An inspection device for inspecting a structure, comprising a robot body; a robot-movement control unit adapted to control the movement of the robot body; an accessory portion (200, 201) that is attached to the robot body; and an accessory portion-movement control unit adapted to control the movement of the accessory portion (200, 201) with respect to the robot body, wherein the accessory portion (200, 201) includes an inspection data sensing section that inspects the structure, a spatial information recording unit including first spatial information including 3-dimensional information about an area, in which the movement of the robot body to be self-propelled with respect to a structure is supposed and which is associated with the structure, the area in which the movement of the robot body to be self-propelled with respect to the structure is supposed being the entire area of a bridge; an inspection plan recording unit including a movement plan for the inspection device; a spatial information acquisition section that is mounted on the robot body and is adapted to acquire second spatial information about a peripheral area of the inspection device with the movement of the inspection device; and a spatial information updating unit adapted to update the first spatial information recorded in the spatial information recording unit with the second spatial information, which is more detailed spatial information than the first spatial information, acquired by the spatial information acquisition section, wherein the first spatial information recorded in the spatial information recording unit is used in a case in which the inspection device is moved with respect to the structure, characterized in that the inspection device is further comprising: an inspection plan-implementation control unit that determines whether or not the robot body is in an inspection position and a robot shape is in an inspection posture, and wherein the inspection data sensing section acquires inspection data in a case in which the robot body is in the inspection position and the robot shape is in the inspection posture. a robot-movement control unit adapted to control the movement of the robot body; an accessory portion (200, 201) that is attached to the robot body; and an accessory portion-movement control unit adapted to control the movement of the accessory portion (200, 201) with respect to the robot body, wherein the accessory portion (200, 201) includes an inspection data sensing section that inspects the structure, a spatial information recording unit including first spatial information including 3-dimensional information about an area, in which the movement of the robot body to be self-propelled with respect to a structure is supposed and which is associated with the structure, the area in which the movement of the robot body to be self-propelled with respect to the structure is supposed being the entire area of a bridge; an inspection plan recording unit including a movement plan for the inspection device; a spatial information acquisition section that is mounted on the robot body and is adapted to acquire second spatial information about a peripheral area of the inspection device with the movement of the inspection device; and a spatial information updating unit adapted to update the first spatial information recorded in the spatial information recording unit with the second spatial information, which is more detailed spatial information than the first spatial information, acquired by the spatial information acquisition section, wherein the first spatial information recorded in the spatial information recording unit is used in a case in which the inspection device is moved with respect to the structure, characterized in that the inspection device is further comprising: an inspection plan-implementation control unit that determines whether or not the robot body is in an inspection position and a robot shape is in an inspection posture, and wherein the inspection data sensing section acquires inspection data in a case in which the robot body is in the inspection position and the robot shape is in the inspection posture. an inspection plan-implementation control unit that determines whether or not the robot body is in an inspection position and a robot shape is in an inspection posture, and wherein the inspection data sensing section acquires inspection data in a case in which the robot body is in the inspection position and the robot shape is in the inspection posture.