detect a response by the surface to a polarized light source. For example, an un-polarized return is likely dirt. Similarly, a presence and amount of a diffuse reflection from a polarized light source can reveal the surface contaminant. In an embodiment, the sensor includes an illumination source and sensor. For example, the illumination source may include an optical wavelength illumination source and sensor. For example, the illumination source may be a broad or narrow beam or source, or may be at one or more selected wavelengths.

In an embodiment, the unmanned aerial vehicle105includes an attachment member180having a first portion182coupled to the airframe110and a second portion184configured to removably attach to the external object190. In an embodiment, the attachment member is a controllable or steerable attachment member. In an embodiment, the second portion is configured to removably attach to the external object using a suction device. In an embodiment, the second portion is configured to removably attach to the external object using a positive engagement device. For example, the second portion may attach to an attachment point mounted on or affixed to the external object. For example, the positive engagement device may comprise a magnet (electromagnet of permanent magnet) configured to attach to a magnetically responsive material (e.g., ferromagnetic or paramagnetic material) of the external object or an attachment point affixed to it. In another embodiment, the attachment point may comprise a magnet configured to attach to a magnetically responsive material of the positive engagement device.

In an embodiment, the unmanned aerial vehicle105includes a wireless communication device148configured to communicate with a base station170. In an embodiment, the unmanned aerial vehicle includes a tether controller152configured to communicate with the base station via a tether. In an embodiment, the tether controller is configured to distribute power received from the base station (e.g., wirelessly or via the tether) to a propulsion unit of the rotary wing system. In an embodiment, the tether controller is configured to distribute power received from the base station to an energy storage device carried by the airframe110. In an embodiment, the tether controller is configured to communicate flight instructions received from the base station to the flight controller. In an embodiment, the tether controller is configured to communicate data indicative of a contamination state of the surface192received from the base station170to the cleansing controller144. In an embodiment, the tether controller is configured to communicate data indicative of a contamination state of the portion of the surface194to the base station.

In an embodiment, the base station170is a part of the external object190. In an embodiment, the base station includes a land-based mobile structure. In an embodiment, the base station includes a land-based fixed structure. In an embodiment, the base station includes another airborne device. For example, the another airborne device may include another unmanned aerial vehicle or a balloon, carrying a larger power supply.

In an embodiment, the unmanned aerial vehicle105includes a power receiver154configured to receive wirelessly transmitted energy. For example, the wirelessly transmitted energy may be transmitted by a laser beam, or by microwave. In an embodiment, the power receiver is further configured to convert the received wirelessly transmitted energy into electrical power. In an embodiment, the wirelessly transmitted energy is received from a base station or another airborne device.

FIG. 2illustrates an example operational flow200implemented in an unmanned aerial vehicle. The method includes a takeoff operation210. The takeoff operation includes launching the unmanned aerial vehicle in the air. The unmanned aerial vehicle includes a rotary wing system coupled with an airframe and configured to aerodynamically lift, hover, and maneuver the vehicle. In an embodiment, launching may include lifting the vehicle off the ground or another base of operations. In an embodiment, launching may include catapulting the vehicle into the air. In an embodiment, launching may include releasing the vehicle from a roof or from a window of a building containing the exterior surface to be cleaned. In an embodiment, the takeoff operation may be implemented by increasing a thrust of the rotary wing system130of the unmanned aerial vehicle105described in conjunction withFIG. 1to where it becomes airborne. A choosing operation220includes selecting a portion of an exterior surface of an object having a surface contaminant. In an embodiment, the choosing operation includes selecting the portion of the surface of the external object in response to data acquired by a sensor and indicative of a contamination present on the surface of the external object. In an embodiment, the choosing operation may be implemented using the cleansing controller144described in conjunction withFIG. 1. A navigation operation230includes maneuvering the vehicle to a working proximity to the selected portion of the surface. In an embodiment, the maneuvering the vehicle includes autonomously maneuvering the vehicle. In an embodiment, the maneuvering of the vehicle includes remotely maneuvering the vehicle. For example, remotely maneuvering of the vehicle may include maneuvering in response to remotely initiated instructions. In an embodiment, the navigation operation may be implemented using the flight controller142described in conjunction withFIG. 1. A cleaning operation230includes removing the surface contaminant from the selected portion of the surface using an airflow generated by the rotary wing system. In an embodiment, the cleaning operation may be implemented using the cleaning controller144described in conjunction withFIG. 1. The operational flow includes an end operation.

FIG. 3illustrates an example unmanned aerial vehicle300. The vehicle includes means310for aerodynamically lifting and hovering the unmanned aerial vehicle in the air. The vehicle includes means320for selecting a portion of an exterior surface of an object having a surface contaminant. The vehicle includes means330for aerodynamically maneuvering the vehicle to a working proximity to the selected portion of the surface. The vehicle includes means340for removing the surface contaminant from the selected portion of the surface using an airflow generated by the means for aerodynamically lifting and hovering.

FIG. 4schematically illustrates an example environment400in which embodiments may be implemented. The environment includes an unmanned aerial vehicle405, and an external object490having an exterior surface492. The unmanned aerial vehicle includes an airframe410. The unmanned aerial vehicle includes a rotary wing system430coupled to the airframe and configured to aerodynamically lift the vehicle in the air.FIG. 4illustrates an example embodiment where the rotary wing system includes two rotors, illustrated as rotors432A and432B. Airflow from the two rotors is illustrated as a downwash436A and downwash436B. In an embodiment, the rotary wing system includes four rotors, such as a quadcopter. In an embodiment, the rotary wing system is configured to aerodynamically lift and hover. In an embodiment, the rotary wing system may include ducted rotors, illustrated by ducts434A and434B.

The unmanned aerial vehicle405includes a flight controller442configured to control a movement of the vehicle while airborne. The unmanned aerial vehicle includes a cleansing controller444configured to manage removal by an onboard cleaning device446of a surface contamination496from a selected portion494of a surface492of the external object490. The unmanned aerial vehicle includes the onboard cleaning device.

In an embodiment, the cleansing controller444is configured to manage the removal by the onboard cleaning device446of the surface contamination496from the external object492while the unmanned aerial vehicle405is airborne. In an embodiment, the cleansing controller is configured to manage the removal by the onboard cleaning device of a surface contamination while the unmanned aerial vehicle is attached to the external object. In an embodiment, the cleansing controller is configured to direct an airstream emitted by the cleaning device at the selected portion of the surface with sufficient force to dislodge the surface contaminant. For example, the airstream may be a dedicated cleaning flow. For example, the cleaning device may include a nozzle or a tube configured to direct an airstream to the selected portion494.

In an embodiment, the onboard cleaning device446includes a container carried by the airframe410and configured to store air or other gas. For example, the container may be configured to store pressurized air or other gas. In an embodiment, the cleaning device includes an onboard air pump or fan carried by the airframe and configured to generate an airstream having sufficient force to dislodge the surface contaminant496. For example, the cleaning device may use local air which is pressurized by the onboard pump. For example, local air may be generated in real-time, or may be buffered using a reservoir. In an embodiment, the onboard cleaning device includes an onboard air pump or fan carried by the airframe and configured to charge or recharge a container carried by the airframe and configured to store air or other gas.

In an embodiment, the cleansing controller444is configured to manage the removal of the surface contaminant496by the onboard cleaning device446in response to data acquired by a sensor448. In an embodiment, the cleansing controller is configured to select the portion of the surface494of the external object490in response to data acquired by the sensor and indicative of the surface contamination present on the external object. In an embodiment, the cleansing controller configured to select the portion of the surface in response to the data acquired by the sensor and criteria specifying a threshold level of surface contamination. In an embodiment, the cleansing controller is configured to initiate the removal of the surface contaminant by the cleaning device in response to data acquired by a sensor. In an embodiment, the cleansing controller is configured to terminate the removal of the surface contaminant by the cleaning device in response to data acquired by a sensor.

In an embodiment, the sensor448is carried by the airframe410. In an embodiment, the sensor is a remote sensor475and the data acquired by the remote sensor is communicated to the cleansing controller444.

In an embodiment, the vehicle405includes a sensor448carried by the airframe and configured to acquire data indicative of a contamination of the portion of the surface492. For example, the sensor may include a camera, scanner, or optical sensor configured to identify areas to be cleaned. For example, the sensor may be configured to provide data indicative of whether an area has been cleaned enough. In an embodiment, the sensor includes an optical sensor configured to acquire data indicative of a contamination of the surface. For example, the optical sensor may be configured to acquire data indicative of optically distorting particles located on a portion of the external surface. In an embodiment, the sensor includes a camera or other device configured to acquire data indicative of distortions in light reflected by the surface. In an embodiment, the sensor includes an illumination source and sensor.

In an embodiment, the onboard cleaning device446includes a movable brush or actuator464carried by an elongated member460attached to the airframe by an attachment462. The cleansing controller444is configured to direct the brush or actuator to mechanically remove or loosen the surface contaminant496from the selected portion494of the surface492. For example, the brush or actuator may be used to weaken a bond between the surface contaminant and the surface so that the portion of an airflow436generated by the rotary wing system430can blow it off the surface. In an embodiment, the onboard cleaning device includes a movable scraper or squeegee, and the cleansing controller is configured to direct a movement of the scraper across the selected portion of the surface.

In an embodiment, the vehicle405includes the brush or other actuator464carried by the airframe410and configured to mechanically remove or loosen the surface contaminant from the selected portion494of the surface490.

In an embodiment, the cleansing controller444is configured to apply a cleaning fluid to the selected portion494of the surface492. For example, the applied cleaning fluid may be used to weaken a bond between the surface contaminant and the surface so that the airflow436generated by the rotary wing system430can blow it off the surface. In an embodiment, the cleaning fluid may include water, detergent surfactant, abrasive, or other substance facilitating a cleaning of the selected portion of the surface. In an embodiment, the cleaning fluid includes a spray charge configured to electrostatically de-bond the surface contaminant. In an embodiment, the cleansing controller is configured to recover and reuse at least a portion of the cleaning fluid from the surface.

In an embodiment, the vehicle405includes a reservoir456carried by the airframe410and configured to contain a cleaning fluid. In an embodiment, the vehicle includes: a receiving port458carried by the airframe and configured to receive a cleaning fluid through a conduit while airborne. In an embodiment, the port is configured to receive a cleaning fluid from a conduit coupled with a base station470. In an embodiment, the receiving port is configured to receive a cleaning fluid from a conduit coupled with another unmanned aerial vehicle.

In an embodiment, the vehicle405includes a wireless communication device454configured to communicate with the base station470. In an embodiment, the vehicle includes a tether controller459configured to communicate with the base station via a tether. In an embodiment, the tether controller is configured to receive a cleaning fluid from a base station. For example, the cleaning fluid may be communicated directly to the cleaning controller for usage, or may be transferred to the reservoir456for later usage.

In an embodiment, the base station470includes another airborne device. For example, the another airborne device may include another unmanned aerial vehicle or a balloon, carrying a tank configured to contain a larger volume of cleaning fluid than the reservoir456.

In an embodiment, the flight controller442is further configured to counteract or cancel unwanted forces or torques created by a use of the onboard cleaning device446. In an embodiment, the flight controller is further configured to control a cleaning movement or route of the vehicle relative to the selected portion494of the surface492. For example, the cleaning route may be random, or may be a specified pattern (e.g., grid or raster). In an embodiment, the flight controller is configured to control a cleaning movement of the vehicle relative to the selected portion surface in response to a record of a previous cleaning activity. In an embodiment, the flight controller is further configured to control a movement of the vehicle relative to the external object490. In an embodiment, the flight controller is further configured to control a movement of the vehicle relative to the external object in response to data received from a proximity sensor452.

In an embodiment, the vehicle405includes the proximity sensor452configured to generate data indicative of a distance and/or bearing of the external object490relative to the vehicle. In an embodiment, the vehicle includes a power receiver457configured to receive wirelessly transmitted energy. For example, the wireless energy may include laser or microwave energy transmitted from the base station470or another airborne device. In an embodiment, the vehicle includes an attachment member480having a first portion482coupled to the airframe410and a second portion484configured to removably attach to the external object490.

FIG. 5illustrates an example operational flow500implemented in an unmanned aerial vehicle. After a start operation, the operational flow includes a takeoff operation510. The takeoff operation includes launching the unmanned aerial vehicle in the air. The unmanned aerial vehicle includes a rotary wing system configured to aerodynamically lift, hover, and maneuver the vehicle. In an embodiment, the takeoff operation may be implemented by increasing a thrust of the rotary wing system430of the unmanned aerial vehicle405described in conjunction withFIG. 4to where it becomes airborne. A choosing operation520includes selecting a portion of an exterior surface of an object having a surface contaminant. In an embodiment, the choosing operation may be implemented using the cleansing controller444described in conjunction withFIG. 4. A navigation operation530includes maneuvering the vehicle to a working proximity to the selected portion of the surface. In an embodiment, the navigation operation may be implemented using the flight controller442described in conjunction withFIG. 4. A cleaning operation540includes managing a removal of the surface contaminant from the selected portion of the surface by an onboard cleaning device. The cleaning operation may be implemented using the cleansing controller444to manage the onboard cleaning device446described in conjunction withFIG. 4. The operational flow includes an end operation.

In an embodiment, the navigation operation530includes autonomously maneuvering the vehicle. In an embodiment, the navigation operation includes maneuvering the vehicle by remote control. In an embodiment, the choosing operation520includes selecting the portion of the surface of the external object in response to data acquired by a sensor and indicative of a contamination present on the surface of the external object.

In an embodiment, the cleaning operation540further includes terminating the removal of the surface contaminant by the cleaning device in response to data acquired by a sensor. In an embodiment, the operational flow500includes supplying the onboard cleaning device with a cleaning fluid through a conduit while airborne. In an embodiment, the operational flow500receiving wirelessly transmitted energy while airborne.

FIG. 6schematically illustrates an example environment600in which embodiments may be implemented. The environment includes an unmanned aerial vehicle605, and an external object690having an exterior surface692. The unmanned aerial vehicle includes an airframe610. The unmanned aerial vehicle includes a rotary wing system630coupled to the airframe and configured to aerodynamically lift the vehicle in the air.FIG. 6illustrates an example embodiment where the rotary wing system includes two rotors, illustrated as rotors632A and632B. Airflow636from the two rotors is illustrated as a downwash636A and downwash636B. In an embodiment, the rotary wing system includes four rotors, such as a quadcopter. In an embodiment, the rotary wing system is configured to aerodynamically lift and hover. In an embodiment, the rotary wing system may include ducted rotors, illustrated by ducts634A and634B.

The unmanned aerial vehicle605includes a flight controller642configured to control a movement of the vehicle while airborne. The unmanned aerial vehicle includes a cleansing controller644configured to receive a cleaning fluid from a conduit662connected to an external source, illustrated as a cleaning fluid source660, and to direct the cleaning fluid at a selected portion694of a surface692of an external object690.

In an embodiment, the aerial vehicle605includes a directionally controllable nozzle680configured to direct the cleaning fluid682at the selected portion694of the surface692of the external object690. In an embodiment, the cleansing controller644is configured to control the directionally controllable nozzle. In an embodiment, the conduit662is coupled between the vehicle and a base station670. In an embodiment, the base station includes another airborne device.

In an embodiment, the vehicle605includes a sensor648carried by the airframe610and configured to acquire data indicative of the surface contaminant696. In an embodiment, the cleansing controller644is further configured to manage removal of the surface contaminant by the cleaning fluid682in response to the data acquired by the sensor. In an embodiment, the unmanned aerial vehicle605includes a wireless communication device652configured to communicate with a base station670.

FIG. 7illustrates an example operational flow700implemented in an unmanned aerial vehicle. After a start operation, the operational flow includes a takeoff operation710. The takeoff operation includes launching the unmanned aerial vehicle in the air. The unmanned aerial vehicle includes a rotary wing system configured to aerodynamically lift, hover, and maneuver the vehicle. In an embodiment, the takeoff operation may be implemented by increasing a thrust of the rotary wing system630of the unmanned aerial vehicle605described in conjunction withFIG. 6to where it becomes airborne. A choosing operation720includes selecting a portion of an exterior surface of an object having a surface contaminant. In an embodiment, the choosing operation may be implemented using the cleansing controller644described in conjunction withFIG. 6. A navigation operation730includes maneuvering the vehicle to a position within a working proximity to the selected portion of the surface. In an embodiment, the navigation operation may be implemented using the flight controller642described in conjunction withFIG. 6. A loading operation740includes receiving a cleaning fluid from a conduit connected to an external source. In an embodiment, the loading operation may be implemented using the tether controller646to manage reception of the cleaning fluid682via the conduit662from the cleaning fluid source660as described in conjunction withFIG. 6. A washing operation750includes directing the cleaning fluid at the selected portion of the surface. In an embodiment, the washing operation may be implemented using the directionally controllable nozzle680described in conjunction withFIG. 6. A separation operation760includes removing the surface contaminant from the selected portion of the surface. The operational flow includes an end operation.

All references cited herein are hereby incorporated by reference in their entirety or to the extent their subject matter is not otherwise inconsistent herewith.

In some embodiments, “configured” includes at least one of designed, set up, shaped, implemented, constructed, or adapted for at least one of a particular purpose, application, or function.

It will be understood that, in general, terms used herein, and especially in the appended claims, are generally intended as “open” terms. For example, the term “including” should be interpreted as “including but not limited to.” For example, the term “having” should be interpreted as “having at least.” For example, the term “has” should be interpreted as “having at least.” For example, the term “includes” should be interpreted as “includes but is not limited to,” etc. It will be further understood that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of introductory phrases such as “at least one” or “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a receiver” should typically be interpreted to mean “at least one receiver”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, it will be recognized that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “at least two chambers,” or “a plurality of chambers,” without other modifiers, typically means at least two chambers).

In those instances where a phrase such as “at least one of A, B, and C,” “at least one of A, B, or C,” or “an [item] selected from the group consisting of A, B, and C,” is used, in general such a construction is intended to be disjunctive (e.g., any of these phrases would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together, and may further include more than one of A, B, or C, such as A1, A2, and C together, A, B1, B2, C1, and C2together, or B1and B2together). It will be further understood that virtually any disjunctive word or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”

With respect to the appended claims the recited operations therein may generally be performed in any order. Also, although various operational flows are presented in a sequence(s), it should be understood that the various operations may be performed in other orders than those which are illustrated, or may be performed concurrently. Examples of such alternate orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, reverse, or other variant orderings, unless context dictates otherwise. Use of “Start,” “End,” “Stop,” or the like blocks in the block diagrams is not intended to indicate a limitation on the beginning or end of any operations or functions in the diagram. Such flowcharts or diagrams may be incorporated into other flowcharts or diagrams where additional functions are performed before or after the functions shown in the diagrams of this application. Furthermore, terms like “responsive to,” “related to,” or other past-tense adjectives are generally not intended to exclude such variants, unless context dictates otherwise.