TECHNICAL FIELD:
The present invention generally relates to field of unmanned aerial vehicles, and more particularly to an unmanned aerial vehicle (UAV) having an active balancing system and a method for balancing the UAV, for performing an action (say for e.g. including but not limited to a visual inspection and/or a test on a ferromagnetic target structure etc.) by the balanced UAV.
BACKGROUND OF THE DISCLOSURE:
The following description of the related art is intended to provide background information pertaining to the field of the disclosure. This section may include certain aspects of the art that may be related to various features of the present disclosure. However, it should be appreciated that this section is used only to enhance the understanding of the reader with respect to the present disclosure, and not as admissions of the prior art.
Over the past few years unmanned aerial vehicles (UAVs)/drones have been enhanced to a great extent. Also now a days the UAVs are used for various purposes such as for aerial photography, gathering information, crop monitoring, and inspection of surfaces etc. However, still there is a scope of further improvement in the existing UAVs as these existing UAVs are unable to balance themselves in air in an event various tools and/or electromagnet(s) etc. are mounted on one side of the UAV to perform certain actions. Therefore, further improvements are required in the UAVs to enable these UAVs to perform various actions in most efficient manner. One such area where UAVs can be used efficiently is modern engineers' infrastructures. Generally all the modern engineers' infrastructures like ships, bridges, oil rigs, refineries, wind turbine towers, power transmission towers etc. are made of metals such as steel. In many cases various defects (for e.g. thinning of metal plates, cracks, buckling, welding failure etc.) may be created in such metal structures due to factors such

as corrosion, fatigue, overload, weathering, ageing and/or instability etc. If any of these defects remain undetected, it can cause sudden collapse of complete structure or failure of strengthening members which can result in sinking of ship, collapse of bridge, failure of wind turbine or power transmission tower etc. Therefore in order to prevent such sudden failures the metal structures are required to be inspected periodically. Also, visual inspection may not be enough to assess the health of metal structures, and various tests such as including but not limiting to a non-destructive test may be required to check for any detect and/or to quantify the defects. In general the following tests are performed to deal with such problems related to detection or quantifying the defects:
1. Ultrasonic thickness gauging to check thickness of steel plates.
2. Eddy Current Test for surface open crack in conductive equipment.
3. Ultrasonic scans for sub surface cracks.
However in order to perform these and other such tests (i.e., for e.g. the Non Destructive Tests) good quality surface preparation like removal of rust and paint etc. is prerequisite. Generally these tests are performed manually using scaffolding, man riding crane, man Lift etc. Also, some of the currently known solutions provide drone systems (i.e., unmanned aerial vehicle systems) that may carry out visual inspection using its onboard camera. In addition some other currently known drone systems have mounted ultrasonic thickness gauge which can measure thickness of ferromagnetic structures. Although these known UAV based solutions provide means for inspection of ferromagnetic structures, but these solutions have a number of limitations. Some of the limitations of the currently known solutions are listed as below:
Currently known drone/UAV systems are not able to attach itself to structures for e.g., surfaces where it intends to perform testing. Due to

which it could not get a rigid platform to use its robotic manipulator/arm to carry out surface preparation and/or testing process(es) of structures (i.e., for e.g. ferromagnetic structures). However, some of the currently known drones attach itself to structures using its claws, but they need some hold or girder to hold on using its claw. Also, one currently known type of drone have magnets on its landing gear, but it cannot attach itself stably on a side of a ferromagnetic structure. Furthermore, in currently known UAV based solutions, mounting of electromagnet(s), robotic manipulator(s) and/or other tool(s) on a side (say in front) of a UAV is not possible due to inability of the currently known UAVs to balance itself in air. More specifically, for a UAV to fly in stable condition its Centre of gravity is required to be remained in mid of its body. Its controller can handle little bit offset in Centre of gravity but not much. Furthermore, in case the electromagnet(s), the robotic manipulator(s) and/or the other tool(s) are mounted on one side (say on front) of the UAV and far away from the Centre of gravity, the UAV will become highly unstable due to excessive load in said side of it. Furthermore, the electromagnet(s) mounted on said side of the UAV may also be needed to move at angle(s) to align itself with a ferromagnetic structure in front of it, which will again make the UAV unstable and the currently known UAVs fail to balance itself in air.
In addition, due to the limitation of the failure of the currently known UAV systems to stably attach itself on various structures and to automatically balance itself in air, the currently known UAV systems cannot be used efficiently for various other use cases as well such as for including but not limited to aerial photography and information gathering etc.
Although the existing technologies have provided solutions related to performing

various actions using UAV(s), but these currently known solutions have many limitations and therefore, there is a need for improvement in this area of technology. In the light of the aforementioned, there is a need for an efficient unmanned aerial vehicle (UAV) with a balancing mechanism and a method for automatically balancing the UAV.
SUMMARY OF THE DISCLOSURE
This section is provided to introduce certain objects and aspects of the present invention in a simplified form that are further described below in the detailed description. This summary is not intended to identify the key features or the scope of the claimed subject matter.
In order to overcome at least some of the drawbacks mentioned in the previous section and those otherwise known to persons skilled in the art, an object of the present invention is to provide an unmanned aerial vehicle (UAV) with an active balancing system that is configured to enable balancing of the UAV which further helps in performing an action (say for e.g. performing a visual inspection and/or a test on a ferromagnetic structure etc.) efficiently. Another object of the present invention is to provide a method for automatically balancing in air an unmanned aerial vehicle (UAV) having electromagnet(s), robotic arm(s) and/or tool(s) mounted on one of its side. Also an object of the present invention is to provide a UAV / drone based inspection platform with electromagnetic adhesion and mounted robotic manipulator, wherein the robotic manipulator is equipped with tools for example for surface preparation and/or for performing testing on ferromagnetic structures etc. Another object of the present invention is to provide a UAV that can seamlessly perform an inspection / testing on metal structures in various fields such as Maritime, Offshore, Bridge Inspection, Refineries, Power generation & Transmission etc. Also, an object of the present invention is to provide a drone / UAV based platform can attach/detach itself to

any ferromagnetic structure using its electromagnetic adhesion/deadhesion technique, unlike using claws or mechanical gripper which requires some kind of holds available and cannot hold on flat structures devoid of any hold on form of raft, stingers, girders etc. Further an object of the present invention is to automatically switch off the propeller(s) of the UAV after sticking the UAV to the metal structure to conserve battery, which otherwise consumes battery continuously and reduces operational flight time. Another object of the present invention is to hang the UAV stably on a side (say for e.g. a front side) of a ferromagnetic structure to perform actions such as including but not limited to inspection / testing on one or more portions of said plain ferromagnetic structure etc. in most efficient manner. Another object of the present invention is to equip the robotic arm(s) mounted on the UAV with one or more tools for various use cases such as for e.g. for conducting an inspection / testing on metal structures via the UAV etc. Yet another object of the present invention is to mount on an electromagnet holding plate mounted on a side of a UAV, one or more lightweight 5 degree of freedom robotic arm(s); and equipping the UAV with an active balancing system, wherein the active balancing system senses an angle of a smart actuator mounted on the UAV having electromagnet(s) and robotic arm(s) mounted on a side (say front) of it, to automatically adjust a position of one or more batteries present in opposite side (say rear) of the UAV to counterbalance the UAV.
Furthermore, in order to achieve the aforementioned objectives, the present invention provides an unmanned aerial vehicle (UAV) having an active balancing system and a method of balancing the UAV.
A first aspect of the present invention relates to the unmanned aerial vehicle (UAV). The UAV comprises a UAV body comprising at least of a landing gear, an arm fix plate, an electronic speed controller (ESC) plate, a payload carrier plate,

four propeller arms, and an onboard computer plate. The UAV further comprises an active balancing system coupled at least to the UAV body via one or more first coupling mechanisms, wherein: the active balancing system is configured to enable balancing of the UAV, and the active balancing system comprises at least: at least two battery slider carbon fiber tubes coupled to the UAV body via a fastening mechanism, a carriage coupled to the at least two battery slider carbon fiber tubes, wherein the carriage is configured to slide on the at least two battery slider carbon fiber tubes, a toothed belt coupled at least to the carriage, a first actuator coupled at least to the toothed belt, a first pulley and a second pulley coupled at least to the toothed belt, a second actuator coupled to the UAV body via one or more motor hub mount bolts, and one or more batteries mounted on the carriage, wherein to enable balancing of the UAV: the carriage is configured to slide on the at least two battery slider carbon fiber tubes, and a position of the carriage is controlled by the toothed belt wherein the toothed belt is driven by a combination of the first actuator, the first pulley, and the second pulley. Further the UAV comprises one or more electromagnetic adhesion/deadhesion components coupled at least to the active balancing system via one or more second coupling mechanisms, wherein each electromagnetic adhesion component is configured to attach/detach the UAV to a ferromagnetic target structure.
Another aspect of the present invention relates to a method for balancing the unmanned aerial vehicle (UAV). The method encompasses flying the UAV to a surface layer of a ferromagnetic target structure to make a point of contact between one or more electromagnets and the surface layer of the ferromagnetic target structure. The method further leads to activating the one or more electromagnets, wherein the one or more electromagnets are activated based on a receipt of a signal from a limit switch mounted on the UAV and wherein the signal is generated by the limit switch upon detection of the point of contact

between the one or more electromagnets and the surface layer of the ferromagnetic target structure. Further the method comprises deactivating each propeller of the UAV based on the activation of the one or more electromagnets. The method then encompasses comprises aligning at least one of a lower plate and an upper plate mounted on the UAV in a same plane with the ferromagnetic target structure using a second actuator. The method thereafter leads to automatically counterbalancing of a load of at least one of the lower plate, the upper plate, the one or more electromagnets, and one or more robotic arms mounted on the UAV using an active balancing system of the UAV, to balance the UAV.
BRIEF DESCRIPTION OF DRAWINGS
The accompanying drawings, which are incorporated herein, and constitute a part of this disclosure, illustrate exemplary embodiments of the disclosed methods and systems in which like reference numerals refer to the same parts throughout the different drawings. Components in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present disclosure. Some drawings may indicate the components using block diagrams and may not represent the internal circuitry of each component. It will be appreciated by those skilled in the art that disclosure of such drawings includes disclosure of electrical components, electronic components or circuitry commonly used to implement such components.
Figure 1 is a diagram depicting an unmanned aerial vehicle (UAV) (100) attached to a ferromagnetic target structure (200), in accordance with exemplary embodiments of the present invention.
Figure 2 is a diagram illustrating various views and components of a UAV body of

the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 3a is a diagram illustrating various views and components of at least an active balancing system of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 3b is a diagram illustrating various other components of at least the active balancing system of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 4 is a diagram illustrating views and various components of an electromagnetic adhesion/deadhesion component of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 5 is a diagram also illustrating various components of the electromagnetic adhesion/deadhesion component of the UAV along with a method of attaching/detaching the UAV to a ferromagnetic target structure, in accordance with exemplary embodiments of the present invention.
Figure 6 is a diagram illustrating a method of working of the active balancing system, in accordance with exemplary embodiments of the present invention.
Figure 7a is a diagram illustrating at least a view and various components of each robotic arm of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 7b is a diagram illustrating another view and various components of each

robotic arm of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 8 illustrates an exemplary method flow diagram for balancing the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
The foregoing shall be more apparent from the following more detailed description of the disclosure.
DESCRIPTION OF THE INVENTION
In the following description, for the purposes of explanation, various specific details are set forth in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent, however, that embodiments of the present disclosure may be practiced without these specific details. Several features described hereafter can each be used independently of one another or with any combination of other features. An individual feature may not address any of the problems discussed above or might address only some of the problems discussed above.
The ensuing description provides exemplary embodiments only, and is not intended to limit the scope, applicability, or configuration of the disclosure. Rather, the ensuing description of the exemplary embodiments will provide those skilled in the art with an enabling description for implementing an exemplary embodiment. It should be understood that various changes may be made in the function and arrangement of elements without departing from the spirit and scope of the disclosure as set forth.

Specific details are given in the following description to provide a thorough understanding of the embodiments. However, it will be understood by one of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits, systems, processes, and other components may be shown as components in block diagram form or otherwise in order not to obscure the embodiments in unnecessary detail.
Also, it is noted that individual embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be re-arranged. A process is terminated when its operations are completed but could have additional steps not included in a figure.
The word "exemplary" and/or "demonstrative" is used herein to mean serving as an example, instance, or illustration. For the avoidance of doubt, the subject matter disclosed herein is not limited by such examples. In addition, any aspect or design described herein as "exemplary" and/or "demonstrative" is not necessarily to be construed as preferred or advantageous over other aspects or designs, nor is it meant to preclude equivalent exemplary structures and techniques known to those of ordinary skill in the art. Furthermore, to the extent that the terms "includes," "has," "contains," and other similar words are used in either the detailed description or the claims, such terms are intended to be inclusive—in a manner similar to the term "comprising" as an open transition word—without precluding any additional or other elements.
As used herein, a "processing unit" or "processor" or "operating processor" or "onboard computer plate" or "electronic speed controller" includes one or more

processors, wherein processor refers to any logic circuitry for processing instructions. A processor may be a general-purpose processor, a special purpose processor, a conventional processor, a digital signal processor, a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits, Field Programmable Gate Array circuits, any other type of integrated circuits, etc. The processor may perform signal coding data processing, input/output processing, and/or any other functionality that enables the working of the system / unmanned aerial vehicle (UAV) according to the present disclosure. More specifically, the processor or processing unit is a hardware processor.
As disclosed in the background section, existing technologies have many limitations and in order to overcome at least some of the limitations of the prior known solutions, the present disclosure provides an unmanned aerial vehicle (UAV), and a method of balancing the unmanned aerial vehicle (UAV) so that the UAV can perform one or more actions in most efficient manner. The UAV comprises a UAV body, an active balancing system, one or more electromagnetic adhesion/deadhesion components and one or more robotic arms, wherein the active balancing system is configured to enable balancing of the UAV, each electromagnetic adhesion/deadhesion component is configured to attach/detach the UAV to a ferromagnetic target structure, and the one or more robotic arms are equipped with one or more tools to perform the action(s). More specifically, the UAV performs the action(s) via the robotic arm(s) based on: an attachment of the UAV to a side (say for example in front side) of a ferromagnetic target structure using the one or more electromagnetic adhesion/deadhesion components, and balancing of the UAV using the active balancing system. Also, the action(s) may comprise a surface preparation task that may be performed on the ferromagnetic target structure, a testing task that may be performed on the ferromagnetic target structure, an aerial photography

related task, an information gathering related task, and/or any other such task that: 1) requires a stable hanging of the UAV with the side of the ferromagnetic target structure, 2) requires automatic balancing of the UAV in air at least while stably hanging the UAV, and 3) is obvious to a person skilled in the art.
Also, the method for balancing the UAV encompasses flying the UAV to a surface layer of a ferromagnetic target structure to make a point of contact between one or more electromagnets and the surface layer of the ferromagnetic target structure. The method then encompasses comprises aligning at least one of a lower plate and an upper plate mounted on the UAV in a same plane with the ferromagnetic target structure using a second actuator. The method thereafter leads to automatically counterbalancing of a load of at least one of the lower plate, the upper plate, the one or more electromagnets, and one or more robotic arms mounted on the UAV using an active balancing system of the UAV, to balance the UAV. The method then encompasses activating the one or more electromagnets, wherein the one or more electromagnets are activated based on a receipt of a signal from a limit switch mounted on the UAV and wherein the signal is generated by the limit switch upon detection of the point of contact between the one or more electromagnets and the surface layer of the ferromagnetic target structure. Further the method comprises deactivating each propeller of the UAV based on the activation of the one or more electromagnets.
Therefore, the present invention provides a novel unmanned aerial vehicle (UAV) and a novel method for balancing the UAV. This novel UAV is technically advanced over the currently known UAVs, as it is equipped with an active balancing system that is configured to enable balancing of the UAV which further helps in performing an action (say for e.g. performing a visual inspection and/or a test on a ferromagnetic structure etc.) efficiently. Also, the present invention is technically advanced over the currently known UAVs, as it provides a method for

automatically balancing in air an unmanned aerial vehicle (UAV) having electromagnet(s), robotic arm(s) and/or tool(s) mounted on one of its side. The novel UAV as disclosed in the present disclosure is also technically advanced over the currently known UAVs, as it provides a platform with electromagnetic adhesion/deadhesion and mounted robotic manipulator, wherein the robotic manipulator is equipped with tools for performing various actions such as including but not limited to surface preparation and/or for performing testing on various structures etc. Also, this novel UAV is technically advanced over the currently known UAVs, as it can seamlessly perform an inspection / testing on metal structures in various fields such as Maritime, Offshore, Bridge Inspection, Refineries, Power generation & Transmission etc. It is also technically advanced over the currently known UAVs, as it can attach/detach itself to any ferromagnetic structure using its electromagnetic adhesion/deadhesion technique, unlike using claws or mechanical gripper which requires some kind of holds available and cannot hold on flat structures devoid of any hold on form of raft, stingers, girders etc. Further this UAV is technically advanced over the currently known UAVs, as it can automatically switch off its propeller(s) after sticking itself to the metal structure to conserve battery, which otherwise consumes battery continuously and reduces operational flight time. It is also technically advanced over the currently known UAVs, as it can hang itself stably and in a balanced manner on a side of a ferromagnetic structure to perform various actions in most efficient manner. Also, it is technically advanced over the currently known UAVs, as it is equipped with one or more robotic arms (for example lightweight 5 degree of freedom robotic arm(s)) having one or more tools for various use cases such as for e.g. for conducting an inspection/testing on metal structures via the UAV etc. This novel UAV is also technically advanced over the currently known UAVs as it is mounted with an active balancing system and as on one of its side (say on front side) it is mounted with an electromagnet holding plate, one or more lightweight 5 degree of freedom robotic arm(s),

wherein the active balancing system senses an angle of a smart actuator mounted on the UAV to automatically adjust a position of one or more batteries present in opposite side (say rear side) of the UAV to counterbalance the UAV.
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present disclosure.
Referring to Figure 1 a diagram depicting an unmanned aerial vehicle (UAV) (100) attached to a ferromagnetic target structure (200), in accordance with exemplary embodiments of the present invention is shown. The UAV (100) as disclosed in the present disclosure is designed in X type, Octa- Quad propeller configuration. Also, the UAV (100) is constructed of four major assemblies provided as below:
1. UAV Body,
2. An active balancing system,
3. One or more electromagnetic adhesion/deadhesion components, and
4. One or more robotic arms.
The UAV body mainly comprises at least of a landing gear (101), an arm fix plate (102), an electronic speed controller (ESC) plate (103), a payload carrier plate (104), four propeller arms (105), and an onboard computer plate (109). These components of the UAV body are depicted at least in Figure 2. More specifically, in Figure 2 various views (i.e., a top view and a side view) and components of at least the UAV body of the unmanned aerial vehicle (UAV), is shown in accordance with exemplary embodiments of the present invention. As depicted in Figure 2, each propeller arm from the four propeller arms (105) is mounted with two contra rotating propellers (108) and one or more motors (107) coupled to the two contra rotating propellers (108). Also, each propeller (108) is guarded

with a shrouding (106) to prevent damage of propeller (108), for instance while navigating in enclosed spaces and having contact with structure around. Also, the arm fix plate (102) includes Light Detection and Ranging (LiDAR) sensors (114) and Inertial Measurement Unit (IMU) sensors. The onboard computer plate (109) receives input from IMU and LiDAR (114) for control and navigation of the UAV. More specifically, the onboard computer plate (109) using the input received from the IMU and LiDAR (114) accurately maintains the UAV's position even in GPS denied environment. Therefore, the UAV (100) is also useful for inspection in scenarios (such as inside metallic tank) where GPS signal strength are negligible.
In one embodiment of the present invention, the UAV may have multiple light sources and at least three cameras (say, on the arms, electromagnet plates, and body) to provide a first-person view and allow the UAV to manoeuvre even when visual confirmation is not possible.Further the UAV body is coupled to the active balancing system via one or more first coupling mechanisms. In an implementation the one or more first coupling mechanisms comprises one or more mechanisms to couple the UAV body to the active balancing system via one or more bolts. Also, in one other implementation the one or more first coupling mechanisms comprises one or more coupling mechanisms that are obvious to a person skilled in the art. Furthermore the active balancing system is configured to enable balancing of the UAV (100). Also, Figure 3a is a diagram illustrating various views (i.e., a top view and a side view) and components of at least the active balancing system of the unmanned aerial vehicle (UAV) (100), in accordance with exemplary embodiments of the present invention. In addition Figure 3b is a diagram illustrating various other components of at least the active balancing system of the unmanned aerial vehicle (UAV) (100), in accordance with exemplary embodiments of the present invention. Moreover in Figure 3a and Figure 3b it is also indicated that the arm fix plate (102) is mounted with a LIDAR

(214) via one or more LIDAR mount bolts (211), wherein the LIDAR (214) is same as the LIDAR (114) as depicted in Figure 2. Furthermore, as shown in the Figure 3a and Figure 3b the active balancing system comprises at least: at least two battery slider carbon fiber tubes (202) coupled to the UAV body via a fastening mechanism (213), wherein the fastening mechanism (213) encompasses one or more battery attachment bolts (213); a carriage (201) coupled to the at least two battery slider carbon fiber tubes (202), wherein the carriage (201) is configured to slide on the at least two battery slider carbon fiber tubes (202); a toothed belt (203) coupled at least to the carriage (201); a first actuator (204) coupled at least to the toothed belt (203); a first pulley (205) and a second pulley (206) coupled at least to the toothed belt (203); a second actuator (208) coupled to the UAV body via one or more motor hub mount bolts (212); and one or more batteries (209) mounted on the carriage (201). Also, in order to enable balancing of the UAV (100) the carriage (201) is configured to slide on the at least two battery slider carbon fiber tubes (202), and a position of the carriage (201) is controlled by the toothed belt (203) wherein the toothed belt (203) is driven by a combination of the first actuator (204), the first pulley (205), and the second pulley (206).
Moreover the active balancing system is coupled to the one or more electromagnetic adhesion/deadhesion components. More specifically, the one or more electromagnetic adhesion/deadhesion components coupled at least to the active balancing system via one or more second coupling mechanisms. In an implementation the one or more second coupling mechanisms comprises one or more mechanisms to couple the active balancing system to the one or more electromagnetic adhesion/deadhesion components via one or more bolts. Also, in one other implementation the one or more second coupling mechanisms comprises one or more coupling mechanisms that are obvious to a person skilled in the art. Also, each electromagnetic adhesion/deadhesion component is

configured to attach/detach the UAV (100) to the ferromagnetic target structure (200). Furthermore, Figure 4 is a diagram that illustrates views and various components of each electromagnetic adhesion/deadhesion component of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention. As depicted in Figure 4 the electromagnetic adhesion/deadhesion component comprises at least: a lower plate (301); an upper plate (302) coupled to the lower plate (301) via one or more upper and lower plate connecting bolts (314); one or more electromagnets (303) attach/detached at least to the upper plate (302); a tube holder (307) coupled between at least one of the lower plate (301) and the upper plate (302); and a magnetic lever (308). Furthermore the magnetic lever (308) is loosely fitted inside the tube holder (307) at a downward angle <$>, and the magnetic lever (308) is connected to the second actuator (208) via one or more arm rotor bolts (210) (as depicted in Figure 3a and Figure 3b). Also, as depicted in Figure 4 a limit switch (309) is coupled to one of the upper plate (302), the lower plate (301) and the one or more electromagnets (303). Further, referring to Figure 5, where Figure 5 is a diagram that is also illustrating various components of the electromagnetic adhesion/deadhesion component of the UAV (100) along with a method of attaching/detaching the UAV to the ferromagnetic target structure (200), in accordance with exemplary embodiments of the present invention. Figure 5 depicts that a tension bar (304) is attached to the magnetic lever (308) via one or more fixing pins (306); and a stopper pin (305) is attached to the tension bar (304). Furthermore, each electromagnetic adhesion/deadhesion component is configured to attach the UAV (100) to the ferromagnetic target structure (200) using a push-pull technique, wherein the push-pull technique is implemented based on an application of a force on at least one of the lower plate (301) and the upper plate (302) through the tension bar (304). Also, the application of the force is based on a momentum generated due to a weight of at least one of the one or more batteries (209) and the UAV body, and the

application of the force further comprises applying a force to press the magnetic lever (308) against a surface layer of the ferromagnetic target structure (200) at the downward angle <$>. Furthermore, Figure 5 at [502] depicts this application of the force to attach the UAV (100) with the ferromagnetic target structure (200). In an event if the magnetic lever (308) is mounted directly on at least one of the lower plate (301) and the upper plate (302), it will topple due to excessive moment generated. Further as indicated in Figure 5, in such event the magnetic lever (308) is loosely fitted inside the tube holder (307) at a downward angle <$> of more than 3 degree. Also, then the push-pull technique may be used to achieve the electromagnetic adhesion/deadhesion, where momentum generated due to weight of the one or more batteries (209) and the UAV body are transferred to at least one of the lower plate (301) and the upper plate (302) through the tension bar (304) as F (t) (as depicted at [502] in Figure 5), while the magnetic lever (308) is under being pressed against the ferromagnetic target structure (200) at downward angle <$> of 3 degree with a compressive load of F (c) (as depicted at [502] in Figure 5).
Also, it is pertinent to note that for the UAV (100) to fly in stable condition its Centre of gravity is to remain in mid of its body. Its controller can handle little bit offset in Centre of gravity but not much. Now if the one or more electromagnets (303) and/or the one or more robotic arms (400) may be mounted on a side (say in front) of the UAV (100) and far away from its Centre of gravity, it will become highly unstable, due to excessive load in front of it. The one or more electromagnets (303) are also needed to be moved at one or more angles to align itself with the ferromagnetic target structure (200) in front of it, which will again make the UAV (100) unstable. Therefore to overcome such limitations the active balancing system is configured to enable balancing of the UAV (100). Also, to enable balancing of the UAV (100) the active balancing system is configured to automatically counterbalance a load of at least one of the lower plate (301), the

upper plate (302), the one or more electromagnets (303), and the one or more robotic arms (400) based on a position of at least one of the lower plate (301) and the upper plate (302), and an automatic adjustment in the position of the one or more batteries (209) using the carriage (201), via the onboard computer plate (109). Also, the automatic adjustment in the position of the one or more batteries (209) is based at least on the position of at least one of the lower plate (301) and the upper plate (302). More specifically, to enable the balancing of the UAV (100), the onboard computer plate (109) is firstly configured to to align at least one of the lower plate (301) and the upper plate (302) in a same plane with the ferromagnetic target structure (200) using the second actuator (208), futher it enable the UAV to approach the surface layer of the ferromagnetic target structure (200) to make a point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure (200). The onboard computer plate (109) then activates the one or more electromagnets (303), wherein the one or more electromagnets (303) are activated based on a receipt of a signal from the limit switch (309) and wherein the signal is generated by the limit switch (309) upon detection of the point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure.Thereafter the onboard computer plate (109) is configured to deactivate each propeller (108) of the UAV based on the activation of the one or more electromagnets (303). The onboard computer plate (109) then enables the UAV (100) to be mounted in a balanced manner on the surface layer of the ferromagnetic target structure (200) based on: the alignment of at least one of the lower plate (301) and the upper plate (302) in the same plane with the ferromagnetic target structure, the point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure (200), the activation of the one or more electromagnets (303), the deactivation of each propeller (108) of the UAV, and the automatic counterbalancing of the load of at least one of the lower plate (301), the upper

plate (302), the one or more electromagnets (303), and the one or more robotic arms (400) mounted on the UAV.
Furthermore, each electromagnetic adhesion/deadhesion component is further configured to attach the UAV (100) from the ferromagnetic target structure (200) using a push-pull technique, wherein the push-pull technique is implemented based on the application of a force on at least one of the lower plate (301) and the upper plate (302) through the tension bar (304). Also, the application of the force is based on the force required due to the weight of at least one of the one or more batteries (209) and the UAV body, and the application of the force further comprises applying a force to pull the magnetic lever (308) from the surface layer of the ferromagnetic target structure (200) at a downward angle <$>. Furthermore, Figure 5 at [502] depicts this application of the force to detach the UAV (100) from the ferromagnetic target structure (200). More specifically, to enable the balancing of the UAV (100), the onboard computer plate (109) is firstly configured to activate each propeller (108) of the UAV to maintain the stability of the UAV (100) during the deadhesion process. The onboard computer plate (109) then deactivates the one or more electromagnets (303), wherein the one or more electromagnets (303) are deactivated based on the receipt of a signal from the onboard computer plate (109). The onboard computer plate (109) then enables the UAV (100) to be removed in a balanced manner from the surface layer of the ferromagnetic target structure (200) based on: the point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure (200), the activation of each propeller (108) of the UAV, the deactivation of the one or more electromagnets (303), and the automatic counterbalancing of the load of at least one of the lower plate (301), the upper plate (302), the one or more electromagnets (303), and the one or more robotic arms (400) mounted on the UAV.

More specifically, to counterbalance the load of at least one of the lower plate (301), the upper plate (302), the one or more electromagnets (303), and the one or more robotic arms (400) to further balance the UAV (100), the one or more batteries (209) are mounted on the carriage (201) which slides on the battery slider carbon fiber tubes (202). Moreover the position of the carriage (201) is controlled by toothed belt (203) which is driven by combination of the first actuator (204), the first pulley (205) and the second pulley (206). Furthermore, referring to Figure 6, a diagram illustrating a method of working of the active balancing system, in accordance with exemplary embodiments of the present invention is shown. As shown at [602] in Figure 6, when an electromagnetic plate (207) (i.e., at least one of a lower plate (301) and an upper plate (302) equipped with one or more robotic arms (400)) is in front at an angle of zero degree with the ferromagnetic target structure (200) and axial distance (Y), the one or more batteries (209) are at other extreme end at an axial distance of (A) to counterbalance the load of the one or more electromagnets (303). Further as shown at [604] in Figure 6 when the angle of the electromagnetic plate (207) is changed at angle 0 using the second actuator (208) to make the electromagnetic plate (207) stick to the ferromagnetic target structure (200) located at an angle 0, a battery position of the one or more batteries (209) is calculated by the onboard computer plate (109) and then a command is given to the second actuator (208) by the onboard computer plate (109), to adjust its position so that it can counterbalance the weight of at least the one or more electromagnets (303) and the one or more robotic arms (400). In an implementation the onboard computer plate (109) continuously factor in angle of inclination 0 of the magnetic lever (308), axial distance (X), position of the one or more robotic arms (400) and UAV inclination. The onboard computer plate (109) processes these data and continuously adjust position of the one or more batteries (A > B) to maintain a stable flying condition of the UAV (100).

Also, the UAV (100) provided in the Figure 4 depicts that the lower plate (301) of each of the one or more electromagnetic adhesion/deadhesion component is coupled to the one or more robotic arms (400). More specifically, the one or more robotic arms (400) are coupled to the lower plate (301) via one or more third coupling mechanisms. The one or more third coupling mechanisms comprises at least a mechanism to couple the one or more robotic arms (400) to the lower plate (301) through one or more robotic manipulator base bolts (312). Also, each robotic arm (400) is a lightweight 5 degree of freedom robotic arm and is equipped with tool(s) such as for example including but not limited to at least one of surface preparation tool(s), testing tool(s) and information gathering tool(s) etc. Furthermore, each robotic arm may be very light in weight and stiff at same time due to extensive use of carbon fiber composites & 3D printed parts.
Furthermore, a diagram illustrating at least a view and various components of each robotic arm (400) of the unmanned aerial vehicle (UAV), is shown in Figure 7a in accordance with exemplary embodiments of the present invention. Also, Figure 7b is a diagram illustrating another view and various components of each robotic arm of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention. More specifically, as indicated in Figure 7b each robotic arm (400) from the one or more robotic arms (400) comprises at least of a mounting plate (401), and a tool assembly comprising of one or more modular multi point tools. In an implementation the one or more modular multi point tools comprises at least one of one or more grinding tools, one or more cameras, one or more information gathering tools, one or more swappable inspection tools, one or more welding tools supported with a current supply mechanism and one or more electric impact wrenches etc., wherein the one or more swappable inspection tools comprises at least one of one or more ultrasonic thickness (UT) gauges, one or more ultrasonic scanners and one or

more eddy current testers for crack detection etc. More specifically, in an implementation the one or more modular multi point tools may be assembled in an arrangement where different inspection tools like UT gauge, Eddy current Test Device, and Ultrasonic scanner etc. can be changed as swappable payload as per mission requirements. Also, in an example a grinding tool may be a grinding wheel to be used for removal of thin paint film or rust scale etc. from a surface. Furthermore, in an implementation two or more tools in the tool assembly may be mounted some degrees (say 180 degree) apart and whichever tool need to be used can be turned with smart actuators and brought in for further use.
Further, Figure 7a and 7b depicts that each robotic arm from the one or more robotic arms (400) further comprises at least of a base actuator (402), a shoulder actuator (403), an elbow actuator (404), a wrist actuator (405), a tool positioning actuator (406), a housing (407), one or more studs (408), a shoulder stator housing (409), a base rotor connector (410), one or more bolts (411), one or more shoulder rotor connector (412), one or more first carbon fiber tubes (413), an elbow stator housing (414), a wrist actuator housing (415), an elbow rotor connector (416), a second carbon fiber tube (417), a wrist rotor connector (418), a positioning actuator housing (419), a lower base plate (420), an upper cover plate (421), a grinding wheel (422) and a UT gauge (423), wherein the elbow actuator (404), the wrist actuator (405) and the tool positioning actuator (406) are low torque actuators, and the base actuator (402) and the shoulder actuator (403) are high torque actuators. In an exemplary implementation the tool assembly may consist of the lower base plate (420), the upper cover plate (421), the grinding wheel (422) and the UT gauge (423), wherein the lower base plate (420) and the upper cover plate (421) are made of carbon fiber composites. Furthermore, the base actuator (402) is mounted inside the base stator housing (407), wherein the base stator housing (407) is connected with the mounting plate (401) with one or more studs (408). Also, the shoulder actuator (403) is

mounted in a shoulder stator housing (409), wherein the shoulder stator housing (409) is connected to the base rotor connector (410) with the one or more bolts (411). Further, the shoulder actuator (403) is connected to a shoulder rotor connector (412) having a twin fork type. Also, the shoulder rotor connector (412) is connected to a first end of each of the one or more first carbon fiber tubes (413), and wherein a second end of each of the one or more first carbon fiber tubes (413) is connected to the elbow stator housing (414). Further, the wrist actuator housing (415) is connected to the elbow rotor connector (416), and the wrist rotor connector (418) is connected to a first end of the second carbon fiber tube (417). Also, the tool positioning actuator housing (419) is connected to a second end of second carbon fiber tube (417). Also, the reference to some of the sub components of each robotic arm (400) is also provided in Figure 4. For instance the Figure 4 depicts one or more base rotor bolts (311), the one or more robotic manipulator base bolts (312), one or more elbow rotor bolts (313), and one or more tool motor attach bolts (315).
Furthermore, the UAV is configured to perform the action using the one or more robotic arms (400), wherein the action is performed based at least on the attachment of the UAV (100) to the ferromagnetic target structure (200) using the one or more electromagnetic adhesion/deadhesion components, and the balancing of the UAV (100). Also, the action comprises at least one of: a surface preparation task (for instance to be performed on the ferromagnetic target structure (200)), a testing task (for instance to be performed on the ferromagnetic target structure (200)), an aerial photography related task, and an information gathering related task etc.
Referring to Figure 8 an exemplary method flow diagram [800], for balancing an unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention is shown. In an implementation the method is performed

via the UAV (100) as disclosed in the present disclosure. Also, as shown in Figure 8, the method starts at step [802].
At step [804] the method comprises flying the UAV (100) to a surface layer of a ferromagnetic target structure (200) to make a point of contact between one or more electromagnets (303) and the surface layer of the ferromagnetic target structure (200).
Next at step [806] the method encompasses aligning at least one of a lower plate (301) and an upper plate (302) mounted on the UAV in a same plane with the ferromagnetic target structure using a second actuator (208).
Further at step [808] the method comprises automatically counterbalancing of a load of at least one of the lower plate (301), the upper plate (302), the one or more electromagnets (303), and one or more robotic arms (400) mounted on the UAV (100) using an active balancing system of the UAV (100), to balance the UAV (100).
Next at step [810] the method encompasses activating the one or more electromagnets (303), wherein the one or more electromagnets (303) are activated based on a receipt of a signal from a limit switch (309) mounted on the UAV and wherein the signal is generated by the limit switch (309) upon detection of the point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure (200).
Further, at step [812] the method comprises deactivating each propeller (108) of the UAV based on the activation of the one or more electromagnets (303).
After balancing the UAV (100), the method terminates at step [814].

Therefore, the present invention provides a novel unmanned aerial vehicle (UAV) and a novel method for balancing the UAV. This novel UAV is technically advanced over the currently known UAVs, as it is equipped with an active balancing system that is configured to enable balancing of the UAV which further helps in performing an action (say for e.g. performing a visual inspection and/or a test on a ferromagnetic structure etc.) efficiently. Also, the present invention is technically advanced over the currently known UAVs, as it provides a method for automatically balancing in air an unmanned aerial vehicle (UAV) having electromagnet(s), robotic arm(s) and/or tool(s) mounted on one of its side. The novel UAV as disclosed in the present disclosure is also technically advanced over the currently known UAVs, as it provides a platform with electromagnetic adhesion/deadhesion and mounted robotic manipulator, wherein the robotic manipulator is equipped with tools for performing various actions such as including but not limited to surface preparation and/or for performing testing on various structures etc. Also, this novel UAV is technically advanced over the currently known UAVs, as it can seamlessly perform an inspection / testing on metal structures in various fields such as Maritime, Offshore, Bridge Inspection, Refineries, Power generation & Transmission etc. It is also technically advanced over the currently known UAVs, as it can attach itself to any ferromagnetic structure using its electromagnetic adhesion technique, unlike using claws or mechanical gripper which requires some kind of holds available and cannot hold on flat structures devoid of any hold on form of raft, stingers, girders etc. Further this UAV is technically advanced over the currently known UAVs, as it can automatically switch off its propeller(s) after sticking itself to the metal structure to conserve battery, which otherwise consumes battery continuously and reduces operational flight time. It is also technically advanced over the currently known UAVs, as it can hang itself stably and in a balanced manner on a side of a ferromagnetic structure to perform various actions in most efficient manner.

Also, it is technically advanced over the currently known UAVs, as it is equipped with one or more robotic arms (for example lightweight 5 degree of freedom robotic arm(s)) having one or more tools for various use cases such as for e.g. for conducting an inspection/testing on metal structures via the UAV etc. This novel UAV is also technically advanced over the currently known UAVs as it is mounted with an active balancing system and as on one of its side (say on front side) it is mounted with an electromagnet holding plate, one or more lightweight 5 degree of freedom robotic arm(s), wherein the active balancing system senses an angle of a smart actuator mounted on the UAV to automatically adjust a position of one or more batteries present in opposite side (say rear side) of the UAV to counterbalance the UAV.
While considerable emphasis has been placed herein on the preferred embodiments, it will be appreciated that many embodiments can be made and that many changes can be made in the preferred embodiments without departing from the principles of the invention. These and other changes in the preferred embodiments of the invention will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter to be implemented merely as illustrative of the invention and not as limitation.

We Claim:

1. An unmanned aerial vehicle (UAV), the UAV comprising:
a UAV body comprising at least of a landing gear (101), an arm fix plate (102), an electronic speed controller (ESC) plate (103), a payload carrier plate (104), four propeller arms (105), and an onboard computer plate (109);
an active balancing system coupled at least to the UAV body via one or more first coupling mechanisms, wherein:
the active balancing system is configured to enable balancing of
the UAV, and
the active balancing system comprises at least:
at least two battery slider carbon fiber tubes (202) coupled to the UAV body via a fastening mechanism (213), a carriage (201) coupled to the at least two battery slider carbon fiber tubes (202), wherein the carriage (201) is configured to slide on the at least two battery slider carbon fiber tubes (202),
a toothed belt (203) coupled at least to the carriage (201), a first actuator (204) coupled at least to the toothed belt (203),
a first pulley (205) and a second pulley (206) coupled at
least to the toothed belt (203),
a second actuator (208) coupled to the UAV body via one
or more motor hub mount bolts (212), and
one or more batteries (209) mounted on the carriage
(201), wherein to enable balancing of the UAV:
the carriage (201) is configured to slide on the at least two battery slider carbon fiber tubes (202), and

a position of the carriage (201) is controlled by the
toothed belt (203) wherein the toothed belt (203)
is driven by a combination of the first actuator
(204), the first pulley (205), and the second pulley
(206); and
one or more electromagnetic adhesion components coupled at least
to the active balancing system via one or more second coupling
mechanisms, wherein each electromagnetic adhesion component is
configured to attach the UAV to a ferromagnetic target structure.
1. The UAV as claimed in claim 1, wherein the UAV further comprises one or
more robotic arms (400) coupled at least to the one or more
electromagnetic adhesion components via one or more third coupling
mechanisms, wherein the UAV is configured to perform an action using
the one or more robotic arms (400), wherein the action is performed
based at least on:
the attachment of the UAV to the ferromagnetic target structure
using the one or more electromagnetic adhesion components,
and
the balancing of the UAV.
2. The UAV as claimed in claim 1, wherein the arm fix plate (102) is mounted with a LIDAR (214) via one or more LIDAR mount bolts (211).
3. The UAV as claimed in claim 1, wherein each electromagnetic adhesion component comprises at least:
a lower plate (301);
an upper plate (302) coupled to the lower plate (301) via one or more
upper and lower plate connecting bolts (314);
one or more electromagnets (303) attached at least to the upper
plate (302);
a tube holder (307) coupled between at least one of the lower plate

(301) and the upper plate (302); a magnetic lever (308), wherein:
the magnetic lever (308) is loosely fitted inside the tube holder
(307) at a downward angle <$>, and
the magnetic lever (308) is connected to the second actuator
(208) via one or more arm rotor bolts (210); a tension bar (304) attached to the magnetic lever (308) via one or more fixing pins (306);
a stopper pin (305) attached to the tension bar (304); and a limit switch (309) coupled to one of the upper plate (302), the lower plate (301) and the one or more electromagnets (303).
1. The UAV as claimed in claim 4, wherein each electromagnetic adhesion component is configured to attach the UAV to the ferromagnetic target structure using a push-pull technique, wherein the push-pull technique is implemented based on an application of a force on at least one of the lower plate (301) and the upper plate (302) through the tension bar (304).
2. The UAV as claimed in claim 5, wherein the application of the force is based on a momentum generated due to a weight of at least one of the one or more batteries (209) and the UAV body.
3. The UAV as claimed in claim 6, wherein the application of the force further comprises applying a force to press the magnetic lever (308) against a surface layer of the ferromagnetic target structure at the downward angle <$>.
4. The UAV as claimed in claim 2, wherein the action comprises at least one of:
a surface preparation task,
a testing task,
an aerial photography related task, and

an information gathering related task.
9. The UAV as claimed in claim 1, wherein to enable balancing of the UAV the active balancing system is configured to automatically counterbalance a load of at least one of the lower plate (301), the upper plate (302), the one or more electromagnets (303), and the one or more robotic arms (400) based on a position of at least one of the lower plate (301) and the upper plate (302), and an automatic adjustment in the position of the one or more batteries (209) via the carriage (201) via the onboard computer plate (109).
10. The UAV as claimed in claim 9, wherein the automatic adjustment in the position of the one or more batteries (209) is based at least on the position of at least one of the lower plate (301) and the upper plate (302).
11. The UAV as claimed in claim 9, wherein to enable the balancing of the UAV, the onboard computer plate (109) is configured to:
enable the UAV to approach the surface layer of the ferromagnetic
target structure to make a point of contact between the one or more
electromagnets (303) and the surface layer of the ferromagnetic
target structure;
align at least one of the lower plate (301) and the upper plate (302)in
a same plane with the ferromagnetic target structure using the
second actuator (208),
activate the one or more electromagnets (303), wherein the one or
more electromagnets (303) are activated based on a receipt of a
signal from the limit switch (309) and wherein the signal is generated
by the limit switch (309) upon detection of the point of contact
between the one or more electromagnets (303) and the surface layer
of the ferromagnetic target structure;
deactivate each propeller (108) of the UAV based on the activation of
the one or more electromagnets (303),

enable the UAV to be mounted in a balanced manner on the surface layer of the ferromagnetic target structure based on:
the point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure, the alignment of at least one of the lower plate (301) and the upper plate (302) in the same plane with the ferromagnetic target structure, the automatic counterbalancing of the load of at least one of the lower plate (301), the upper plate (302), the one or more electromagnets (303), and the one or more robotic arms (400) mounted on the UAV,
the activation of the one or more electromagnets (303), and
the deactivation of each propeller (108) of the UAV. 12. A method for balancing an unmanned aerial vehicle (UAV), the method comprising:
flying the UAV to a surface layer of a ferromagnetic target structure to make a point of contact between one or more electromagnets (303) and the surface layer of the ferromagnetic target structure; aligning at least one of a lower plate (301) and an upper plate (302) mounted on the UAV in a same plane with the ferromagnetic target structure using a second actuator (208);
automatically counterbalancing of a load of at least one of the lower plate (301), the upper plate (302), the one or more electromagnets (303), and one or more robotic arms (400) mounted on the UAV using an active balancing system of the UAV, to balance the UAV, activating the one or more electromagnets (303), wherein the one or more electromagnets (303) are activated based on a receipt of a signal from a limit switch (309) mounted on the UAV and wherein the signal is generated by the limit switch (309) upon detection of the

point of contact between the one or more electromagnets (303) and the surface layer of the ferromagnetic target structure; and deactivating each propeller (108) of the UAV based on the activation of the one or more electromagnets (303).