Method for inspecting and/or manipulating a beam at a lower side of a roof or deck, wherein the beam comprises a strip which has a first surface facing said lower side and spaced apart therefrom, and a second surface facing away from the first surface, the method comprising: - providing an unmanned aerial vehicle, UAV,, the UAV comprising: a body, comprising an abutment element having a top surface adapted for abutting the second surface of the strip; a number of rotors for exerting a propulsion force on the UAV in an upward direction, wherein the rotors are supported by the body and arranged below the top surface; a first arm, pivotably connected to the body, the first arm having an end portion for contacting the first surface, wherein the first arm is movable relative to the body between a first position in which, when seen in projection onto a plane parallel to the top surface, the end portion is spaced apart from the top surface, and a second position in which the end portion of the arm is arranged above the top surface; and an inspection and/or manipulation tool; the method further comprising the steps of: - while the first arm is in the first position, controlling the rotors to exert a propulsion force on the UAV for flying the UAV towards the beam such that the top surface approaches the second surface of the strip; - when the top surface of the abutment element contacts the second surface of the strip, moving the first arm from the first position to the second position such that the end portion of the first arm is moved to a position vertically above the first surface of the strip, and preferably such that the first surface is arranged between the body and the end portion of the first arm; - controlling the rotors to reduce the upwardly directed propulsion force until the UAV hangs from the beam with the end portion of the arm in contact with and supported by the first surface of the strip; and - inspecting and/or manipulating the beam, using the inspection and/or manipulation tool, while the UAV hangs from the beam. - providing an unmanned aerial vehicle, UAV,, the UAV comprising: a body, comprising an abutment element having a top surface adapted for abutting the second surface of the strip; a number of rotors for exerting a propulsion force on the UAV in an upward direction, wherein the rotors are supported by the body and arranged below the top surface; a first arm, pivotably connected to the body, the first arm having an end portion for contacting the first surface, wherein the first arm is movable relative to the body between a first position in which, when seen in projection onto a plane parallel to the top surface, the end portion is spaced apart from the top surface, and a second position in which the end portion of the arm is arranged above the top surface; and an inspection and/or manipulation tool; a body, comprising an abutment element having a top surface adapted for abutting the second surface of the strip; a number of rotors for exerting a propulsion force on the UAV in an upward direction, wherein the rotors are supported by the body and arranged below the top surface; a first arm, pivotably connected to the body, the first arm having an end portion for contacting the first surface, wherein the first arm is movable relative to the body between a first position in which, when seen in projection onto a plane parallel to the top surface, the end portion is spaced apart from the top surface, and a second position in which the end portion of the arm is arranged above the top surface; and an inspection and/or manipulation tool; - while the first arm is in the first position, controlling the rotors to exert a propulsion force on the UAV for flying the UAV towards the beam such that the top surface approaches the second surface of the strip; - when the top surface of the abutment element contacts the second surface of the strip, moving the first arm from the first position to the second position such that the end portion of the first arm is moved to a position vertically above the first surface of the strip, and preferably such that the first surface is arranged between the body and the end portion of the first arm; - controlling the rotors to reduce the upwardly directed propulsion force until the UAV hangs from the beam with the end portion of the arm in contact with and supported by the first surface of the strip; and - inspecting and/or manipulating the beam, using the inspection and/or manipulation tool, while the UAV hangs from the beam.