Flying Washer: Development of High-Pressure Washing Aerial Robot Employing Multirotor Platform with Add-On Thrusters

In this study, we propose a multirotor aerial robot for high-pressure washing tasks at high altitudes. The aerial robot consists of a multirotor platform, an add-on planar translational driving system (ATD), a visual sensing system, and a high-pressure washing system. The ATD consists of three ducted fans, which can generate force in all directions on the horizontal plane. The ATD also allows the multirotor to suppress the reaction force generated by the nozzle of a high-pressure washing system and inject water accurately. In this study, we propose a method to precisely inject water by installing an ATD in the multirotor and using its driving force to suppress the reaction force and move the multirotor while keeping its posture horizontal. The semi-autonomous system was designed to allow the operator to maneuver the multirotor while maintaining a constant distance from the wall by the sensor feedback with onboard LiDAR or stereo camera. In the experiment, we succeeded in performing the high-pressure washing task in a real environment and verified that the reaction force generated from the nozzle was actually suppressed during the task.