DRONE SYSTEMS FOR CLEANING SOLAR PANELS AND METHODS OF USING THE SAME

Abstract

The present invention provides an unmanned aerial vehicle (“UAV”) operations system for cleaning one or more designated surfaces such as a solar panel installed on a roof, or the surface of a window, wall, billboard, scoreboard, etc., which may be too high or too far away from a position on the ground which is easily and safely accessible by a person. For solar panels, such cleaning is not only for aesthetic purposes, but must be performed regularly in order to keep the solar panel functioning at peak performance. The system may also include a ground companion vehicle such as an ATV, golf cart, or the like, which can follow an approximation of the UAV's flight path and provide cleaning media and power to the UAV via a tether, allowing the UAV to clean a large number of surfaces before returning to refill or recharge.

Claims

1. A system for cleaning a designated surface, the system comprising: a. an unmanned aerial vehicle, said aerial vehicle including: i. at least one sensor operable to detect the position and outline of said surface; ii. an onboard controller having a memory and a communications device; and iii. at least one distribution device for applying a cleaning media to said surface.

2. The system of claim 1, wherein said unmanned aerial vehicle comprises a drone having a battery, a plurality of lift devices, an onboard tank for holding a cleaning media, and a pump for pumping said cleaning media through a delivery channel, said delivery channel putting said onboard tank in fluid communication with said distribution device.

3. The system of claim 2, wherein said onboard controller is operable to determine positioning data regarding a surface cleaning path of said drone, said positioning data being based on a scan of a shape and size of said surface via said at least one sensor, and a GPS position of said surface, said memory being operable to store said positioning data, and said onboard controller being operable to automatically navigate said drone through said surface cleaning path for subsequent cleaning(s) of said surface.

4. The system of claim 3, further comprising a feedback system operable to receive and process said positioning data to enable said controller to continuously adjust said plurality of lift devices to maintain at least one flight characteristic, wherein the propulsion velocity and/or angle of each lift device of said plurality of lift devices as well as the orientation of said distribution device are operable to be continuously adjusted due to input provided by said feedback system to said controller.

5. (canceled)

6. The system of claim 4, wherein said at least one sensor comprises at least one camera and said controller further comprises stereo mapping software operable to generate said positional data by identifying objects and approximating their size, shape, and position within said at least one camera's field of view.

7. The system of claim 6, wherein said at least one sensor further comprising: a. a gyroscope sensor operable to determine the rate of rotation, angular velocity and tilt of said unmanned aerial vehicle, and b. an accelerometer operable to monitor the acceleration of the drone along at least one axis, wherein said feedback system is operable to detect environmental factors that affect flight characteristics, including high wind speeds, periodic gusts of wind, precipitation, atmospheric particles, and physical obstacles.

8. (canceled)

9. The system of claim 4, wherein said flight characteristic is chosen in order to optimize consumption of at least one resource.

10. The system of claim 5, wherein said at least one resource comprises service time, said cleaning media usage, and battery power.

11. The system of claim 4, wherein said flight characteristics comprise flight path, cleaning path, spray path, distribution device, orientation of the distribution device, field of view of said at least one sensor, altitude, tilt angle, distance from surface and movement pattern.

12. The system of claim 3, wherein said at least one sensor comprises at least one camera and said controller further comprises stereo mapping software operable to generate said positional data by identifying objects and approximating their size, shape, and position within said at least one camera's field of view and further comprising a remote controller operable to communicate with said unmanned aerial vehicle to receive said positioning data and live video feed from said at least one camera and remotely control said unmanned aerial vehicle.

13. The system of claim 12, wherein said remote controller further comprises an augmented display with touch controls and operable to display said positioning data, live video feed, and augmentations on said video feed that provide a visual emphasis on objects and zones of interest that are viewable on said live video feed and enable a user to pilot said unmanned aerial vehicle by drawing and selecting augmentations or objects on the display.

14. The system of claim 2, wherein said distribution device is operable to spray cleaning media further comprises: a. at least one adjustable nozzle operable to adjust the shape, speed, and direction of the spray, b. a supporting member comprising a plurality of rotatable joints that enable said distribution device to be retracted, extended, lowered, raised, and directed by the rotation of said rotatable joints, and c. an adjustment member operable to rotate said distribution device therefore enhancing its maneuverability and range.

15. The system of claim 2, wherein said unmanned aerial vehicle further comprises a universal docking bay operable to attach at least one payload having a payload interface, enabling said unmanned aerial vehicle to perform services requiring dusting/spraying, transportation of a payload, and monitoring.

16. The system of claim 13, wherein said universal docking bay is further operable to make an electrical connection with the payload having electrical connections for power and/or data, and a fluid connection for payloads having cleaning media, rinsing media, or other fluids

17. The system of claim 14, wherein the contents of said payload comprise pressurized air, fumigants, fertilizer, pesticide, a package, or additional sensors, enabling said unmanned aerial drone to perform parcel delivery, crop dusting, irrigation, fumigation, and/or surveillance services.

18. (canceled)

19. The system of claim 12, wherein said adjustable nozzle further comprises an adjusting mechanism for alternating said adjustable nozzle between a plurality of positions wherein each position corresponds to a different spray type.

20. The system of claim 4, wherein at least one flight characteristic comprises the distance between said unmanned aerial vehicle and said surface.

21. The system of claim 13, wherein said objects and zones of interest include the projection of a flight path, said surface, the projection of the application of said cleaning media on said surface, a mobile vehicle, buildings, and obstacles.

22. The system of claim 21, wherein said augmented display is operable to enable a user to control said unmanned aerial vehicle by utilizing said touch controls to interact with and create said augmentations.

23. The system of claim 22, wherein said remote controller is operable to calculate a flight path based on a path drawn on said live video feed by said user and display it as an augmentation on said augmented display.

24. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] FIG. 1 shows a side view of an unmanned aerial vehicle operations system for cleaning one or more designated surfaces, according to an embodiment of the present invention.

[0049] FIG. 2 shows a perspective view of an unmanned aerial vehicle for cleaning one or more designated surfaces, according to an embodiment of the present invention.

[0050] FIG. 3 shows a perspective view of an unmanned aerial vehicle cleaning one or more designated surfaces following a cleaning path for a designated surface, according to an embodiment of the present invention.

[0051] FIGS. 4A and 4B show a side view of an unmanned aerial vehicle operations system cleaning one or more designated surfaces including a home platform, according to an embodiment of the present invention.

[0052] FIG. 5 shows a side view of an unmanned aerial vehicle for cleaning one or more designated surfaces, according to an embodiment of the present invention.

[0053] FIG. 6 shows a perspective view of an unmanned aerial vehicle operations system for cleaning one or more designated surfaces including a ground companion vehicle, according to an embodiment of the present invention.

[0054] FIG. 7A shows a perspective view of an unmanned aerial vehicle operations system cleaning one or more designated surfaces including a transport vehicle, according to an embodiment of the present invention.

[0055] FIG. 7B shows a perspective view of an unmanned aerial vehicle operations system cleaning one or more designated surfaces including a transport vehicle, according to an embodiment of the present invention.

[0056] FIG. 8 . . . .

[0057] FIG. 9 . . . .

[0058] FIG. 10 . . . .

DETAILED DESCRIPTION

[0059] Reference will now be made in detail to certain embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in reference to these embodiments, it will be understood that they are not intended to limit the invention. To the contrary, the invention is intended to cover alternatives, modifications, and equivalents that are included within the spirit and scope of the invention. In the following disclosure, specific details are given to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that the present invention may be practiced without all of the specific details provided.

[0060] As seen in FIG. 1, the present invention concerns an unmanned aerial vehicle operations system 100 for cleaning one or more designated surfaces 102, 103. At least one of the designated surfaces 102, 103 may be a solar panel installed on a roof of a home. The designated surface may alternatively be a surface of a window, a wall, a roof, an eve, a gutter, a billboard, a scoreboard, a screen, a fence, or another similar surface. As detailed in FIG. 2, the unmanned aerial vehicle (“UAV”) 110 may be a rotor craft such as a multicopter having an onboard controller 111 and plurality of lift devices (e.g., propellers) 112. The UAV 111 may further comprise at least one universal connection docking bay operable to attach any payload having a complimentary payload interface. The onboard controller 111 may be in electronic communication with a wireless communications device for communicating with a remote controller 120. In some embodiments, the onboard controller 111 and/or remote controller 120 may further comprise stereo mapping software operable to utilize UAV sensor data to map out its surroundings. The onboard controller 111 may also be in electronic communication with a GPS device for determining a position of the UAV. The onboard controller 111 may be operable to control the propellers 112, and thus control the flight path of the UAV, which may be operable to easily fly up or over to the position of the designated surface 102, 103 and to apply a spray of cleaning media 113 in order to remove dirt and debris from the surface 102, 103. The cleaning media may be pumped via a pump 117 at high pressure from a tank 114 through a delivery channel 115 (e.g., a watertight line or hose) to at least one distribution device. The distribution device 116 may comprise a nozzle operable to direct a spray of the cleaning media at the designated surface 102/103. The tank 114 may be onboard the UAV 110 such that the UAV 110 may be free to fly in the most direct and efficient flight path and cleaning path 104. The system may thus be operable to safely and efficiently reach and clean one or more designated surfaces 102, 103 in locations which are dangerous, difficult, and time consuming for a human to clean via a ladder or climbing up to the designated surface 102/103.

[0061] As seen in FIG. 2, the distribution device 116 may comprise a plurality of adjustable nozzles, and the onboard controller 111 may be operable to adjust a shape, speed, and direction of the spray of cleaning media 113, provided by the plurality of adjustable nozzles 116 via a variety of different methods. For example, the shape and speed of the spray 113 of cleaning media provided by a nozzle of the plurality of adjustable nozzles 116 may be adjusted via a first adjustment device 126 (e.g., an electric motor or a solenoid) operable to twist the nozzle from a first position to a second position with respect to a support member 116a supporting the nozzle. The first position may be operable to provide a wide spray having a relatively slow speed (see 113a), and the second position may be operable to provide a spray having a more acute shape and a relatively higher speed (see 113b). The direction of the spray 113 may be adjusted via a second adjustment device 127 (e.g., an electric motor or a solenoid) operable to rotate the supporting member 116a from a first angle (see 113a) to a second angle (see 113b) about a junction to which the supporting member 116a is attached. In some embodiments, this the distribution device or adjustable nozzles 116 may follow a movement pattern (i.e., side to side, zigzag, etc.) to provide optimal coverage by increasing the coverage of the cleaning media or concentrating it on a particular area. For example, the controller may determine that the surface to be cleaned has a rectangular shape and set the distribution device 116 to follow a side-to-side pattern for optimal coverage of the cleaning media/spray

[0062] The UAV 110 may also include a sensor suite operable to detect obstacles in the flight path of the UAV 110, as well as the designated surface(s) 102/103 to be cleaned. The sensor suite may include one or more sensors 119 such as a digital camera for capturing images and live video. In some embodiments, as seen in FIG. 3, the sensor 119 may be operable to detect and image a surface marker 105 comprising a code (e.g., a bar code, a QR code, or the like) printed on or adjacent to a designated surface 102, the code either providing data regarding the shape, location, and/or orientation of the designated surface 102, or being associated with such data already stored in the memory of the onboard controller 111. In other embodiments, the controller may further comprise stereo mapping software operable to receive and process at least two images captured by sensor 119 to generate at least one stereoscopic image and utilize the image to approximate the size, shape, and position of nearby objects such as the designated surface 102. The UAV may utilize the approximation of the shape, size, and location of surface 102, as well as information regarding the adjustable nozzle orientation (e.g. spray shape, size, and speed), to generate the most efficient cleaning path 104 to optimize cleaning speed, cleaning media usage, and battery usage. The sensor 119 may thus allow the UAV 110 to determine the exact location, size and shape of the surface 102 to be cleaned, and thus either calculate the most efficient cleaning path 104 for cleaning the surface 102, or progress through a predetermined cleaning path 104 previously recorded in the memory of the onboard controller.

[0063] As shown in FIGS. 4A-4B, the system 100 may further comprise a home platform 130 having a substantially flat upper surface 131 of sufficient size for the UAV to safely land upon and be secured to. The home platform 130 may further comprise a reserve tank 132 for holding cleaning media, the reserve tank 132 having a refilling device 132a operable to connect to a fluid receiver of the UAV 110, and a power source 134 for charging a battery of the UAV 110, the power source having a charging device 134a operable to connect to an electrical receiver of the UAV 110. After cleaning a first designated surface 102 the UAV 110 may be operable to make a return trip to the home platform 130 in order to replenish the cleaning media in the tank 114 and/or to recharge before taking off again to clean a second designated surface 103. In some embodiments, the home platform may comprise a series of payloads such as replacement cleaning media tanks, rinsing media tanks, and batteries, each with a payload interface operable to attach the UAV's universal docking bay.

[0064] The home platform may include a docking mechanism 135 operable to receive and hold the UAV 110 in place on the upper surface 131, and to line the up the refilling device 132a and the charging device 134a for easy and automatic connection with a refilling receiver 114a and a charging receiver 118a of the UAV battery 118. The refilling device 132a may comprise a quick-connect barbed male hose connector having a shape complementary to a shape of the refilling receiver 114a, which may comprise a quick-connect female hose connector. The charging device 134a may comprise a multi-prong male electrical connector and the charging receiver 118a may comprise a multi-hole female electrical connector.

[0065] The docking mechanism 135 may comprise one or more clamping devices arranged on the upper surface 131 the clamping members being operable to fit over and secure lower support members 135a (e.g., landing rails) of the UAV 110. The home platform 130 may comprise one or more docking sensors 136 (e.g., a pressure switches) operable to detect when the lower support members 135a of the UAV are located adjacent to the one or more clamping members 135 and send a docking signal to a home platform controller 137. The clamps of the docking mechanism 135 may then be operable to move from an open position (see FIG. 4A) to a docked position (see FIG. 4B) wherein the clamps hold the lower support members 135a in place on the upper surface 131 and cause the refilling device 132a and charging device 134a to fully engage with the refilling receiver 114a and charging receiver 118a, respectively. The docking sensors 136, the clamping mechanism 135, the charging device 132a, and the pump 132b of the reserve tank 132 may each be in electronic communication with and/or controlled by the home platform controller 137, the home platform controller 137 being operable to receive the docking signal from the docking sensors 136 and subsequently: 1) cause the docking mechanism 135 to move from the open position to the docked position; 2) activate the pump 132b to pump cleaning media from the reserve tank 132 to the tank 114 onboard the UAV 110 and shut the pump 132b off when the onboard tank 114 is substantially full or the reserve tank 132 is substantially empty; and 3) cause the power source 134 to charge the battery 118 of the UAV 110 the until the battery 118 is substantially charged or the power source 134 is substantially out of power. The home platform controller 137 may further be operable to automatically cause the docking mechanism 135 to move back to the open position at the occurrence of at least one (or both) of the onboard tank 114 becoming substantially full with cleaning media and the battery 118 obtaining a full charge.

[0066] The home platform 130 may further comprise a platform marker 139 on the upper surface 131, the platform marker 139 comprising a code readable by the one or more sensors 119 of the UAV 110, and deciphered by the onboard controller, the code providing information regarding a position and orientation of the upper surface 131 of the home platform 130 such that the UAV 110 may determine exactly where to lower itself in order to dock. The onboard controller may thus be able to determine exactly how to orient the UAV 110 (e.g., how many degrees to rotate left or right) and how far to travel (e.g., exactly 12 inches away from the corner of the platform marker) in order to sufficiently align the lower support members 135a with the docking mechanism 135 such that the UAV 110 may automatically dock with the home platform 130.

[0067] The home platform 130 may further comprise leveling means allowing a user to adjust the position of the home platform 130 such that the upper surface 131 is level (e.g., a plane of the upper surface 131 is substantially perpendicular to vertical). The leveling means may comprise a plurality of extendable legs 138, each having a first and second member slidably engaged with each other and lockable with respect to each other. For each of the plurality of extendable legs 138, the first cylindrical member may be slidably nested within the second cylindrical member, the first cylindrical member comprising a resilient depressible tab and the second cylindrical member comprising a series of slots along a length thereof in which the depressible tab may be inserted). Each extendable leg of the plurality of extendable legs 138 may thus be independently adjusted in length to conform to uneven ground 199 until the home platform 130 is level.

[0068] As shown in FIG. 1, the system 100 may further comprise a remote controller 120 operated by a UAV pilot 125 for remotely controlling the UAV 110 and the distribution device 116 and a transport vehicle 140 for transporting the UAV 110 and the home platform 130 to a location adjacent to the designated surfaces 102, 103.

[0069] In some embodiments, as shown in FIG. 10, the remote controller 720 may contain augmented reality technology, or technology that superimposes a computer-generated image(s) on the feed of at least one camera, that may be utilized in combination with data provided by the UAV sensor suite to provide an ease-of-use piloting method on the remote controller screen 720. The screen, hereinafter referred to as the augmented display 703, may be a touchscreen on the remote controller 720 that displays an augmented reality environment wherein one or more augmentations 701 overlays the video feed 702 that enable the pilot to easily monitor and/or control the UAV 110. Such augmentations 701 provided on the screen may include information regarding the UAV's components or flight characteristics such as flight path, altitude, battery level, cleaning media level, distance from an object, speed, angle, rotation, distribution device head, adjustable nozzle head, and direction of the distribution device. Such augmentations may include methods of adjusting the UAV's 110 components and flight characteristics such as by adjusting dials/knobs, buttons, graphical control features presented on the display screen, or by interacting with remote objects displayed on the video feed, such as solar panels.

[0070] Augmentations 701, may comprise a visual emphasis rendered on zones and/or objects in the video feed that the controller or pilot have determined to be important, and may allow the pilot to interact with them to control the UAV in a particular way. For example, as shown in FIG. 10, the pilot may see a solar panel on the video feed 702 and draw out a cleaning path that is represented by augmentation 701 (a black line with arrows) and based on drawings generated by touch input from the pilot's hand on the display 703. The visual emphasis may comprise highlighting, shapes, coloring, shading, bounding or any other practical form of visual emphasis. Zones and objects of interests in the video feed may include any of the following: the projection of a recorded flight path, the projection of a calculated flight path, one or more surfaces to be cleaned, the projection of an application/spray area of cleaning media on a surface, a mobile vehicle, a building, and obstacles. In some embodiments, if the flight path has already been recorded or determined, the projected flight path may be highlighted on the video feed provided on the augmented display, wherein the highlighted portion is adjusted dynamically as the UAV travels through the path. In such embodiments, the flight path may be adjusted via touch input received on the augmented display. For example, the user may simply draw on the augmented display or tap on a designated object to erase, adjust, or create a new flight path for the UAV. In some embodiments the augmented display may be able to display a map of the local area and allow the pilot to create a flight path by drawing the path on the map.

[0071] In some embodiments the remote controller may detect a remote surface, determine its distance from the UAV, and highlight the area of the augmented display pertaining to the remote surface wherein the application of cleaning media will reach, hereinafter referred to as the spray area. In such embodiments, the augmented display may allow the user to preview the spray area of various heads of the adjustable nozzle or distribution device. For example, the augmented display may shade areas on the surface covered by a wide nozzle spray in red and a narrow nozzle spray in blue, wherein the overlap is purple. In some embodiments, the augmented display may also preview the effective spray area of a distribution device that's following a movement pattern. For example, if the distribution device is following a side-to-side pattern, the augmented display may preview the effective spray area after one cycle by displaying lines bounding the area on the video feed. In some embodiments the augmented display may preview the entire spray area on a surface for a surface cleaning path, hereinafter referred to as spray path. For example, the UAV may approach a solar panel, retrieve path information from its memory, and direct the augmented display to shade the spray path in blue. In some embodiments, the augmented display may enable the pilot to adjust or create a new spray path by interacting with it on the display. For example, if new solar panels were added to a location since the previous cleaning, the pilot may simply draw on the display where the new panels are visible to add on to the spray path. In some embodiments, when the distribution device heads, the adjustable nozzle head/position, or movement pattern is altered, the UAV controller may automatically adjust the cleaning path and/or movement pattern to generate a spray path that's most similar to the previous spray path. For example, if a cleaning path was previously recorded for a wide spray nozzle and the pilot decides to adjust it to a narrow spray nozzle, the UAV controller may determine a new cleaning path that provides similar or identical coverage as the previous spray path.

[0072] In another embodiment, as seen in FIG. 5, the cleaning media may be pumped up to the UAV 210 via a tether 260, through the delivery channel 215, and out to the distribution device 216, which may be a showerhead, while the UAV 210 runs the showerhead 216 over the designated surface 102/103. The UAV 210 may comprise four propellers 212, each propeller 212 being protected from contacting adjacent objects (e.g., branches, walls, poles, gutters, and people) via a barrier 212a, preventing both injuries, damage, and loss of lift for the UAV 210. The UAV may further comprise a plurality of sensors 219 (e.g., digital cameras and/or motion sensors) for determining the position of the UAV 210 and the adjacent objects, and viewing the area adjacent to the distribution device 216 to scan for and recognize the position of the designated surface 102/103, and to ensure that the designated surface 102/103 is being sufficiently cleaned.

[0073] FIG. 6 shows a perspective view of an embodiment of the system 300 comprising a UAV 310 having a plurality of propellers 312 protected by a barrier 312a, and a distribution device 316 comprising a nozzle, the nozzle 316 operable to direct a spray of cleaning media at a surface 302 of a solar panel installed in a row at a solar farm. The cleaning media is pumped up to the UAV 310 via a tether 360 which is in fluid communication with a tank 352 of a ground companion vehicle 350. The tether 360 may further comprise an electrical lead operable to provide electrical power to the UAV 310 or a battery thereof. The ground companion vehicle 350 may be operable to follow a path on the ground which approximates a flight path of the UAV 310, providing both cleaning media and power to the UAV 310 and enabling the UAV 310 to clean a plurality of designated surfaces of the row of solar panels, from a surface 302 of a first solar panel to a surface 303 of a last solar panel, without the need to make a return trip to refill or recharge.

[0074] As seen in FIG. 7A, in another embodiment of the present invention 400, a home platform 430 may be installed on or in a transport vehicle 440 (e.g., mounted to the transport vehicle 440 on rails which allow the home platform 460 to be pulled out of an open side door 441 of the transport vehicle). The transport vehicle may comprise a reserve tank 432 for holding cleaning media and having the refilling device 432a for refilling the onboard tank 414 of the UAV 410, and a power source 434 having a charging device 434a for charging a battery of the UAV 410. The reserve tank 432 and the power source 434, may be installed anywhere in or on the transport vehicle 440 (e.g., in a cargo bay). FIG. 7B shows another embodiment of the present invention 500, wherein the transport vehicle comprises a side door 541 for access to the cargo area, and a top-hatch door 542 allowing the home platform 530 to extend up through the roof of the vehicle.

[0075] In another embodiment, as seen in FIG. 8 and FIG. 9, the present invention may comprise the supporting member 620, distribution device 616, lift devices 612, controller 611, storage unit 621, and various sensors 619. The supporting member 620 may function as an extendable arm with a plurality of rotatable joints 627 (A-F) that enable the supporting member to retract, extend, lower, and/or raise the distribution device 626. The plurality of rotatable joints 627 provide the distribution device of the UAV with a wide coverage and a variety of spray patterns/motions such as a sweeping or mopping pattern. The distribution device 616 may comprise a panel with an array of adjustable nozzles, and the onboard controller 611 may be operable to adjust the shape, speed, and direction of the spray 613 of cleaning media, provided by the plurality of adjustable nozzles. The shape and speed of the spray 613 of cleaning media may be controlled by adjusting one or more nozzles in the array of adjustable nozzles. For example, the adjustable nozzle may be adjusted in orientation to decrease the size of the nozzle opening, therefore increasing the pressure at the nozzle output for a spray with a higher velocity/pressure. The support member may further comprise adjustment member 626, operable to change the direction of the spray 613 by rotating and/or tilting the distribution device 616. For example, the UAV may shift from the orientation shown in FIG. 8, wherein the distribution device 616 is oriented horizontally the and aimed downwards via the supporting member 620, to an orientation wherein the distribution device 616 is oriented vertically via the adjustment member 626. The lift devices 612 may comprise a plurality of propellers operable to alternate from a deployed orientation 612A to a withdrawn orientation 612B. Each lift device 612 may be further operable to maintain any angle between 0° and 90° to improve maneuverability of the UAV, wherein the a deployed orientation 612A corresponds with a 0° angle and a withdrawn orientation corresponds with a 90° angle. For example, the UAV may detect steady winds coming from the UAV's right side shifting the UAV and utilize the feedback system to counter the force of the wind by adjusting the UAV's two right propeller 612 to an angle (e.g., 30°) that counteracts the force sufficiently to prevent such shifting.

[0076] Such embodiments may comprise a plurality of sensors 619, including plurality of navigation sensors 619A and at least one camera 619B each located in a predetermined location to optimize drone piloting. For example, a plurality of navigation sensors equally spaced upon the shield of each propeller/lift device 612. In such example, the navigation sensors 619A may comprise cameras and may be placed in a predetermined manner such that the UAV may use stereo mapping software to approximate the size, shape and location of the surrounding objects within a 360° FOV and 10 meter range (including the surface that needs to be cleaned). In another embodiment, the navigation sensors 619A comprises proximity sensors, operable to detect any object within the sensors range to enable the UAV to avoid obstacles. At least one camera 619B may be located proximal to the support member 620 so that the effective spray area is within the field of view of the camera. For example, in such embodiments, the camera 619B may be located under the support member, on the storage unit 621. The storage unit 621 may house the cleaning media tank 614 as well as the UAV battery 618 and further comprise a refilling receiver 614A and a charging receiver 618A. In some embodiments, at least one camera 619B and/or the navigation sensors may be used in conjunction with the stereo mapping software to provide video feed and/or data to an augmented display on a remote controller. In some embodiments, the controller 611 may be located at the center of all the devices such that it may directly interface, monitor, and/or control all parts of the UAV, such as the support member, the plurality of sensors, distribution device, battery, cleaning media tank, charging receiver, refilling receiver, and the plurality of lift devices.

[0077] The foregoing descriptions of specific embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.