Structure survey support device, structure survey support method, and program

Abstract

To provide a structure investigation support device, a structure investigation support method, and a program by which candidates of access means to an investigation position on a structure can be presented clearly.SOLUTION: A structure investigation support device includes a processor (20). The processor (20) acquires a three-dimensional model of a structure to be investigated and accessible range information of a plurality of types of access means for accessing an investigation position on the structure, displays the three-dimensional model on a display unit, receives designation of the investigation position in the displayed three-dimensional model, and displays, on the display unit, information on at least one type of the access means for accessing the investigation position on the basis of the received investigation position and the accessible range information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a structure inspection support device, a structure inspection support method, and a program. [Background technology]

[0002] 2. Description of the Related Art Survey support techniques have been proposed to support surveyors when surveying structures.

[0003] For example, Patent Document 1 proposes a technique for photographing a structure, detecting defects from the photographed image, and simply and accurately calculating the cost of repairing the defects.

[0004] In this case, damage may be discovered when screening is carried out by an investigator performing a visual inspection from a distance or by taking rough images of the entire structure using a drone (unmanned aerial vehicle), and a detailed inspection may be required up close to the discovered damage. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2002-222281 A Summary of the Invention [Problem to be solved by the invention]

[0006] There are many ways to access a structure to be surveyed. Therefore, it is difficult for surveyors to know which means will enable them to access the desired survey location, and it is not easy to design the access means.

[0007] The present invention has been made in consideration of the above circumstances, and its purpose is to provide a structure inspection support device, a structure inspection support method, and a program that clearly present candidate access means to the inspection location of a structure. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, one aspect of the present invention is a structure survey support device that is equipped with a processor, which acquires a 3D model of the structure to be surveyed and access range information of multiple types of access means for accessing the survey location of the structure, displays the 3D model on a display unit, accepts a designation of a survey location for the displayed 3D model, and displays, on the display unit, information on one or more types of access means for accessing the survey location based on the accepted survey location and access range information.

[0009] Preferably, the structure survey support device includes a memory for storing the three-dimensional model and the accessible range information, and the processor acquires the three-dimensional model and the accessible range information from the memory.

[0010] Preferably, the memory stores an image of the structure associated with the three-dimensional model, and the processor detects damage from the image and automatically accepts designation of an investigation position based on the detected damage.

[0011] Preferably, the memory stores damage information associated with the three-dimensional model, and the processor displays the damage information on the three-dimensional model.

[0012] Preferably, the processor acquires surrounding environment information indicating the environment surrounding the structure, and displays information on an access means for accessing the survey position based on the surrounding environment information, the survey position, and the accessible range information.

[0013] Preferably, the structure inspection support device includes a memory for storing the surrounding environment information, and the processor acquires the surrounding environment information from the memory.

[0014] Preferably, the processor obtains unit survey time required information indicating the time required for a survey for each access means, and when displaying information on the access means, displays the unit survey time required information corresponding to the information on the access means to be displayed.

[0015] Preferably, the structure inspection support device includes a memory for storing the unit inspection time required information, and the processor acquires the unit inspection time required information from the memory.

[0016] Preferably, the processor calculates at least one of the required time for each survey location and the required time for surveying all survey locations based on the survey locations and the unit survey time required information, and displays the calculated required time.

[0017] Preferably, the processor obtains cost information indicating the cost required for the investigation for each access means, and when displaying the information on the access means, displays the cost information corresponding to the information on the access means to be displayed.

[0018] Preferably, the structure inspection support device includes a memory for storing the cost information, and the processor acquires the cost information from the memory.

[0019] Preferably, the processor calculates at least one of a search cost for each search location and a search cost for searching all the search locations based on the search locations and the cost information, and displays the calculated search costs.

[0020] Preferably, the survey location is a location where the structure is visually or sounded.

[0021] Preferably, the survey position is a photographing target position indicating the range of the structure to be photographed.

[0022] Preferably, the processor acquires imaging conditions for photographing the structure, acquires an imaging position based on the survey position and the imaging conditions, and displays information on an access means for the imaging position.

[0023] Preferably, the structure inspection support device includes a memory for storing the photographing conditions, and the processor acquires the photographing conditions from the memory.

[0024] Preferably, the processor displays the image capture position.

[0025] Another aspect of the present invention is a method for supporting surveying structures, which uses a structure survey support device equipped with a processor, and includes the steps of acquiring a 3D model of the structure to be surveyed by the processor and access range information of multiple types of access means for accessing the survey location of the structure, displaying the 3D model on a display unit, accepting a designation of a survey location for the displayed 3D model, and displaying on the display unit information on one or more types of access means for accessing the survey location based on the accepted survey location and access range information.

[0026] Another aspect of the present invention is a program that causes a structure investigation support device having a processor to execute a structure investigation support method, and causes the processor to execute the following steps: acquiring a 3D model of the structure to be investigated and access range information of multiple types of access means for accessing the investigation location of the structure; displaying the 3D model on a display unit; accepting a designation of an investigation location for the displayed 3D model; and displaying information on one or more types of access means for accessing the investigation location on the display unit based on the accepted investigation location and access range information. Effect of the Invention

[0027] According to the present invention, information on one or more access means for accessing the search location is presented based on the specified search location and accessible range information, so that the user can easily design the access means. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a block diagram showing an example of a hardware configuration of a structure inspection support device. [Diagram 2] FIG. 2 is a block diagram showing the processing functions realized by the CPU. [Diagram 3] FIG. 3 is a diagram showing information etc. stored in the storage unit. [Figure 4] FIG. 4 is a flow diagram showing a structure inspection support method using the structure inspection support device. [Diagram 5] FIG. 5 is a diagram for explaining a specific example of the three-dimensional model display step and the designation receiving step. [Figure 6] FIG. 6 is a diagram for explaining a specific example of the three-dimensional model display step and the designation receiving step. [Figure 7] FIG. 7 is a diagram for explaining a specific example of the three-dimensional model display step and the designation receiving step. [Figure 8] FIG. 8 is a diagram for explaining a specific example of the three-dimensional model display step and the designation receiving step. [Figure 9] FIG. 9 is a diagram showing an aerial work vehicle as an example of an access means. [Figure 10] FIG. 10 is a diagram showing a work range map, which is an example of accessible range information. [Figure 11] FIG. 11 is a diagram showing a bridge inspection vehicle, which is an example of an access means. [Figure 12] FIG. 12 is a diagram showing a work range map, which is an example of accessible range information. [Figure 13] FIG. 13 is a diagram showing a work range map, which is an example of accessible range information. [Figure 14] FIG. 14 is a diagram illustrating rope access, which is an example of an access means. [Figure 15] FIG. 15 is a diagram showing a ladder as an example of an access means. [Figure 16] FIG. 16 is a diagram showing an example of a display of information on access means. [Figure 17] FIG. 17 is a diagram showing information etc. stored in the storage unit. [Figure 18] FIG. 18 is a conceptual diagram showing an unmanned aerial vehicle (drone) as an example of an access means. [Figure 19] FIG. 19 is a conceptual diagram showing a bridge inspection vessel, which is an example of an access means. [Figure 20] FIG. 20 is a diagram showing an example of a display of access means information. [Figure 21] FIG. 21 is a diagram showing information etc. stored in the storage unit. [Figure 22] FIG. 22 is a diagram showing an example of a unit survey required time. [Diagram 23] FIG. 23 is a diagram showing information etc. stored in the storage unit. [Figure 24] FIG. 24 is a diagram illustrating an example of the cost information. [Diagram 25] FIG. 25 is a diagram showing information etc. stored in the storage unit. [Figure 26] FIG. 26 is a diagram for explaining the presentation of the shooting position. [Figure 27] FIG. 27 is a diagram showing a gondola car as an example of an access means. [Figure 28] FIG. 28 is a diagram showing a work range map, which is an example of accessible range information. [Figure 29] FIG. 29 is a diagram showing a suspended robot as an example of an access means. [Diagram 30] FIG. 30 is a diagram showing a pole camera as an example of an access means. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a structure inspection support device, a structure inspection support method, and a program according to the present invention will now be described with reference to the accompanying drawings.

[0030] <First embodiment> [Hardware configuration of the structural inspection support device] FIG. 1 is a block diagram showing an example of a hardware configuration of a structure inspection support device according to the present invention.

[0031] A computer or a workstation can be used as the structure investigation support device 10 shown in Fig. 1. The structure investigation support device 10 in this example is mainly composed of an input / output interface 12, a storage unit 16, an operation unit 18, a CPU (Central Processing Unit) 20, a RAM (Random Access Memory) 22, a ROM (Read Only Memory) 24, and a display control unit 26. A display unit 30 is connected to the structure investigation support device 10, and display is performed on the display unit 30 under the control of the display control unit 26 under the command of the CPU 20. The display unit 30 is composed of, for example, a monitor.

[0032] The input / output interface 12 can input various data (information) to the structure investigation support device 10. For example, data to be stored in a storage unit 16, which will be described later, is input via the input / output interface 12.

[0033] The CPU (processor) 20 reads out various programs stored in the storage unit 16 or the ROM 24, etc., expands them in the RAM 22, performs calculations, and generally controls each unit. The CPU 20 also reads out programs stored in the storage unit 16 and the ROM 24, performs calculations using the RAM 22, and performs various processes of the structure investigation support device 10.

[0034] FIG. 2 is a block diagram showing the processing functions realized by the CPU 20. As shown in FIG.

[0035] The CPU 20 has an information acquisition unit 51, a three-dimensional model display unit 53, a designation receiving unit 55, and an information display unit 57. The specific processing functions of each unit will be described later.

[0036] Returning to Fig. 1, the storage unit (memory) 16 is a memory configured from a hard disk device, a flash memory, etc. The storage unit 16 stores data and programs for operating the structure investigation support device 10, such as an operating system and a program for executing a structure investigation support method. The storage unit 16 also stores information, etc., used in the present embodiment described below.

[0037] FIG. 3 is a diagram showing information stored in the storage unit 16. As shown in FIG.

[0038] The storage unit 16 mainly stores a three-dimensional model 101 , an image 103 , damage information 105 , and accessible range information 107 .

[0039] The three-dimensional model 101 is a model showing a structure to be surveyed. Here, the three-dimensional model 101 is not particularly limited as long as it is three-dimensional information showing the shape of the structure to be surveyed. For example, the three-dimensional model 101 is a three-dimensional CAD (computer-aided design) showing the structure, a point cloud model, a texture model, a solid model, or the like. Note that the structure includes buildings, such as civil engineering structures such as bridges, tunnels, and dams, as well as buildings, houses, and architectural structures such as walls, columns, and beams of buildings.

[0040] Image 103 is an image of a structure associated with 3D model 101. For example, image 103 is a photographed image of a structure to be surveyed, and is pasted as a texture onto the surface of the structure represented by 3D model 101. Note that, if there is damage to the structure, the damage is captured in image 103, and the damage can be detected from image 103.

[0041] Damage information 105 is information about damage associated with three-dimensional model 101. For example, damage information 105 is information about damage that the structure being investigated has. For example, damage information 105 is a damage model that indicates the type, shape, and size of the damage. Specifically, a damage model of a crack is a model image that indicates the crack shape, and a damage model of peeling is a model image that indicates the peeling shape. In addition, the damage model has position information (three-dimensional coordinates) on three-dimensional model 101 that corresponds to a location where the structure actually has damage, and three-dimensional model display unit 53 can display the damage model on display unit 30 by superimposing it on three-dimensional model 101.

[0042] The accessible range information 107 is information indicating the accessible range of the access means for accessing the survey position. The access means are various means for accessing, i.e., approaching, the survey position. Specific examples of the access means are ladders, mobile scaffolding, mobile suspended scaffolding, bridge inspection vehicles, floating scaffolding (work barge + scaffolding), gondola vehicles, high-altitude work vehicles, rope access, and bridge inspection ships. Here, the survey position indicates a location that is close to the structure to be surveyed and requires detailed survey. Specifically, the surveyor visually inspects or sounds the structure to be surveyed at the survey position. The survey position may also indicate the photographed target position, which indicates the range captured by photographing the structure close to the structure. Specifically, the surveyor obtains a photographed image that captures the survey position.

[0043] 1, the operation unit 18 includes a keyboard, a mouse, etc., which are connected to the computer by wire or wirelessly, and functions as the operation unit 18 for issuing normal operation instructions for the computer. The operation unit 18 also receives a designation of an investigation position by the user designating a part of the 3D model 101 displayed on the display unit 30.

[0044] FIG. 4 is a flow diagram showing a structure inspection support method using the structure inspection support device 10.

[0045] First, the information acquisition unit 51 acquires a 3D model and accessible range information 107 of the structure to be surveyed (information acquisition step: step S1). Thereafter, the 3D model display unit 53 displays the acquired 3D model on the display unit 30 (3D model display step: step S2). Next, the designation receiving unit 55 receives a designation of a survey location in the 3D model (designation receiving step: step S3). Next, the access means information display unit 57 displays information on one or more types of access means for accessing the survey location on the display unit 30 based on the accepted survey location and accessible range information 107 (access means information display step: step S4). Each step will be described in detail below.

[0046] <Information acquisition steps> The information acquisition step (step S1) is performed by the information acquisition unit 51. The information acquisition unit 51 acquires the three-dimensional model 101 and accessible range information 107 of the structure stored in the storage unit 16. If 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 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.

[0047] Furthermore, the information acquiring unit 51 can acquire the image 103 and / or the damage information 105 together with the three-dimensional model 101. When the "three-dimensional model 101 and the image 103" is displayed on the display unit 30, when the "three-dimensional model 101 and the damage information 105" is displayed on the display unit 30, or when the "three-dimensional model 101, the image 103, and the damage information 105" are displayed on the display unit 30, the information acquiring unit 51 acquires the image 103 and the damage information 105 to be displayed, respectively.

[0048] <3D model display step and designation acceptance step> The three-dimensional model display step (step S2) is performed by the three-dimensional model display unit 53. In addition, the designation receiving step (step S3) is performed by the designation receiving unit 55.

[0049] 5 to 8 are diagrams for explaining specific examples of the 3D model display step and the designation receiving step. In addition, in Fig. 5 to Fig. 8, a texture model in which a photographed image (image 103) of a bridge corresponding to the 3D model is pasted as a texture is displayed as the 3D model.

[0050] [Example 1] FIG. 5 is a diagram showing the three-dimensional model displayed on the display unit 30 in the first example and the specified investigation position.

[0051] 5(A) is a diagram showing a three-dimensional model M1 displayed on the display unit 30. The three-dimensional model M1 is a diagram showing a bridge pier to be surveyed. The user looks at the three-dimensional model M1 displayed on the display unit 30 and specifies an area that needs to be surveyed by standing close to the three-dimensional model M1.

[0052] FIG. 5B is a diagram for explaining a case where the investigation position F1 is specified.

[0053] The user manually specifies a location (inspection position F1) that is determined to be nearby and requires inspection on the three-dimensional model M1 via the operation unit 18. The specification receiving unit 55 receives the position on the three-dimensional model M1 specified by the operation unit 18.

[0054] [Example 2] FIG. 6 is a diagram showing a three-dimensional model and a specified investigation position displayed on the display unit 30 in the second example.

[0055] 6(A) is a diagram showing a three-dimensional model M2 displayed on the display unit 30. The three-dimensional model M2 is a diagram showing the upper part of the bridge pier to be surveyed. The user looks at the three-dimensional model M2 displayed on the display unit 30 and specifies a location that needs to be surveyed close to the three-dimensional model M2.

[0056] FIG. 6B is a diagram for explaining a case where the investigation position F2 is specified.

[0057] The user manually specifies a location (inspection position F2) that is determined to be nearby and requires inspection on the three-dimensional model M2 via the operation unit 18. The specification receiving unit 55 receives the position on the three-dimensional model M2 specified by the operation unit 18.

[0058] [Example 3] FIG. 7 is a diagram showing a three-dimensional model displayed on the display unit 30 in Example 3 and a specified investigation position.

[0059] 7(A) is a diagram showing a three-dimensional model M1 displayed on the display unit 30. The three-dimensional model M1 in this example has damage information D1. The damage information D1 is a damage model of a crack. In this example, the user can look at the three-dimensional model M1 having the damage information D1, determine that a close-up investigation is necessary, and specify an investigation position F3.

[0060] FIG. 7B is a diagram for explaining a case where the investigation position F3 is specified.

[0061] The user manually specifies the location (inspection position F3) that is determined to be nearby and requires inspection in the 3D model M1 via the operation unit 18. The user can look at the damage information D1 displayed on the display unit 30 and specify the location where the damage information D1 is concentrated (location where cracks are concentrated) as the inspection position F3.

[0062] In this way, by displaying the damage information D1 superimposed on the three-dimensional model M1, the user can easily determine locations that require nearby investigation and accurately specify the investigation locations.

[0063] [Example 4] FIG. 8 is a diagram showing a three-dimensional model displayed on the display unit 30 in Example 4 and a specified investigation position.

[0064] 8(A) is a diagram showing a three-dimensional model M2 displayed on the display unit 30. The three-dimensional model M2 in this example has damage information D2. The damage information D2 is a damage model of a crack. In this example, the user can look at the three-dimensional model M2 having the damage information D2, determine that a close-up investigation is necessary, and specify an investigation position F4.

[0065] FIG. 8B is a diagram for explaining a case where the investigation position F4 is specified.

[0066] The user manually specifies a location (inspection position F4) that is determined to be nearby and requires inspection in the three-dimensional model M2 via the operation unit 18. For example, the user can look at the damage information D2 and specify a location where the damage information D2 is concentrated (a location where cracks are concentrated) as the inspection position F4.

[0067] In this way, by displaying the damage information D2 superimposed on the three-dimensional model M2, the user can easily determine locations that require nearby investigation and accurately specify the investigation locations.

[0068] In the above example, the user manually specifies the investigation position, but the specification of the investigation position is not limited to this. The specification receiving unit 55 may automatically receive the investigation position. When the investigation position is automatically specified, the investigation position is specified based on the damage information D, for example. For example, the investigation position may be automatically specified based on the damage detection result or quantification result, such as a location where a crack with a thickness or length equal to or greater than a threshold value has occurred, a location where a tortoiseshell-shaped crack has occurred, or a location where peeling with an area equal to or greater than a threshold value has occurred.

[0069] <Steps to display access information> The access means information display step (step S4) is performed by the information display unit 57. The information display unit 57 displays on the display unit 30 information on one or more types of access means for accessing the search location, based on the received search location and accessible range information 107.

[0070] [Access means and accessible area information] First, a description will be given of the access means and accessible range information 107. Various access means can be adopted for conducting detailed investigations close to the investigation location. Specific examples of the access means and accessible range information 107 will be described below.

[0071] FIG. 9 is a diagram showing an aerial work vehicle as an example of an access means.

[0072] As shown in Fig. 9, the vehicle for high-altitude work 203 has a basket 203B attached to the tip of a boom 203A. An investigator can access a high-altitude investigation location by getting on the basket 203B and extending and retracting the boom 203A.

[0073] FIG. 10 is a diagram showing a work range map, which is an example of the accessible range information 107 for the vehicle for aerial work 203. As shown in FIG.

[0074] The working range diagram 205 illustrates the working range of the vehicle for aerial work 203. Specifically, the working range diagram 205 illustrates the vertical reach and horizontal working radius of the basket 203B of the vehicle for aerial work 203.

[0075] FIG. 11 is a diagram showing a bridge inspection vehicle, which is an example of an access means.

[0076] As shown in Fig. 11, the bridge inspection vehicle 207 has a basket 207B attached to the tip of a boom 207A. An inspector can get on the basket 207B and access the inspection position by extending and retracting the boom 207A.

[0077] FIG. 12 is a diagram showing a work range map, which is an example of the accessible range information 107 below the bridge inspection vehicle 207.

[0078] The working range diagram 209 illustrates the working range of the bridge inspection vehicle 207. The working range diagram 209 illustrates the working radius of the basket 207B of the bridge inspection vehicle 207 and the ground height that can be reached.

[0079] FIG. 13 is a diagram showing a work range map, which is an example of the accessible range information 107 on the upper side of the bridge inspection vehicle 207.

[0080] The working range diagram 211 illustrates the working range of the bridge inspection vehicle 207. The working range diagram 211 illustrates the working radius of the basket 207B of the bridge inspection vehicle 207 and the ground height that can be reached.

[0081] FIG. 14 is a diagram illustrating rope access, which is an example of an access means.

[0082] As shown in Fig. 14(A), a surveyor 211A can access a survey position at a high point on a bridge 210 by rope access. Also, as shown in Fig. 14(B), a surveyor 211B can access a survey position on the back side of the bridge 210 by rope access. Note that the rope access accessible range information 107 indicates that access is possible without any restrictions on the reachable height above ground or the work range.

[0083] FIG. 15 is a diagram showing a ladder as an example of an access means.

[0084] 15, the surveyor 213A can access a high-altitude survey position by using the ladder 213. Specifically, the surveyor 213A can approach the high-altitude survey position of the pier 215 by using the ladder 213 to conduct a detailed survey.

[0085] [View access information] Next, the display of information on access means will be described. The information display unit 57 judges whether each access means is accessible from the survey position specified on the 3D model and the accessible range information 107. The information display unit 57 then displays information on the access means based on the judged accessibility. The 3D model has information on the actual size of the model target structure (the structure to be surveyed), and the information display unit 57 can obtain information on where the survey position specified on the 3D model is located in the actual structure. Therefore, the information display unit 57 can judge whether each access means is accessible by comparing the survey position in actual size with the accessible range information 107.

[0086] FIG. 16 is a diagram showing an example of information on the access means displayed on the display unit 30 by the information display unit 57. As shown in FIG.

[0087] Fig. 16(A) is a diagram showing, in an image display, information on the means of access to the survey positions (1) to (4) specified in the 3D bridge model 250. Fig. 16(B) is a diagram showing, in a list form, information on the means of access to the survey positions (1) to (4).

[0088] The survey position (1) (indicated by reference numeral 252) is located on the back side of the bridge. Since the survey position (1) can be accessed by the bridge inspection vehicle 207 and rope access (see list 212), the bridge inspection vehicle 207 (displayed as an image) and the rope access surveyor 211A (displayed as an image) are displayed near the survey position (1).

[0089] The survey position (2) (indicated by reference numeral 254) is located at the top of the bridge pier. The survey position (2) can be accessed by the bridge inspection vehicle 207 and rope access (see list 212), so the bridge inspection vehicle 207 (illustration) is displayed near the survey position (2).

[0090] The investigation position (3) (indicated by reference numeral 256) is located in the center of the bridge pier. Since the investigation position (3) can be accessed by rope access, the aerial work platform 203, and the bridge inspection vehicle 207 (see list 212), the 3D model 250 shows the aerial work platform 203 (image display) near the investigation position (3).

[0091] Survey position (4) (indicated by reference numeral 258) is located at the bottom of the bridge pier. Survey position (4) can be accessed by ladder 213, rope access, aerial work platform vehicle 203, and bridge inspection vehicle 207 (see list 212), so the 3D model 250 shows a rope access surveyor 211A and an aerial work platform vehicle 203 near survey position (4).

[0092] As described above, the information display unit 57 may display an image of the accessible access means on the three-dimensional model 250 (FIG. 16(A)) and the list 212 (FIG. 16(B)), or may display either one of them (FIG. 16(A) or FIG. 16(B)). In addition, when displaying an image of the accessible access means on the three-dimensional model 250 (FIG. 16(A)) and the list 212 (FIG. 16(B)), when the user selects an access means in the list 212, the accessible parts on the three-dimensional model may be displayed in a different color. In addition, in the above description, an example in which multiple investigation positions are specified has been described, but the present embodiment is not limited to this example. For example, the structure investigation support device 10 may present one access means for one investigation position.

[0093] As described above, in this embodiment, information on one or more access means for accessing the investigation location is displayed based on the accepted investigation location and accessible range information 107. This allows the user to easily grasp candidates for access means to the investigation location.

[0094] <Second embodiment> Next, a second embodiment will be described. In this embodiment, information on the access means is displayed based on information on the surrounding environment of the survey location.

[0095] [Surrounding area information] Fig. 17 is a diagram showing information and the like stored in the storage unit 16 of this embodiment. Note that the same reference numerals are used to designate parts that have already been described in Fig. 3, and description thereof will be omitted.

[0096] The storage unit 16 of this embodiment stores a three-dimensional model 101 , an image 103 , damage information 105 , accessible range information 107 , and surrounding environment information 109 .

[0097] The surrounding environment information 109 is information indicating the environment around the structure to be surveyed or the environment around the survey position. An example of the surrounding environment information 109 is information indicating whether the lower scaffolding environment is the ground or a water surface. In addition, the surrounding environment information 109 may include information on whether the lower scaffolding environment is a flat surface or a slope, and whether the ground is level or uneven, if the lower scaffolding environment is the ground. In addition, the surrounding environment information 109 may include information on whether the lower scaffolding environment is a river or an ocean, the speed of the flow, and the strength of the waves, if the lower scaffolding environment is a water surface. In addition, another example of the surrounding environment information 109 is information on the location environment. For example, the information on the location environment is information on the vegetation (such as trees) around the structure to be surveyed, the road type (highway, national road, prefectural road, city road) of the road owned by the structure to be surveyed, and the use zone type (residential area, commercial area, industrial area) of the area where the structure to be surveyed is located. In addition, another example of the surrounding environment information 109 is information on the meteorological environment around the structure. The information on the meteorological environment is, for example, the average wind speed. Other examples of the surrounding environment information 109 include information about the amount of traffic around the structure and the presence of power lines.

[0098] [Method of access when the underside scaffolding environment is water surface] 18 and 19 are diagrams showing examples of access means when the underside scaffolding environment is a water surface.

[0099] FIG. 18 is a conceptual diagram showing an unmanned aerial vehicle (drone) 214, which is an example of an access means.

[0100] The unmanned aerial vehicle 214 accesses the survey location by flying. For example, it is an effective means of access to a survey location at a high position, or in a place where a foothold for an access means cannot be secured, such as the sea or a river. The unmanned aerial vehicle 214 has a camera 214A, and can take images of the survey location with the camera 214A.

[0101] FIG. 19 is a conceptual diagram showing a bridge inspection vessel 216, which is an example of an access means.

[0102] The bridge inspection vessel 216 can access the survey location even if the foothold for accessing the survey location is on the water surface. The bridge inspection vessel 216 moves on the water surface and accesses the desired survey location by moving the basket 216B by extending and retracting the boom 216A.

[0103] [View access information] The information acquisition unit 51 acquires the surrounding environment information 109 through the storage unit 16. Then, the information display unit 57 displays information on the access means for accessing the investigation position based on the specified investigation position, the accessible range information 107, and the surrounding environment information 109.

[0104] FIG. 20 is a diagram showing an example of information on the access means displayed on the display unit 30 by the information display unit 57. As shown in FIG.

[0105] On the three-dimensional model 270 of the bridge, survey positions (1) to (5) are specified.

[0106] The access means for accessing the survey position (1) (indicated by reference number 272) is presented as a bridge inspection vehicle 207. Note that, in the case of work on an important road with heavy traffic volume, constraints due to the surrounding environment based on the surrounding environment information 109, such as the difficulty of long-term traffic restrictions, may also be presented.

[0107] The access means presented for accessing the survey location (2) (indicated by reference symbol 274) is rope access by the surveyor 211A. According to the surrounding environment information 109, there is a tree 284 on the scaffolding, which prevents vehicles from entering. Therefore, access by the surveyor 211A via rope access is presented as the access means for the survey location (2).

[0108] The access means for accessing the investigation position (3) (indicated by reference numeral 276) is the aerial work platform 203. Since the investigation position (3) is located on the ground 282, it can be accessed by the aerial work platform 203.

[0109] The unmanned aerial vehicle 214 is presented as an access means for accessing the survey location (4) (indicated by the symbol 278). Since the survey location (4) is above the water surface 286, it is possible to access the survey location (4) by the unmanned aerial vehicle 214. Note that the unmanned aerial vehicle 214 cannot fly in windy areas, but according to the surrounding environment information 109, the wind is weak around the survey location (4), so the unmanned aerial vehicle 214 is able to fly, and therefore the unmanned aerial vehicle 214 is presented.

[0110] The means of access to survey location (5) (designated 280) is presented as a bridge inspection vessel 216. Since survey location (5) is above water, a bridge inspection vessel 216 is presented.

[0111] When the underside is the water surface 286, such as at survey locations (4) and (5), access is required using an unmanned aerial vehicle 214, a bridge inspection vessel 216, and a floating scaffold.

[0112] As described above, in this embodiment, information on the access means for accessing the specified investigation location is presented based on the accessible range information 107 and the surrounding environment information 109. This makes it possible to present to the user effective access means suited to the surrounding environment.

[0113] <Third embodiment> Next, a third embodiment will be described. In this embodiment, in addition to presenting an access means, an estimate of a search time is also presented.

[0114] [Unit survey time information] Fig. 21 is a diagram showing information and the like stored in the storage unit 16 of this embodiment. Note that the same reference numerals are used for the parts that have already been described in Fig. 3, and description thereof will be omitted.

[0115] The storage unit 16 of this embodiment mainly stores a three-dimensional model 101 , an image 103 , damage information 105 , accessible range information 107 , and unit survey required time information 111 .

[0116] The unit survey required time information 111 is information about the time required for a survey. For example, the unit survey required time information 111 has information about the preparation time of the access means, the unit survey time, and the removal time. The unit survey required time can be changed depending on the user's situation. The user's situation is, for example, the surveyor's proficiency in handling the access means.

[0117] FIG. 22 is a diagram showing an example of unit survey time required for each access means.

[0118] FIG. 22 shows information on the preparation time, unit survey time, and removal time for each access method: "person," "ladder," "rope access," "elevation work vehicle," and "bridge inspection vehicle."

[0119] The information acquisition unit 51 acquires the unit survey required time from the storage unit 16. Then, the information display unit 57 calculates at least one of the required time for each survey location and the required time for surveying all the survey locations based on the survey locations and the unit survey required time information 111, and displays the calculated required time.

[0120] [Calculation of investigation time] As shown below, the information display unit 57 calculates the required time based on the unit survey required time information 111 shown in FIG. 22 for the survey positions (1) to (4) described in FIG. 16. FIG. 22 shows the preparation time, unit survey time, and withdrawal time of each access means of "person", "ladder", "rope access", "aerial work platform", and "bridge inspection vehicle".

[0121] The information display unit 57 calculates the survey time for the survey position (1) as follows.

[0122] Survey time for survey position (1) = Installation time of access means A + Unit survey time of access means A × Floor slab survey area + Withdrawal time of access means A The information display unit 57 calculates the survey time for the survey position (2) as follows.

[0123] Survey time for survey position (2) = Installation time of access means B + Unit survey time of access means B × Upper part of pier survey area + Withdrawal time of access means B The information display unit 57 calculates the survey time for the survey position (3) as follows.

[0124] Survey time for survey position (3) = Installation time of access means C + Unit survey time of access means C × Middle part of pier survey area + Withdrawal time of access means C The information display unit 57 calculates the survey time for the survey position (4) as follows.

[0125] Survey time for survey position (4) = Installation time of access means D + Unit survey time of access means D × Lower part of pier survey area + Withdrawal time of access means D Incidentally, the candidates for the above-described access means A are rope access and the bridge inspection vehicle 207, the candidates for the access means B are rope access and the bridge inspection vehicle 207, the candidates for the access means C are rope access, the aerial work vehicle 203, and the bridge inspection vehicle 207, and the candidates for 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 for each inspection position based on the inspection times of the above-described inspection positions (1), (2), (3), and (4) and the unit inspection required time information 111 shown in the above-described formula and FIG. 22.

[0126] In addition, the information display unit 57 can also calculate the total inspection time for performing all the inspections at 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 for the access means A to D, and can also present the combination of the access means (access means A / access means B / access means C / access means D) with the minimum inspection time. Incidentally, when the same access means is used at a plurality of inspection positions, the preparation time and the withdrawal time are shortened, and the total inspection time is calculated.

[0127] As described above, in the present embodiment, in addition to presenting the access means, it is possible to provide the user with information on the inspection time corresponding to the access means. Thereby, the user can grasp the inspection time together with the access means. In addition, the user can select the access means based on the inspection time.

[0128] <Fourth Embodiment> Next, the fourth embodiment will be described. In the present embodiment, in addition to presenting the access means, an estimate of the inspection cost is also presented.

[0129] [Cost Information] FIG. 23 is a diagram showing information stored in the storage unit 16 of the present embodiment. Note that the parts already described in FIG. 3 are denoted by the same reference numerals and the description thereof is omitted.

[0130] The storage unit 16 of this embodiment mainly stores a three-dimensional model 101, an image 103, damage information 105, accessible range information 107, and cost information 113. Note that the same reference numerals are used for the parts that have already been described in FIG. 3, and the description thereof will be omitted.

[0131] The cost information 113 is information on the costs required for the investigation. For example, the cost information 113 is composed of an investigation cost (visual investigation + inquiry, photography, traffic control, etc.), a rental cost, and a preparation (arrangement, etc.) cost. The cost information 113 can be changed according to the user's situation. For example, when the user owns an access means, the rental cost is set to 0.

[0132] [Calculation of investigation costs] Fig. 24 is a diagram showing an example of cost information. As shown below, the information display unit 57 calculates the survey cost for survey position (1) to survey position (4) described in Fig. 16 based on the cost information 113 shown in Fig. 24. The cost information 113 shows the survey cost, rental cost, and preparation cost for each access means of "person," "ladder," "rope access," "aerial work vehicle," and "bridge inspection vehicle."

[0133] The information display unit 57 calculates the cost based on the investigation position and the cost information 113. For example, the investigation cost for investigation positions (1) to (4) described in FIG.

[0134] The information display unit 57 calculates the investigation cost for the investigation position (1) as follows.

[0135] Cost of survey location (1) = Survey time of access means A × Survey cost of access means A + Rental cost of access means A + Preparation cost of access means A The information display unit 57 calculates the investigation cost for the investigation position (2) as follows.

[0136] Cost of survey location (2) = Survey time for access means B × Survey cost for access means B + Rental cost for access means B + Preparation cost for access means B The information display unit 57 calculates the investigation cost for the investigation position (3) as follows.

[0137] Cost of survey location (3) = Survey time of access means C × Survey cost of access means C + Rental cost of access means C + Preparation cost of access means C The information display unit 57 calculates the investigation cost for the investigation position (4) as follows.

[0138] Cost of survey location (4) = Survey time for access means D × Survey cost for access means D + Rental cost for access means D + Preparation cost for access means D The candidates for access means A are rope access and the bridge inspection vehicle 207, the candidates for access means B are rope access and the bridge inspection vehicle 207, the candidates for access means C are rope access, the aerial work vehicle 203, and the bridge inspection vehicle 207, and the candidates for 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 investigation cost of each investigation position based on the investigation times for the above-mentioned investigation position (1), investigation position (2), investigation position (3), and investigation position (4) using the above-mentioned formula and the expense information 113 shown in FIG.

[0139] The information display unit 57 can also calculate the total cost for conducting all surveys of the survey locations (1) to (4). For example, the information display unit 57 calculates the total cost for each combination of the candidate access means A to D, and presents the combination of access means with the lowest cost (access means A / access means B / access means C / access means D). Note that if the same access means is used at multiple survey locations, the rental cost and preparation cost are reduced to calculate the total cost.

[0140] As described above, in this embodiment, in addition to presenting the access means, information on the investigation cost corresponding to the access means can be provided to the user. This allows the user to understand the investigation cost along with the access means. Furthermore, the user can select the access means based on the investigation cost.

[0141] <Fifth embodiment> Next, a fifth embodiment will be described. In this embodiment, a photographing position for photographing a survey position is presented.

[0142] [Shooting conditions] Fig. 25 is a diagram showing information and the like stored in the storage unit 16 of this embodiment. Note that the same reference numerals are used for the parts that have already been described in Fig. 3, and description thereof will be omitted.

[0143] The storage unit 16 of this embodiment mainly stores a three-dimensional model 101 , an image 103 , damage information 105 , accessible range information 107 , and imaging conditions 115 .

[0144] The photographing conditions 115 are conditions for acquiring photographed images to be used in the investigation. The photographing conditions 115 include, for example, at least one of the range information of the subject resolution, the allowable tilt angle, and the focal length.

[0145] [Calculation of shooting position] The information acquisition unit 51 acquires the photographing conditions 115 from the storage unit 16. Then, the information display unit 57 calculates the photographing position from the investigation position specified in the 3D model, the accessible range information 107, and the photographing conditions 115. Specifically, the information display unit 57 calculates and presents the photographing position for photographing the investigation position from the photographing conditions 115. Furthermore, the information display unit 57 presents an access means for accessing the calculated photographing position.

[0146] FIG. 26 is a diagram for explaining the presentation of the shooting position.

[0147] FIG. 26 shows a three-dimensional model 300 of a bridge, and a survey position 302 and a survey position 306 are specified on the three-dimensional model 300. The information display unit 57 presents a group of candidate shooting positions 304 for the survey position 302, and a group of candidate shooting positions 308 for the survey position 306. There is not necessarily one survey position for a survey position, and a group of candidate shooting positions exists. Therefore, the information display unit 57 calculates and presents a group of candidates for each survey position. Note that in the case shown in FIG. 26, the shooting position is illustrated typically as a point P, but the group of candidate shooting positions exists continuously with the angle and / or distance continuously changed. Specifically, the group of candidate shooting positions has a range of shooting angles that satisfies the shooting condition 115 according to the allowable tilt angle. Also, the group of candidate shooting positions has a range of shooting distances that satisfies the shooting condition (desired subject resolution) 115 according to the range of focal length. The information display unit 57 presents the access means by which at least one of the calculated candidates can be accessed, but in the case shown in FIG. 26, the presentation of the access means is omitted.

[0148] As described above, in this embodiment, the photographing position for photographing the survey position and the access means for accessing the photographing position are presented, so that the user can easily understand the photographing position and the access means for accessing the photographing position.

[0149] <Examples of other access methods> In addition to the above-mentioned access means to the survey location, various access means are adopted in the embodiment. Examples of other access means are described below.

[0150] FIG. 27 is a diagram showing a gondola car as an example of an access means.

[0151] The gondola car 310 moves the boom 310A to move the gondola 310B under the bridge 311. The gondola car 310 then moves the gondola 310B up and down by a wire, allowing the surveyor to access the survey position.

[0152] FIG. 28 is a diagram showing a work range map, which is an example of the accessible range information 107 for the gondola car 310. As shown in FIG.

[0153] The working range diagram 312 shows the working range of the gondola car 310. Specifically, the working range diagram 312 shows the vertical reach and horizontal working radius of the gondola 310B of the gondola car 310.

[0154] FIG. 29 is a diagram showing a suspended robot as an example of an access means.

[0155] The suspended robot 314 is installed on a part of a bridge 315 and is operated manually or automatically. The suspended robot 314 is equipped with a camera 314A and can take pictures in the vicinity of the survey position.

[0156] FIG. 30 is a diagram showing a pole camera as an example of an access means.

[0157] Pole camera 317 shown in Fig. 30(A) photographs from the ground an investigation position of bridge 319. In this way, by using pole camera 317, an investigator can obtain an image of the investigation position at the top of bridge 319 with camera 317A.

[0158] Pole camera 317 shown in Fig. 30(B) photographs the survey position of bridge 319 by pointing the position downward from bridge 319. In this way, the surveyor can obtain a photographed image of the back side of bridge 319 with camera 317A by pointing pole camera 317 downward.

[0159] <Other> In the above description, the information acquisition unit 51 has been described in terms of the form of acquiring the information stored in the storage unit 16, but it is not limited thereto. For example, when the 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 the information input via the input / output interface 12 from the outside of the structure investigation support device 10.

[0160] In the above embodiment, the hardware structure of the processing unit that executes various processes is various processors as shown below. The various processors include a CPU (Central Processing Unit), which is a general-purpose processor that executes software (program) and functions as various processing units, a programmable logic device (PLD), such as an FPGA (Field Programmable Gate Array), which is a processor whose circuit configuration can be changed after manufacture, and an application-specific electric circuit, which is a processor having a circuit configuration specifically designed to execute specific processes, such as an ASIC (Application Specific Integrated Circuit).

[0161] One processing unit may be configured with one of these various processors, or may be configured with two or more processors of the same or different types (for example, multiple FPGAs, or a combination of a CPU and an FPGA). Also, multiple processing units may be configured with one processor. As an example of configuring multiple processing units with one processor, first, as represented by a computer such as a client or server, there is a form in which one processor is configured with a combination of one or more CPUs and software, and this processor functions as multiple processing units. Second, as represented by a system on chip (SoC), there is a form in which a processor is used that realizes the functions of the entire system including multiple processing units with one IC (Integrated Circuit) chip. In this way, the various processing units are configured using one or more of the above various processors as a hardware structure.

[0162] Furthermore, the hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements.

[0163] The above-mentioned configurations and functions can be realized by any hardware, software, or a combination of both. For example, the present invention can be applied to a program that causes a computer to execute the above-mentioned processing steps (processing procedures), a computer-readable recording medium (non-transitory recording medium) on which such a program is recorded, or a computer on which such a program can be installed.

[0164] Although examples of the present invention have been described above, it goes without saying that the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0165] 10: Structural investigation support device 12: Input / Output Interface 16: Storage section 18:Operation section 20: CPU 22: RAM 24 :ROM 26: Display control section 30:Display section 51: Information acquisition department 53: 3D model display section 55: Designated reception desk 57: Information display section 101: 3D Model 103:Image 105: Damage information 107: Accessible area information 109: Surrounding area information 111: Unit survey time information 113: Cost Information 115: Shooting conditions 203: Aerial work platform 207: Bridge inspection vehicle 213 :Ladder 214: Unmanned Aerial Vehicle 216: Bridge inspection vessel 310: Gondola car 314: Suspended robot 317: Pole Camera

Claims

1. accessible range information including information regarding the working range of an access means for accessing a portion of a structure; A three-dimensional model of the structure being investigated, Based on survey position information that specifies the survey position of the structure to be surveyed, a determination means for determining whether the access means is allowed to access the search position; An information processing device comprising:

2. The determination means performs a determination for a plurality of types of the access means, an output unit that outputs information on one or more types of access means for accessing the search location based on the result of the determination; The information processing apparatus according to claim 1 , further comprising:

3. The information processing apparatus according to claim 2 , wherein the determining means makes the determination based on surrounding environment information indicating the surrounding environment of the survey target structure or the surrounding environment of the survey position.

4. The information processing device according to claim 1 , wherein the determination means determines whether or not each of the plurality of types of access means can access the investigation location based on the investigation location and the work range of each of the plurality of types of access means.

5. A method performed by a computer, obtaining accessible range information including information regarding a working range of an access means for accessing a portion of a structure; obtaining a three-dimensional model of the structure to be investigated; acquiring survey position information that specifies a survey position of the structure to be surveyed; a step of determining whether the access means can access the search location; 13. An information processing method comprising:

6. A program for causing a structure inspection support device having a processor to execute a structure inspection support method, The processor: obtaining accessible range information including information regarding a working range of an access means for accessing a portion of a structure; obtaining a three-dimensional model of the structure to be investigated; acquiring survey position information that specifies a survey position of the structure to be surveyed; a step of determining whether the access means can access the search location; A program that executes the following.

Images