Multirotor UAV for Vertical Surface Brushing with Horizontal Thrusters

This paper presents a multirotor UAV-based system for surface contact applications, designed to operate in hard-to-reach and hazardous environments. Unlike conventional UAVs, which require tilting to generate lateral force, our design maintains a stable flight posture while ensuring controlled contact with the surface. The UAV is equipped with a front-mounted rotating brush for contact-based surface operations. Potential applications include window and wall cleaning on high-rise structures and rust removal for contact inspections of large metal surfaces, reducing the need for human workers in dangerous environments. Experimental tests were conducted to evaluate the system’s stability while making contact and spinning the brush. The results demonstrate that the UAV can maintain controlled surface contact and stable brush operation, highlighting its potential as a safer and more cost-effective alternative to traditional scaffolding and manual labor.