CN114408210A - Airplane structure characteristic parameter digital horizontal measurement method - Google Patents
Airplane structure characteristic parameter digital horizontal measurement method Download PDFInfo
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- CN114408210A CN114408210A CN202210053169.8A CN202210053169A CN114408210A CN 114408210 A CN114408210 A CN 114408210A CN 202210053169 A CN202210053169 A CN 202210053169A CN 114408210 A CN114408210 A CN 114408210A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention discloses a digital horizontal measurement method for structural characteristic parameters of an airplane, which comprises the following steps: s1, establishing a plane coordinate system for the horizontal measurement of the characteristic parameters of the plane; s2, specifying the parking state of the airplane before measurement; s3, providing basic conditions and requirements of the laser tracker; s4, establishing a selection criterion of the horizontal measurement data points according to the characteristic parameters of the airplane, and determining the positions of the horizontal measurement data points; s5, marking the selected position of the horizontal measurement data point; and S6, establishing an expression of the aircraft structure characteristic parameter index according to the coordinates of the horizontal measurement data points. The invention adopts the laser tracker measurement technology and combines the airplane structure characteristics, provides a digital horizontal measurement method based on the laser tracker measurement technology aiming at CESSNA172 airplane characteristic parameters, and can realize convenient, stable, efficient and high-precision measurement of civil airplanes compared with airplane horizontal measurement carried out by conventional optical instruments theodolite and level.
Description
Technical Field
The invention belongs to the technical field of aircraft manufacturing and design, and particularly relates to a digital level measurement method for structural characteristic parameters of an aircraft. The digital level measurement method is suitable for structure maintenance and damage repair of CESSNA172 cluster, and realizes accurate measurement, judgment and control of the positions and shapes of the body profiles such as fuselage, wings, stabilizer and the like.
Background
With the increase of the quantity and the flight time of the CESSNA172 airplanes, overload phenomena caused by overrun flight and other accidental factors (such as heavy landing, strong airflow bump, tail ground rubbing and the like) easily occur in the service process, so that the body profiles of a fuselage, a wing, a stabilizer and the like generate permanent deformation to a certain degree. As this deformation gradually accumulates beyond a certain threshold, it will significantly affect the flight and handling performance of the aircraft, and even compromise the flight safety. In addition, when the CESSNA172 aircraft repairs the major structural damage, the deformation condition of the body shape needs to be judged to determine a repair scheme; meanwhile, after the damage is repaired, the position and the shape of the repaired body surface need to be measured and controlled so as to ensure the existing flight performance and handling performance. However, at present, there is no corresponding level measurement method in the continuous airworthiness data provided by CESSNA172 aircraft manufacturers, so that during the major repair and damage repair of the aircraft structure, the deformation conditions of the body profiles such as the fuselage, the wings and the stabilizer can be judged only by experience and simple dimensional measurement and visual observation, and a scientific and effective level measurement method is lacked. In order to scientifically and objectively evaluate the body shape characteristic parameters of the airplane, a damage repair scheme needs to be established so as to accurately evaluate and control the flight performance and the handling performance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a laser tracker measurement technology-based digital level measurement method for aircraft characteristic parameters by combining aircraft structural characteristics, and can realize convenient, stable, efficient and high-precision measurement of civil aircraft
The purpose of the invention is realized by the following technical scheme: a digital horizontal measurement method for aircraft structure characteristic parameters comprises the following steps:
s1, establishing a plane coordinate system for the horizontal measurement of the characteristic parameters of the plane;
s2, specifying the parking state of the airplane before measurement;
s3, providing basic conditions and requirements of the laser tracker;
s4, establishing a selection criterion of the horizontal measurement data points according to the characteristic parameters of the airplane, and determining the positions of the horizontal measurement data points;
s5, marking the selected position of the horizontal measurement data point;
and S6, establishing an expression of the aircraft structure characteristic parameter index according to the coordinates of the horizontal measurement data points.
Further, the specific implementation method of step S1 is as follows: adopting a right-hand right-angle machine body coordinate system, selecting 4 horizontal measurement reference points a, b, u and v in a region with the maximum structural strength and rigidity of the machine body, wherein the left machine body and the right machine body respectively select 2 reference points, and the reference points on the left machine body and the right machine body are mutually symmetrical along a machine body reference plane; meanwhile, 4 reference points are on the same plane; taking the midpoint O of the reference points u and v as a coordinate origin, taking the horizontal axis of the machine body as a longitudinal axis OX, and taking the direction as the forward direction of the machine head; ou is positive Y-axis direction, Ov is negative Y-axis direction, and is perpendicular to OX axis; the longitudinal axis OZ is perpendicular to the XOY plane and is directed upwards.
Further, in step S2, the aircraft should be in an unloaded state before measurement, the airborne equipment is complete, the aircraft is unmanned, and no redundant sundries are loaded; the appearance of the airplane is clean; the airplane flap is arranged on a fully-retracted upper position, each control surface is arranged on a neutral position, the magneto switch is required to be in an OFF position, the key is pulled out, and the battery master electric door, the generator electric door and the electronic equipment master electric door are in the OFF position; the aircraft/engine fairing, various inspection port covers, luggage compartment door and cockpit door are installed; a wing bracket and a tail bracket are used to support the aircraft.
Further, in the step S3, the airplane can fix and adjust the laser tracker level when measuring the ground; the ground arrangement station site and the measurement reference are corrected; the light of a measuring point in one station is required to be linearly reachable, and can not be interrupted and recycled and can not be reflected and refracted; covering a plurality of horizontal measuring points as much as possible in one station; in the measuring process, the station transfer frequency is 1 to 2, and the station transfer requires that at least 3 non-collinear points are arranged at adjacent station positions to serve as the station transfer datum points; the precision of the laser tracker is not less than +/-15 mu m +6 mu m/m, the sampling frequency is not less than 3000 points/s, and the measurement radius is not less than 160 m; the laser tracker is arranged at the left or right side of the airplane, is flush with the wing and is at a position which is 1 to 1.5m away from the wing tip; no obstacle is required between the laser tracker and each measuring point on the left or right side of the airplane, and no obstacle is required between the laser tracker and each transfer station datum point.
Further, in step S4, the horizontal measurement data points are determined as follows: fuselage survey data points, wing survey data points, vertical tail fin stabilizer survey data points, and horizontal tail fin stabilizer survey data points; the specific locations of the horizontal measurement data points are: a, fixing the center of a screw head at the lower part of a left cabin door hinge at a front partition frame of a cabin door of the fuselage; b, fixing the center point of a screw head at the lower part of a right cabin door hinge at the front partition frame of the cabin door of the fuselage; c, calculating the center point of the 1 st rivet head on the left side of the station position of the machine body FS228.68 from top to bottom; d, calculating the center point of the 1 st rivet head from top to bottom on the right side of the station position of the machine body FS 228.68; u point, the upper part of a left bolt at the rear partition frame of the cabin door of the fuselage fixes the center point of the head of the screw; v, fixing the center point of the head of the screw at the upper part of a right bolt at the rear partition frame of the cabin door of the airplane body; e, the center point of the rivet head of the rib and the lower surface of the front beam at the position of the WS208.00 standing of the left wing; f, the center point of the rivet head of the rib and the lower surface of the front beam at the standing position of the WS208.00 right wing; g, the center point of a rivet head of a rib and the lower surface of a rear beam at the standing position of the WS208.00 left wing; h, the center point of a rivet head between a rib at the standing position of the right wing WS208.00 and the lower surface of the rear beam; point i, the center point of the rivet head of the front edge rib and the lower surface of the front beam at the position of the WS100.00 station of the left wing; j, the center point of the rivet head of the front edge wing rib and the lower surface of the front beam at the position of the WS100.00 station of the right wing; k, the center point of the rivet head of the rear edge rib and the lower surface of the rear beam at the position of the WS100.00 standing position of the left wing; point I, the center point of the rivet head of the rear edge rib and the lower surface of the rear beam at the station position of the WS100.00 of the right wing; m, the center points of the upper surface of the left front beam and the rivet heads of the left outer side ribs of the horizontal tail wing; n, the center points of the rivet heads of the upper surface of the right front beam and the right outer side rib of the horizontal tail wing; point q, the center point of the rivet head of the upper surface of the left back beam and the left outer side rib of the horizontal tail wing; r, the center point of the rivet head of the upper surface of the right rear beam and the right outer side rib of the horizontal tail wing; s, the central point of the rivet head at the upper part of the front beam at the left side of the vertical tail wing; t, the central point of the rivet head at the upper part of the rear beam at the left side of the vertical tail wing; s', the central point of the rivet head at the upper part of the front beam at the right side of the vertical empennage; t' point, central point of rivet head on upper part of back beam on right side of vertical tail wing.
Furthermore, in step S5, according to the horizontal measurement data point selection sequence, the measurement data marking operation for 11 measurement points is completed on the right side of the aircraft, the marking sequence is b, v, j, l, f, h, n, r, t ', S', d, and the marking sequence is respectively numbered with the measurement sequence of (i), (ii), (iii), (iv), (v), (c) and (d) and (c) and (d) and (c) and (d) and (c) are included in the (d) and (c) are included in the second (c) and (c) respectively included in the second (c) and (c) are included in the second (c) and (c),
The method comprises the steps of finishing measurement data acquisition work of 11 measurement points on the left side of an airplane, wherein the acquisition sequence of the 11 measurement points is a, u, i, k, e, g, m, q, t, s and c, and the number of the corresponding measurement sequence is respectively numbered
Further, in step S6, the aircraft structure characteristic parameter indexes are respectively: the mounting angle of the wing, the dihedral angle of the wing, the mounting angle of the vertical tail fin stabilizer, the inclination angle of the vertical tail fin stabilizer, the mounting angle of the horizontal tail fin stabilizer, the dihedral angle of the horizontal tail fin stabilizer, the symmetry of the wing and the horizontal tail fin stabilizer, the bending deformation of the wing, the twisting deformation of the wing, the bending deformation of the fuselage and the twisting deformation of the fuselage.
The expression of the left wing setting angle is:
the expression of the right wing stagger angle is:
Zithe coordinate value of the measurement point i on the Z axis; zkThe coordinate value of the measurement point k on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; zlThe coordinate value of the measurement point l on the Z axis; xiCoordinate value of the measuring point i on the X axis; xkThe coordinate value of the measuring point k on the X axis; xjThe coordinate value of the measuring point j on the X axis; xlCoordinate values of the measuring point l on the X axis;
the expression for the left wing dihedral is:
the expression of the right wing dihedral is:
Zethe coordinate value of the measuring point e on the Z axis; ziThe coordinate value of the measurement point i on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; y iseThe coordinate value of the measuring point e on the Y axis; y isiThe coordinate value of the measurement point i on the Y axis; y isjFor measuring the seating of point j on the Y-axisMarking a value; y isfThe coordinate value of the measuring point f on the X axis;
the expression of the installation angle of the vertical tail fin stabilizing surface is as follows:
Ysthe coordinate value of the measuring point s on the Y axis; y iss'Coordinate values of the measurement point s' on the Y axis; y istThe coordinate value of the measuring point t on the Y axis; y ist'The coordinate value of the measurement point t' on the Y axis; xsCoordinate values of the measuring point s on the X axis; xs'Coordinate values of the measuring point s' on the X axis; xtThe coordinate value of the measuring point t on the X axis; xt'Coordinate values of the measuring point t' on the X axis;
the expression of the inclination angle of the vertical tail fin stabilizer is as follows:
Ytthe coordinate value of the measuring point t on the Y axis; y ist'The coordinate value of the measurement point t' on the Y axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis; ztThe coordinate value of the measuring point t on the Z axis; zt'The coordinate value of the measuring point t' on the Z axis; zcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis;
the expression of the installation angle of the left horizontal tail fin stabilizing surface is as follows:
the expression of the right horizontal tail fin stabilizer mounting angle is as follows:
Zmthe coordinate value of the measuring point m on the Z axis; zqThe coordinate value of the measuring point q on the Z axis; znThe coordinate value of the measuring point n on the Z axis; zrThe coordinate value of the measurement point r on the Z axis; xmThe coordinate value of the measuring point m on the X axis; xqCoordinate values of the measuring point q on the X axis; xnThe coordinate value of the measuring point n on the X axis; xrThe coordinate value of the measuring point r on the X axis;
the expression of the dihedral angle of the left horizontal tail fin stabilizer is as follows:
the expression of the dihedral angle of the stabilizer of the right horizontal tail is as follows:
Zqthe coordinate value of the measuring point q on the Z axis; zcThe coordinate value of the measuring point c on the Z axis; zrThe coordinate value of the measurement point r on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y isqCoordinate values of the measurement point q on the Y axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis; y isrThe coordinate value of the measurement point r on the Y axis;
the expression for the wing symmetry is:
S1＝[|Xh-Xg|,|Yh-Yg|,|Zh-Zg|]
the expression for the horizontal tail symmetry is:
S2＝[|Xr-Xq|,|Yr-Yq|,|Zr-Zq|]
in the formula, XhThe coordinate value of the measuring point h on the X axis; xgCoordinate values of the measuring point g on the X axis; y ishThe coordinate value of the measurement point h on the Y axis; y isgThe coordinate value of the measurement point g on the Y axis; zhThe coordinate value of the measurement point h on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; xrThe coordinate value of the measuring point r on the X axis; xqCoordinate values of the measuring point q on the X axis; y isrThe coordinate value of the measurement point r on the Y axis; y isqCoordinate values of the measurement point q on the Y axis; zrThe coordinate value of the measurement point r on the Z axis; zqThe coordinate value of the measuring point q on the Z axis;
the expression of the bending deformation of the left wing is as follows:
the expression of the right wing bending deformation is as follows:
in the formula, ZeThe coordinate value of the measuring point e on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zhThe coordinate value of the measurement point h on the Z axis;
the expression of the left wing distortion amount is as follows:
the expression of the right wing distortion amount is as follows:
Zithe coordinate value of the measurement point i on the Z axis; zkThe coordinate value of the measurement point k on the Z axis; zeThe coordinate value of the measuring point e on the Z axis; zgFor measuring the seating of point g on the Z axisMarking a value; zjThe coordinate value of the measurement point j on the Z axis; zlThe coordinate value of the measurement point l on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zhThe coordinate value of the measurement point h on the Z axis; xiCoordinate value of the measuring point i on the X axis; xkThe coordinate value of the measuring point k on the X axis; xeCoordinate value of the measuring point e on the X axis; xgCoordinate values of the measuring point g on the X axis; xjThe coordinate value of the measuring point j on the X axis; xlCoordinate values of the measuring point l on the X axis; xfThe coordinate value of the measuring point f on the X axis; xhThe coordinate value of the measuring point h on the X axis;
the expression for the amount of fuselage bending deflection in the XOZ plane is:
the expression for the amount of fuselage bending deflection in the XOY plane is:
in the formula, ZcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis;
the expression of the distortion amount of the fuselage is as follows:
in the formula, ZcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measurement point d on the Y axis.
The invention has the beneficial effects that: the invention adopts the laser tracker measurement technology and combines the structural characteristics of the CESSNA172 plane, provides the digital horizontal measurement method based on the laser tracker measurement technology aiming at the characteristic parameters of the CESSNA172 plane, and can realize convenient, stable, efficient and high-precision measurement of civil planes compared with the plane horizontal measurement carried out by theodolite and level gauge of conventional optical instruments.
Drawings
FIG. 1 is a flow chart of a measurement method of the present invention;
FIG. 2 is a CESSNA172 aircraft measurement coordinate system;
FIG. 3 is a first schematic view of CESSNA172 aircraft measurement data point markers;
fig. 4 is a cesna 172 aircraft fuselage station;
FIG. 5 is a CESSNA172 aircraft wing station;
FIG. 6 is a schematic view of the front and rear mounting holes of the left wing;
FIG. 7 is a wear diagram of the front mounting hole of the left wing;
FIG. 8 is a schematic view of the front and rear mounting holes of the right wing;
FIG. 9 is a right wing front mounting hole wear diagram.
Detailed Description
The invention relates to a CESSNA172 airplane structure characteristic parameter measuring method, which utilizes a Haekang Leica AT403 type laser tracker to collect measured data and completes the storage, analysis and processing of the measured data by matching with a Polyworks software. The CESSNA172 airplane three-dimensional entity model is established by using the Polyworks software, the measurement datum, the measurement point and the measurement parameter required by horizontal measurement are established on the three-dimensional entity model, so that the CESSNA172 airplane horizontal measurement model is established, and the control, the automatic flow planning, the point location searching and the post-processing of the measurement data of the measurement equipment are realized by using the automatic horizontal measurement system, so that the horizontal measurement characteristic parameter is obtained. The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, the method for digitally leveling the structural characteristic parameters of the aircraft of the present invention comprises the following steps:
s1, establishing a plane coordinate system for the horizontal measurement of the characteristic parameters of the plane;
in the model to which the invention aims, on the basis of the structural characteristics of a CESSNA172 airplane, a right-handed rectangular fuselage coordinate system is adopted, 4 horizontal measurement reference points a, b, u and v are selected in the area with the maximum structural strength and rigidity of the fuselage (a connecting area of a wing and the fuselage, a cockpit and the like), wherein 2 reference points are respectively selected for the fuselages on the left side and the right side, and the reference points on the fuselages on the left side and the right side are mutually symmetrical along a fuselage reference plane (a symmetrical plane); meanwhile, 4 datum points are on the same plane, and the plane is parallel to the axis (or a wing root chord line) of the fuselage as much as possible; taking the midpoint O of the reference points u and v as a coordinate origin, taking the horizontal axis of the machine body as a longitudinal axis OX, and taking the direction as the forward direction of the machine head; ou is positive Y-axis direction, Ov is negative Y-axis direction, and is perpendicular to OX axis; the longitudinal axis OZ is perpendicular to the XOY plane and points upward as shown in FIG. 2.
S2, specifying the parking state of the airplane before measurement;
in the step, the CESSNA172 airplane is in an idle state before measurement, airborne equipment is complete, no person is on the airplane, and unnecessary sundries such as fuel oil, goods, food and the like are not loaded; the CESSNA172 airplane has clean and clean appearance, the flaps are arranged on the fully-retracted upper position, each control surface is arranged on the neutral position, the magnetor switch is on the OFF position, the key is pulled out, and the battery master electric gate, the generator electric gate and the electronic equipment master electric gate are on the OFF position; CESSNA172 aircraft/engine fairing, various access panel covers, trunk door and cockpit door are installed; cesna 172 aircraft have used wing and tail carrier support.
S3, providing basic conditions and requirements of the laser tracker;
in this embodiment, the cesna 172 aircraft is parked on a flat, clean, windless ground, and the hangar door is closed to prevent the influence of the outside environment airflow. The plane measuring ground can fix and adjust the level of the laser tracker; the ground arrangement station site and the measurement reference are corrected; the light of a measuring point in one station is required to be linearly reachable, and can not be interrupted and recycled and can not be reflected and refracted; in the measurement process, the number of times of station transfer is reduced as much as possible (generally 1 to 2 times is selected), and the station transfer requires that at least 3 non-collinear points are arranged on adjacent station positions to serve as the reference points of the station transfer; the precision of the laser tracker is not less than +/-15 mu m +6 mu m/m, the sampling frequency is not less than 3000 points/s, and the measurement radius is not less than 160 m; the laser tracker is arranged at the left or right side of the airplane, is flush with the wing and is at a position which is 1 to 1.5m away from the wing tip; no obstacle is required between the laser tracker and each measuring point on the left or right side of the airplane, and no obstacle is required between the laser tracker and each transfer station datum point.
S4, establishing a selection criterion of the horizontal measurement data points according to the characteristic parameters of the airplane, and determining the positions of the horizontal measurement data points;
the selection criteria for the horizontal measurement data points are: the number and the positions of the horizontal measuring points can reflect the relative positions and the states of the main surfaces (parts); the horizontal measuring point is generally selected on an outer skin with high structural rigidity (beams, stringers, ribs, bulkheads and the like are arranged inside); the distribution position of the horizontal measuring points ensures the accessibility of the measurement; the horizontal measuring points are selected as much as possible on rivets, screws or marking points with higher manufacturing precision.
The horizontal measurement data points determined were: fuselage survey data points, wing survey data points, vertical tail fin stabilizer survey data points, and horizontal tail fin stabilizer survey data points; according to the structural features of cesna 172 aircraft, the specific locations of the level measurement data points are: a, fixing the center of a screw head at the lower part of a left cabin door hinge at a front partition frame of a cabin door of the fuselage; b, fixing the center point of a screw head at the lower part of a right cabin door hinge at the front partition frame of the cabin door of the fuselage; c, calculating the center point of the 1 st rivet head on the left side of the station position of the machine body FS228.68 from top to bottom; d, calculating the center point of the 1 st rivet head from top to bottom on the right side of the station position of the machine body FS 228.68; u point, the upper part of a left bolt at the rear partition frame of the cabin door of the fuselage fixes the center point of the head of the screw; v, fixing the center point of the head of the screw at the upper part of a right bolt at the rear partition frame of the cabin door of the airplane body; e, the center point of the rivet head of the rib and the lower surface of the front beam at the position of the WS208.00 standing of the left wing; f, the center point of the rivet head of the rib and the lower surface of the front beam at the standing position of the WS208.00 right wing; g, the center point of a rivet head of a rib and the lower surface of a rear beam at the standing position of the WS208.00 left wing; h, the center point of a rivet head between a rib at the standing position of the right wing WS208.00 and the lower surface of the rear beam; point i, the center point of the rivet head of the front edge rib and the lower surface of the front beam at the position of the WS100.00 station of the left wing; j, the center point of the rivet head of the front edge wing rib and the lower surface of the front beam at the position of the WS100.00 station of the right wing; k, the center point of the rivet head of the rear edge rib and the lower surface of the rear beam at the position of the WS100.00 standing position of the left wing; point I, the center point of the rivet head of the rear edge rib and the lower surface of the rear beam at the station position of the WS100.00 of the right wing; m, the center points of the upper surface of the left front beam and the rivet heads of the left outer side ribs of the horizontal tail wing; n, the center points of the rivet heads of the upper surface of the right front beam and the right outer side rib of the horizontal tail wing; point q, the center point of the rivet head of the upper surface of the left back beam and the left outer side rib of the horizontal tail wing; r, the center point of the rivet head of the upper surface of the right rear beam and the right outer side rib of the horizontal tail wing; s, the central point of the rivet head at the upper part of the front beam at the left side of the vertical tail wing; t, the central point of the rivet head at the upper part of the rear beam at the left side of the vertical tail wing; s', the central point of the rivet head at the upper part of the front beam at the right side of the vertical empennage; t' point, center point of rivet head at upper part of rear beam at right side of vertical tail wing, as shown in fig. 3 and 4.
S5, marking the selected position of the horizontal measurement data point;
according to the selection sequence of horizontal measurement data points, firstly completing the measurement data marking work of 11 measurement points on the right side of the airplane, wherein the marking sequence is b, v, j, l, f, h, n, r, t ', s' and d, and the marking sequence is respectively numbered as (I), (II), (III), (IV), (V), (VI), (III), (IV), (V), and (V), and (V), and D), and (V), a (V), and (V), and (V), B) and (V), C) and (V) are b) and (V) are included in the V) to (V) and (V) are included in the V) and (V) to (V) and (V) are included in the V (V) and (V),
The method comprises the steps of finishing measurement data acquisition work of 11 measurement points on the left side of an airplane, wherein the acquisition sequence of the 11 measurement points is a, u, i, k, e, g, m, q, t, s and c, and the number of the corresponding measurement sequence is respectively numbered
As shown in fig. 5.
And S6, establishing an expression of the aircraft structure characteristic parameter index according to the coordinates of the horizontal measurement data points.
The machine structure characteristic parameter indexes are respectively as follows: the mounting angle of the wing, the dihedral angle of the wing, the mounting angle of the vertical tail fin stabilizer, the inclination angle of the vertical tail fin stabilizer, the mounting angle of the horizontal tail fin stabilizer, the dihedral angle of the horizontal tail fin stabilizer, the symmetry of the wing and the horizontal tail fin stabilizer, the bending deformation of the wing, the twisting deformation of the wing, the bending deformation of the fuselage and the twisting deformation of the fuselage.
The expression of the left wing setting angle is:
the expression of the right wing stagger angle is:
Zithe coordinate value of the measurement point i on the Z axis; zkThe coordinate value of the measurement point k on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; zlThe coordinate value of the measurement point l on the Z axis; xiCoordinate value of the measuring point i on the X axis; xkThe coordinate value of the measuring point k on the X axis; xjThe coordinate value of the measuring point j on the X axis; xlCoordinate values of the measuring point l on the X axis;
the expression for the left wing dihedral is:
the expression of the right wing dihedral is:
Zethe coordinate value of the measuring point e on the Z axis; ziThe coordinate value of the measurement point i on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; y iseThe coordinate value of the measuring point e on the Y axis; y isiTo measureCoordinate value of point i on Y axis; y isjThe coordinate value of the measurement point j on the Y axis; y isfThe coordinate value of the measuring point f on the X axis;
the expression of the installation angle of the vertical tail fin stabilizing surface is as follows:
Ysthe coordinate value of the measuring point s on the Y axis; y iss'Coordinate values of the measurement point s' on the Y axis; y istThe coordinate value of the measuring point t on the Y axis; y ist'The coordinate value of the measurement point t' on the Y axis; xsCoordinate values of the measuring point s on the X axis; xs'Coordinate values of the measuring point s' on the X axis; xtThe coordinate value of the measuring point t on the X axis; xt'Coordinate values of the measuring point t' on the X axis;
the expression of the inclination angle of the vertical tail fin stabilizer is as follows:
Ytthe coordinate value of the measuring point t on the Y axis; y ist'The coordinate value of the measurement point t' on the Y axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis; ztThe coordinate value of the measuring point t on the Z axis; zt'The coordinate value of the measuring point t' on the Z axis; zcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis;
the expression of the installation angle of the left horizontal tail fin stabilizing surface is as follows:
the expression of the right horizontal tail fin stabilizer mounting angle is as follows:
Zmthe coordinate value of the measuring point m on the Z axis; zqThe coordinate value of the measuring point q on the Z axis; znThe coordinate value of the measuring point n on the Z axis; zrThe coordinate value of the measurement point r on the Z axis; xmThe coordinate value of the measuring point m on the X axis; xqCoordinate values of the measuring point q on the X axis; xnThe coordinate value of the measuring point n on the X axis; xrThe coordinate value of the measuring point r on the X axis;
the expression of the dihedral angle of the left horizontal tail fin stabilizer is as follows:
the expression of the dihedral angle of the stabilizer of the right horizontal tail is as follows:
Zqthe coordinate value of the measuring point q on the Z axis; zcThe coordinate value of the measuring point c on the Z axis; zrThe coordinate value of the measurement point r on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y isqCoordinate values of the measurement point q on the Y axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis; y isrThe coordinate value of the measurement point r on the Y axis;
the expression for the wing symmetry is:
S1＝[|Xh-Xg|,|Yh-Yg|,|Zh-Zg|]
the expression for the horizontal tail symmetry is:
S2＝[|Xr-Xq|,|Yr-Yq|,|Zr-Zq|]
in the formula, XhFor measuring the seating of point h on the X-axisMarking a value; xgCoordinate values of the measuring point g on the X axis; y ishThe coordinate value of the measurement point h on the Y axis; y isgThe coordinate value of the measurement point g on the Y axis; zhThe coordinate value of the measurement point h on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; xrThe coordinate value of the measuring point r on the X axis; xqCoordinate values of the measuring point q on the X axis; y isrThe coordinate value of the measurement point r on the Y axis; y isqCoordinate values of the measurement point q on the Y axis; zrThe coordinate value of the measurement point r on the Z axis; zqThe coordinate value of the measuring point q on the Z axis;
the expression of the bending deformation of the left wing is as follows:
the expression of the right wing bending deformation is as follows:
in the formula, ZeThe coordinate value of the measuring point e on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zhThe coordinate value of the measurement point h on the Z axis;
the expression of the left wing distortion amount is as follows:
the expression of the right wing distortion amount is as follows:
Zithe coordinate value of the measurement point i on the Z axis; zkThe coordinate value of the measurement point k on the Z axis; zeTo measureMeasuring coordinate values of the point e on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; zlThe coordinate value of the measurement point l on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zhThe coordinate value of the measurement point h on the Z axis; xiCoordinate value of the measuring point i on the X axis; xkThe coordinate value of the measuring point k on the X axis; xeCoordinate value of the measuring point e on the X axis; xgCoordinate values of the measuring point g on the X axis; xjThe coordinate value of the measuring point j on the X axis; xlCoordinate values of the measuring point l on the X axis; xfThe coordinate value of the measuring point f on the X axis; xhThe coordinate value of the measuring point h on the X axis;
the expression for the amount of fuselage bending deflection in the XOZ plane is:
the expression for the amount of fuselage bending deflection in the XOY plane is:
in the formula, ZcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis;
the expression of the distortion amount of the fuselage is as follows:
in the formula, ZcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measurement point d on the Y axis.
The measurement data is initially processed by using a '172-level measurement data template' in POLYWORKS software and is output in an XLS format. And (3) opening Horizontal measurement data processing software of the airplane of 'Horizontal measure' CESSNA172 to complete post-processing and calculation and output of Horizontal measurement characteristic parameters. Clicking a 'reading' button on a software interface to import the measurement data in the XLS format into the software. Clicking a 'calculation' button and an 'output' button on a software interface, calculating the horizontal measurement characteristic parameters by using a specified calculation formula, and outputting the horizontal measurement characteristic parameters in an XLS format to obtain a calculation result shown in a table 1.
TABLE 1 CESSNA172 digitized level measurement of aircraft structural feature parameters
Note: the angle units and the length units of the measurement results are respectively divided into millimeters
According to the horizontal measurement results in the table 1, the measured value of the symmetry of the left wing and the right wing of the airplane (item 7 in the table 1) in the X direction is found to be beyond the allowable range of [0,25] mm, the symmetry of the wings does not accord with the normal standard of the airplane, and the repair is needed. Possible reasons for the left and right wing symmetry exceeding the normal standards are:
(1) when the airplane is subjected to overspeed or impact damage, the front beam and the rear beam of the wing deform in the X direction;
(2) the fuselage and wing connection structures (holes, bolts) are worn, and the comprehensive clearance of the connection structures is too large.
The omnibearing expansion inspection of the structure of the aircraft body and the aircraft wing confirms that the reason for causing the symmetry of the aircraft wing not to conform to the normal standard is as follows: as shown in fig. 6 to 9, fig. 6 is a schematic view of front and rear mounting holes of a left wing, fig. 7 is a wear diagram of the front mounting holes of the left wing, fig. 8 is a schematic view of the front and rear mounting holes of a right wing, and fig. 9 is a wear diagram of the front mounting holes of the right wing.
Repair scheme
(1) Reaming the front connecting holes of the left wing and the right wing by using a reamer (the aperture is 0.5151-0.5161 inches), and removing the surface damage of the original holes;
(2) reaming and reaming the corresponding front connecting holes of the left machine body and the right machine body by using a reamer (the hole diameter is 0.5151-0.5161 inches);
(3) the front ends of the left wing and the right wing are connected with the fuselage by adopting enlarged bolts and nuts (the diameter is enlarged by 1/64 inches).
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (8)
1. A digital horizontal measurement method for aircraft structure characteristic parameters is characterized by comprising the following steps:
s1, establishing a plane coordinate system for the horizontal measurement of the characteristic parameters of the plane;
s2, specifying the parking state of the airplane before measurement;
s3, providing basic conditions and requirements of the laser tracker;
s4, establishing a selection criterion of the horizontal measurement data points according to the characteristic parameters of the airplane, and determining the positions of the horizontal measurement data points;
s5, marking the selected position of the horizontal measurement data point;
and S6, establishing an expression of the aircraft structure characteristic parameter index according to the coordinates of the horizontal measurement data points.
2. The method for digitized leveling of aircraft structural feature parameters according to claim 1, wherein the step S1 is implemented by: adopting a right-hand right-angle machine body coordinate system, selecting 4 horizontal measurement reference points a, b, u and v in a region with the maximum structural strength and rigidity of the machine body, wherein the left machine body and the right machine body respectively select 2 reference points, and the reference points on the left machine body and the right machine body are mutually symmetrical along a machine body reference plane; meanwhile, 4 reference points are on the same plane; taking the midpoint O of the reference points u and v as a coordinate origin, taking the horizontal axis of the machine body as a longitudinal axis OX, and taking the direction as the forward direction of the machine head; ou is positive Y-axis direction, Ov is negative Y-axis direction, and is perpendicular to OX axis; the longitudinal axis OZ is perpendicular to the XOY plane and is directed upwards.
3. The method for digitized horizontal measurement of structural feature parameters of an aircraft according to claim 1, wherein in step S2, the aircraft is in an unloaded state before measurement, has complete onboard equipment, is unmanned on the aircraft, and does not contain any unnecessary sundries; the appearance of the airplane is clean; the airplane flap is arranged on a fully-retracted upper position, each control surface is arranged on a neutral position, the magneto switch is required to be in an OFF position, the key is pulled out, and the battery master electric door, the generator electric door and the electronic equipment master electric door are in the OFF position; the aircraft/engine fairing, various inspection port covers, luggage compartment door and cockpit door are installed; a wing bracket and a tail bracket are used to support the aircraft.
4. The method for digitized leveling of aircraft structural feature parameters according to claim 1, wherein in step S3, the aircraft survey ground can fix and adjust the laser tracker level; the ground arrangement station site and the measurement reference are corrected; the light of a measuring point in one station is required to be linearly reachable, and can not be interrupted and recycled and can not be reflected and refracted; covering a plurality of horizontal measuring points as much as possible in one station; in the measuring process, the station transfer frequency is 1 to 2, and the station transfer requires that at least 3 non-collinear points are arranged at adjacent station positions to serve as the station transfer datum points; the precision of the laser tracker is not less than +/-15 mu m +6 mu m/m, the sampling frequency is not less than 3000 points/s, and the measurement radius is not less than 160 m; the laser tracker is arranged at the left or right side of the airplane, is flush with the wing and is at a position which is 1 to 1.5m away from the wing tip; no obstacle is required between the laser tracker and each measuring point on the left or right side of the airplane, and no obstacle is required between the laser tracker and each transfer station datum point.
5. The method for digitized leveling of aircraft structural feature parameters according to claim 1, wherein in step S4, the leveling data points determined are: fuselage survey data points, wing survey data points, vertical tail fin stabilizer survey data points, and horizontal tail fin stabilizer survey data points; the specific locations of the horizontal measurement data points are: a, fixing the center of a screw head at the lower part of a left cabin door hinge at a front partition frame of a cabin door of the fuselage; b, fixing the center point of a screw head at the lower part of a right cabin door hinge at the front partition frame of the cabin door of the fuselage; c, calculating the center point of the 1 st rivet head on the left side of the station position of the machine body FS228.68 from top to bottom; d, calculating the center point of the 1 st rivet head from top to bottom on the right side of the station position of the machine body FS 228.68; u point, the upper part of a left bolt at the rear partition frame of the cabin door of the fuselage fixes the center point of the head of the screw; v, fixing the center point of the head of the screw at the upper part of a right bolt at the rear partition frame of the cabin door of the airplane body; e, the center point of the rivet head of the rib and the lower surface of the front beam at the position of the WS208.00 standing of the left wing; f, the center point of the rivet head of the rib and the lower surface of the front beam at the standing position of the WS208.00 right wing; g, the center point of a rivet head of a rib and the lower surface of a rear beam at the standing position of the WS208.00 left wing; h, the center point of a rivet head between a rib at the standing position of the right wing WS208.00 and the lower surface of the rear beam; point i, the center point of the rivet head of the front edge rib and the lower surface of the front beam at the position of the WS100.00 station of the left wing; j, the center point of the rivet head of the front edge wing rib and the lower surface of the front beam at the position of the WS100.00 station of the right wing; k, the center point of the rivet head of the rear edge rib and the lower surface of the rear beam at the position of the WS100.00 standing position of the left wing; point I, the center point of the rivet head of the rear edge rib and the lower surface of the rear beam at the station position of the WS100.00 of the right wing; m, the center points of the upper surface of the left front beam and the rivet heads of the left outer side ribs of the horizontal tail wing; n, the center points of the rivet heads of the upper surface of the right front beam and the right outer side rib of the horizontal tail wing; point q, the center point of the rivet head of the upper surface of the left back beam and the left outer side rib of the horizontal tail wing; r, the center point of the rivet head of the upper surface of the right rear beam and the right outer side rib of the horizontal tail wing; s, the central point of the rivet head at the upper part of the front beam at the left side of the vertical tail wing; t, the central point of the rivet head at the upper part of the rear beam at the left side of the vertical tail wing; s', the central point of the rivet head at the upper part of the front beam at the right side of the vertical empennage; t' point, central point of rivet head on upper part of back beam on right side of vertical tail wing.
6. The method as claimed in claim 5, wherein in step S5, according to the sequence of horizontal measurement data points, the marking of the measurement data of 11 measurement points is performed on the right side of the aircraft according to the sequence of horizontal measurement data points, wherein the marking is performed according to the sequence of b, v, j, l, f, h, n, r, t ', S', d, and the sequences are numbered (r), (c), (d), (c) and c), c,
the method comprises the steps of finishing measurement data acquisition work of 11 measurement points on the left side of an airplane, wherein the acquisition sequence of the 11 measurement points is a, u, i, k, e, g, m, q, t, s and c, and the number of the corresponding measurement sequence is respectively numbered
7. The method for digitized leveling of aircraft structural feature parameters according to claim 5, wherein in step S6, the indexes of the aircraft structural feature parameters are respectively: the mounting angle of the wing, the dihedral angle of the wing, the mounting angle of the vertical tail fin stabilizer, the inclination angle of the vertical tail fin stabilizer, the mounting angle of the horizontal tail fin stabilizer, the dihedral angle of the horizontal tail fin stabilizer, the symmetry of the wing and the horizontal tail fin stabilizer, the bending deformation of the wing, the twisting deformation of the wing, the bending deformation of the fuselage and the twisting deformation of the fuselage.
8. The method of digitized leveling of aircraft structural feature parameters of claim 7,
the expression of the left wing setting angle is:
the expression of the right wing stagger angle is:
Zithe coordinate value of the measurement point i on the Z axis; zkThe coordinate value of the measurement point k on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; zlThe coordinate value of the measurement point l on the Z axis; xiCoordinate value of the measuring point i on the X axis; xkThe coordinate value of the measuring point k on the X axis; xjThe coordinate value of the measuring point j on the X axis; xlCoordinate values of the measuring point l on the X axis;
the expression for the left wing dihedral is:
the expression of the right wing dihedral is:
Zethe coordinate value of the measuring point e on the Z axis; ziThe coordinate value of the measurement point i on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; y iseThe coordinate value of the measuring point e on the Y axis; y isiThe coordinate value of the measurement point i on the Y axis; y isjThe coordinate value of the measurement point j on the Y axis; y isfThe coordinate value of the measuring point f on the X axis;
the expression of the installation angle of the vertical tail fin stabilizing surface is as follows:
Ysthe coordinate value of the measuring point s on the Y axis; y iss'Coordinate values of the measurement point s' on the Y axis; y istThe coordinate value of the measuring point t on the Y axis; y ist'The coordinate value of the measurement point t' on the Y axis; xsCoordinate values of the measuring point s on the X axis; xs'Coordinate values of the measuring point s' on the X axis; xtThe coordinate value of the measuring point t on the X axis; xt'Coordinate values of the measuring point t' on the X axis;
the expression of the inclination angle of the vertical tail fin stabilizer is as follows:
Ytthe coordinate value of the measuring point t on the Y axis; y ist'The coordinate value of the measurement point t' on the Y axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis; ztThe coordinate value of the measuring point t on the Z axis; zt'The coordinate value of the measuring point t' on the Z axis; zcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis;
the expression of the installation angle of the left horizontal tail fin stabilizing surface is as follows:
the expression of the right horizontal tail fin stabilizer mounting angle is as follows:
Zmthe coordinate value of the measuring point m on the Z axis; zqFor the coordinate value of the measuring point q on the Z axis；ZnThe coordinate value of the measuring point n on the Z axis; zrThe coordinate value of the measurement point r on the Z axis; xmThe coordinate value of the measuring point m on the X axis; xqCoordinate values of the measuring point q on the X axis; xnThe coordinate value of the measuring point n on the X axis; xrThe coordinate value of the measuring point r on the X axis;
the expression of the dihedral angle of the left horizontal tail fin stabilizer is as follows:
the expression of the dihedral angle of the stabilizer of the right horizontal tail is as follows:
Zqthe coordinate value of the measuring point q on the Z axis; zcThe coordinate value of the measuring point c on the Z axis; zrThe coordinate value of the measurement point r on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y isqCoordinate values of the measurement point q on the Y axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis; y isrThe coordinate value of the measurement point r on the Y axis;
the expression for the wing symmetry is:
S1＝[|Xh-Xg|,|Yh-Yg|,|Zh-Zg|]
the expression for the horizontal tail symmetry is:
S2＝[|Xr-Xq|,|Yr-Yq|,|Zr-Zq|]
in the formula, XhThe coordinate value of the measuring point h on the X axis; xgCoordinate values of the measuring point g on the X axis; y ishThe coordinate value of the measurement point h on the Y axis; y isgThe coordinate value of the measurement point g on the Y axis; zhFor measuring the coordinate of point h on the Z axisA value; zgThe coordinate value of the measurement point g on the Z axis; xrThe coordinate value of the measuring point r on the X axis; xqCoordinate values of the measuring point q on the X axis; y isrThe coordinate value of the measurement point r on the Y axis; y isqCoordinate values of the measurement point q on the Y axis; zrThe coordinate value of the measurement point r on the Z axis; zqThe coordinate value of the measuring point q on the Z axis;
the expression of the bending deformation of the left wing is as follows:
the expression of the right wing bending deformation is as follows:
in the formula, ZeThe coordinate value of the measuring point e on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zhThe coordinate value of the measurement point h on the Z axis;
the expression of the left wing distortion amount is as follows:
the expression of the right wing distortion amount is as follows:
Zithe coordinate value of the measurement point i on the Z axis; zkThe coordinate value of the measurement point k on the Z axis; zeThe coordinate value of the measuring point e on the Z axis; zgThe coordinate value of the measurement point g on the Z axis; zjThe coordinate value of the measurement point j on the Z axis; zlTo measureMeasuring the coordinate value of the point l on the Z axis; zfThe coordinate value of the measuring point f on the Z axis; zhThe coordinate value of the measurement point h on the Z axis; xiCoordinate value of the measuring point i on the X axis; xkThe coordinate value of the measuring point k on the X axis; xeCoordinate value of the measuring point e on the X axis; xgCoordinate values of the measuring point g on the X axis; xjThe coordinate value of the measuring point j on the X axis; xlCoordinate values of the measuring point l on the X axis; xfThe coordinate value of the measuring point f on the X axis; xhThe coordinate value of the measuring point h on the X axis;
the expression for the amount of fuselage bending deflection in the XOZ plane is:
the expression for the amount of fuselage bending deflection in the XOY plane is:
in the formula, ZcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measuring point d on the Y axis;
the expression of the distortion amount of the fuselage is as follows:
in the formula, ZcThe coordinate value of the measuring point c on the Z axis; zdThe coordinate value of the measuring point d on the Z axis; y iscThe coordinate value of the measurement point c on the Y axis; y isdThe coordinate value of the measurement point d on the Y axis.
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| CN102519441A (en) * | 2011-12-06 | 2012-06-27 | 南京航空航天大学 | Method for measuring positioning points based on laser tracker in docking process of airplane parts |
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| CN102519441A (en) * | 2011-12-06 | 2012-06-27 | 南京航空航天大学 | Method for measuring positioning points based on laser tracker in docking process of airplane parts |
| CN102997846A (en) * | 2012-12-07 | 2013-03-27 | 沈阳飞机工业（集团）有限公司 | Full-airplane horizontal measurement method based on work space measurement location system |
| CN103434653A (en) * | 2013-08-22 | 2013-12-11 | 北京航空航天大学 | Aircraft component digitized flexible assembling measuring method based on laser tracking measuring technique |
| US10053236B1 (en) * | 2016-03-28 | 2018-08-21 | Amazon Technologies, Inc. | Automated aerial vehicle inspections |
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