Repair plan determination device, repair plan determination system, and repair plan determination method

Abstract

This repair plan determination device (200) is characterized by comprising: an inspection result acquisition unit (201) that acquires an inspection result for a structure; an input unit (202) that receives input of input information including the inspection result, shape information for the structure, a budget for inspection and repair of the structure, and parameters for estimating costs that would occur if the structure became unusable; a database (203) that holds information correlating crack repair methods, crack conditions that can be repaired with each repair method, time required for repair work, repair costs, and service life after repair; a repair plan determination unit (204) that, on the basis of the input information and the information held in the database, combines a simple repair at the time of inspection corresponding to the inspection result, a simple repair at the time of inspection after the above-mentioned inspection, and a large-scale repair to create a repair plan that satisfies minimizing total costs and / or leveling costs; and an output unit (205) that outputs the repair plan.

Description

Repair plan determination device, repair plan determination system, and repair plan determination method

[0001] The present disclosure relates to a repair plan determination device, a repair plan determination system, and a repair plan determination method for repairing cracks that have occurred in a structure.

[0002] Because structures such as social infrastructure and plant equipment cannot be easily replaced, it is important to maintain them by conducting inspections and repairs in a planned manner so that they can be operated safely. When formulating a repair plan, it is necessary to consider the costs involved in inspections and repairs while maintaining the safety of the structure. For example, Patent Document 1 discloses a system for formulating a repair plan that minimizes the cumulative maintenance costs involved in periodic inspections of turbines.

[0003] Japanese Patent Application Laid-Open No. 2004-258858

[0004] However, with the above-mentioned conventional technology, there was a problem that the applicable crack repair methods were limited, and there was a need for technology that could create appropriate repair plans even when a wider range of repair methods were used.

[0005] The present disclosure has been made in view of the above, and aims to provide a repair plan determination device that can create an appropriate repair plan even when a variety of repair methods are used.

[0006] In order to solve the above-mentioned problems and achieve the objectives, the repair plan determination device of the present disclosure is characterized by comprising: an inspection result acquisition unit that acquires inspection results indicating the state of cracks that have occurred in a structure; an input unit that accepts input information including the inspection results, shape information indicating the shape of the structure, a budget for inspecting and repairing the structure, and parameters for estimating the costs that will be incurred if the structure becomes unusable; crack repair methods including simple repairs that are performed at the same time as the inspection of the structure and large-scale repairs that are performed separately from the inspection; a database that stores information that corresponds to the state of cracks that cannot be repaired by each repair method, the time required for the repair work, the repair costs, and the service life after repair; a repair plan determination unit that creates a repair plan that satisfies at least one of minimizing total costs and leveling out the costs required for inspecting and repairing the structure based on the input information and the information stored in the database by combining simple repairs at the time of inspection that correspond to the inspection results, simple repairs at the time of inspection after the inspection, and large-scale repairs; and an output unit that outputs the repair plan.

[0007] According to the present disclosure, it is possible to obtain an effect of providing a repair plan determination device that can create an appropriate repair plan even when a variety of repair methods are used.

[0008]

[0009] Below, a repair content determination device, a repair device, a learning device, an inference device, a repair content determination system, a repair method, a repair plan determination device, a repair plan determination system, and a repair plan determination method according to embodiments of the present disclosure will be described in detail with reference to the drawings.

[0010] Conventional technology involves applying a liquid repair material containing particles to cracks in structures to suppress their growth. Cracks grow by repeatedly opening and closing, but applying the repair material to the crack causes the particles contained in the repair material to act as a wedge, preventing the crack from closing and slowing the rate of crack growth. Therefore, to enhance the crack growth suppression effect, it is important to ensure that the repair material penetrates the crack and remains within it.

[0011] Japanese Patent Publication No. 4,852,163 describes a repair material for reducing the fatigue crack growth rate of metallic materials, which has a specified viscosity range that provides excellent penetration into cracks. However, the above-mentioned conventional technology has the problem that, depending on the state of the crack, it may be difficult for the repair material to penetrate into the crack. For example, whether the repair material penetrates into the crack depends on the orientation of the crack relative to the direction of gravity. In cracks with downward openings, such as cracks on ceiling surfaces, the weight of the repair material does not exert a force to penetrate into the crack compared to cracks with upward or horizontal openings, making it difficult for the repair material to penetrate into the crack. In the following first to eighth embodiments, a repair content determination device, a repair device, a learning device, an inference device, a repair content determination system, and a repair method that can improve the penetration of the repair material into the crack regardless of the state of the crack are described. In addition, in embodiments 9 to 11, we will explain a repair plan determination device, a repair plan determination system, and a repair plan determination method that can use the repair methods described in embodiments 1 to 8 as one of the ``candidate repair methods to be used.''

[0012] First Embodiment. FIG. 1 is a diagram showing the functional configuration of a repair device 10 according to a first embodiment. The repair device 10 has the functions of inspecting a crack C occurring in a structure S, determining a repair content based on the inspection results, and repairing the crack C according to the determined repair content. The repair device 10 is an example of a repair content determination device having the function of determining the repair content for the crack C. The repair device 10 includes a main body 11, a suction means 12 that fixes the main body 11 of the repair device 10 to the structure S, a driving means 13 that moves the repair device 10 along the structure S, an inspection unit 14 that inspects the crack C to be repaired and outputs the inspection results, a determination unit 15 that determines the repair content for the crack C based on the inspection results, and a repair unit 16 that repairs the target crack C according to the repair content determined by the determination unit 15. The repair unit 16 includes a pre-processing unit 17, an intermediate processing unit 18, and a post-processing unit 19.

[0013] Here, the material to be inspected is a material in which fatigue cracks are initiated by repeated localized plastic deformation on the material surface, and the fatigue cracks propagate by repeatedly blunting and re-sharpening the crack tip due to plastic deformation. Such a material is referred to as the "material to be inspected." Examples of the structure S include bridges, vehicles, aircraft, power generation equipment, and machine tools. Examples of the material to be inspected include steel, stainless steel, and aluminum alloys, but are not limited to metals and also include resins and ceramics. While the entire structure S does not need to be made of the material to be inspected, the crack C to be repaired is a crack C occurring in a portion of the structure S made of the material to be inspected. In the following description, the portion of the structure S made of the material to be inspected may be referred to as the "material to be inspected portion."

[0014] Fig. 2 is a diagram for explaining the function of the repair device 10 shown in Fig. 1. The repair device 10 can perform repair treatment using a pretreatment material 21 and a repair material 22.

[0015] The repair material 22 is a liquid containing particles. When the repair material 22 is applied to the inside of the crack C and the repair material 22 remains inside the crack C, the particles contained in the repair material 22 exert a wedge effect, suppressing the propagation of the crack C. The wedge effect is also called a bridging effect. The phenomenon in which the particles contained in the repair material 22 prevent the crack C from closing is called the wedge effect. Because the crack C propagates by repeatedly opening and closing, the wedge effect can suppress the propagation of the crack C. In order to improve the effect of suppressing the propagation of the crack C, it is important to penetrate the repair material 22 to the tip of the crack C and to have the penetrated repair material 22 remain inside the crack C. The lower the viscosity of the repair material 22, the easier it is for the repair material 22 to penetrate into the crack C, but the more difficult it is for the repair material 22 to remain inside the crack C. Therefore, by applying the pretreatment material 21 into the crack C before applying the repair material 22, it is possible to increase the penetration of the repair material 22 into the crack C. The pretreatment material 21 is a liquid that has a higher wettability with respect to the structure S than the repair material 22. In other words, the contact angle θ1 between the pretreatment material 21 and the surface of the structure S is smaller than the contact angle θ2 between the repair material 22 and the surface of the structure S.

[0016] The pre-treatment unit 17 of the repair unit 16 has a function of executing a pre-treatment step of applying a pre-treatment material 21 to the inside of the crack C. The intermediate treatment unit 18 has a function of executing an intermediate treatment step of removing excess pre-treatment material 21 applied in the pre-treatment step. The post-treatment unit 19 has a function of executing a post-treatment step of applying a repair material 22 to the inside of the crack C. Note that FIG. 2 shows the pre-treatment step, intermediate treatment step, and post-treatment step all being executed sequentially, and therefore in the post-treatment step, the crack C is filled with the repair material 22 while a film of the pre-treatment material 21 is formed on the inner wall surface of the crack C. However, the repair unit 16 does not need to operate all of the pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19 depending on the state of the crack C. For example, the repair unit 16 may sequentially drive all of the pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19, or may drive only the post-treatment unit 19 without driving the pre-treatment unit 17 and intermediate treatment unit 18, or may not drive any of the pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19 and not perform repairs.

[0017] FIG. 3 is a diagram illustrating an example of the detailed configuration of the inspection unit 14 shown in FIG. 1 . The inspection unit 14 includes a LiDAR (Light Detection and Ranging) scanner 141 and a camera 142. The LiDAR scanner 141 is a device that irradiates a target object with laser light and measures the distance to the target object, its properties, and its shape based on the time it takes for the reflected light to be received. The camera 142 is a device that acquires an image of the crack C. The camera 142 is synchronized with the LiDAR scanner 141. Each of the LiDAR scanner 141 and the camera 142 is equipped with a gyro sensor and can acquire its own orientation. This allows the surface shape of the target material measured by the LiDAR scanner 141 and the camera 142 to be associated with the direction of gravity. The LiDAR scanner 141 can measure the surface of the target material and measure the depth inside the crack C. The camera 142 can output an image of the target material's surface.

[0018] FIG. 4 is a diagram illustrating the function of the determination unit 15 shown in FIG. The determination unit 15 receives, as inspection results from the inspection unit 14, a photographed image of the crack C and direction information indicating the direction of gravity in the photographed image. The determination unit 15 determines repair details based on the inspection results and outputs the determined repair details. The direction information is, for example, the output of a gyro sensor. The repair details output by the determination unit 15 include at least a repair pattern indicating whether or not to perform repair using the repair material 22 and, if performing repair using the repair material 22, whether or not to apply the pretreatment material 21 before applying the repair material 22. The repair details may further include materials to be used for repair if repair is to be performed. The materials to be used for repair include at least the repair material 22 if repair is to be performed, and further include the pretreatment material 21 if the pretreatment material 21 is to be applied. For example, the determination unit 15 selects one of three repair patterns based on the inspection results: repair pattern (1) in which the pretreatment material 21 is applied and then the repair material 22 is applied; repair pattern (2) in which only the repair material 22 is applied without applying the pretreatment material 21; and repair pattern (3) in which no repair is performed. Furthermore, when the determination unit 15 selects repair pattern (1), it may determine the pretreatment material 21 and the repair material 22 as the materials to be used for repair based on the inspection results, and when the determination unit 15 selects repair pattern (2), it may determine the repair material 22 as the material to be used for repair based on the inspection results.

[0019] 5 is an explanatory diagram illustrating the relationship between the repair patterns and the operation of the repair unit 16. The determination unit 15 selects one of repair pattern (1), repair pattern (2), and repair pattern (3) based on the inspection results. Repair pattern (1) is a pattern in which the pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19 are driven in the order listed. After applying pre-treatment material 21 to the crack C, the excess pre-treatment material 21 is removed, and then the repair material 22 is applied. Repair pattern (2) is a pattern in which only the post-treatment unit 19 is driven. The pre-treatment material 21 is not applied, but the repair material 22 is applied to the crack C. Repair pattern (3) is a repair pattern in which the repair unit 16 does not operate, and no repair is performed.

[0020] FIG. 6 is an explanatory diagram of the process by which the determination unit 15 determines the materials to be used. When repair pattern (1) is selected, the determination unit 15 determines the combination of the pretreatment material 21 and the repair material 22 to be used. For example, as shown in FIG. 6 , the determination unit 15 can select the pretreatment material 21 from three candidates, "a," "b," and "c." The determination unit 15 can also select the repair material 22 from three candidates, "A," "B," and "C." In FIG. 6 , "b" is selected as the pretreatment material 21, and "C" is selected as the repair material 22.

[0021] There are various possible methods for determining the repair pattern and the materials to be used for the repair. As an example, a method for determining the repair content based on the length of the crack C and the angle of the crack C with respect to the direction of gravity will be described. Specifically, the angle of the crack C with respect to the direction of gravity can be the angle of the depth direction of the crack C with respect to the direction of gravity. Hereinafter, for simplicity, the "angle of the depth direction of the crack C with respect to the direction of gravity" will be referred to as the "angle of the crack C."

[0022] 7 is a diagram illustrating an example of a detailed configuration of the determining unit 15 according to the first embodiment. The determining unit 15 includes a calculating unit 151, a repair pattern determining unit 152, and a material used determining unit 153.

[0023] The calculation unit 151 calculates data used by the determination unit 15 for determination from the inspection results output by the inspection unit 14. Specifically, the inspection unit 14 outputs, as inspection results, a captured image of the crack C and direction information indicating the direction of gravity in the captured image, and the calculation unit 151 calculates, from these inspection results, the length of the crack C and the angle of the crack C. The calculation unit 151 outputs the calculated length of the crack C and the angle of the crack C to the repair pattern determination unit 152 and the material to be used determination unit 153.

[0024] Here, specific processing by the calculation unit 151 will be described using a specific example. Fig. 8 is a diagram showing a bridge S1, which is an example of a structure S to be inspected by the repair device 10. The bridge S1 has a pavement 32 superimposed on a deck plate 31, and vehicles and the like pass over the pavement 32. Beneath the deck plate 31, support members 30 such as U-ribs 33, horizontal ribs 34, and vertical reinforcing members 37 support the deck plate 31.

[0025] FIG. 9 is an explanatory diagram of the length of crack C calculated by the calculation unit 151. This figure shows a crack C that has occurred in a weld bead 35 between the deck plate 31 and U-rib 33 of a bridge S1. Here, the crack C occurs from an initiation point P1, and the crack C propagates from the side surface of the weld bead 35 formed between the side surface of the U-rib 33 and the deck plate 31 to the surface of the weld bead 35 formed between the outer surface of the U-rib 33 and the deck plate 31. Here, the length L1 of the crack C is defined as the length of the crack line on the surface of the weld bead 35. If the crack line is not a straight line, the length L1 of the crack C may be the actual length of the crack line or the length of an approximate straight line of the crack line. Although not used in the first embodiment, the opening amount of the crack C on the surface where the crack C has occurred is defined as opening amount W1.

[0026] 10 is an explanatory diagram of the angle of the crack C calculated by the calculation unit 151. The angle of the crack C is the angle φ1 formed by the gravity direction D1 and the depth direction D2 of the crack C. Hereinafter, this angle may be referred to as the angle φ1 of the crack C.

[0027] FIG. 11 is an explanatory diagram illustrating a first example of a specific method by which the calculation unit 151 calculates the length L1 and the angle φ1 of the crack C. The length L1 of the crack C can be calculated by analyzing the image captured by the camera 142 provided in the inspection unit 14. To calculate the angle φ1 of the crack C, the direction of gravity D1 and the depth direction D2 of the crack C must be known. Here, the LiDAR scanner 141 and the camera 142 of the inspection unit 14 each have a gyro sensor and can acquire their own orientation. This allows the information acquired by the LiDAR scanner 141 and the camera 142 to be associated with the direction of gravity D1. The calculation unit 151 can also estimate the depth direction D2 of the crack C from the results of the depth measurement inside the crack C by the LiDAR scanner 141. Alternatively, the calculation unit 151 may calculate the vertical direction D3 at the crack line position on the surface of the weld bead 35 and use the vertical direction D3 as the depth direction D2 of the crack C.

[0028] FIG. 12 shows the calculation unit 151 calculating the lengths L1-1 and L1-2 of the cracks C-1 and C-2 and the angle φ 1-1 , φ 1-2 11 is an explanatory diagram of a second example of a specific method for calculating the crack C. In the first example of FIG. 11, a crack C that has occurred in a weld bead 35 formed between a deck plate 31 and a U-rib 33 is illustrated. In FIG. 12, a crack C that has occurred in a butt weld bead 36 formed between a U-rib 33-1 and a U-rib 33-2 is illustrated. Of the cracks C that have occurred in the butt weld bead 36, the crack C that has occurred on the side surface of the U-ribs 33-1 and 33-2 is referred to as crack C-1, and the crack C that has occurred on the underside of the U-ribs 33-1 and 33-2 is referred to as crack C-2.

[0029] The crack C-1 propagates from an origin P1-1 near the inner surfaces of the U-ribs 33-1 and 33-2 toward the outer side surfaces of the U-ribs 33-1 and 33-2, and then propagates in two opposite directions on the surface of the butt weld bead 36. In this case, too, the calculation unit 151 can determine the length of the crack line on the surface of the butt weld bead 36 as the length L1-1 of the crack C-1. The calculation unit 151 can also estimate the depth direction D2-1 of the crack C-1 from the results of the depth measurement inside the crack C-1 by the LiDAR scanner 141. Alternatively, the calculation unit 151 may calculate the vertical direction at the crack line position on the surface of the butt weld bead 36 and determine the vertical direction as the depth direction D2-1 of the crack C. The calculation unit 151 calculates the angle φ of the crack C-1. 1-1 can be calculated from the gravity direction D1 and the depth direction D2-1.

[0030] Like crack C-1, crack C-2 propagates from an origin P1-2 near the inner surfaces of U-ribs 33-1 and 33-2 toward the outer side surfaces of U-ribs 33-1 and 33-2, and then propagates in two opposite directions on the surface of butt weld bead 36. For crack C-2, the calculation unit 151 can determine the length of the crack line on the surface of butt weld bead 36 as the length L1-2 of crack C-2. Furthermore, the calculation unit 151 can estimate the depth direction D2-2 of crack C-2 from the results of depth measurement of the interior of crack C-2 by the LiDAR scanner 141. Alternatively, the calculation unit 151 may calculate the vertical direction at the crack line position on the surface of butt weld bead 36 and determine the vertical direction as the depth direction D2-2 of crack C. The calculation unit 151 also calculates the angle φ of crack C-2. 1-2 can be calculated from the gravity direction D1 and the depth direction D2-2. Since the crack C-2 occurs on a horizontal plane and the depth direction D2-2 of the crack C-2 is close to the gravity direction, the angle φ of the crack C-2 1-2 The value of is approximately 0.

[0031] FIG. 13 shows the calculation unit 151 calculating the length L1-3 of the crack C-3 and the angle φ of the crack C-3. 1-313 is an explanatory diagram of a third example of a specific method for calculating the crack length L1-3. In the third example, a crack C-3 is illustrated that originates from the contact portion between the deck plate 31 and a fillet weld bead 38 formed between the deck plate 31 and a vertical reinforcing bar 37. This crack C-3 initially initiates from an initiation point P1-3 at the contact portion between the fillet weld bead 38 and the deck plate 31 in a direction penetrating the deck plate 31, and then propagates in the in-plane direction of the deck plate 31. At this time, because force is likely to be applied to the contact portion between the fillet weld bead 38 and the deck plate 31, the crack C-3 often propagates along the edge of the fillet weld bead 38. In this case, as shown in FIG. 13 , the crack line of the crack C-3 is curved. In this case, the length L1-3 of the crack C-3 may be the length of the curved crack line, or, as shown in the figure, the length of a straight line in the in-plane direction of the deck plate 31 in which the crack C-3 propagates. The depth direction D2-3 of the crack C-3 is in the thickness direction of the surface of the deck plate 31, which is a horizontal plane, and therefore is approximately in the direction of gravity D1. The angle φ of the crack C-3 is 1-3 is a value close to 0.

[0032] Returning to the explanation of Fig. 7, the repair pattern determination unit 152 can determine the repair pattern for the target crack C from among repair pattern (1), repair pattern (2), and repair pattern (3) based on the output of the calculation unit 151. Here, the repair pattern determination unit 152 determines the repair pattern based on the length L1 of the crack C and the angle φ1 of the crack C calculated by the calculation unit 151.

[0033] For cracks C that are short and minute, repair may not yet be necessary. Therefore, the determination unit 15 can determine whether or not to perform repair based on the length L1 of the crack C. Specifically, the determination unit 15 does not perform repair if the length of the crack C is less than the first threshold value, but performs repair if the length of the crack C is equal to or greater than the first threshold value. Furthermore, the angle φ1 of the crack C affects the ease with which the repair material 22 penetrates into the crack C and the ease with which the repair material 22 remains inside the crack C. For example, when comparing cracks C with the same shape with the angle φ1 of the crack C ranging from 0 degrees to 180 degrees, the larger the angle φ1 of the crack C, such as a crack C with an upward-facing opening on the top surface of the structure S, the easier it is for the repair material 22 to penetrate into the crack C due to gravity. Furthermore, because the tip of the crack C is in the direction of gravity, the repair material 22 is more likely to accumulate inside the crack C unless the crack C penetrates through the structure S. Furthermore, when the angle φ1 of the crack C is small, such as in the case of a crack C that has an opening facing downward or sideways, such as a crack C that has occurred on the underside of the ceiling of the structure S or a crack C that has occurred on the side of the structure S, the repair material 22 is unlikely to penetrate into the crack C and is unlikely to remain inside the crack C. Therefore, the determination unit 15 can determine whether or not to use the pretreatment material 21 based on the angle φ1 of the crack C. Specifically, the determination unit 15 uses the pretreatment material 21 when the angle φ1 of the crack C is less than the second threshold value, and does not use the pretreatment material 21 when the angle φ1 of the crack C is equal to or greater than the second threshold value.

[0034] The material to be used determination unit 153 determines the material to be used to repair the target crack C based on the output of the calculation unit 151. The material to be used determination unit 153 determines the material to be used according to the repair pattern determined by the repair pattern determination unit 152. Specifically, in the case of repair pattern (1), the material to be used determination unit 153 determines the pretreatment material 21 and repair material 22 to be used, in the case of repair pattern (2), the repair material 22 to be used, and in the case of repair pattern (3), no repair is performed, so the material to be used is not determined.

[0035] When determining the material to be used for repair based on the length L1 of the crack C and the angle φ1 of the crack C, the appropriate shape and size of the particles contained in the repair material 22 are first determined based on the length L1 of the crack C. The appropriate viscosity of the repair material 22 is also determined based on the angle φ1 of the crack C. The viscosity of the repair material 22 can be adjusted by changing the particle content of the repair material 22. However, if the particle content is reduced to lower the viscosity, the amount of particles per unit volume of the repair material 22 decreases, and therefore the penetration power into the crack C increases, but the maximum amount of particles that can fit in the space within the crack C decreases. When selecting the repair material 22, the penetration power of the repair material 22 and the amount of particles that penetrate into the crack C are taken into consideration, and a repair material 22 that maximizes the amount of particles into the crack C is selected. The determination unit 15 selects a repair material 22 that contains particles with a shape and size determined according to the length L1 of the crack C and has a viscosity according to the angle φ1 of the crack C. Next, the determination unit 15 selects a pretreatment material 21 in accordance with the selected repair material 22 and the material of the structure S.

[0036] In the case of repair pattern (1), the material determination unit 153 determines that the combination of the pretreatment material 21 and the repair material 22 to be used is “2s １ ×cosθ １ / ρ １ >2s ２ ×cosθ ２ / ρ ２ The materials to be used are determined so as to satisfy the following condition: the surface tension of the pretreatment material 21 is s, the contact angle θ of the pretreatment material 21 with the surface of the structure S is θ, the density of the pretreatment material 21 is ρ, the surface tension of the repair material 22 is s, the contact angle θ of the repair material 22 with the surface of the structure S is ρ, and the density of the repair material 22 is ρ.

[0037] Here, the pretreatment material 21 has a density ρ of 0.83 g / cm 3 0.89g / cm or more 3 It is desirable that the oil has a contact angle θ1 of 0 degrees or more and less than 10 degrees with the surface of the structure S, and a surface tension s1 of 20 dyn / cm or more and less than 50 dyn / cm.

[0038] 14 is a flowchart for explaining the operation of the repair device 10 according to the first embodiment. The repair device 10 first performs an inspection process using the inspection unit 14 (step S10). Next, the repair device 10 performs a determination process using the determination unit 15 based on the inspection results from the inspection unit 14 (step S20). Details of the determination process will be described later. When the repair content is determined as a result of the determination process, the repair device 10 determines whether the determined repair content is "repair required" (step S30).

[0039] If the determined repair content is "repair required" (step S30: Yes), that is, if the repair pattern included in the repair content is repair pattern (1) or repair pattern (2), the repair device 10 performs repair processing using the repair unit 16 (step S40). Specifically, in the case of repair pattern (1), the repair device 10 applies pretreatment material 21 using the pretreatment unit 17, intermediate treatment unit 18, and posttreatment unit 19 of the repair unit 16, removes excess pretreatment material 21, and then applies repair material 22. At this time, if the repair content includes a material to be used for repair, the repair unit 16 performs repair processing using the pretreatment material 21 and repair material 22 indicated in the repair content. In the case of repair pattern (2), the repair device 10 applies repair material 22 using the posttreatment unit 19 of the repair unit 16. At this time, if the repair details include the material to be used for the repair, the repair unit 16 performs the repair process using the repair material 22 indicated in the repair details.

[0040] If the determined repair content is not "repair required" (step S30: No), that is, if the repair pattern included in the repair content is repair pattern (3), the processing of step S40 is omitted. Subsequently, the repair device 10 determines whether or not repair is complete (step S50). If repair is complete (step S50: Yes), the repair device 10 ends the processing. If repair is not complete (step S50: No), the repair device 10 moves the repair device 10 using the driving means 13 (step S60) and returns to the processing of step S10.

[0041] In step S50, the process of determining whether or not repair is complete can be performed by determining that repair is complete when the user performs an end operation. Alternatively, if the repair device 10 has a function of automatically moving along a specified route, the process can be performed by determining that repair is complete when the repair device 10 reaches the end point of the specified route.

[0042] 15 is a flowchart for explaining details of the determination process according to the first embodiment. The process shown in FIG. 15 corresponds to the determination process in step S20 in FIG.

[0043] The calculation unit 151 of the determination unit 15 first estimates the depth direction D2 of the crack C (step S101). Next, the determination unit 15 calculates the angle between the gravity direction D1 based on the directional information included in the inspection result and the depth direction D2 of the crack C estimated in step S101 (step S102). The calculation unit 151 also calculates the length L1 of the crack C from the captured image of the crack C included in the inspection result (step S103).

[0044] The repair pattern determination unit 152 determines whether the length L1 of the crack C calculated in step S103 is equal to or greater than a first threshold value (step S104). If the length L1 of the crack C is equal to or greater than the first threshold value (step S104: Yes), the repair pattern determination unit 152 determines that "repair is required" (step S105). If the length L1 of the crack C is less than the first threshold value (step S104: No), the repair pattern determination unit 152 determines that "repair is not required" and selects repair pattern (3) (step S106).

[0045] Furthermore, following step S105, the repair pattern determination unit 152 determines whether the angle φ1 of the crack C is less than the second threshold value (step S107). If the angle φ1 of the crack C is less than the second threshold value (step S107: Yes), the repair pattern determination unit 152 determines that "pretreatment is performed" and selects repair pattern (1) (step S108). Furthermore, following step S108, the material determination unit 153 selects the pretreatment material 21 and repair material 22 to be used when repairing the target crack C (step S109).

[0046] If the angle φ1 of the crack C is equal to or greater than the second threshold value (step S107: No), the repair pattern determination unit 152 determines that "preprocessing is not performed" and selects repair pattern (2) (step S110).Furthermore, following step S110, the material determination unit 153 selects the repair material 22 to be used when repairing the target crack C (step S111).

[0047] In the first embodiment, the direction information is based on the self-attitude acquired by the gyro sensor, but the present embodiment is not limited to this example. If a gyro sensor is not provided, a vertical indicator such as a pendulum can be used. When a pendulum is used, the direction of gravity can be recorded by capturing an image with the pendulum positioned within the angle of view of the camera 142.

[0048] The repair device 10 according to the first embodiment described above is an example of a repair content determination device that determines repair content for a crack C occurring in an inspected material portion of a structure S. The repair device 10 includes an inspection unit 14, which is an inspection result acquisition unit that acquires inspection results for the crack C occurring in the inspected material portion of the structure S, and a determination unit 15 that determines repair content, including a repair pattern indicating whether to repair the crack C with a repair material 22, which is a liquid containing particles, based on the inspection results, and whether to apply a pretreatment material 21 to the crack C before applying the repair material 22 if repair with the repair material 22 is to be performed. As a result, it is determined, based on the inspection results of the crack C, whether to perform repair and, if repair is to be performed, whether to apply a pretreatment material 21 before applying the repair material 22. By following this repair content, it is possible to apply the pretreatment material 21 as necessary to increase the penetration of the repair material 22 into the crack C. Therefore, it is possible to increase the penetration of the repair material 22 into the crack C regardless of the state of the crack C. Furthermore, since the repair device 10 determines the repair content, a higher effect of suppressing the propagation of the crack C can be achieved without requiring the repair worker to be highly skilled.

[0049] Here, the determination unit 15 can determine a repair pattern based on the length L1 of the crack C indicated by the inspection results and the angle φ1 of the crack C with respect to the direction of gravity D1. A minute crack C with a short length L1 may not yet require repair. Also, depending on the angle φ1 of the crack C, the pretreatment material 21 may not be required. It is desirable to determine the repair pattern taking these factors into consideration.

[0050] The repair details further include the material to be used to repair the crack C. When performing repair with a repair material 22, the determining unit 15 determines the repair material 22 to be used to repair the crack C based on the inspection results. When applying a pretreatment material 21, the determining unit 15 can determine the pretreatment material 21 to be used to repair the crack C based on the inspection results and the repair material 22 to be used. More specifically, the repair material 22 to be used preferably contains particles of a size and shape corresponding to the condition of the crack C to be repaired, for example, the length L1 and opening amount W1 of the crack C, and has a viscosity corresponding to the condition of the crack C to be repaired, particularly the angle φ1 of the crack C. The pretreatment material 21 to be used is determined based on the material of the structure S to be repaired and its compatibility with the selected repair material 22.

[0051] More specifically, the determination unit 15 determines the surface tension of the pretreatment material 21 as s １ , the contact angle of the pretreatment material 21 with the surface of the structure S is θ １ , the density of the pretreatment material 21 is ρ １ The surface tension of the repair material 22 is s ２ , the contact angle of the repair material 22 with the surface of the structure S is θ ２ , the density of the repair material 22 is ρ ２ In this case, the formula "2s １ ×cosθ １ / ρ １ >2s ２ ×cosθ ２ / ρ ２ The pretreatment material 21 and the repair material 22 are selected so as to satisfy the following condition. １ is 0.83 g / cm 3 0.89g / cm or more 3 and the contact angle θ with the surface of the structure S is less than １is equal to or greater than 0 degrees and less than 10 degrees, and the surface tension s １ It is desirable that the viscosity be 20 dyn / cm or more and less than 50 dyn / cm. This makes it possible to select a pretreatment material 21 that can more reliably increase the permeability of the repair material 22.

[0052] 16 is a diagram showing the functional configuration of a repair device 10A according to embodiment 2. The configuration of the repair device 10A is the same as that of the repair device 10 except that it has a determination unit 15A instead of the determination unit 15 of the repair device 10, and therefore detailed description thereof will be omitted here.

[0053] 17 is a diagram showing the detailed configuration of the determination unit 15A according to the second embodiment. The determination unit 15A includes a calculation unit 151A, a repair pattern determination unit 152A, and a material use determination unit 153A. The calculation unit 151A has a function of calculating the length L1 of the crack C and the angle φ1 of the crack C, similar to the calculation unit 151, and also a function of calculating the opening amount W1 of the crack C based on the inspection results.

[0054] In this case, since the inspection results are the captured image and directional information of the structure S, the calculation unit 151A calculates the opening amount W1 by analyzing the captured image. The calculation unit 151A outputs the calculated length L1, angle φ1, and opening amount W1 of the crack C to the repair pattern determination unit 152A and the material use determination unit 153A, respectively.

[0055] The repair pattern determination unit 152A determines a repair pattern for the target crack C based on the length L1, angle φ1, and opening amount W1 of the crack C output by the calculation unit 151A. For example, for a crack C in a closed state with a small opening amount W1, even if the repair material 22 is applied, it may not be possible to expect the repair material 22 to penetrate into the crack C. For this reason, the repair pattern determination unit 152A can prevent repair for a crack C whose opening amount W1 is less than a third threshold value. Specifically, the repair pattern determination unit 152A determines that "repair is required" when the length L1 of the crack C is equal to or greater than the first threshold value and the opening amount W1 is equal to or greater than the third threshold value. In addition, if the length L1 of the crack C is less than the first threshold value, or if the length L1 of the crack C is equal to or greater than the first threshold value but the opening amount W1 is less than the third threshold value, the repair pattern determination unit 152A determines that "no repair" is required and selects repair pattern (3).

[0056] The material to be used determination unit 153A determines the material to be used to repair the target crack C based on the length L1, angle φ1, and opening amount W1 of the crack C output by the calculation unit 151A. Specifically, the material to be used determination unit 153A can select the shape and size of particles contained in the repair material 22 to be used based on the opening amount W1 in addition to the same criteria as those used by the material to be used determination unit 153.

[0057] 18 is a flowchart for explaining the operation of the determination unit 15A according to the second embodiment. Portions similar to those in the operation of the determination unit 15 according to the first embodiment explained using FIG. 15 are given the same reference numerals, and explanations thereof may be omitted. In the omitted portions, the "determination unit 15" shall be read as the "determination unit 15A," the "calculation unit 151" shall be read as the "calculation unit 151A," and the "repair pattern determination unit 152" shall be read as the "repair pattern determination unit 152A."

[0058] The operations from step S101 to step S103 are the same as those in Fig. 15, and therefore will not be described again. After step S103, the calculation unit 151A calculates the opening amount W1 of the crack C (step S201).

[0059] After step S201, the repair pattern determination unit 152A determines whether the length L1 of the crack C is equal to or greater than the first threshold value (step S104). If the length L1 of the crack C is less than the first threshold value (step S104: No), the repair pattern determination unit 152A determines that "no repair" is required and selects repair pattern (3) (step S106).

[0060] If the length L1 of the crack C is equal to or greater than the first threshold (step S104: Yes), the repair pattern determination unit 152A determines whether the opening amount W1 is equal to or greater than the third threshold (step S202). If the opening amount W1 is less than the third threshold (step S202: No), the process proceeds to step S106.

[0061] If the opening amount W1 is equal to or greater than the third threshold value (step S202: Yes), the repair pattern determination unit 152A determines that "repair is required" (step S105). The subsequent processes of steps S107, S108, and S110 are the same as those in FIG. 15, and therefore will not be described here.

[0062] When repair pattern (1) is selected in step S108, the material determination unit 153A selects the pretreatment material 21 and repair material 22 to be used based on the length L1, angle φ1, and opening amount W1 of the crack C (step S203).

[0063] Also, when repair pattern (2) is selected in step S110, the material determination unit 153A selects the repair material 22 to be used based on the length L1, angle φ1, and opening amount W1 of the crack C (step S204).

[0064] As described above, the repair device 10A according to the second embodiment is an example of a repair content determination device that determines the repair content of a crack C that has occurred in an inspected material portion of a structure S. In addition to the functions of the repair device 10 according to the first embodiment, the repair device 10A can further use the opening amount W1 of the crack C when determining the repair pattern and the material to be used. This makes it possible to prevent repairs from being performed on cracks C whose openings are closed and therefore in which the repair material 22 cannot be expected to penetrate into the crack C. Furthermore, because the material to be used for repair is determined based on the opening amount W1, it is possible to further improve the crack propagation suppression effect regardless of the level of skill of the repair worker.

[0065] Third Embodiment In a third embodiment, a method for determining appropriate repair content according to the state of the crack C using machine learning will be described.

[0066] 19 is a diagram illustrating a functional configuration of a learning device 50 according to the third embodiment. The learning device 50 is a machine learning device related to the repair device 10. The learning device 50 includes a learning data acquisition unit 51 and a model generation unit 52.

[0067] The learning data acquisition unit 51 acquires the inspection results and the repair details of the repairs performed before acquiring the inspection results as learning data. Here, the inspection results include a captured image of the structure S and directional information that is information for identifying the direction of gravity in the captured image.

[0068] The model generation unit 52 learns the repair content based on the learning data including the inspection results and the repair content. That is, the model generation unit 52 generates a trained model that infers the repair content from the inspection results of the repair device 10. Here, the repair content includes at least the repair pattern and may further include the material to be used when performing the repair.

[0069] The learning algorithm used by the model generation unit 52 may be a known algorithm such as supervised learning, unsupervised learning, or reinforcement learning. As an example, a case where reinforcement learning is applied will be described. In reinforcement learning, an agent, which is the subject of action in a certain environment, observes environmental parameters that indicate the current state and determines the action to be taken. The environment changes dynamically depending on the agent's actions, and the agent is given a reward in accordance with the environmental changes. The agent repeats this process and learns the course of action that will obtain the most reward through a series of actions. Q-learning and TD-learning are known as representative reinforcement learning methods. For example, in the case of Q-learning, a general update formula for the action value function Q(s, a) is expressed by the following mathematical formula (1):

[0070]

[0071] In the above formula (1), s t represents the state of the environment at time t, and a t represents the action at time t. t Therefore, the state is s t+1 It changes to r t+1 represents the reward obtained by the change in state, γ represents the discount rate, and α represents the learning coefficient. Note that γ takes values ​​in the range of 0<γ≦1, and α takes values ​​in the range of 0<α≦1. t The inspection result is state s t and the state s at time t t Best action in a t Learn.

[0072] The update formula expressed by Equation (1) increases the action value Q of action a with the highest Q value at time t+1 if it is greater than the action value Q of action a executed at time t, and decreases the action value Q in the opposite case. In other words, the action value function Q(s, a) is updated so that the action value Q of action a at time t approaches the best action value at time t+1. As a result, the best action value in a certain environment is propagated sequentially to the action value in the previous environment.

[0073] As described above, when generating a trained model by reinforcement learning, the model generation unit 52 includes a reward calculation unit 53 and a function update unit 54.

[0074] The reward calculation unit 53 calculates a reward based on the repair details and the inspection results. The reward calculation unit 53 calculates a reward r based on the crack C propagation suppression effect of the repair target. For example, if the crack C propagation suppression effect improves, the reward r is increased by giving a reward of "1", and if the crack C propagation suppression effect decreases, the reward r is decreased by giving a reward of "-1". Note that the method for evaluating the crack C propagation suppression effect is not particularly limited. For example, the crack C propagation suppression effect may be expressed by fracture mechanics parameters or thermoelastic temperature fluctuations. Examples of fracture mechanics parameters that can be used include an effective stress intensity factor range, a J value, and an energy release rate.

[0075] The function update unit 54 updates the function for determining the repair content in accordance with the reward calculated by the reward calculation unit 53, and outputs the updated function to the trained model storage unit 55. For example, in the case of Q-learning, the action value function Q(s t , a t ) is used as a function to calculate the repair content.

[0076] The learning process is repeated as described above. The learned model storage unit 55 stores the action value function Q(s) updated by the function update unit 54. t , a t ), i.e., stores the trained model.

[0077] Next, the learning process performed by the learning device 50 will be described with reference to Fig. 20. Fig. 20 is a flowchart illustrating the learning process performed by the learning device 50.

[0078] The learning data acquisition unit 51 acquires repair details and inspection results as learning data (step S301).

[0079] The model generating unit 52 determines whether the effect of suppressing the propagation of the crack C is improved based on the repair details and the inspection results (step S302).

[0080] If the effect of suppressing the propagation of the crack C improves (step S302: Yes), the reward calculation unit 53 increases the reward (step S303). If the effect of suppressing the propagation of the crack C decreases (step S302: No), the reward calculation unit 53 decreases the reward (step S304).

[0081] The function update unit 54 updates the action value function Q(s) represented by the formula (1) stored in the trained model storage unit 55 based on the reward calculated by the reward calculation unit 53. t , a t ) is updated (step S305).

[0082] The learning device 50 repeatedly executes the above steps S301 to S305 to generate the action value function Q(s t , a t ) is stored as a trained model.

[0083] In addition, although the above-mentioned learning device 50 stores the learned model in a learned model storage unit 55 provided outside the learning device 50, the learned model storage unit 55 may also be provided inside the learning device 50.

[0084] 21 is a diagram showing the functional configuration of a determination unit 15B of a repair device 10B according to the third embodiment. The determination unit 15B has an inference device 56. Although the configuration of the repair device 10B according to the third embodiment is not shown, the repair device 10B has a determination unit 15B instead of the determination unit 15 of the repair device 10. This determination unit 15B can perform determination processing using machine learning. The inference device 56 uses a trained model stored in the trained model storage unit 55 to infer repair content from the inspection results acquired by the inspection unit 14, and outputs the repair content that is the inference result.

[0085] 22 is a configuration diagram of the inference device 56 related to the repair device 10 B. The inference device 56 has an inference data acquisition unit 57 and an inference unit 58.

[0086] The inference data acquisition unit 57 acquires the inspection results as inference data.

[0087] The inference unit 58 infers repair details using the trained model. That is, by inputting the inspection results acquired by the inference data acquisition unit 57 into this trained model, repair details suitable for the inspection results of the structure S can be inferred.

[0088] In this embodiment, the repair device 10B used by the model generation unit 52 when learning is the same as the repair device 10B that is the inference target of the inference unit 58, but it is also possible to obtain a trained model from another repair device 10 and output repair content based on this trained model.

[0089] Next, the process by which the inference device 56 obtains repair details will be described with reference to Fig. 23. Fig. 23 is a flowchart for explaining the inference process of the inference device 56.

[0090] The inference data acquisition unit 57 acquires the inspection results as inference data (step S401). The inference unit 58 inputs the inspection results acquired by the inference data acquisition unit 57 as inference data into the trained model stored in the trained model storage unit 55 (step S402), and obtains repair content as an output. The inference unit 58 outputs the obtained repair content as an inference result (step S403).

[0091] The repair device 10B performs repair using the output repair content (step S404). This allows the crack C to be repaired using the repair content determined based on the inspection results. Since this repair content includes at least a repair pattern, one of repair pattern (1) in which the pretreatment material 21 and the repair material 22 are applied, repair pattern (2) in which the repair material 22 is applied, and repair pattern (3) in which no repair is performed is selected based on the condition of the target crack C. Note that by using the photographed image and direction information of the structure S as the inspection results, it is possible to determine appropriate repair content simply by inputting the photographed image output by the camera 142 and the output of the gyro sensor provided in the camera 142 into the trained model.

[0092] In this embodiment, a case has been described in which reinforcement learning is applied to the learning algorithm used by the model generation unit 52, but the learning algorithm used by the model generation unit 52 is not limited to this. As for the learning algorithm, other than reinforcement learning, supervised learning, unsupervised learning, semi-supervised learning, or the like can also be applied.

[0093] Furthermore, the learning algorithm used in the model generation unit 52 may be deep learning, which learns to extract the features themselves, or machine learning may be performed according to other known methods, such as neural networks, genetic programming, functional inference programming, or support vector machines.

[0094] In the present embodiment, the inference device 56 is provided in the determination unit 15B of the repair device 10B, but this is not limiting. The learning device 50 and the inference device 56 may be devices separate from the repair device 10B, for example, connected to the repair device 10B via a network. Furthermore, the learning device 50 and the inference device 56 may exist on a cloud server.

[0095] The model generation unit 52 may also learn repair content using learning data acquired from multiple repair devices 10. The model generation unit 52 may acquire learning data from multiple repair devices 10 used in the same area, or may learn repair content using learning data collected from multiple repair devices 10 operating independently in different areas. It is also possible to add or remove repair devices 10 that collect learning data from the target during the process. Furthermore, a learning device 50 that has learned repair content for a certain repair device 10 may be applied to another repair device 10, and the repair content for the other repair device 10 may be re-learned and updated.

[0096] As described above, according to the third embodiment, it is possible to determine repair details using machine learning. The repair device 10B is an example of a repair detail determination device. For example, the determination unit 15B includes an inference data acquisition unit 57 that acquires inspection results and an inference unit 58 that outputs repair details from the inspection results acquired by the inference data acquisition unit 57 using a trained model for inferring repair details for the crack C from the inspection results. The repair details output by the inference unit 58 include at least a repair pattern and may further include a material to be used for repairing the crack C. This trained model is generated by a learning device 50 that includes, for example, a training data acquisition unit 51 that acquires training data including the inspection results and the repair details, and a model generation unit 52 that uses the training data to generate a trained model for inferring repair details from the inspection results. The model generation unit 52 can, for example, learn repair details that improve the effect of suppressing the propagation of the crack C. Input to the trained model is inspection results, which may include, for example, photographed images and directional information of the structure S. Furthermore, in the above embodiment, the inspection results are the captured image and directional information of the structure S, but the inspection results input to the trained model may be values ​​calculated from the captured image and directional information. When a value calculated from the captured image and directional information, for example, a specific feature value such as "the angle φ1 of the crack C with respect to the direction of gravity," is input to the trained model, it becomes possible to reliably reflect the influence of the specific feature value on the repair content.

[0097] Fourth Embodiment. Figure 24 is a diagram showing the functional configuration of a repair device 10C according to a fourth embodiment. The repair device 10C includes a main body 11, a suction means 12, a drive means 13, a determination unit 15, a repair unit 16, and a control means 41 that controls the suction force of the suction means 12 and the drive force of the drive means 13. The main body 11 of the repair device 10C moves along the structure S by the drive means 13 under the control of the control means 41. The pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19 of the repair unit 16 are arranged in order of treatment, with the direction of movement as the head. Specifically, the pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19 are arranged in this order, with the direction of movement as the head. As a result, as the repair device 10C moves, the pre-treatment unit 17, intermediate treatment unit 18, and post-treatment unit 19 face the crack C in this order, allowing for efficient repair work.

[0098] As described above, the repair device 10C according to the fourth embodiment comprises a determination unit 15 that determines, based on the inspection results of a crack C that has occurred in a material portion of the structure S to be inspected, a repair content including a repair pattern that indicates whether or not to repair the crack C with a repair material 22, which is a liquid containing particles, and, if repair with the repair material 22 is to be performed, whether or not to apply a pretreatment material 21 into the crack C before applying the repair material 22; and a repair unit 16 that carries out repair of the crack C based on the repair content determined by the determination unit 15. The repair unit 16 is characterized by having a pretreatment unit 17 that carries out a pretreatment step of applying the pretreatment material 21 into the crack C of the structure S, an intermediate treatment unit 18 that carries out an intermediate treatment step of removing any excess of the pretreatment material 21 applied in the pretreatment step, and a posttreatment unit 19 that carries out a posttreatment step of applying the repair material 22 to the crack C. The repair device 10C further includes suction means 12 that suctions to the structure S to fix the main body 11 of the repair device 10C to the structure S, drive means 13 that moves the main body 11 along the structure S, and control means 41 that controls the suction force of the suction means 12 and the drive force of the drive means 13. In addition, the pre-treatment section 17, intermediate treatment section 18, and post-treatment section 19 of the repair unit 16 are arranged in order of treatment, with the direction of movement of the repair device 10C by the drive means 13 as the leading edge. This makes it possible to improve the efficiency of the repair work.

[0099] The intermediate treatment section 18 can be a suction mechanism for the pretreatment material 21 or industrial oil absorbing paper that absorbs the pretreatment material 21.

[0100] Fifth Embodiment Fig. 25 is a diagram showing the configuration of a repair content determination system 1 according to a fifth embodiment. The repair content determination system 1 includes an inspection device 61, a repair content determination device 64, and a repair device 10D. Hereinafter, parts having the same functions as those in the functional configurations described in the first to fourth embodiments will be designated by the same reference numerals, and detailed description thereof will be omitted.

[0101] The inspection device 61 has an inspection unit 14, a calculation unit 151, a storage unit 62, and a transmission unit 63. The inspection unit 14 outputs the inspection results to the calculation unit 151. The calculation unit 151 calculates the length L1 and angle φ1 of the crack C based on the inspection results, and outputs the length L1 and angle φ1 of the crack C to the storage unit 62. The storage unit 62 stores the length L1 and angle φ1 of the crack C. The transmission unit 63 transmits the length L1 and angle φ1 of the crack C stored in the storage unit 62 to the repair content determination device 64.

[0102] The repair content determination device 64 includes a receiving unit 65, a determination unit 15D, and an output unit 66. The receiving unit 65 receives the length L1 and angle φ1 of the crack C from the inspection device 61 and outputs them to the repair pattern determination unit 152 and the material use determination unit 153 of the determination unit 15D. The determination unit 15D is similar to the determination unit 15 except that it acquires the length L1 and angle φ1 of the crack C via the receiving unit 65, and outputs the determined repair content to the output unit 66. The output unit 66 outputs the determined repair content to the repair device 10D. The output unit 66 may output the repair content to the repair device 10D via communication, or may output a display screen containing the repair content, for example. In this case, a worker viewing the display screen can operate the repair device 10D to perform repairs in accordance with the determined repair content.

[0103] The repair device 10D includes a suction means 12, a driving means 13, a repair unit 16, and a control means 41. The repair device 10D executes repair processing in accordance with repair content determined by a repair content determination device 64, which is a device separate from the repair device 10D.

[0104] The inspection device 61 and the repair device 10D must be operated at the location where the structure S is located, but the repair content determination device 64 may be installed anywhere as long as it has a communication function.

[0105] As described above, according to the repair content determination system 1 of the fifth embodiment, the repair content determination device 64, which is separate from the inspection device 61 and the repair device 10D, can determine repair content, including a repair pattern, from the inspection results. Therefore, as long as the repair device 10D has a communication function, the repair content determination device 64 does not need to have a function for performing processing to determine repair content. Like the repair device 10, the repair content determination device 64 makes it possible to easily determine whether application of the pretreatment material 21 is necessary and whether repair using the repair material 22 is appropriate, regardless of the worker's level of proficiency. Note that, although the inspection device 61 is described as being separate from the repair device 10D, the functions of the inspection device 61 may be provided in the repair device 10D.

[0106] 26 is a diagram showing the configuration of a repair content determination system 1E according to embodiment 6. The repair content determination system 1E includes an inspection device 61E, a repair content determination device 64E, and a repair device 10D.

[0107] The inspection device 61E includes an inspection unit 14, a calculation unit 151A, a storage unit 62E, and a transmission unit 63E. The inspection device 61E according to the sixth embodiment includes a calculation unit 151A instead of the calculation unit 151 of the inspection device 61. The calculation unit 151A calculates the opening amount W1 in addition to the length L1 and angle φ1 of the crack C. The storage unit 62E stores the length L1, angle φ1, and opening amount W1 of the crack C. The transmission unit 63E transmits the length L1, angle φ1, and opening amount W1 of the crack C to the repair content determination device 64E. The transmission unit 63E also transmits at least the opening amount W1 of the crack C to the repair effect prediction unit 67.

[0108] The repair effect prediction unit 67 predicts the repair effect. The repair effect is expressed by the effect of suppressing the propagation of the crack C. For example, the effect of suppressing the propagation of the crack C may be expressed by a fracture mechanics parameter or by a thermoelastic temperature variation. Examples of the fracture mechanics parameter that can be used include an effective stress intensity factor range, a J value, and an energy release rate. Note that the quantity indicating the repair effect is not particularly limited here. Here, since the opening amount W1 of the crack C can be obtained from the inspection results of the inspection unit 14, the repair effect prediction unit 67 predicts the repair effect based on the opening amount W1 of the crack C before and after repair.

[0109] The repair content determination device 64E includes a receiving unit 65, a determining unit 15E, and an output unit 66. The determining unit 15E includes a repair pattern determining unit 152A and a material use determining unit 153A.

[0110] 27 is a flowchart for explaining the operation of the repair content determination system 1E according to the sixth embodiment. The inspection unit 14 of the repair content determination system 1E performs an inspection process (step S10). Based on the inspection results of the inspection unit 14, the calculation unit 151A and the determination unit 15E perform a determination process (step S20). The repair device 10D determines whether or not the result of the determination process indicates "repair required" (step S30). If "repair required" is determined (step S30: Yes), the repair unit 16 of the repair device 10D performs a repair process (step S40).

[0111] After the repair device 10D performs the repair process, the inspection unit 14 of the inspection device 61E performs a post-repair inspection process (step S41). The post-repair inspection process is an inspection process performed after the repair process and is similar to the inspection process of step S10. In addition, the repair effect prediction unit 67 performs a repair effect prediction process (step S42).

[0112] If "no repair required" is determined (step S30: No), and after the repair effect prediction process is performed, the repair device 10D determines whether repair is complete (step S50). If repair is not complete (step S50: No), the control means 41 of the repair device 10D controls the drive means 13 to move the repair device 10D (step S60), and the process returns to step S10. If repair is complete (step S50: Yes), the repair content determination system 1E terminates the process.

[0113] As described above, according to the repair content determination system 1E of embodiment 6, in addition to the functions of the repair content determination system 1, it is possible to determine the repair content based on the opening amount W1 of the crack C, and it has the function of predicting the effect of the repair treatment on suppressing the progression of the crack C based on the opening amount W1.

[0114] 28 is a diagram showing the configuration of a repair content determination system 1F according to embodiment 7. The repair content determination system 1F includes an inspection device 61F, a learning device 50, a repair content determination device 64F, and a repair device 10D.

[0115] The inspection device 61F includes an inspection unit 14, a storage unit 62, and a transmission unit 63. In the seventh embodiment, machine learning is used to infer repair content from inspection results. Here, the input to the trained model is the captured image and directional information, which are the inspection results. Therefore, the inspection device 61F does not include calculation units 151 and 151A, and stores the inspection results directly in the storage unit 62. Note that if the input to the trained model is not the inspection results themselves but values ​​calculated from the inspection results, such as the length L1, angle φ1, and opening amount W1 of the crack C, the inspection device 61F may have a function to calculate these values ​​using the calculation units 151 and 151A. The transmission unit 63 transmits the inspection results to the repair content determination device 64F and the learning device 50.

[0116] The repair content determination device 64F has a function of inferring repair content from the inspection results of the inspection device 61F using machine learning. The repair content determination device 64F has a receiving unit 65, a judgment unit 15F, and an output unit 66. The judgment unit 15F has an inference device 56. The receiving unit 65 receives the inspection results from the inspection device 61F and receives the learned model from the learned model storage unit 55. The receiving unit 65 outputs the received inspection results and learned model to the judgment unit 15F. The inference device 56 of the judgment unit 15F infers repair content for the repair device 10D using the input inspection results and learned model. Specifically, the inference device 56 inputs the inspection results into the learned model and obtains the repair content as an output. The inference device 56 outputs the obtained repair content to the output unit 66. The output unit 66 outputs the repair content to the repair device 10D and the learning device 50.

[0117] The learning device 50 uses the inspection results before and after repair obtained from the inspection device 61F and the repair content obtained from the repair content determination device 64F to generate a trained model for obtaining repair content from the inspection results, and stores the generated trained model in the trained model memory unit 55.

[0118] As described above, the repair content determination system 1F according to the seventh embodiment can determine repair content using machine learning. Here, the input to the trained model is the inspection result itself, and therefore the repair content determination system 1F does not need to include the configuration of the calculation units 151 and 151A. Note that, even in the seventh embodiment, the hardware in which each function of the repair content determination system 1F is provided can be changed as appropriate. For example, the learning device 50 may be provided in the inspection device 61F, the repair device 10D, or the repair content determination device 64F. Furthermore, the inspection device 61F and the repair device 10D may be integrated into one device.

[0119] 29 is a diagram showing the configuration of a repair content determination system 1G according to an eighth embodiment. The repair content determination system 1G includes a repair device 10G and a repair content determination device 64. The repair device 10G is an unmanned mobile object having an inspection function and a repair function.

[0120] The repair device 10G has an inspection device 61, a receiving unit 68, a repair unit 16, a control unit 41G, a driving unit 13, a suction unit 12, and a route information storage unit 69. The route information storage unit 69 stores route information indicating a movement route in the structure S to be inspected and repaired. The control unit 41G controls the driving unit 13 and the suction unit 12 in accordance with the route information stored in the route information storage unit 69, thereby moving the repair device 10G along the movement route of the structure S.

[0121] The repair device 10G transmits the inspection results of the inspection device 61 to the repair content determination device 64, and executes repairs in the repair unit 16 in accordance with the repair content received from the repair content determination device 64.

[0122] FIG. 30 is a diagram showing an example of a movement path of a repair device 10G according to the eighth embodiment. For example, as shown by the solid arrow in FIG. 30, it is assumed that a movement path for a structure S is determined in advance. At this time, the repair device 10G inspects the structure S while moving along this movement path and performs a determination process based on the inspection results. If a crack C to be repaired is found through the determination process, the repair device 10G performs the repair process and then resumes movement along the movement path. In this case, the operation of the repair device 10G is as shown in FIG. 14 or FIG. 27.

[0123] In the example of Figure 30, the repair device 10G performs inspection and assessment processes while moving along a predetermined movement path from a start point 5-1 to a goal point 5-2, and also performs repair processes at points 6-1, 6-2, and 6-3 where a crack C to be repaired is found. When the repair device 10G reaches the goal point 5-2, it automatically returns to the start point 5-1. For example, as shown in Figure 30, the repair device 10G can return from the goal point 5-2 to the start point 5-1 via the shortest route.

[0124] Alternatively, the repair device 10G may perform the inspection process and the assessment process while moving along a predetermined movement path, and when a crack C to be repaired is found, record the position information of the points 6-1, 6-2, and 6-3 where the crack C occurs. In this case, the repair process may not be performed while moving from the start point 5-1 to the goal point 5-2, but may be performed at the recorded points 6-1, 6-2, and 6-3 while returning from the goal point 5-2 to the start point 5-1. FIG. 31 is a diagram showing another example of the path taken by the repair device 10G according to the eighth embodiment to return from the goal point 5-2 to the start point 5-1. Note that, although the repair device 10G is described here as including the inspection device 61 and the repair unit 16, the inspection process and the repair process may be performed separately using an inspection device 61 separate from the repair device 10G. Even in this case, if the inspection device 61 and the repair device 10G are each mounted on an unmanned mobile body, the inspection and repair processes can be performed along a predetermined movement route, thereby shortening the work time.

[0125] An example of a hardware configuration will now be described. The above-described repair content determination devices 64, 64E, and 64F are realized, for example, by a computer system. The repair content determination devices 64, 64E, and 64F may be realized by a single computer system or multiple computer systems. For example, the repair content determination devices 64, 64E, and 64F may be realized by a cloud system. In a cloud system, the hardware of the computer system and devices such as servers for each function can be arbitrarily separated. For example, a single computer system may have the functions of multiple devices, or multiple computer systems may have the functions of a single device.

[0126] An example of the configuration of a computer system that realizes the repair content determination devices 64, 64E, and 64F will be described. Fig. 32 is a diagram showing an example of the configuration of a computer system that realizes the repair content determination devices 64, 64E, and 64F. As shown in Fig. 32, this computer system includes a control unit 101, an input unit 102, a storage unit 103, a display unit 104, a communication unit 105, and an output unit 106, which are connected via a system bus 107.

[0127] In FIG. 32 , the control unit 101 is, for example, a CPU (Central Processing Unit). The control unit 101 executes a repair content determination program that describes the processes performed by the repair content determination devices 64, 64E, and 64F of this embodiment. The input unit 102 is composed of, for example, a keyboard, a mouse, and the like, and is used by the user of the computer system to input various information. The memory unit 103 includes various memories such as RAM (Random Access Memory) and ROM (Read Only Memory) and a storage device such as a hard disk, and stores programs to be executed by the control unit 101, necessary data obtained during processing, and the like. The memory unit 103 is also used as a temporary storage area for programs. The display unit 104 is composed of, for example, an LCD (Liquid Crystal Display) and the like, and displays various screens to the user of the computer system. The communication unit 105 is, for example, a communication circuit that performs communication processing. The communication unit 105 may be composed of multiple communication circuits corresponding to multiple communication methods. The output unit 106 is an output interface that outputs data to an external device such as a printer or an external storage device.

[0128] Note that Figure 32 is just an example, and the configuration of the computer system is not limited to the example of Figure 32. For example, the computer system may not include the output unit 106. Furthermore, if the repair content determination devices 64, 64E, and 64F are realized by multiple computer systems, not all of these computer systems may be the computer systems shown in Figure 32. For example, some computer systems may not include at least one of the display unit 104, output unit 106, and input unit 102 shown in Figure 32.

[0129] Here, an example of the operation of a computer system until a repair content determination program describing the processing of the repair content determination devices 64, 64E, and 64F of this embodiment is ready to be executed will be described. In a computer system having the above configuration, for example, a repair content determination program is installed in storage unit 103 from a CD-ROM or DVD-ROM inserted in a CD (Compact Disc)-ROM drive or DVD (Digital Versatile Disc)-ROM drive (not shown). Then, when the repair content determination program is executed, the repair content determination program read from storage unit 103 is stored in an area that serves as the main storage device of storage unit 103. In this state, control unit 101 executes the processing of repair content determination devices 64, 64E, and 64F of this embodiment in accordance with the repair content determination program stored in storage unit 103.

[0130] In the above explanation, a program describing the processing in the repair content determination device 64, 64E, 64F is provided using a CD-ROM or DVD-ROM as a recording medium, but this is not limited to this. Depending on the configuration of the computer system, the capacity of the program to be provided, etc., it is also possible to use a program provided via a transmission medium such as the Internet via the communication unit 105, for example.

[0131] The repair content determination program of this embodiment causes a computer to execute the following steps: acquiring inspection results for a crack C that has occurred in the material portion of the structure S to be inspected; determining repair content including a repair pattern that indicates, based on the inspection results, whether or not to repair the crack C with a repair material 22, which is a liquid containing particles, and, if repair with the repair material 22 is to be performed, whether or not to apply a pretreatment material 21 into the crack C before applying the repair material 22; applying the pretreatment material 21 into the crack C if the repair pattern indicates that repair with the repair material 22 will be performed and that the pretreatment material 21 will be applied; removing excess of the applied pretreatment material 21 if the repair pattern indicates that repair with the repair material 22 will be performed and that the pretreatment material 21 will be applied; and applying the repair material 22 into the crack C if the repair pattern indicates that repair with the repair material 22 will be performed.

[0132] The receiving unit 65 shown in Figures 25, 26, 28, and 29 is realized by the communication unit 105 shown in Figure 32, the judgment units 15D, 15E, and 15F shown in Figures 25, 26, 28, and 29 are realized by the control unit 101 shown in Figure 32, and the output unit 66 shown in Figures 25, 26, 28, and 29 is realized by at least one of the communication unit 105 and the output unit 106 shown in Figure 32.

[0133] Like the repair content determination devices 64, 64E, and 64F, the learning device 50 and the inference device 56 are realized by one or more computer systems. Like the above-described repair content determination program, the programs that enable the learning device 50 and the inference device 56 to perform the operations described in this embodiment are provided via a storage medium, transmission medium, or the like, and installed in a computer system. This allows the above-described operations of the learning device 50 and the inference device 56 to be realized. Furthermore, the repair content determination devices 64, 64E, and 64F and the learning device 50 and the inference device 56 may be realized by a single computer system. In this case, the receiving units 65 and 68 and the transmitting units 63 and 63E do not need to be provided, and these functions are performed by data exchange within the computer system.

[0134] The division of functions among the devices is merely an example, and as long as the repair content determination systems 1, 1E, 1F, and 1G can perform the above-described operations, the division of functions among the devices is not limited to the example shown in the figure.

[0135] 33 is a diagram showing an example of a processing circuit 110 for realizing each function of the repair device 10 or the repair content determination system 1. The determination units 15, 15A, 15B of the repair devices 10, 10A, 10B, 10C, the calculation units 151, 151A of the inspection devices 61, 61E, and the control means 41, 41G of the repair devices 10C, 10D, 10G are each realized by the processing circuit 110. These processing circuits 110 may be dedicated hardware or may be control circuits using a CPU.

[0136] When the processing circuit 110 is implemented by dedicated hardware, the processing circuit 110 may be 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.

[0137] When the processing circuit 110 is implemented as a control circuit using a CPU, the control circuit includes a processor and a memory. The processor is a CPU, and is also called a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). The memory may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD.

[0138] When the processing circuit 110 is realized by a control circuit, the processor reads and executes programs corresponding to the processing of each component stored in memory. The memory is also used as a temporary memory for each processing executed by the processor.

[0139] Ninth Embodiment In the first to eighth embodiments, a technique for determining the repair content of a crack C has been described, assuming that the repair process involves applying a repair material 22, which is a liquid containing particles, to a crack C that has occurred in a structure S. In the ninth and subsequent embodiments, a technique for determining a repair plan for repairing the crack C using a wider range of methods, in addition to the repair process using the repair material 22, will be described. More specifically, in the first to eighth embodiments, a method for determining the content of the repair to be performed has been described, but in the ninth and subsequent embodiments, a method for determining a repair plan that includes not only the content of the repair but also the timing of the repair will be described.

[0140] 34 is a diagram showing a functional configuration of a repair plan determination apparatus 200 according to the ninth embodiment. The repair plan determination apparatus 200 includes an inspection result acquisition unit 201, an input unit 202, a database 203, a repair plan determination unit 204, and an output unit 205.

[0141] The inspection result acquisition unit 201 acquires inspection results indicating the state of cracks C that have occurred in the structure S. The inspection result acquisition unit 201 outputs the acquired inspection results to the input unit 202. The inspection result acquisition unit 201 may acquire inspection results from outside the repair plan determination device 200, or may have a function for performing inspections. When the inspection result acquisition unit 201 has a function for performing inspections, for example, like the repair device 10 shown in FIG. 1 , the inspection result acquisition unit 201 has suction means 12 that fixes the main body 11 to the structure S, driving means 13 that moves the main body 11 along the structure S, and an inspection unit 14 that inspects cracks C in the structure S while moving the main body 11 along the structure S.

[0142] Fig. 35 is a flowchart for explaining the operation of the test result acquisition unit 201 shown in Fig. 34. Note that Fig. 35 shows a case where the test result acquisition unit 201 has a function of performing a test.

[0143] The inspection result acquisition unit 201 sets an inspection position within the structure S (step S501). The inspection position may be set, for example, by a user using an input means or by reading data that defines the inspection position in advance. The inspection result acquisition unit 201 measures the crack C at the set inspection position (step S502) and acquires measurement information indicating the measurement results. The measurement information acquired by the inspection result acquisition unit 201 varies depending on the inspection means possessed by the inspection result acquisition unit 201. For example, if the inspection result acquisition unit 201 has the function of the inspection unit 14 shown in FIG. 3 , the measurement information may be, for example, information indicating the depth inside the crack C acquired using the LiDAR scanner 141, an image of the surface of the structure S captured using the camera 142, etc.

[0144] The inspection result acquisition unit 201 calculates the position of the crack C in the structure S, the length of the crack C, and the surface angle, which is the angle of the crack C with respect to the surface of the structure S, from the measurement information acquired in step S502 (step S503). The position, length, and surface angle of the crack C are examples of information indicating the state of the crack C. The inspection result acquisition unit 201 outputs the information indicating the calculated position, length, and surface angle of the crack C as an inspection result indicating the state of the crack C (step S504).

[0145] Here, we will explain the "surface angle." Figure 36 is an explanatory diagram of the surface angle. The surface angle is the angle that the crack C makes with respect to the surface of the structure S where the crack C occurs. It is different from the above-mentioned "angle of the crack C," which is the "angle between the depth direction D2 of the crack C and the direction of gravity D1." Here, the crack C may have a simple shape as shown in Figure 2 or may be curved as shown in Figure 36. When the crack C has a curved shape, the "surface angle" is the angle Θ between the line connecting the opening and tip of the crack C and the surface of the structure S, as shown in Figure 36. For example, if the structure S is a bridge, when an object gets on or off the part where the crack C occurs, a tensile load is generated around the crack C as shown by the arrow in Figure 36, causing the crack C to propagate. In this case, the propagation speed of the crack C, when the size of the crack C is the same, varies depending on the angle Θ of the crack C with respect to the surface of the structure S, and is faster as the angle Θ approaches 90 degrees. Therefore, the surface angle can be used as information indicating the state of the crack C.

[0146] Here, it is assumed that the test result acquisition unit 201 has the function of conducting the test, but if the test result acquisition unit 201 does not have the function of conducting the test, the test result acquisition unit 201 may acquire the test results themselves from outside and output the acquired test results, or may acquire measurement information from outside and calculate the test results from the acquired measurement information.

[0147] Returning to the description of Fig. 34, the input unit 202 accepts input information and outputs the accepted input information to the repair plan determination unit 204. The input information is information that the repair plan determination unit 204 uses to formulate a repair plan.

[0148] FIG. 37 is a diagram showing an example of input information 70 received by the input unit 202 shown in FIG. 34 . The input information 70 includes shape information 71 indicating the shape of the structure S, inspection results 72, an inspection and repair budget 73, and parameters 74 for estimating the costs incurred if the structure becomes unusable. The shape information 71 of the structure S includes information indicating the length, width, cross-sectional shape, support length, material, load, etc. of the structure S to be inspected. The shape information 71 of the structure S may be, for example, computer-assisted drafting (CAD) data. The inspection results 72 are information output by the inspection result acquisition unit 201 and indicate the state of a crack C that has occurred in the target structure S. The inspection and repair budget 73 is the cost available for inspection and repair, and is information expressed, for example, as an amount per fiscal year. The parameters 74 for estimating the cost incurred when the structure becomes unusable may be any information that makes it possible to estimate the cost incurred when the structure becomes unusable, and may be, for example, the length of time when the structure S becomes unusable and the cost per unit time, or the actual cost incurred when the structure S becomes unusable. The "cost" here may include the cost of providing alternative means that becomes necessary when the structure S becomes unusable, losses that arise when the structure S becomes unusable, for example, the expected amount of income when income that would have been expected from the operation of the structure S is lost, etc. In other words, the cost includes at least either expenses or losses.

[0149] Returning to the explanation of Figure 34, the database 203 holds information that the repair plan determination unit 204 references when formulating a repair plan, and can output the held information to the repair plan determination unit 204. Specifically, the database 203 includes information that associates a plurality of repair methods that are candidate repair methods included in the repair plan with the state of cracks C that cannot be repaired by each repair method. The database 203 can also hold information that indicates the repair time and repair costs required when repairs are carried out using each repair method, and the service life of the structure S when repairs are carried out using each repair method.

[0150] FIG. 38 is a diagram showing an example of information stored in the database 203 shown in FIG. 34 . This database 203 includes “crack length,” “surface angle,” “repair method,” “repair time,” “cost,” and “service life after repair.” “Crack length” refers to the length of the crack C. As described above, it may be the length of the crack line. If the crack line is not straight, it may be the length of an approximate straight line of the crack line. “Surface angle” refers to the angle of the crack C with respect to the surface of the structure S described with reference to FIG. 36 . Note that “crack length” and “surface angle” are examples of information indicating the state of the crack C. “Repair method” refers to information indicating the type of repair method applicable to the crack C in the state indicated by the “crack length” and “surface angle.” The repair method may be represented by numbers as shown in FIG. 38 . In this case, each number is pre-associated with a repair method, such as simple repair or large-scale repair. Simple repairs are simple repairs performed during inspections and can be done within the scope of the facilities and equipment installed during the inspection. Specifically, simple repairs include repairs using repair materials 22 on the spot when inspecting cracks C on the surface of a bridge (structure S) and part replacements that can be done on the spot. Large-scale repairs are repairs performed separately from inspections that cannot be handled within the scope of the facilities and equipment used during the inspection, such as repairs using auxiliary equipment such as scaffolding. Specifically, in the case of a bridge (structure S), large-scale repairs include adding new steel or reinforcing materials to repair rusted or corroded steel structures, and replacing bearings. "Repair time" is information indicating the time required to perform repairs using each repair method. "Cost" is information indicating the cost required for repairs using each repair method. "Useful life after repair" is information indicating the useful life of the structure S after repairs using each repair method. Generally, if a structure in the same condition undergoes major repairs, it will have a longer service life and be able to withstand long-term use than if it undergoes simple repairs.

[0151] Note that the data structure of database 203 shown in Figure 38 is an example, and the information stored in database 203 may be information that indicates similar content or information that can be used to generate information with similar content.

[0152] Returning to the explanation of FIG. 34 , the repair plan determination unit 204 creates a repair plan by combining simple repairs at the time of inspection corresponding to the inspection results 72 included in the input information 70, simple repairs at the time of subsequent inspections, and large-scale repairs, based on the input information 70 received by the input unit 202 and the information held in the database 203. At this time, the repair plan determination unit 204 determines the repair method and timing of each repair included in the repair plan so as to satisfy at least one of minimizing the total cost and leveling the cost. The repair plan determination unit 204 outputs the determined repair plan to the output unit 205. It is desirable that the repair plan determination unit 204 determine the repair plan so that costs are leveled for each budgeted period, for example, for each fiscal year, during the target period of the repair plan.

[0153] FIG. 39 is a flowchart illustrating the operation of the repair plan determination unit 204 according to the ninth embodiment. The repair plan determination unit 204 determines whether or not the crack C needs to be repaired based on the input information 70 and the database 203 (step S511). The determination of whether or not the crack C needs to be repaired can be made based on the shape information 71 and the inspection results 72 included in the input information 70. Specifically, the state of the crack C that will lead to failure of the structure S if not repaired is determined in advance based on information about the shape and material of the target structure S. For example, the "state of the crack C" referred to here refers to the length, position, angle, etc. of the crack C. Then, the repair plan determination unit 204 determines that repair is necessary if the state of the crack C indicated by the inspection results matches the predetermined state of the crack C, and determines that repair is not necessary otherwise. The repair plan determination unit 204 may simply determine in advance the range that needs repair based on the length of the crack C and determine whether or not repair is necessary, or may determine whether or not repair is necessary based on a combination of multiple conditions. In this case, the range that needs repair may be changed for each position where the crack C occurs.

[0154] If repair of the crack C is not necessary (step S511: No), the repair plan determination unit 204 estimates the propagation amount of the crack C (step S512). The repair plan determination unit 204 can generate parameters indicating the propagation of the crack C, such as the propagation rate of the crack C and the stress intensity factor range, as estimation results. The repair plan determination unit 204 determines the next inspection time based on the estimation results, proposes the determined inspection time (step S513), and ends the processing. Specifically, the repair plan determination unit 204 predicts the time when the structure S will fail based on the predicted propagation rate of the crack C, and determines the next inspection time so that the next inspection time will be before the predicted time when the structure S will fail.

[0155] If the crack C needs to be repaired (step S511: Yes), the repair plan determination unit 204 determines whether a simple repair is possible (step S514). Specifically, the repair plan determination unit 204 checks the information held in the database 203 for the presence or absence of a simple repair method that can be applied to the crack C in the state indicated by the inspection result 72 included in the input information 70. The repair plan determination unit 204 then determines that a simple repair is possible if the database 203 contains a simple repair method that can be applied to the crack C indicated by the inspection result 72, and determines that a simple repair is impossible if the database 203 does not contain a simple repair method that can be applied to the crack C indicated by the inspection result 72.

[0156] If simple repair is not possible (step S514: No), the repair plan determination unit 204 proposes large-scale repair (step S515) and ends the process. If simple repair is possible (step S514: Yes), the repair plan determination unit 204 proposes a repair plan that combines simple repair and large-scale repair, taking into account the lifespan extension achieved by the simple repair (step S516), and ends the process. Specifically, based on the input information 70 and the information held in the database 203, the repair plan determination unit 204 combines simple repairs made at the time of the inspection corresponding to the inspection result 72 included in the input information 70, simple repairs made at inspections after the inspection, i.e., the next inspection, and large-scale repairs, to create a repair plan that satisfies at least one of minimizing the total cost and leveling out the costs required for inspection and repair.

[0157] Here, step S516 will be described in detail. FIG. 40 is a flowchart for describing the details of step S516 in FIG. 39. The repair plan determination unit 204 first extracts usable simple repair methods from the information held in the database 203 (step S521). Here, usable simple repair methods refer to simple repair methods that can be applied to cracks C in the state indicated by the inspection results 72 included in the input information 70. The symbols i1, i2, ... represent the extracted simple repair methods. When the simple repair method is "part replacement," the repair plan determination unit 204 counts the number of cracks C occurring in each part and can designate parts for replacement if the number of cracks C is equal to or greater than a predetermined threshold. If the number of extracted simple repair methods is n, the repair plan determination unit 204 extracts the longest useful life among the useful lives after repair of the extracted simple repair methods i1 to in, and sets the extracted useful life as the maximum useful life Ymax (step S522).

[0158] The repair plan determination unit 204 extracts the year with the largest budget from the inspection date to the maximum useful life Ymax, sets it as the maximum budget year Yrich, and sets the time for large-scale repairs one year after the maximum budget year Yrich (step S523).The repair plan determination unit 204 proposes the cheapest simple repair method among the simple repair methods that result in a useful life of Yrich or more (step S524), and ends the process.

[0159] The information held in database 203 can include, as simple repair methods, a method of applying repair material 22 to crack C and a method of replacing the part. As a specific example, consider a case where database 203 holds information indicating, as simple repair methods, a method of applying repair material 22 to crack C and a method of replacing the part. Let Y1 be the service life after repairing crack C by applying repair material 22, and Y2 be the service life after repairing crack C by replacing the part. Even if repair material 22 is applied, continuing to use a product in which crack C has already occurred generally results in a shorter service life, so Y1 < Y2.

[0160] In this case, the maximum useful life Ymax = Y2. The repair plan determination unit 204 extracts the year with the largest budget from the inspection date until Y2 years from now, sets the year with the largest budget Yrich, and sets the year with the largest budget Yrich as the timing for large-scale repair. Here, if Y1 < Yrich, the repair plan determination unit 204 selects a repair method of replacing parts as the simplified repair method during inspection so that the repair method can withstand until Y2 years from now, and then plans a large-scale repair Yrich years later, thereby leveling out costs. Furthermore, if Yrich < Y1 < Y2, the repair plan determination unit 204 selects the method of applying repair material 22, which is the least expensive method between the repair method of replacing parts and the repair method of applying repair material 22, as the simplified repair method during inspection, and plans a large-scale repair Yrich years later, thereby leveling out costs.

[0161] In the method shown in Figure 40, for simplicity, the case where simple repairs are performed multiple times is omitted, but the repair plan determination unit 204 may determine a repair plan based on the useful life when simple repairs are performed multiple times.

[0162] Furthermore, the repair plan determination unit 204 can treat the case where "simple repairs are not performed at the time of inspection" as a simple repair method by using the "parameters for estimating the costs incurred when the structure S becomes unusable" included in the input information 70. Specifically, the repair plan determination unit 204 estimates the costs incurred when the structure S becomes unusable based on the "parameters for estimating the costs incurred when the structure S becomes unusable" included in the input information 70. Then, the repair plan determination unit 204 can use the estimated costs as the "cost" of the simple repair method of "simple repairs are not performed at the time of inspection." In this case, the "repair time" for the simple repair method of "simple repairs are not performed at the time of inspection" can be set to 0, and the "useful life after repair" can be set to the same as before the repair. Furthermore, the simple repair method of "simple repairs are not performed at the time of inspection" may be applicable regardless of the state of the crack C, or a constraint condition according to the state of the crack C may be set.

[0163] Returning to the explanation of Fig. 34, the output unit 205 outputs the repair plan determined by the repair plan determination unit 204 to the user. There are no particular limitations on the means by which the output unit 205 outputs the repair plan, but an example using a display screen as a general output means will be described. The output unit 205 generates a display screen showing the contents of the repair plan determined by the repair plan determination unit 204, and outputs the generated display screen using a display device.

[0164] When the repair plan determination unit 204 generates a repair plan that proposes the next inspection timing in step S513 of Fig. 39 , the output unit 205 can output, for example, the display screen shown in Fig. 41 . Fig. 41 is a diagram showing a first example of a display screen output by the output unit 205 shown in Fig. 34 . When it is determined that repair of crack C is not currently necessary, the output unit 205 can generate a display screen that includes a message indicating that repair is not currently necessary and the next inspection timing determined in step S513 of Fig. 39 . The display screen generated at this time may include the estimated result of the growth of crack C in step S512 of Fig. 39 .

[0165] When the repair plan determination unit 204 generates a repair plan proposing large-scale repair in step S515 of FIG. 39 , the output unit 205 can output, for example, the display screen shown in FIG. 42 . FIG. 42 is a diagram showing a second example of the display screen output by the output unit 205 shown in FIG. 34 . When it is determined that repair of crack C is currently necessary and that simple repair is not possible, the output unit 205 can generate a display screen indicating that the repair currently being performed is a large-scale repair and including the timing of the large-scale repair. Here, the timing of the large-scale repair is shown as a future repair plan, but the display screen may also include repair plans for after the large-scale repair.

[0166] When the repair plan determination unit 204 generates a repair plan that proposes a repair plan by combining simple repairs and large-scale repairs in step S516 of Fig. 39 , the output unit 205 can output, for example, the display screen shown in Fig. 43. Fig. 43 is a diagram showing a third example of the display screen output by the output unit 205 shown in Fig. 34. When it is determined that repair of crack C is currently necessary and that simple repair can be performed, the output unit 205 can generate a display screen that indicates that the repair currently being performed is simple repair and includes the timing of the next large-scale repair as part of the future repair plan.

[0167] While FIG. 43 shows an example of a display screen including only the timing of the next major repair as a future repair plan, the repair plan determination unit 204 may generate a repair plan including multiple major repairs, multiple inspections, and multiple simple repairs, and the output unit 205 may output a display screen including multiple repairs, inspections, etc. FIG. 44 is a diagram showing a fourth example of a display screen output by the output unit 205 shown in FIG. 34. The example shown in FIG. 44 shows a repair plan including the timing of multiple major repairs and multiple inspections as a future repair plan. Here, "inspection and simple repair" means that simple repairs will be performed simultaneously with the inspection, and "inspection" only means that simple repairs will not be performed simultaneously with the inspection.

[0168] FIG. 45 is a diagram for explaining the effects of the ninth embodiment. The upper part of FIG. 45 shows a comparative example of a repair plan when cost leveling is not taken into consideration, and the lower part of FIG. 45 shows an example of a repair plan determined by the repair plan determination device 200 according to the ninth embodiment. In the comparative example, the cost in fiscal year 2024 is high due to the overlap of large-scale repairs. In response to this, the repair plan determination device 200 determines a repair plan so as to level out the costs in accordance with the budget for each fiscal year. Specifically, performing simple repairs simultaneously with inspection #2 extends the useful life of the structure S, making it possible to postpone the implementation of large-scale repair #2. As a result, some of the costs for the large-scale repairs that had been concentrated in fiscal year 2024 are shifted to fiscal year 2026, thereby leveling out the costs.

[0169] As described above, according to the ninth embodiment, it is possible to provide a repair plan determination device 200. This repair plan determination device 200 includes an inspection result acquisition unit 201 that acquires inspection results indicating the state of a crack C that has occurred in a structure S, an input unit 202 that accepts input of input information 70 that includes inspection results 72, shape information 71 that indicates the shape of the structure, a budget 73 for inspecting and repairing the structure S, and parameters 74 for estimating costs that will be incurred if the structure becomes unusable, repair methods for the crack C that include simple repairs that are performed simultaneously with the inspection of the structure S and large-scale repairs that are performed separately from the inspection, and a repair method for the crack C that cannot be repaired by each repair method. The system includes a database 203 that stores information correlating the state of the structure S with the time required for repair work, the repair cost, and the service life after repair; a repair plan determination unit 204 that creates a repair plan that satisfies at least one of minimizing total costs and leveling out costs required for inspecting and repairing the structure S by combining simple repairs at the time of inspection corresponding to the inspection results, simple repairs at the time of inspection after the above inspection, and major repairs based on the input information 70 and the information stored in the database 203; and an output unit 205 that outputs the repair plan. Because the repair plan determination device 200 determines a repair plan by combining simple repairs and major repairs, it is possible to create a repair plan that satisfies at least one of minimizing total costs and leveling out costs required for inspecting and repairing the structure S. Furthermore, by using input information 70 that includes parameters 74 for estimating costs incurred when the structure becomes unusable, it is possible to treat cases where repairs are not performed at the time of inspection as a repair method. Here, the costs of inspection and repair include the costs for the repair method of "not carrying out repairs," that is, the costs that would arise if the structure S became unusable without repairs, that is, the costs of providing alternative means because the structure S cannot be used, and the loss that is the expected amount if the originally expected income is lost due to the structure S being unusable. Furthermore, total costs refer to the total costs of inspection and repairs, and as mentioned above, can also include the costs for the repair method of "not carrying out repairs."

[0170] Furthermore, the repair plan determination unit 204 can create a repair plan for carrying out multiple simple repairs before carrying out a large-scale repair, based on the input information 70 and the information held in the database 203. By carrying out multiple simple repairs, the service life of the structure S can be further extended, which increases the degree of freedom in adjusting the timing of the large-scale repair, making it easier to level out costs over an even longer period of time.

[0171] In addition, the repair plan determination unit 204 estimates the costs incurred during the period when the structure S cannot be used based on parameters 74 for estimating the costs incurred when the structure becomes unusable, and uses the estimated costs as the costs incurred when simple repairs are not performed, and can create a repair plan with the case where simple repairs are not performed as a candidate repair method.

[0172] It is desirable that the database 203 has a function of periodically updating the information stored in the database 203 .

[0173] Furthermore, the repair methods stored in the database 203 may include, as simple repair methods, a method of applying a repair material 22 or a method of replacing parts. The inspection result acquisition unit 201 acquires inspection results including the number of cracks C that have occurred in the parts that make up the structure S, and the repair plan determination unit 204 can create a repair plan for replacing parts as simple repair when the number of cracks C per part is equal to or greater than a threshold value.

[0174] Furthermore, according to the ninth embodiment, a repair plan determination system can be provided. The functions of the repair plan determination device 200 can also be realized as a repair plan determination system. The repair plan determination system can be realized using one or more computer systems. The repair plan determination system accepts input information 70 including inspection results 72 indicating the state of a crack C generated in the structure S, shape information 71 indicating the shape of the structure S, a budget 73 for inspecting and repairing the structure S, and parameters 74 for estimating the costs that will be incurred if the structure becomes unusable. Based on the input information 70, the repair plan determination system can combine simple repairs to be performed during the inspection corresponding to the inspection results 72 included in the input information 70, simple repairs to be performed during inspections after the above inspection, and large-scale repairs to be performed separately from the above inspection, thereby outputting a repair plan that satisfies at least one of minimizing the total cost and leveling out the costs required for inspecting and repairing the structure S.

[0175] Furthermore, according to the ninth embodiment, a repair plan determination method can be provided. The repair plan determination method includes the steps of: acquiring inspection results 72 indicating the state of cracks C that have occurred in the structure S; receiving input information 70 including the inspection results 72, shape information 71 indicating the shape of the structure S, a budget 73 for inspecting and repairing the structure S, and parameters 74 for estimating the costs that will be incurred if the structure becomes unusable; and determining the positions, lengths, and positions of cracks C that can be repaired by each repair method, in association with repair methods including simple repairs that are performed simultaneously with the inspection of the structure S and large-scale repairs that are performed separately from the inspection. The method includes a step of creating a repair plan that combines simple repairs made at the time of inspection for which inspection results 72 were obtained, simple repairs made at the time of inspection after the above-mentioned inspection, and large-scale repairs, based on input information 70 and a database 203 that holds information indicating angle conditions, the repair time and repair costs required when repairs are carried out using each repair method, and the useful life of the structure when repairs are carried out using each repair method, and a step of outputting the repair plan.

[0176] Tenth Embodiment Fig. 46 is a diagram showing the functional configuration of a repair plan determination device 200A according to a tenth embodiment. The repair plan determination device 200A has an inspection result acquisition unit 201A, an input unit 202, a database 203A, a repair plan determination unit 204A, and an output unit 205. The following mainly describes the parts that differ from the ninth embodiment.

[0177] 35, similarly to the inspection result acquisition unit 201 of embodiment 9. At this time, the inspection result acquisition unit 201 calculates the position, length, and angle relative to the surface of the crack C from the measurement information, whereas the inspection result acquisition unit 201A calculates the angle φ1 that the crack C makes with respect to the direction of gravity D1 and the opening amount of the crack C in addition to the position, length, and angle relative to the surface of the crack C.

[0178] Fig. 47 is a diagram showing an example of input information 70A received by the input unit 202 shown in Fig. 46. The input information 70A includes shape information 71 of the structure S, inspection results 72A, an inspection and repair budget 73, and parameters 74 for estimating the costs that will be incurred if the structure S becomes unusable. In addition to the information included in the inspection results 72, the information included in the inspection results 72A includes the angle φ1 that the crack C makes with respect to the direction of gravity D1 and the opening amount of the crack C.

[0179] FIG. 48 is an explanatory diagram of the angle φ1 of the crack C with respect to the direction of gravity D1. The "angle φ1 of the crack C with respect to the direction of gravity D1" corresponds to the above-mentioned "angle φ1 of the crack C" and "angle φ1 of the depth direction D2 of the crack C with respect to the direction of gravity D1." Here, as shown in FIG. 48, when the crack C is bent, the depth direction D2 of the crack C can be set to the direction along the fracture surface at the entrance of the crack C. This is because the ease with which the liquid repair material 22 remains inside the crack C changes depending on the angle of the fracture surface near the entrance with respect to the direction of gravity D1, and therefore the repair material 22 suitable for use changes. Note that in Embodiments 1 to 9, when the crack C is bent, the "angle φ1 of the crack C" and the "angle φ1 of the depth direction D2 of the crack C with respect to the direction of gravity D1" can be set to the angle between the depth direction D2 of the crack C, which is the direction along the fracture surface at the entrance of the crack C, and the direction of gravity D1.

[0180] 49 is a diagram showing a first example of information stored in the database 203A shown in FIG. 46 . This database 203A includes the "crack length," the "surface angle," the "angle of the crack relative to the direction of gravity," the "crack opening amount," the "repair method," the "repair time," the "cost," and the "useful life after repair." The database 203A further includes the angle φ1 of the crack C relative to the direction of gravity D1 and the opening amount of the crack C as information indicating the state of the crack C. Furthermore, by using the "angle of the crack relative to the direction of gravity" and the "crack opening amount," the "repair method" included in the database 203A can include the method of applying the pretreatment material 21 and the repair material 22, as described in the first to eighth embodiments, and the method of applying the repair material 22 without applying the pretreatment material 21. If the "repair method" in database 203A is a method of applying pretreatment material 21 and repair material 22, or a method of applying repair material 22 without applying pretreatment material 21, each method can be treated as a different repair method depending on the material used for repair. In this case, for example, the symbol for "repair method" is information that specifies the material used for repair in addition to the repair method.

[0181] The repair plan determination unit 204A performs the same processes as those shown in FIGS. 39 and 40 , but when determining whether simple repair is possible in step S514 and when extracting usable simple repair methods in step S521, the repair plan determination unit 204A uses the "angle of the crack relative to the direction of gravity" and the "opening amount of the crack" in addition to the "crack length" and "angle to the surface" contained in the inspection result 72A and the database 203A. This makes it possible to select a method of applying the repair material 22 as the simple repair method according to the condition of the crack C. Furthermore, by assigning a symbol for the "repair method" in the database 203A to each material used for repair, the repair plan determination unit 204A can perform simple repair by applying the repair material 22 to the crack C using a material according to the condition of the crack C, specifically, the length, angle, and opening amount of the crack C.

[0182] FIG. 50 is a diagram showing a second example of information stored in the database 203A shown in FIG. 46 . In addition to the information shown in the first example shown in FIG. 49 , the database 203A further includes information on the “material of the structure” and “applicability determined based on constraint conditions.” Some repair methods may be inapplicable depending on the material of the structure S where the crack C occurs, the combination of the pretreatment material 21 and the repair material 22, and the state of the crack C. For example, if the angle of the crack C relative to the direction of gravity D1 is small, a low-viscosity repair material 22 may not be applicable. Depending on the material of the structure S, the repair material 22 may not adhere to the surface of the structure S, preventing it from performing its intended function. Therefore, the second example shown in FIG. 50 further includes information on the “material of the structure” and information on the “applicability determined based on constraint conditions” determined based on the state of the crack C and the “material of the structure” of each record.

[0183] In the example of Figure 50, database 203A is assumed to store information on "applicability determined based on constraint conditions." However, instead of database 203A storing information on applicability, repair plan determination unit 204A may perform processing to determine applicability based on constraint conditions.

[0184] As described above, according to the tenth embodiment, it is possible to provide a repair plan determination device 200A. The repair plan determination device 200A includes an inspection result acquisition unit 201 that acquires inspection results 72A including the length of a crack C that has occurred in a structure S, the angle of the crack C with respect to the direction of gravity D1, and the opening amount of the crack C, an input unit 202 that accepts input of input information 70A including the inspection results 72A, shape information 71 that indicates the shape of the structure S, and a budget 73 for inspection and repair of the structure S, a database 203A that stores information correlating repair methods including simple repairs that are performed simultaneously with the inspection of the structure S and large-scale repairs that are performed separately from the inspection, the state of a crack C that cannot be repaired by each repair method, the time required for the repair work, the repair cost, and the useful life after repair, and a database 203A that stores information correlating the length of the crack C, the angle of the crack C with respect to the direction of gravity D1, and the opening amount of the crack C. The system includes a repair plan determination unit 204A that creates a repair plan that combines simple repairs made at the time of inspection when inspection results 72A were obtained, simple repairs made at subsequent inspections, and large-scale repairs based on input information 70A including the angle made by the crack C when the inspection result 72A was obtained and the opening amount of the crack C, and information held in a database 203A, to achieve at least one of minimizing total costs and leveling out the costs involved in inspecting and repairing the structure S, and an output unit 205 that outputs the repair plan, wherein the database 203A includes the opening amount of the crack C and the angle φ1 made by the crack C with respect to the direction of gravity D1 as the state of the crack C, and can include a method of applying a repair material 22 to the crack C as the simple repair of the above-mentioned repair method. This makes it possible to plan a method of applying the repair material 22 to the crack C as a simple repair during inspection, making it possible to easily repair the crack C and extend the service life of the structure S.

[0185] Similarly to the repair plan determination unit 204, the repair plan determination unit 204A can also create a repair plan for carrying out multiple simple repairs before carrying out a large-scale repair, based on the input information 70A and the information held in the database 203A. By carrying out multiple simple repairs, the service life of the structure S can be further extended, which increases the degree of freedom in adjusting the timing of the large-scale repair, making it easier to level out costs over an even longer period of time.

[0186] Furthermore, as in the ninth embodiment, the input unit 202 can accept input information 70A that further includes parameters 74 for estimating the costs incurred when the structure S becomes unusable. In this case, the repair plan determination unit 204A estimates the costs incurred during the period when the structure S cannot be used based on the above parameters, and sets the estimated costs as the costs incurred when simple repairs are not performed. This makes it possible to create a repair plan in which the case where simple repairs are not performed is considered a candidate repair method. This makes it possible to handle cases in which repairs are not performed at the time of inspection as a repair method.

[0187] Similarly to the database 203 according to the ninth embodiment, the database 203A preferably has a function of periodically updating the information stored in the database 203A.

[0188] 50, the database 203A may further store the material of the structure. In this case, the repair plan determination unit 204A can determine whether or not repair can be performed by each of a plurality of repair methods, based on the constraints on the material of the structure.

[0189] The inspection result acquisition unit 201A can acquire inspection results including the number of cracks C that have occurred in the components that make up the structure S. If the number of cracks C per component is equal to or greater than a threshold value, the repair plan determination unit 204A can create a repair plan to replace the component as a simple repair. If multiple cracks C have occurred per component, it may be more desirable to replace the component rather than perform a repair such as applying repair material 22. Therefore, by determining whether or not to consider replacing the component based on the number of cracks C per component, it becomes possible to create a more appropriate repair plan.

[0190] Furthermore, according to the tenth embodiment, a repair plan determination system can be provided. The functions of the repair plan determination device 200A can also be realized as a repair plan determination system. The repair plan determination system can be realized using one or more computer systems. The repair plan determination system receives input information 70A including inspection results 72A, including the length of a crack C generated in the structure S, the angle φ1 of the crack C with respect to the direction of gravity D1, and the opening amount of the crack C, shape information 71 indicating the shape of the structure S, and a budget 73 for inspection and repair of the structure S. Based on the input information 70A, the repair plan can combine simple repairs to be performed at the time of the inspection for which the inspection result 72A was obtained, simple repairs to be performed at inspections after the above inspection, and large-scale repairs to be performed separately from the above inspection, thereby outputting a repair plan that satisfies at least one of minimizing total costs and leveling out the costs required for inspecting and repairing the structure S.

[0191] Furthermore, according to the tenth embodiment, a repair plan determination method can be provided. The repair plan determination method includes the steps of: acquiring inspection results 72A including the length of a crack C generated in the structure S, the angle of the crack C with respect to the direction of gravity D1, and the opening amount of the crack C; receiving input information 70A including the inspection results 72A, shape information 71 indicating the shape of the structure S, and a budget 73 for inspection and repair of the structure S; and associating repair methods including simple repairs performed simultaneously with the inspection of the structure S and large-scale repairs performed separately from the inspection; the state of the crack C that cannot be repaired by each repair method; the time required for the repair work; the repair cost; and the useful life after repair. The method includes a step of creating a repair plan that combines simple repairs made at the time of inspection when the inspection results were obtained, simple repairs made at the time of inspection after the above-mentioned inspection, and large-scale repairs based on the information stored in a database 203A that stores the information and input information 70A, and that satisfies at least one of minimizing total costs and leveling out costs, and a step of outputting the repair plan, wherein the database 203A includes, as the state of the crack C, the opening amount of the crack C and the angle φ1 that the crack C makes with respect to the direction of gravity D1, and the simple repair can include a method of applying a repair material 22 to the crack C.

[0192] 51 is a diagram showing the functional configuration of a repair plan determination device 200B according to embodiment 11. The repair plan determination device 200B includes an inspection result acquisition unit 201, an input unit 202, a database 203, a repair plan determination unit 204B, and an output unit 205.

[0193] The repair plan determination unit 204B has a function of determining a repair plan taking into consideration the life extension period resulting from changes in the operating conditions of the structure S. The operating conditions are conditions that affect the load on the structure S, and specifically include restrictions on the traffic volume on the bridge and setting an upper limit on the rotation speed of the generator, and it is thought that the useful life of the structure S can be extended by changing the operating conditions to reduce the load on the structure S.

[0194] Here, the repair plan determination device 200B is described as being the same as the repair plan determination device 200 according to embodiment 9, except for the function of determining a repair plan taking into account the life extension period due to changes in operating conditions. However, a function of determining a repair plan taking into account the life extension period due to changes in operating conditions may be added to the repair plan determination device 200A according to embodiment 10.

[0195] 52 is a flowchart for explaining the operation of the repair plan determination unit 204 according to the eleventh embodiment. Steps S511 to S514 are the same as those in FIG. 39 , and therefore will not be described here. If simple repair is not possible (step S514: No), the repair plan determination unit 204B determines whether the operating conditions can be changed (step S531). For example, a range within which the operating conditions can be changed is determined in advance, and the repair plan determination unit 204B compares the current operating conditions with the predetermined changeable range to determine whether the current operating conditions can be changed within the predetermined range so as to reduce the load on the structure S.

[0196] If the operating conditions cannot be changed (step S531: No), the repair plan determination unit 204B proposes large-scale repair (step S515) and ends the process. If the operating conditions can be changed (step S531: Yes), the repair plan determination unit 204B proposes the timing of large-scale repair taking into account the life extension period due to the change in operating conditions (step S532) and ends the process. The life extension period due to the change in operating conditions can use a value calculated according to the change in operating conditions.

[0197] If simple repair is possible (step S514: Yes), the repair plan determination unit 204B determines whether the operating conditions can be changed (step S533). The determination of whether the operating conditions can be changed can be made in the same manner as in step S531. If the operating conditions cannot be changed (step S533: No), the repair plan determination unit 204B proposes a repair plan combining simple repair and major repair, taking into account the life extension period achieved by simple repair and the change in operating conditions (step S516), and ends the processing. If the operating conditions can be changed (step S533: Yes), the repair plan determination unit 204B proposes a repair plan combining simple repair and major repair, taking into account the life extension period achieved by simple repair and the change in operating conditions (step S534), and ends the processing.

[0198] By changing the operating conditions and reducing the load on the structure S, it becomes possible to extend the service life of the structure S, and accordingly extend the deadline for carrying out repair work. By extending the deadline, the number of possible dates for planning repair work increases, making it possible to spread out the timing of carrying out repair work, and making it easier to spread out and level out the costs associated with repairs over time.

[0199] In adjusting the timing of large-scale repairs, an example of leveling out costs by postponing the repairs beyond a predetermined time is shown in Figure 45, but it is also possible to level out costs by not only postponing the repairs but also by advancing them. Here, the predetermined time may be a periodic repair time, for example, every 10 years, or may be a repair time calculated using another method.

[0200] The repair plan determination units 204, 204A, and 204B may determine a repair plan that increases the number of inspections since the most recent inspection, or may determine a repair plan that decreases the number of inspections since the most recent inspection. The repair plan determination units 204, 204A, and 204B may determine a repair plan that increases the scope of inspections since the most recent inspection, or may determine a repair plan that decreases the scope of inspections since the most recent inspection. If the growth rate of the crack C is considered to be slow, the number of inspections or the scope of inspection may be reduced. If the growth rate of the crack C is considered to be fast, it is possible to increase the number of inspections or the scope of inspection so as to quickly respond to changes in the condition of the structure S. The repair plan determination units 204, 204A, and 204B may determine a repair plan that adds condition monitoring at the location where the crack C has occurred, based on the inspection results.

[0201] Figure 53 is a diagram showing a first example of a display screen output by the output unit 205 shown in Figure 51. If it is determined that simple repair is not possible and that changing the operating conditions is possible, the output unit 205 can generate a display screen including information indicating how the operating conditions should be changed and the timing of large-scale repair determined in step S532 of Figure 52. Figure 53 shows an example of a display screen including information indicating that the repair currently being performed is large-scale repair, the pre-change and post-change values ​​of the maximum rotation speed as operating conditions, and information indicating the timing of large-scale repair as a future repair plan.

[0202] Figure 54 is a diagram showing a second example of a display screen output by the output unit 205 shown in Figure 51. If it is determined that simple repair is possible and that the operating conditions can be changed, the output unit 205 can generate a display screen including information indicating how the operating conditions are to be changed and the repair plan determined in step S534 of Figure 52. Figure 54 shows an example of a display screen including information indicating that the repair currently being performed is simple repair, the pre-change and post-change values ​​of the maximum rotation speed as an operating condition, and information indicating the timing of large-scale repair as a future repair plan.

[0203] As described above, according to the eleventh embodiment, a repair plan determination device 200B can be provided. In the repair plan determination device 200B, the repair plan determination unit 204B can determine a repair plan taking into consideration extending the useful life of the structure S by changing the operating conditions of the structure S so as to reduce the load on the structure S. The operating conditions are conditions that affect the load on the structure S, such as restrictions on bridge traffic volume and setting an upper limit on the generator rotation speed. Changing the operating conditions to reduce the load on the structure S can potentially extend the useful life of the structure S. In the example shown in FIG. 52 , when the crack C requires repair, if the operating conditions can be changed, they are changed regardless of whether a simple repair is performed. However, if a simple repair is performed, the operating conditions may not be changed. Alternatively, the repair plan determination unit 204B may determine whether to change the operating conditions based on the useful life after the simple repair is performed.

[0204] The repair plan determination unit 204B can also create a repair plan that changes the number or scope of inspections to be performed after the inspection corresponding to the inspection result 72, a repair plan that adds condition monitoring at the location where crack C was detected during the inspection, or a repair plan that advances the timing of large-scale repairs. These functions may be possessed by the repair plan determination units 204 and 204A.

[0205] Here, an example of a hardware configuration in the ninth to eleventh embodiments will be described. The functions of the above-described repair plan determination devices 200, 200A, and 200B are realized, for example, by a computer system. The repair plan determination devices 200, 200A, and 200B may be realized by one computer system or by multiple computer systems. For example, the repair plan determination devices 200, 200A, and 200B may be realized by a cloud system. In a cloud system, the division between the computer system hardware and devices such as servers for each function can be arbitrarily set. For example, one computer system may have the functions of multiple devices, or multiple computer systems may have the functions of one device.

[0206] Here, the computer system realizing the repair plan determination devices 200, 200A, and 200B may be the computer system configured as described above with reference to FIG. 32 . As described above, this computer system includes a control unit 101, an input unit 102, a memory unit 103, a display unit 104, a communication unit 105, and an output unit 106, all of which are connected via a system bus 107. The control unit 101 executes a repair plan determination program that describes the processes performed by the repair plan determination devices 200, 200A, and 200B of embodiments 9 to 11. The functions of each unit of the computer system are as described above with reference to FIG. 32 . Furthermore, the operation of the computer system until the repair plan determination program, which describes the processes performed by the repair plan determination devices 200, 200A, and 200B, is executable is the same as the example of the operation of the computer system until the repair content determination program described above is executable. In this case, the repair plan determination program may be provided in a state recorded on a recording medium, or may be provided via a transmission medium such as the Internet via the communication unit 105.

[0207] A repair plan determination program for realizing the functions of the repair plan determination device 200 according to the ninth embodiment causes a computer to execute the steps of accepting input information 70 including inspection results 72 indicating the state of a crack C that has occurred in the structure S, shape information 71 indicating the shape of the structure S, a budget 73 for the inspection and repair of the structure S, and parameters 74 for estimating the costs that will be incurred if the structure becomes unusable, and outputting a repair plan that satisfies at least one of minimizing total costs and leveling out the costs for inspecting and repairing the structure S, based on the input information 70, by combining simple repairs to be performed at the time of the inspection corresponding to the inspection results 72, simple repairs to be performed at inspections subsequent to the inspection corresponding to the inspection results 72, and large-scale repairs to be performed separately from the inspection.

[0208] In addition, a repair plan determination program for realizing the functions of the repair plan determination device 200A according to the tenth embodiment causes a computer to execute the steps of accepting input of input information 70A including inspection results 72A including the length of a crack C that has occurred in the structure S, the angle φ1 that the crack C makes with respect to the direction of gravity D1, and the opening amount of the crack C, shape information 71 indicating the shape of the structure S, and a budget 73 for the inspection and repair of the structure S, and outputting a repair plan that satisfies at least one of minimizing total costs and leveling out the costs required for the inspection and repair of the structure S, based on the input information 70A, by combining simple repairs to be performed at the time of the inspection that obtained the inspection result 72A, simple repairs to be performed at the time of an inspection subsequent to the inspection corresponding to the inspection result 72A, and large-scale repairs to be performed separately from the inspection.

[0209] The division of functions among the devices is an example, and as long as the repair plan determination devices 200, 200A, and 200B can perform the above-described operations, the division of functions among the devices is not limited to the example shown in the figure.

[0210] Furthermore, the functions of the repair plan determination devices 200, 200A, and 200B may be realized using a processing circuit 110 shown in FIG.

[0211] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0212] For example, in the above embodiment, the inspection results are the captured image and the directional information, but are not limited to such an example. For example, the inspection results may be any result that indicates the state of the structure S, in particular, the state of the crack C that has occurred in the inspected material portion of the structure S.

[0213] Furthermore, the allocation of functions shown in the above embodiment is merely an example. As long as the above functions can be realized, each process may be executed by any device. The inspection process and repair process must be executed at the location where the structure S is located, but the arithmetic process such as the determination process may be executed by any device, and there are no particular restrictions on where the device is installed.

[0214] In the above embodiment, the repair device 10 or the like performs the repair process, but a repair worker may manually perform the repair in accordance with the repair content determined by the repair content determination device 64 or the like. Also, a repair worker may manually perform the repair in accordance with the repair plan determined by the repair plan determination devices 200, 200A, and 200B.

[0215] 1, 1E, 1F, 1G Repair content determination system, 5-1 Start point, 5-2 Finish point, 6-1, 6-2, 6-3 Points, 10, 10A, 10B, 10C, 10D, 10G Repair device, 11 Main body, 12 Suction means, 13 Driving means, 14 Inspection unit, 15, 15A, 15B, 15D, 15E, 15F Judgment unit, 16 Repair unit, 17 Pre-treatment unit, 18 Intermediate treatment unit, 19 Post-treatment unit, 21 Pre-treatment material, 22 Repair material, 30 Support member, 31 Deck plate, 32 Pavement, 33, 33-1, 33-2 U-rib, 34 Horizontal rib, 35 Weld bead, 36 Butt weld bead, 37 Vertical reinforcement material, 38 Fillet weld bead, 41, 41G Control means, 50 Learning device, 51 learning data acquisition unit, 52 model generation unit, 53 reward calculation unit, 54 function update unit, 55 learned model storage unit, 56 inference device, 57 inference data acquisition unit, 58 inference unit, 61, 61E, 61F inspection device, 62, 62E storage unit, 63, 63E transmission unit, 64, 64E, 64F repair content determination device, 65, 68 receiving unit, 66, 106 output unit, 67 repair effect prediction unit, 69 route information storage unit, 70, 70A input information, 71 shape information, 72, 72A inspection results, 73 inspection and repair budget, 74 parameters for estimating costs incurred when a structure becomes unusable, 101 control unit, 102 input unit, 103 storage unit, 104 display unit, 105 communication unit, 107 system bus, 110 Processing circuit, 141 LiDAR scanner, 142 Camera, 151, 151A Calculation unit, 152, 152A Repair pattern determination unit, 153, 153A Material use determination unit, 200, 200A, 200B Repair plan determination device, 201, 201A Inspection result acquisition unit, 202 Input unit, 203, 203A Database, 204, 204A, 204B Repair plan determination unit, 205 Output unit, C, C-1, C-2, C-3 Crack, D1 Gravity direction, D2, D2-1, D2-2, D2-3 Depth direction, D3 Vertical direction, L1, L1-1, L1-2, L1-3 Length, P1, P1-1, P1-2, P1-3 Starting point, S Structure, S1 Bridge, W1 Opening amount, φ1, φ 1-1 , φ 1-2 , φ 1-3 angle.

Claims

1. an inspection result acquisition unit that acquires inspection results indicating the state of cracks occurring in the structure; an input unit that receives input information including the inspection results, shape information indicating the shape of the structure, a budget for inspecting and repairing the structure, and parameters for estimating costs that will be incurred if the structure becomes unusable; A database that holds information relating to methods for repairing cracks, including simple repairs that are performed simultaneously with the inspection of the structure and large-scale repairs that are performed separately from the inspection, the state of cracks that cannot be repaired by each repair method, the time required for repair work, the repair costs, and the service life after repair; and a repair plan determination unit that creates a repair plan that combines the simple repair at the time of the inspection corresponding to the inspection result, the simple repair at the time of the inspection after the inspection, and the large-scale repair based on the input information including the angle of the crack with respect to the direction of gravity, which is the inspection result, and the information stored in the database, to achieve at least one of minimizing the total cost and leveling out the costs for inspecting and repairing the structure; An output unit that outputs the repair plan; A repair plan determination device comprising:

2. an inspection result acquisition unit that acquires inspection results including a length of a crack occurring in a structure, an angle of the crack with respect to the direction of gravity, and an opening amount of the crack; an input unit that receives input information including the inspection result, shape information indicating a shape of the structure, and a budget for inspection and repair of the structure; a database that holds information relating to repair methods including simple repairs that are performed simultaneously with the inspection of the structure and large-scale repairs that are performed separately from the inspection, the state of cracks that cannot be repaired by each repair method, the time required for repair work, the repair costs, and the service life after repair; a repair plan determination unit that creates a repair plan that combines the simple repairs made at the time of the inspection when the inspection result was obtained, the simple repairs made at the time of inspection after the inspection, and the large-scale repairs, based on the input information including the length of the crack, the angle of the crack with respect to the direction of gravity, and the opening amount of the crack, and information stored in the database, to achieve at least one of minimizing the total cost and leveling out the costs for inspecting and repairing the structure; An output unit that outputs the repair plan; Equipped with A repair plan determination device characterized in that the database includes the opening amount of the crack and the angle of the crack with respect to the direction of gravity as the state of the crack, and includes a method of applying a repair material to the crack as the simple repair of the repair method.

3. The repair plan determination device according to claim 1 or 2, characterized in that the repair plan determination unit creates a repair plan for carrying out multiple simple repairs before carrying out the large-scale repair based on the input information and the information stored in the database.

4. The repair plan determination device described in claim 1, characterized in that the repair plan determination unit estimates the costs incurred during the period when the structure cannot be used based on the parameters, sets the estimated costs as the costs in the case where the simple repair is not performed, and creates the repair plan by setting the case where the simple repair is not performed as a candidate for the repair method.

5. The input unit receives the input information further including a parameter for estimating a cost incurred when the structure becomes unusable; The repair plan determination device described in claim 2, characterized in that the repair plan determination unit estimates the costs incurred during the period when the structure cannot be used based on the parameters, sets the estimated costs as the costs in the case where the simple repair is not performed, and creates the repair plan by setting the case where the simple repair is not performed as a candidate for the repair method.

6. 3. The repair plan determination device according to claim 1, wherein the database has a function of periodically updating the information held in the database.

7. The database further comprises a material of the structure; 6. The repair plan determination device according to claim 2 or 5, wherein the repair plan determination unit determines whether or not repair can be carried out using each of a plurality of repair methods based on constraints on the material of the structure.

8. The repair plan determination device described in claim 1 or 2, characterized in that the repair plan determination unit determines the repair plan by taking into account the extension of the structure's service life by changing the operating conditions of the structure so as to reduce the load on the structure.

9. The repair plan determination device according to claim 1 or 2, characterized in that the repair plan determination unit creates a repair plan that changes the number or scope of inspections to be conducted after the inspection corresponding to the inspection result, creates a repair plan that adds condition monitoring at the location where a crack was detected during inspection, or creates a repair plan that advances the timing of the large-scale repair.

10. the inspection result acquisition unit acquires the inspection result including the number of the cracks occurring in the components constituting the structure; The repair plan determination device according to claim 1 or 2, characterized in that, when the number of cracks per part is equal to or greater than a threshold value, the repair plan determination unit creates a repair plan to replace the part as the simple repair.

11. receiving input information including inspection results showing the state of cracks occurring in the structure, shape information showing the shape of the structure, a budget for inspection and repair of the structure, and parameters for estimating costs incurred in the event that the structure becomes unusable; A repair plan determination system characterized by combining simple repairs to be performed at the time of the inspection corresponding to the inspection result, simple repairs to be performed at an inspection after the inspection, and large-scale repairs to be performed separately from the inspection, based on the input information including the angle of the crack with respect to the direction of gravity, which is the inspection result, to output a repair plan that satisfies at least one of minimizing total costs and leveling out the costs associated with inspecting and repairing the structure.

12. receiving input information including inspection results including a length of a crack occurring in a structure, an angle of the crack with respect to the direction of gravity, and an opening amount of the crack, shape information indicating a shape of the structure, and a budget for inspection and repair of the structure; A repair plan determination system characterized by combining simple repairs to be performed at the time of the inspection when the inspection results were obtained, simple repairs to be performed at inspections after the above inspection, and large-scale repairs to be performed separately from the above inspection, based on the input information, and outputting a repair plan that minimizes total costs and / or equalizes the costs associated with inspecting and repairing the structure.

13. obtaining an inspection result indicating a state of a crack occurring in the structure; A step of receiving input information including the inspection result, shape information indicating the shape of the structure, a budget for inspection and repair of the structure, and parameters for estimating costs incurred when the structure becomes unusable; a step of creating a repair plan that satisfies at least one of minimizing total costs and leveling costs by combining the simple repairs at the time of the inspection when the inspection results were obtained, the simple repairs at the time of inspection after the inspection, and the large-scale repairs, based on a method of repairing cracks, including simple repairs performed simultaneously with the inspection of the structure and large-scale repairs performed separately from the inspection, information stored in a database that stores information correlating the state of the cracks that cannot be repaired by each repair method, the time required for the repair work, the repair costs, and the useful life after repair, and the input information including the angle of the crack with the direction of gravity, which is the inspection result; outputting the repair plan; A repair plan determination method comprising:

14. acquiring inspection results including a length of a crack occurring in a structure, an angle of the crack with respect to the direction of gravity, and an opening amount of the crack; receiving input information including the inspection result, shape information indicating a shape of the structure, and a budget for inspection and repair of the structure; a step of creating a repair plan that satisfies at least one of minimizing total costs and leveling costs by combining the simple repairs at the time of the inspection when the inspection result was obtained, the simple repairs at the time of inspection after the inspection, and the large-scale repairs, based on the input information and information stored in a database that stores information corresponding to repair methods including simple repairs performed simultaneously with the inspection of the structure and large-scale repairs performed separately from the inspection, and the state of cracks that cannot be repaired by each repair method, the time required for repair work, the repair costs, and the useful life after repair; outputting the repair plan; Including, A repair plan determination method characterized in that the database includes the opening amount of the crack and the angle of the crack with respect to the direction of gravity as the state of the crack, and includes a method of applying a repair material to the crack as the simple repair of the repair method.