Device for moving on a vertical surface, tool for cleaning a vertical surface and system for cleaning a vertical surface

Abstract

Apparatus for moving on a substantially vertical surface, a tool for cleaning a substantially vertical surface and a system for cleaning a substantially vertical surface are disclosed.

Description

Field of the invention

[0001] The present invention relates to the field of devices for moving on a vertical surface, tools for cleaning a vertical surface, and systems for cleaning a vertical surface, and more particularly to autonomous devices, tools, and systems thereof. BACKGROUND

[0003] Typically, vertical surfaces of high-rise buildings, such as windows and walls of skyscrapers, are cleaned manually by high-rise cleaning professionals. Current difficulties associated with manual cleaning can include fall risk, inaccuracy of manual labor, and / or unavailability of manual labor. The need for autonomous devices, tools, and systems for cleaning vertical surfaces of high-rise buildings is longstanding. SUMMARY

[0005] Some embodiments of the present invention can provide a device for moving on a substantially vertical surface, the device can include a frame, a first arm connected to the frame and rotatable relative to the frame about a first axis, a first vacuum cup connected to the first arm, a second arm connected to the frame and rotatable relative to the frame about a second axis substantially parallel to the first axis, a second vacuum cup connected to the second arm, a vacuum pump in fluid communication with the first vacuum cup and the second vacuum cup, a first valve for controlling creation and release of a vacuum in the first vacuum cup, a second valve for controlling creation and release of a vacuum in the second vacuum cup, and a controller for controlling rotation of the first arm and the second arm and operation of the vacuum pump, the first valve, and the second valve.

[0006] Some embodiments of the present invention can provide a tool for cleaning a substantially vertical surface, the tool can include a body having a first body end, a second body end, and a central longitudinal body axis extending between the first body end and the second body end, a cable connector for connecting the body to a cable, one or two brushes each rotatably connected to one of the first body end or the second body end, one or more propellers disposed on the body, wherein at least one of the one or more propellers generates a thrust in a direction substantially perpendicular to the central longitudinal body axis to push the tool against the substantially vertical surface, and a cleaning tool controller for controlling rotation of the one or more propellers.

[0007] Some embodiments of the present application can provide a system for cleaning a substantially vertical surface, the system can include: a device for moving on a substantially vertical surface, the device can include: a cleaning tool connector, a frame, a first arm connected to the frame and rotatable relative to the frame about a first axis, a first vacuum cup connected to the first arm, a second arm connected to the frame and rotatable relative to the frame about a second axis substantially parallel to the first axis, a second vacuum cup connected to the second arm, a vacuum pump in fluid communication with the first vacuum cup and the second vacuum cup, a first valve for controlling the creation of a vacuum in the first vacuum cup and the release of the vacuum from the first vacuum cup, a second valve for controlling the creation of a vacuum in the second vacuum cup and the release of the vacuum from the second vacuum cup, and a controller for controlling the rotation of the first arm and the second arm and the operation of the vacuum pump, the first valve, and the second valve; and a cleaning tool connectable to the cleaning tool connector, the cleaning tool being movable relative to the device in a substantially vertical direction to clean the substantially vertical surface.

[0008] Some embodiments of the present application can provide a system for cleaning a substantially vertical surface, the system can include: a track mountable on top of a substantially vertical surface; a slider movable along the track and including a cleaning tool connector; and a cleaning tool connectable to the cleaning tool connector, the cleaning tool being movable relative to the slider in a substantially vertical direction to clean the substantially vertical surface. SUMMARY

[0010] For a better understanding of embodiments of the present application and to show how the same can be carried into effect, reference will now be made, purely by way of example, to the accompanying drawings in which like numerals designate corresponding elements or sections throughout.

[0011] In the drawings:

[0012] Figure 1A , Figure 1B , Figure 1C , Figure 1D and Figure 1E are schematic views of a device for moving on a substantially vertical surface according to some embodiments of the present application;

[0013] Figure 1F and Figure 1G are 3D views of a device for moving on a substantially vertical surface according to some embodiments of the present application;

[0014] Figure 1H and Figure 1I are respectively a schematic view and a 3D view of a device for moving on a substantially vertical surface and including a sub-frame for horizontal stabilization of a frame of the device according to some embodiments of the present application;

[0015] Figure 2 A schematic illustration of horizontal movement of a device during operation on a vertical surface, in accordance with some embodiments of the application;

[0016] Figure 3 A schematic illustration of vertical movement of a device during operation on a vertical surface, in accordance with some embodiments of the application;

[0017] Figure 4 A schematic illustration of vertical movement of a device during operation on a vertical surface, in accordance with some embodiments of the application, the device comprising a sub-frame for horizontal stabilization of its frame;

[0018] Figure 5A A schematic illustration of a base unit, a device for moving on a vertical surface and a building having a substantially vertical surface, in accordance with some embodiments of the application;

[0019] Figure 5B A block diagram of a base unit, in accordance with some embodiments of the application;

[0020] Figure 5C A block diagram of a base unit having a compartment for accommodating a device for moving on a vertical surface, in accordance with some embodiments of the application;

[0021] Figure 6A , Figure 6B and Figure 6C A schematic illustration of a vertical surface cleaning tool comprising a propeller disposed within an opening formed between a front surface and a rear surface of a body of the tool and two opposing propellers disposed on opposing lateral body surfaces of the tool, in accordance with some embodiments of the application;

[0022] Figure 6D A 3D illustration of a vertical surface cleaning tool of Figure 6A , Figure 6B and Figure 6C , in accordance with some embodiments of the application;

[0023] Figure 7 A schematic illustration of a vertical surface cleaning tool overcoming an obstacle during operation on a vertical surface, in accordance with some embodiments of the application;

[0024] Figure 8 A schematic illustration of a vertical surface cleaning tool maintaining a desired vertical orientation relative to a vertical surface during operation on the vertical surface, in accordance with some embodiments of the application;

[0025] Figure 9 A 3D illustration of a vertical surface cleaning tool comprising two propellers, in accordance with some embodiments of the application;

[0026] Figure 10A and Figure 10B is a 3D view of a vertical surface cleaning tool according to some embodiments of the application, comprising three propellers disposed within openings formed through a front body surface and a rear body surface of the tool;

[0027] Figure 10C is a partial cross-sectional view of a vertical surface cleaning tool according to some embodiments of the application, along the line AA of Figures 10A-10B

[0028] Figure 11A is a 3D view of a system for cleaning vertical surfaces of a building according to some embodiments of the application;

[0029] Figure 11B and Figure 11C is a 3D view of a device for moving on a substantially vertical surface and a tool for cleaning vertical surfaces according to some embodiments of the application; and

[0030] Figure 12 is a schematic view of a system for cleaning vertical surfaces of a building according to some embodiments of the application.

[0031] It is to be understood that the elements shown in the figures are not necessarily drawn to scale. For example, the dimensions of some of the elements can be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals can be repeated among the figures to indicate corresponding or analogous elements.

[0032] DETAILED DESCRIPTION OF THE INVENTION

[0033] In the following description, various aspects of the present application are described. For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the present application. However, it will also be apparent to one skilled in the art that the present application can be practiced without the specific details presented herein. Furthermore, well-known features can have been omitted or simplified in order not to obscure the present application. With specific reference to the drawings, it is to be understood that the illustrative details are intended to be exemplary only and are not to be construed as limiting the scope of the application as defined by the appended claims. Specifically, the present application is intended to encompass all possible combinations of the described aspects. In other words, if a number of aspects are described as possible options, the present application contemplates any one or a combination of those aspects. In this regard, the description is not to be construed as limiting the scope of the application as defined by the appended claims. Specifically, the present application is intended to encompass all possible combinations of the described aspects. In other words, if a number of aspects are described as possible options, the present application contemplates any one or a combination of those aspects. In this regard, the description is not to be construed as limiting the scope of the application as defined by the appended claims.

[0034] ​Before one or more embodiments of the application are described in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of the components set forth in the following description or illustrated in the drawings. The application is applicable to other embodiments and arrangements of parts that can be apparent to those skilled in the art upon reading the following description. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting.

[0035] Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as "processing," "computing," "calculating," "determining," "enhancing," or the like, can refer to the action and / or processes of a computer or computing system, or similar electronic computing device, that manipulate and / or transform data represented as physical (e.g., electronic) quantities within the computing system's registers and / or memories into other data similarly represented as physical quantities within the computing system's memories, registers or other such information storage, transmission or display devices. Any of the disclosed modules or units can be implemented, at least partially, by a computer processor.

[0036] Reference is now made to Figure 1A , Figure 1B , Figure 1C , Figure 1D and Figure 1E , which are schematic illustrations of a device 100 for moving on a substantially vertical surface, in accordance with some embodiments of the present application. Reference is also made to Figure 1F and Figure 1G , which are 3D illustrations of a device 100 for moving on a substantially vertical surface, in accordance with some embodiments of the present application.

[0037] The device 100 can move on a vertical (or substantially vertical) surface, such as, for example, a wall and / or a window of a building. The substantially vertical surface on which the device 100 can move can be slightly tilted with respect to the normal to the surface of the ground, for example, by an angle of from 0 degrees to 20 degrees or more. The device 100 can move on the vertical (or substantially vertical) surface in a horizontal direction and / or in a vertical direction.

[0038] The device 100 can include a frame 105. The device 100 can include a tool connector 107. The tool connector 107 can be connected to the frame 105 or can be part of the frame 105. The tool connector 107 can connect a tool to the device 100. For example, a tool for cleaning a vertical surface (e.g., tools 600, 900, 1000 described below) can be connected to the device 100 through the tool connector 107. Additional tools that can be connected to the device 100 using the tool connector 107 can include a camera (e.g., an infrared camera, etc.), an inspection tool (e.g., a solar panel inspection tool, etc.), a projector, a light, a clamping tool, or any other suitable tool.

[0039] The device 100 can include a housing 108. The housing 108 can be connected to the frame 105 or can be part of the frame 105 (e.g., as shown in Figure 1F and Figure 1G The housing 108 can house at least a portion of the tool connector 107. The housing 108 can releasably house a tool connected to the device 100 using the tool connector 107.

[0040] The device 100 can include a base unit connector 109. The base unit connector 109 can be connected to the frame 105 or can be part of the frame 105. The base unit connector 109 can connect the device 100 to, for example, a base unit (e.g., the roof base unit 500 described below), secure the device 100 to the base unit, and / or supply at least power to the device 100 from the base unit.

[0041] The device 100 can include a first arm 110. The first arm 110 can be connected to the frame 105 and can rotate relative to the frame 105 about a first axis 112. In some embodiments, the first arm 110 is connected to the frame 105 at a first end 110a thereof. The device 100 can include a first actuator 114 to rotate the first arm 110 about the first axis 112.

[0042] The device 100 can include a second arm 120. The second arm 120 can be connected to the frame 105 and can rotate relative to the frame 105 about a second axis 122. The second axis 122 can be parallel (or substantially parallel) to the first axis 112. In some embodiments, the second arm 120 is connected to the frame 105 at a first end 120a thereof. The device 100 can include a second actuator 124 to rotate the second arm 120 about the second axis 122. In some embodiments, the first arm 110 and the second arm 120 are connected to opposite sides of the frame 105 opposite each other.

[0043] The device 100 can include a first vacuum chuck 130. The first vacuum chuck 130 can be connected to the first arm 110. In some embodiments, the first vacuum chuck 130 is connected to the second end 110b of the first arm 110. The first vacuum chuck 130 can include one or more first cavities 134.

[0044] The device 100 can include a second vacuum chuck 140. The second vacuum chuck 140 can be connected to the second arm 120. In some embodiments, the second vacuum chuck 140 is connected to the second end 120b of the second arm 120. The second vacuum chuck 140 can include one or more second cavities 144.

[0045] The device 100 can include a vacuum pump 156 for generating a vacuum. The device 100 can include a first valve 135 to control the generation of a vacuum in the first vacuum chuck 130 and the release of a vacuum from the first vacuum chuck 130 (e.g., the generation of a vacuum in / from the one or more first cavities 134 of the first vacuum chuck 130). The device 100 can include a second valve 145 to control the generation of a vacuum in the second vacuum chuck 140 and the release of a vacuum from the second vacuum chuck 140 (e.g., the generation of a vacuum in / from the one or more second cavities 144 of the second vacuum chuck 140). In some embodiments, the device 100 includes a first vacuum pump for generating a vacuum in the first vacuum chuck 130 and a second vacuum pump (not shown) for generating a vacuum in the second vacuum chuck 140.

[0046] In some embodiments, the first vacuum chuck 130 and the first arm 110 can rotate relative to each other about a third axis 136 that is parallel (or substantially parallel) to the first axis 112. The device 100 can include a third actuator 137 to cause the first vacuum chuck 130 and the first arm 110 to rotate relative to each other about the third axis 136. In some embodiments, the second vacuum chuck 140 and the second arm 120 can rotate relative to each other about a fourth axis 146 that is parallel (or substantially parallel) to the second axis 122. The device 100 can include a fourth actuator 147 to cause the second vacuum chuck 140 and the second arm 120 to rotate relative to each other about the fourth axis 146.

[0047] In some embodiments, the first vacuum chuck 130 and the first arm 110 can rotate relative to each other about a fifth axis 138 that is perpendicular (or substantially perpendicular) to the first axis 112. The apparatus 100 can include a fifth actuator 139 to cause the first vacuum chuck 130 and the first arm 110 to rotate relative to each other about the fifth axis 138. In some embodiments, the second vacuum chuck 140 and the second arm 120 can rotate relative to each other about a sixth axis 148 that is perpendicular (or substantially perpendicular) to the second axis 122. The apparatus 100 can include a sixth actuator 149 to cause the second vacuum chuck 140 and the second arm 120 to rotate relative to each other about the sixth axis 148.

[0048] The apparatus 100 can include a controller 150. The controller 150 can be connected to or disposed on the frame 105. The controller 150 can control the operation of the vacuum pump 156, the first valve 135 and the second valve 145, and the rotation of the first arm 110 and the second arm 120 and the first vacuum chuck 130 and the second vacuum chuck 140 to cause the apparatus 100 to move in a desired direction (e.g., as described below with respect to FIGS. 2-4) on a vertical surface. Figure 2 、 Figure 3 and Figure 4

[0049] The controller 150 can control the rotation of the first arm 110 and the second arm 120 relative to the frame 105. The controller 150 can control the rotation of the first arm 110 and the first vacuum chuck 130 relative to each other. The controller 150 can control the rotation of the second arm 120 and the second vacuum chuck 140 relative to each other. The controller 150 can control the actuators 114, 124, 137, 139, 147, 149 to produce the rotation of the various components of the apparatus 100.

[0050] The controller 150 can control the vacuum pump 156 to produce a vacuum. The controller 150 can control the first valve 135 to alternately produce a vacuum in the first vacuum chuck 130 and release the vacuum from the first vacuum chuck 130 to alternately attach the first vacuum chuck 130 to a vertical (or substantially vertical) surface and detach the first vacuum chuck 130 from the vertical (or substantially vertical) surface. The controller 150 can control the second valve 145 to alternately produce a vacuum in the one or more cavities 144 of the second vacuum chuck 140 and release the vacuum from the one or more cavities 144 of the second vacuum chuck 140 to alternately attach the second vacuum chuck 140 to a vertical (or substantially vertical) surface and detach the second vacuum chuck 140 from the vertical (or substantially vertical) surface.

[0051] ​In some embodiments, the device 100 includes one or more cameras 152. For example, the device 100 can include an array of cameras 152. The cameras 152 can be connected to or disposed on the frame 105 of the device 100 (e.g., as shown in Figure 1D The controller 150 can control the vacuum pump 156, the first and second valves 135, 145, the rotation of the first and second arms 110, 120, and the rotation of the first and second vacuum cups 130, 140 based on images from the cameras 152, e.g., to cause the device 100 to move in a desired direction on a vertical (or substantially vertical) surface, to overcome obstacles and / or to find a portion of the vertical (or substantially vertical) surface suitable for vacuum suction attachment.

[0052] In some embodiments, the device 100 includes a first set of sensors 160 and a second set of sensors 162. For example, the first set of sensors 160 can be disposed in the first vacuum cup 130 (e.g., in one or more cavities 134 of the first vacuum cup 130), and the second set of sensors 162 can be disposed in the second vacuum cup (e.g., in one or more cavities 144 of the second vacuum cup 140). Each of the first and second sets of sensors 160, 162 can include a distance sensor (e.g., such as a ToF sensor) 160a, 162a, a pressure sensor 160c, 162c, an optical sensor 160e, 162e, or any other suitable sensor.

[0053] For example, the controller 150 can determine, based on output signals from the first and second sets of sensors 160, 162, whether a portion of a vertical surface in front of the first and second vacuum cups 130, 140, respectively, is suitable for vacuum suction attachment (e.g., sufficiently smooth) and / or contains an obstacle (e.g., a window frame, etc.) that can prevent the first and second vacuum cups 130, 140, respectively, from attaching to that portion of the vertical surface. The controller 150 can control the first and second valves 135, 145, and the rotation of the first and second arms 110, 120 and the first and second vacuum cups 130, 140 based on output signals from the first and second sets of sensors 160, 162, e.g., to overcome obstacles and / or to find a portion of the vertical surface suitable for vacuum suction attachment.

[0054] In some embodiments, the device 100 includes a communication unit 166. The communication unit 166 can be connected to or disposed on the frame 105. In some embodiments, the communication unit 166 is a wireless communication unit including a modem and an antenna. The controller 150 can use the communication unit 166 to send and / or receive information.

[0055] Reference is now made to Figure 1H and Figure 1I Figures 1 and 2 are schematic and 3D views, respectively, of a device 100 for moving on a substantially vertical surface and comprising a sub-frame 170 for horizontal stabilization of a frame 105 of the device, according to some embodiments of the present application.

[0056] In some embodiments, the device 100 comprises a sub-frame 170 (e.g., as shown in Figure 1H and Figure 1I The sub-frame 170 can be connected to the frame 105. The sub-frame 170 and the frame 105 can be rotatable relative to each other about a seventh axis 172 perpendicular (or substantially perpendicular) to the first axis 112 and the second axis 122. The device 100 can comprise a seventh actuator 174 to rotate the sub-frame 170 and the frame 105 relative to each other.

[0057] The first arm 110 and the second arm 120 can be connected to the frame 105 via the sub-frame 170. For example, the first arm 110 can be connected (e.g., at its first end 110a) to the sub-frame 170 and rotatable about the first axis 112 relative to the sub-frame 170. Also in this example, the second arm 120 can be connected (e.g., at its first end 120a) to the sub-frame 170 and rotatable about the second axis 122 relative to the sub-frame 170.

[0058] In some embodiments, the device 100 comprises a third set of sensors 176 (e.g., as shown in Figure 1H The third set of sensors 176 can be connected to or disposed on the frame 105. The third set of sensors 176 can comprise inertial sensors, such as one or more accelerometer sensors, one or more gyroscope sensors, or any other suitable sensors. When the device 100 is attached to or disposed on a vertical surface by the first vacuum cup 130 and / or the second vacuum cup 140, the controller 150 can control the rotation of the frame 105 relative to the sub-frame 170 based on at least one of output signals from the third set of sensors 176, output signals from encoders of the actuators 114, 124, 137, 139, 147, 149, and / or images from the camera 152 to maintain a horizontal (or substantially horizontal) orientation of the frame 105 in real-world coordinates. For example, Figures 400a-400d in Figure 4 schematically show movement of the device 100 with the sub-frame 170 along a vertical direction 402 on a vertical surface 90.

[0059] In some embodiments, device 100 includes a fourth set of sensors 165. Based on output signals from the fourth set of sensors 165 and / or camera 152, controller 150 can control the movement of components of device 100 on a substantially vertical surface and navigate device 100 (e.g., as described herein). The fourth set of sensors 165 may include one or more barometers, one or more Global Navigation Satellite System (GNSS) sensors (e.g., Global Positioning System (GPS) sensors), or any other suitable sensors that can be used to navigate device 100 on a substantially vertical surface. The fourth set of sensors 165 may be attached to, for example, the frame 105 of device 100 or disposed on, for example, the frame 105 of device 100 (e.g., as described herein). Figure 1D (As shown). Controller 150 can control the movement and navigation of components of device 100 on a vertical (or substantially vertical) surface based on output signals from at least one of the following: a first set of sensors 160, a second set of sensors 162, a camera 152, a third set of sensors 176, a fourth set of sensors 165, and / or encoders (e.g., as described herein) of actuators 114, 124, 137, 139, 147, 149.

[0060] Now for reference Figure 2 , Figure 2 A schematic diagram is shown of the horizontal movement of the device 100 during operation on a vertical surface 90 according to some embodiments of the present invention.

[0061] Figures 200a to 200g schematically show top views of the vertical surface 90 and the device 100. Figure 2 The figures 200a to 200g schematically illustrate the movement of the device 100 along the horizontal direction 202 on the vertical surface 90.

[0062] In Figure 200a, due to the operation of vacuum pump 156 and first valve 135 and second valve 145, device 100 is attached to vertical surface 90 via first vacuum suction cup 130 and second vacuum suction cup 140, respectively. For clarity, vacuum pump 156, first valve 135, second valve 145 and controller 150 are... Figure 2 Not shown in the figure. At this stage, device 100 is stationary. To detach the second vacuum chuck 140 from the vertical surface 90, controller 150 may control the second valve 145 to release pressure from one or more chambers 144 of the second vacuum chuck 140 and cause the second arm 120 to rotate relative to the frame 105 about the second axis 122 in a first direction as indicated by arrow 204 in Figure 200a. At this stage, due to the operation of vacuum pump 156 and the first valve 135, device 100 is attached to the vertical surface 90 via the first vacuum chuck 130.

[0063] The controller 150 can also cause the first arm 110 (which is attached to the vertical surface 90) to rotate relative to the first vacuum cup 130 about the third axis 136 in a first direction as indicated by arrow 208 in the illustration 200b, and cause the second arm 120 to rotate relative to the frame 105 in a second direction as indicated by arrow 206 in the illustration 200b, to move the second vacuum cup 140 adjacent (or substantially adjacent) to the first vacuum cup 130 in the horizontal direction 202.

[0064] The controller 150 can also determine, for example, based on output signals from the second set of sensors 162 and / or the camera 152, whether a portion of the vertical surface 90 in front of the second vacuum cup 140 is suitable for vacuum suction attachment or contains an obstacle (e.g., as described above with respect to Figure 1A , Figure 1B , Figure 1C , Figure 1D and Figure 1E . For the sake of clarity, the second set of sensors 162 and the camera 152 are not shown in Figure 2 . If the controller 150 determines that the portion of the vertical surface 90 is not suitable for vacuum suction attachment or contains an obstacle, the controller 150 can cause the second arm 120 to rotate relative to the frame 105 and / or relative to the second vacuum cup 140 and / or cause the first arm 110 to rotate relative to the frame 105 and / or relative to the first vacuum cup 130 to change the position of the second vacuum cup 140 relative to the vertical surface 90 to find another portion of the vertical surface 90 that is suitable for vacuum suction attachment or does not contain an obstacle. Upon determining that the portion of the vertical surface 90 in front of the second vacuum cup 140 is suitable for vacuum suction attachment and does not contain an obstacle, the controller 150 can cause the second arm 120 to rotate in the second direction as indicated by arrow 210 in the illustration 200c to bring the second vacuum cup 140 into contact with the vertical surface 90. The controller 150 can also control the second valve 145 to generate a vacuum in the second vacuum cup 140, thereby attaching the second vacuum cup 140 to the vertical surface 90. At this stage, as shown in the illustration 200d, the device 100 is attached to the vertical surface 90 by the first vacuum cup 130 and the second vacuum cup 140, respectively, due to the operation of the vacuum pump 156 and the first valve 135 and the second valve 145.

[0065] To detach the first vacuum cup 130 from the vertical surface 90, the controller 150 can control the first valve 135 to release the vacuum from the first vacuum cup 130, and cause the first arm 110 to rotate relative to the frame 105 about the first axis 112 in a second direction as indicated by arrow 212 in the illustration 200e. At this stage, the device 100 is attached to the vertical surface 90 by the second vacuum cup 140 due to the operation of the vacuum pump 156 and the first valve 135.

[0066] Controller 150 can also cause second arm 120 to rotate relative to second vacuum chuck 140 (which is attached to vertical surface 90) in a first direction, as indicated by arrow 214 in diagram 200f, and cause first arm 110 to rotate in a second direction, as indicated by arrow 216 in diagram 200f, to cause first vacuum chuck 130 to move in horizontal direction 202 away from second vacuum chuck 140.

[0067] Controller 150 can also determine, for example, based on output signals from first set of sensors 160 and / or camera 152, whether a portion of vertical surface 90 in front of first vacuum chuck 130 is suitable for vacuum suction attachment or contains an obstacle. For the sake of clarity, first set of sensors 160 is not shown in Figure 2 Upon determining that the portion of vertical surface 90 in front of first vacuum chuck 130 is suitable for vacuum suction attachment, controller 150 can cause first arm 110 to rotate in a first direction, as indicated by arrow 218 in diagram 200g, to cause first vacuum chuck 130 to come into contact with vertical surface 90. Controller 150 can also control first valve 135 to create a vacuum in first vacuum chuck 130, thereby attaching first vacuum chuck 130 to vertical surface 90. At this stage, due to the operation of vacuum pump 156 and first and second valves 135 and 145, respectively, device 100 is attached to vertical surface 90 by first and second vacuum chucks 130 and 140.

[0068] It is noted that, Figure 2 diagrams 200a-200g, an example of a single movement cycle of device 100 in a horizontal direction on vertical surface 90 is shown. It is also noted that during horizontal movement, device 100 can not necessarily need to move through each of the stages or in the exact same order as shown and described in Figure 2 diagrams 200a-200g.

[0069] Reference is now made to Figure 3 , Figure 3 diagrams 300a-300d in Figs. 1-3, respectively, schematically illustrate front views of vertical surface 90 and device 100.

[0070] Figure 3 diagrams 300a-300d in Figs. 1-3, respectively, schematically illustrate front views of vertical surface 90 and device 100. Figure 3 diagrams 300a-300d in Figs. 1-3, respectively, schematically illustrate front views of vertical surface 90 and device 100.

[0071] In Figure 300a, due to the operation of vacuum pump 156 and first valve 135 and second valve 145, device 100 is attached to vertical surface 90 via first vacuum suction cup 130 and second vacuum suction cup 140, respectively. At this stage, device 100 is horizontal (or substantially horizontal). For clarity, vacuum pump 156, first valve 135, second valve 145, and controller 150 are not shown... Figure 3 As shown in Figure 300a. To detach the first vacuum chuck 130 from the vertical surface 90, the controller 150 can control the first valve 135 to release vacuum from the first vacuum chuck 130 and cause the second arm 120 to rotate relative to the second vacuum chuck 140 about a sixth axis 148, for example, in a first direction indicated by arrow 304 in Figure 300a. During this stage, due to the operation of the vacuum pump 156 and the second valve 145, the device 100 is attached to the vertical surface 90 via the second vacuum chuck 140.

[0072] The controller 150 can also determine, based on output signals from the first set of sensors 160 and / or the camera 152, whether a portion of the vertical surface 90 in front of the first vacuum suction cup 130 is suitable for vacuum suction attachment or contains an obstacle. For clarity, in Figure 3 The first set of sensors 160 is not shown. When the portion of the vertical surface 90 in front of the first vacuum suction cup 130 is determined to be suitable for vacuum suction attachment and free of obstructions, the controller 150 can control the first valve 135 to generate a vacuum in the first vacuum suction cup 130 to attach the first vacuum suction cup 130 to the vertical surface 90. During this stage, due to the operation of the vacuum pump 156 and the first valve 135 and the second valve 145, the device 100 is attached to the vertical surface 90 via the first vacuum suction cup 130 and the second vacuum suction cup 140, respectively.

[0073] To detach the second vacuum suction cup 140 from the vertical surface 90, the controller 150 can control the second valve 145 to release vacuum from the second vacuum suction cup 140 and rotate the first arm 110 relative to the first vacuum suction cup 130 (attached to the vertical surface 90) about the fifth axis 138 in the second direction indicated by arrow 306 in Figure 300b. During this phase, due to the operation of the vacuum pump 156 and the first valve 135, the device 100 is attached to the vertical surface 90 via the first vacuum suction cup 130. Once it is determined that a portion of the vertical surface 90 in front of the second vacuum suction cup 140 is suitable for vacuum suction attachment and does not contain any obstructions, the controller 150 can control the second valve 145 to generate a vacuum in the second vacuum suction cup 140 to attach the second vacuum suction cup 140 to the vertical surface 90. During this phase, due to the operation of the vacuum pump 156 and the first valve 135 and the second valve 145, the device 100 is attached to the vertical surface 90 via the first vacuum suction cup 130 and the second vacuum suction cup 140, respectively.

[0074] To detach the first vacuum cup 130 from the vertical surface 90, the controller 150 can control the first valve 135 and cause the second arm 120 to rotate relative to the second vacuum cup 140 (e.g., which is attached to the vertical surface 90) in a first direction, as illustrated by arrow 308 in diagram 300c. At this stage, the device 100 is attached to the vertical surface 90 by the second vacuum cup 140, due to the operation of the vacuum pump 156 and the second valve 145. Upon determining that a portion of the vertical surface 90 in front of the first vacuum cup 130 is suitable for vacuum suction attachment and does not contain obstacles, the controller 150 can control the first valve 135 to create a vacuum in the first vacuum cup 130 to attach the first vacuum cup 130 to the vertical surface 90. At this stage, the device 100 is attached to the vertical surface 90 by the device’s first vacuum cup 130 and second vacuum cup 140, respectively, due to the operation of the vacuum pump 156 and the first valve 135 and the second valve 145. At this stage, the device 100 is horizontal (or substantially horizontal).

[0075] It is noted that, Figure 3 An example of a single movement cycle of the device 100 in one vertical direction on the vertical surface 90 is shown. It is also noted that during vertical movement, the device 100 can not necessarily need to move through each stage or in the exact same order as Figure 3 shown and described in FIGS. 400a-400d. It is also noted that the device 100 can move simultaneously in both vertical and horizontal directions.

[0076] Reference is also made to Figure 4 , Figure 4 A schematic illustration of vertical movement of the device 100, including horizontal stabilization of the frame 105 of the device 100 during operation on the vertical surface 90, is shown, in accordance with some embodiments of the application.

[0077] Figure 4 The diagrams 400a-400d in FIGS. 400a-400d show front views of the vertical surface 90 and the device 100. Figure 4 The diagrams 400a-400d in FIGS. 400a-400d schematically show movement of the device 100, including the sub-frame 170, in a vertical direction 402 on the vertical surface 90. As Figure 4 shown, the frame 105 of the device 100 remains horizontal during vertical movement of the device 100.

[0078] Reference is now made to Figure 5A , Figure 5A is a schematic illustration of a base unit 500, a device 100 for movement on a vertical surface, and a building 80 having a vertical surface 90, in accordance with some embodiments of the application.

[0079] Reference is also made to Figure 5B , Figure 5B is a block diagram of a base unit 500 according to some embodiments of the application.

[0080] Reference is also made to Figure 5C , Figure 5C is a block diagram of a base unit 500 according to some embodiments of the application, having a compartment 530 for housing a device 100 for moving on a vertical surface.

[0081] Some embodiments of the application can provide a base unit 500. The base unit 500 can be mounted on top of a vertical surface 90, for example on a roof 82 of a building 80. The base unit 500 can connect, secure and at least provide power to a device 100 for moving on a vertical (or substantially vertical) surface 90. For example, the base unit 500 can be permanently mounted on the roof 82. In another example, the base unit 500 can be removably mounted on the roof 82.

[0082] In some embodiments, the base unit 500 includes a controller 510 to control components of the base unit 500.

[0083] In some embodiments, the base unit 500 includes a communication subunit 512 for sending and receiving information. For example, the communication subunit 512 can send information to the device 100 and receive information from the device 100. In some embodiments, the communication subunit 512 is a wireless communication subunit including a modem and an antenna.

[0084] In some embodiments, the base unit 500 includes a power subunit 514. The power subunit 514 can be connected to a power line of the building 80. In some embodiments, the base unit 500 includes one or more uninterruptible power supply (UPS) subunits 515 to supply power in case of failure of the power line of the building 80.

[0085] In some embodiments, the base unit 500 includes a cable 516. The cable 516 can be connected to the base unit 500 at a first end thereof, and the cable 516 can be connected to the base unit connector 109 of the device 100 at a second end thereof. The cable 516 can secure the device 100 to the base unit 500 (and thus to the roof 82 of the building 80). For example, in the event that the device 100 is accidentally detached from the vertical surface 90 of the building 80, the cable 516 can prevent the device 100 from falling to the ground. In some embodiments, the cable 516 supplies at least power from the power supply subunit 514 and / or the UPS subunit 515 of the base unit 500 to the device 100. In some embodiments, the cable 516 supplies a communication channel to the device 100. In some embodiments, the cable 516 is a tether cable. In some embodiments, the base unit 500 includes a different cable for securing the device 100 and for supplying power to the device 100.

[0086] In some embodiments, the base unit 500 includes a winch subunit 518. The winch subunit 518 can alternately wind and unwind the cable 516. In some embodiments, the base unit 500 includes a cable inspection subunit 520. The cable inspection subunit 520 can be disposed adjacent to the winch subunit 518, and can inspect the cable 516 during winding and / or unwinding of the cable 516 by the winch subunit 518. For example, the cable inspection subunit 520 can include a camera to acquire images of the cable 516 during winding and / or unwinding of the cable 516, and to transmit the images to the controller 510. The controller 510 can determine, based on the images, whether the cable 516 includes one or more damaged portions. Upon determining that the cable 516 has one or more damaged portions, the controller 510 can cause the communication subunit 512 to transmit one or more corresponding notifications to one or more authorized parties.

[0087] In some embodiments, the controller 150 of the device 100 controls components of the base unit 500. For example, the controller 150 of the device 100 can transmit a command to the communication subunit 512 of the base unit 500 using its communication unit 166 to wind or unwind the cable 516. Upon receiving the command, the controller 510 of the base unit 500 can control the winch subunit 518 accordingly. For the sake of clarity, Figure 5A and Figure 5B the controller 150 and the communication unit 166 of the device 100 are not shown in FIGS. 1-3.

[0088] In some embodiments, the base unit 500 includes a compartment 530 for housing the device 100 (e.g., as shown in FIG. 4). In Figure 5C some embodiments, the base unit 500 includes a housing 532 for housing the device 100 (e.g., as shown in FIG. 5). In some embodiments, the base unit 500 includes a housing 534 for housing the device 100 (e.g., as shown in FIG. 6). In some embodiments, the base unit 500 includes a housing 536 for housing the device 100 (e.g., as shown in FIG. 7). Figure 5CIn the example of FIG. 5, base unit 500 is placed adjacent to an edge of roof 82 to enable device 100 to access compartment 530. When device 100 is not in use, device 100 can be housed within compartment 530 of base unit 500. For example, controller 150 of device 100 can control components of device 100 and / or base unit 500 to move device 100 out of compartment 530 or into compartment 530 of base unit 500. Base unit 500 can include a door 532 to close and open the compartment.

[0089] Some embodiments of the present application can provide a tool for cleaning a vertical (or substantially vertical) surface, such as, for example, tools 600, 900, and 100 described below. The tool can include a body, one or more brushes rotatably connected to or disposed on the body, and one or more propellers connected to or disposed on the body. At least one of the one or more propellers can generate a thrust to push the tool against the vertical surface. At least one of the one or more propellers can generate a thrust to push the tool away from the vertical surface. At least one of the one or more propellers can generate a thrust to maintain a desired vertical orientation of the tool and / or to stabilize the tool relative to the vertical surface. While operating on a vertical (or substantially vertical) surface, the tool can be pushed against the vertical (or substantially vertical) surface by the thrust generated by at least one of the one or more propellers and can simultaneously move in a vertical direction along the vertical (or substantially vertical) surface to clean the vertical (or substantially vertical) surface by the brushes of the tool. The tool can overcome obstacles on the vertical (or substantially vertical) surface.

[0090] Reference is now made to Figure 6A , Figure 6B and Figure 6C , which are schematic illustrations of a vertical surface cleaning tool 600 according to some embodiments of the present application, including a propeller 630 disposed within an opening formed between a front surface 612 and a rear surface 613 of a body 610 of the tool 600 and two opposing propellers 635, 638 disposed on opposing side body surfaces 614, 615 of the vertical surface cleaning tool 600.

[0091] Reference is now made to Figure 6D , Figure 6D which are 3D illustrations of a vertical surface cleaning tool 600 according to some embodiments of the present application. Figure 6A , Figure 6B and Figure 6C .

[0092] The tool 600 can clean a vertical (or substantially vertical) surface, such as, for example, a wall and / or a window of a building.

[0093] Tool 600 can include a body 610. Body 610 can include a first body end 610a, a second body end 610b, a front body surface 612 (facing a vertical surface when tool 600 is in operation), and a back body surface 613 (facing away from a vertical surface when tool 600 is in operation), a first longitudinal side body surface 614, and a second longitudinal side body surface 615. At least front body surface 612 (facing a vertical surface when tool 600 is in operation) can be flat (or substantially flat). Back body surface 613 (facing away from a vertical surface when tool 600 is in operation) can be flat (or substantially flat). Body 610 can be flat (or substantially flat). Body 610 can include a central longitudinal body axis 616 extending between first body end 610a and second body end 610b. Body 610 can include a central transverse body axis 617 extending between first longitudinal side body surface 614 and second longitudinal side body surface 615. Central transverse body axis 617 can be perpendicular to central longitudinal body axis 616.

[0094] Tool 600 can include a cable connector 618 to connect body 610 to a cable 70. Cable connector 618 can be disposed at, for example, first body end 610a of body 610. Cable 70 can be connected to, for example, a device that can move on a vertical surface (e.g., device 100 described above) or a sled that can move on a track mounted on a building roof (e.g., sled 1220 described below with respect to FIG. 12). Cable 70 can be alternately wound or unwound to adjust the vertical position of tool 600 along a vertical surface. In various embodiments, device 100 or sled 1220 controls the winding and unwinding of cable 70. Figure 12

[0095] Tool 600 can include one or two brushes. Each brush can be connected to one of first body end 610a and second body end 610b. The brushes can clean a vertical surface. For example, the brushes can clean dust on a vertical surface. In some embodiments, tool 600 includes a first brush 620 connected to first body end 610a. In some embodiments, first brush 620 can rotate relative to body 610 about a first brush rotation axis 621 that is perpendicular (or substantially perpendicular) to central longitudinal body axis 616. In some embodiments, tool 600 includes a second brush 624 connected to second body end 610b of body 610. In some embodiments, second brush 624 can rotate relative to body 610 about a second brush rotation axis 625 that is perpendicular (or substantially perpendicular) to central longitudinal body axis 616.

[0096] ​The tool 600 can include a first propeller 630. The first propeller 630 can be connected to or disposed on the body 610. The first propeller 630 can be connected to or disposed within a first opening or hole 611a formed in the body 610 between the front body surface 612 and the rear body surface 613. The first propeller 630 can rotate about a first propeller rotation axis 631 that is perpendicular (or substantially perpendicular) to the central longitudinal body axis 616 and the central transverse body axis 617. The tool 600 can include a first motor 632 for rotating the first propeller 630. The first propeller 630 can be rotated in a first direction 633a (e.g., as shown) to generate a thrust force in a first direction 634a (e.g., as shown) to push the tool 600 against a vertical (or substantially vertical) surface. The first propeller 630 can be rotated in a second direction 633b (e.g., as shown) to generate a thrust force in a second direction 634b (e.g., as shown) to push the tool 600 away from the vertical (or substantially vertical) surface. Figure 6A Figure 7 Figure 6A Figure 7

[0097] The tool 600 can include two opposing propellers connected to or disposed on the first longitudinal side body surface 614 and the second longitudinal side body surface 615. The opposing propellers 635, 638 can generate thrust forces in directions that are perpendicular to the first longitudinal side body surface 614 and the second longitudinal side body surface 615, for example, to maintain a desired vertical orientation of the tool 600 and / or to stabilize the tool 600 relative to a vertical (or substantially vertical) surface. In examples where the tool 600 includes a first propeller 635 connected to or disposed on the first longitudinal side body surface 614, the first propeller 635 can rotate about a first propeller rotation axis 636 that is perpendicular (or substantially perpendicular) to the first longitudinal side body surface 614 to generate a thrust force in a direction that is perpendicular to the first longitudinal side body surface 614. In examples where the tool 600 includes a second propeller 638 connected to or disposed on the second longitudinal side body surface 615, the second propeller 638 can rotate about a second propeller rotation axis 639 that is perpendicular (or substantially perpendicular) to the second longitudinal side body surface 615 to generate a thrust force in a direction that is perpendicular to the second longitudinal side body surface 615. Figures 6A-6D Figures 6A-6D ​​​​​In the same example, the tool 600 includes a third propeller 638 connected to or disposed on the second longitudinal side body surface 615, and the third propeller 638 is rotatable about a third propeller axis 639 that is perpendicular (or substantially perpendicular) to the second longitudinal side body surface 615 to generate thrust in a direction that is perpendicular to the second longitudinal side body surface 615. The tool 600 can include a second motor 636a for rotating the second propeller 635 and a third motor 639a for rotating the third propeller 638. In some embodiments, the second propeller 635 is positioned within a second opening 614a formed through the first longitudinal side body surface 614, and the third propeller 638 is positioned within a third opening 615a formed through the second longitudinal side body surface 615. The second propeller 635 and the third propeller 638 may, for example, stabilize the tool 600 in response to a gust of wind to maintain a desired vertical orientation of the tool 600 and / or to stabilize the tool 600 relative to, for example, a vertical (or substantially vertical) surface (e.g., as described below with respect to FIG. 6B). Figure 8

[0098] In some embodiments, the tool 600 includes a liquid tank 650 and a liquid dispenser 652 connected to or disposed on the body 610. The liquid tank 650 can hold a liquid (e.g., a window cleaning liquid). The liquid dispenser 652 can dispense the liquid from the liquid tank 650 on a vertical surface (e.g., a window). In some embodiments, the tool 600 includes a squeegee 654 connected to or disposed on the first body end 610a. The squeegee 654 can wipe the liquid from the vertical surface. In some embodiments, the squeegee 654 can rotate about a squeegee rotation axis 655 that is parallel to the central transverse body axis 617 between a first squeegee position 654a and a second squeegee position 654b. In the first squeegee position 654a, the squeegee 654 can contact the vertical surface and wipe the liquid from the vertical surface. In the second position 654b, the squeegee 654 can not contact the vertical surface.

[0099] The tool 600 can include a controller 660. The controller 660 can control the propellers 630, 635, and 638 of the tool 600 to generate desired thrust in various directions.

[0100] ​In some embodiments, the tool 600 includes a first set of sensors 662 connected to or disposed on the body 610 at the first body end 610a. In some embodiments, the tool 600 includes a second set of sensors 664 connected to or disposed on the body 610 at the second body end 610b. Each of the first set of sensors 662 and the second set of sensors 664 includes at least one of one or more distance sensors (e.g., ToF sensors) and one or more optical sensors. The controller 660 can detect obstacles based on output signals from the first set of sensors 662 and the second set of sensors 664, and control at least the first propeller 630 of the tool 600 to overcome the detected obstacles (e.g., as described below with respect to FIGS. 6A-6B). Figure 7

[0101] In some embodiments, the tool 600 includes a third set of sensors 666 connected to or disposed on the body 610. The third set of sensors 666 can include inertial sensors, such as, for example, one or more accelerometers, one or more gyroscopes, etc. The controller 666 can control at least the second propeller 635 and the third propeller 638 of the tool 600 based on output signals from the third set of sensors to maintain a desired vertical orientation of the tool 600 and / or stabilize the tool 600, for example, relative to a vertical (or substantially vertical) surface (e.g., as described below with respect to FIGS. 6A-6B). Figure 8

[0102] In some embodiments, the tool 600 includes a communication unit 668 connected to or disposed on the body 610. The communication unit 668 can transmit and receive information. In some embodiments, the communication unit 668 is a wireless communication unit including a modem and an antenna. For example, the communication unit 668 can transmit information to and receive information from the device 100, the sled 1220, and / or the base unit 500.

[0103] In some embodiments, the tool 600 includes a power source 669. In some embodiments, the power source 669 includes a rechargeable battery. In various embodiments, the tool 600 receives power from the device 100 or the sled 1220 (e.g., via the cable 70 or a dedicated power cable).

[0104] Reference is now made to Figure 7 , Figure 7 a schematic diagram showing the tool 600 overcoming an obstacle 92 during operation on a vertical surface 90, in accordance with some embodiments of the present application.

[0105] Figure 7 ​​Figures 700a-d illustrate schematically side views of a vertical surface 90 with an obstacle 92 and the tool 600. Figure 7 Figures 700a-d illustrate schematically the tool 600 overcoming the obstacle 92.

[0106] In Figure 700a, the tool 600 is pushed against the vertical surface 90 by a thrust force 634a generated by the first propeller 630 being rotated in a first direction 633a. The tool 600 is moving in a vertical (e.g., downward) direction 702 by unwinding the cable 70. The vertical surface 90 can comprise an obstacle 92 that can prevent the vertical movement of the tool 600 on the vertical surface 90. For example, the obstacle 92 can be a window frame or the like. The controller 660 of the tool 600 can detect the obstacle 92 based on output signals from the first set of sensors 662 and / or the second set of sensors 664. The obstacle 92 can also be detected based on a torque value generated by a motor of a winch to which the tool 600 is connected when the tool 600 is moving upwards (e.g., in a vertical direction opposite to the vertical direction 702) on the vertical surface 90 by winding the cable 70. For example, a torque above a predefined threshold can indicate that the tool 600 cannot move upwards due to the obstacle 92. For the sake of clarity, the controller 660 and the first and second sets of sensors 662, 664 are not shown in Figure 7 Figures 700a-d. Figure 7 Figures 700a-d.

[0107] As shown in Figure 700b, after detecting the obstacle 92, the controller 160 can control the first propeller 630 to rotate in a second direction 633b to generate a thrust force 634b to push the tool 600 away from the vertical surface 90 in a substantially horizontal direction 704.

[0108] As shown in Figure 700c, the tool 600 can be further moved in the vertical direction 702 to overcome the obstacle 92 by further unwinding the cable 70.

[0109] The controller 660 can also determine that there is no obstacle on the vertical surface 90 that can prevent the vertical movement of the tool 600 on the vertical surface 90 based on output signals from the first set of sensors 662 and / or the second set of sensors 664. When determined, the controller 660 can control the first propeller 630 to rotate in the first direction 633a to generate the thrust force 634a to push the tool 600 against the vertical surface 90, as shown in Figure 700d. The tool 600 can be further moved in the vertical direction 702 by unwinding the cable 70.

[0110] Reference is now made to Figure 8 , Figure 8A diagram 800a-c in FIG. 8 schematically illustrates a front view of the vertical surface 90 and the tool 600.

[0111] Figure 8 A diagram 800a-c in FIG. 8 schematically illustrates a front view of the vertical surface 90 and the tool 600. Figure 8 A diagram 800a-c in FIG. 8 schematically illustrates the tool 600 maintaining a desired vertical orientation relative to the vertical surface 90.

[0112] In diagram 800a, the tool 600 is attached to the vertical surface 90 by a thrust force generated by the first propeller 630. The tool 600 is aligned with the desired vertical axis 706, as shown in diagram 800a.

[0113] Due to, for example, a gust of wind, the tool 600 can be displaced relative to the desired vertical axis 706, for example, in a substantially horizontal direction 708, as shown in diagram 800b. The controller 660 can determine the displacement of the tool 600 based on output signals from the third set of sensors 666. For the sake of clarity, Figure 8 The controller 660 and the third set of sensors 666 are not shown in diagram 800a.

[0114] The controller 660 can also control the rotation of the second propeller 635 and the third propeller 638 to generate thrust forces 635a, 638a in respective directions as shown in diagram 800b to align the tool 600 with the desired vertical axis 706 and / or to stabilize the tool 600, for example, relative to a vertical (or substantially vertical) surface as shown in diagram 800c.

[0115] Reference is now made to Figure 9 , Figure 9 is a diagram of a vertical surface cleaning tool 900 including two propellers, according to some embodiments of the application.

[0116] The tool 900 can include a body 910. The body 910 can include a first body end 910a, a second body end 910b, a front body surface 912 (facing the vertical surface when the tool 900 is in operation), a rear body surface 913 (facing away from the vertical surface when the tool 900 is in operation), a first longitudinal side body surface 914, and a second longitudinal side body surface 915. The body 910 can include a central longitudinal body axis 916 extending between the first body end 910a and the second body end 910b. At least the front body surface 912 (facing the vertical surface when the tool 900 is in operation) can be flat (or substantially flat). The rear body surface 913 can be flat (or substantially flat). The body 910 can be flat (or substantially flat).

[0117] Tool 900 may include cable connector 918 to connect body 910 to cable 70 (e.g., as mentioned above). Figures 6A-6D (Described cable 70). Cable connector 918 may be provided, for example, at the first body end 910a of the body 910.

[0118] Tool 900 may include one or two brushes, for example, a first brush 920 connected to a first body end 910a and a second brush 924 connected to a second body end 910b (e.g., such as those described above). Figures 6A-6D The first brush 620 and the second brush 624 are described.

[0119] In some embodiments, the tool 900 includes a first propeller 940 and a second propeller 945 to generate thrust to push the tool 900 against or away from a vertical surface and maintain the desired vertical orientation of the tool 900. The first propeller 940 and the second propeller 945 may be attached to or disposed on the body 910.

[0120] For example, a first propeller 940 may be connected to or disposed within a first recess 943, which is part of a first longitudinal side body surface 914. The first propeller 940 may be connected to or disposed within a first frame (e.g., a circular frame) 941. The first propeller 940 may rotate about a first propeller rotation axis 942 that is perpendicular (or substantially perpendicular) to the central longitudinal body axis 916. The first frame 941 may rotate relative to the body 910 about a first frame rotation axis 944 that is parallel (or substantially parallel) to the central longitudinal body axis 916. The tool 900 may include a first motor (not shown for clarity). Figure 9 (As shown in the diagram) to rotate the first propeller 940 about the first propeller rotation axis 942. Tool 900 may include a second motor (not shown for clarity). Figure 9 (As shown in the figure) the first circular frame 941 is rotated about the first circular frame rotation axis 944.

[0121] In this example, a second propeller 945 may be connected to or disposed within a second recess 948, which is part of a second longitudinal side body surface 915. The second propeller 945 may be connected to or disposed within a second frame (e.g., a circular frame) 946. The second propeller 945 may rotate about a second propeller rotation axis 947 perpendicular to (or substantially perpendicular to) the central longitudinal body axis 916. The second frame 946 may rotate relative to the body 910 about a second circular frame rotation axis 949 parallel to (or substantially parallel to) the central longitudinal body axis 916. The tool 900 may include a third motor (not shown for clarity). Figure 9(As shown in the diagram) to rotate the second propeller 945 about the second propeller rotation axis 947. Tool 900 may include a fourth motor (not shown for clarity). Figure 9 (As shown in the figure) the second circular frame 946 is rotated about the rotation axis 949 of the second circular frame.

[0122] Tool 900 may include controller 960. Controller 960 can control the rotation of the first propeller 940 and the second propeller 945, as well as the rotation of the first frame 941 and the second frame 946, to generate thrust to push tool 900 against or away from a vertical surface, overcoming obstacles (e.g., as mentioned above). Figure 7 As described above, to maintain the desired vertical orientation of tool 900 and / or, for example, stabilize tool 900 relative to a vertical (or substantially vertical) surface (e.g., as described above regarding...). Figure 8 (As described). Therefore, the first propeller 940 and the second propeller 945 can replace the first propeller 630, the second propeller 635 and the third propeller 638 of tool 600.

[0123] In some embodiments, the tool 900 includes a first set of sensors (e.g., at a first body end 910a) connected to or disposed on the body 910 and a second set of sensors (e.g., at a second body end 910b) connected to or disposed on the body 910. Each of the first and second sets of sensors may include at least one of one or more distance sensors (e.g., ToF sensors) and one or more optical sensors. The first and second sets of sensors may be similar to those described above. Figures 6A-6C The first set of sensors 662 and the second set of sensors 664 are described. For clarity, Figure 9 The first and second sets of sensors are not shown. The controller 960 can detect obstacles based on the output signals from the first and second sets of sensors, and control the rotation of the first propeller 940 and the second propeller 945, as well as the rotation of the first circular frame 941 and the second circular frame 946, to overcome the detected obstacles (e.g., as mentioned above regarding...). Figure 7 (As described).

[0124] In some embodiments, tool 900 includes a third set of sensors connected to or disposed on body 910. The third set of sensors may include inertial sensors, such as, for example, one or more accelerometers, one or more gyroscopes, etc. The third set of sensors may be similar to those described above. Figures 6A-6C The third group of sensors, 666, is described. For clarity, Figure 9A third set of sensors is not shown. The controller 960 can control the rotation of the first and second propellers 940, 945 and the rotation of the first and second circular frames 941, 946 based on output signals from the third set of sensors to maintain a desired vertical orientation of the tool 900 and / or to stabilize the tool 900, for example, relative to a vertical (or substantially vertical) surface (e.g., as described above with respect to Figure 8 the tool 900.

[0125] In some embodiments, the tool 900 includes a liquid tank, a liquid dispenser, and a squeegee (e.g., such as the liquid tank 650, the liquid dispenser 652, and the squeegee 654 described above with respect to Figures 6A-6C the tool 900. In some embodiments, the tool 900 includes a communication unit (e.g., such as the communication unit 668 described above with respect to Figures 6A-6C the tool 900. In some embodiments, the tool 900 includes a power source (e.g., such as the power source 669). In various embodiments, the tool 900 receives power from the device 100 or the sled 1220 (e.g., via the cable 70 or a dedicated power cable).

[0126] Reference is now made to Figure 10A and Figure 10B which are 3D drawings of a vertical surface cleaning tool 1000 including three propellers disposed within openings formed through a front body surface and a rear body surface of the tool 1000, in accordance with some embodiments of the application. Figure 10A and Figure 10B showing different perspective views of the tool 1000.

[0127] Reference is also made to Figure 10C which is a partial cross-sectional view of the vertical surface cleaning tool 1000 along the line AA of Figures 10A-10B in accordance with some embodiments of the application.

[0128] The tool 1000 can include a body 1010. The body 1010 can include a first body end 1010a, a second body end 1010b, a front body surface 1012 (facing a vertical surface when the tool 1000 is in operation) and a rear body surface 1013 (facing away from a vertical surface when the tool 1000 is in operation), a first longitudinal side body surface 1014, and a second longitudinal side body surface 1015. The body 1010 can include a central longitudinal body axis 1016 extending between the first body end 1010a and the second body end 1010b. The body 1010 can be flat (or substantially flat). At least the front body surface 1012 (facing a vertical surface when the tool 1000 is in operation) can be flat (or substantially flat). The rear body surface 1013 can be flat (or substantially flat).

[0129] The tool 1000 can include a cable connector 1018 to connect the body 1010 to a cable 70 (e.g., described above with respect to Figures 6A-6D The cable connector 1018 can be disposed at, for example, the first end 1010a of the body 1010.

[0130] The tool 1000 can include one or two brushes, for example, a first brush 1020 connected to the first body end 1010a and a second brush 1024 connected to the second body end 1010b (e.g., such as the first and second brushes 620 and 624, respectively, described above with respect to Figures 6A-6D

[0131] The tool 1000 can include a first propeller 1030 to generate a thrust in a first direction that is perpendicular (or substantially perpendicular) to the front body surface 1012 and the back body surface 1013 to push the tool 1000 against a vertical surface. The first propeller 1030 can be connected to or disposed on the body 1010. For example, the first propeller 1030 can be connected to or disposed within a first opening or hole 101 la formed through the front body surface 1012 and the back body surface 1013. The first propeller 1030 can be connected to or disposed within a frame (e.g., a circular frame) 1031. The first propeller 1030 can rotate about a first propeller rotation axis 1032 that is perpendicular (or substantially perpendicular) to the central longitudinal body axis 1016 to generate a thrust to push the tool 1000 against a vertical surface. The frame 1031 can rotate within the first opening 101 la about the central longitudinal body axis 1016 relative to the body 1010. Rotation of the circular frame 1031 and the first propeller 1030 about a circular frame rotation axis 1034 can, for example, stabilize the tool 1000 relative to the central longitudinal body axis 1016. The tool 1000 can include a first motor 1030a to rotate the first propeller 1030 about the first propeller rotation axis 1032.

[0132] ​The tool 1000 can include a second propeller 1040 and a third propeller 1045. The second propeller 1040 and the third propeller 1045 can be connected to or disposed on the body 1010. The second propeller 1040 and the third propeller 1045 can be connected or disposed within second openings or holes 101 lb and third openings or holes 101 lc formed through the front body surface 1012 and the rear body surface 1013, respectively. The second propeller 1040 and the third propeller 1045 can be disposed on opposite sides of the central longitudinal body axis 1016 relative to one another. The second propeller 1040 can rotate about a second propeller rotation axis 1041 that is perpendicular (or substantially perpendicular) to the central longitudinal body axis 1016. The third propeller 1045 can rotate about a third propeller rotation axis 1046 that is perpendicular (or substantially perpendicular) to the central longitudinal body axis 1016. The second propeller 1040 and the third propeller 1045 can generate thrust in a second direction that is perpendicular (or substantially perpendicular) to the planar body surface 1013 and opposite the first direction to push the tool 1000 away from the vertical (or substantially vertical) surface. The tool 1000 can include a second motor 1040a for rotating the second propeller 1040 and a third motor 1045a for rotating the third propeller 1045. For example, cooperative operation of the second propeller 1040 and the third propeller 1045 can cause the tool 1000 to flip over relative to the central longitudinal body axis 1016, for example, in the event that the tool 1000 inadvertently flips over about the central longitudinal body axis 1016.

[0133] The tool 1000 can include a controller 1050. The controller 1050 can control rotation of the first propeller 1030, the second propeller 1040, and the third propeller 1045, as well as rotation of the circular frame 1031, to generate thrust to push the tool 1000 against a vertical surface (e.g., to clean the vertical surface), to push the tool 1000 away from a vertical surface (e.g., to overcome an obstacle as described above with respect to Figure 7 The controller 1050 can control rotation of the first propeller 1030, the second propeller 1040, and the third propeller 1045, as well as rotation of the circular frame 1031, to generate thrust to push the tool 1000 against a vertical surface (e.g., to clean the vertical surface), to push the tool 1000 away from a vertical surface (e.g., to overcome an obstacle as described above with respect to Figure 8 The controller 1050 can control rotation of the first propeller 1030, the second propeller 1040, and the third propeller 1045, as well as rotation of the circular frame 1031, to generate thrust to push the tool 1000 against a vertical surface (e.g., to clean the vertical surface), to push the tool 1000 away from a vertical surface (e.g., to overcome an obstacle as described above with respect to

[0134] In some embodiments, the tool 1000 includes a first set of sensors 1052 connected to or disposed on the body 1010 at the first body end 1010a and a second set of sensors 1054 connected to or disposed on the body 1010 at the second body end 1010b. Each of the first set of sensors 1052 and the second set of sensors 1054 can include at least one of one or more distance sensors (e.g., ToF sensors) and one or more optical sensors. The first set of sensors 1052 and the second set of sensors 1054 can be similar to those described above with respect to Figures 6A-6C A first set of sensors 662 and a second set of sensors 664 are described. The controller 1050 can detect obstacles based on output signals from the first set of sensors 1052 and the second set of sensors 1054, and control rotation of the first propeller 1030, the second propeller 1040, and the third propeller 1045, as well as rotation of the first circular frame 1031 to overcome the detected obstacles (e.g., as described above with respect to Figure 7 .

[0135] In some embodiments, the tool 1000 includes a third set of sensors 1056 connected to or disposed on the body 1010. The third set of sensors 1056 can include inertial sensors such as, for example, one or more accelerometers, one or more gyroscopes, etc. The third set of sensors 1056 can be similar to the third set of sensors 666 described above with respect to Figures 6A-6C . The controller 1050 can control rotation of the first propeller 1030, the second propeller 1040, and the third propeller 1045, as well as rotation of the circular frame 1031 to stabilize the tool 1000 and / or maintain a desired vertical orientation of the tool 1000 (e.g., as described above with respect to Figure 8 .

[0136] In some embodiments, the tool 1000 includes a liquid tank, a liquid dispenser, and a squeegee (e.g., such as the liquid tank 650, the liquid dispenser 652, and the squeegee 654 described above with respect to Figures 6A-6C . In some embodiments, the tool 1000 includes a communication unit (e.g., such as the communication unit 668 described above with respect to Figures 6A-6C . In some embodiments, the tool 1000 includes a power source (e.g., such as the power source 669). In various embodiments, the tool 900 receives power from the device 100 or the slider 1220 (e.g., via the cable 70 or a dedicated power cable).

[0137] One advantage of the tool 1000 is that the tool 1000 has a relatively large first propeller 1030 (e.g., compared to the tools 600, 900 described above). The relatively large first propeller 1030 can be more efficient and can produce more airflow at fewer revolutions per minute than a smaller propeller.

[0138] In some embodiments, the tool 1000 includes one or more sealing members 1060 (e.g., as described above with respect to Figure 10B and Figure 10CThe sealing members 1060 can be disposed on, for example, the front body surface 1012 (which faces the vertical surface 90). For example, the tool 1000 can include two sealing members 1060 disposed opposite each other on the front body surface 1012 at opposite sides of the first propeller 1030 / first opening 1011a (e.g., as shown in FIGS. 10A and 10B). The sealing members 1060 can be disposed on, for example, the front body surface 1012 (which faces the vertical surface 90). For example, the tool 1000 can include two sealing members 1060 disposed opposite each other on the front body surface 1012 at opposite sides of the first propeller 1030 / first opening 1011a (e.g., as shown in FIGS. 10A and 10B). Figure 10B For example, the sealing members 1060 can create a negative pressure within the first opening 1011a. For example, the negative pressure can provide a vacuum cleaning effect to enhance cleaning of dust on the vertical surface, for example. For example, the negative pressure can reduce noise generated by the first propeller 1030 compared to a case in which no negative pressure is created.

[0139] Reference is now made to Figure 11A FIG. 11 is a 3D view of a system 1100 for cleaning a vertical surface of a building, according to some embodiments of the application.

[0140] Reference is also made to Figure 11B and Figure 11C FIGS. 12A and 12B are 3D views of a device 100 for moving on a vertical surface 90 and a tool 1110 for cleaning the vertical surface 90, according to some embodiments of the application.

[0141] The system 1100 can include a device 100 for moving on a vertical surface (e.g., as described above with respect to Figures 1A-1I , Figure 2 , Figure 3 , Figure 4 FIGS. 13A and 13B are 3D views of a base unit 500 (e.g., as described above with respect to Figure 5A , Figure 5B and Figure 5C FIGS. 14A and 14B are 3D views of a cleaning tool 1110 (e.g., such as the tool 600, tool 900, or tool 1000 described above with respect to Figures 6A-6D , Figure 7 , Figure 8 , Figure 9 and Figures 10A-10B Although the tool 600 is shown in Figure 11A , Figure 11B and Figure 11C as the cleaning tool 1110, the cleaning tool 1110 can include any one of the tools 600, 900, 1000 or any other suitable tool for cleaning a vertical surface.

[0142] Figure 11A FIG. 11 is a 3D view of a system 1100 for cleaning a vertical surface of a building, according to some embodiments of the application. Figure 11A The device 100 is shown attached to a vertical surface 90 of a building 80 (e.g., as described above with respect to Figures 1A-1I , Figure 2 , Figure 3 , Figure 4 The device 100 can move in horizontal and vertical directions on the vertical surface (e.g., as described above with respect to Figure 2 , Figure 3 , Figure 4 . Figure 11A A base unit 500 is also shown, which is mounted on a roof 82 of the building 80 and uses a cable 516 to secure the device 100 to the base unit 500 / roof 82 and / or to supply power to at least the device 100 (e.g., as described above with respect to Figures 5A-5B . Figure 11A A cleaning tool 1110 is also shown, which is connected to the device 100 and is movable relative to the vertical surface 90 of the building 80 in a vertical direction to clean the vertical surface 90 (e.g., as described above with respect to Figures 6A-6D , Figure 7 , Figure 8 and Figure 9 A 3D view of the device 100 attached to the vertical surface 90 and the tool 1110 connected to the device 100 and cleaning the vertical surface 90 is shown.

[0143] Figure 11B and Figure 11C A 3D view of the device 100 attached to the vertical surface 90 and the tool 1110 connected to the device 100 and cleaning the vertical surface 90 is shown.

[0144] The tool 1110 can be connected to the device 100 using a cable 180. The cable 180 can be connected at a first end thereof to a cable connector of the tool 1110, and the cable 180 can be connected at a second end thereof to a winch 182 of a tool connector of the device 100. The winch 182 can alternately wind and unwind the cable 180 to adjust a vertical position of the tool 1110 relative to the vertical surface 90.

[0145] The housing 108 of the device 100 can releasably receive at least a portion of the tool 1110. In some embodiments, the device 100 includes a power interface 184 to charge a rechargeable battery of the tool 1110 when the tool is received within the housing 108. In some embodiments, the tool 1110 receives power from the device 100 (e.g., via the cable 180 or other cable). In some embodiments, the device 100 includes a liquid container 186 to fill a liquid tank of the tool 1110 when the tool 1110 is received within the housing 1008.

[0146] In some embodiments, the controller 150 of the apparatus 100 controls components of the system 1000. For example, the controller 150 can store a cleaning plan for the vertical surface 90 of the building 80, and can control components of the system 100 in accordance with the cleaning plan. For the sake of clarity, Figures 11A-11C The controller 150 is not shown in FIG. 1.

[0147] Reference is now made to Figure 12 FIG. 12, which is a schematic illustration of a system 1200 for cleaning a vertical surface of a building, in accordance with some embodiments of the application.

[0148] The system 1200 can include one or more rails 1210. The rails 1210 can be mounted on the roof 82 of the building 80. The system 1200 can include a slider 1220. The slider 1220 can be connected to the rails 1210, and can slide, for example, in a horizontal direction, on the rails 1210.

[0149] The system 1200 can include a tool 1225 for cleaning the vertical surface (e.g., the tool 600, the tool 900, the tool 1000, or any other suitable tool for cleaning a vertical surface, as described above with respect to Figures 6A-6D 、 Figure 7 、 Figure 8 、 Figure 9 and Figures 10A-10B ).

[0150] The tool 1225 can be connected to the slider 1220 using a cable 1230. The cable 1230 can be connected at a first end thereof to a cable connector of the tool 1225, and the cable 1230 can be connected at a second end thereof to a winch 1222 of the slider 1220. The winch 1222 can alternately wind and unwind the cable 1230 to adjust a vertical position of the tool 1225 relative to the vertical surface 90.

[0151] The slider 1220 can include a controller 1240. The controller 1240 can control components of the system 1200. For example, the controller 1240 can store a cleaning plan for the vertical surface 90 of the building 80, and can control components of the system 1200 in accordance with the cleaning plan.

[0152] In the above description, embodiments are examples or implementations of the application. Various presentations of "one embodiment," "an embodiment," "certain embodiments," or "some embodiments" do not necessarily all refer to the same embodiments. Although various features of the application can be described in the context of a single embodiment, these features can also be provided separately or in any suitable combination. Conversely, although the application can be described herein in the context of separate embodiments for clarity, the application can also be implemented in a single embodiment. Certain embodiments of the application can include features from different embodiments disclosed above, and certain embodiments can contain elements from other embodiments disclosed above. Disclosure of elements of the application in the context of a particular embodiment should not be taken as limiting the use of those elements in only that particular embodiment. Furthermore, it should be understood that the application can be implemented or practiced in various ways, and that the application can be implemented in certain embodiments other than the ones outlined above.

[0153] The application is not limited to those diagrams or corresponding descriptions. For example, the flow need not move through each illustrated box or state, or in precisely the same order as shown and described. The meaning of "by" includes "more than" and "greater than." Unless otherwise defined, technical and scientific terms and terminology used herein have the meanings commonly understood by one of ordinary skill in the art to which the application pertains. Although the application has been described with respect to a limited number of embodiments, these should not be construed as limitations on the scope of the application, but rather as examples of some preferred embodiments. Other possible variations, modifications, and applications thereof will also be apparent to those skilled in the art. The scope of the application should therefore not be limited by what has thus far been described, but should instead be given the full breadth of any patent claims that might be issued on this application.

Claims

1. A system for cleaning a substantially vertical surface, the system comprising: A means for moving on the substantially vertical surface, the means comprising: - Cleaning tool connector, -frame, - A first arm, which is connected to the frame and is capable of rotating about a first axis relative to the frame. - A first vacuum suction cup, which is connected to the first arm. - A second arm, which is connected to the frame and is rotatable relative to the frame about a second axis, which is substantially parallel to the first axis; - A second vacuum suction cup, which is connected to the second arm. - A vacuum pump, which is in fluid communication with the first vacuum suction cup and the second vacuum suction cup. - A first valve, the first valve being used to control the generation and release of vacuum in the first vacuum chuck. - A second valve, used to control the generation and release of vacuum in and from the second vacuum chuck, and - Controller, the controller being used to control: --The rotation of the first and second arms, and --The operation of the vacuum pump, the first valve, and the second valve; and A cleaning tool that can be connected to the cleaning tool connector and is movable relative to the device in a substantially vertical direction to clean the substantially vertical surface.

2. The system according to claim 1, wherein, The controller controls the rotation of the first and second arms, as well as the operation of the vacuum pump, the first valve, and the second valve, to move the device in a desired direction on the substantially vertical surface.

3. The system according to claim 1, wherein, The device includes a camera, and the controller thereunder causes the device to move in a desired direction on a generally vertical surface based on images received from the camera.

4. The system according to claim 2, wherein, The device includes a camera, and the controller thereunder causes the device to move in a desired direction on a generally vertical surface based on images received from the camera.

5. The system according to any one of claims 1-4, wherein, The first arm and the second arm are connected to opposite sides of the frame.

6. The system according to any one of claims 1-4, in, The first arm and the first vacuum suction cup are capable of rotating relative to each other about a third axis that is substantially parallel to the first axis, and The second arm and the second vacuum suction cup are capable of rotating relative to each other about a fourth axis that is substantially parallel to the second axis.

7. The system according to any one of claims 1-4, in, The first arm and the first vacuum suction cup are capable of rotating relative to each other about a fifth axis that is substantially perpendicular to the first axis. The second arm and the second vacuum suction cup are capable of rotating relative to each other about a sixth axis that is substantially perpendicular to the second axis.

8. The system according to any one of claims 1-4, wherein, The device includes: The first set of sensors is disposed in the first vacuum suction cup, and The second set of sensors is located in the second vacuum suction cup. The controller determines, based on output signals from the first set of sensors and the second set of sensors, whether the portion of the substantially vertical surface in front of the first vacuum cup and the second vacuum cup is suitable for vacuum suction attachment.

9. The system according to any one of claims 1-4, wherein, The device includes: Sub-frames, the sub-frames being connected to the frame, The first arm and the second arm are connected to the subframe and are respectively rotatable relative to the subframe about the first axis and the second axis. The subframe and the frame are rotatable relative to each other about a seventh axis that is substantially perpendicular to the first axis and the second axis.

10. The system according to claim 9, wherein, The controller rotates the frame relative to the subframe to maintain the frame's generally horizontal orientation when the device is positioned on the generally vertical surface.

11. The system according to any one of claims 1-4 and 10, wherein, The cleaning tool connector includes: A cleaning tool cable, the cleaning tool cable being able to connect to the cleaning tool, and A cleaning tool winch that alternately winds and unwinds the cleaning tool cable; and The controller controls the operation of the cleaning tool winch to move the cleaning tool relative to the device in the generally vertical direction.

12. The system according to any one of claims 1-4 and 10, wherein, The device includes a housing for releasably receiving at least a portion of the cleaning tool.

13. The system according to any one of claims 1-4 and 10, wherein, The cleaning tools include: The main body has a first main body end, a second main body end, and a central longitudinal main body axis extending between the first main body end and the second main body end. A cable connector for connecting the body to the cable of the cleaning tool connector of the device. One or two brushes, each brush being rotatably connected to one of the first body end or the second body end. A propeller, disposed on the main body, is rotatable about a propeller rotation axis substantially perpendicular to the central longitudinal axis of the main body to generate thrust that pushes the cleaning tool against the substantially vertical surface. A cleaning tool controller for controlling the rotation of the propeller.

14. The system according to claim 13, wherein, The subject includes: The front body surface faces the substantially vertical surface. The rear body surface is opposite to the front body surface. An opening is formed through the front body surface and the rear body surface. The propeller is disposed within the opening.

15. The system according to claim 14, wherein, The propeller is disposed within a frame, wherein the frame for the propeller is rotatable within the opening about the central longitudinal main axis, and wherein the cleaning tool controller controls the rotation of the frame for the propeller.

16. The system according to any one of claims 14-15, wherein, The cleaning tools include: A second propeller and a third propeller are mounted on the main body, opposite to each other on opposite sides of the central longitudinal axis. The second propeller and the third propeller are respectively capable of rotating around the second propeller rotation axis and the third propeller rotation axis, which are substantially perpendicular to the central longitudinal main axis, to generate thrust to push the cleaning tool away from the substantially vertical surface.

17. The system according to claim 16, wherein, The second propeller and the third propeller are respectively disposed in the second opening and the third opening formed through the front body surface and the rear body surface.

18. The system according to claim 16, wherein, The cleaning tool controller is used to control the rotation of the second propeller and the third propeller to push the cleaning tool away from the substantially vertical surface.

19. The system according to claim 18, wherein, The cleaning tool controller is used to control the rotation of the second and third propellers to overcome obstacles on the substantially vertical surface.

20. The system according to any one of claims 18-19, wherein, The cleaning tool controller is used to control the rotation of the second propeller and the third propeller to stabilize the cleaning tool relative to the substantially vertical surface.

21. The system according to any one of claims 14-15 and 17-19, wherein, The cleaning tool includes two sealing members disposed opposite each other on the front body surface at opposite sides of the opening.

22. The system according to any one of claims 1-4, 10, 14-15, and 17-19, further comprising a base unit capable of being mounted on top of the substantially vertical surface, the base unit comprising: Base unit cable, the base unit cable being connectable to the device to secure the device, and A base unit winch for winding and unwinding the base unit cable.

23. The system according to claim 22, wherein, The base unit includes a cable inspection unit for detecting defects in the base unit cable during at least one of the winding and unwinding processes of the base unit cable.

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