JP7838563B2 - Inspection support system, inspection support device, inspection support method, and program - Google Patents

Description

This disclosure relates to an inspection support system, an inspection support device, an inspection support method, and a program.

Patent Document 1 discloses a method for detecting deformation of infrastructure facilities such as bridges and tunnels based on high-resolution images of the infrastructure, determining the degree of progression of the detected deformation, calculating a priority based on the determination result, and displaying the output by changing the color density and color saturation of the outer frame of the rectangular area covering the deformation according to the calculated priority.

Japanese Patent Publication No. 2022-139903

Incidentally, the inventors of this application have developed a method for detecting infrastructure equipment failures by generating a LiDAR point cloud showing the external appearance of the infrastructure equipment being inspected using a LiDAR (Light Detection and Ranging) device, and then analyzing this LiDAR point cloud. However, there is a problem: the analysis results of the LiDAR point cloud alone cannot detect all failures. To solve this problem, on-site visual inspections by workers are required. Improving the efficiency of these inspections and ensuring consistent inspection quality are urgent issues.

The purpose of this disclosure is to provide technology that improves the efficiency of inspection work performed by workers and ensures consistent inspection quality.

A means for acquiring point cloud data of equipment that shows the external appearance of the equipment,
An inspection support information generation means generates inspection support information indicating that the inspection point group corresponding to the object to be visually inspected will be highlighted from the equipment point group,
Output means for outputting the equipment point cloud together with the inspection support information to an information terminal,
including,
An inspection support system will be provided.

A means for acquiring point cloud data of equipment that shows the external appearance of the equipment,
An inspection support information generation means generates inspection support information indicating that the inspection point group corresponding to the object to be visually inspected will be highlighted from the equipment point group,
Output means for outputting the equipment point cloud together with the inspection support information to an information terminal,
including,
An inspection support device will be provided.

We acquire a point cloud showing the external appearance of the equipment.
The system generates inspection support information indicating that the inspection point cloud corresponding to the object to be visually inspected will be highlighted from the aforementioned equipment point cloud.
The equipment point cloud is output to the information terminal along with the inspection support information.
Inspection support methods will be provided.

This disclosure makes it possible to improve the efficiency of inspection work performed by workers and to standardize inspection quality.

This is a block diagram of the inspection support system. This is a schematic diagram of the inspection support system configuration. This is a block diagram of the inspection support device. This is a data structure diagram of the distance measurement point data. This is a data structure diagram of the inspection support database. This is a block diagram of an information terminal. This is the control flow for the inspection support device. This diagram shows a case where the processing circuit of an inspection support device is composed of a processor and memory. This diagram shows a case where the processing circuit of the inspection support device is configured with dedicated hardware.

(Summary of this disclosure)
The following is an overview of this disclosure. Figure 1 is a block diagram of the inspection support system.

As shown in Figure 1, the inspection support system 100 includes equipment point cloud acquisition means 101, inspection support information generation means 102, and output means 103.

The equipment point cloud acquisition means 101 acquires an equipment point cloud showing the external appearance of the equipment.

The inspection support information generation means 102 generates inspection support information indicating that the inspection point cloud corresponding to the visually inspected object will be highlighted from the equipment point cloud.

The output means 103 outputs the equipment point cloud along with the inspection support information to the information terminal.

With the above configuration, workers can view the equipment point cloud, with some parts highlighted, via an information terminal, thereby improving the efficiency of inspection work and ensuring consistent inspection quality.

(Embodiment)
Next, embodiments of the present disclosure will be described. Figure 2 is a block diagram of the inspection support system 1. As shown in Figure 2, the inspection support system 1 includes a LiDAR device 3 for measuring the distance of infrastructure equipment 2, an inspection support device 4, and an information terminal 5.

Infrastructure facilities 2 typically include substations, factories, and data centers.

The LiDAR device 3 is a specific example of a sensing means that senses infrastructure equipment 2 and generates a point cloud of the equipment. The LiDAR device 3 in this embodiment uses a direct ToF (Time of Flight) method. That is, the LiDAR device 3 emits laser light toward the infrastructure equipment 2 and measures the time required from the emission of the laser light to the reception of the reflected light, thereby generating a point cloud of the infrastructure equipment 2's appearance. However, alternatively, the LiDAR device 3 may use an FMCW (Frequency Modulated Continuous Wave) method, generating the point cloud based on the frequency difference between the laser light emitted toward the infrastructure equipment 2 and its reflected light. Alternatively, the LiDAR device 3 may use an indirect ToF method, generating the point cloud based on the phase difference between the laser light emitted toward the infrastructure equipment 2 and its reflected light. The LiDAR device 3 outputs the generated point cloud to the inspection support device 4.

Furthermore, the sensing means is not limited to a LiDAR device. Any device capable of sensing the infrastructure equipment 2 can be used as the sensing means. For example, the sensing means may be configured to generate a point cloud using a radar device (Radio Detection and Ranging), an ultrasonic sensor, a stereo camera, or a combination thereof. Alternatively, the sensing means may be configured to generate a point cloud using SfM (Structure from Motion) from multiple two-dimensional images obtained by imaging the infrastructure equipment 2.

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

The equipment point cloud acquisition unit 10 acquires an equipment point cloud showing the external appearance of the infrastructure equipment 2 from the LiDAR device 3. The equipment point cloud acquisition unit 10 stores the acquired equipment point cloud in the equipment point cloud storage unit 11. Figure 4 shows the data structure of the equipment point cloud. As shown in Figure 4, the equipment point cloud consists of multiple distance measurement point data. Each distance measurement point data consists of a distance measurement point number and coordinate data.

The equipment point cloud acquisition unit 10 may supplement the equipment point cloud based on the design drawings of the infrastructure equipment 2. For example, if the equipment point cloud acquisition unit 10 is unable to acquire part of the equipment point cloud due to a malfunction of the LiDAR device 3, it can supplement the unacquired portion based on the design drawings of the infrastructure equipment 2.

Returning to Figure 3, the inspection support information generation unit 12 generates inspection support information 30. The inspection support information 30 is intended to improve the efficiency of inspection work and ensure consistent inspection quality when workers perform visual inspections of infrastructure equipment 2.

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

The inspection support information storage unit 13 stores inspection support information 30. The inspection support information 30 includes highlighting information 31 and additional support information 32.

The inspection support database storage unit 14 includes the inspection support database 40. Figure 5 is a data structure diagram of the inspection support database 40.

The deformation detection unit 15 detects deformations of the infrastructure equipment 2 based on the equipment point cloud.

The inspection reduction unit 16 thins out the equipment point cloud stored in the equipment point cloud storage unit 11. This reduces the data size of the equipment point cloud.

The output unit 17 outputs the equipment point cloud along with the inspection support information 30 to the information terminal 5. Alternatively, the output unit 17 may output the deformation detection results from the deformation detection unit 15 to the information terminal 5. Instead of outputting the equipment point cloud to the information terminal 5, the output unit 17 may output the equipment point cloud thinned out by the point cloud reduction unit 16 to the information terminal 5.

The inspection support information generation unit 12, inspection support information storage unit 13, and inspection support database storage unit 14 will be described in detail below.

The part recognition unit 20 uses a part detection model, trained to output part classifications upon receiving a point cloud input, to detect multiple parts from the equipment point cloud stored in the equipment point cloud storage unit 11. As shown in Figure 4, the part recognition unit 20 associates a part number with each of the multiple distance measurement points constituting the equipment point cloud, based on the detection results of the part detection model.

The inspection point cloud determination unit 21 refers to the inspection support database 40 shown in Figure 5 to determine the inspection point clouds from the equipment point cloud that correspond to the items to be visually inspected by workers. The inspection support database 40 shown in Figure 5 is a database that shows the inspection importance and inspection priority for each part. Typically, the inspection support database 40 is a database created by workers based on their past inspection results. Inspection importance is an indicator that shows whether or not visual inspection is mandatory. Inspection importance is typically expressed by an importance level of "1" or "0". Parts with an inspection importance of "1" are parts that must be visually inspected. Parts with an inspection importance of "0" are parts that do not require visual inspection. Inspection priority is an indicator that shows the priority of visual inspection. Inspection priority is typically expressed by a priority level from 1 to 5. The higher the inspection priority, the more important the part should be to perform a visual inspection on compared to other parts. As inspection importance and inspection priority are different indicators, there is no particular correlation between them, as shown in Figure 5. The inspection point cloud determination unit 21 refers to the inspection support database 40 in Figure 5 and extracts point clouds corresponding to parts with an inspection importance of 1 or an inspection priority of 1 or higher as inspection point clouds. That is, the inspection point cloud determination unit 21 determines the inspection targets at the component level that constitutes the infrastructure equipment 2. Furthermore, the inspection point cloud determination unit 21 determines the inspection point cloud according to the inspection importance and inspection priority shown in Figure 5. As shown in Figure 4, the inspection point cloud determination unit 21 associates the corresponding inspection demand and inspection priority with each of the multiple distance measurement points that constitute the equipment point cloud. In Figure 4, distance measurement points No. 193458-193460 and distance measurement points No. 84736-84738 correspond to the above inspection point clouds. This is because the inspection importance corresponding to these distance measurement points is 1, or the inspection priority corresponding to these distance measurement points is 1 or higher.

Examples of parts with an inspection importance level of 1 include parts that are prone to deterioration and parts whose failure would have a significant impact on daily life. Conversely, examples of parts with a high inspection priority include parts where water tends to accumulate due to the intersection of steel materials and parts where screws tend to loosen. In this embodiment, inspection point groups are extracted at the part level; however, inspection point groups may be extracted at smaller component levels instead.

The display mode determination unit 22 determines the display mode of the inspection point group determined by the inspection point group determination unit 21. Specifically, the display mode determination unit 22 determines the display mode for each of the multiple distance measurement points that constitute the inspection point group. At this time, the display mode determination unit 22 determines the display mode according to the inspection importance and inspection priority corresponding to the distance measurement point. The display mode consists of at least one of the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval when the image of the corresponding distance measurement point is output. In this embodiment, the display mode consists of the display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval when the image of the corresponding distance measurement point is output. As shown in Figure 4, the display mode determination unit 22 associates the display mode determined for each of the multiple distance measurement points that constitute the inspection point group with that distance measurement point. As shown in Figure 4, the display modes of the multiple distance measurement points that constitute the inspection point group are different from the display modes of the multiple distance measurement points that do not constitute the inspection point group. As a result, when the inspection point group is output as an image, the inspection point group is highlighted.

The highlighting information generation unit 23 generates highlighting information 31, which is information indicating the display mode of the inspection point group. Typically, the highlighting information 31 is information that associates the distance measurement point No. of the inspection point group shown in Figure 4 with the display size, hue, brightness, saturation, presence or absence of flashing, and flashing interval. The highlighting information generation unit 23 stores the generated highlighting information 31 as part of the inspection support information 30 in the inspection support information storage unit 13.

The additional support information generation unit 24 generates additional support information 32 to assist workers' visual inspection work with textual information. Typically, the additional support information generation unit 24 generates additional support information 32 based on map information, tailored to the environmental conditions of the infrastructure equipment 2. For example, if the infrastructure equipment 2 is located near a coastline, the additional support information 32 consists of textual information such as "Please be careful of salt damage." The additional support information generation unit 24 stores the generated additional support information 32 as part of the inspection support information 30 in the inspection support information storage unit 13.

The point cloud reduction unit 16 thins out the point clouds of the equipment other than the inspection point clouds. This reduces the amount of data in the equipment point cloud.

The output unit 17 outputs the equipment point cloud, which has been thinned out by the inspection reduction unit 16, along with the inspection support information 30 to the information terminal 5.

Information terminal 5 is an information terminal carried by inspection workers during inspections. Typically, information terminal 5 is a smartphone, tablet, head-mounted display, or smart glasses. Figure 6 is a block diagram of information terminal 5. The following description of information terminal 5 assumes it is a smartphone. As shown in Figure 6, information terminal 5 includes an equipment point cloud acquisition unit 60, an inspection support information acquisition unit 61, and an image output unit 62.

The equipment point cloud acquisition unit 60 acquires the equipment point cloud from the inspection support device 4.

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

The image output unit 62 outputs the equipment point cloud as an image to the LCD 63 (Liquid Crystal Display). The image output unit 62 highlights a portion of the equipment point cloud according to the highlighting information 31 of the inspection support information 30. The image output unit 62 outputs the additional support information 32 of the inspection support information 30 together with the equipment point cloud as an image. The image output unit 62 may control the pan and tilt of the viewpoint when outputting the equipment point cloud three-dimensionally to the LCD 63 in response to operator operation.

Next, the control flow of the inspection support device 4 will be explained with reference to Figure 7.

First, the equipment point cloud acquisition unit 10 acquires an equipment point cloud showing the external appearance of the equipment (S100). Next, the inspection support information generation unit 12 generates inspection support information 30 indicating that the inspection point cloud corresponding to the items to be visually inspected should be highlighted (S110). Then, the output unit 17 outputs the equipment point cloud along with the inspection support information 30 to the information terminal 5. As a result, by viewing the equipment point cloud with some parts highlighted via the information terminal 5, the inspection locations that require visual inspection become immediately clear, as does the priority of the visual inspection work. This leads to increased efficiency in inspection work by workers and standardization of inspection quality.

The embodiments of this disclosure have been described above. The above embodiments have the following characteristics.

The inspection support device 4 is a specific example of an inspection support system. The inspection support device 4 includes an equipment point cloud acquisition unit 10, an inspection support information generation unit 12, and an output unit 17. The equipment point cloud acquisition unit 10 acquires an equipment point cloud showing the external appearance of the infrastructure equipment 2 (equipment). The inspection support information generation unit 12 generates inspection support information 30 indicating that the inspection point cloud corresponding to the visually inspected target should be highlighted. The output unit 17 outputs the equipment point cloud along with the inspection support information 30 to the information terminal 5. With this configuration, by viewing the partially highlighted equipment point cloud via the information terminal 5, the efficiency of the inspection work performed by the worker and the uniformity of inspection quality are achieved.

The inspection support information generation unit 12 determines the inspection point group according to the inspection importance or inspection priority. With this configuration, the inspection support information generation unit 12 can rationally determine the inspection point group.

Furthermore, the inspection support information generation unit 12 determines the inspection point cloud at the component level of the infrastructure equipment 2. With this configuration, the inspection support information generation unit 12 can determine the inspection point cloud at the component level.

Furthermore, highlighting the inspection point cluster means that the display pattern of the multiple distance measurement points constituting the inspection point cluster differs from the display pattern of the other distance measurement points. This configuration makes it easier for workers to recognize the inspection point cluster.

Furthermore, the display mode consists of at least one of the following when outputting an image of the corresponding distance measurement point: display size, hue, brightness, saturation, presence or absence of flashing, and flashing interval. This configuration makes it easier for workers to recognize the inspection point group.

Furthermore, the equipment point cloud acquisition unit 10 supplements the equipment point cloud based on the design drawings of the infrastructure equipment 2. With this configuration, the equipment point cloud acquisition unit 10 can supplement any missing parts of the equipment point cloud. For example, for equipment such as power transmission towers, it may be necessary to mount LiDAR devices on helicopters or drones to measure distances, making it difficult to obtain a sufficient point cloud. In such cases, the equipment point cloud acquisition unit 10 can generate a point cloud of the equipment based on the equipment design drawings and use this point cloud to appropriately supplement the equipment point cloud.

Furthermore, the inspection support device 4 includes a point cloud reduction unit 16 that thins out point clouds other than the inspection point clouds from the equipment point cloud. The point cloud reduction unit 16 is a specific example of a point cloud reduction means. The output unit 17 outputs the equipment point cloud thinned out by the point cloud reduction unit 16, along with the inspection support information 30, to the information terminal 5. With this configuration, the amount of data in the equipment point cloud can be reduced.

While the present disclosure has been described above with reference to embodiments, this disclosure is not limited to the embodiments described above. Various modifications to the structure and details of this disclosure may be made that can be understood by those skilled in the art within the scope of this disclosure.

For example, the information terminal 5 may display the inspection point cloud using AR (Augmented Reality), VR (Virtual Reality), or MR (Mixed Reality). That is, when the information terminal 5 outputs the inspection point cloud as an image using AR technology, it superimposes the inspection point cloud onto the image captured by the camera on the information terminal 5, which captures the infrastructure equipment 2.

Next, the hardware configuration of the inspection support device 4 and the information terminal 5 will be described. In the inspection support device 4 and the information terminal 5, the equipment point cloud acquisition unit 10, the inspection support information generation unit 12, the deformation detection unit 15, the point cloud reduction unit 16, the output unit 17, the equipment point cloud acquisition unit 60, the inspection support information acquisition unit 61, and the image output unit 62 are implemented by processing circuits. In the inspection support device 4, the inspection support information storage unit 13 and the inspection support database storage unit 14 are implemented by storage circuits. The processing circuits may be a processor and memory that executes programs stored in memory, or they may be dedicated hardware.

Figure 8 shows an example of a configuration where the processing circuit of the inspection support device 4 and the information terminal 5 is composed of a processor and memory. When the processing circuit is composed of a processor 1000 and memory 1001, each function of the processing circuit of the inspection support device 4 and the information terminal 5 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in memory 1001. In the processing circuit, each function is realized by the processor 1000 reading and executing the program stored in memory 1001. In other words, the processing circuit includes memory 1001 for storing the program that will ultimately be executed by the inspection support device 4 and the information terminal 5. Furthermore, these programs can be said to cause the computer to execute the procedures and methods of the inspection support device 4 and the information terminal 5.

Here, the processor 1000 may be a CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor), etc. The memory 1001 may include, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM® (Electrically EPROM), magnetic disks, flexible disks, optical disks, compact disks, minidiscs, or DVDs (Digital Versatile Discs).

Figure 9 shows an example of a configuration where the processing circuits of the inspection support device 4 and the information terminal 5 are made of dedicated hardware. When the processing circuits are made of dedicated hardware, the processing circuit 1002 shown in Figure 9 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the inspection support device 4 and the information terminal 5 may be implemented separately by the processing circuit 1002, or all functions may be implemented together by the processing circuit 1002.

Furthermore, some functions of the inspection support device 4 and the information terminal 5 may be implemented using dedicated hardware, while others are implemented using software or firmware. In this way, the processing circuit can implement the above-mentioned functions using dedicated hardware, software, firmware, or a combination thereof.

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

Some or all of the above embodiments may also be described as follows, but are not limited to the following:
(Note 1)
A means for acquiring point cloud data of equipment that shows the external appearance of the equipment,
An inspection support information generation means generates inspection support information indicating that the inspection point group corresponding to the object to be visually inspected will be highlighted from the equipment point group,
Output means for outputting the equipment point cloud together with the inspection support information to an information terminal,
including,
Inspection support system.
(Note 2)
The inspection support information generation means determines the inspection point group according to the inspection importance or inspection priority.
The inspection support system described in Appendix 1.
(Note 3)
The inspection support information generation means determines the inspection point group on a component-by-component basis of the equipment.
The inspection support system described in Appendix 1.
(Note 4)
Highlighting the aforementioned group of inspection points means that the display mode when outputting images of multiple distance measurement points constituting the group of inspection points differs from the display mode when outputting images of other distance measurement points.
The inspection support system described in Appendix 1.
(Note 5)
The aforementioned display mode consists of at least one of the following when outputting an image of the corresponding distance measurement point: display size, hue, brightness, saturation, presence or absence of blinking, and blinking interval.
The inspection support system described in Appendix 4.
(Note 6)
The equipment point cloud acquisition means supplements the equipment point cloud based on the design drawings of the equipment.
The inspection support system described in Appendix 1.
(Note 7)
The system further includes a point cloud reduction means for thinning out point clouds other than the inspection point clouds from the equipment point cloud,
The output means outputs the equipment point cloud, thinned out by the point cloud reduction means, to the information terminal along with the inspection support information.
The inspection support system described in Appendix 1.
(Note 8)
A means for acquiring point cloud data of equipment that shows the external appearance of the equipment,
An inspection support information generation means generates inspection support information indicating that the inspection point group corresponding to the object to be visually inspected will be highlighted from the equipment point group,
Output means for outputting the equipment point cloud together with the inspection support information to an information terminal,
including,
Inspection support device.
(Note 9)
We acquire a point cloud showing the external appearance of the equipment.
The system generates inspection support information indicating that the inspection point cloud corresponding to the object to be visually inspected will be highlighted from the aforementioned equipment point cloud.
The equipment point cloud is output to the information terminal along with the inspection support information.
Inspection support methods.
(Note 10)
On the computer,
A program that executes the inspection support method described in Appendix 9.

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

Claims (5)

A means for acquiring point cloud data of equipment that shows the external appearance of the equipment,
An inspection support information generation means generates inspection support information indicating that the inspection point group corresponding to the object to be visually inspected will be highlighted from the equipment point group,
Output means for outputting the equipment point cloud together with the inspection support information to an information terminal,
Includes,
The inspection support information generation means determines the inspection point group for each component constituting the equipment by referring to a database indicating the inspection importance and inspection priority for each component,
The equipment point cloud acquisition means acquires the equipment point cloud from the LiDAR device, and if a portion of the equipment point cloud cannot be acquired due to a malfunction of the LiDAR device, it supplements the unacquired portion based on the equipment design drawings.
Inspection support system. The system further includes a point cloud reduction means for thinning out point clouds other than the inspection point clouds from the equipment point cloud,
The output means outputs the equipment point cloud, thinned out by the point cloud reduction means, to the information terminal along with the inspection support information.
The inspection support system according to claim 1. A means for acquiring point cloud data of equipment that shows the external appearance of the equipment,
An inspection support information generation means generates inspection support information indicating that the inspection point group corresponding to the object to be visually inspected will be highlighted from the equipment point group,
Output means for outputting the equipment point cloud together with the inspection support information to an information terminal,
Includes,
The inspection support information generation means determines the inspection point group for each component constituting the equipment by referring to a database indicating the inspection importance and inspection priority for each component,
The equipment point cloud acquisition means acquires the equipment point cloud from the LiDAR device, and if a portion of the equipment point cloud cannot be acquired due to a malfunction of the LiDAR device, it supplements the unacquired portion based on the equipment design drawings.
Inspection support device. Computers
We acquire a point cloud showing the external appearance of the equipment.
The system generates inspection support information indicating that the inspection point cloud corresponding to the object to be visually inspected will be highlighted from the aforementioned equipment point cloud.
The equipment point cloud is output to the information terminal along with the inspection support information.
The above generation involves determining the inspection point group for each component constituting the equipment by referring to a database that shows the inspection importance and inspection priority for each component.
The acquisition described above involves acquiring the equipment point cloud from the LiDAR device, and if a portion of the equipment point cloud cannot be acquired due to a malfunction of the LiDAR device, supplementing the unacquired portion based on the equipment design drawings.
Inspection support methods. On the computer,
A program for performing the inspection support method described in claim 4.