US Patent 9193402 Structural assessment, maintenance, and repair apparatuses and methods

Systems for cleaning a structure via a robot are described. The robot includes a body. The robot further includes a tool coupled to the body and configured to hold a structural maintenance tool. The robot includes a sensor coupled to the body. The robot includes a drive system configured to allow positioning of the body along the structure, including inverted positioning and vertical positioning. The robot further includes a communication interface coupled to the body. The robot includes a controller coupled to the body. The controller is in communication with the tool, the sensor, and the drive system. The controller is configured to receive an operating instruction through the communication interface. The controller is configured to autonomously position the body via the drive system and to perform a task with at least one of the tool and the sensor according to the operating instruction.