Multi-degree-of-freedom rotary cleaning unmanned aerial vehicle capable of being adsorbed to wall surface

Abstract

The invention discloses a multi-degree-of-freedom rotary cleaning unmanned aerial vehicle capable of being adsorbed to a wall surface, and the multi-degree-of-freedom rotary cleaning unmanned aerial vehicle comprises an unmanned aerial vehicle which comprises a vehicle body and a plurality of groups of power assemblies, and the plurality of groups of power assemblies are arranged on the vehicle body at equal intervals; the multiple sets of adsorption mechanisms are arranged on the machine body, and each adsorption mechanism comprises an adsorption mechanical arm and an adsorption head; the cleaning mechanism comprises a rotating disc assembly, a spray-washing assembly and a brushing assembly, the rotating disc assembly is installed at the bottom of the machine body, and the spray-washing assembly and the brushing assembly are installed at the bottom of the rotating disc assembly; the vision and radar module is integrated on the machine body; and the control system is used for controlling the operation of the whole device, and the control system is connected with a remote controller through a wireless transmission module. Through modular structural design and multi-mechanism cooperative control, efficient and stable cleaning operation in the air complex environment is achieved.

Description

Technical Field

[0001] This invention relates to the field of cleaning drone technology, and in particular to a multi-degree-of-freedom rotating cleaning drone that can adhere to walls. Background Technology

[0002] With the widespread use of high-rise buildings and glass curtain walls in cities, the need for cleaning and maintenance of building facades is becoming increasingly prominent. Glass curtain walls, photovoltaic modules, billboards, and other structures are prone to accumulating dust, oil, water stains, and other pollutants under long-term exposure, affecting not only the building's appearance and light transmittance but also potentially reducing photovoltaic power generation efficiency or accelerating material aging. Therefore, efficient and safe cleaning technologies for high-rise building facades have become an important issue in urban maintenance.

[0003] Currently, exterior wall cleaning still mainly relies on manual suspended platforms or climbing operations. While this method is flexible, it has drawbacks such as high operational risks, high labor intensity, low work efficiency, and significant susceptibility to weather conditions. Especially in high-rise or super high-rise buildings, strong winds, airflow disturbances, and complex facade structures significantly increase the safety hazards of manual operations.

[0004] To reduce the risks associated with manual labor, some research and products have attempted to use wall-climbing robots to replace human workers. These devices typically attach to wall surfaces through vacuum adsorption, magnetic attraction, or negative pressure pneumatic methods to achieve mechanized cleaning. However, wall-climbing robots mostly rely on wheeled or tracked drives, have complex structures, poor maneuverability, and are highly dependent on the flatness and material of the wall, making it difficult to work stably on curved surfaces, corners, or irregularly shaped facades.

[0005] On the other hand, with the rapid development of drone technology, some research has begun to explore the use of multi-rotor drones to perform high-altitude non-contact cleaning operations, such as spraying and washing walls using high-pressure jets, rotating nozzles, or atomization systems. Although this approach avoids contact attachment structures, it still suffers from problems such as insufficient hovering stability, difficulty in attitude control, and limited endurance. Furthermore, due to the lack of reliable support and adsorption mechanisms, it is difficult to remain on the wall surface for extended periods or perform high-precision scrubbing operations.

[0006] In summary, existing high-altitude exterior wall cleaning technologies mainly include three types of solutions: manual cleaning, wall-climbing robots, and non-contact drone cleaning. However, all of them suffer from problems such as poor stability, insufficient adaptability, or low operational efficiency. Therefore, how to design a drone system that can achieve stable adhesion to walls and possess multi-degree-of-freedom cleaning capabilities has become a pressing technical challenge in the field of automated high-altitude cleaning. Summary of the Invention

[0007] The purpose of this invention is to provide a multi-degree-of-freedom rotating cleaning drone that can adhere to walls, in order to solve the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides the following solution: The present invention provides a multi-degree-of-freedom rotating cleaning drone capable of adhering to walls, comprising: The drone includes a body and a power assembly, wherein the power assembly is provided in several groups, and the several groups of power assemblies are arranged at equal intervals on the body. An adsorption mechanism is provided, wherein several sets of adsorption mechanisms are arranged on the machine body. The adsorption mechanism includes an adsorption robotic arm and an adsorption head. The adsorption robotic arm is mounted on the machine body via an angle adjustment assembly, and the adsorption head is hinged to the execution end of the adsorption robotic arm. A cleaning mechanism, comprising a turntable assembly, a spray washing assembly, and a brush washing assembly, wherein the turntable assembly is mounted on the bottom of the machine body, and the spray washing assembly and the brush washing assembly are respectively mounted on the bottom of the turntable assembly; A vision and radar module, integrated on the body, is used to identify the environment; The control system is used to control the operation of the overall device, and the control system is connected to the remote controller via a wireless transmission module.

[0009] According to the present invention, the multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls includes a top plate, a bottom plate, a middle frame, and arms. The top plate and the bottom plate are arranged facing each other. The middle frame is fixed between the top plate and the bottom plate. Several sets of arms are provided, and the several sets of arms are fixed at equal intervals to the side of the middle frame. The power assembly is installed on the arms.

[0010] According to the present invention, the multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls includes a power component comprising a model aircraft brushless motor and a rotor. The model aircraft brushless motor is provided in several groups, and the several groups of model aircraft brushless motors are respectively installed at the ends of the arm. The rotor is fixed on the output shaft of the model aircraft brushless motor.

[0011] According to the multi-degree-of-freedom rotating cleaning drone that can adhere to walls provided by the present invention, the angle adjustment component includes an angle adjustment motor, which is fixed on the intermediate frame.

[0012] According to the present invention, the multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls includes a first multi-degree-of-freedom robotic arm, which is mounted on the output shaft of the angle adjustment motor, and the adsorption head is hinged to the execution end of the first multi-degree-of-freedom robotic arm via a first electric ball joint.

[0013] According to the multi-degree-of-freedom rotating cleaning drone that can adhere to walls provided by the present invention, the turntable assembly includes a turntable motor and a rotating disk. The turntable motor is fixed at the center position of the base plate, and the rotating disk is rotatably connected to the bottom of the base plate and fixed to the output shaft of the turntable motor.

[0014] According to the multi-degree-of-freedom rotating cleaning drone that can adhere to walls provided by the present invention, the spraying assembly includes a second multi-degree-of-freedom robotic arm and a high-pressure nozzle. The second multi-degree-of-freedom robotic arm is installed at the bottom of the rotating disk, and the high-pressure nozzle is hinged to the end of the second multi-degree-of-freedom robotic arm via a second electric ball joint.

[0015] According to the multi-degree-of-freedom rotating cleaning drone that can adhere to walls provided by the present invention, the brushing assembly includes a third multi-degree-of-freedom robotic arm, a rotating bracket, and a flat brush head. The third multi-degree-of-freedom robotic arm is installed at the bottom of the rotating disk, the rotating bracket is installed at the execution end of the third multi-degree-of-freedom robotic arm, a rotating motor is installed on the rotating bracket, and the flat brush head is hinged to the rotating motor via a third electric ball joint.

[0016] The multi-degree-of-freedom rotating cleaning drone that can adhere to walls according to the present invention includes a vision and radar module comprising a cleaning work camera, an environmental camera, and a radar sensor, all of which are arranged on the intermediate frame.

[0017] The present invention discloses the following technical effects: The device integrates adsorption, spraying, and brushing functions, eliminating the need for manual high-altitude operations. Relying on a multi-degree-of-freedom rotating cleaning mechanism and precise path planning, it can quickly cover all areas of the wall, avoiding the cumbersome process and safety risks of manual cleaning, and significantly shortening the operation time. It is especially suitable for large-area cleaning scenarios such as the exterior walls of high-rise buildings and the walls of large venues. The vision and radar modules provide real-time feedback on wall stains. The control system can adjust the spray volume, brushing intensity, and turntable speed according to the type and stubbornness of the stains. The adsorption mechanism ensures a tight fit between the cleaning mechanism and the wall surface through the angle adjustment component, avoiding cleaning dead corners. At the same time, the hinged adsorption head is adapted to walls with different curvatures, ensuring consistent cleaning in complex wall environments. The drone uses multiple adsorption mechanisms to firmly attach to the wall, with a power unit assisting in balance, effectively avoiding the risk of falling from heights. Operators can complete the operation via remote control, without direct contact with the hazardous environment. The device is adaptable to different wall materials, the adsorption head makes gentle contact with the wall without damaging it, and the redundant design of multiple power units and adsorption mechanisms enhances stability and reliability during operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 The isometric projection of the multi-degree-of-freedom rotating cleaning drone capable of adhering to walls according to the present invention. Figure I ; Figure 2 The isometric projection of the multi-degree-of-freedom rotating cleaning drone capable of adhering to walls according to the present invention. Figure II ; Figure 3 This is a schematic diagram of the structure of the adsorption robotic arm of the present invention; Figure 4 This is a schematic diagram of the spray washing assembly of the present invention; Figure 5 This is a schematic diagram of the structure of the brushing component of the present invention.

[0020] Among them, 1. Drone; 2. Adsorption mechanism; 3. Cleaning mechanism; 11. Top plate; 12. Bottom plate; 13. Intermediate frame; 14. Arm; 15. Brushless motor for model aircraft; 16. Rotor; 21. Angle adjustment motor; 22. First multi-degree-of-freedom robotic arm; 23. Adsorption head; 24. First electric ball joint; 31. Rotary disk; 32. Second multi-degree-of-freedom robotic arm; 33. High-pressure nozzle; 34. Second electric ball joint; 35. Third multi-degree-of-freedom robotic arm; 36. Rotating support; 37. Flat brush head; 38. Third electric ball joint. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Reference Figure 1-5 This invention provides a multi-degree-of-freedom rotating cleaning drone capable of adhering to walls, comprising: The drone 1 includes a body and a power assembly. The power assembly is provided in several groups, and the several groups of power assemblies are arranged at equal intervals on the body. Adsorption mechanism 2, several sets of adsorption mechanism 2 are arranged on the machine body. Adsorption mechanism 2 includes adsorption robotic arm and adsorption head 23. The adsorption robotic arm is installed on the machine body through angle adjustment component. The adsorption head 23 is hinged to the execution end of adsorption robotic arm. Cleaning mechanism 3 includes a turntable assembly, a spray washing assembly, and a brush washing assembly. The turntable assembly is installed at the bottom of the machine body, and the spray washing assembly and the brush washing assembly are respectively installed at the bottom of the turntable assembly. The vision and radar module is integrated into the airframe and is used to identify the environment. The control system is used to control the operation of the overall device. The control system is connected to the remote controller via a wireless transmission module.

[0024] After the operation begins, the control system scans and identifies the working wall environment through vision and radar modules integrated on the drone body, accurately locating the distribution of stains, the flatness of the wall surface, and the position of obstacles. This data is transmitted to the remote controller in real time, while simultaneously planning the optimal cleaning path. The power unit activates, providing initial lift for the drone 1, allowing it to smoothly approach the wall. Subsequently, several sets of suction mechanisms 2 adjust the tilt angle of the suction robotic arms via angle adjustment components. The suction head 23, hinged to the execution end, adheres to the wall surface and generates suction force, ensuring that the drone 1 is firmly attached to the wall without damaging it. Next, the turntable assembly at the bottom of the drone body begins multi-degree-of-freedom rotation, and the spray washing assembly activates simultaneously, spraying cleaning liquid or water onto the wall to moisten the stained areas. The subsequent brushing assembly, driven by the turntable, performs all-around brushing. For stubborn stains, the turntable speed and brushing intensity can be adjusted via the control system. During the operation, the vision and radar module continuously monitors the cleaning effect and the attitude of the drone 1. The adsorption mechanism 2 dynamically adjusts the adsorption angle and force according to the curvature of the wall. The power component assists in fine-tuning the position. The control system coordinates the operation of each component throughout the process. Operators can monitor the operation status in real time and flexibly adjust the parameters through a remote controller until the cleaning of the entire area is completed.

[0025] The design is further optimized so that the body includes a top plate 11, a bottom plate 12, an intermediate frame 13 and a boom 14. The top plate 11 and the bottom plate 12 are arranged opposite each other. The intermediate frame 13 is fixed between the top plate 11 and the bottom plate 12. Several sets of booms 14 are provided. Several sets of booms 14 are fixed at equal intervals on the side of the intermediate frame 13. The power unit is installed on the boom 14.

[0026] The drone body forms a stable frame with a top plate 11, a bottom plate 12, and a middle frame 13. Arms 14, evenly spaced on the sides of the middle frame 13, provide mounting platforms for the power components. Upon startup, several brushless motors 15 at the ends of the arms 14 start synchronously, driving the rotors 16 on the output shafts to rotate at high speed, generating upward lift to lift the drone 1 into the air. Based on distance data from the vision and radar modules, the control system adjusts the speed of each brushless motor to ensure the drone 1 smoothly approaches the wall. During operation, the brushless motors provide attitude compensation for the drone 1 through speed fine-tuning, working in conjunction with the adsorption mechanism 2 to ensure positional stability while attached to the wall.

[0027] Further optimization of the design: the power components include a model aircraft brushless motor 15 and a rotor 16. Several sets of model aircraft brushless motors 15 are provided, and the several sets of model aircraft brushless motors 15 are respectively installed at the ends of the arm 14. The rotor 16 is fixed on the output shaft of the model aircraft brushless motor 15.

[0028] The design is further optimized so that the angle adjustment component includes an angle adjustment motor 21, which is fixed on the intermediate frame 13.

[0029] Further optimization of the scheme: the adsorption robotic arm includes a first multi-degree-of-freedom robotic arm 22, which is mounted on the output shaft of the angle adjustment motor 21. The adsorption head 23 is hinged to the execution end of the first multi-degree-of-freedom robotic arm 22 via a first electric ball joint 24.

[0030] The scheme is further optimized. The turntable assembly includes a turntable motor and a rotating disk 31. The turntable motor is fixed at the center of the base plate 12, and the rotating disk 31 is rotatably connected to the bottom of the base plate 12 and fixed to the output shaft of the turntable motor.

[0031] An angle adjustment motor 21 fixed on the intermediate frame 13 receives commands from the control system and drives the first multi-degree-of-freedom robotic arm 22 connected to the output shaft to deflect the angle, precisely adjusting the relative position of the adsorption head 23 and the wall. When the drone 1 approaches the wall to a preset distance, the adsorption head 23 activates to generate adsorption force. At the same time, the first electric ball joint 24 flexibly adjusts the contact angle of the adsorption head 23 to ensure a tight fit with the wall (flat or curved), avoiding adsorption gaps. During operation, radar sensors monitor changes in the curvature of the wall in real time. The control system dynamically adjusts the adsorption posture through the angle adjustment motor 21 and the first multi-degree-of-freedom robotic arm 22 to maintain uniform adsorption force and prevent damage to the wall or adsorption failure.

[0032] Further optimization of the scheme: the spray washing assembly includes a second multi-degree-of-freedom robotic arm 32 and a high-pressure nozzle 33. The second multi-degree-of-freedom robotic arm 32 is installed at the bottom of the rotating disk 31, and the high-pressure nozzle 33 is hinged to the end of the second multi-degree-of-freedom robotic arm 32 via a second electric ball joint 34.

[0033] The solution is further optimized. The brushing assembly includes a third multi-degree-of-freedom robotic arm 35, a rotating bracket 36, and a flat brush head 37. The third multi-degree-of-freedom robotic arm 35 is installed at the bottom of the rotating disk 31. The rotating bracket 36 is installed at the execution end of the third multi-degree-of-freedom robotic arm 35. A rotary motor is installed on the rotating bracket 36. The flat brush head 37 is hinged to the rotary motor through a third electric ball joint 38.

[0034] A turntable motor at the center of the base plate 12 drives the rotating disk 31 to rotate at high speed, providing basic rotational power for cleaning operations. In the spray washing assembly, the second multi-degree-of-freedom robotic arm 32 adjusts its extension angle according to the cleaning path plan, and the second electric ball joint 34 drives the high-pressure nozzle 33 to achieve multi-directional spraying, precisely spraying cleaning liquid or water onto the stained areas; the brush washing assembly operates synchronously, the third multi-degree-of-freedom robotic arm 35 adjusts the contact pressure between the flat brush head 37 and the wall surface, and the rotary motor on the rotating bracket 36 drives the brush head to rotate at high speed, cooperating with the circumferential motion of the turntable to achieve all-round brushing. For stubborn stains, the control system can independently adjust the turntable motor speed, the rotary motor power, and the flow rate of the high-pressure nozzle 33, forming a "spray-brush-wash" collaborative cleaning closed loop.

[0035] The solution is further optimized. The vision and radar module includes a cleaning work camera, an environmental camera, and a radar sensor. All three are arranged on the middle frame 13.

[0036] An environmental camera on the intermediate frame 13 scans the overall wall surface, a cleaning camera focuses on details of localized stains, and a radar sensor detects the wall's flatness and the distance to obstacles. All three data points are transmitted to the control system in real time. The control system processes the data using algorithms to locate stains, plan paths, and avoid obstacles. Simultaneously, it monitors the drone 1's attitude, suction force, and cleaning effect in real time, dynamically coordinating the operating parameters of the power unit, suction mechanism 2, and the cleaning system. Operators receive status feedback via a remote controller and can manually adjust operating parameters, achieving a dual control mode of "automatic planning + manual fine-tuning."

[0037] In this embodiment, an atomization adjustment function is added to the high-pressure nozzle 33 to use fine mist spraying for precision wall surfaces (such as glass curtain walls) to avoid water stains. An elastic buffer layer is added to the surface of the flat brush head 37 to reduce wear and tear on the wall surface from hard contact. It also adopts a quick-release structure for installation and can be equipped with different brush heads such as brushes and sponges according to the type of stain. A splash guard is added to the edge of the rotating disk 31 to prevent cleaning fluid splashing from affecting the operation of the power components and sensors.

[0038] To achieve precise and safe operation of the cleaning drone 1 in low-light / no-light environments at night, this comprehensive optimization solution for nighttime operations constructs a closed-loop adaptation system from four core dimensions: perception, lighting, control safety, and battery life, comprehensively enhancing the equipment's nighttime operation capabilities. Regarding the nighttime adaptation upgrade of the perception system, an infrared-enhanced high-definition night vision camera and an infrared thermal imager with a detection range of 0.5-10m are added to the middle frame 13. This forms a triple perception architecture of "night vision + infrared + visible light supplementary lighting" with the existing environmental camera and cleaning work camera. Image fusion algorithms effectively eliminate nighttime shadows and glare interference, and accurately identify stains, cracks, and obstacle outlines by utilizing the temperature difference and reflectivity difference between stains and the wall surface. Simultaneously, a miniature LiDAR with a detection accuracy of ±2cm is added to the end of the arm 14, working in conjunction with the existing radar sensor to construct a 3D environmental map, completely resolving the nighttime visual positioning drift problem and ensuring the accuracy of the drone 1's preset distance control and path planning within 3-8cm from the wall surface. The lighting system features a customized design, with four sets of adjustable-angle LED fill lights installed on the sides of the central frame 13 and the bottom of the rotating disk 31. These lights support a color temperature of 3000K-6000K and stepless adjustment of brightness from 0-1000 lumens. Combined with anti-glare lenses, they achieve directional light projection that is adjustable from 30° to 60°, ensuring sufficient lighting in the cleaning area while preventing strong light reflections from affecting camera imaging and preventing light leakage from interfering with the surrounding environment. The newly added ambient light sensor can monitor the light intensity at night in real time, and the control system automatically adjusts the fill light parameters. In low-light environments, the brightness is increased, and when facing highly reflective surfaces such as glass curtain walls, the system switches to a low brightness + warm color temperature mode to ensure that the camera clearly captures the brushing details during the cleaning process. In terms of cleaning control and safety, on the one hand, the control system algorithm has been optimized, and an image noise reduction preprocessing module has been added to address the problem of image noise at night, improving the accuracy of stain recognition. At the same time, a "stain temperature calibration" function has been developed based on infrared thermal imaging data to automatically distinguish between oily and water-based stains with different temperature conductivity, and to accurately match the spray pressure and brushing frequency. On the other hand, the safety redundancy design has been strengthened, with the addition of an emergency lighting component with a flight time of ≥10 minutes. In the event of a sudden power outage or sensor failure, it will automatically activate to assist in the recovery of the drone 1. The brushless motor 15 of the model aircraft has been updated with a speed fluctuation compensation algorithm to cope with changes in airflow at night. The adsorption mechanism 2 monitors the adsorption force in real time, and automatically adjusts the posture of the robotic arm when it is lower than 80% of the preset value. The remote controller has also been upgraded to a night display mode, enhancing image contrast and highlighting key data such as the posture of the drone 1, adsorption force, and cleaning progress. It supports switching between infrared and night view images, making it convenient for operators to judge the operation status in real time.In terms of battery life and energy consumption optimization, the equipment automatically switches to a low-power operation mode during nighttime operations. Cameras and supplementary lights in non-operation areas are turned off as needed, with only the LiDAR and core sensors remaining operational. The multi-degree-of-freedom robotic arm uses intermittent power supply to reduce ineffective energy consumption. The control system has added a nighttime operation power threshold setting. When the remaining power is ≤20%, an early warning is triggered and the shortest return path is automatically planned. At the same time, ≥15% emergency power is reserved to ensure that the drone can safely detach from the wall and land in the designated area in case of an emergency, thus comprehensively ensuring the stability, accuracy and safety of nighttime operations.

[0039] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A multi-degree-of-freedom rotating cleaning drone capable of adhering to walls, characterized in that, include: The unmanned aerial vehicle (1) includes a body and a power component. The power component is provided in several groups, and the several groups of power components are arranged at equal intervals on the body. Adsorption mechanism (2), the adsorption mechanism (2) is arranged in several groups on the body, the adsorption mechanism (2) includes an adsorption mechanical arm and an adsorption head (23), the adsorption mechanical arm is installed on the body through an angle adjustment component, and the adsorption head (23) is hinged to the execution end of the adsorption mechanical arm; The cleaning mechanism (3) includes a turntable assembly, a spray washing assembly and a brush washing assembly. The turntable assembly is installed at the bottom of the machine body, and the spray washing assembly and the brush washing assembly are respectively installed at the bottom of the turntable assembly. A vision and radar module, integrated on the body, is used to identify the environment; The control system is used to control the operation of the overall device, and the control system is connected to the remote controller via a wireless transmission module.

2. The multi-degree-of-freedom rotating cleaning drone capable of adhering to walls according to claim 1, characterized in that, The machine body includes a top plate (11), a bottom plate (12), an intermediate frame (13), and a machine arm (14). The top plate (11) and the bottom plate (12) are arranged opposite each other. The intermediate frame (13) is fixed between the top plate (11) and the bottom plate (12). The machine arm (14) is provided in several groups. The several groups of machine arms (14) are fixed at equal intervals on the side of the intermediate frame (13). The power assembly is installed on the machine arm (14).

3. The multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 2, characterized in that, The power assembly includes a model aircraft brushless motor (15) and a rotor (16). The model aircraft brushless motor (15) is provided in several groups, and the several groups of model aircraft brushless motors (15) are respectively installed at the end of the arm (14). The rotor (16) is fixed on the output shaft of the model aircraft brushless motor (15).

4. The multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 2, characterized in that, The angle adjustment assembly includes an angle adjustment motor (21), which is fixed on the intermediate frame (13).

5. The multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 4, characterized in that, The adsorption robotic arm includes a first multi-degree-of-freedom robotic arm (22), which is mounted on the output shaft of the angle adjustment motor (21). The adsorption head (23) is hinged to the execution end of the first multi-degree-of-freedom robotic arm (22) via a first electric ball joint (24).

6. The multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 2, characterized in that, The turntable assembly includes a turntable motor and a rotating disk (31). The turntable motor is fixed at the center of the base plate (12), and the rotating disk (31) is rotatably connected to the bottom of the base plate (12) and fixed to the output shaft of the turntable motor.

7. The multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 6, characterized in that, The spraying assembly includes a second multi-degree-of-freedom robotic arm (32) and a high-pressure nozzle (33). The second multi-degree-of-freedom robotic arm (32) is mounted on the bottom of the rotary disk (31), and the high-pressure nozzle (33) is hinged to the end of the second multi-degree-of-freedom robotic arm (32) via a second electric ball joint (34).

8. A multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 6, characterized in that, The brushing assembly includes a third multi-degree-of-freedom robotic arm (35), a rotating bracket (36), and a flat brush head (37). The third multi-degree-of-freedom robotic arm (35) is mounted on the bottom of the rotating disk (31), and the rotating bracket (36) is mounted on the execution end of the third multi-degree-of-freedom robotic arm (35). A rotary motor is mounted on the rotating bracket (36), and the flat brush head (37) is hinged to the rotary motor via a third electric ball joint (38).

9. A multi-degree-of-freedom rotating cleaning drone capable of adsorbing onto walls according to claim 2, characterized in that, The vision and radar module includes a cleaning work camera, an environmental camera, and a radar sensor, all of which are arranged on the intermediate frame (13).

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