JP2023002856A - Structure inspection device - Google Patents

Abstract

To provide a structure inspection device that can create an accurate three-dimensional composite image to obtain inspection information even for a narrow part of a structure where execution of inspection work is difficult.SOLUTION: A structure inspection device according to the present invention comprises: an image processing unit that attaches photographing cameras 16-18 for photographing a ceiling surface and photographing cameras 19 for photographing wall surfaces to a base 10 moving in a predetermined movement direction in an inspection area, and creates a three-dimensional composite image of the inspection area based on photographic images acquired from the photographing cameras 16-19; and an inspection processing unit that acquires inspection information based on the created three-dimensional composite image.SELECTED DRAWING: Figure 2

Description

The present invention relates to an inspection device that inspects a structure based on images captured by a plurality of cameras.

Since structures such as bridges and buildings are built outdoors, their surfaces are subject to corrosion due to aged deterioration and the like. In recent years, deterioration of strength due to aging of structures built in the past has become a problem, and work to check the degree of strength deterioration has been carried out.

In such inspection work, inspections such as appearance observation, crack measurement, and hammering inspection on the surface of the structure are performed. However, in structures such as small-scale bridges and the like, where the space under the girders is narrow, the inspection work is performed in a narrow space where the surface of the structure is difficult to see with the naked eye, making accurate inspection difficult.

Therefore, it has been proposed to inspect the surface of the structure using an image captured by a camera. For example, Patent Literature 1 describes a structure inspection device that is provided on a float that floats on water and that moves a camera that captures an image of the surface of a bridge from below using a travel device to capture an image of an infrastructure structure. Further, in Patent Document 2, there is provided a structure inspection device that acquires data on the impact position based on the photographed image, provided with imaging means for imaging the impact position of the inspection means that impacts and inspects the surface of the structure. Have been described. Further, Patent Literature 3 describes an inspection device that measures the crack width by remotely operating an underfloor inspection robot equipped with an imaging device to photograph the underfloor inspection robot.

JP 2017-025485 A JP 2016-191661 A JP 2009-85785 A

In Patent Document 1, the underside of a bridge is photographed with a plurality of cameras, and the acquired photographed images are analyzed to inspect for cracks and other fatigue states. Since it is difficult to quantitatively analyze such data, there is a problem in terms of test accuracy.

In Patent Document 2, a three-dimensional model of a structure is created by a stereo matching method based on multiple images captured by one camera. is difficult.

In Patent Document 3, a composite image is generated by superimposing a photographed image of an object to be photographed and a crack scale image, but it is difficult to obtain inspection information of the entire object to be photographed from the photographed image.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a structure inspection apparatus capable of obtaining inspection information by generating an accurate three-dimensional composite image even in a narrow portion of a structure where inspection work is difficult.

A structure inspection device according to the present invention is a structure inspection device for photographing and inspecting a ceiling surface and a wall surface of an inspection area of a structure. A movable moving part and a plurality of upward shooting cameras arranged at predetermined intervals in a horizontal direction orthogonal to the moving direction are attached to the base in a shooting direction directly facing the shooting area of the ceiling surface, and a plurality of oblique shootings are performed. A ceiling surface photographing unit in which a camera is attached to the base in a photographing direction inclined at a predetermined angle with respect to the photographing area of the ceiling surface, and a plurality of side photographing cameras arranged on both left and right sides of the base are mounted on the wall surface. a wall surface photographing unit having a plurality of oblique photographing cameras mounted on both left and right sides of the base in a direction facing the photographing area in a photographing direction inclined at a predetermined angle with respect to the photographing area of the wall surface; An image processing unit that generates a three-dimensional synthetic image of the inspection area based on the captured images acquired from the imaging unit and the wall surface imaging unit, and an inspection processing unit that acquires inspection information based on the generated three-dimensional synthetic image. and Further, the moving unit moves a plurality of photographing lines along the movement direction set at the same intervals as the array intervals of the upward photographing cameras. Further, the image processing unit determines a photographing distance between the upward photographing camera and the ceiling surface, a wrap ratio in the photographing area of the ceiling surface of the upward photographing camera, a photographing distance between the side photographing camera and the wall surface, and A three-dimensional composite image is generated based on the overlap rate of the imaging regions of the wall surface between the side imaging cameras and the intervals of the plurality of imaging lines along the moving direction. Further, the inspection processing unit acquires inspection information based on a three-dimensional composite image obtained by photographing the outer surface of the inspection area and a three-dimensional composite image of the inspection area. Further, the inspection processing unit acquires inspection information based on the three-dimensional shape data generated based on the design data of the inspection area and the three-dimensional composite image of the inspection area.

With the configuration as described above, the present invention includes a ceiling surface photographing unit including an upward photographing camera and an oblique photographing camera, and a wall surface photographing unit including a side photographing camera and an oblique photographing camera. The original composite image can be generated with high accuracy. By setting a plurality of photographing lines along the movement direction at the same intervals as the array intervals of the upward photographing cameras, it is possible to improve the accuracy of the three-dimensional composite image. Further, by performing image processing by setting the shooting distance, wrap rate, and interval of shooting lines, it is possible to generate a highly accurate three-dimensional composite image.

In combination with a three-dimensional composite image obtained by photographing the outer surface of the inspection area, it is possible to efficiently obtain easy-to-understand inspection information. In addition, it is possible to efficiently obtain inspection information such as aged deterioration by comparison with the three-dimensional shape data generated based on the design data of the inspection area.

It is a schematic block diagram regarding embodiment which concerns on this invention. It is an external appearance perspective view regarding a moving body. FIG. 4 is an explanatory diagram regarding setting of an imaging area of an imaging camera; 1 is a schematic block diagram of a structure inspection device; FIG. FIG. 10 is an external perspective view of a portable imaging device that photographs an inspection area other than the inspection area by the structure inspection device; It is a processing flow of a structure inspection device. It is a photograph which shows a mode that it image|photographs with respect to the bridge to be inspected. It is an example of a screen display regarding the generated three-dimensional composite image. It is an example of a screen display which shows an example of inspection processing of a bridge. It is a photograph which shows the state regarding the test of inspection processing using a concrete test body. An example of a captured image is shown. A screen display example displaying a three-dimensional composite image is shown.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments according to the present invention will be described in detail. It should be noted that the embodiments described below are preferred specific examples for carrying out the present invention, and thus various technical limitations are made. Unless otherwise specified, these forms are not intended to be limiting.

FIG. 1 is a schematic configuration diagram of a structure inspection device according to the present invention. The structure inspection device includes a mobile body 1 having a base on which a photographing camera is mounted, and an information processing device 2 that performs information processing such as image processing and display processing. It is designed to be photographed and inspected. In this example, the interior of a small-scale bridge A is an inspection area, and the moving body 1 is allowed to enter the narrow interior space where it is difficult for a worker to perform inspection work, and the interior ceiling surface B and wall surface C are to be inspected.

As the moving body 1, a moving means according to the situation of the inspection area can be used. In the example shown in FIG. 1, a wheel structure attached to a base is used as the moving means, but in the case of a waterway such as a river, a means capable of moving on water such as a float can be used. Also, by using a moving means such as a small drone, it is possible to move in the air.

As the information processing device 2, a known information device such as a personal computer or a tablet can be used. A program and data necessary for performing an inspection process for obtaining inspection information based on the three-dimensional composite image that has been generated are input. The information processing device 2 preferably has a function that enables remote control of the mobile object 1 through wired communication such as a communication cable or wireless communication. Inspection work can be carried out remotely in the area.

FIG. 2 is an external perspective view of the moving body 1. FIG. The moving body 1 includes a base 10 having a rectangular shape in plan view and a storage box 11 attached to the lower part of the base 10 . The housing box 11 houses a power source such as a battery and a control device.

Rod-shaped frame members 12 are attached and fixed to both left and right sides of the base 10, and rod-shaped support members 14a on which wheels 14 are pivotally supported are attached to the front and rear ends of the pair of frame members 12, respectively. Fixed. On the front side of the base 10, a rod-shaped frame member 13 is installed between a pair of support members 14a attached to the front end of the frame member 12, and on the rear side of the base 10, the rear end of the frame member 12 A rod-shaped frame member 13 is installed between a pair of support members 14a attached to the portion.

A pair of light-emitting panels 15 are attached to the left and right on the top surface of the base 10 to illuminate the entire ceiling surface and wall surface of the inspection area. Three photographic cameras 16 are arranged at predetermined intervals on the front frame member 13, and all of them are attached so that the photographic direction faces the ceiling surface.

One camera 17 is attached to each of the left and right frame members 12, and the shooting direction of the pair of cameras 17 is inclined inward at a predetermined angle from the direction directly facing the ceiling surface. It is set facing up to shoot.

A photographing camera 18 is fixed to the tip of a support bar 18a attached to the front frame member 13 so as to protrude forward. is set upward so as to photograph the ceiling surface while tilting backward at a predetermined angle. A photographing camera 18 is fixed to the tip of a support bar 18a attached to the rear frame member 13 so as to protrude rearward, and the photographing direction is tilted forward at a predetermined angle to photograph the ceiling surface. are set upwards.

A pair of photographing cameras 19 are fixed to the left and right ends of the frame member 13 on the rear side, and a pair of photographing cameras 19 are arranged to be fixed to the pair of support members 14 on the rear side, respectively. . A pair of left and right photographic cameras 19 attached to the frame member 13 arranged on the lower side is set so that the photographing direction faces the wall surface. The camera 19 is set so that the photographing direction is tilted upward at a predetermined angle so as to photograph an area including the boundary between the wall surface and the ceiling surface.

The number of cameras to be installed can be changed according to conditions such as the size and shape of the inspection area, and the number of cameras can be reduced if sufficient accuracy can be secured.

FIG. 3 is an explanatory diagram relating to the setting of the shooting area of the shooting camera. The three shooting cameras 16, which are upward shooting cameras for shooting the ceiling surface, are arranged at equal intervals of a distance P in the horizontal direction. Assuming that the interval P is the angle of view α of each camera and the photographing distance L from the photographing camera to the ceiling surface B, the overlap ratio R, which is the ratio at which the photographing area of each photographing camera overlaps the adjacent photographing areas, is 80% or more. is set to be If the photographing distance L varies depending on the location in the inspection area, the interval P should be set so that the wrap rate R is 80% or more at the shortest distance.

When the moving body 1 is moved with the front-rear direction set as the moving direction, the photographed images are obtained with one photographing camera at a wrap rate of 80% or more by photographing at intervals P in the moving direction on one photographing line. can be done. Further, by setting the next photographing line with an interval P in the horizontal direction perpendicular to the moving direction, the photographing areas of adjacent photographing lines can be set with a wrap rate of 80% or more.

It is preferable to similarly set the wrap ratio R of the photographing camera 16, which is an upward photographing camera, to 80% or more for the photographing camera 19, which is a side photographing camera, for photographing the wall surface. If the height of the ceiling surface is narrower than the space between the walls on both sides, the shooting distance of the wall surface will be longer than the shooting distance of the ceiling surface. , the wrap rate can be 80% or more for the wall surface.

In this way, by setting the photographing positions in a matrix along the direction of movement and the horizontal direction orthogonal to the direction of movement and photographing, the overlap rate of the photographed image can be reliably set to 80% or more and acquired. As will be described later, it is possible to perform processing for generating a three-dimensional composite image using photographed images with high accuracy. Further, by setting the photographing area of the oblique photographing camera whose photographing direction is inclined so that the photographing area of the upward photographing camera and the photographing area of the side photographing camera overlap by 80% or more, the precision in the depth direction is further improved. It is possible to generate a three-dimensional composite image that has been adjusted.

In addition, it is preferable to attach an index for setting a coordinate system such as a reference position and a reference length in advance to the inspection area. It is preferable to attach the index to a nearly flat ceiling surface. Projecting such an index into a photographed image makes it possible to set a coordinate system based on the photographed index and capture a three-dimensional composite image with high accuracy based on the coordinate system.

The means for moving the moving body 1 is not particularly limited as long as it is possible to set the imaging positions in a matrix along the movement direction and the left-right direction. For example, the movable body 1 can be manually moved by attaching a push rod to a base along the movement direction. Further, it is also possible to mount a travel drive mechanism such as a motor on the moving body 1 to rotate the wheels, detect position information such as GPS, and accurately set the photographing position. The transportation means may be appropriately selected according to the movement conditions of the inspection area.

FIG. 4 is a schematic block diagram of the structure inspection device. The information processing device 2 includes a processing unit 20, an input unit 21, a storage unit 22, and a display unit 23. The processing unit 20 includes the storage box 11 of the moving body 1, ceiling surface imaging units 16 to 18, and wall surface imaging. The information transmitted from the unit 19 is processed. Regarding the storage box 11, the position information is transmitted when the shooting process is performed.

The processing unit 20 includes a setting processing unit 201 , an imaging processing unit 202 , an image processing unit 203 and an inspection processing unit 204 . The setting processing unit 201 processes setting data such as the interval P, the shooting distance L, the angle of view α, the shooting direction, the reference position and the reference length of the index input from the input unit 21, and calculates the shooting position, etc. of the shooting information. additional information is created and registered in the setting information DB 221 of the storage unit 22 . The photographing processing unit 202 controls the ceiling surface photographing unit and the wall surface photographing unit to simultaneously perform photographing operations at the photographing position, acquires the photographed image transmitted from the photographing unit, and performs necessary image quality correction processing. . Then, the obtained photographed image is associated with the photographing position, and stored in the photographing information DB 222 of the storage unit 22 .

The image processing unit 203 reads the necessary shot images from the shooting information DB 222, and performs a known SfM (Structure from Motion) process on the basis of image data obtained by shooting a stationary subject from multiple viewpoints to obtain a three-dimensional distribution of image feature points. is estimated to generate a three-dimensional composite image. For example, commercially available software (eg, ContextCapture manufactured by Bentley Systems) can be used to output a high-resolution triangular mesh to seamlessly reconstruct and output a composite image. Then, it is possible to calculate the position information of the subject based on the shooting direction and the shooting distance, and to align the subject with high accuracy.

Further, by performing SfM processing on the image data related to the index projected in the captured image, it is possible to construct a composite image in association with the coordinate system, and to generate a highly accurate three-dimensional composite image. For example, by attaching an L-shaped ruler as an index, a reference coordinate system can be set by setting three points of the L-shaped ruler, the edge and the central corner, as tie points. For example, if the two orthogonal directions connecting the center corner and each end are set in the XY directions, and the distance between the corner and each end is set, the distance, area, and Volume can be calculated accurately.

A three-dimensional composite image generated by the image processing unit 203 is stored in the image information DB 223 .

The inspection processing unit 204 reads out a three-dimensional synthesized image of the location to be inspected from the image information DB 223, displays it on the display unit 23, and performs visual inspection work for cracks, peeling, and the like. In the inspection process, for example, by magnifying and displaying a problem area and indicating the point of the displayed crack, it is possible to accurately calculate inspection information such as the position, length, and width. By designating the area of , it is possible to accurately calculate inspection information such as area and depth.

In addition, the entire inspection area can be displayed as a three-dimensional image, making it possible to inspect the entire inspection area from a bird's-eye view. For example, by displaying the cross-sectional shape of the entire ceiling surface, it is possible to check the overall peeling condition at a glance.

The above local inspection and overall inspection can be performed by performing display processing on the three-dimensional composite image. The obtained inspection information is stored in the inspection information DB 224 of the storage unit 22 .

Based on the data obtained by the inspection process, it is possible to determine the presence or absence of repair and calculate the design data necessary for the repair work.

FIG. 5 is an external perspective view of a portable photographing device for photographing an inspection area other than the inspection area by the structure inspection apparatus. In this example, the specifications are used when an operator takes an image of the upper surface of the bridge when the lower surface of the bridge or the like is imaged by the structure inspection device. The portable photographing device 3 includes a device body portion 30 containing devices such as a power source and communication equipment, a pair of support bars 31 attached in parallel to both sides of the device body portion 30, and a predetermined space between the support bars 31. It is equipped with four photographing cameras 32 to 35 arranged in the vertical direction. The photographing cameras 32 to 35 are mounted so as to be vertically rotatable so that the photographing direction can be adjusted.

The photography cameras 32 to 35 have their photography directions angle-adjusted so that the wrap ratio is 80% or more, like the photography cameras mounted on the structure inspection device. is set substantially horizontally, the photographing direction of the photographing camera above the photographing camera 32 is set to be inclined downward, and the photographing direction of the photographing camera below is set to be inclined upward.

Note that the number of imaging cameras, layout layout, and imaging direction may be appropriately selected according to the inspection object, and are not particularly limited.

The operator M grasps the support bar 31 and moves to a predetermined photographing position for photographing. In addition, if the photographing position is set so that the overlap ratio is 80% or more with respect to the photographing position of the photographing camera mounted on the moving part of the structure inspection device, photographing information can be seamlessly obtained. .

The photographing information obtained from each photographing camera is transmitted from the device main unit 30 to the information processing device 2, and image processing and inspection processing can be performed in the same manner as photographing information of the structure inspection device. Therefore, it is possible to generate a three-dimensional composite image for the entire structure and perform inspection processing with a bird's-eye view of the entire structure.

FIG. 6 is a processing flow of the structure inspection device. In the setting process, as described above, the setting data related to photographing and the setting data related to the reference coordinate system are input from the input unit 21 and the setting process is performed (S100). Then, photographing information obtained by photographing based on the set photographing data is transmitted to the information processing device 2 (S101). FIG. 7 is a photograph showing how a bridge to be inspected is photographed. Fig. 7(a) shows how the photographing camera mounted on the moving part is moved to the inspection area under the bridge, and Fig. 7(b) shows how the upper part of the bridge is photographed by a portable photographing device. is shown.

The obtained photographing information is subjected to image processing in the information processing device 2 to generate a three-dimensional composite image (S102). FIG. 8 is a screen display example of the generated three-dimensional composite image. In FIG. 8(a), the entire bridge to be inspected is viewed from above and displayed on the screen based on the three-dimensional composite image, and in FIG. 8(b), the entire bridge is viewed from below and displayed on the screen. ing. In FIG. 8(c), the peeled portion on the ceiling surface of the lower part of the bridge is enlarged and displayed on the screen.

Inspection processing is performed based on the generated three-dimensional composite image (S103). In the inspection process, as shown in FIGS. 8(a) and 8(b), the overall damage state can be inspected by displaying a screen that provides a bird's-eye view of the entire inspection target. Further, as shown in FIG. 8C, it is possible to draw a line surrounding the outer periphery of the peeled portion and calculate the area of the drawn region.

FIG. 9 is a screen display example showing an example of bridge inspection processing. In this example, first, the entire upper surface of the bridge to be inspected is displayed on the screen, and marking or the like is drawn on the damaged portion (FIG. 9(a)). Quantitative analysis such as the shape, size, and area of the damaged portion is then performed. Next, cross-sectional processing of the bridge is performed, and processing of drawing a white line along the cross-sectional shape of the bridge is performed (FIG. 9(b)). By enlarging and displaying the cross-sectional shape viewed from the direction orthogonal to the cross-section, the damaged portion can be recognized at a glance (Fig. 9(c)). In addition, by displaying a screen in which the cross-sectional shape is viewed from an oblique direction, images of the upper surface side and the lower surface side of the bridge can be superimposed and displayed. By checking the screen display, it is possible to easily recognize the relationship between the damage points on the top side and the bottom side, and to grasp the degree of damage and deterioration inside the bridge.

By performing the inspection process from various viewpoints in this manner, it is possible to obtain useful information when considering the repair process. In addition, by generating 3D shape data in advance based on the design data of the structure to be inspected and combining it with a 3D synthetic image of the inspection area generated by the structure inspection system, more accurate inspection information can be obtained. Obtainable. By periodically acquiring and accumulating inspection information, it becomes possible to quantitatively analyze aged deterioration, and more accurate inspection work can be performed.

FIG. 10 is a photograph showing the state of inspection processing tests using concrete specimens. Three types of concrete specimens cut into rectangular shapes of 1,860 mm long, 1,000 mm wide, and 230 mm thick were used. Many cracks were formed in all of the concrete specimens, and the actual values were obtained by measuring the lengths of 395 cracks with vernier calipers.

As shown in Fig. 10, both sides of the concrete test piece were placed on a support base, the moving part was moved to the lower surface side, and the photographing distance of the mounted photographing camera was measured, and the wrap rate was 80% or more. You set the shooting camera interval and entered the necessary setup data. Then, the camera was moved to the set photographing position, and photographing processing was performed with seven photographing cameras (three cameras facing the ceiling, two cameras facing obliquely to the ceiling, and two cameras facing the wall). There were 500 captured images. FIG. 11 shows an example of a captured image. In this example, a photographed image (FIG. 11(a)) of the lower surface side of the concrete test piece viewed obliquely and a photographed image (FIG. 11(b)) viewed from the opposite direction are shown. An L-shaped ruler affixed to the lower surface of the concrete specimen is reflected in the photographed image, and the direction and dimensions of the reference coordinate system are set.

The acquired captured image is sent to an information processing device (Bentley Systems' ContextCapture is installed) to generate a three-dimensional composite image. FIG. 12 shows a screen display example displaying a three-dimensional composite image. The length of the measured crack was calculated based on the obtained three-dimensional composite image, and the ratio of the error to the measured value was determined as the error rate (%). The mean error rate was 1.39% with a standard deviation of 0.79%. Since the overall error rate was within approximately 3%, the results were sufficient for quantitative inspection processing.

DESCRIPTION OF SYMBOLS 1... Moving body 2... Information processing apparatus 3... Portable imaging device 10... Base 11... Storage box 12... Frame member 13... Frame Member 14 Supporting member 15 Light-emitting panel 16 Upper shooting camera 17, 18 Tilt shooting camera 19 Side shooting camera and tilt shooting camera 20 Processing unit 21 Input unit 22 Storage unit 23 Display unit 30 Apparatus body 31 Support bar 32 to 35 Camera

A structure inspection device according to the present invention is a structure inspection device for photographing and inspecting a ceiling surface and a wall surface of an inspection area of a structure. A movable moving part and a plurality of upward shooting cameras arranged at predetermined intervals in a horizontal direction orthogonal to the moving direction are attached to the base in a shooting direction directly facing the shooting area of the ceiling surface, and a plurality of oblique shootings are performed. A ceiling surface photographing unit in which a camera is attached to the base in a photographing direction inclined at a predetermined angle with respect to the photographing area of the ceiling surface, and a plurality of side photographing cameras arranged on both left and right sides of the base are mounted on the wall surface. a wall surface photographing unit which is mounted in a direction directly facing the photographing area and has a plurality of different tilt photographing cameras mounted on both left and right sides of the base in a photographing direction inclined at a predetermined angle with respect to the photographing area of the wall surface; An image processing unit that generates a three-dimensional synthetic image of the inspection area based on the captured images acquired from the ceiling surface imaging unit and the wall surface imaging unit, and an inspection that acquires inspection information based on the generated three-dimensional synthetic image. and a processing unit. Further, the moving unit moves a plurality of photographing lines along the movement direction set at the same intervals as the array intervals of the upward photographing cameras. Further, the image processing unit calculates a photographing distance between the upward photographing camera and the ceiling surface, a wrap ratio in the photographing area of the ceiling surface of the upward photographing camera, a photographing distance between the side photographing camera and the wall surface, and A three-dimensional composite image is generated based on the overlap rate of the imaging regions of the wall surface between the side imaging cameras and the intervals of the plurality of imaging lines along the moving direction. Further, the inspection processing unit acquires inspection information based on a three-dimensional composite image obtained by photographing the outer surface of the inspection area and a three-dimensional composite image of the inspection area. Further, the inspection processing unit acquires inspection information based on the three-dimensional shape data generated based on the design data of the inspection area and the three-dimensional composite image of the inspection area.

Claims (5)

A structure inspection device for photographing and inspecting a ceiling surface and a wall surface of an inspection area of a structure, the moving unit including a base and moving in a predetermined moving direction in the inspection area; A plurality of upward shooting cameras arranged at predetermined intervals in the left and right directions perpendicular to each other are mounted on the base in a shooting direction facing the shooting area of the ceiling surface, and a plurality of oblique shooting cameras are installed with respect to the shooting area of the ceiling surface. A ceiling surface photographing unit attached to the base in a photographing direction inclined at a predetermined angle, and a plurality of side photographing cameras arranged on both left and right sides of the base are mounted in a direction directly facing the photographing area of the wall surface. and a plurality of oblique photography cameras mounted on both left and right sides of the base in a photographing direction inclined at a predetermined angle with respect to the photographing area of the wall surface; A structure inspection device comprising: an image processing unit that generates a three-dimensional composite image of the inspection area based on a photographed image; and an inspection processing unit that acquires inspection information based on the generated three-dimensional composite image. 2. The structure inspection apparatus according to claim 1, wherein the moving unit moves a plurality of photographing lines along the moving direction set at the same interval as the arrangement interval of the upper photographing cameras. The image processing unit calculates a photographing distance between the upward photographing camera and the ceiling surface, a wrap rate in the photographing area of the ceiling surface of the upward photographing camera, a photographing distance between the side photographing camera and the wall surface, and the side photographing distance. 3. The structure inspection apparatus according to claim 2, wherein the three-dimensional composite image is generated based on the overlap rate of the photographing areas of the wall surface between the side cameras and the intervals of the plurality of photographing lines along the moving direction. 4. The inspection processing unit according to any one of claims 1 to 3, wherein the inspection processing unit acquires inspection information based on a three-dimensional synthetic image obtained by photographing an outer surface of the inspection area and a three-dimensional synthetic image of the inspection area. Structure inspection equipment. 5. The inspection processing unit according to any one of claims 1 to 4, wherein the inspection processing unit acquires inspection information based on three-dimensional shape data generated based on design data of the inspection area and a three-dimensional synthetic image of the inspection area. Structure inspection equipment.

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