In 2014, a regular inspection of public infrastructure facilities (bridges, etc.) once every five years be-came a legal system. Of the approximately 730,000 bridges nationwide, 530,000 are small-scale bridges with a bridge length of 2-15m. These bridges are often not easily accessible by inspection engineers. Therefore, in this study, for the purpose of studying inspection methods as an alternative to visual inspection for small-scale bridges, development of inspection robots, examination of efficient methods for creating 3D CAD data, inspection using 3D models. We examined the results from four viewpoints, the management system of results and the extraction of damaged parts from photographs by AI. As a result of the research, we conducted demonstration experiments several times, arranged the scope of technology application according to the usage scene, and clarified the definition of functional requirements. This can be expected to contribute to the development of more efficient inspection, improvement of productivity, safety, etc. in future small-scale bridges, as a material for development for actual operation.