TECHNICAL FIELD:
The present invention generally relates to field of unmanned aerial vehicles, and more particularly to an unmanned aerial vehicle (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.) and a method thereof.
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 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 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 bottom side of a top/roof surface of a plain ferromagnetic structure.
In addition, due to the limitation of the failure of the currently known UAV systems to stably attach itself on various structures, 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) for performing an action and a method thereof.
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) for performing an action (say for e.g. performing a visual inspection and/or a test on a ferromagnetic structure etc.) and a method thereof. 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. 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 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 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 bottom side of top/roof surface of a plain ferromagnetic structure to

perform actions such as including but not limited to inspection / testing on one or more portions of said plain ferromagnetic structure in most efficient manner. Yet 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.
Furthermore, in order to achieve the aforementioned objectives, the present invention provides an unmanned aerial vehicle (UAV) for performing an action and a method thereof.
A first aspect of the present invention relates to the unmanned aerial vehicle (UAV) for performing an action. The unmanned aerial vehicle (UAV) comprises a UAV body, one or more electromagnetic adhesion components and one or more robotic arms. The UAV body comprises at least a landing gear, an arm fix plate, an electronic speed controller (ESC) plate, a payload carrier plate, an onboard computer plate, and four propeller arms. The one or more electromagnetic adhesion components are coupled to the UAV body via one or more first coupling mechanisms, wherein each electromagnetic adhesion component comprises at least: a lower plate; an upper plate coupled to the lower plate; one or more electromagnets attached at least to the upper plate; a magnetic lever coupled to the lower plate via a mounting plate and a smart actuator; an arm fixing plate coupled to the magnetic lever and the UAV body; and a limit switch connected to one of the upper plate, the lower plate and the one or more electromagnets. Also, each electromagnetic adhesion component is configured to attach the UAV to a ferromagnetic target structure. The one or more robotic arms are coupled to the lower plate via one or more second coupling mechanisms, wherein the UAV is configured to perform the action using the one or more robotic arms, 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.
Another aspect of the present invention relates to a method for performing an action using 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 mounted on the UAV and the surface layer of the ferromagnetic target structure. The method thereafter 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. The method thereafter comprises deactivating, each propeller of the UAV based on the activation of the one or more electromagnets. Further the method encompasses hanging the UAV stably based on the point of contact using a magnetic lever mounted on the UAV. The method then leads to performing the action via one or more robotic arms mounted on the UAV based on the stable hanging of 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 illustrating various views and components of an unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention. Figure 2 is a diagram illustrating various views and components of at least a UAV body of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention.
Figure 3a is a diagram illustrating at least a view and various components of an electromagnetic adhesion component of the unmanned aerial vehicle (UAV), in

accordance with exemplary embodiments of the present invention.
Figure 3b is a diagram illustrating another view and various components of the
electromagnetic adhesion component of the unmanned aerial vehicle (UAV), in
accordance with exemplary embodiments of the present invention.
Figure 4a 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 4b 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 5 illustrates an exemplary method flow diagram for performing an action via an
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) for performing an action, and a method thereof. The UAV comprises a UAV body, one or more electromagnetic adhesion components and one or more robotic arms, wherein the one or more robotic arms are equipped with one or more tools to perform the action. More specifically, the UAV performs the action based on an attachment of the UAV to a bottom side of top/roof surface of a ferromagnetic target structure using the one or more electromagnetic adhesion components. Also, the action 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 any other such task that requires a stable hanging of the UAV with the bottom side of top/roof surface of the ferromagnetic target structure and is obvious to a person skilled in the art.
Also, the method for performing the action using the UAV encompasses flying the UAV to a surface layer of the ferromagnetic target structure to make a point of contact between one or more electromagnets mounted on the UAV and the surface layer of the ferromagnetic target structure. The method thereafter 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. The method thereafter comprises deactivating, each propeller of the UAV based on the activation of the one or more electromagnets. Further the method encompasses hanging the UAV stably based on the point of contact using a magnetic lever mounted on the UAV. The method then leads to performing the action via one or more robotic arms mounted on the UAV based on the stable hanging of the UAV. Therefore, the present invention provides a novel unmanned aerial vehicle (UAV) for performing an action (say for e.g. performing a visual inspection and/or a test on a ferromagnetic structure, etc.), and a novel method thereof. This novel UAV is technically advanced over the currently known UAVs, as it provides a platform with electromagnetic adhesion 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. 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 on a bottom side of top/roof surface of a plain 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.

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 illustrating various views and components of an unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention is shown. As indicated in the Figure 1 the UAV is designed in X type, Octa- Quad propeller configuration. Also, the UAV is constructed of three major assemblies provided as below:
1. UAV Body,
2. One or more electromagnetic adhesion components, and
3. 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 1. Also, in addition a diagram illustrating various views and components of at least the UAV body of the unmanned aerial vehicle (UAV), is shown in Figure 2 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 and Inertial Measurement Unit (IMU) sensors. The onboard computer plate
(109) receives input from IMU and LiDAR for control and navigation of the UAV. More specifically, the onboard computer plate (109) using the input received from the IMU and LiDAR accurately maintains the UAV's position even in GPS denied environment. Therefore, the UAV is also useful for inspection in scenarios (such as inside metallic tank) where GPS signal strength are negligible.

Further the UAV body is coupled to the one or more electromagnetic adhesion components 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 one or more electromagnetic adhesion components 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, each electromagnetic adhesion component is configured to attach the UAV to a ferromagnetic target structure (200) as shown at least in Figure 1. Also, Figure 1 depicts various sub components of each electromagnetic adhesion component of the UAV. In addition a diagram illustrating at least a view and various components of each electromagnetic adhesion component of the unmanned aerial vehicle (UAV) is shown in Figure 3a in accordance with exemplary embodiments of the present invention. Figure 3b also depicts a diagram illustrating another view and various components of each electromagnetic adhesion component of the unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention. As shown in Figure 1, Figure 3a and 3b, each electromagnetic adhesion component comprises at least: a lower plate (351); an upper plate (352) coupled to the lower plate (351); one or more electromagnets (353) attached at least to the upper plate (352); a magnetic lever (355) coupled to the lower plate (351) via a mounting plate (354) and a smart actuator (356); an arm fixing plate (357) coupled to the magnetic lever (355) and the UAV body; and a limit switch (359) connected to one of the upper plate (352), the lower plate (351) and the one or more electromagnets (353). Also, Figure 3a and 3b depicts that each electromagnetic adhesion component further comprises one or more magnetic arm attach bolts (360), one or more arm base bolts (363) and one or more upper and lower plate connecting bolts (364). Further the reference to some of the sub components of each electromagnetic adhesion component is also provided in Figure 2. For instance the Figure 2 also depicts the limit switch (359) as limit switch (110), the one or more magnetic arm attach bolts (360) as one or more magnetic arm attach bolts (111), the one or more arm base bolts (363) as one or more arm base bolts (112). More specifically, the mounting plate (354) of each

electromagnetic adhesion component is connected to a first end of the magnetic lever (355) through the smart actuator (356) and the one or more magnetic arm attach bolts (360). The second end of the magnetic lever (355) is attached to the arm fixing plate
(357) through the one or more arm base bolts (363). Also, the lower plate (351), the
upper plate (352) and the one or more electromagnets (353) are connected through
the one or more upper and lower plate connecting bolts (364). Furthermore, in an
instance the lower plate (351) and/or the upper plate (352) may be turned with the
help of the smart actuator (356) to align the one or more electromagnets (353) in
same plane with the ferromagnetic target structure (200).
Also, different views of the UAV provided in the Figure 3a and 3b depicts that the lower plate (351) of each of the one or more electromagnetic adhesion component is coupled to the one or more robotic arms (358). More specifically, the one or more robotic arms (358) are coupled to the lower plate (351) via one or more second coupling mechanisms. The one or more second coupling mechanisms comprises at least a mechanism to couple the one or more robotic arms to the lower plate (351) through one or more robotic manipulator base bolts (362). Also, each robotic arm
(358) 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 of the unmanned aerial vehicle (UAV), is shown in Figure 4a in accordance with exemplary embodiments of the present invention. Also, Figure 4b 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 4b each robotic arm (358) from the one or more robotic arms (358) 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 4a and 4b depicts that each robotic arm from the one or more robotic arms (358) 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 is also provided in Figure 2 and Figure 3. For instance the Figure 2 depicts one or more rotor hub bolts (113), one or more rotor support bolts (114) and one or more base rotor bolts (115). Also Figure 3 depicts one or more tool motor attach bolts (365), the one or more robotic manipulator base bolts (362), and the one or more base rotor bolts (115) as one or more base rotor bolts (361).
Furthermore, the UAV is configured to perform the action using the one or more robotic arms (358), wherein the action is performed based at least on the attachment of the UAV to the ferromagnetic target structure (200) using the one or more electromagnetic adhesion components. Also, the action comprises at least one of: a surface preparation task to be performed on the ferromagnetic target structure, a testing task to be performed on the ferromagnetic target structure, an aerial photography related task, and an information gathering related task etc. More particularly, to perform the action using the one or more robotic arms (358), the onboard computer plate (109) is firstly configured to enable the UAV to approach a surface layer of the ferromagnetic target structure (200) to make a point of contact between the one or more electromagnets (353) and the surface layer of the ferromagnetic target structure. The onboard computer plate (109) is thereafter

configured to activate the one or more electromagnets (353), wherein the one or more electromagnets (353) are activated based on a receipt of a signal from the limit switch (359) and wherein the signal is generated by the limit switch (359) upon detection of the point of contact between the one or more electromagnets (353) and the surface layer of the ferromagnetic target structure. Further 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 (353). Thereafter the onboard computer plate (109) enables the UAV to be mounted stably on the surface layer of the ferromagnetic target structure based on the point of contact using the magnetic lever (355). Also, the onboard computer plate (109) then enables the one or more robotic arms of the stably mounted UAV to perform the action.
Referring to Figure 5 an exemplary method flow diagram [500], for performing an action via an unmanned aerial vehicle (UAV), in accordance with exemplary embodiments of the present invention is shown. In an implementation the method is performed by the UAV as disclosed in the present disclosure. Also, as shown in Figure 5, the method starts at step [502].
At step [504] the method comprises flying the UAV to a surface layer of a ferromagnetic target structure (200) to make a point of contact between one or more electromagnets (353) mounted on the UAV and the surface layer of the ferromagnetic target structure. The surface layer of the ferromagnetic target structure may be a bottom side of top/roof surface of the ferromagnetic target structure, therefore the UAV flies below the ferromagnetic target structure (200) to make the point of contact. Next at step [506] the method encompasses activating the one or more electromagnets (353), wherein the one or more electromagnets (353) are activated based on a receipt of a signal from a limit switch (359) mounted on the UAV and wherein the signal is generated by the limit switch (359) upon detection of the point of contact between the one or more electromagnets (353) and the surface layer of the ferromagnetic target structure.
Further at step [508] the method comprises deactivating, each propeller (108) of the UAV based on the activation of the one or more electromagnets (353).

Next at step [510] the method encompasses hanging the UAV stably based on the point of contact using a magnetic lever (355) mounted on the UAV. More specifically, once the one or more electromagnets (353) touches the ferromagnetic target structure (200), the limit switch (359) provides signal which activates the one or more electromagnets (353) & disarm (Stop) the UAV's propellers (108) after it. Now the UAV is hanging firmly with help of the magnetic lever (355) without using its own power for flying.
Further, at step [512] the method comprises performing the action via one or more robotic arms (358) mounted on the UAV based on the stable hanging of the UAV. More particularly, now the robotic arm(s) (358) gets a firm base to operate without destabilizing the UAV. In an instance, tools mounted on the robotic arm (358) (such as electric grinding tools etc.) may be used on the ferromagnetic target structure (200) for surface preparation after which Non-destructive testing can be performed on the ferromagnetic target structure (200). In other instance any other action that is obvious to a person skilled in the art can also be performed by the tools mounted on the robotic arm(s) (358).
After performing the action via one or more robotic arms (358), the method terminates at step [514].
Therefore, the present invention provides a novel unmanned aerial vehicle (UAV) for performing an action (say for e.g. performing a visual inspection and/or a test on a ferromagnetic structure, etc.), and a novel method thereof. This novel UAV is technically advanced over the currently known UAVs, as it provides a platform with electromagnetic adhesion 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. 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 on a bottom side of top/roof surface of a plain 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 arms) 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. 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) for performing an action, 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);
one or more electromagnetic adhesion components coupled to the UAV body via one or more first coupling mechanisms, wherein: each electromagnetic adhesion component comprises at least: a lower plate (351),
an upper plate (352) coupled to the lower plate (351),
one or more electromagnets (353) attached at least to the upper plate (352), a magnetic lever (355) coupled to the lower plate (351) via a mounting plate (354) and a smart actuator (356),
an arm fixing plate (357) coupled to the magnetic lever (355) and the UAV body, and a limit switch (359) connected to one of the upper plate (352), the lower plate (351) and the one or more electromagnets (353), and
each electromagnetic adhesion component is configured to attach the UAV to a ferromagnetic target structure; and
one or more robotic arms (358) coupled to the lower plate (351) via one or more second coupling mechanisms, wherein the UAV is configured to perform the action using the one or more robotic arms (358), 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.
2. The UAV as claimed in claim 1, wherein the one or more second coupling mechanisms comprises at least a mechanism to couple the one or more robotic arms to the lower plate (351) through one or more robotic manipulator base bolts (362).
3. The UAV as claimed in claim 1, wherein the action comprises at least one of:

a surface preparation task to be performed on the ferromagnetic target structure,
a testing task to be performed on the ferromagnetic target structure, an aerial photography related task, and an information gathering related task.
4. The UAV as claimed in claim 1, wherein the onboard computer plate (109) is
configured to:
enable the UAV to approach a surface layer of the ferromagnetic target structure to make a point of contact between the one or more electromagnets (353) and the surface layer of the ferromagnetic target structure,
activate the one or more electromagnets (353), wherein the one or more electromagnets (353) are activated based on a receipt of a signal from the limit switch (359) and wherein the signal is generated by the limit switch (359) upon detection of the point of contact between the one or more electromagnets (353) 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 (353),
enable the UAV to be mounted stably on the surface layer of the ferromagnetic target structure based on the point of contact using the magnetic lever (355), and
enable the one or more robotic arms of the stably mounted UAV to perform the action.
5. The UAV as claimed in claim 1, wherein 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).
6. The UAV as claimed in claim 4, wherein each propeller (108) is guarded with a shrouding (106) to prevent damage of propeller (108).
7. The UAV as claimed in claim 1, wherein each electromagnetic adhesion component further comprises one or more magnetic arm attach bolts (360), one or more arm base bolts (363) and one or more upper and lower plate connecting bolts (364).

8. The UAV as claimed in claim 7, wherein:
the mounting plate (354) is connected to a first end of the magnetic lever (355) through the smart actuator (356) and the one or more magnetic arm attach bolts (360),
the second end of the magnetic lever (355) is attached to the arm fixing plate (357) through the one or more arm base bolts (363), and
the lower plate (351), the upper plate (352) and the one or more electromagnets (353) are connected through the one or more upper and lower plate connecting bolts (364).
9. A method for performing an action using 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 (353) mounted on the UAV and the surface layer of the ferromagnetic target structure;
activating the one or more electromagnets (353), wherein the one or more electromagnets (353) are activated based on a receipt of a signal from a limit switch (359) mounted on the UAV and wherein the signal is generated by the limit switch (359) upon detection of the point of contact between the one or more electromagnets (353) and the surface layer of the ferromagnetic target structure;
deactivating, each propeller (108) of the UAV based on the activation of the one or more electromagnets (353);
hanging the UAV stably based on the point of contact using a magnetic lever (355) mounted on the UAV; and

performing the action via one or more robotic arms (358) mounted on the UAV based on the stable hanging of the UAV.