Structural measurement apparatus and method

Abstract

A structural measurement apparatus (10) and method configured to scan the structural integrity of an object. The object may be any suitable object but in a preferred form is an aircraft (20). The structural measurement apparatus (10) includes a carrier (100) supporting one or more sensors configured to measure structural integrity of at least a portion of the object (e.g. aircraft (20)). A manoeuvring system is provided that can manoeuvre the carrier in a plurality of axes adjacent to the object. In preferred forms, the manoeuvring system is a multi-point (e.g. four point) winch system configured to move the carrier (100) in three dimensions around the object.

Description

STRUCTURAL MEASUREMENT APPARATUS AND METHODFIELD OF THE INVENTION

[0001] The invention relates to measuring structural integrity of an item or object. In particular the invention relates, but is not limited, to a manoeuvrable carriage having one or more sensors configured to scan a vehicle or structure such as, for example, an aircraft or storage tank, for structural defects.BACKGROUND TO THE INVENTION

[0002] Reference to background art herein is not to be construed as an admission that such art constitutes common general knowledge.

[0003] Checking the structural integrity of large items or objects, such as large vehicles and structures, can be difficult, time consuming, and costly. For example, as aircrafts are used their structure and materials are subjected to fatigue and stress. The materials also become susceptible to deterioration and corrosion as they age. The structural integrity of an aircraft is often checked periodically to ensure safety is not compromised. The same issues apply to other large items or objects such as, for example, boats, bridges, towers, and bulk storage tanks.

[0004] Verifying the structural integrity of a large item or object is a time consuming and cost exercise. For example, verifying the structural integrity of an aircraft is typically performed by one or more operators on mobile lifts scanning the entire aircraft. As this is a manual process it is prone to human error. An area or region can be overlooked and damage can also be difficult to identify. Appreciably, there are potentially catastrophic consequences if damage is missed.OBJECT OF THE INVENTION

[0005] It is an aim of this invention to provide a structural measurement apparatus and method which overcomes alleviates one or more of the disadvantages or problems described above, or which at least provides a useful alternative and / or commercial choice.

[0006] Other preferred objects of the present invention will become apparent from the following description.SUMMARY OF INVENTION

[0007] In one form, although it need not be the only or indeed the broadest form, there is provided a structural measurement apparatus comprising: a carrier supporting one or more sensors configured to measure structural integrity of a portion of an adjacent object; and a manoeuvring system that can manoeuvre the carrier in a plurality of axes adjacent to the object.

[0008] The carrier may comprise a gimbal system. The carrier may be operatively connected to the manoeuvring system by the gimbal system. The gimbal system may comprise a gyroscope. The gimbal system may comprise a multi-axis, preferably three-axis, gyroscope configured to provide stable panning, tilting, and / or rolling of the sensors.

[0009] The one or more sensors may comprise a stress analysis sensor. The one or more sensors may comprise a camera. The one or more sensors may comprise a visible light and / or infrared camera. The one or more sensors may comprise an obstacle avoidance sensor. The obstacle avoidance sensor may comprise a light detection and ranging (LIDAR) sensor. The obstacle avoidance sensor may utilise real-time kinematics (RTK). The structural measurement apparatus may comprise a controller. The controller may be configured to utilise data from the obstacle avoidance sensor to direct and / or constrain the manoeuvring system. The obstacle avoidance sensor andcontroller may be configured to keep the carrier a predetermined distance from the object.

[0010] The stress analysis sensor may comprise a thermographic sensor. The thermographic sensor may be a line scan thermography (LST) scanner. The thermographic sensor may comprise a thermal source. The thermal source may be in the form of a scan-line. The thermographic sensor may comprise an infrared detector. The infrared detector may be configured to measure infrared in a wake of the thermal source as it traverses a surface of the object.

[0011] The stress analysis sensor may additionally, or alternatively, comprise a thermoelastic sensor. The thermoelastic sensor may rely on a coupling between volumetric deformation and a reversible change in temperature. When a portion of the object is deformed in some manner the thermoelastic sensor may measure temperature changes. The thermoelastic sensor may comprise an uncooled thermal detector to measure temperature changes. The thermoelastic sensor may comprise a CMOS sensor to measure temperature changes. The temperature changes can be compared to expected results to determine areas of stress, fatigue, and / or corrosion.

[0012] The structural measurement apparatus may comprise a controller configured to follow a predetermined path. The path may be around the perimeter of the object. The path may comprise a single continuous path of a plurality of discrete paths. Controller may be configured to control manoeuvring system such that the carrier follows the predetermined path.

[0013] The manoeuvring system may comprise a multi-point winch system. The multi-point winch system may comprise a plurality of lines, each connected to a winch at one end and the carrier at the other end. The multi-point winch system may comprise two winches for a two dimensional scan. In preferred forms, however, the multi-point winch system comprises at least three, and preferably four, winches to enable movement of the carrier in a three dimensional space. The multi-point winch system may comprise suspension points. The suspension points may comprise pulleys. The suspension pointsmay be located remotely from the winches. Alternatively, the suspension points may be located on the winches.

[0014] The manoeuvring system may comprise an unmanned aerial vehicle (UAV). The UAV may be in the form of a drone. The drone may be in the form of a quadcopter. The UAV may communicate with a base station wirelessly. The UAV may communicate with a base station using a cable. The cable may be a fibre optic cable. The UAV may be powered by the cable. The cable may be a combined data and power cable.

[0015] The structural measurement apparatus may comprise one or more demountable towers. The demountable towers may be portable. The demountable towers may have a base located proximal to the ground and suspension points located at distal ends thereof. The demountable towers may be used to support lines of a multi-point winch system. The demountable towers may be portable.

[0016] In another form, there is provided a method of measuring the structural integrity of an object, the method comprising: locating a carrier of a structural measurement apparatus adjacent to the object; manoeuvring the carrier in at least two axes adjacent to the object; and scanning the object with one or more sensors located on the carrier, the sensors being configured to measure structural integrity of at least a portion of the object.

[0017] The method may comprise locating the carrier using a multi-point winch system. The method may comprise locating the carrier using a UAV. The method may comprise manoeuvring the carrier in at least three axes adjacent to the object. Manoeuvring the carrier may comprise using a controller to manoeuvre the carrier along a path in a three dimensional space around the object. Manoeuvring the carrier may comprise using an obstacle avoidancesensor to direct, or redirect, the carrier with respect to the object to maintain a minimum predetermined distance thereto.

[0018] The one or more sensors may comprise at least one stress analysis sensor. The stress analysis sensor may comprise a thermographic sensor. The thermographic sensor may employ line scan thermography (LST). Scanning the object may comprise subjecting a portion of the object to a thermal source and measuring thermal changes in a surface of the subject caused by the thermal source. Subjecting a portion of the object to a thermal source may comprise deposing a line of heat along a portion of the surface of the object. Subjecting a portion of the object to a thermal source may comprise increase a surface temperature of a portion of the object by between approximately 0.5°C and 2°C, preferably by around 1 °C. Measuring thermal changes may comprise measuring changes in a wake caused by the thermal source being moved relative to the object. Measuring thermal changes may comprise using an infrared (IR) camera to measure heat dissipation of the surface of the object subjected to the thermal source. The thermal source and infrared camera may traverse at least a portion of the object concurrently. The method may comprise detecting one or more of defects, damage, delamination, fracturing, weakness, and corrosion in a portion of the object using the stress analysis sensor.

[0019] The stress analysis sensor may instead, of additionally, comprise a thermoelastic sensor. The method may comprise loading at least a portion of the object. Loading at least a portion of the object may comprise applying a dynamic load. The method may comprise measuring thermoelastic variations due to the loading. The thermoelastic variations may be measured using an uncooled thermal detector. The thermoelastic variations may be measured using a CMOS sensor.

[0020] The structural measurement apparatus in the method is preferably as hereinbefore described. The object may be a large item, article, or structure. In a preferred application the object may be an aircraft. In other applications, theobject may be, for example, a ship, a truck, a train, a building, a bridge, a bulk storage tank, a tower, or the like. The object may be made of one or more of metallic, composite, and polymer materials.

[0021] Further features and advantages of the present invention will become apparent from the following detailed description.BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By way of example only, preferred embodiments of the invention will be described more fully hereinafter with reference to the accompanying figures, wherein:

[0023] Figure 1 illustrates a diagrammatic plan view of a structural measurement apparatus in use scanning an aircraft;

[0024] Figure 2 illustrates a closeup view of a carrier with sensors of a structural measurement apparatus;

[0025] Figure 3 illustrates a diagrammatic view of a winch based manoeuvring system for a structural measurement apparatus;

[0026] Figure 4 illustrates a diagrammatic perspective view of a structural measurement apparatus using portable towers to scan an object; and

[0027] Figure 5 illustrates a diagrammatic perspective view of a unmanned aerial vehicle (UAV) structural measurement apparatus with optional tether to scan an object.DETAILED DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 illustrates a structural measurement apparatus 10 operatively connected to a manoeuvring system scanning the structural integrity of an object in the form of an aircraft 20. Although a suitable application for the structural measurement apparatus 10 is in relation to aircraft, and will be described in relation to this application, it should be appreciated that nolimitation is necessarily meant thereby and that the structural measurement apparatus 10 could be used in relation to other objects, particularly large structural objects, such as, for example, buildings, bridges, boats, towers, bulk storage tanks, and the like.

[0029] In the form illustrated in figure 1 , the structural measurement apparatus 10 comprises a carrier 100 being held by a manoeuvring system in the form of a multi-point winch system 150. The carrier 100 comprises a plurality of sensors including, in a preferred form, one or more of: a camera, an obstacle avoidance sensor, a thermographic sensor, an infrared (IR) sensor, and a thermoelastic stress sensor. The carrier may have a predetermined sensing range 102 within which it can reliably measure relevant structural integrity characteristics of the object during use as will be explained further.

[0030] As illustrated, the multi-point winch system has four suspension points 152 operatively connected to the carrier 100 by lines 154 typically made of wire or rope (e.g. Dyneema). The carrier 100 can be manoeuvred to any location within a three dimensional space defined by the suspension points 152 by appropriately driving winches 156, associated with each suspension point 152, to shorten or lengthen each respective line 154. Although a four point winch system 150 is preferred, it should be appreciated that more or less suspension points 152 could be provided. For example, a two point winch system could scan in two dimensions and a three point winch system could scan in three dimensions with either a smaller range or larger footprint than a four winch system. The suspension points 152 are preferably placed beyond the perimeter of the object at a height that is above the highest point of the object as this enables the carrier 100 to be positioned around the object.

[0031] The suspension points 152 may be located on an existing structure or building. Alternatively, or additionally, the suspension points 152 may be located on demountable towers that can be moved and erected and different sites. The mounting of the suspension points 152 may be selected depending upon requirements and the object being selected. For example, in the case ofthe aircraft 20 the suspension points 152 may be permanently mounted to the walls and / or ceiling of an aircraft hanger to allow scanning of the structural integrity of a variety of different aeroplanes able to enter the hanger.

[0032] There are a number of advantages to using a multi-point winch system 150 such as, for example, the ability to power and control the entire system by cable. This not only allows a continuous supply of power but also means sensor measurement communications are not transmitted wirelessly where they could be intercepted by an unauthorised party. The multi-point winch system 150 also allows for a high payload for the sensors. If these factors are not of concern, such as when the object 20 is smaller and / or the data is not informationally sensitive, the carrier 100 could be manoeuvred by an unmanned aerial vehicle (UAV) such as a drone with wireless communication.

[0033] In use, the four point winch system 150 manoeuvres the carrier along a path 30 around the object 20. The path 30 can be determined by taking slices of the object and taking into account the working range 102 of the sensors on the carrier 100. As the structural measurement apparatus 10 traverses the path 30 the sensors capture data relating to the structural integrity of the object. The path 30 may comprise a single path or may comprise a plurality of discrete paths.

[0034] Figure 2 illustrates a close up view of a carrier 100 with sensors 120 mounted thereon. The carrier 100 has a gimbal system 110 to which the lines 154 of the multi-point winch system 150 attach. The gimbal system 110 is preferably a three axis gyroscopically stabilised gimbal allowing stable pan, tilt, and roll controls for the sensors 120. The carrier 100 effectively hangs by ends of the lines 154 of the multi-point winch system 150 which is able to manoeuvre the carrier 100 around the object 20. The gimbal system 110 can then direct and maintain a desired orientation of the sensors 120 relative to the object, path 30, or some other frame of reference, during motion. The gimbal system 110 can also cancel, or at least reduce, sensor 120 movement due to unforeseenexternal disturbances such as, for example, wind or suspension point 152 movements.

[0035] In the illustrated form, the sensors 120 comprise a stress analysis sensor 122, an obstacle avoidance sensor 124, and a camera 126. The camera 126 is preferably provided to record a visual inspection and / or facilitate operator control of the structural measurement apparatus 10. The camera preferably has a resolution of between 4k and 8k (inclusive). The stress analysis sensor 122 preferably comprises a thermographic sensor and / or thermoelastic sensor.

[0036] A thermographic sensor uses infrared technology and line scan thermography to detect stress fractures and corrosion damage beneath the surface of the object 20. The thermographic sensor may have an effective subsurface range of approximately 5mm into the surface of composite, aluminium, and other metallic materials. In use a thermographic sensor emits a heat source, preferably in the form of a line, to thermally perturb the surface of the object 20. An infrared detector of the thermographic sensor can then be used to identify and image any thermal anomalies in the wake of the heat source caused by subsurface defects in the object 20. For example, infrared detector output data may be used to detect stress in objects by measuring changes in surface temperature caused by localised mechanical strain.

[0037] In a preferred form, the thermographic sensor comprises a line scan thermography (LST) sensor. In use, the LST sensor disposes a thin line of heat in a surface of the object 20, along the length of a scan, and uses a trailing infrared (IR) camera to measure heat dissipation in the structure. The heat source and the IR camera move in tandem at a fixed velocity. In a preferred form, the temperature increase in the surface of the object due to the heat source is approximately 1 °C. The IR Beam width in a preferred form is approximately 20 mm with scan speeds of approximately 25mm / s to 150mm / s resulting in scan area rates of approximately 0.44 m2 / min to 2.66 m2 / min.

[0038] A thermoelastic sensor can rely on a coupling between volumetric deformation and a reversible change in temperature, called the thermoelasticeffect. For example, small temperature changes that arise during elastic deformation may be detected. When a portion of the object 20 is deformed in some manner, e.g. by loading or unloading it with a force, the thermoelastic effect causes minute temperature changes in the material which can be measured and compared to expected results to determine areas of stress, fatigue, corrosion etc. For example, during elastic deformation a solid will typically increase in temperature when in compression and decrease in temperature when in tension.

[0039] In a preferred form, the thermoelastic sensor may utilise an uncooled thermal detector and a CMOS imaging sensor. The object 20 is dynamically loaded allowing a stress signal to persist and be measured. The thermoelastic sensor can be used to structural FEA (Finite Element Analysis), identify areas of structural weakness, monitor structural health, and detect and monitor characteristics of fatigue cracks with a non-destructive inspection.

[0040] When an object undergoes stress, whether that’s in the form of an applied force or thermal stress, the structure in specific regions typically changes, causing subtle alterations in thermal conductivity. Both the thermographic sensor and thermoelastic sensor can detects these variations, enabling the identification of areas of stress or corrosion of the like. By comparing the captured thermal data with baseline data of the object in a nonstressed condition, areas of mechanical stress can be pinpointed accurately without the need for physical contact or invasive testing. Thus, variations in thermal emissions are used to correlate localised stress, providing a nondestructive means for assessing the integrity and potential failure points of the object 20. The infrared detector may be configured to operate in a specific infrared wavelength range selected for optimal detection of minute thermal variations resulting from stress-induced changes in the specific material properties of the object. For example, different infrared characteristics may result from subsurface defects in metals, composites, ceramics, and polymers.

[0041] An analysis of measurement data from the infrared detector typicallydetects temperature variations using a computational algorithm configured to identify and correlate localised heating or cooling with stress intensity, material fatigue, and / or deformation in the object. A visual depiction of calculated stress, corrosion, or damage may be created from the infrared detector data for human review and analysis.

[0042] The obstacle avoidance sensor 124 is optional for stress measurement, but preferred to ensure the carrier 100 cannot physically engage with the object 20 during movement. A well calculated path 30 should prevent this from occurring, but movements and / or alignment errors can occur. The obstacle avoidance sensor 124 is able to assist the pathing and, even allow autonomous navigation around the object 20. The obstacle avoidance sensor 124 can continuously monitor the surroundings of the carrier 100 and detects the presence of obstacles, such as the object 20 itself and surrounding structures, by using LIDAR and Real Time-Kinematics (RTK). In a preferred form the obstacle avoidance sensor 124 can operate within a range of 15 cm to 1.5 meters from the object 20 to establish a pre-programmable proximity limit that automatically triggers an intervention (e.g. redirection or cutoff) to the manoeuvring system if the carrier 100 approaches a predetermined limit. The obstacle avoidance sensor 124 may be configured to create a model of the object 20 and / or its surroundings as the carrier 100 traverses the path 30. The obstacle avoidance sensor 124 may also be used to optimise the path 30 and ensure the carrier 100 manoeuvres efficiently around the object 20 within the limitations of its environment (e.g. hanger).

[0043] The proposed obstacle avoidance system for the multi-point winch system 150 introduces a hybrid sensing and decision-making architecture specifically adapted to cable-driven environments. Key features include:1 . Independent Sensor Mounting ArchitectureThe obstacle detection sensor is mechanically decoupled from the camera gimbal. This ensures that, regardless of the gimbal’s orientation (e.g., pointingsideways or upwards toward the fuselage), the obstacle detection system maintains full situational awareness in a defined monitoring hemisphere.2. Sensor Modalities and CoverageThe system supports interchangeable sensor modules (ultrasonic, laser-based rangefinders, or lidar). When configured with lidar, the sensor provides continuous coverage of the lower hemisphere (>180° vertical field, 360° azimuthal coverage), excluding the upper sector which may include obstruction by suspension cables. Alternative forward-facing sensor configurations may maintain monitoring in the direction of motion.3. Real-Time Data Transmission and ProcessingSensor data is acquired and relayed from the carrier to the central control unit at frequencies or, in a preferred form, around 20 Hz (50 ms intervals). The control unit may integrate real-time sensor data with a pre-existing 3D environmental map of the operating zone, preferably including a known geometry of suspension cables.4. Decision-Making AlgorithmControl logic may perform continuous correlation between detected object positions and a known 3D spatial model of the working volume. If an unexpected obstacle is detected within a dynamically computed safety margin, the control unit may initiate corrective measures. Corrective measures are preferably configured to be non-abrupt, prioritising smooth deceleration and positional hold rather than emergency braking, thereby avoiding destabilisation of the suspended payload.5. Unique Implementation AdvantagesUnlike drone or aircraft obstacle avoidance, which typically assumes free 3D movement, the proposed system is preferably tailored to constrained cable- driven trajectories, where avoidance manoeuvres must account for fixed suspension geometry and limited possible displacement vectors. The decoupled sensor mounting concept ensures uninterrupted lower-hemispherecoverage regardless of gimbal orientation; a critical distinction over conventional camera-mounted obstacle detection systems.

[0044] Figure 3 illustrates multi-point winch system 150 consisting of four winches 156 each associated with a pulley 158 which defines a suspension point 156. Each line 154 is connected to the carrier 100 and can be extended and retracted by its associated winch 156 to effect movement thereof. A position controller 160 coordinates actuation of the winches 156 to adjust the length of each line 154 and, in turn, position of the carrier 100 suspended at the ends of the lines 154. The position controller 160 is programmed to simultaneously manipulate the winches 156 to allow movement of the carrier 100 in three-dimensional axes (X, Y, and Z) in a three dimensional operational space primarily defined by the suspension points 158. The winches 156 and location controller 160 may communicate wireless or, more preferably to avoid interference and / or eavesdropping, via communication cables 162.

[0045] In a preferred form, the multi-point winch system 150 comprises four winches (as illustrated in figure 3) defining a three dimensional flying area with around a 150m diagonal. The winches may be floor / ground mounted with a higher mounted pulley, or the like, creating the suspension point 152. The winches can preferably move the carrier 100 through several magnitudes of speed such as between approximately 1 mm / s and 10m / s.

[0046] Figure 4 illustrates the structural measurement apparatus 10 scanning an object 20 in the form of a bulk storage tank or building. It should be appreciated that the object 20 could be any large object including, for example, the aircraft illustrated previously. In figure 4 the lines 154 have their suspension points 156 mounted to portable demountable towers 180. This allows the structural measurement apparatus 10 to be used in remote and / or temporary locations as needed. The demountable towers 180 may be made of any suitable material but are preferably made of a light weight rigid material such as aluminium. In the illustrated embodiment two portable towers are provided which allows scanning in a two dimensional plane. Depending upon theapplication, four towers 180 would typically be utilised to provide a more versatile four-point winch system capable of scanning a three dimensional space as illustrated in figures 1 and 3.

[0047] Figure 5 illustrates a form of the structural measurement apparatus 10 whereby the carrier 100 is an unmanned aerial vehicle (UAV) such as a drone. This removes the need for suspension points 156. The UAV carrier 100 may communicate wireless with a base station of controller. Alternatively, the UAV may be connected via a cable 190 to provide high bandwidth in a secure manner free of interference and / or eavesdropped. The cable 190 is preferably an optical fibre cable and may also provide power with an embedded electrical line. A demountable tower 180 may optionally be provided to support the cable 190. Alternatively, the cable 190 may hang freely under the UAV carrier 100.

[0048] Advantageously the structural measurement apparatus 10 provides a system and method of systematically assessing the structural integrity of a large object 20, such as an aircraft or structure, in a safe, efficient, methodical, secure, and non-destructive manner. Significant cost and time savings can be achieved compared to manually operated analysis. By (optionally) avoiding wireless communications the structural measurement system can protect potentially sensitive and / or classified information from interception, eavesdropping, and / or snooping. Demountable towers 180 and / or UAV versions can be utilised to quickly deploy the system in the field in remote and / or temporary locations.

[0049] In this specification, adjectives such as first and second, left and right, top and bottom, and the like may be used solely to distinguish one element or action from another element or action without necessarily requiring or implying any actual such relationship or order. Where the context permits, reference to an integer or a component or step (or the like) is not to be interpreted as being limited to only one of that integer, component, or step, but rather could be one or more of that integer, component, or step etc.

[0050] The above description of various embodiments of the present invention is provided for purposes of description to one of ordinary skill in the related art. It is not intended to be exhaustive or to limit the invention to a single disclosed embodiment. As mentioned above, numerous alternatives and variations to the present invention will be apparent to those skilled in the art of the above teaching. Accordingly, while some alternative embodiments have been discussed specifically, other embodiments will be apparent or relatively easily developed by those of ordinary skill in the art. The invention is intended to embrace all alternatives, modifications, and variations of the present invention that have been discussed herein, and other embodiments that fall within the spirit and scope of the above-described invention.

[0051] As used herein, an element or operation recited in the singular and proceeded with the word “a” or “an” should be understood as not excluding plural elements or operations, unless such exclusion is explicitly recited. Furthermore, references to “one embodiment” of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0052] In this specification, the terms ‘comprises’, ‘comprising’, ‘includes’, ‘including’, or similar terms are intended to mean a non-exclusive inclusion, such that a method, system or apparatus that comprises a list of elements does not include those elements solely, but may well include other elements not listed.

Claims

CLAIMS:1 . A structural measurement apparatus comprising: a carrier supporting one or more sensors configured to measure structural integrity of a portion of an adjacent object; and a manoeuvring system that can manoeuvre the carrier in a plurality of axes adjacent to the object.

2. The structural measurement apparatus of claim 1 , wherein the carrier comprises a gimbal system.

3. The structural measurement apparatus of claim 2, wherein the gimbal system comprise a multi-axis gyroscope configured to provide stable panning, tilting, and / or rolling of the sensors.

4. The structural measurement apparatus of claim 1 or 2, wherein the one or more sensors comprise one or more of a stress analysis sensor, a camera, and an obstacle avoidance sensor.

5. The structural measurement apparatus of claim 4, wherein the obstacle avoidance sensor comprises a light detection and ranging (LIDAR) sensor.

6. The structural measurement apparatus of claim 4 or 5, further comprising a controller configured to utilise data from the obstacle avoidance sensor to direct and / or constrain the manoeuvring system and keep the carrier a predetermined distance from the object.

7. The structural measurement apparatus of any one of claims 4 to 6, wherein the stress analysis sensor comprises one or more of a thermographic sensor and a thermoelastic sensor.

8. The structural measurement apparatus of claim 7, wherein the thermographic sensor comprises a line scan thermography (LST) scanner comprising a thermal source and an infrared detector.

9. The structural measurement apparatus of claim 8, wherein the infrared detector is configured to measure infrared in a wake of the thermal source as it traverses a surface of the object.

10. The structural measurement apparatus of claim 7, wherein the thermoelastic sensor comprises a CMOS sensor configured to measure temperature changes that arise during deformation of a portion of the object.

11. The structural measurement apparatus of any one of claims 1 to 10, further comprising a controller configured to control the manoeuvring system such that the carrier follows a predetermined path around the object.

12. The structural measurement apparatus of any one of claims 1 to 11 , wherein the manoeuvring system comprises a multi-point winch system.

13. The structural measurement apparatus of claim 12, wherein the multipoint winch system comprises a plurality of lines, each connected to a winch at one end and the carrier at the other end.

14. The structural measurement apparatus of claim 12 or 13, wherein the multi-point winch system comprises four winches configured to move the carrier in a three dimensional space.

15. The structural measurement apparatus of any one of claims 12 to 14, wherein the multi-point winch system comprises suspension points.

16. The structural measurement apparatus of any one of claims 1 to 11 , wherein the manoeuvring system comprises an unmanned aerial vehicle (UAV).

17. The structural measurement apparatus of claim 16, wherein the UAV communicates with a base station using a combined data and power cable.

18. The structural measurement apparatus of any one of claims 1 to 17, further comprising one or more demountable towers.

19. The structural measurement apparatus of claim 18, wherein the demountable towers support lines of a multi-point winch system.

20. A method of measuring the structural integrity of an object, the method comprising: locating a carrier of a structural measurement apparatus adjacent to the object; manoeuvring the carrier in at least two axes adjacent to the object; and scanning the object with one or more sensors located on the carrier, the sensors being configured to measure structural integrity of at least a portion of the object.

21. The method of claim 20, wherein locating the carrier adjacent to the object and manoeuvring the carrier in at least two axes adjacent to the object comprises using a multi-point winch system.

22. The method of claim 20 or 21 , comprising manoeuvring the carrier in at least three axes adjacent to the object.

23. The method of any one of claims 20 to 22, comprising using a controller to manoeuvre the carrier along a path in a three dimensional space around the object.

24. The method of any one of claims 20 to 23, wherein manoeuvring the carrier comprises using an obstacle avoidance sensor to direct, or redirect, the carrier with respect to the object to maintain a minimum predetermined distance thereto.

25. The method of any one of claims 20 to 24, wherein the one or more sensors comprise one or more of a thermographic sensor and a thermoelastic sensor.

26. The method of claim 25, wherein scanning the object comprises subjecting a portion of the object to a thermal source and measuring thermal changes in a surface of the subject caused by the thermal source.

27. The method of claim 26, wherein subjecting a portion of the object to a thermal source comprises increase a surface temperature of a portion of the object by between approximately 0.5°C and 2°C.

28. The method of any one of claims 25 to 27, further comprising loading at least a portion of the object by applying a dynamic load and measuring thermoelastic variations due to the loading.

29. The method of any one of claims 20 to 28, wherein the structural measurement apparatus is the structural measurement apparatus of any one of claims 1 to 19.

30. The apparatus or method of any one of claims 1 to 29, wherein the object is an aircraft.

31. The apparatus or method of any one of claims 1 to 29, wherein the object is a structure such as a building, bridge, bulk storage tank, or tower.

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