Inspection support system, inspection support device, inspection support method, and program

Abstract

To provide a technology capable of realizing improvement in inspection work efficiency and homogenization of inspection quality by an operator.SOLUTION: An inspection support system is provided which includes facility point cloud acquisition means for acquiring the facility point cloud representing an external appearance of the facility, inspection support information generating means for generating the inspection support information representing highlighting of the inspection point cloud corresponding to the visual inspection object among the facility point cloud, and output means for outputting the facility point cloud along with the inspection support information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an inspection support system, an inspection support device, an inspection support method, and a program.

Background Art

[0002] Patent Document 1 discloses detecting deformation of infrastructure facilities such as bridges and tunnels based on high-resolution images of the infrastructure facilities taken, determining the degree of progress of the detected deformation, calculating a priority based on the determination result, and changing and outputting for display the density of the color and the chroma of the color of the outer frame of the rectangular area covering the deformation according to the calculated priority.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the inventors of the present application have developed a method of generating a LiDAR point cloud showing the appearance of infrastructure facilities to be inspected using a LiDAR device (Light Detection And Ranging) and detecting obstacles in the infrastructure facilities by analyzing the LiDAR point cloud. However, there is a problem that not all obstacles can be detected only based on the analysis result of the above LiDAR point cloud. To solve this problem, it is required that workers perform visual inspections on site. Improving the efficiency of the inspection work by workers and equalizing the inspection quality have become urgent issues.

[0005] An object of the present disclosure is to provide a technology for improving the efficiency of inspection work by workers and equalizing the inspection quality.

Means for Solving the Problems

[0006] Equipment point cloud acquisition means for acquiring an equipment point cloud showing the appearance of the equipment, Inspection support information generation means for generating inspection support information indicating that a point cloud to be visually inspected corresponding to the equipment point cloud is highlighted, Output means for outputting the equipment point cloud to an information terminal together with the inspection support information, including, An inspection support system is provided.

[0007] Equipment point cloud acquisition means for acquiring an equipment point cloud showing the appearance of the equipment, Inspection support information generation means for generating inspection support information indicating that a point cloud to be visually inspected corresponding to the equipment point cloud is highlighted, Output means for outputting the equipment point cloud to an information terminal together with the inspection support information, including, An inspection support device is provided.

[0008] Acquire an equipment point cloud showing the appearance of the equipment, Generate inspection support information indicating that a point cloud to be visually inspected corresponding to the equipment point cloud is highlighted, Output the equipment point cloud to an information terminal together with the inspection support information, An inspection support method is provided.

Effect of the Invention

[0009] According to the present disclosure, it is possible to improve the efficiency of the inspection work by workers and to equalize the inspection quality.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

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Figure 9

[0011] (Summary of the Present Disclosure) Hereinafter, the summary of the present disclosure will be described. FIG. 1 is a block diagram of an inspection support system.

[0012] As shown in FIG. 1, the inspection support system 100 includes a facility point group acquisition means 101, an inspection support information generation means 102, and an output means 103.

[0013] The facility point group acquisition means 101 acquires a facility point group showing the appearance of a facility.

[0014] The inspection support information generation means 102 generates inspection support information indicating that a point group to be visually inspected among the facility point groups is highlighted.

[0015] The output means 103 outputs the facility point group to an information terminal together with the inspection support information.

[0016] According to the above configuration, by the operator browsing the facility point group in which a part is highlighted through the information terminal, the efficiency of the inspection work by the operator and the uniformity of the inspection quality are realized.

[0017] (Embodiment) Next, embodiments of the present disclosure will be described. FIG. 2 is a block diagram of the inspection support system 1. As shown in FIG. 2, the inspection support system 1 includes a LiDAR device 3 that measures the distance of the infrastructure facility 2, an inspection support device 4, and an information terminal 5.

[0018] The infrastructure facility 2 is typically a substation, a factory, or a data center.

[0019] The LiDAR device 3 is a specific example of sensing means for sensing the infrastructure facility 2 and generating a facility point cloud. The LiDAR device 3 of the present embodiment is a direct ToF (Time of Flight) method. That is, the LiDAR device 3 emits laser light toward the infrastructure facility 2 and measures the time required until the reflected light is received, thereby generating a point cloud of the appearance of the infrastructure facility 2. However, instead of this, the LiDAR device 3 may be an FMCW (Frequency Modulated Continuous Wave) method that generates the above point cloud based on the frequency difference between the laser light emitted toward the infrastructure facility 2 and the reflected light thereof. Further, the LiDAR device 3 may be an indirect ToF method that generates the above point cloud based on the phase difference between the laser light emitted toward the infrastructure facility 2 and the reflected light thereof. The LiDAR device 3 outputs the generated facility point cloud to the inspection support device 4.

[0020] Note that the sensing means is not limited to the LiDAR device. Any device can be adopted as the sensing means as long as it can sense the infrastructure facility 2. For example, the sensing means may be configured to generate a point cloud by a Radar device (Radio Detection And Ranging), an ultrasonic sensor, a stereo camera, or a combination thereof. Further, the sensing means may be configured to generate a point cloud from a plurality of two-dimensional images obtained by imaging the infrastructure facility 2 by SfM (Structure from Motion).

[0021] The inspection support device 4 is a specific example of an inspection support system and an inspection support device. FIG. 3 shows a block diagram of the inspection support device 4. As shown in FIG. 4, the inspection support device 4 includes a facility point cloud acquisition unit 10, a facility point cloud storage unit 11, an inspection support information generation unit 12, an inspection support information storage unit 13, an inspection support database storage unit 14, a deformation detection unit 15, a point cloud reduction unit 16, and an output unit 17.

[0022] The facility point cloud acquisition unit 10 acquires a facility point cloud showing the appearance of the infrastructure facility 2 from the LiDAR device 3. The facility point cloud acquisition unit 10 stores the acquired facility point cloud in the facility point cloud storage unit 11. FIG. 4 shows the data structure of the facility point cloud. As shown in FIG. 4, the facility point cloud is composed of a plurality of distance measurement point data. Each distance measurement point data is composed of a distance measurement point No. and coordinate data.

[0023] The facility point cloud acquisition unit 10 may complement the facility point cloud based on the design drawing of the infrastructure facility 2. For example, when the facility point cloud acquisition unit 10 cannot acquire a part of the facility point cloud due to a defect of the LiDAR device 3, the unacquired part can be complemented based on the design drawing of the infrastructure facility 2.

[0024] Returning to FIG. 3, the inspection support information generation unit 12 generates inspection support information 30. The inspection support information 30 is information aimed at realizing the efficiency improvement of the inspection work by the worker and the uniformity of the inspection quality when the worker performs a visual inspection work on the infrastructure facility 2.

[0025] The inspection support information generation unit 12 includes a component recognition unit 20, an inspection point cloud determination unit 21, a display mode determination unit 22, a highlighted display information generation unit 23, and an additional support information generation unit 24.

[0026] The inspection support information storage unit 13 stores the inspection support information 30. The inspection support information 30 includes highlighted display information 31 and additional support information 32.

[0027] The inspection support database storage unit 14 includes an inspection support database 40. FIG. 5 is a data structure diagram of the inspection support database 40.

[0028] The deformation detection unit 15 detects the deformation of the infrastructure facility 2 based on the facility point cloud.

[0029] The inspection reduction unit 16 downsamples the facility point cloud stored in the facility point cloud storage unit 11. Thereby, the data volume of the facility point cloud can be suppressed.

[0030] The output unit 17 outputs the facility point cloud to the information terminal 5 together with the inspection support information 30. Further, the output unit 17 may output the detection result of the deformation by the deformation detection unit 15 to the information terminal 5. Instead of outputting the facility point cloud to the information terminal 5, the output unit 17 may output the facility point cloud thinned by the point cloud reduction unit 16 to the information terminal 5.

[0031] Hereinafter, the inspection support information generation unit 12, the inspection support information storage unit 13, and the inspection support database storage unit 14 will be described in detail.

[0032] The component recognition unit 20 uses a component detection model trained to output the classification of components when a point cloud is input, and detects a plurality of components from the facility point cloud stored in the facility point cloud storage unit 11. As shown in FIG. 4, the component recognition unit 20 associates a part number with each of the plurality of distance measurement points constituting the facility point cloud based on the detection result of the component detection model.

[0033] The inspection point group determination unit 21 refers to the inspection support database 40 shown in FIG. 5 and determines an inspection point group corresponding to the inspection targets visually inspected by the operator among the facility point groups. The inspection support database 40 shown in FIG. 5 is a database indicating the inspection importance and inspection priority for each part. The inspection support database 40 is typically a database created by the operator based on the past inspection results of the operator. The inspection importance is an index indicating whether visual inspection is essential. The inspection importance is typically expressed by an importance level of "1" or "0". A part with an inspection importance of "1" is a part for which visual inspection is essential. A part with an inspection importance of "0" is a part for which visual inspection is not essential. The inspection priority is an index indicating the priority of visual inspection. The inspection priority is typically expressed by a priority level of 1-5. The higher the inspection priority, the more it can be said that the part should be inspected visually prior to other parts. Since the inspection importance and the inspection priority are different indices from each other in this way, there is no particular correlation between the two as shown in FIG. 5. The inspection point group determination unit 21 refers to the inspection support database 40 in FIG. 5 and extracts a point group corresponding to a part with an inspection importance of 1 or an inspection priority of 1 or higher as the inspection point group. That is, the inspection point group determination unit 21 determines the inspection targets in units of parts constituting the infrastructure facility 2. Further, the inspection point group determination unit 21 determines the inspection point group according to the inspection importance and inspection priority shown in FIG. 5. As shown in FIG. 4, the inspection point group determination unit 21 associates a corresponding inspection demand degree and inspection priority with each of a plurality of distance measurement points constituting the facility point group. In FIG. 4, the distance measurement points No. 193458 - 193460 and the distance measurement points No. 84736 - 84738 correspond to the above inspection point group. This is because the inspection importance corresponding to these distance measurement points is 1 or the inspection priority corresponding to these distance measurement points is 1 or higher.

[0034] As parts with an inspection importance level of 1, examples include parts that are prone to deterioration and parts that have a significant impact on daily life in the event of a failure. Also, as examples of parts with a high inspection priority, there are parts where water tends to accumulate due to the intersection of steel materials and parts where screws are likely to loosen. Note that in this embodiment, inspection point groups are extracted in units of parts, but alternatively, inspection point groups may be extracted for each smaller part.

[0035] The display mode determination unit 22 determines the display mode of the inspection point group determined by the inspection point group determination unit 21. Specifically, the display mode determination unit 22 determines the display mode for each of the plurality of distance measurement points that make up the inspection point group. At this time, the display mode determination unit 22 determines the display mode according to the inspection importance level and inspection priority corresponding to the distance measurement point. The display mode is composed of at least any one of the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval when the image of the corresponding distance measurement point is output. In this embodiment, the display mode is composed of the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval when the image of the corresponding distance measurement point is output. As shown in FIG. 4, the display mode determination unit 22 associates the display mode determined for each of the plurality of distance measurement points that make up the inspection point group with the distance measurement point. As shown in FIG. 4, the display modes of the plurality of distance measurement points that make up the inspection point group are different from the display modes of the plurality of distance measurement points that do not make up the inspection point group. Thereby, when the inspection point group is output as an image, the inspection point group is highlighted.

[0036] The highlighting information generation unit 23 generates highlighting information 31, which is information indicating the display mode of the inspection point group. The highlighting information 31 is typically information associating the distance measurement point No. of the inspection point group shown in FIG. 4 with the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval. The highlighting information generation unit 23 stores the generated highlighting information 31 in the inspection support information storage unit 13 as a part of the inspection support information 30.

[0037] The additional support information generation unit 24 generates additional support information 32 for supporting the visual inspection work of the worker with character information. The additional support information generation unit 24 typically generates additional support information 32 according to the environmental conditions of the infrastructure facility 2 based on the map information. The additional support information 32 is, for example, character information composed of a character string such as "Please pay attention to the occurrence of salt damage" when the infrastructure facility 2 is located near the coastline. The additional support information generation unit 24 stores the generated additional support information 32 in the inspection support information storage unit 13 as part of the inspection support information 30.

[0038] The point cloud reduction unit 16 thins out the point cloud other than the inspection point cloud among the facility point clouds. Thereby, the data volume of the facility point cloud can be reduced.

[0039] The output unit 17 outputs the facility point cloud thinned out by the inspection reduction unit 16 to the information terminal 5 together with the inspection support information 30.

[0040] The information terminal 5 is an information terminal carried by the inspector during the inspection. The information terminal 5 is typically a smartphone, a tablet terminal, a head-mounted display, or smart glasses. FIG. 6 is a block diagram of the information terminal 5. Hereinafter, the information terminal 5 will be described on the premise that the information terminal 5 is a smartphone. As shown in FIG. 6, the information terminal 5 includes a facility point cloud acquisition unit 60, an inspection support information acquisition unit 61, and an image output unit 62.

[0041] The facility point cloud acquisition unit 60 acquires the facility point cloud from the inspection support device 4.

[0042] The inspection support information acquisition unit 61 acquires the inspection support information 30 from the inspection support device 4.

[0043] The image output unit 62 outputs the facility point cloud as an image to the LCD 63 (Liquid Crystal Display). The image output unit 62 highlights a part of the facility point cloud according to the highlighting information 31 of the inspection support information 30. The image output unit 62 outputs the additional support information 32 of the inspection support information 30 as an image together with the facility point cloud. The image output unit 62 may control the pan and tilt of the viewpoint when outputting the facility point cloud three-dimensionally to the LCD 63 according to the operation by the worker.

[0044] Next, with reference to FIG. 7, the control flow of the inspection support device 4 will be described.

[0045] First, the facility point cloud acquisition unit 10 acquires a facility point cloud indicating the appearance of the facility (S100). Next, the inspection support information generation unit 12 generates inspection support information 30 indicating that a part of the facility point cloud corresponding to the visually inspected object is to be highlighted (S110). Then, the output unit 17 outputs the facility point cloud to the information terminal 5 together with the inspection support information 30. As a result, by the worker viewing the facility point cloud with a part highlighted through the information terminal 5, the inspection locations that require visual inspection are clearly visible, and the priority order of the visual inspection work is also clearly visible. As a result, the efficiency of the inspection work by the worker and the uniformity of the inspection quality are realized.

[0046] The embodiments of the present disclosure have been described above. The above embodiments have the following features.

[0047] The inspection support device 4 is a specific example of an inspection support system. The inspection support device 4 includes a facility point cloud acquisition unit 10, an inspection support information generation unit 12, and an output unit 17. The facility point cloud acquisition unit 10 acquires a facility point cloud indicating the appearance of the infrastructure facility 2 (facility). The inspection support information generation unit 12 generates inspection support information 30 indicating that a part of the facility point cloud corresponding to the visually inspected object is to be highlighted. The output unit 17 outputs the facility point cloud to the information terminal 5 together with the inspection support information 30. According to the above configuration, by the worker viewing the facility point cloud with a part highlighted through the information terminal 5, the efficiency of the inspection work by the worker and the uniformity of the inspection quality are realized.

[0048] The inspection support information generation unit 12 determines an inspection point group according to the inspection importance or inspection priority. According to the above configuration, the inspection support information generation unit 12 can rationally determine the inspection point group.

[0049] In addition, the inspection support information generation unit 12 determines an inspection point group in units of components that make up the infrastructure facility 2. According to the above configuration, the inspection support information generation unit 12 can determine the inspection point group in units of components.

[0050] In addition, highlighting the inspection point group means that the display mode when outputting the images of a plurality of distance measurement points that make up the inspection point group is different from the display mode when outputting the images of other distance measurement points. According to the above configuration, it is easy for the operator to recognize the inspection point group.

[0051] In addition, the display mode is constituted by at least any one of the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval when outputting the image of the corresponding distance measurement point. According to the above configuration, it is easy for the operator to recognize the inspection point group.

[0052] In addition, the facility point group acquisition unit 10 complements the facility point group based on the design drawing of the infrastructure facility 2. According to the above configuration, the facility point group acquisition unit 10 can complement the missing part of the facility point group. For example, for facilities such as transmission towers, it is necessary to mount a LiDAR device on a helicopter or drone for distance measurement, so it may not be possible to obtain a sufficient point group. In such a case, the facility point group acquisition unit 10 can generate a point group of the facility based on the design drawing of the facility and appropriately complement the facility point group using this point group.

[0053] In addition, the inspection support device 4 further includes a point group reduction unit 16 that downsamples the point group other than the inspection point group among the facility point groups. The point group reduction unit 16 is a specific example of point group reduction means. The output unit 17 outputs the facility point group thinned out by the point group reduction unit 16 to the information terminal 5 together with the inspection support information 30. According to the above configuration, the data amount of the facility point group can be reduced.

[0054] The present disclosure has been described with reference to the embodiments, but the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure.

[0055] For example, the information terminal 5 may display the inspection point group using AR (Augmented Reality) technology, VR (Virtual Reality), or MR (Mixed Reality). That is, when the information terminal 5 outputs the inspection point group by AR technology, the inspection point group is superimposed and displayed on the captured image of the infrastructure facility 2 captured by the camera provided in the information terminal 5.

[0056] Next, the hardware configurations of the inspection support device 4 and the information terminal 5 will be described. In the inspection support device 4 and the information terminal 5, the facility point group acquisition unit 10, the inspection support information generation unit 12, the abnormality detection unit 15, the point group reduction unit 16, the output unit 17, the facility point group acquisition unit 60, the inspection support information acquisition unit 61, and the image output unit 62 are realized by a processing circuit. In the inspection support device 4, the inspection support information storage unit 13 and the inspection support database storage unit 14 are realized by a storage circuit. The processing circuit may be a processor and a memory that execute a program stored in the memory, or may be dedicated hardware.

[0057] FIG. 8 is a diagram showing an example in the case where the processing circuits included in the inspection support device 4 and the information terminal 5 are configured by a processor and a memory. When the processing circuit is configured by a processor 1000 and a memory 1001, each function of the processing circuits of the inspection support device 4 and the information terminal 5 is realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 1001. In the processing circuit, the processor 1000 reads and executes the program stored in the memory 1001, thereby realizing each function. That is, the processing circuit includes a memory 1001 for storing a program that will ultimately execute the processing of the inspection support device 4 and the information terminal 5. Also, these programs can be said to cause a computer to execute the procedures and methods of the inspection support device 4 and the information terminal 5.

[0058] Here, the processor 1000 may be, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). Also, the memory 1001 includes, for example, non-volatile or volatile semiconductor memories such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), magnetic disks, flexible disks, optical disks, compact disks, mini disks, or DVDs (Digital Versatile Discs).

[0059] FIG. 9 is a diagram showing an example in the case where the processing circuits included in the inspection support device 4 and the information terminal 5 are configured by dedicated hardware. When the processing circuit is configured by dedicated hardware, the processing circuit 1002 shown in FIG. 9 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the inspection support device 4 and the information terminal 5 may be realized by the processing circuit 1002 according to the function, or each function may be realized by the processing circuit 1002 collectively.

[0060] Note that, regarding each function of the inspection support device 4 and the information terminal 5, part of the function may be realized by dedicated hardware, and part of the function may be realized by software or firmware. In this way, the processing circuit can realize the above-described respective functions by dedicated hardware, software, firmware, or a combination thereof.

[0061] Each drawing is merely an illustration for explaining one or more embodiments. Each drawing is not associated with only one specific embodiment, but may be associated with one or more other embodiments. As can be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create an embodiment that is not explicitly illustrated or described. Not all of the features or steps shown in any one drawing for explaining an exemplary embodiment are necessarily essential, and some features or steps may be omitted. The order of the steps described in any drawing may be changed as appropriate.

[0062] Some or all of the above embodiments may be described as follows in the appended claims, but are not limited thereto. (Appended Claim 1) equipment point group acquisition means for acquiring an equipment point group indicating the appearance of the equipment; Inspection support information generation means for generating inspection support information indicating that inspection points corresponding to visually inspected objects among the equipment point groups are highlighted; Output means for outputting the equipment point groups to an information terminal together with the inspection support information; Including An inspection support system. (Appendix 2) The inspection support information generation means determines the inspection point groups according to inspection importance or inspection priority. The inspection support system according to Appendix 1. (Appendix 3) The inspection support information generation means determines the inspection point groups in units of components constituting the equipment. The inspection support system according to Appendix 1. (Appendix 4) Highlighting the inspection point groups means that the display mode when outputting images of a plurality of distance measurement points constituting the inspection point groups is different from the display mode when outputting images of other distance measurement points. The inspection support system according to Appendix 1. (Appendix 5) The display mode is constituted by at least any one of the display size, hue, lightness, saturation, presence or absence of blinking, and blinking interval when outputting an image of the corresponding distance measurement point. The inspection support system according to Appendix 4. (Appendix 6) The equipment point group acquisition means complements the equipment point groups based on the design drawings of the equipment. The inspection support system according to Appendix 1. (Appendix 7) Further including point group reduction means for thinning out point groups other than the inspection point groups among the equipment point groups; The output means outputs the equipment point groups thinned out by the point group reduction means to the information terminal together with the inspection support information. The inspection support system according to Appendix 1. (Appendix 8) Equipment point group acquisition means for acquiring equipment point groups indicating the appearance of the equipment; Inspection support information generation means for generating inspection support information indicating that inspection points corresponding to visually inspected objects among the equipment point groups are highlighted; Output means for outputting the equipment point groups to an information terminal together with the inspection support information; Including Inspection support device. (Appendix 9) Obtain equipment point groups showing the appearance of the equipment, Generate inspection support information indicating that inspection points corresponding to visually inspected objects among the equipment point groups are highlighted, Output the equipment point groups to an information terminal together with the inspection support information, Inspection support method. (Appendix 10) On a computer, A program for causing the inspection support method described in Appendix 9 to be executed.

Explanation of reference numerals

[0063] 1 Inspection support system 2 Infrastructure equipment 3 LiDAR device 4 Inspection support device 5 Information terminal 10 Equipment point group acquisition unit 11 Equipment point group storage unit 12 Inspection support information generation unit 13 Inspection support information storage unit 14 Inspection support database storage unit 15 Deformation detection unit 16 Point group reduction unit 17 Output unit 20 Component recognition unit 21 Inspection point group determination unit 22 Display mode determination unit 23 Highlight information generation unit 24 Additional support information generation unit 30 Inspection support information 31 Highlight information 32 Additional support information 40 Inspection support database 60 Equipment point group acquisition unit 61 Inspection Support Information Acquisition Unit 62 Image Output Unit 63 LCD

Claims

1. Equipment point cloud acquisition means for acquiring an equipment point cloud indicating the appearance of the equipment, Inspection support information generation means for generating inspection support information indicating to highlight an inspection point cloud corresponding to an object to be visually inspected among the equipment point clouds, Output means for outputting the equipment point cloud to an information terminal together with the inspection support information, Including, An inspection support system.

2. The inspection support information generation means determines the inspection point cloud according to the inspection importance or inspection priority, The inspection support system according to Claim 1.

3. The inspection support information generation means determines the inspection point cloud in units of parts constituting the equipment, The inspection support system according to Claim 1.

4. Highlighting the inspection point cloud means that the display mode when outputting the images of a plurality of distance measurement points constituting the inspection point cloud is different from the display mode when outputting the images of other distance measurement points, The inspection support system according to Claim 1.

5. The display mode is constituted by at least any one of the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval when outputting the image of the corresponding distance measurement point, The inspection support system according to Claim 4.

6. The equipment point cloud acquisition means complements the equipment point cloud based on the design drawing of the equipment, The inspection support system according to Claim 1.

7. Further including point cloud reduction means for thinning out point clouds other than the inspection point cloud among the equipment point clouds, The output means outputs the equipment point cloud thinned out by the point cloud reduction means to the information terminal together with the inspection support information, The inspection support system according to Claim 1.

8. Equipment point cloud acquisition means for acquiring an equipment point cloud indicating the appearance of the equipment, Inspection support information generation means for generating inspection support information indicating to highlight an inspection point cloud corresponding to an object to be visually inspected among the equipment point clouds, Output means for outputting the equipment point cloud to an information terminal together with the inspection support information, Including, An inspection support device.

9. Acquire an equipment point cloud indicating the appearance of the equipment, Generate inspection support information indicating to highlight an inspection point cloud corresponding to an object to be visually inspected among the equipment point clouds, Output the equipment point cloud to an information terminal together with the inspection support information, An inspection support method.

10. A program for causing a computer to execute the inspection support method according to Claim 9. ​

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