Attachments and inspection aircraft

Abstract

To provide an attachment capable of maintaining a state where a measurement apparatus loaded on a drone is in contact with a target object during hovering of the drone, and a flying body for check.SOLUTION: An attachment 6 comprises: a cradle 61 in which an ultrasonic probe 5 contactable to a target object is installed; support means 64 for supporting the cradle 61 so as to be translatable in a width direction and a vertical direction of the attachment 6 and rotatable in a roll direction and a pitch direction of the attachment 6; and adsorption means which is provided at a front face side of the support means 64 and adsorbed by the target object in a state where a measurement surface of the ultrasonic probe 5 is in contact with the target object. The adsorption means includes a pair of magnets 6B disposed separately in the width direction of the attachment 6 and adsorbed by the target object.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an attachment and an inspection flying object.

Background Art

[0002] For the aging diagnosis of steel structures such as chimneys and high-rise structures, thickness measurement of steel structures is performed. In the thickness measurement of steel structures at high places, it is common to construct a temporary scaffold at the site, and then an operator goes to the temporary scaffold and manually measures the thickness of the steel structure. In such a method, since a lot of time is required for the construction of the temporary scaffold and the measurement work of the operator, there is a demand for labor saving.

[0003] Therefore, in recent years, it has been considered to utilize drones that have become popular and perform thickness measurement of steel structures by positioning a thickness measuring device mounted on the drone in contact with the steel structure. For example, Patent Document 1 discloses a drone that includes a pair of legs that first contact an object, and an arm that is provided at a position away from the pair of legs and contacts the object following the pair of legs, and is capable of positioning with respect to the object.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the drone described in Patent Document 1, the drone body is positioned relative to the object by making contact with the object using a pair of legs and arms. Therefore, even if a thickness measuring device is mounted on the drone described in Patent Document 1, if the drone wobbles due to external disturbances while hovering, the thickness measuring device will move away from the object. This problem is not limited to cases where a thickness measuring device is mounted on the drone, but also exists when other measuring instruments are mounted.

[0006] This invention is based on the above background and aims to provide an attachment and inspection aircraft that can maintain contact between a measuring instrument mounted on a drone and an object while the drone is hovering. [Means for solving the problem]

[0007] To achieve the above objective, the attachment according to the first aspect of the present invention is: It is an attachment that can be attached to a drone. A stand on which measuring equipment capable of contacting the object is installed, Attached to the aforementioned drone, A support that allows the frame to be translated in the width direction and vertical direction of the attachment, and to be rotatable in the roll direction and pitch direction of the attachment. mechanism and, The aforementioned support mechanism A suction means is provided therein, which adheres to the object when the measuring surface on the tip side of the measuring instrument is in contact with the object, It is equipped with.

[0008] The adsorption means may comprise a pair of adsorption members that are spaced apart in the width direction of the attachment and adsorbed onto the object.

[0009] The aforementioned support mechanism is A shaft member extending in the width direction of the attachment, supporting the frame so that it can rotate around an axis and move translationally in the axial direction, An arm member that supports the shaft member with a pair of opposing tip portions in the width direction of the attachment, Equipped with picture, The shaft member may be fitted with a first biasing means that biases each end of the arm member and the base, respectively.

[0010] The aforementioned support mechanism It comprises an upper member, a lower member positioned below the upper member, and a pair of rod-shaped members connected to the upper member and the lower member respectively and positioned apart from each other. Further equipped with a support means , The base end of the arm member is provided with a pair of through holes, each of which is larger than each of the rod-shaped members, through which each rod-shaped member is inserted. Each rod-shaped member may be fitted with a second biasing means positioned between the upper member and the base end of the arm member, and between the lower member and the base end of the arm member, so as to bias each other.

[0011] To achieve the above objective, the inspection aircraft according to the second aspect of the present invention is: The aforementioned attachment and, A measuring instrument attached to the attachment such that the measuring surface protrudes from the attachment, A drone to which the aforementioned attachment is attached, A control unit, which is attached to the drone and is communicatively connected to the measuring instrument, and which acquires measurement data from the measuring instrument, It is equipped with.

[0012] The measuring instrument may be an ultrasonic probe for measuring the thickness of an object. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide an attachment and an inspection aircraft that can maintain contact between a measuring instrument mounted on a drone and an object while the drone is hovering. [Brief explanation of the drawing]

[0014] [Figure 1]It is a schematic diagram showing the configuration of the inspection system according to an embodiment of the present invention. [Figure 2] It is a front view showing the configuration of the inspection aircraft according to an embodiment of the present invention. [Figure 3] It is a front view showing the configuration of the attachment according to an embodiment of the present invention. [Figure 4] It is a side view showing the configuration of the attachment according to an embodiment of the present invention. [Figure 5] It is a plan view showing the configuration of the attachment according to an embodiment of the present invention. [Figure 6] It is a view showing a state in which the support means of the attachment according to an embodiment of the present invention is inclined in the roll direction. [Figure 7] It is a block diagram showing the hardware configuration of the control unit according to an embodiment of the present invention. [Figure 8] It is a block diagram showing the hardware configuration of the computer according to an embodiment of the present invention. [Figure 9] It is a flowchart showing the flow of the inspection process executed by the control unit and the computer according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, the attachment and the inspection aircraft according to an embodiment of the present invention will be described in detail with reference to the drawings. In each drawing, the same or equivalent parts are denoted by the same reference numerals. In the embodiment, a rectangular coordinate system is used in which the front-rear direction of the drone is the X-axis direction, the left-right direction (width direction) of the drone is the Y-axis direction, and the direction perpendicular to the X-axis direction and the Y-axis direction (up-down direction) is the Z-axis direction.

[0016] Figure 1 is a schematic diagram showing the configuration of an inspection system 1 according to an embodiment. The inspection system 1 comprises an inspection aircraft 2 that hovers in the air and makes contact with a steel structure using an ultrasonic probe to measure the thickness of the steel structure at the contact point; a controller 3 that supplies control signals to control the operation of the inspection aircraft 2 according to the operator's input; and a computer 4 that acquires measurement data (waveform data) related to the thickness of the steel structure detected by the inspection aircraft 2. The controller 3 and the computer 4 are connected to the inspection aircraft 2 via a communication network such as a wireless LAN (Local Area Network).

[0017] Controller 3 is equipped with an operating unit that receives input from the operator and transmits control signals to the inspection aircraft 2 upon receiving input from the operator. The operating unit of Controller 3 is equipped with, for example, a joystick for controlling the speed and attitude of the inspection aircraft 2. Computer 4 stores measurement data acquired from the inspection aircraft 2 internally and displays it to the operator. Computer 4 is, for example, a tablet terminal.

[0018] Figure 2 is a perspective view showing the configuration of an inspection aircraft 2 according to an embodiment. The inspection aircraft 2 includes an ultrasonic probe 5, an attachment 6 on which the ultrasonic probe 5 is mounted, a drone 7 with the attachment 6 attached to its front side, and a control unit 8 attached to the drone 7 and connected to the ultrasonic probe 5, which stores measurement data from the ultrasonic probe 5 and transmits it to a computer 4. The ultrasonic probe 5, the drone 7, and the control unit 8 are connected to each other so as to be able to communicate with one another.

[0019] The ultrasonic probe 5 is one of the components of an ultrasonic thickness gauge that non-destructively measures the thickness of an object. It transmits and receives ultrasonic waves by utilizing the property that emitted ultrasonic waves are reflected back from the reflective surface of the object being measured. The ultrasonic thickness gauge calculates the thickness of the steel structure based on the time it takes for the ultrasonic waves to be emitted and returned, and the speed of the ultrasonic waves in the object.

[0020] The attachment 6 comprises a main body 6A that holds the ultrasonic probe 5, and a pair of magnets 6B provided at both ends of the main body 6A that are opposite each other in the width direction and are attracted to the steel structure. The pair of magnets 6B is an example of an attraction means, and each magnet 6B is an example of an attraction member that constitutes the attraction means. When the inspection aircraft 2 reaches the target position on the steel structure, the pair of magnets 6B are attracted to the target position on the steel structure, fixing the ultrasonic probe 5 so that it does not shift position or rotate relative to the steel structure. The magnetic force of the magnets 6B is set so that it does not detach from the steel structure even if the drone 7 wobbles during hovering, but detaches from the steel structure when the thrust of the drone 7 is increased. Note that in Figure 2, the configuration of the attachment 6 is shown in a simplified manner for ease of understanding.

[0021] The drone 7 is a device that flies through the air based on control signals from the control unit 8 and moves the ultrasonic probe 5 to a position specified by the user. The drone 7 comprises a body 71 on which the control unit 8 is mounted, a plurality of arms 72 extending radially from the body 71, a rotor 73 rotatably supported at the tip of each arm 72, and legs 74 extending downward from the body 71. A motor is connected to the rotor 73, and an inverter is connected to the motor to control the rotation of the motor by adjusting the frequency and voltage of the power supplied from the battery. The inverter of the drone 7 is communicatively connected to the control unit 8 and controls the flight of the drone 7 by adjusting the frequency and voltage of the power supplied from the battery based on control signals from the controller 3.

[0022] Figures 3 to 5 are front, side, and top views, respectively, of the attachment 6 according to the embodiment, and Figure 6 is a diagram showing how the support means of the attachment according to the embodiment is tilted in the roll direction. In Figure 6, some parts of the components are omitted for ease of understanding. The attachment 6 is a device that holds the ultrasonic probe 5, is supported by the drone 7, and holds the ultrasonic probe 5 so that the position and orientation of the ultrasonic probe 5 relative to the drone 7 can be changed.

[0023] The attachment 6 comprises a base 61 to which the ultrasonic probe 5 is fixed, a shaft member 62 that supports the base 61 so as to be rotatable in the pitch direction (around the Y axis) and translatably movable in the width direction (Y axis direction), a bifurcated arm member 63 that supports both ends of the shaft member 62 with a pair of tip portions 63a, and a support means 64 that supports the base end portion 63b of the arm member 63 so as to be rotatable in the roll direction (around the X axis) and translatably movable in the vertical direction (Z axis direction), and is fixed to the drone 7. Magnets 6B are attached to the ends of each tip portion 63a. The pair of magnets 6B assist the ultrasonic probe 5 in stably measuring the thickness of the steel structure by attracting to the target position of the steel structure while the drone 7 is hovering.

[0024] The mounting base 61 comprises a mounting section 61a for fixing the ultrasonic probe 5, and a pair of plate-shaped members 61b provided at both ends of the mounting section 61a and extending perpendicularly to the mounting section 61a. The mounting section 61a is composed of a plurality of rod-shaped members extending in the width direction (Y-axis direction) of the attachment 6. The plate-shaped members 61b are triangular members arranged in the XZ plane. The mounting section 61a is connected to the base of the plate-shaped members 61b, and a through hole is formed at the vertex opposite the base, through which the shaft member 62 is inserted. The through hole has a circular cross-section.

[0025] The shaft member 62 has a circular cross-section complementary to the through-hole of the plate-shaped member 61b, and supports the plate-shaped member 61b so that it can rotate around the Y-axis and translate in the Y-axis direction when housed in the through-hole. A pair of coil springs 62a are attached to the shaft member 62, positioned between the opposing plate-shaped members 61b and the respective end portions 63a of the arm members 63, and extending in the Y-axis direction. The coil springs 62a are an example of the first biasing means, and are compressed between the frame 61 and the end portions 63a of the arm members 63 when the frame 61 is biased in the axial direction of the shaft member 62. This repulsive force returns the frame 61 to its original position in the Y-axis direction.

[0026] As shown in Figure 5, the arm member 63 is a bifurcated member comprising two tip portions 63a arranged opposite each other in the width direction (Y-axis direction) of the attachment 6, and a base portion 63b connecting the two tip portions at both ends. Magnets 6B capable of adsorbing to steel structures are provided on the tip side of each tip portion 63a of the arm member 63. The base portion 63b is provided with a pair of through holes 63e through which the rod-shaped member 64c of the support means 64, which will be described later, can be inserted.

[0027] The support means 64 comprises an upper member 64a, a lower member 64b positioned below the upper member 64a, a pair of rod-shaped members 64c extending perpendicular to the upper member 64a and the lower member 64b (in the Z-axis direction) and spaced apart from each other in the width direction (Y-axis direction) of the upper member 64a and the lower member 64b, and two coil springs 64d attached to each rod-shaped member 64c, which bias the base end 63b of the arm member 63 through which the rod-shaped members 64c are inserted from above and below. The coil springs 64d are an example of a second biasing means.

[0028] Since each rod-shaped member 64c is inserted through a through hole 63e provided in the base end 63b of the arm member 63, the arm member 63 can move in the axial direction (Z-axis direction) of the rod-shaped members 64c. Furthermore, since the base end 63b of the arm member 63 is sandwiched from above and below by two coil springs 64d for each rod-shaped member 64c, when the base end 63b is biased toward the upper member 64a, the coil springs 64d are compressed between the base end 63b and the upper member 64a. Similarly, when the base end 63b is biased toward the lower member 64b, the coil springs 64d are compressed between the base end 63b and the lower member 64b. This repulsive force returns the base end 63b to its original position in the Z-axis direction.

[0029] Furthermore, as shown in Figure 6, the through hole 63e in the base end portion 63b is formed to be larger than the rod-shaped member 64c, allowing for a certain degree of play. This allows the base end portion 63b to be tilted relative to the upper member 64a and the lower member 64b, enabling the frame 61 to rotate in the roll direction (around the X-axis).

[0030] Because the attachment 6 has the above configuration, it supports the ultrasonic probe 5 so that it can rotate relative to the drone 7 in the pitch and roll directions of the attachment 6, and so that it can translate in the width and vertical directions of the attachment 6. Therefore, even if the drone 7 wobbles while hovering at the target position on the steel structure, the attachment 6 can absorb the wobble of the drone 7, and the magnet 6B can maintain its attachment to the steel structure. The above describes the configuration of Attachment 6.

[0031] Figure 7 is a block diagram showing the hardware configuration of a control unit 8 according to an embodiment. The control unit 8 is a device that is mounted on a drone 7 and connected to an ultrasonic probe 5, and acquires measurement data from the ultrasonic probe 5 and transmits it to a computer 4. The control unit 8 is, for example, a microcomputer. The control unit 8 comprises a communication unit 81, a storage unit 82, and a control unit 83. Each part of the control unit 8 is interconnected via an internal bus (not shown).

[0032] The communication unit 81 is, for example, an interface that can be connected to the computer 4.

[0033] The storage unit 82 includes, for example, RAM (Random Access Memory), ROM (Read Only Memory), and flash memory. The storage unit 82 stores programs executed by the control unit 83 and various types of data, such as measurement data of the ultrasonic probe 5. The storage unit 82 also temporarily stores various types of data and functions as work memory for the control unit 83 to execute processing.

[0034] The control unit 83 includes a processor and controls each part of the control unit 8. The processor is, for example, a CPU (Central Processing Unit). The control unit 83 includes an internal timer for counting time. The control unit 83 performs various processes by executing programs stored in the memory unit 82. Specifically, the control unit 83 controls the operation of the ultrasonic probe 5 based on control signals from the controller 3. The control unit 83 also acquires measurement data from the ultrasonic probe 5, stores it in the memory unit 82 in association with the acquisition date and time and acquisition location, and transmits it to the computer 4 in real time. Information regarding the acquisition location of the measurement data is, for example, the location information of the drone 7 detected by GPS (Global Positioning System). The above describes the hardware configuration of control unit 8.

[0035] Figure 8 is a block diagram showing the hardware configuration of a computer 4 according to an embodiment. The computer 4 comprises an operation unit 41, a display unit 42, a communication unit 43, a storage unit 44, and a control unit 45. Each part of the computer 4 is interconnected via an internal bus (not shown).

[0036] The operation unit 41 receives user instructions and supplies operation signals corresponding to the received operations to the control unit 45. The display unit 42 displays various images to the user based on the data supplied from the control unit 45. The operation unit 41 and the display unit 42 are, for example, composed of a touch panel. The touch panel displays an operation screen that accepts user operations and supplies operation signals corresponding to the positions where the user makes contact operations on the operation screen to the control unit 45.

[0037] The communication unit 43 is, for example, an interface that can be connected to the control unit 8.

[0038] The memory unit 44 includes, for example, RAM, ROM, and flash memory. The memory unit 44 stores programs and various data executed by the control unit 45. The memory unit 44 also temporarily stores various data and functions as work memory for the control unit 45 to execute processing.

[0039] The control unit 45 is equipped with a processor and controls each part of the computer 4. The processor is, for example, a CPU. The control unit 45 performs various processes by executing programs stored in the storage unit 44. Specifically, the control unit 45 acquires measurement data from the control unit 8 to the ultrasonic probe 5 in real time, stores the measurement data in the storage unit 44 in association with the acquisition date and time and acquisition location, and displays it on the display unit 42. The control unit 45 may also calculate the thickness of the steel structure based on the measurement data from the ultrasonic probe 5, store it in the storage unit 44, and display it on the display unit 42.

[0040] Furthermore, when the control unit 45 receives an instruction to start measurement from the operation unit 41, it transmits a control signal to the control unit 8 indicating that measurement should start, and when it receives an instruction to stop measurement from the operation unit 41, it transmits a control signal to the control unit 8 indicating that measurement should stop. The above describes the hardware configuration of Computer 4.

[0041] (Inspection process) Referring to the flowchart in Figure 9, the flow of the inspection process performed by the computer 4 and control unit 8 according to the embodiment will be explained. The inspection process involves measuring the thickness of a target location on a steel structure while the drone 7 is hovering, and providing the user with measurement data related to the thickness. The inspection process begins when the user gives an instruction to start the measurement. The user may be the operator of the drone 7, or someone other than the operator.

[0042] Before the user gives the instruction to start the measurement, the operator of drone 7 is asked to move drone 7 to the target position on the steel structure. When the ultrasonic probe 5 makes contact with the target position on the steel structure, the magnet 6B is attracted to the steel structure. The operator of drone 7 hovers drone 7 to maintain this state. While hovering, the attitude of drone 7 changes due to disturbances, but as shown in Figures 3 to 6, the attachment 6 is configured to translate in the Y-axis and Z-axis directions and rotate around the X-axis and Y-axis, so the ultrasonic probe 5 does not come off the target position on the steel structure. Once it is confirmed that the ultrasonic probe 5 is stably in contact with the target position on the steel structure, the following inspection process is started.

[0043] First, when the operation unit 41 of the computer 4 receives a command from the user to start measurement, the control unit 45 causes the control unit 8 to send a control signal to start measurement using the ultrasonic probe 5 (step S11).

[0044] When the control unit 83 receives a control signal from the controller 3 to the communication unit 81 (step S21), it starts thickness measurement using the ultrasonic probe 5 (step S22), and transmits the measurement data from the ultrasonic probe 5 to the controller 3 in real time, associated with the acquisition date and time and acquisition location (step S23).

[0045] When the control unit 45 of the computer 4 receives the measurement data from the control unit 8 and transmits it to the communication unit 43 (step S12), it stores the measurement data in the storage unit 44, associating it with the date and time of acquisition and the location of acquisition, and also displays it on the display unit 42 (step S13), and then terminates the process. The above outlines the inspection process.

[0046] After the inspection process is complete, the user can, if necessary, ask the operator of drone 7 to move drone 7 to a new target location on the steel structure and have drone 7 hover so that the ultrasonic probe 5 makes contact with the new target location. In this state, the inspection process can be run again to obtain measurement data at the new target location.

[0047] As described above, the attachment 6 according to the embodiment includes a stand 61 on which an ultrasonic probe 5 capable of contacting an object is mounted, a support means 64 that supports the stand 61 so that the drone 7 can move translationally in the width direction and vertical direction, and so that the drone 7 can rotate in the roll direction and pitch direction, and a pair of magnets 6B provided on the front side of the support means 64 that attract to the steel structure when the measuring surface of the ultrasonic probe 5 comes into contact with the steel structure.Therefore, even if the attitude of the drone 7 wavers while the drone 7 is hovering with the ultrasonic probe 5 in contact with the target position of the steel structure, the ultrasonic probe 5 can maintain contact with the target position.As a result, the thickness of the steel structure can be easily measured without the user having to go to a high place.

[0048] The present invention is not limited to the embodiments described above, and the following modifications are also possible.

[0049] (modified version) In the above embodiment, the attachment 6 was attached to the front side of the drone 7, but the present invention is not limited to this. The attachment 6 may be attached, for example, to the side or rear side of the drone 7.

[0050] In the above embodiment, the attachment 6 was equipped with two magnets 6B, but the present invention is not limited thereto. For example, a magnet 6B that can be attracted to a steel structure may be attached to the ultrasonic probe 5. Furthermore, the number of magnets 6B is not limited to two; there may be one, three or more, as long as it prevents the ultrasonic probe 5, which is in contact with the steel structure, from shifting position or rotating when the drone 7 wobbles.

[0051] In the above embodiment, the cross-section of the magnet 6B was circular, but the present invention is not limited to this. The cross-section of the magnet 6B may be, for example, square, rectangular, polygonal, or elliptical.

[0052] In the above embodiment, the magnet 6B was a permanent magnet, but the present invention is not limited thereto. For example, the magnet 6B may be an electromagnet. The electromagnet may be connected to the control unit 8 and configured to be turned on and off by the control unit 8. The control unit 8 may control the drone 7 to hover with the ultrasonic probe 5 in contact with the target position on the steel structure, then turn on the electromagnet to attract it to the steel structure, and turn off the electromagnet before moving away from the target position after the measurement is completed.

[0053] In the above embodiment, the adsorption member was a magnet 6B, but the present invention is not limited to this. The adsorption member may be replaced with, for example, a member to which an adhesive sheet is attached or a member to which an adhesive is applied.

[0054] In the above embodiment, the ultrasonic probe 5 was mounted on the attachment 6, but the present invention is not limited to this. The measuring instrument mounted on the attachment 6 is not limited to the ultrasonic probe 5; for example, it may be a surface roughness meter. Also, in the above embodiment, the ultrasonic probe 5 was used to measure the thickness of a steel structure, but the present invention is not limited to this. For example, the ultrasonic probe 5 may be used to measure the size of cracks or cavities in a steel structure, or to detect foreign matter.

[0055] In the above embodiment, measurements were performed on steel structures, but the present invention is not limited to this. Measurements may also be performed on objects other than steel structures, such as vehicles, ships, rails, and reinforced concrete structures.

[0056] In the above embodiment, various data were stored in the storage units 44 and 82 of the computer 4 and the control unit 8, but the present invention is not limited thereto. For example, all or part of the various data may be stored in an external control device or computer via a communication network.

[0057] In the above embodiment, the computer 4 and the control unit 8 operated based on programs stored in the memory units 44 and 82, respectively, but the present invention is not limited thereto. For example, a functional configuration realized by a program may be realized by hardware.

[0058] In the above embodiment, the processing performed by the computer 4 and the control unit 8 was realized by the device having the above-described physical configuration executing a program stored in the storage units 44 and 82. However, the present invention may be realized as a program, or as a storage medium on which that program is recorded.

[0059] Alternatively, a device that performs the above-mentioned processing operations may be configured by distributing a program for executing the above-mentioned processing operations on a computer-readable non-temporary recording medium such as a flexible disk, CD-ROM (Compact Disk Read-Only Memory), DVD (Digital Versatile Disk), or MO (Magneto-Optical Disk), and then installing that program on a computer.

[0060] The embodiments described above are illustrative, and the present invention is not limited thereto. Various embodiments are possible without departing from the spirit of the invention as described in the claims. The components described in the embodiments and modifications can be freely combined. Furthermore, inventions equivalent to the invention described in the claims are also included in the present invention. [Explanation of symbols]

[0061] 1. Inspection System 2. Inspection aircraft 3 Controllers 4 Computers 41 Operation section 42 Display section 43 Communications Department 44 Memory section 45 Control Unit 5. Ultrasound probe 6 Attachments 6A Main Unit 6B Magnet 61 mounting base 61a Mounting section 61b Plate-shaped member 62 Shaft member 62a Coil spring 63 Arm Member 63a Tip 63b Proximal end 63e through hole 64 Support means 64a Upper member 64b Lower part 64c Rod-shaped member 64d Coil Spring 7 Drones 71 Body 72 Arms 73 Rotor 74 Legs 8 Control Unit 81 Communications Department 82 Memory section 83 Control Unit

Claims

1. It is an attachment that can be attached to a drone. A stand on which measuring equipment capable of contacting the object is installed, A support mechanism attached to the drone, which supports the mount so that it can translate in the width direction and vertical direction of the attachment, and so that it can rotate in the roll direction and pitch direction of the attachment, The support mechanism includes an adsorption means that is provided and adheres to the object when the measuring surface on the tip side of the measuring instrument is in contact with the object, An attachment equipped with [a specific feature].

2. The adsorption means comprises a pair of adsorption members arranged separately in the width direction of the attachment and adsorbed onto the object. The attachment according to claim 1.

3. The support mechanism includes an axis member that extends in the width direction of the attachment and supports the frame so that it can rotate about an axis and move translationally in the axial direction, The attachment comprises an arm member that supports the shaft member with a pair of opposing tip portions in the width direction of the attachment, The shaft member is fitted with a first biasing means that biases each of the tip portions of the arm member and the base, respectively. The attachment according to claim 1 or 2.

4. The support mechanism further comprises a support means comprising an upper member, a lower member positioned below the upper member, and a pair of rod-shaped members connected to the upper member and the lower member respectively and positioned apart from each other. The base end of the arm member is provided with a pair of through holes, each of which is larger than each of the rod-shaped members, through which each rod-shaped member is inserted. Each rod-shaped member is fitted with a second biasing means, positioned between the upper member and the base end of the arm member, and between the lower member and the base end of the arm member, so as to bias each other. The attachment according to claim 3.

5. The attachment according to claim 1 or 2, A measuring instrument attached to the attachment such that the measuring surface protrudes from the attachment, A drone to which the aforementioned attachment is attached, A control unit, which is attached to the drone and is communicatively connected to the measuring instrument, and which acquires measurement data from the measuring instrument, An inspection aircraft equipped with the following features.

6. The measuring instrument is an ultrasonic probe for measuring the thickness of an object. The inspection aircraft according to claim 5.

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