UAV for continuous ultrasound testing (UT) scans

An unmanned aerial vehicle (UAV), comprising:

• a probe configured to scan a structure;
• a processor having code therein configured to control the scanning by the probe;
• a chassis configured to retain the processor and the probe;
• an arm extending from the chassis;
• a motor mounted on the arm;
• a propeller mounted on the arm and configured to rotate about a vertical rotary axis;
• a power transmission sub-system mounted on the arm and coupled to a wheel to rotate the wheel;
• and
• a clutch configured to selectively move vertically parallel to the vertical rotary axis in a first direction to selectively couple the motor to the propeller and to not couple the motor to the power transmission sub-system in a first configuration, and configured to selectively move vertically parallel to the vertical rotary axis in a second direction opposite to the first direction to selectively couple the motor to the power transmission sub-system and to not couple the motor to the propeller in a second configuration,
• wherein the propeller in the first configuration moves the UAV away from a surface of the structure, and
• wherein the power transmission sub-system rotates the wheel in the second configuration to move the UAV on and along the surface.

A method, comprising:

• providing an unmanned aerial vehicle (UAV) having a probe, a clutch, a motor, a propeller configured to rotate about a vertical rotary axis, a power transmission sub-system, and a wheel;
• controlling the clutch to selectively move vertically parallel to the vertical rotary axis in a first direction to selectively couple the motor to the propeller and to not couple the motor to the power transmission sub-system in a flight mode;
• flying the UAV to be spaced from a location on a surface of a structure;
• landing the UAV at the location on the surface;
• controlling the clutch to selectively move vertically parallel to the vertical rotary axis in a second direction opposite to the first direction to selectively couple the motor to the power transmission sub-system and to not couple the motor to the propeller in a perch mode;
• controlling the power transmission sub-system to rotate the wheel;
• traversing the wheel over and along the surface the structure;
• and
• scanning the structure using the probe.