# US 10,118,690 B2 · Automated and versatile autonomously climbing undercarriage with flight capability

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- Number: US 10,118,690 B2
- Document ID: US10118690B2
- Status: Granted
- Kind: B2
- Application number: 14/787,273
- Filed: 2014-04-30
- Published: 2016-03-10
- Granted: 2018-11-06
- Earliest claimed: 2013-04-30
- Assignees: Niederberger Engineering AG
- Applicants: Niederberger-Engineering AG
- Inventors: Anton Niederberger
- Web page: https://patentgrep.com/patent/US10118690B2

## CPC

- B64C 25/16: Fairings movable in conjunction with undercarriage elements
- A47L 1/02: Power-driven machines or devices
- A63H 27/12: {Helicopters (A63H27/04 takes precedence); Flying tops}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 50/31: generated by photovoltaics
- B64U 60/40: foldable or retractable
- B64U 80/25: for recharging batteries; for refuelling
- B64U 2101/29: for cleaning
- B64U 2101/31: for surveillance
- E04G 23/002: {Arrangements for cleaning building facades}
- B64C: AEROPLANES; HELICOPTERS
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- A63H: TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- E04G: SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS

## Abstract

An automated and versatile autonomously climbing undercarriage with flight capability that automatically reaches a suitable area for cleaning purposes, repair purposes, and monitoring purposes without being constantly connected to a supply station or base station in the process, and that independently goes to the surface of the facade and independently moves along the surface and away from the surface. The automated and versatile autonomously climbing undercarriage with vacuum suction units as per the invention involves a multicopter with two, three or more rotors or propellers attached to the autonomously climbing undercarriage.

## Claims

### Claim 1

An automated autonomously climbing undercarriage (1) with venturi vacuum suction units (2) powered by excess compressed-air reserves (6), comprising
a multicopter (3)
with two, three or more rotors (11) or propellers (11) attached to the autonomously climbing undercarriage (1),
wherein said multicopter (3) executes flight to a surface (10) and said autonomously climbing undercarriage (1) then executes movement along the surface (10), and
wherein the autonomously climbing undercarriage (1) and the multicopter (3) can be moved relative to one another via at least one ball joint (9).

### Claim 2 (depends on 1)

The autonomously climbing undercarriage according to claim 1, characterized in that
the autonomously climbing undercarriage (1) is attached to the multicopter (3) via at least one support arm (12) extending from the multicopter and the ball joint (9) on the autonomously climbing undercarriage.

### Claim 3 (depends on 1)

The autonomously climbing undercarriage according to claim 1, characterized in that
a cleaning unit, a tool holder, and/or resources for acoustic and/or visual monitoring (5) exist on the autonomously climbing undercarriage (1).

### Claim 4 (depends on 1)

The autonomously climbing undercarriage according to claim 1, characterized in that
at least one storage tank (6) for water, cleaning agents and/or compressed air is arranged on the multicopter (3) and/or the autonomously climbing undercarriage (1).

### Claim 5 (depends on 1)

The autonomously climbing undercarriage according to claim 1, characterized in that the multicopter (3) and/or the autonomously climbing undercarriage (1) have at least one integral and/or one removable energy supply unit.

### Claim 6 (depends on 1)

The autonomously climbing undercarriage according to claim 1 in combination with at least one docking station, characterized in that
interfaces (20) to charge up the energy supply unit, to exchange the energy supply unit, to provide compressed air, to provide water, to provide cleaning agents and/or to effect a tool change are available at the docking station (7).

### Claim 7 (depends on 1)

The autonomously climbing undercarriage according to claim 1, characterized in that
the multicopter (3) and/or the autonomously climbing undercarriage (1) have photovoltaic modules (8).

### Claim 8 (depends on 1)

The autonomously climbing undercarriage according to claim 1, characterized in that
the multicopter (3) has resources for acoustic and/or visual monitoring.