Patent Publication Number: US-2023133928-A1

Title: Inspection support device of structure, inspection support method of structure, and program

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a Continuation of PCT International Application No. PCT/JP2021/027443 filed on Jul. 26, 2021 claiming priority under 35 U.S.C § 119(a) to Japanese Patent Application No. 2020-129630 filed on Jul. 30, 2020. Each of the above applications is hereby expressly incorporated by reference, in its entirety, into the present application. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to an inspection support device of a structure, an inspection support method of a structure, and a program. 
     2. Description of the Related Art 
     In the related art, an inspection support technology for supporting an inspector in performing an inspection work of a structure has been suggested. 
     For example, JP2002-222281A suggests a technology for the purpose of imaging a structure, detecting a defect from a captured image, and simply and accurately calculating a cost for repairing the defect. 
     Here, a damage may be found in a case where screening is performed by visual inspection of the inspector at a distance or by capturing an approximate image of the entire structure using a drone (unmanned flying object) or the like, and detailed inspection close to the found damage may be necessary. 
     SUMMARY OF THE INVENTION 
     There are a large number of access means to an inspection position of the structure. Accordingly, it may be difficult for the inspector to perceive by which means a desired inspection position can be accessed, and design of the access means may not be easy. 
     The present invention is conceived in view of such circumstances, and an object thereof is to provide an inspection support device of a structure that perceivably presents candidates of access means to an inspection position of the structure, an inspection support method of a structure, and a program. 
     An inspection support device of a structure that is an aspect of the present invention for accomplishing the above object is an inspection support device of a structure, comprising a processor, in which the processor is configured to acquire a three-dimensional model of a structure that is an inspection target, and accessible range information of a plurality of types of access means for accessing an inspection position of the structure, display the three-dimensional model on a display unit, receive a designation of the inspection position on the displayed three-dimensional model, and display information about one or more types of the access means for accessing the inspection position on the display unit based on the received inspection position and the accessible range information. 
     It is preferable that the inspection support device of a structure further comprises a memory that stores the three-dimensional model and the accessible range information, in which the processor is configured to acquire the three-dimensional model and the accessible range information from the memory. 
     It is preferable that the memory stores an image of the structure associated with the three-dimensional model, and the processor is configured to detect a damage from the image, and automatically receive the designation of the inspection position based on the detected damage. 
     It is preferable that the memory stores damage information associated with the three-dimensional model, and the processor is configured to display the damage information on the three-dimensional model. 
     It is preferable that the processor is configured to acquire surrounding environment information indicating a surrounding environment of the structure, and display the information about the access means for accessing the inspection position based on the surrounding environment information, the inspection position, and the accessible range information. 
     It is preferable that the inspection support device of a structure further comprises a memory that stores the surrounding environment information, in which the processor is configured to acquire the surrounding environment information from the memory. 
     It is preferable that the processor is configured to acquire required unit inspection time information indicating a time required for inspection for each type of the access means, and in a case of displaying the information about the access means, display the required unit inspection time information corresponding to the displayed information about the access means. 
     It is preferable that the inspection support device of a structure further comprises a memory that stores the required unit inspection time information, in which the processor is configured to acquire the required unit inspection time information from the memory. 
     It is preferable that the processor is configured to calculate at least one of a required time for each inspection position or a required time for performing inspection at all inspection positions based on the inspection position and the required unit inspection time information, and display the calculated required time. 
     It is preferable that the processor is configured to acquire expense information indicating an expense required for inspection for each type of the access means, and in a case of displaying the information about the access means, display the expense information corresponding to the displayed information about the access means. 
     It is preferable that the inspection support device of a structure further comprises a memory that stores the expense information, in which the processor is configured to acquire the expense information from the memory. 
     It is preferable that the processor is configured to calculate at least one of an inspection expense for each inspection position or an inspection expense for performing inspection at all inspection positions based on the inspection position and the expense information, and display the calculated inspection expense. 
     It is preferable that the inspection position is a position at which the structure is viewed or tapped. 
     It is preferable that the inspection position is an imaging target position indicating a range in which the structure is imaged. 
     It is preferable that the processor is configured to acquire an imaging condition for imaging the structure, acquire an imaging position based on the inspection position and the imaging condition, and display the information about the access means with respect to the imaging position. 
     It is preferable that the inspection support device of a structure further comprises a memory that stores the imaging condition, in which the processor is configured to acquire the imaging condition from the memory. 
     It is preferable that the processor is configured to display the imaging position. 
     An inspection support method of a structure that is another aspect of the present invention is an inspection support method of a structure using an inspection support device of a structure including a processor, the method causing the processor to execute a step of acquiring a three-dimensional model of a structure that is an inspection target, and accessible range information of a plurality of types of access means for accessing an inspection position of the structure, a step of displaying the three-dimensional model on a display unit, a step of receiving a designation of the inspection position on the displayed three-dimensional model, and a step of displaying information about one or more types of the access means for accessing the inspection position on the display unit based on the received inspection position and the accessible range information. 
     A program that is still another aspect of the present invention is a program causing an inspection support device of a structure including a processor to execute an inspection support method of a structure, the program causing the processor to execute a step of acquiring a three-dimensional model of a structure that is an inspection target, and accessible range information of a plurality of types of access means for accessing an inspection position of the structure, a step of displaying the three-dimensional model on a display unit, a step of receiving a designation of the inspection position on the displayed three-dimensional model, and a step of displaying information about one or more types of the access means for accessing the inspection position on the display unit based on the received inspection position and the accessible range information. 
     According to the present invention, the information about one or more types of the access means for accessing the inspection position is presented based on the designated inspection position and the accessible range information. Thus, a user can easily design the access means. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram illustrating an example of a hardware configuration of an inspection support device of a structure. 
         FIG.  2    is a block diagram illustrating processing functions implemented by a CPU. 
         FIG.  3    is a diagram illustrating information and the like stored in a storage unit. 
         FIG.  4    is a flowchart illustrating an inspection support method of the structure using the inspection support device of the structure. 
         FIGS.  5 A and  5 B  are diagrams for describing specific examples of a three-dimensional model display step and a designation receiving step. 
         FIGS.  6 A and  6 B  are diagrams for describing specific examples of the three-dimensional model display step and the designation receiving step. 
         FIGS.  7 A and  7 B  are diagrams for describing specific examples of the three-dimensional model display step and the designation receiving step. 
         FIGS.  8 A and  8 B  are diagrams for describing specific examples of the three-dimensional model display step and the designation receiving step. 
         FIG.  9    is a diagram illustrating an aerial work vehicle that is an example of access means. 
         FIG.  10    is a diagram illustrating a work range diagram that is an example of accessible range information. 
         FIG.  11    is a diagram illustrating a bridge inspection vehicle that is an example of the access means. 
         FIG.  12    is a diagram illustrating the work range diagram that is an example of the accessible range information. 
         FIG.  13    is a diagram illustrating the work range diagram that is an example of the accessible range information. 
         FIGS.  14 A and  14 B  are diagrams for describing rope access that is an example of the access means. 
         FIG.  15    is a diagram illustrating a ladder that is an example of the access means. 
         FIGS.  16 A and  16 B  are diagrams illustrating an example of display of information about the access means. 
         FIG.  17    is a diagram illustrating information and the like stored in the storage unit. 
         FIG.  18    is a concept diagram illustrating an unmanned flying object (drone) that is an example of the access means. 
         FIG.  19    is a concept diagram illustrating a bridge inspection ship that is an example of the access means. 
         FIG.  20    is a diagram illustrating an example of the display of the information about the access means. 
         FIG.  21    is a diagram illustrating information and the like stored in the storage unit. 
         FIG.  22    is a diagram illustrating an example of a required unit inspection time. 
         FIG.  23    is a diagram illustrating information and the like stored in the storage unit. 
         FIG.  24    is a diagram illustrating an example of expense information. 
         FIG.  25    is a diagram illustrating information and the like stored in the storage unit. 
         FIG.  26    is a diagram for describing presentation of an imaging position. 
         FIG.  27    is a diagram illustrating a gondola vehicle that is an example of the access means. 
         FIG.  28    is a diagram illustrating the work range diagram that is an example of the accessible range information. 
         FIG.  29    is a diagram illustrating a suspended robot that is an example of the access means. 
         FIGS.  30 A and  30 B  are diagrams illustrating a pole camera that is an example of the access means. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Hereinafter, a preferred embodiment of an inspection support device of a structure, an inspection support method of a structure, and a program according to the present invention will be described in accordance with the appended drawings. 
     First Embodiment 
     [Hardware Configuration of Inspection Support Device of Structure] 
       FIG.  1    is a block diagram illustrating an example of a hardware configuration of the inspection support device of the structure according to the embodiment of the present invention. 
     A computer or a workstation can be used as an inspection support device  10  of the structure illustrated in  FIG.  1   . The inspection support device  10  of the structure in the present example is mainly composed of an input-output interface  12 , a storage unit  16 , an operating unit  18 , a central processing unit (CPU)  20 , a random access memory (RAM)  22 , a read only memory (ROM)  24 , and a display control unit  26 . A display unit  30  is connected to the inspection support device  10  of the structure, and display is performed on the display unit  30  under control of the display control unit  26  under an instruction of the CPU  20 . For example, the display unit  30  is composed of a monitor. 
     The input-output interface  12  can input various data (information) into the inspection support device  10  of the structure. For example, data stored in the storage unit  16  described later is input via the input-output interface  12 . 
     The CPU (processor)  20  controls each unit by reading out various programs stored in the storage unit  16 , the ROM  24 , or the like, loading the programs into the RAM  22 , and performing calculation. In addition, the CPU  20  performs various types of processing of the inspection support device  10  of the structure by reading out the programs stored in the storage unit  16  and the ROM  24  and performing calculation using the RAM  22 . 
       FIG.  2    is a block diagram illustrating processing functions implemented by the CPU  20 . 
     The CPU  20  includes an information acquisition unit  51 , a three-dimensional model display unit  53 , a designation receiving unit  55 , and an information display unit  57 . Specific processing functions of each unit will be described later. 
     Returning to  FIG.  1   , the storage unit (memory)  16  is a memory composed of a hard disk apparatus, a flash memory, or the like. The storage unit  16  stores data and programs for operating the inspection support device  10  of the structure, such as an operating system and a program for executing the inspection support method of the structure. In addition, the storage unit  16  stores information and the like, described below, used in the present embodiment. 
       FIG.  3    is a diagram illustrating the information and the like stored in the storage unit  16 . 
     The storage unit  16  mainly stores a three-dimensional model  101 , an image  103 , damage information  105 , and accessible range information  107 . 
     The three-dimensional model  101  is a model indicating a structure as an inspection target. Here, the three-dimensional model  101  is not particularly limited as long as the three-dimensional model  101  is three-dimensional information indicating a shape of the structure as the inspection target. For example, the three-dimensional model  101  corresponds to a three-dimensional computer-aided design (CAD) indicating the structure, a point group model, a texture model, and a solid model. The structure includes a built object, for example, an engineered structure such as a bridge, a tunnel, and a dam and also includes a constructed object such as a building, a house, and a wall, a pillar, and a beam of a building. 
     The image  103  is an image of the structure associated with the three-dimensional model  101 . For example, the image  103  is a captured image obtained by imaging the structure that is the inspection target, and is pasted on a surface of the structure represented by the three-dimensional model  101  as a texture. In a case where a damage is present in the structure, the damage is captured in the image  103 , and the damage can be detected from the image  103 . 
     The damage information  105  is information related to the damage associated with the three-dimensional model  101 . For example, the damage information  105  is information about the damage of the structure that is the inspection target. For example, the damage information  105  is a damage model indicating a type, a shape, and a size of the damage. Specifically, a damage model of fissuring is a model image indicating a fissuring shape, and a damage model of stripping is a model image indicating a stripping shape. In addition, the damage model has positional information (three-dimensional coordinates) on the three-dimensional model  101  corresponding to a part in which the structure actually has the damage. The three-dimensional model display unit  53  can display the damage model on the display unit  30  in a superimposed manner on the three-dimensional model  101 . 
     The accessible range information  107  is information indicating an accessible range of access means for accessing an inspection position. The access means corresponds to various means for accessing, that is, approaching, the inspection position. Specific examples of the access means include a ladder, a mobile scaffold, a mobile hanging scaffold, a bridge inspection vehicle, a floating scaffold (working barge+scaffold), a gondola vehicle, an aerial work vehicle, rope access, and a bridge inspection ship. Here, the inspection position indicates a part in which detailed inspection close to the structure that is the inspection target is necessary. Specifically, an inspector views or taps close to the structure that is the inspection target at the inspection position. In addition, the inspection position may indicate an imaging target position that indicates a range captured by imaging close to the structure. Specifically, the inspector acquires a captured image in which the inspection position is captured. 
     Returning to  FIG.  1   , the operating unit  18  includes a keyboard, a mouse, and the like that are connected to a computer in a wired or wireless manner, and functions as the operating unit  18  for providing a normal operating instruction of the computer. In addition, the operating unit  18  receives a designation of the inspection position by designating a part of the three-dimensional model  101  displayed on the display unit  30  by a user. 
       FIG.  4    is a flowchart illustrating the inspection support method of the structure using the inspection support device  10  of the structure. 
     First, the information acquisition unit  51  acquires the three-dimensional model of the structure that is the inspection target, and the accessible range information  107  (information acquisition step: step S 1 ). Then, the three-dimensional model display unit  53  displays the acquired three-dimensional model on the display unit  30  (three-dimensional model display step: step S 2 ). Next, the designation receiving unit  55  receives the designation of the inspection position on the three-dimensional model (designation receiving step: step S 3 ). Next, the information display unit  57  of the access means displays information about one or more types of the access means for accessing the inspection position on the display unit  30  based on the received inspection position and the accessible range information  107  (information display step of the access means: step S 4 ). Hereinafter, each step will be described in detail. 
     &lt;Information Acquisition Step&gt; 
     The information acquisition step (step S 1 ) is performed by the information acquisition unit  51 . The information acquisition unit  51  acquires the three-dimensional model  101  of the structure and the accessible range information  107  stored in the storage unit  16 . In a case where the three-dimensional model  101  and the accessible range information  107  are not stored in the storage unit  16 , the information acquisition unit  51  acquires the three-dimensional model  101  and the accessible range information  107  from an outside. For example, the information acquisition unit  51  acquires the three-dimensional model  101  and the accessible range information  107  through a network via the input-output interface  12 . 
     In addition, the information acquisition unit  51  can acquire the image  103  and/or the damage information  105  together with the three-dimensional model  101 . In a case where the “three-dimensional model  101  and the image  103 ” are displayed on the display unit  30 , in a case where the “three-dimensional model  101  and the damage information  105 ” are displayed on the display unit  30 , or in a case where the “three-dimensional model  101 , the image  103 , and the damage information  105 ” are displayed on the display unit  30 , the information acquisition unit  51  acquires each of the image  103  and the damage information  105  to be displayed. 
     &lt;Three-Dimensional Model Display Step and Designation Receiving Step&gt; 
     The three-dimensional model display step (step S 2 ) is performed by the three-dimensional model display unit  53 . In addition, the designation receiving step (step S 3 ) is performed by the designation receiving unit  55 . 
       FIG.  5 A  to  FIG.  8 B  are diagrams for describing specific examples of the three-dimensional model display step and the designation receiving step. In  FIG.  5    to  FIG.  8   , a texture model on which a captured image (image  103 ) of a bridge corresponding to the three-dimensional model is pasted as a texture is displayed as the three-dimensional model. 
     Example 1 
       FIGS.  5 A and  5 B  are diagrams illustrating a three-dimensional model displayed on the display unit  30  and a designated inspection position in Example 1. 
       FIG.  5 A  is a diagram illustrating a three-dimensional model M 1  displayed on the display unit  30 . The three-dimensional model M 1  is a diagram illustrating a pier as the inspection target. The user views the three-dimensional model M 1  displayed on the display unit  30  and designates a part in which close inspection is necessary on the three-dimensional model M 1 . 
       FIG.  5 B  is a diagram for describing a case where an inspection position F 1  is designated. 
     The user manually designates a part (inspection position F 1 ) for which a determination that close inspection is necessary is made, on the three-dimensional model M 1  via the operating unit  18 . The designation receiving unit  55  receives the position designated by the operating unit  18  on the three-dimensional model M 1 . 
     Example 2 
       FIGS.  6 A and  6 B  are diagrams illustrating a three-dimensional model displayed on the display unit  30  and a designated inspection position in Example 2. 
       FIG.  6 A  is a diagram illustrating a three-dimensional model M 2  displayed on the display unit  30 . The three-dimensional model M 2  is a diagram illustrating an upper portion of a pier as the inspection target. The user views the three-dimensional model M 2  displayed on the display unit  30  and designates a part in which close inspection is necessary on the three-dimensional model M 2 . 
       FIG.  6 B  is a diagram for describing a case where an inspection position F 2  is designated. 
     The user manually designates a part (inspection position F 2 ) for which a determination that close inspection is necessary is made, on the three-dimensional model M 2  via the operating unit  18 . The designation receiving unit  55  receives the position designated by the operating unit  18  on the three-dimensional model M 2 . 
     Example 3 
       FIGS.  7 A and  7 B  are diagrams illustrating a three-dimensional model displayed on the display unit  30  and a designated inspection position in Example 3. 
       FIG.  7 A  is a diagram illustrating the three-dimensional model M 1  displayed on the display unit  30 . The three-dimensional model M 1  of the present example has damage information D 1 . The damage information D 1  is a damage model of fissuring. In the present example, the user can view the three-dimensional model M 1  having the damage information D 1 , determine that close inspection is necessary, and designate an inspection position F 3 . 
       FIG.  7 B  is a diagram for describing a case where the inspection position F 3  is designated. 
     The user manually designates a part (inspection position F 3 ) for which a determination that close inspection is necessary is made, on the three-dimensional model M 1  via the operating unit  18 . The user can view the damage information D 1  displayed on the display unit  30  and designate a part in which the damage information D 1  is concentrated (a part in which fissuring is concentrated) as the inspection position F 3 . 
     By displaying the damage information D 1  in a superimposed manner on the three-dimensional model M 1 , the user can easily determine a part in which close inspection is necessary, and accurately designate the inspection position. 
     Example 4 
       FIGS.  8 A and  8 B  are diagrams illustrating a three-dimensional model displayed on the display unit  30  and a designated inspection position in Example 4. 
       FIG.  8 A  is a diagram illustrating the three-dimensional model M 2  displayed on the display unit  30 . The three-dimensional model M 2  of the present example has damage information D 2 . The damage information D 2  is a damage model of fissuring. In the present example, the user can view the three-dimensional model M 2  having the damage information D 2 , determine that close inspection is necessary, and designate an inspection position F 4 . 
       FIG.  8 B  is a diagram for describing a case where the inspection position F 4  is designated. 
     The user manually designates a part (inspection position F 4 ) for which a determination that close inspection is necessary is made, on the three-dimensional model M 2  via the operating unit  18 . For example, the user can view the damage information D 2  and designate a part in which the damage information D 2  is concentrated (a part in which fissuring is concentrated) as the inspection position F 4 . 
     By displaying the damage information D 2  in a superimposed manner on the three-dimensional model M 2 , the user can easily determine a part in which close inspection is necessary, and accurately designate the inspection position. 
     While a case where the user manually designates the inspection position has been described in the above examples, the designation of the inspection position is not limited thereto. The designation receiving unit  55  may automatically receive the inspection position. In a case where the inspection position is automatically designated, the inspection position is designated based on, for example, damage information D. For example, the inspection position may be automatically designated based on a detection result or a quantification result of the damage such as a part in which fissuring of which a thickness, a length, or the like is greater than or equal to a threshold value occurs, a part in which fissuring having a hexagonal shape occurs, or a part in which stripping of which an area is greater than or equal to a threshold value occurs. 
     &lt;Information Display Step of Access Means&gt; 
     The information display step (step S 4 ) of the access means is performed by the information display unit  57 . The information display unit  57  displays information about one or more types of the access means for accessing the inspection position on the display unit  30  based on the received inspection position and the accessible range information  107 . 
     [Access Means and Accessible Range Information] 
     First, the access means and the accessible range information  107  will be described. Various types of the access means for performing detailed inspection close to the inspection position can be employed. Hereinafter, specific examples of the access means and the accessible range information  107  will be described. 
       FIG.  9    is a diagram illustrating an aerial work vehicle that is an example of the access means. 
     As illustrated in  FIG.  9   , in an aerial work vehicle  203 , a basket  203 B is provided at a tip end of a boom  203 A. The inspector can access an aerial inspection position by riding in the basket  203 B and expanding and contracting the boom  203 A. 
       FIG.  10    is a diagram illustrating a work range diagram that is an example of the accessible range information  107  of the aerial work vehicle  203 . 
     A work range diagram  205  illustrates a work range of the aerial work vehicle  203  as a diagram. Specifically, the work range diagram  205  illustrates a reach range in a vertical direction and a work radius in a horizontal direction of the basket  203 B of the aerial work vehicle  203 . 
       FIG.  11    is a diagram illustrating a bridge inspection vehicle that is an example of the access means. 
     As illustrated in  FIG.  11   , in a bridge inspection vehicle  207 , a basket  207 B is provided at a tip end of a boom  207 A. The inspector can access the inspection position by riding in the basket  207 B and expanding and contracting the boom  207 A. 
       FIG.  12    is a diagram illustrating the work range diagram that is an example of the accessible range information  107  below the bridge inspection vehicle  207 . 
     A work range diagram  209  illustrates a work range of the bridge inspection vehicle  207  as a diagram. The work range diagram  209  illustrates a work radius and a reachable ground height of the basket  207 B of the bridge inspection vehicle  207 . 
       FIG.  13    is a diagram illustrating the work range diagram that is an example of the accessible range information  107  above the bridge inspection vehicle  207 . 
     A work range diagram  211  illustrates the work range of the bridge inspection vehicle  207  as a diagram. The work range diagram  211  illustrates the work radius and the reachable ground height of the basket  207 B of the bridge inspection vehicle  207 . 
       FIGS.  14 A and  14 B  are diagrams for describing rope access that is an example of the access means. 
     As illustrated in  FIG.  14 A , an inspector  211 A can access an aerial inspection position of a bridge  210  by rope access. In addition, as illustrated in  FIG.  14 B , an inspector  211 B can access an inspection position on an underside of the bridge  210  by rope access. The accessible range information  107  of rope access indicates that access can be made without restrictions on the reachable ground height and the work range. 
       FIG.  15    is a diagram illustrating a ladder that is an example of the access means. 
     As illustrated in  FIG.  15   , an inspector  213 A can access an aerial inspection position using a ladder  213 . Specifically, the inspector  213 A can perform detailed inspection close to the aerial inspection position of a pier  215  using the ladder  213 . 
     [Display of Information about Access Means] 
     Next, display of information about the access means will be described. The information display unit  57  determines accessibility by each type of the access means from the inspection position designated on the three-dimensional model and the accessible range information  107 . The information display unit  57  displays information about the access means based on the determined accessibility. The three-dimensional model has information related to dimensions of a structure that is a target of the model (the structure that is the inspection target). The information display unit  57  can obtain information as to where the inspection position designated on the three-dimensional model is positioned in the actual structure. Accordingly, the information display unit  57  can determine the accessibility by each type of the access means by comparing the inspection position in actual dimensions with the accessible range information  107 . 
       FIGS.  16 A and  16 B  are diagrams illustrating an example of the display of the information about the access means displayed on the display unit  30  by the information display unit  57 . 
       FIG.  16 A  is a diagram illustrating an image display of the information about the access means with respect to inspection positions ( 1 ) to ( 4 ) designated on a three-dimensional model  250  of a bridge.  FIG.  16 B  is a diagram illustrating the information about the access means with respect to the inspection positions ( 1 ) to ( 4 ) in a list. 
     The inspection position ( 1 ) (denoted by reference numeral  252 ) is positioned on an underside of the bridge. The inspection position ( 1 ) can be accessed by the bridge inspection vehicle  207  and rope access (refer to a list  212 ). Thus, the bridge inspection vehicle  207  (image display) and the inspector  211 A (image display) of rope access are displayed near the inspection position ( 1 ). 
     The inspection position ( 2 ) (denoted by reference numeral  254 ) is positioned in an upper portion of a pier. The inspection position ( 2 ) can be accessed by the bridge inspection vehicle  207  and rope access (refer to the list  212 ). Thus, the bridge inspection vehicle  207  (image display) is displayed near the inspection position ( 2 ). 
     The inspection position ( 3 ) (denoted by reference numeral  256 ) is positioned in a middle portion of the pier. The inspection position ( 3 ) can be accessed by rope access, the aerial work vehicle  203 , and the bridge inspection vehicle  207  (refer to the list  212 ). Thus, the aerial work vehicle  203  (image display) is displayed near the inspection position ( 3 ) on the three-dimensional model  250 . 
     The inspection position ( 4 ) (denoted by reference numeral  258 ) is positioned in a lower portion of a pier. The inspection position ( 4 ) can be accessed by the ladder  213 , rope access, the aerial work vehicle  203 , and the bridge inspection vehicle  207  (refer to the list  212 ). Thus, the inspector  211 A of rope access and the aerial work vehicle  203  are displayed near the inspection position ( 4 ) on the three-dimensional model  250 . 
     As described above, the information display unit  57  may perform image display of the access means by which access can be made on the three-dimensional model  250  ( FIG.  16 A ) and display the list  212  ( FIG.  16 B ), or may display any one thereof ( FIG.  16 A  or  FIG.  16 B ). In addition, in a case of performing image display of the access means by which access can be made on the three-dimensional model  250  ( FIG.  16 A ) and displaying the list  212  ( FIG.  16 B ), an accessible part may be displayed on the three-dimensional model in a different color in a case where the user selects access means on the list  212 . In addition, while an example in which a plurality of the inspection positions are designated has been described in the above description, the present embodiment is not limited to this example. For example, the inspection support device  10  of the structure may present one type of the access means with respect to one inspection position. 
     As described so far, in the present embodiment, the information about one or more types of the access means for accessing the inspection position is displayed based on the received inspection position and the accessible range information  107 . Accordingly, the user can easily perceive candidates of the access means to the inspection position. 
     Second Embodiment 
     Next, a second embodiment will be described. In the present embodiment, the information about the access means is displayed further based on information related to a surrounding environment of the inspection position. 
     [Surrounding Environment Information] 
       FIG.  17    is a diagram illustrating the information and the like stored in the storage unit  16  of the present embodiment. Parts already described using  FIG.  3    will be designated by the same reference numerals and will not be described. 
     The storage unit  16  of the present embodiment stores the three-dimensional model  101 , the image  103 , the damage information  105 , the accessible range information  107 , and surrounding environment information  109 . 
     The surrounding environment information  109  is information indicating a surrounding environment of the structure as the inspection target or a surrounding environment of the inspection position. Examples of the surrounding environment information  109  include information indicating whether an under surface footing environment is a ground surface or a water surface. In addition, in a case where the under surface footing environment is the ground surface, the surrounding environment information  109  may include information as to whether the ground surface is a plane or an inclined surface or whether the ground surface is leveled or not leveled. In addition, in a case where the under surface footing environment is the water surface, the surrounding environment information  109  may include information as to whether or not the water surface is a river or a sea, a speed of flow, and strength of waves. In addition, other examples of the surrounding environment information  109  include information related to a geographical environment. For example, the information related to the geographical environment is information related to, for example, vegetation (trees and the like) around the structure that is the inspection target, a road type (a highway road, a national road, a prefectural road, or a city road) of roads included in the structure that is the inspection target, and a zoning type (a residential area, a commercial area, or an industrial area) of areas in which the structure that is the inspection target is present. In addition, other examples of the surrounding environment information  109  include information related to a meteorological environment around the structure. For example, the information related to the meteorological environment is an average wind speed. In addition, other examples of the surrounding environment information  109  include information related to a traffic volume and presence of electrical cables around the structure. 
     [Access Means in Case where Under Surface Footing Environment is Water Surface] 
       FIG.  18    and  FIG.  19    are diagrams illustrating an example of the access means in a case where the under surface footing environment is the water surface. 
       FIG.  18    is a concept diagram illustrating an unmanned flying object (drone)  214  that is an example of the access means. 
     The unmanned flying object  214  flies to access the inspection position. For example, this access means is effective for the inspection position at a high position or a location such as a sea or a river in which a footing of the access means cannot be secured. The unmanned flying object  214  includes a camera  214 A and can capture a captured image of the inspection position using the camera  214 A. 
       FIG.  19    is a concept diagram illustrating a bridge inspection ship  216  that is an example of the access means. 
     The bridge inspection ship  216  can access the inspection position even in a case where the footing for accessing the inspection position is the water surface. The bridge inspection ship  216  accesses a desired inspection position by moving on the water surface and expanding and contracting a boom  216 A to move a basket  216 B. 
     [Display of Information about Access Means] 
     The information acquisition unit  51  acquires the surrounding environment information  109  from the storage unit  16 . The information display unit  57  displays the information about the access means for accessing the inspection position based on the designated inspection position, the accessible range information  107 , and the surrounding environment information  109 . 
       FIG.  20    is a diagram illustrating an example of the display of the information about the access means displayed on the display unit  30  by the information display unit  57 . 
     The inspection position ( 1 ) to an inspection position ( 5 ) are designated on a three-dimensional model  270  of a bridge. 
     The bridge inspection vehicle  207  is presented as the access means for accessing the inspection position ( 1 ) (denoted by reference numeral  272 ). In a case of a work on an important road having a high traffic volume, a constraint condition because of the surrounding environment based on the surrounding environment information  109 , such that it is difficult to regulate traffic for a long time may be additionally presented. 
     The inspector  211 A by rope access is presented as the access means for accessing the inspection position ( 2 ) (denoted by reference numeral  274 ). According to the surrounding environment information  109 , a tree  284  is present on the footing, and a vehicle cannot enter. Therefore, access of the inspector  211 A by the rope access is presented as the access means for the inspection position ( 2 ). 
     The aerial work vehicle  203  is presented as the access means for accessing the inspection position ( 3 ) (denoted by reference numeral  276 ). The inspection position ( 3 ) is present on a ground surface  282  and thus, can be accessed by the aerial work vehicle  203 . 
     The unmanned flying object  214  is presented as the access means for accessing the inspection position ( 4 ) (denoted by reference numeral  278 ). The inspection position ( 4 ) is present on a water surface  286 . Thus, the inspection position ( 4 ) can be accessed by the unmanned flying object  214 . The unmanned flying object  214  cannot fly in a place where wind is strong. However, according to the surrounding environment information  109 , since wind is weak around the inspection position ( 4 ), the unmanned flying object  214  can fly. Thus, the unmanned flying object  214  is presented. 
     The bridge inspection ship  216  is presented as the access means for accessing the inspection position ( 5 ) (denoted by reference numeral  280 ). The inspection position ( 5 ) is presented on a water surface. Thus, the bridge inspection ship  216  is presented. 
     In a case where an under surface is the water surface  286  as in the case of the inspection positions ( 4 ) and ( 5 ), access by the unmanned flying object  214 , the bridge inspection ship  216 , and a floating scaffold is necessary. 
     As described so far, in the present embodiment, information for access by the access means for accessing the designated inspection position is presented based on the accessible range information  107  and the surrounding environment information  109 . Accordingly, effective access means corresponding to the surrounding environment can be presented to the user. 
     Third Embodiment 
     Next, a third embodiment will be described. In the present embodiment, an estimate of an inspection time is also presented in addition to the presentation of the access means. 
     [Required Unit Inspection Time Information] 
       FIG.  21    is a diagram illustrating the information and the like stored in the storage unit  16  of the present embodiment. Parts already described using  FIG.  3    will be designated by the same reference numerals and will not be described. 
     The storage unit  16  of the present embodiment mainly stores the three-dimensional model  101 , the image  103 , the damage information  105 , the accessible range information  107 , and required unit inspection time information  111 . 
     The required unit inspection time information  111  is information related to a time necessary for inspection. For example, the required unit inspection time information  111  has information related to a preparation time, a unit inspection time, and a withdrawal time of the access means. A required unit inspection time can be changed in accordance with a situation of the user. For example, the situation of the user is a skill level of the inspector for handling the access means. 
       FIG.  22    is a diagram illustrating an example of the required unit inspection time for each type of the access means. 
     In  FIG.  22   , information related to the preparation time, the unit inspection time, and the withdrawal time of the access means of each of “person”, “ladder”, “rope access”, “aerial work vehicle”, and “bridge inspection vehicle” is illustrated. 
     The information acquisition unit  51  acquires the required unit inspection time from the storage unit  16 . The information display unit  57  calculates at least one of a required time for each inspection position or a required time for performing inspection at all inspection positions based on the inspection position and the required unit inspection time information  111  and displays the calculated required time. 
     [Calculation of Inspection Time] 
     As will be illustrated below, the information display unit  57  calculates the required time with respect to the inspection position ( 1 ) to the inspection position ( 4 ) described using  FIGS.  16 A and  16 B  based on the required unit inspection time information  111  illustrated in  FIG.  22   . In  FIG.  22   , the preparation time, the unit inspection time, and the withdrawal time of the access means of each of “person”, “ladder”, “rope access”, “aerial work vehicle”, and “bridge inspection vehicle” are illustrated. 
     The information display unit  57  calculates an inspection time of the inspection position ( 1 ) as follows. 
       Inspection time of inspection position(1)=installation time of access means  A +unit inspection time of access means  A ×inspection area of deck slab+withdrawal time of access means  A  
 
     The information display unit  57  calculates an inspection time of the inspection position ( 2 ) as follows. 
       Inspection time of inspection position(2)=installation time of access means  B +unit inspection time of access means  B ×inspection area of upper portion of pier+withdrawal time of access means  B  
 
     The information display unit  57  calculates an inspection time of the inspection position ( 3 ) as follows. 
       Inspection time of inspection position(3)=installation time of access means  C +unit inspection time of access means  C ×inspection area of middle portion of pier+withdrawal time of access means  C  
 
     The information display unit  57  calculates an inspection time of the inspection position ( 4 ) as follows. 
       Inspection time of inspection position(4)=installation time of access means  D +unit inspection time of access means  D ×inspection area of lower portion of pier+withdrawal time of access means  D  
 
     Candidates of the access means A are rope access and the bridge inspection vehicle  207 . Candidates of the access means B are rope access and the bridge inspection vehicle  207 . Candidates of the access means C are rope access, the aerial work vehicle  203 , and the bridge inspection vehicle  207 . Candidates of the access means D are the ladder  213 , rope access, the aerial work vehicle  203 , and the bridge inspection vehicle  207 . The information display unit  57  calculates the inspection time of each inspection position based on the above equations describing the inspection times of the inspection position ( 1 ), the inspection position ( 2 ), the inspection position ( 3 ), and the inspection position ( 4 ) and the required unit inspection time information  111  illustrated in  FIG.  22   . 
     In addition, the information display unit  57  can calculate a total inspection time for performing inspection at all of the inspection positions ( 1 ) to ( 4 ). For example, the information display unit  57  can calculate the total inspection time for each combination of the candidates of the access means A to D and present a combination of the access means (access means A/access means B/access means C/access means D) having the shortest inspection time. In a case where the same access means is used at a plurality of the inspection positions, the preparation time and the withdrawal time are reduced, and the total inspection time is calculated. 
     As described so far, in the present embodiment, information about the inspection time corresponding to the access means can be provided to the user in addition to the presentation of the access means. Accordingly, the user can perceive the inspection time together with the access means. In addition, the user can select the access means based on the inspection time. 
     Fourth Embodiment 
     Next, a fourth embodiment will be described. In the present embodiment, an estimate of an inspection expense is also presented in addition to the presentation of the access means. 
     [Expense Information] 
       FIG.  23    is a diagram illustrating the information and the like stored in the storage unit  16  of the present embodiment. Parts already described using  FIG.  3    will be designated by the same reference numerals and will not be described. 
     The storage unit  16  of the present embodiment mainly stores the three-dimensional model  101 , the image  103 , the damage information  105 , the accessible range information  107 , and expense information  113 . Parts already described using  FIG.  3    will be designated by the same reference numerals and will not be described. 
     The expense information  113  is information related to an expense necessary for inspection. For example, the expense information  113  is composed of an inspection expense (visual inspection+tapping, imaging, traffic regulations, and the like), a rental expense, and a preparation (arrangement and the like) expense. The expense information  113  can be changed in accordance with the situation of the user. As the situation of the user, for example, the rental expense is set to 0 in a case where the user possesses the access means. 
     [Calculation of Inspection Expense] 
       FIG.  24    is a diagram illustrating an example of the expense information. As will be illustrated below, the information display unit  57  calculates the inspection expense with respect to the inspection position ( 1 ) to the inspection position ( 4 ) described using  FIGS.  16 A and  16 B  based on the expense information  113  illustrated in  FIG.  24   . In the expense information  113 , the inspection expense, the rental expense, and the preparation expense of the access means of each of “person”, “ladder”, “rope access”, “aerial work vehicle”, and “bridge inspection vehicle” are illustrated. 
     The information display unit  57  calculates an expense based on the inspection position and the expense information  113 . For example, the inspection expense is calculated for the inspection position ( 1 ) to the inspection position ( 4 ) described using  FIGS.  16 A and  16 B  as follows. 
     The information display unit  57  calculates the inspection expense of the inspection position ( 1 ) as follows. 
       Expense of inspection position(1)=inspection time of access means  A ×inspection expense of access means  A +rental expense of access means  A +preparation expense of access means  A  
 
     The information display unit  57  calculates the inspection expense of the inspection position ( 2 ) as follows. 
       Expense of inspection position(2)=inspection time of access means  B ×inspection expense of access means  B +rental expense of access means  B +preparation expense of access means  B  
 
     The information display unit  57  calculates the inspection expense of the inspection position ( 3 ) as follows. 
       Expense of inspection position(3)=inspection time of access means  C ×inspection expense of access means  C +rental expense of access means  C +preparation expense of access means  C  
 
     The information display unit  57  calculates the inspection expense of the inspection position ( 4 ) as follows. 
       Expense of inspection position(4)=inspection time of access means  D ×inspection expense of access means  D +rental expense of access means  D +preparation expense of access means  D  
 
     Candidates of the access means A are rope access and the bridge inspection vehicle  207 . Candidates of the access means B are rope access and the bridge inspection vehicle  207 . Candidates of the access means C are rope access, the aerial work vehicle  203 , and the bridge inspection vehicle  207 . Candidates of the access means D are the ladder  213 , rope access, the aerial work vehicle  203 , and the bridge inspection vehicle  207 . The information display unit  57  calculates the inspection expense of the inspection position ( 1 ), the inspection position ( 2 ), the inspection position ( 3 ) and the inspection position ( 4 ), based on the above equations and the expense information  113  illustrated in  FIG.  24   . 
     In addition, the information display unit  57  can calculate a total expense for performing inspection at all of the inspection positions ( 1 ) to ( 4 ). For example, the information display unit  57  calculates the total expense for each combination of the candidates of the access means A to D and presents a combination of the access means (access means A/access means B/access means C/access means D) having the lowest expense. In a case where the same access means is used at a plurality of the inspection positions, the rental expense and the preparation expense are reduced, and the total expense is calculated. 
     As described so far, in the present embodiment, information related to the inspection expense corresponding to the access means can be provided to the user in addition to the presentation of the access means. Accordingly, the user can perceive the inspection expense together with the access means. In addition, the user can select the access means based on the inspection expense. 
     Fifth Embodiment 
     Next, a fifth embodiment will be described. In the present embodiment, an imaging position for imaging the inspection position is presented. 
     [Imaging Condition] 
       FIG.  25    is a diagram illustrating the information and the like stored in the storage unit  16  of the present embodiment. Parts already described using  FIG.  3    will be designated by the same reference numerals and will not be described. 
     The storage unit  16  of the present embodiment mainly stores the three-dimensional model  101 , the image  103 , the damage information  105 , the accessible range information  107 , and an imaging condition  115 . 
     The imaging condition  115  is a condition for acquiring the captured image used for inspection. For example, the imaging condition  115  includes at least one of a subject resolution, a permissible tilt angle, or range information of a focal length. 
     [Calculation of Imaging Position] 
     The information acquisition unit  51  acquires the imaging condition  115  from the storage unit  16 . The information display unit  57  calculates the imaging position from the inspection position designated on the three-dimensional model, the accessible range information  107 , and the imaging condition  115 . Specifically, the information display unit  57  calculates and presents the imaging position for imaging the inspection position from the imaging condition  115 . Furthermore, the information display unit  57  presents access means for accessing the calculated imaging position. 
       FIG.  26    is a diagram for describing the presentation of the imaging position. 
     In  FIG.  26   , a three-dimensional model  300  of a bridge is illustrated, and an inspection position  302  and an inspection position  306  are designated on the three-dimensional model  300 . The information display unit  57  presents a candidate group  304  of the imaging position for the inspection position  302  and a candidate group  308  of the imaging position for the inspection position  306 . The imaging position with respect to the inspection position is not necessarily one part, and a candidate group of the imaging position is present. Accordingly, the information display unit  57  calculates and presents the candidate group for each inspection position. In the case illustrated in  FIG.  26   , while the imaging position is schematically illustrated by a point P, an imaging position candidate group has a continuously changing angle and/or distance and is continuously present. Specifically, the imaging position candidate group has a range of an imaging angle satisfying the imaging condition  115  in accordance with the permissible tilt angle. In addition, the imaging position candidate group has a range of an imaging distance satisfying the imaging condition (desired subject resolution)  115  in accordance with the range of the focal length. While the information display unit  57  presents the access means by which at least one in the calculated candidate group can be accessed, the presentation of the access means is omitted in the case illustrated in  FIG.  26   . 
     As described so far, in the present embodiment, the imaging position for imaging the inspection position and the access means for accessing the imaging position are presented. Accordingly, the user can easily perceive the imaging position and the access means for accessing the imaging position. 
     &lt;Example of Other Types of Access Means&gt; 
     In the embodiment, various types of the access means are employed in addition to the above access means to the inspection position. Hereinafter, examples of other types of the access means will be described. 
       FIG.  27    is a diagram illustrating a gondola vehicle that is an example of the access means. 
     A gondola vehicle  310  moves a gondola  310 B under a bridge  311  by moving a boom  310 A. The inspector can access the inspection position by moving the gondola  310 B of the gondola vehicle  310  in an up-down direction using wire. 
       FIG.  28    is a diagram illustrating the work range diagram that is an example of the accessible range information  107  of the gondola vehicle  310 . 
     A work range diagram  312  illustrates a work range of the gondola vehicle  310 . Specifically, the work range diagram  312  illustrates a reach range in the vertical direction and a work radius in the horizontal direction of the gondola  310 B of the gondola vehicle  310 . 
       FIG.  29    is a diagram illustrating a suspended robot that is an example of the access means. 
     A suspended robot  314  is installed in a part of a bridge  315  and is manually or automatically operated. The suspended robot  314  comprises a camera  314 A and can perform imaging close to the inspection position. 
       FIGS.  30 A and  30 B  are diagrams illustrating a pole camera that is an example of the access means. 
     A pole camera  317  illustrated in  FIG.  30 A  images an inspection position of a bridge  319  from the ground. By using the pole camera  317 , the inspector can acquire a captured image of the inspection position present in an upper portion of the bridge  319  using a camera  317 A. 
     The pole camera  317  illustrated in  FIG.  30 B  images the inspection position by directing the pole camera  317  downward from the bridge  319  to the inspection position of the bridge  319 . By directing the pole camera  317  downward, the inspector can acquire a captured image of an underside of the bridge  319  using the camera  317 A. 
     &lt;Other&gt; 
     In the above description, while the information acquisition unit  51  has been described with respect to a form of acquiring the information stored in the storage unit  16 , the present invention is not limited thereto. For example, in a case where necessary information is not stored in the storage unit  16 , the information acquisition unit  51  may acquire information from the outside via the input-output interface  12 . Specifically, the information acquisition unit  51  acquires information input via the input-output interface  12  from the outside of the inspection support device  10  of the structure. 
     In the embodiments, for example, a hardware structure of a processing unit executing various types of processing includes various processors illustrated below. The various processors include a central processing unit (CPU) that is a general-purpose processor functioning as various processing units by executing software (program), a programmable logic device (PLD) such as a field programmable gate array (FPGA) that is a processor having a circuit configuration changeable after manufacturing, and a dedicated electric circuit or the like such as an application specific integrated circuit (ASIC) that is a processor having a circuit configuration dedicatedly designed to execute a specific type of processing. 
     One processing unit may be composed of one of the various processors or may be composed of a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs or a combination of the CPU and the FPGA). In addition, a plurality of processing units may be composed of one processor. As an example in which the plurality of processing units are composed of one processor, first, as represented by a computer such as a client or a server, a form in which one processor is composed of a combination of one or more CPUs and software and the processor functions as the plurality of processing units is possible. Second, as represented by a system on chip (SoC) or the like, a form of using a processor that implements functions of the entire system including the plurality of processing units in one integrated circuit (IC) chip is possible. Accordingly, the various processing units are configured using one or more of the various processors as a hardware structure. 
     Furthermore, the hardware structure of the various processors is more specifically an electric circuit (circuitry) in which circuit elements such as semiconductor elements are combined. 
     Each configuration and the functions described above can be appropriately implemented by any hardware, software, or a combination of both thereof. For example, the present invention can also be applied to a program causing a computer to execute the above processing steps (processing procedures), a computer readable recording medium (non-transitory recording medium) on which the program is recorded, or a computer on which the program can be installed. 
     While the examples of the present invention have been described so far, the present invention is not limited to the embodiments and can obviously be subjected to various modifications without departing from the gist of the present invention. 
     EXPLANATION OF REFERENCES 
     
         
         
           
               10 : inspection support device 
               12 : input-output interface 
               16 : storage unit 
               18 : operating unit 
               20 : CPU 
               22 : RAM 
               24 : ROM 
               26 : display control unit 
               30 : display unit 
               51 : information acquisition unit 
               53 : three-dimensional model display unit 
               55 : designation receiving unit 
               57 : information display unit 
               101 : three-dimensional model 
               103 : image 
               105 : damage information 
               107 : accessible range information 
               109 : surrounding environment information 
               111 : required unit inspection time information 
               113 : expense information 
               115 : imaging condition 
               203 : aerial work vehicle 
               207 : bridge inspection vehicle 
               213 : ladder 
               214 : unmanned flying object 
               216 : bridge inspection ship 
               310 : gondola vehicle 
               314 : suspended robot 
               317 : pole camera