Devices for moving on vertical surfaces, tools for cleaning vertical surfaces and systems for cleaning vertical surfaces

Abstract

To provide devices, tools and systems for cleaning vertical surfaces of a high-rise building.SOLUTION: There is provided a device for moving on substantially vertical surfaces. The device may include: a frame; a first arm connected to the frame and rotatable relative to the frame about a first axis; a first vacuum suction cup connected to the first arm; a second arm connected to the frame and rotatable relative to the frame about a second axis that is substantially parallel to the first axis; a second vacuum suction cup connected to the second arm; a vacuum pump in fluid communication with the first vacuum suction cup and the second vacuum suction cup; a first valve for controlling the generation and release of vacuum in the first vacuum suction cup; and a second valve for controlling the generation and release of vacuum in the second vacuum suction cup.SELECTED DRAWING: Figure 11A

Description

[Technical Field]

[0001] The present invention relates to the field of devices for moving on vertical surfaces, tools for cleaning vertical surfaces, and systems for cleaning vertical surfaces, and more particularly to automated devices, tools, and systems thereof. [Background technology]

[0002] Typically, vertical surfaces of high-rise buildings, such as windows and walls of skyscrapers, are manually cleaned by high-rise cleaning professionals. Current difficulties associated with manual cleaning can include the risk of falls, imprecision of human labor, and / or unavailability of human labor. There has been a long-felt need for automated equipment, tools, and systems for cleaning vertical surfaces of high-rise buildings. Summary of the Invention [Means for solving the problem]

[0003] Some embodiments of the present invention may provide an apparatus for moving on a generally vertical surface, the apparatus may include a frame, a first arm connected to the frame and rotatable relative to the frame about a first axis, a first vacuum suction cup connected to the first arm, a second arm connected to the frame and rotatable relative to the frame about a second axis that is generally parallel to the first axis, a second vacuum suction cup connected to the second arm, a vacuum pump in fluid communication with the first vacuum suction cup and the second vacuum suction cup, a first valve for controlling vacuum generation and vacuum release in the first vacuum suction cup, a second valve for controlling vacuum generation and vacuum release in the second vacuum suction cup, and a controller for controlling rotation of the first and second arms and operation of the vacuum pump, the first valve, and the second valve.

[0004] Some embodiments of the present invention may provide a tool for cleaning a generally vertical surface, the tool may 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 rotatably connected to one of the first body end or the second body end, respectively; one or more propellers disposed on the body, at least one of the one or more propellers generating thrust in at least a direction generally perpendicular to the central longitudinal body axis to press the tool against the generally vertical surface; and a cleaning tool controller for controlling rotation of the one or more propellers.

[0005] Some embodiments of the present invention relate to a system for cleaning a generally vertical surface, the system comprising an apparatus for moving over a generally vertical surface, the apparatus comprising: 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 suction cup connected to the first arm; a second arm connected to the frame and rotatable relative to the frame about a second axis that is generally parallel to the first axis; a second vacuum suction cup connected to the second arm; and a vacuum suction cup in fluid communication with the first vacuum suction cup and the second vacuum suction cup. a cleaning tool connectable to the cleaning tool connector, the cleaning tool being movable relative to the apparatus in a substantially vertical direction to clean the substantially vertical surface.

[0006] Some embodiments of the present invention may provide a system for cleaning a generally vertical surface, the system may include a rail mountable on top of the generally vertical surface, a slider movable along the rail and including a cleaning tool connector, and a cleaning tool connectable to the cleaning tool connector, the cleaning tool movable relative to the slider in a generally vertical direction to clean the generally vertical surface. [Brief explanation of the drawings]

[0007] For a better understanding of embodiments of the present invention and to show how they may be carried into effect, reference will now be made, purely by way of example, to the accompanying drawings in which like numerals indicate corresponding elements or sections throughout.

[0008] [Figure 1A] 1A, 1B, 1C, 1D, and 1E are schematic illustrations of devices for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1B] 1A, 1B, 1C, 1D, and 1E are schematic illustrations of devices for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1C] 1A, 1B, 1C, 1D, and 1E are schematic illustrations of devices for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1D] 1A, 1B, 1C, 1D, and 1E are schematic illustrations of devices for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1E] 1A, 1B, 1C, 1D, and 1E are schematic illustrations of devices for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1F] 1F and 1G are three-dimensional views of an apparatus for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1G]1F and 1G are three-dimensional views of an apparatus for moving on a generally vertical surface, according to some embodiments of the present invention. [Figure 1H] FIG. 1H is a schematic illustration of an apparatus for moving on a generally vertical surface including a sub-frame for horizontal stabilization of the frame, according to some embodiments of the present invention. [Figure 1I] FIG. 1I is a three-dimensional view of an apparatus for moving on a generally vertical surface, including a sub-frame for horizontal stabilization of the frame, according to some embodiments of the present invention. [Figure 2] FIG. 2 shows a schematic diagram of horizontal movement of a device during operation on a vertical surface, according to some embodiments of the present invention. [Figure 3] FIG. 3 shows a schematic diagram of the vertical movement of a device during operation on a vertical surface, according to some embodiments of the present invention. [Figure 4] FIG. 4 shows a schematic diagram of the vertical movement of a device including a sub-frame for horizontal stabilization of the frame during operation on a vertical surface, according to some embodiments of the present invention. [Figure 5A] FIG. 5A is a schematic diagram of a base unit, an apparatus for moving on a vertical surface, and a building having a substantially vertical surface, according to some embodiments of the present invention. [Figure 5B] FIG. 5B is a block diagram of a base unit according to some embodiments of the present invention. [Figure 5C] FIG. 5C is a block diagram of a base unit having a compartment for housing a device for moving on a vertical surface according to some embodiments of the present invention. [Figure 6A] 6A, 6B, and 6C are schematic diagrams of a vertical surface cleaning tool including a propeller positioned within an opening formed between the front and rear faces of the body of the tool and two opposing propellers positioned on opposing sides of the body of the tool, according to some embodiments of the present invention. [Figure 6B]6A, 6B, and 6C are schematic diagrams of a vertical surface cleaning tool including a propeller positioned within an opening formed between the front and rear faces of the body of the tool and two opposing propellers positioned on opposing sides of the body of the tool, according to some embodiments of the present invention. [Figure 6C] 6A, 6B, and 6C are schematic diagrams of a vertical surface cleaning tool including a propeller positioned within an opening formed between the front and rear faces of the body of the tool and two opposing propellers positioned on opposing sides of the body of the tool, according to some embodiments of the present invention. [Figure 6D] FIG. 6D is a three-dimensional view of the vertical surface cleaning tool of FIGS. 6A, 6B, and 6C, according to some embodiments of the present invention. [Figure 7] FIG. 7 shows a schematic diagram of a vertical surface cleaning tool that overcomes obstacles while operating on a vertical surface, according to some embodiments of the present invention. [Figure 8] FIG. 8 shows a schematic diagram of a vertical surface cleaning tool that maintains a desired vertical orientation relative to a vertical surface while operating on the vertical surface, according to some embodiments of the present invention. [Figure 9] FIG. 9 is a three-dimensional view of a vertical surface cleaning tool including two propellers, according to some embodiments of the present invention. [Figure 10A] 10A and 10B are three-dimensional views of a vertical surface cleaning tool including three propellers positioned within openings formed through the front and rear body surfaces of the tool, according to some embodiments of the present invention. [Figure 10B] 10A and 10B are three-dimensional views of a vertical surface cleaning tool including three propellers positioned within openings formed through the front and rear body surfaces of the tool, according to some embodiments of the present invention. [Figure 10C] FIG. 10C is a partial cross-sectional view of a vertical surface cleaning tool taken along line AA of FIGS. 10A-10B, according to some embodiments of the present invention. [Figure 11A]FIG. 11A is a three-dimensional view of a system for cleaning vertical surfaces of a building, according to some embodiments of the present invention. [Figure 11B] 11B and 11C are three-dimensional views of an apparatus for moving over a generally vertical surface and a tool for cleaning a vertical surface, according to some embodiments of the present invention. [Figure 11C] 11B and 11C are three-dimensional views of an apparatus for moving over a generally vertical surface and a tool for cleaning a vertical surface, according to some embodiments of the present invention. [Figure 12] FIG. 12 is a schematic diagram of a system for cleaning vertical surfaces of a building, according to some embodiments of the present invention.

[0009] It will be understood that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or similar elements. DETAILED DESCRIPTION OF THE INVENTION

[0010] In the following description, various aspects of the present invention are described. For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without the specific details presented herein. Furthermore, well-known features may be omitted or simplified so as not to obscure the present invention. With particular reference to the figures, it is emphasized that the details shown are for illustrative purposes only and are presented solely for the purpose of explanatory discussion of the present invention, in order to provide what is believed to be the most useful and readily understood description of the principles and conceptual aspects of the present invention. In this regard, no attempt is made to show structural details of the present invention in more detail than is necessary for a fundamental understanding of the present invention; the description taken together with the figures will make apparent to those skilled in the art how several forms of the present invention may be practiced in practice.

[0011] Before describing at least one embodiment of the invention in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The invention is applicable to other embodiments and combinations of the disclosed embodiments that can be practiced or carried out in various ways. It is also to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting.

[0012] Unless otherwise indicated, as will be apparent from the discussion below, in the discussion throughout this specification, use of terms such as "processing," "calculate," "computing," "calculate," "determine," "improve," etc. will be understood to refer to the actions and / or processes of a computer or computing system or similar electronic computing device that manipulates and / or transforms data represented as physical quantities, e.g., electronic quantities, in the computing system's registers and / or memory into other data similarly represented as physical quantities in the computing system's memory, registers, or other device that stores, transmits, or displays such information. Any of the disclosed modules or units may be implemented at least in part by a computer processor.

[0013] Reference is now made to Figures 1A, 1B, 1C, 1D, and 1E, which are schematic illustrations of an apparatus 100 for moving on a generally vertical surface, according to some embodiments of the present invention. Reference is also made to Figures 1F and 1G, which are three-dimensional illustrations of an apparatus 100 for moving on a generally vertical surface, according to some embodiments of the present invention.

[0014] The device 100 may move on a vertical (or near-vertical) surface, such as a wall and / or window of a building. The near-vertical surface on which the device 100 may move may be slightly inclined with respect to the normal to the ground, for example, at an angle of 0 to 20 degrees or more. The device 100 may move horizontally and / or vertically on the vertical (or near-vertical) surface.

[0015] Apparatus 100 may include a frame 105. Apparatus 100 may include a tool connector 107. Tool connector 107 may be connected to or may be part of frame 105. Tool connector 107 may connect a tool to apparatus 100. For example, a tool for cleaning vertical surfaces (e.g., tools 600, 900, 1000, etc., described below) may be connected to apparatus 100 via tool connector 107. Additional tools that may be connected to apparatus 100 using tool connector 107 may include a camera (e.g., an infrared camera, etc.), an inspection tool (e.g., a solar panel inspection tool, etc.), a projector, a lamp, a holding tool, or any other suitable tool.

[0016] The device 100 may include a housing 108. The housing 108 may be connected to or may be part of a frame 105 (e.g., as shown in FIGS. 1F and 1G). The housing 108 may house at least a portion of a tool connector 107. The housing 108 may releasably house a tool that is connected to the device 100 using the tool connector 107.

[0017] Device 100 may include a base unit connector 109. Base unit connector 109 may be connected to or may be part of frame 105. Base unit connector 109 may connect device 100 to, for example, a base unit (e.g., rooftop base unit 500 described below), secure device 100 to the base unit, and / or provide at least power to device 100 from the base unit.

[0018] The device 100 may include a first arm 110. The first arm 110 may be connected to a frame 105 and may 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 110 a thereof. The device 100 may include a first actuator 114 for rotating the first arm 110 about the first axis 112.

[0019] The device 100 may include a second arm 120. The second arm 120 may be connected to the frame 105 and may rotate relative to the frame 105 about a second axis 122. The second axis 122 may be parallel (or substantially parallel) to the first axis 112. In some embodiments, the second arm 120 is connected to the frame 105 at its first end 120a. The device 100 may include a second actuator 124 for rotating 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 relative to each other.

[0020] The apparatus 100 may include a first vacuum suction cup 130. The first vacuum suction cup 130 may be coupled to the first arm 110. In some embodiments, the first vacuum suction cup 130 is connected to the second end 110b of the first arm 110. The first vacuum suction cup 130 may include one or more first cavities 134.

[0021] The apparatus 100 may include a second vacuum suction cup 140. The second vacuum suction cup 140 may be connected to the second arm 120. In some embodiments, the second vacuum suction cup 140 is connected to the second end 120b of the second arm 120. The second vacuum suction cup 140 may include one or more second cavities 144.

[0022] Apparatus 100 may include a vacuum pump 146 for generating a vacuum. Apparatus 100 may include a first valve 147 for controlling the generation and release of vacuum in first vacuum suction cup 130 (e.g., the generation / release of vacuum in one or more first cavities 134 of first vacuum suction cup 130). Apparatus 100 may include a second valve 148 for controlling the generation and release of vacuum in second vacuum suction cup 140 (e.g., the generation / release of vacuum in one or more second cavities 144 of second vacuum suction cup 140). In some embodiments, apparatus 100 includes a first vacuum pump for generating a vacuum in first vacuum suction cup 130 and a second vacuum pump for generating a vacuum in second vacuum suction cup 140 (not shown).

[0023] In some embodiments, the first vacuum suction cup 130 and the first arm 110 may rotate relative to one another about a third axis 136 that is parallel (or substantially parallel) to the first axis 112. The apparatus 100 may include a third actuator 137 for rotating the first vacuum suction cup 130 and the first arm 110 relative to one another about the third axis 136. In some embodiments, the second vacuum suction cup 140 and the second arm 120 may rotate relative to one another about a fourth axis 146 that is parallel (or substantially parallel) to the second axis 122. The apparatus 100 may include a fourth actuator 147 for rotating the first vacuum suction cup 140 and the second arm 120 relative to one another about the fourth axis 146.

[0024] In some embodiments, the first vacuum suction cup 130 and the first arm 110 may rotate relative to one another about a fifth axis 138 that is perpendicular (or substantially perpendicular) to the first axis 112. The apparatus 100 may include a fifth actuator 139 for rotating the first vacuum suction cup 130 and the first arm 110 relative to one another about the fifth axis 138. In some embodiments, the second vacuum suction cup 140 and the second arm 120 may rotate relative to one another about a sixth axis 148 that is perpendicular (or substantially perpendicular) to the second axis 122. The apparatus 100 may include a sixth actuator 149 for rotating the second vacuum suction cup 140 and the second arm 120 relative to one another about the sixth axis 148.

[0025] Apparatus 100 may include a controller 150. Controller 150 may be connected to or disposed on frame 105. Controller 150 may control the operation of vacuum pump 146, first and second valves 147, 148, and the rotation of first and second arms 110, 120 and first and second vacuum suction cups 130, 140 to move apparatus 100 in a desired direction on a vertical surface (e.g., as described below with respect to FIGS. 2, 3, and 4).

[0026] The controller 150 may control the rotation of the first and second arms 110, 120 relative to the frame 105. The controller 150 may control the rotation of the first arm 110 and the first vacuum suction cup 130 relative to each other. The controller 150 may control the rotation of the second arm 120 and the second vacuum suction cup 140 relative to each other. The controller 150 may control the actuators 114, 124, 137, 139, 147, 149 to rotate the respective components of the apparatus 100.

[0027] The controller 150 may control the vacuum pump 146 to generate a vacuum. The controller 150 may control the first valve 147 to alternately generate and release a vacuum in the first vacuum suction cup 130, causing the first vacuum suction cup 130 to alternately attach and detach from a vertical (or nearly vertical) surface. The controller 150 may control the second valve 148 to alternately generate and release a vacuum in one or more cavities 144 of the second vacuum suction cup 140, causing the second vacuum suction cup 140 to alternately attach and detach from a vertical (or nearly vertical) surface.

[0028] In some embodiments, apparatus 100 includes one or more cameras 152. For example, apparatus 100 may include an array of cameras 152. Cameras 152 may be connected to or disposed on a frame 105 of apparatus 100 (e.g., as shown in FIG. 1D ). Controller 150 may control vacuum pump 146, first and second valves 147, 148, rotation of first and second arms 110, 120, and rotation of first and second vacuum suction cups 130, 140 based on images from camera 152, for example, to move apparatus 100 in a desired direction on a vertical (or near-vertical) surface to overcome obstacles and / or locate portions of the vertical (or near-vertical) surface suitable for vacuum attachment.

[0029] In some embodiments, device 100 includes a first set of sensors 160 and a second set of sensors 162. For example, first set of sensors 160 may be disposed within first vacuum suction cup 130 (e.g., within one or more cavities 134 of first vacuum suction cup 130), and second set of sensors 162 may be disposed within second vacuum suction cup (e.g., within one or more cavities 144 of second vacuum suction cup 140). Respective first and second sets of sensors 160, 162 may include distance sensors (e.g., ToF sensors, etc.) 160 a, 162 a, pressure sensors 160 c, 162 c, optical sensors 160 e, 162 e, or any other suitable sensors.

[0030] The controller 150 may determine, for example, based on output signals from the first and second sets of sensors 160, 162, whether the portion of the vertical surface in front of the first and second vacuum suction cups 130, 140, respectively, is suitable for vacuum adhesion (e.g., sufficiently smooth) and / or whether it includes an obstacle (e.g., a window frame, etc.) that may prevent the attachment of the first and second vacuum suction cups 130, 140, respectively. The controller 150 may control the first and second valves 147, 148 and the rotation of the first and second arms 110, 120 and the first and second vacuum suction cups 130, 140, for example, to overcome the obstacle and / or locate the portion of the vertical surface suitable for vacuum adhesion, based on the output signals from the first and second sets of sensors 160, 162.

[0031] In some embodiments, device 100 includes a communication unit 166. Communication unit 166 may be connected to or disposed on frame 105. In some embodiments, communication unit 166 is a wireless communication unit including a modem (modulator-demodulator) and an antenna. Controller 150 may use communication unit 166 to transmit and / or receive information.

[0032] Reference is now made to Figures 1H and 1I, which are a schematic and a three-dimensional illustration, respectively, of an apparatus 100 for movement on a generally vertical surface, including a sub-frame 170 for horizontal stabilization of a frame 105, in accordance with some embodiments of the present invention.

[0033] In some embodiments, device 100 includes a sub-frame 170 (e.g., as shown in FIGS. 1H and 1I). Sub-frame 170 may be connected to frame 105. Sub-frame 170 and frame 105 may rotate relative to one another about a seventh axis 172 that is perpendicular (or substantially perpendicular) to first axis 112 and second axis 122. Device 100 may include a seventh actuator 174 for rotating sub-frame 170 and frame 105 relative to one another.

[0034] First arm 110 and second arm 120 may be connected to frame 105 via sub-frame 170. For example, first arm 110 may be connected to sub-frame 170 (e.g., at its first end 110 a) and may rotate relative to sub-frame 170 about a first axis 112. Further in this example, second arm 120 may be connected to sub-frame 170 (e.g., at its first end 120 a) and may rotate relative to sub-frame 170 about a second axis 122.

[0035] In some embodiments, device 100 includes a third set of sensors 176 (e.g., as shown in FIG. 1F ). Third set of sensors 176 may be connected to or disposed on frame 105. Third set of sensors 176 may include inertial sensors, such as one or more accelerometer sensors, one or more gyro sensors, or any other suitable sensors. When device 100 is attached to or placed on a vertical surface by first and / or second vacuum suction cups 130, 140, controller 150 may control the rotation of frame 105 relative to sub-frame 170 based on at least one of output signals from third set of sensors 176, output signals from encoders of actuators 114, 124, 137, 139, 147, 149, and / or images from camera 152 to maintain a horizontal (or near-horizontal) orientation of frame 105 in real-world coordinates. For example, diagrams 100c-1 to 100c-4 of FIG. 4B schematically illustrate the movement of device 100 having sub-frame 170 on vertical surface 90 in vertical direction 402.

[0036] In some embodiments, device 100 includes a fourth set of sensors 165. Based on output signals from fourth set of sensors 165 and / or camera 152, controller 165 may control components of device 100 to move and navigate device 100 on a generally vertical surface (e.g., as described herein). 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 may be used to navigate device 100 on a generally vertical surface. Fourth set of sensors 165 may, for example, be connected to or disposed on frame 105 of device 100 (e.g., as shown in FIG. 1D ). Controller 150 may control components of device 100 to move and navigate device 100 on a vertical (or near-vertical) surface based on output signals from at least one of first set of sensors 160, second set of sensors 162, camera 152, third set of sensors 176, fourth set of sensors 165, and / or encoders of actuators 114, 124, 137, 139, 147, 149 (e.g., as described herein).

[0037] Reference is now made to FIG. 2, which shows a schematic diagram of horizontal movement of device 100 during operation on a vertical surface 90, according to some embodiments of the present invention.

[0038] 2. Diagrams 200a-200g show a schematic top view of the vertical surface 90 and the device 100. Diagrams 200a-200g of FIG. 2 show a schematic movement of the device 100 in a horizontal direction 202 on the vertical surface 90.

[0039] In FIG. 200a, the apparatus 100 is attached to the vertical surface 90 by the first and second vacuum suction cups 130, 140 through operation of the vacuum pump 146 and the first and second valves 147, 148, respectively. The vacuum pump 146, the first and second valves 147, 148, and the controller 150 are not shown in FIG. 2 for clarity. At this stage, the apparatus 100 is stationary. To detach the second vacuum suction cup 140 from the vertical surface 90, the controller 150 may control the second valve 148 to release pressure from one or more cavities 144 of the second vacuum suction cup 140 and rotate the second arm 120 relative to the frame 105 about the second axis 122 in a first direction indicated by the arrow 204 in FIG. 200a. At this stage, the device 100 is attached to the vertical surface 90 by the first vacuum suction cup 130 through the operation of the vacuum pump 146 and the first valve 147 .

[0040] The controller 150 may further rotate the first arm 110 (attached to the vertical surface 90) relative to the first vacuum suction cup 130 in a first direction indicated by arrow 206 in FIG. 200b about the third axis 136, and rotate the second arm 120 relative to the frame 105 in a second direction indicated by arrow 208 in FIG. 200b, in order to move the second vacuum suction cup 140 adjacent (or substantially adjacent) to the first vacuum suction cup 130 in the horizontal direction 202.

[0041] The controller 150 may further determine whether the portion of the vertical surface 90 in front of the second vacuum suction cup 140 is suitable for vacuum adhesion or whether it includes an obstacle, for example, based on output signals from the second set of sensors 162 and / or the camera 152 (e.g., as described above with respect to FIGS. 1A, 1B, 1C, 1D, and 1E). The second set of sensors 162 and the camera 152 are not shown in FIG. 2 for clarity. If the controller 150 determines that a portion of the vertical surface 90 is not suitable for vacuum adhesion or contains an obstruction, the controller 150 may rotate the second arm 120 relative to the frame 105 and / or the second vacuum suction cup 140 and / or rotate the first arm 110 relative to the frame 105 and / or the first vacuum suction cup 130 to change the position of the second vacuum suction cup 140 relative to the vertical surface 90 and search for another portion of the vertical surface 90 that is suitable for vacuum adhesion or that does not contain an obstruction. Upon determining that the portion of the vertical surface 90 in front of the second vacuum suction cup 140 is suitable for vacuum adhesion and does not contain an obstruction, the controller 150 may rotate the second arm 120 in a second direction indicated by arrow 210 in FIG. 200c to bring the second vacuum suction cup 140 into contact with the vertical surface 90. The controller 150 may further control the second valve 148 to generate a vacuum within the second vacuum suction cup 140 to attach the second vacuum suction cup 140 to the vertical surface 90. At this stage, as shown in FIG. 200d, the device 100 is attached to the vertical surface 90 by the first and second vacuum suction cups 130, 140 through operation of the vacuum pump 146 and the first and second valves 147, 148, respectively.

[0042] To detach the first vacuum suction cup 132 from the vertical surface 90, the controller 150 may control the first valve 147 to release the vacuum from the first vacuum suction cup 130 and rotate the first arm 110 relative to the frame 105 in a second direction, indicated by arrow 212 in FIG. 200e, about the first axis 112. At this stage, the apparatus 100 is attached to the vertical surface 90 by the second vacuum suction cup 140 through operation of the vacuum pump 146 and the first valve 147.

[0043] The controller 150 may further rotate the second arm 120 relative to the second vacuum suction cup 140 (attached to the vertical surface 90) in a first direction indicated by arrow 214 in FIG. 200f, and rotate the first arm 110 in a second direction indicated by arrow 216 in FIG. 200f to move the first vacuum suction cup 130 away from the second vacuum suction cup 140 in the horizontal direction 202.

[0044] The controller 150 may further determine whether the portion of the vertical surface 90 in front of the first vacuum suction cup 130 is suitable for vacuum adhesion or whether it includes an obstacle, for example, based on output signals from the first set of sensors 160 and / or the camera 152. The first set of sensors 160 is not shown in FIG. 2 for clarity. Upon determining that the portion of the vertical surface 90 in front of the first vacuum suction cup 130 is suitable for vacuum adhesion, the controller 150 may rotate the first arm 110 in a first direction, indicated by arrow 218 in FIG. 200g, to bring the first vacuum suction cup 130 into contact with the vertical surface 90. The controller 150 may further control the first valve 147 to generate a vacuum within the first vacuum suction cup 130 to adhere the first vacuum suction cup 130 to the vertical surface 90. At this stage, the device 100 is attached to the vertical surface 90 by the first and second vacuum suction cups 130, 140 through the operation of the vacuum pump 146 and the first and second vacuum pumps 147, 148, respectively.

[0045] It should be noted that Figure 2 shows an example of one movement cycle of device 100 in a horizontal direction on vertical surface 90. It should also be noted that during horizontal movement, device 100 may not necessarily move through each stage or in the exact same order as shown and described in Figure 2.

[0046] Reference is now made to FIG. 3, which shows a schematic diagram of vertical movement of device 100 during operation on a vertical surface 90, according to some embodiments of the present invention.

[0047] Diagrams 300a-300d of Figure 3 schematically show a front view of the vertical surface 90 and the device 100. Diagrams 300a-300d of Figure 3 schematically show the movement of the device 100 in a vertical direction 302 on the vertical surface 90.

[0048] In FIG. 300a, the apparatus 100 is attached to the vertical surface 90 by the first and second vacuum suction cups 130, 140 through operation of the vacuum pump 146 and the first and second valves 147, 148, respectively. At this stage, the apparatus 100 is horizontal (or nearly horizontal). The vacuum pump 146, the first and second valves 147, 148, and the controller 150 are not shown in FIG. 3 for clarity. To detach the first vacuum suction cup 130 from the vertical surface 90, the controller 150 may control the first valve 147 to release the vacuum from the first vacuum suction cup 130 and rotate the second arm 120 relative to the second vacuum suction cup 140 about the sixth valve 148, e.g., in a first direction indicated by arrow 304 in FIG. 300a. At this stage, the device 100 is attached to the vertical surface 90 by the second vacuum suction cup 140 through the operation of the vacuum pump 146 and the second valve 148 .

[0049] The controller 150 may further determine whether the portion of the vertical surface 90 in front of the first vacuum suction cup 130 is suitable for vacuum adhesion or whether it contains an obstacle based on output signals from the first set of sensors 160 and / or the camera 152. The first set of sensors 160 is not shown in FIG. 3 for clarity. Upon determining that the portion of the vertical surface 90 in front of the first vacuum suction cup 130 is suitable for vacuum adhesion and does not contain an obstacle, the controller 150 may control the first valve 147 to generate a vacuum within the first vacuum suction cup 130 to adhere the first vacuum suction cup 130 to the vertical surface 90. At this stage, the apparatus 100 is attached to the vertical surface 90 by the first and second vacuum suction cups 130 through operation of the vacuum pump 146 and the first and second valves 147, 148, respectively.

[0050] To detach the second vacuum suction cup 140 from the vertical surface 90, the controller 150 may control the second valve 148 to release the vacuum from the second vacuum suction cup 140 and rotate the first arm 110 relative to the first vacuum suction cup 130 (which is attached to the vertical surface 90) in a second direction, indicated by arrow 306 in FIG. 300b, about the fifth axis 138. At this stage, the apparatus 100 is attached to the vertical surface 90 by the first vacuum suction cup 130 through operation of the vacuum pump 146 and the first valve 147. Upon determining that the portion of the vertical surface 90 in front of the second vacuum suction cup 140 is suitable for vacuum attachment and does not contain any obstructions, the controller 150 may control the second valve 148 to generate a vacuum within the second vacuum suction cup 140 to attach the second vacuum suction cup 140 to the vertical surface 90. At this stage, the device 100 is attached to the vertical surface 90 by the first and second vacuum suction cups 130, 140 through the operation of the vacuum pump 146 and the first and second valves 147, 148, respectively.

[0051] To detach the first vacuum suction cup 130 from the vertical surface 90, the controller 150 may control the first valve 147 to rotate the second arm 120 relative to the second vacuum suction cup 140 (e.g., attached to the vertical surface 90) in a first direction indicated by arrow 308 in FIG. 300c. At this stage, the apparatus 100 is attached to the vertical surface 90 by the second vacuum suction cup 140 through operation of the vacuum pump 146 and the second valve 148. Upon determining that the portion of the vertical surface 90 in front of the first vacuum suction cup 130 is suitable for vacuum attachment and does not contain any obstructions, the controller 150 may control the first valve 147 to generate a vacuum within the first vacuum suction cup 130 to attach the first vacuum suction 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 and second vacuum suction cups 130, 140, respectively, through operation of the vacuum pump 146 and the first and second valves 147, 148. At this stage, the device 100 is horizontal (or nearly horizontal).

[0052] It should be noted that Figure 3 shows an example of one vertical movement cycle of device 100 on vertical surface 90. It should also be noted that during vertical movement, device 100 may not necessarily move through each stage or in the exact same order as shown and described in Figure 3. It should also be noted that device 100 may move in both vertical and horizontal directions simultaneously.

[0053] Reference is also made to FIG. 4, which shows a schematic diagram of vertical movement of apparatus 100, including sub-frame 170 for horizontal stabilization of frame 105, during operation on vertical surface 90, according to some embodiments of the present invention.

[0054] Diagrams 400a-400d in Figure 4 show a front view of vertical surface 90 and apparatus 100. Diagrams 400a-400d in Figure 4 schematically illustrate vertical 402 movement of apparatus 100, including sub-frame 170, on vertical surface 90. As shown in Figure 4, frame 105 of apparatus 100 remains horizontal during vertical movement of apparatus 100.

[0055] Reference is now made to FIG. 5A, which is a schematic illustration of a base unit 500, an apparatus 100 for moving on a vertical surface, and a building 80 having a vertical surface 90, according to some embodiments of the present invention.

[0056] See also FIG. 5B, which is a block diagram of a base unit 500 according to some embodiments of the present invention.

[0057] See also FIG. 5C, which is a block diagram of a base unit 500 having a compartment 530 for housing an apparatus 100 for movement on a vertical surface, according to some embodiments of the present invention.

[0058] Some embodiments of the present invention may provide a base unit 500. The base unit 500 may be mounted on top of a vertical surface 90, such as the roof 82 of a building 80. The base unit 500 may connect to a device 100 that moves on the vertical (or near-vertical) surface 90, anchor the device 100, and provide at least power to the device 100. For example, the base unit 500 may be permanently mounted to the roof 82. In another example, the base unit 500 may be removably mounted to the roof 82.

[0059] In some embodiments, the base unit 500 includes a controller 510 for controlling the components of the base unit 500 .

[0060] In some embodiments, base unit 500 includes a communication subunit 512 for transmitting and receiving information. For example, communication subunit 512 may transmit and receive information to and from device 100. In some embodiments, communication subunit 512 is a wireless communication subunit that includes a modem and an antenna.

[0061] In some embodiments, the base unit 500 includes a power supply subunit 514. The power supply subunit 514 may be connected to a power supply line of the building 80. In some embodiments, the base unit 500 includes one or more uninterruptible power supply (UPS) subunits 515 for providing power in the event of a power supply line failure in the building 80.

[0062] In some embodiments, the base unit 500 includes a cable 516. The cable 516 may be connected at a first end to the base unit 500 and at a second end to the tool connector 109 of the device 100. The cable 516 may secure the device 100 to the base unit 500 (and thus to the roof 82 of the building 80). For example, if the device 100 is unintentionally detached from the vertical surface 90 of the building 80, the cable 516 may prevent the device 100 from falling to the ground. In some embodiments, the cable 516 provides at least power to the device 100 from the power supply subunit 514 and / or from the UPS subunit 515 of the base unit 500. In some embodiments, the cable 516 provides a communication channel to the device 100. In some embodiments, the cable 516 is a tethered cable. In some embodiments, the base unit 500 includes different cables for securing the device 100 and for providing power to the device 100.

[0063] In some embodiments, the base unit 500 includes a winch subunit 518. The winch subunit 518 may alternately reel in and release the cable 516. In some embodiments, the base unit 500 includes a cable inspection subunit 520. The cable inspection subunit 520 may be located adjacent to the winch subunit 518 and may inspect the cable 516 while the winch subunit 518 is reeling in and / or releasing the cable 516. For example, the cable inspection subunit 520 may include a camera for capturing images of the cable 516 while it is being reeled in and / or released and transmitting the images to the controller 510. The controller 510 may determine, based on the images, whether the cable 516 includes one or more damaged sections. In response to determining one or more damaged sections in the cable 516, the controller 510 may cause the communication subunit 512 to send one or more respective notifications to one or more authorized parties.

[0064] 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 may use its communication unit 166 to send a command to the communication subunit 512 of the base unit 500 to reel in or let out the cable 516. Upon receiving the command via the communication subunit 512, the controller 510 of the base unit 500 may control the winch subunit 518 accordingly. The controller 150 and communication unit 166 of the device 100 are not shown in Figures 5A and 5B for clarity.

[0065] In some embodiments, base unit 500 includes a compartment 530 for housing device 100 (e.g., as shown in FIG. 5C ). In the example of FIG. 5C , base unit 500 is positioned adjacent an edge of roof 82 to allow device 100 to enter and exit compartment 530. When device 100 is not in use, device 100 may be housed within compartment 530 of base unit 530. Controller 150 of device 100 may, for example, control components of device 100 and / or components of base unit 500 to cause device 100 to exit or enter compartment 530 of base unit 500. Base unit 500 may include a door 532 for opening and closing compartment 530.

[0066] Some embodiments of the present invention may provide a tool for cleaning vertical (or nearly vertical) surfaces, such as tools 600, 900, and 100 described below. The tool may 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 may generate thrust to urge the tool against the vertical surface. At least one of the one or more propellers may generate thrust to urge the tool away from the vertical surface. At least one of the one or more propellers may generate thrust to maintain a desired vertical orientation of the tool and / or stabilize the tool relative to the vertical surface. During operation on the vertical (or substantially vertical) surface, the tool may be pressed against the vertical (or substantially vertical) surface by thrust generated by at least one of the one or more propellers, and may simultaneously be moved vertically along the vertical (or substantially vertical) surface to clean the vertical (or substantially vertical) surface with its brushes. The tool may overcome obstacles on the vertical (or substantially vertical) surface.

[0067] Reference is now made to Figures 6A, 6B, and 6C, which are schematic illustrations of a vertical surface cleaning tool 600 according to some embodiments of the present invention, including a propeller 630 positioned within an opening formed between a front face 612 and a rear face 613 of a body 610 of the vertical surface cleaning tool 600, and two opposing propellers 635, 638 positioned on opposing body sides 614, 615 of the vertical surface cleaning tool 600.

[0068] Reference is now made to FIG. 6D, which is a three-dimensional illustration of the vertical surface cleaning tool 600 of FIGS. 6A, 6B, and 6C, according to some embodiments of the present invention.

[0069] Tool 600 may clean vertical (or near-vertical) surfaces, such as, for example, walls and / or windows of a building.

[0070] The tool 600 may include a body 610. The body 610 may include a first body end 610a, a second body end 610b, a front body face 612 (facing a vertical surface when the tool 600 is operating), a rear body face 613 (facing away from the vertical surface when the tool 600 is operating), a first longitudinal body side face 614, and a second longitudinal body side face 615. At least the front body face 612 (facing the vertical surface when the tool 600 is operating) may be flat (or substantially flat). The rear body face 613 (facing away from the vertical surface when the tool 600 is operating) may be flat (or substantially flat). The body 610 may be flat (or substantially flat). The body 610 may include a central longitudinal body axis 616 extending between the first body end 610 a and the second body end 610 b. The body 610 may include a central lateral body axis 617 extending between the first longitudinal body side 614 and the second longitudinal body side 615. The central lateral body axis 617 may be perpendicular to the central longitudinal body axis 616.

[0071] The tool 600 may include a cable connector 618 for connecting the body 610 to the cable 70. The cable connector 618 may be located, for example, at the first body end 610a of the body 610. The cable 70 may be connected, for example, to a device capable of moving on a vertical surface (e.g., the device 100 described above) or to a slider movable on rails mounted to the roof of a building (e.g., the slider 1220 described below with respect to FIG. 1010a). The cable 70 may be alternately wound or unwound to adjust the vertical position of the tool 600 along the vertical surface. In various embodiments, the device 100 or the slider 1220 controls the winding and unwinding of the cable 70.

[0072] The tool 600 may include one or two brushes. Each of the brushes may be connected to one of the first and second body ends 610a, 610b. The brushes may clean vertical surfaces. For example, the brushes may remove dust from the vertical surfaces. In some embodiments, the tool 600 includes a first brush 620 connected to the first body end 610a. In some embodiments, the first brush 620 may rotate relative to the body 610 about a first brush axis of rotation 621 that is perpendicular (or approximately perpendicular) to the central longitudinal body axis 616. In some embodiments, the apparatus 100 includes a second brush 624 connected to the second end 610b of the body 610. In some embodiments, the second brush 624 may rotate relative to the body 610 about a second brush axis of rotation 625 that is perpendicular (or approximately perpendicular) to the central longitudinal body axis 616.

[0073] The tool 600 may include a first propeller 630. The first propeller 630 may be connected to or disposed on the body 610. The first propeller 630 may be connected to or disposed within a first opening or bore 611 a formed in the body 610 between the front body face 612 and the rear body face 613. The first propeller 630 may rotate about a first propeller axis of rotation 631 that is perpendicular (or nearly perpendicular) to the central longitudinal body axis 616 and the central lateral body axis 617. The tool 600 may include a first motor 632 for rotating the first propeller 630. First propeller 630 may rotate in a first direction 633a (e.g., as shown in FIG. 6A) and generate a thrust in a first direction 634a (e.g., as shown in FIG. 7) to push tool 600 toward a vertical (or near-vertical) surface. First propeller 630 may rotate in a second direction 633b (e.g., as shown in FIG. 6A) and generate a thrust in a second direction 634b (e.g., as shown in FIG. 7) to push tool 600 away from a vertical (or near-vertical) surface.

[0074] The tool 600 may include two opposing propellers connected to or disposed on the first and second longitudinal body sides 614, 615. The opposing propellers 614, 615 may generate thrust in a direction perpendicular to the first and second longitudinal body sides 614, 615, for example, to maintain a desired vertical orientation of the tool 600 and / or stabilize the tool 600 against a vertical (or nearly vertical) surface. In the example of FIGS. 6A-6D , the tool 600 includes a second propeller 635 connected to or disposed on the first longitudinal body side 614 and rotatable about a second propeller axis 636 that is perpendicular (or nearly perpendicular) to the first longitudinal body side 614 to generate thrust in a direction perpendicular to the first longitudinal body side 614. 6A-6D , tool 600 includes a third propeller 638 connected to or disposed on second longitudinal body side 615 and rotatable about a third propeller axis 639 that is perpendicular (or nearly perpendicular) to second longitudinal body side 615 to generate thrust in a direction perpendicular to second longitudinal body side 615. Tool 600 may include a second motor 636a for rotating second propeller 635 and a third motor 639a for rotating third propeller 638. In some embodiments, second propeller 636 is positioned within a second opening 614a formed through first longitudinal body side 614, and third propeller 638 is positioned within a third opening 615a formed through second longitudinal body side 615. The second and third propellers 635, 638 may maintain a desired vertical orientation of the tool 600 (e.g., as described below with respect to FIG. 8) and / or stabilize the tool 600, e.g., in response to wind gusts, e.g., to stabilize the tool 600 against a vertical (or near-vertical) surface.

[0075] In some embodiments, the tool 600 includes a liquid reservoir 650 and a liquid dispenser 652 connected to or disposed on the body 610. The liquid reservoir 650 may contain a liquid (e.g., window cleaning liquid). The liquid dispenser 652 may dispense liquid from the liquid reservoir 650 onto 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 may sweep (remove) liquid from the vertical surface. In some embodiments, the squeegee 654 may rotate about a squeegee rotation axis 655 that is parallel to the central lateral frame axis 616 between a first squeegee position 654a and a second squeegee position 654b. In the first squeegee position 654a, the squeegee 654 may contact the vertical surface and sweep liquid therefrom. In the second position 654b, the squeegee 654 may not contact a vertical surface.

[0076] Tool 600 may include a controller 660. Controller 660 may control propellers 630, 636, and 638 of tool 600 to generate desired thrust in each direction.

[0077] In some embodiments, the tool 600 includes a first set of sensors 662 coupled to or disposed on the body 610 at the first body end 610 a. In some embodiments, the tool 600 includes a second set of sensors 664 coupled to or disposed on the body 610 at the second body end 610 b. Each of the first and second sets of sensors 662, 664 includes at least one of one or more distance sensors (e.g., ToF sensors) and one or more optical sensors. The controller 660 may detect obstacles based on output signals from the first and second sets of sensors 662, 664 and control at least a first propeller 630 of the tool 600 to overcome the detected obstacles (e.g., as described below with respect to FIG. 7 ).

[0078] In some embodiments, tool 600 includes a third set of sensors 666 coupled to or disposed on body 610. Third set of sensors 666 may include inertial sensors, such as, for example, one or more accelerometers, one or more gyros, etc. Controller 666 may control at least second and third propellers 635, 638 of tool 600 based on output signals from the third set of sensors to maintain a desired vertical orientation of tool 600 (e.g., as described below with respect to FIG. 8 ) and / or to stabilize tool 600 relative to a vertical (or near-vertical) surface, for example.

[0079] In some embodiments, the tool 600 includes a communication unit 668 connected to or disposed on the body 610. The communication unit 668 may 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 may transmit and receive information to and from the device 100, the slider 1220, and / or the base unit 500.

[0080] In some embodiments, tool 600 includes a power source 669. In some embodiments, power source 669 includes a rechargeable battery. In various embodiments, tool 600 receives power from device 100 or slider 1220 (e.g., via cable 70 or a dedicated power supply cable).

[0081] Reference is now made to FIG. 7, which shows a schematic diagram of a tool 600 for overcoming an obstacle 92 while operating on a vertical surface 90, according to some embodiments of the present invention.

[0082] Diagrams 700a-700d of Figure 7 show schematic side views of a vertical surface 90 having an obstacle 92 and a tool 600. Diagrams 700a-700d of Figure 7 show schematic side views of the tool 600 overcoming the obstacle 92.

[0083] In FIG. 700a, the tool 600 is pressed against a vertical surface 90 by a thrust force 634a generated by a first propeller 630 rotating in a first direction 633a. The tool 600 is moved in a vertical direction (e.g., downward) 702 by letting out the cable 70. The vertical surface 90 may include an obstacle 92 that may impede the vertical movement of the tool 600. For example, the obstacle 92 may be a window frame, etc. The controller 660 of the tool 600 may detect the obstacle 92 based on output signals from the first and / or second sets of sensors 662, 664. When the tool 600 is moved upward on the vertical surface 90 by reeling in the cable 70 (e.g., in a vertical direction opposite to the vertical direction 702 shown in FIG. 7), the obstacle 92 may further be detected based on a torque value generated by a motor of a winch to which the tool 600 is connected. For example, a torque higher than a predetermined threshold may indicate that the tool 600 is unable to move upward due to an obstruction 92. The controller 660 and the first and second sets of sensors 662, 664 are not shown in FIG. 7 for reasons of clarity.

[0084] Upon detecting an obstacle 92, the controller 160 may control the first propeller 630 to rotate in a second direction 633b, as shown in FIG. 700b, to generate a thrust force 634b that pushes the tool 600 away from the vertical surface 90 in a generally horizontal direction 704.

[0085] The tool 600 may be moved further in the vertical direction 702 by further feeding out the cable 70 to overcome the obstacle 92, as shown in FIG. 700c.

[0086] The controller 660 may further determine, based on the output signals from the first and / or second set of sensors 662, 664, that there are no obstacles on the vertical surface 90 that may impede the vertical movement of the tool 600. Upon determination, the controller 660 may further control the first propeller 630 to rotate in a first direction 633a to generate a thrust force 634a that presses the tool 600 against the vertical surface 90, as shown in FIG. 700d. The tool 600 may be further moved in the vertical direction 702 by feeding out the cable 70.

[0087] Reference is now made to FIG. 8, which shows a schematic diagram of a tool 600 that maintains a desired vertical orientation relative to a vertical surface 90 while operating on the vertical surface 90, according to some embodiments of the present invention.

[0088] Diagrams 800a-800c of Figure 8 schematically show a front view of the vertical surface 90 and the tool 600. Diagrams 800a-800c of Figure 8 also schematically show the tool 600 maintaining a desired vertical orientation relative to the vertical surface 90.

[0089] In diagram 800a, tool 600 is attached to vertical surface 90 by thrust generated by first propeller 630. Tool 600 is aligned with desired vertical axis 706 as shown in diagram 800a.

[0090] Tool 600 may be displaced, for example, in a generally horizontal direction 708 relative to desired vertical axis 706, for example, as shown in diagram 800b, due to, for example, a wind gust. Controller 660 may determine the displacement of tool 600 based on output signals from a third set of sensors 666. Controller 660 and third set of sensors 666 are not shown in FIG. 8 for clarity.

[0091] The controller 660 may further control the rotation of the second and third propellers 635, 638 to generate thrust forces 635a, 638a in respective directions, as shown in FIG. 800b, to align the tool 600 with a desired vertical axis 706, as shown in FIG. 800c, and / or to stabilize the tool 600 relative to a vertical (or near-vertical) surface, for example.

[0092] Reference is now made to FIG. 9, which is a schematic illustration of a vertical surface cleaning tool 900 including two propellers, according to some embodiments of the present invention.

[0093] The tool 900 may include a body 910. The body 910 may include a first body end 910a, a second body end 910b, a front body face 912 (facing a vertical surface when the tool 900 is operating), a flat rear body face 913 (facing away from the vertical surface when the tool 900 is operating), a first longitudinal body side face 914, and a second longitudinal body side face 915. The body 910 may 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 face 912 (facing a vertical surface when the tool 900 is operating) may be flat (or substantially flat). The rear body face 913 may be flat (or substantially flat). The body 910 may be flat (or substantially flat).

[0094] The tool 900 may include a cable connector 918 for connecting the body 910 to a cable 70 (e.g., the cable 70 described above with respect to FIGS. 6A-6D). The cable connector 918 may be disposed, for example, at the first body end 910a of the body 910.

[0095] The tool 900 may include one or two brushes, such as a first brush 920 connected to the first body end 910a and a second brush 924 connected to the second body end 910b (e.g., the first and second brushes 620, 624, respectively, described above with respect to Figures 6A-6D).

[0096] In some embodiments, tool 900 includes first and second propellers 940 and 945 for generating thrust to push tool 900 against or away from a vertical surface and maintain a desired vertical orientation of tool 900. First and second propellers 940 and 945 may be connected to or disposed on body 910.

[0097] For example, first propeller 940 may be connected to or disposed within a first recess 943 that is part of first longitudinal body side 914. First propeller 940 may be connected to or disposed within a first frame (e.g., a circular frame) 941. First propeller 940 may rotate about a first propeller axis of rotation 942 that is perpendicular (or approximately perpendicular) to central longitudinal body axis 916. First frame 941 may rotate relative to body 910 about a first frame axis of rotation 944 that is parallel (or approximately parallel) to central longitudinal body axis 916. Tool 900 may include a first motor (not shown in FIG. 9 for clarity) for rotating first propeller 940 about first propeller axis of rotation 942. The tool 900 may include a second motor (not shown in FIG. 9 for clarity) for rotating the first circular frame 941 about the first circular frame rotation axis 944 .

[0098] In this example, the second propeller 945 may be connected to or disposed within a second recess 948 that is part of the second longitudinal body side 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 axis of rotation 947 that is perpendicular (or approximately perpendicular) to the central longitudinal body axis 916. The second frame 946 may rotate relative to the body 910 about a second circular frame axis of rotation 949 that is parallel (or approximately parallel) to the central longitudinal body axis 916. The tool 900 may include a third motor (not shown in FIG. 9 for clarity) for rotating the second propeller 945 about the second propeller axis of rotation 947. The tool 900 may include a fourth motor (not shown in FIG. 9 for clarity) for rotating the second circular frame 946 about the second circular frame axis of rotation 949 .

[0099] Tool 900 may include a controller 960. Controller 960 may control the rotation of first and second propellers 940, 945 and first and second frames 941, 946 to generate thrust to push tool 900 toward or away from a vertical surface, overcome obstacles (e.g., as described above with respect to FIG. 7 ), maintain a desired vertical orientation of tool 900, and / or stabilize tool 900, for example, against a vertical (or near-vertical) surface (e.g., as described above with respect to FIG. 8 ). Thus, first and second propellers 940, 945 may replace first, second, and third propellers 630, 635, 638 of tool 600.

[0100] In some embodiments, the tool 900 includes a first set of sensors coupled to or disposed on the body 910 (e.g., at the first body end 910a) and a second set of sensors coupled to or disposed on the body 910 (e.g., at the second body end 910b). 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 the first and second sets of sensors 662, 664 described above with respect to FIGS. 6A-6C. The first and second sets of sensors are not shown in FIG. 9 for clarity. The controller 960 may detect an obstacle based on output signals from the first and second sets of sensors and control the rotation of the first and second propellers 940, 945 and the rotation of the first and second circular frames 941, 946 to overcome the detected obstacle (e.g., as described above with respect to FIG. 7).

[0101] In some embodiments, the tool 900 includes a third set of sensors connected to or disposed on the body 910. The third set of sensors may include, for example, one or more accelerometers, one or more gyros, or other inertial sensors. The third set of sensors may be similar to the third set of sensors 666 described above with respect to FIGS. 6A-6C. This third set of sensors is not shown in FIG. 9 for clarity. The controller 960 may 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 relative to a vertical (or near-vertical) surface (e.g., as described above with respect to FIG. 8).

[0102] In some embodiments, tool 900 includes a liquid tank, a liquid dispenser, and a squeegee (e.g., liquid tank 650, liquid dispenser 652, and squeegee 654 described above with respect to FIGS. 6A-6C). In some embodiments, tool 900 includes a communication unit (e.g., communication unit 668 described above with respect to FIGS. 6A-6C, etc.). In some embodiments, tool 900 includes a power source (e.g., power supply 669, etc.). In various embodiments, tool 900 receives power from apparatus 100 or slider 1220 (e.g., via cable 70 or a dedicated power supply cable).

[0103] Reference is now made to Figures 10A and 10B, which are three-dimensional illustrations of a vertical surface cleaning tool 1000 according to some embodiments of the present invention, including three propellers disposed within openings formed through the front and rear body surfaces of the tool 1000. Figures 10A and 10B show different perspective views of the tool 1000.

[0104] Reference is also made to FIG. 10C, which is a partial cross-sectional view of a vertical surface cleaning tool 1000 taken along line AA of FIGS. 10A-10B, according to some embodiments of the present invention.

[0105] The tool 1000 may include a body 1010. The body 1010 may include a first body end 1010a, a second body end 1010b, a front body face 1012 (facing a vertical surface when the tool 1000 is operating), a rear body face 1013 (facing away from the vertical surface when the tool 1000 is operating), a first longitudinal body side face 1014, and a second longitudinal body side face 1015. The body 1010 may include a central longitudinal body axis 1016 extending between the first body end 1010a and the second body end 1010b. The body 1010 may be flat (or substantially flat). At least the front body face 1012 (facing a vertical surface when the tool 1000 is operating) may be flat (or substantially flat). The rear body surface 1013 may be flat (or nearly flat).

[0106] The tool 1000 may include a cable connector 1018 for connecting the body 1010 to a cable 70 (e.g., the cable 70 described hereinabove with respect to FIGS. 6A-6D). The cable connector 1018 may be disposed, for example, at the first end 1010a of the body 1010.

[0107] The tool 900 may 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., the first and second brushes 620, 624, respectively, described above with respect to Figures 6A-6D).

[0108] The tool 1000 may include a first propeller 1030 for generating thrust in a first direction that is perpendicular (or nearly perpendicular) to the front and rear body faces 1012, 1013 to press the tool 1000 against a vertical surface. The first propeller 1030 may be connected to or disposed on the body 1010. For example, the first propeller 1030 may be connected to or disposed in a first opening or bore 1011 a formed through the front and rear body faces 1012, 1013. The first propeller 1030 may be connected to or disposed within a frame (e.g., a circular frame) 1031. The first propeller 1030 may rotate about a first propeller axis of rotation 1032 that is perpendicular (or nearly perpendicular) to the central longitudinal body axis 1016 to generate thrust that presses the tool 1000 against the vertical surface. The frame 1031 may rotate within the first opening 1011a relative to the body 1010 about the central longitudinal body axis 1016. Rotation of the circular frame 1031 and first propeller 1030 about the circular frame rotation axis 1034 may, for example, stabilize the tool 1000 relative to the central longitudinal body axis 1016. The tool 1000 may include a first motor 1030a for rotating the first propeller 1030 about the first propeller rotation axis 1032.

[0109] The tool 1000 may include a second propeller 1040 and a third propeller 1045. The second and third propellers 1040, 1045 may be connected to or disposed on the body 1010. The second and third propellers 1040, 1045 may be connected to or disposed within second and third openings or bores 1011b and 1011c, respectively, formed through the front and rear body faces 1012, 1013. The second and third propellers 1040, 1045 may be disposed on opposite sides of the central longitudinal body axis 1016 from each other. The second propeller 1040 may rotate about a second propeller axis of rotation 1041 that is perpendicular (or nearly perpendicular) to the central longitudinal body axis 1016. The third propeller 1045 may rotate about a third propeller axis of rotation 1046 that is perpendicular (or nearly perpendicular) to the central longitudinal body axis 1016. The second and third propellers 1040, 1045 may be perpendicular (or nearly perpendicular) to the planar body surface 1013 and generate thrust in a second direction opposite the first direction to push the tool 1000 away from a vertical (or nearly vertical) surface. The tool 1000 may include a second motor 1040a for rotating the second propeller 1040 and a third motor 1045a for rotating the third propeller 1045. The coordinated movement of the second and third propellers 1040, 1045 may, for example, cause the tool 1000 to rotate relative to the central longitudinal body axis 1016 if, for example, the tool 1000 unintentionally rotates about the central longitudinal body axis 1016.

[0110] The tool 1000 may include a controller 1050. The controller 1050 may control the rotation of the first, second, and third propellers 1030, 1040, 1045, as well as the 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), push the tool 1000 away from the vertical surface (e.g., to overcome an obstacle as described above with respect to FIG. 7), stabilize the tool 1000 (e.g., as described above with respect to FIG. 8), and / or maintain a desired vertical orientation of the tool 1000.

[0111] In some embodiments, the tool 1000 includes a first set of sensors 1052 coupled to or disposed on the body 1010 at the first body end 1010a and a second set of sensors 1054 coupled to or disposed on the body 1010 at the second body end 1010b. Each of the first and second sets of sensors 1052, 1054 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 1052, 1054 may be similar to the first and second sets of sensors 662, 664 described above with respect to FIGS. 6A-6C. The controller 1050 may detect obstacles based on output signals from the first and second sets of sensors 1052, 1054 and control the rotation of the first, second and third propellers 1030, 1040, 1045 and the rotation of the first circular frame 1031 to overcome the detected obstacles (e.g., as described above with respect to FIG. 7).

[0112] 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 may include inertial sensors, such as, for example, one or more accelerometers, one or more gyros, etc. The third set of sensors 1056 may be similar to the third set of sensors 666 described above with respect to FIGS. 6A-6C . The controller 1050 may control the rotation of the first, second, and third propellers 1030, 1040, 1045 and the 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 FIG. 8 ).

[0113] In some embodiments, tool 1000 includes a liquid tank, a liquid dispenser, and a squeegee (e.g., liquid tank 650, liquid dispenser 652, and squeegee 654 described above with respect to FIGS. 6A-6C). In some embodiments, tool 1000 includes a communication unit (e.g., communication unit 668 described above with respect to FIGS. 6A-6C). In some embodiments, tool 1000 includes a power source (e.g., power supply 669). In various embodiments, tool 900 receives power from apparatus 100 or slider 1220 (e.g., via cable 70 or a dedicated power supply cable).

[0114] One advantage of tool 1000 is that tool 1000 (e.g., compared to tools 600, 900 described above) has a relatively large first propeller 1030. A relatively large first propeller 1030 may be more efficient and may generate more airflow at fewer revolutions per minute compared to a smaller propeller.

[0115] In some embodiments, the tool 1000 includes one or more sealing members 1060 (e.g., as shown in FIGS. 10B and 10C ). The sealing members 1060 may be disposed, for example, on the front body surface 1012 (facing the vertical surface 90). For example, the tool 1000 may include two sealing members 1060 disposed on the front body surface 1012 on opposite sides of the first propeller 1030 / first opening 1011 a relative to each other (e.g., as shown in FIG. 10B ). The sealing members 1060 may include, for example, bristles (e.g., brush bristles, etc.). The sealing members 1060 may generate, for example, negative pressure within the first opening 1011 a. This negative pressure may provide, for example, a vacuum cleaning effect, for example, to improve cleaning of dust from the vertical surface. The negative pressure may reduce noise generated by the first propeller 1030, for example, compared to when negative pressure is not generated.

[0116] Reference is now made to FIG. 11A, which is a three-dimensional illustration of a system 1100 for cleaning vertical surfaces of a building, according to some embodiments of the present invention.

[0117] Reference is also made to Figures 11B and 11C, which are three-dimensional illustrations of an apparatus 100 for moving over a vertical surface 90 and a tool 1110 for cleaning the vertical surface 90, according to some embodiments of the present invention.

[0118] System 1100 may include apparatus 100 for moving over a vertical surface (e.g., as described above with respect to FIGS. 1A-1I, 2, 3, and 4), a base unit 500 (e.g., as described above with respect to FIGS. 5A, 5B, and 5C), and a cleaning tool 1110 for cleaning the vertical surface (e.g., such as tool 600, tool 900, or tool 1000 described above with respect to FIGS. 6A-6D, 7, 8, 9, and 10A-10B). Tool 600 is shown in FIGS. 11A, 11B, and 11C as cleaning tool 1110, although cleaning tool 1110 may include any one of tools 600, 900, 1000, or any other suitable tool for cleaning a vertical surface.

[0119] FIG. 11A shows a three-dimensional view of a building 80 having a roof 82 and vertical surfaces 90 including walls and windows, and a system 1100 operating on the building 80 to clean the vertical surfaces 90. FIG. 11A shows an apparatus 100 attached to the vertical surfaces 90 of the building 80 (e.g., as described above with respect to FIGS. 1A-1I, 2, 3, and 4). The apparatus 100 may move horizontally and vertically on the vertical surfaces (e.g., as described above with respect to FIGS. 2, 3, and 4). FIG. 11A also shows a base unit 500 mounted on the roof 82 of the building 80 (e.g., as described above with respect to FIGS. 5A-5B) using a cable 516 to secure the apparatus 100 to the base unit 500 / roof 82 and / or to provide at least power to the apparatus 100. FIG. 11A further shows a cleaning tool 1110 that can be connected to the apparatus 100 (e.g., as described above with respect to FIGS. 6A-6D, 7, 8, and 9) and moved vertically relative to the vertical surface 90 of the building 80 to clean the vertical surface 90.

[0120] 11B and 11C show a three-dimensional view of the device 100 attached to the vertical surface 90 and a tool 1110 connected to the device 100 for cleaning the vertical surface 90. FIG.

[0121] The tool 1110 may be connected to the apparatus 100 using a cable 180. The cable 180 may be connected at a first end to a cable connector of the tool 1110 and at a second end to a winch 182 of the tool connector of the apparatus 100. The winch 182 may alternately reel in and reel out the cable 180 to adjust the vertical position of the tool 1110 relative to the vertical surface 90.

[0122] The housing 108 of the device 100 may releasably receive at least a portion of the tool 1110. In some embodiments, the device 100 includes a power interface 184 for charging a 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 another cable). In some embodiments, the device 100 includes a fluid reservoir 186 for filling a fluid reservoir of the tool 1110 when the tool 1110 is received within the housing 108.

[0123] In some embodiments, controller 150 of apparatus 100 controls components of system 1000. For example, controller 150 may store a cleaning schedule for vertical surfaces 90 of building 80 and control components of system 100 according to the cleaning schedule. Controller 150 is not shown in Figures 11A-11C for clarity.

[0124] Reference is now made to FIG. 12, which is a schematic illustration of a system 1200 for cleaning vertical surfaces of a building, according to some embodiments of the present invention.

[0125] The system 1200 may include one or more rails 1210. The rails 1210 may be attached to the roof 82 of the building 80. The system 1200 may include a slider 1220. The slider 1220 may be connected to the rails 1210 and may slide on the rails 1210, for example, horizontally.

[0126] System 1200 may include a tool 1225 for cleaning vertical surfaces (e.g., tool 600, tool 900, tool 1000, as described above with respect to Figures 6A-6D, 7, 8, 9, and 10A-10B, or any other suitable tool for cleaning vertical surfaces).

[0127] The tool 1225 may be connected to the slider 1220 using a cable 1230. The cable 1230 may be connected at a first end to a cable connector of the tool 1225 and at a second end to a winch 1222 of the slider 1220. The winch 1222 may alternately reel in and reel out the cable 1230 to adjust the vertical position of the tool 1225 relative to the vertical surface 90.

[0128] Slider 1220 may include a controller 1240. Controller 1240 may control components of system 1200. For example, controller 1240 may store a cleaning schedule for vertical surfaces 90 of building 80 and control components of system 1200 according to the cleaning schedule.

[0129] In the above description, an embodiment is an example or implementation of the present invention. The various appearances of "one embodiment," "one embodiment," "particular embodiments," or "some embodiments" do not necessarily all refer to the same embodiment. Although various features of the present invention may be described in the context of a single embodiment, the features may be provided separately or in any suitable combination. Conversely, although the present invention may be described herein in the context of separate embodiments for clarity, the present invention may also be implemented in a single embodiment. A specific embodiment of the present invention may include features from different embodiments disclosed above, and a specific embodiment may incorporate elements from other embodiments disclosed above. The disclosure of elements of the present invention in the context of a specific embodiment should not be construed as limiting their use to only that specific embodiment. Furthermore, it should be understood that the present invention can be practiced or implemented in various ways, and that the present invention may be implemented in specific embodiments other than those outlined in the above description.

[0130] The present invention is not limited to the above diagrams or corresponding descriptions. For example, the flow need not move through each illustrated box or state, nor need it move in the exact same order as illustrated and described. The meanings of technical and scientific terms used herein are those commonly understood by those skilled in the art to which the present invention pertains, unless otherwise defined. While the present invention has been described with respect to a limited number of embodiments, these should not be construed as limiting the scope of the present invention, but rather as illustrative of some of the preferred embodiments. Other possible variations, modifications, and applications are also within the scope of the present invention. Therefore, the scope of the present invention should not be limited by what has been described above, but should be limited by the appended claims and their legal equivalents.

Claims

1. 1. A system for cleaning a generally vertical surface, comprising:

1. An apparatus for moving on the generally vertical surface, comprising: Cleaning tool connector, Frame, a first arm connected to the frame and rotatable relative to the frame about a first axis; a first vacuum suction cup connected to the first arm; a second arm connected to the frame and rotatable relative to the frame about a second axis that is generally parallel to the first axis; a second vacuum suction cup connected to the second arm; a vacuum pump in fluid communication with the first vacuum suction cup and the second vacuum suction cup; a first valve for controlling the generation and release of vacuum in the first vacuum suction cup; a second valve for controlling the generation and release of vacuum in the second vacuum suction cup; and A controller, Rotation of the first arm and the second arm; and Operation of the vacuum pump, the first valve, and the second valve Controller for controlling An apparatus comprising: a cleaning tool connectable to the cleaning tool connector, the cleaning tool movable relative to the apparatus in a generally vertical direction to clean the generally vertical surface; A system including:

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

3. 3. The system of claim 1 or claim 2, wherein the device includes a camera, and the controller moves the device in a desired direction on the substantially vertical surface based on images received from the camera.

4. The system of claim 1 , wherein the first arm and the second arm are connected to opposite sides of the frame relative to each other.

5. the first arm and the first vacuum suction cup are rotatable relative to one another about a third axis that is generally parallel to the first axis; The second arm and the second vacuum suction cup are rotatable relative to one another about a fourth axis that is generally parallel to the second axis. A system according to any one of claims 1 to 4.

6. the first arm and the first vacuum suction cup are rotatable relative to one another about a fifth axis that is substantially perpendicular to the first axis; The second arm and the second vacuum suction cup are rotatable relative to one another about a sixth axis that is substantially perpendicular to the second axis. A system according to any one of claims 1 to 5.

7. The apparatus comprises: a first set of sensors disposed on the first vacuum suction cup; and a second set of sensors disposed on the second vacuum suction cup; Including, The controller determines whether a portion of the generally vertical surface in front of the first vacuum suction cup and the second vacuum suction cup is suitable for vacuum suction attachment based on output signals from the first set of sensors and the second set of sensors. A system according to any one of claims 1 to 6.

8. The apparatus comprises: Subframes connected to the frame the first arm and the second arm are connected to the subframe and are rotatable relative to the subframe about the first axis and the second axis, respectively; 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. A system according to any one of claims 1 to 7.

9. The system of claim 8 , wherein the controller rotates the frame relative to the sub-frame to maintain a substantially horizontal orientation of the frame when the device is positioned on the substantially vertical surface.

10. The cleaning tool connector includes: a cleaning tool cable connectable to the cleaning tool; and a cleaning tool winch for alternately winding and unwinding said cleaning tool cable; the controller controls operation of the cleaning tool winch to move the cleaning tool in the substantially vertical direction relative to the apparatus. A system according to any one of claims 1 to 9.

11. The system of claim 1 , wherein the apparatus includes a housing for releasably receiving at least a portion of the cleaning tool.

12. The cleaning tool comprises: 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 of the cleaning tool connector of the device; one or two brushes rotatably connected to one of the first or second body ends, respectively; a propeller disposed on the body, the propeller rotatable about a propeller axis of rotation generally perpendicular to the central longitudinal body axis to generate thrust for urging the cleaning tool against the generally vertical surface; and a cleaning tool controller for controlling rotation of the propeller; 12. The system according to any one of claims 1 to 11, comprising:

13. The body includes: a front surface of the body facing the generally vertical surface; a rear surface of the main body facing the front surface of the main body; An opening formed through the front and rear surfaces of the body. the propeller is disposed within the opening. The system of claim 12.

14. 14. The system of claim 13, wherein the propeller is disposed within a frame, the frame rotatable within the opening about the central longitudinal body axis, and the cleaning tool controller controls rotation of the circular frame.

15. The cleaning tool comprises: a second propeller and a third propeller disposed on the body on opposite sides of the central longitudinal body axis relative to each other; the second and third propellers are rotatable about second and third propeller rotation axes, respectively, that are generally perpendicular to the central longitudinal body axis to generate thrust to push the cleaning tool away from the generally vertical surface. A system according to claim 13 or claim 14.

16. 16. The system of claim 15, wherein the second propeller and the third propeller are disposed within second and third openings formed through the front and rear body faces, respectively.

17. 17. The system of claim 15 or claim 16, wherein the cleaning tool controller controls rotation of the second propeller and the third propeller to urge the cleaning tool away from the substantially vertical surface.

18. 20. The system of claim 17, wherein the cleaning tool controller controls rotation of the second propeller and the third propeller to overcome obstacles on the generally vertical surface.

19. 19. The system of claim 17 or claim 18, wherein the cleaning tool controller controls rotation of the second propeller and the third propeller to stabilize the cleaning tool relative to the substantially vertical surface.

20. 20. The system of any one of claims 13 to 19, wherein the cleaning tool includes two sealing members disposed on the body front face on opposite sides of the opening relative to each other.

21. and a base unit mountable to an upper portion of the generally vertical surface, the base unit comprising: a base unit cable connectable to the device for securing the device; and A base unit winch for winding and unwinding the base unit cable 21. The system of any one of claims 1 to 20, comprising:

22. 22. The system of claim 21, wherein the base unit includes a cable inspection unit for detecting defects in the base unit cable during at least one of winding and unwinding of the base unit cable.

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