Hull Photography System

Abstract

To provide a hull imaging system configured to easily and accurately specify a portion to be imaged, in hull exterior imaging during dry docking, and enable efficient imaging so as not to affect the time allocated for other tasks.SOLUTION: A hull imaging system includes a mobile body and a three-dimensional model generation server 2. The mobile body is configured to: create image data with position information by linking image information obtained when an imaging unit captures an image, horizontal position information of the mobile body measured by a horizontal position measurement unit and height position information of the mobile body measured by a height position measurement unit obtained when the imaging unit captures the image; and transmit the image data with position information to the three-dimensional model generation server 2. The three-dimensional model generation server 2 synthesizes multiple pieces of image information using the received image data with position information, in accordance with the linked horizontal position information and height position information, to generate a three-dimensional model 106 of a ship 102.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a hull photography system, and more particularly to a hull photography system that can easily and accurately identify the photography location when photographing the exterior of a hull during docking, and can photograph efficiently so as not to take up space in other work hours. [Background technology]

[0002] As ships sail, various organisms attach to and accumulate on the exterior of the hull, which is submerged in seawater. These organisms increase the ship's resistance to movement while it is sailing, which has the effect of increasing fuel consumption. In addition, organisms attached to ship hulls can cause transboundary migration of organisms, becoming invasive species and changing ecosystems.

[0003] For this reason, as described in Patent Documents 1 and 2, when a ship enters a dry dock for a periodic inspection, work is carried out to remove the organisms attached to the hull. In addition, photographs of the exterior of the hull will be taken to understand the accumulation of organisms attached to the hull and to provide traceability for their subsequent removal. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2022-526652 [Patent Document 2] Special Publication No. 2022-526655 Summary of the Invention [Problem to be solved by the invention]

[0005] In the past, photographing the exterior of a ship during docking was done manually based on the worker's subjective judgment, making it difficult to accurately standardize the photographed locations throughout the ship's operation cycle, especially when the inspection was performed in different docks. If the photographing locations are not standardized, even if an image showing organisms attached to the hull is recorded, it will be difficult to identify which part of the hull exterior the image is from, and it will also be difficult to confirm whether the organisms have been removed.

[0006] Furthermore, when a ship enters dock, various inspection tasks must be carried out, not just the removal of organisms attached to the hull, and since the time available for these tasks is limited, efficient photography is essential.

[0007] The object of the present invention is to provide a hull photography system that can easily and accurately identify the location to be photographed when photographing the exterior of a ship during docking, and that can photograph efficiently so as not to take up space in other work hours.

[0008] Further objects of the present invention will become apparent from the following description. [Means for solving the problem]

[0009] The above problems are solved by the following inventions.

[0010] 1. A ship hull photography system including a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; The 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and height position information, and generates a 3D model of the ship. death, The moving body is a floating body that can rise to the water surface around the ship and move on the water surface, the height position measuring unit acquires the position of the water surface relative to the hull from data of a draft gauge equipped on the ship, and acquires the height position information of the floating body based on the position of the water surface. A ship hull photography system. 2. A ship hull photography system including a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is a floating body that can rise to the water surface around the ship and move on the water surface, The height position measuring unit is a depth meter that acquires the water depth from the water surface to the bottom of the water, and acquires the height position information of the floating body based on the water depth. A ship hull photography system. 3. A ship hull photography system including a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is an unmanned aerial vehicle that can float in the space around the ship and move in the space, The height position measurement unit acquires the distance from the water surface around the ship using a non-contact sensor equipped on the unmanned aerial vehicle, acquires the position of the water surface relative to the hull from data on a draft gauge equipped on the ship, and acquires the height position information of the unmanned aerial vehicle based on the position of the water surface and the distance from the water surface. A ship hull photography system. 4. A ship hull photography system including a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is a wall-surface traveling body that is attached to the exterior hull of the ship and can move along the exterior hull surface, The height position measuring unit acquires the distance from the water surface around the ship using a non-contact sensor equipped on the wall-mounted traveling body, acquires the position of the water surface relative to the hull from data on a draft gauge equipped on the ship, and acquires the height position information of the wall-mounted traveling body based on the position of the water surface and the distance from the water surface. A ship hull photography system. [Effects of the Invention]

[0011] According to the present invention, a hull photography system can be provided that allows for easy and accurate identification of the photography location when photographing the exterior of a ship during docking, and also allows for efficient photography so as not to take up space in other work hours. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a side view showing the configuration of a ship hull photography system according to a first embodiment of the present invention; [Figure 2] Block diagram showing the internal configuration of the moving body of the ship hull photography system [Figure 3] FIG. 10 is a side view showing the configuration of a ship hull photography system according to a second embodiment of the present invention. [Figure 4] FIG. 10 is a side view showing the configuration of a ship hull photography system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] Preferred embodiments of the present invention will now be described.

[0014] [First embodiment] (Configuration of ship's hull photography system) FIG. 1 is a side view showing the configuration of a ship hull photographing system according to a first embodiment of the present invention. As shown in FIG. 1, the ship hull photographing system of the present invention includes a moving body 1 and a three-dimensional model generation server 2, and photographs the exterior of the hull of a ship 102 docked in a dock 101. In this embodiment, the moving body 1 is a floating body that can rise to the surface of water 103 around the ship 102 and move on the water surface 103. As such a moving body (floating body) 1, for example, a boat can be used.

[0015] FIG. 2 is a block diagram showing the internal configuration of a moving body of the hull photographing system of the embodiment. As shown in Fig. 2, the floating body 1 is configured to incorporate an imaging unit 3 that captures images of multiple locations on the exterior of the hull of the ship 102, a horizontal position measuring unit 4, a height position measuring unit 5, an information processing unit 6, and a transmission unit 7. Since the floating body 1 is equipped with the imaging unit 3 and photographs the exterior of the hull when docking, it is preferable that the floating body 1 have a matte finish that does not reflect light, for example, an exterior made of matte black, etc., in order to prevent reflections on the subject.

[0016] The imaging unit 3 includes an imaging lens 31 and an imaging element (CCD image sensor, CMOS image sensor, etc.) 32, and is configured so that the subject image formed by the imaging lens 31 is received by the imaging element 32, converted into image information in the form of an electrical signal, and output. The subject image formed by the imaging lens 31 is an image of the subject viewed from the rear principal point of the imaging lens 31, and is an image within a predetermined angle of view centered on the optical axis of the imaging lens 31. In the following description, "the position of the floating body 1" means "the position of the rear principal point of the imaging lens 31." The imaging unit 3 may be one that captures still images or one that captures moving images.

[0017] For example, a GPS (Global Positioning System), which is a satellite positioning system, can be used as the horizontal position measuring unit 4. The GPS detects the absolute position of the levitation body 1, that is, the latitude and longitude, as horizontal position information. Note that the satellite radio waves received by the GPS also contain time information.

[0018] The horizontal position measuring unit 4 may detect a relative position as horizontal position information instead of an absolute position. For example, if beacons are installed at three or more locations within the dock 101 and radio waves from these beacons are received by the horizontal position measuring unit 4, the relative position of the floating body 1 based on the locations where the beacons are installed can be detected. If a beacon is installed on the hull of the ship 102, the relative position of the floating body 1 with respect to the hull can be detected.

[0019] The height position measuring unit 5 of the floating body 1 acquires information on the distance from the bottom of the ship 102 to the water surface 103 from data on the bow draft gauge 104 and the stern draft gauge 105 equipped on the ship 102, and acquires height position information of the floating body 1 using this distance information. The bow draft gauge 104 and the stern draft gauge 105 detect the distance from the bottom of the ship to the water surface 103 (height information of the submerged part). Therefore, the height position information acquired by the height position measuring unit 5 is the relative height position of the floating body 1 with the hull as the reference.

[0020] The height position measuring unit 5 of the floating body 1 may also be, for example, a depth meter such as an acoustic sonar. The depth meter acquires the water depth from the water surface 103 to the bottom 107 of the dock 101, which is the bottom of the water. In this case, the height position information acquired by the height position measuring unit 5 is the relative height position of the floating body 1 with the bottom 107 of the dock 101 as the reference. A plurality of blocks are installed on the bottom 107 of the dock 101, and when seawater is discharged from the dock 101, the bottom of the ship 102 rests on the upper surfaces of the blocks. The height from the bottom 107 to the upper surface of each block is constant and known. When the bottom of the ship rests on the multiple blocks, the relative height position of the ship 102 with respect to the bottom 107 of the dock 101 is the height from the bottom 107 to the upper surface of each block. Therefore, by taking the difference between the height from the bottom 107 to the top surface of each block and the water depth information obtained at the floating body 1, the relative height position of the floating body 1 with respect to the hull can be calculated.

[0021] Furthermore, the height position measuring unit 5 of the floating body 1 may be configured to detect draft marks marked on the inner wall of the dock 101 for confirmation by dock workers. By detecting the draft marks at the water surface 103 position by image processing, it is possible to obtain the water depth to the bottom 107 of the dock 101, i.e., the relative height position of the floating body 1 with the bottom 107 of the dock 101 as the reference. By taking the difference between this relative height position and the height from the bottom 107 to the top surface of each block, the relative height position of the floating body 1 with the hull as the reference is calculated.

[0022] Furthermore, if the hull and draft marks are photographed simultaneously, the water depth at the time of photographing can be determined, and the relative height position of the floating body 1 with respect to the hull can be calculated by taking the difference between this water depth information and the height from the bottom 107 to the top surface of each block. In order to photograph the hull and draft marks simultaneously, an imaging unit for photographing the draft marks may be provided in addition to the imaging unit 3 that photographs the hull, and these two imaging units may be operated in synchronization.

[0023] The bottom 107 of the dock 101 is slightly inclined to allow for drainage of water. The ship 102 enters the dock in a stern trim state, i.e., with the stern side lowered compared to the bow side, in accordance with the inclination of the bottom 107.

[0024] If the slope of the bottom of the dock 101 is, for example, about 1 / 200 to 1 / 300 of a meter and the overall length of the hull is 300 meters, the ship 102 will enter the dock with a stern trim of about 1 to 1.5 meters. A stern trim of about 1 to 1.5 meters means that the stern side of the ship is sunk 1 to 1.5 meters lower than the bow side.

[0025] The data obtained from the bow draft gauge 104 and the stern draft gauge 105 is the distance from the bottom of the ship 102 to the water surface 103 (height information of the part submerged in water), so even if there is a difference between the bow and stern sides due to the stern trim, it corresponds to the relative height position of the floating body 1 with the bottom of the ship 102 as the reference.

[0026] On the other hand, the information on the water depth inside the dock 101 corresponds to the relative height position of the floating body 1 with respect to the bottom 107 of the dock 101. Due to a slight inclination of the bottom 107, if the overall length of the hull is long, the information on the water depth will differ between the bow and stern even at the same time. When seawater is discharged from the dock 101, the bottom of the ship 102 touches the keel of the ship 102 parallel to the upper surfaces of the blocks due to the stern trim. The height from the bottom 107 to the upper surface of each block is constant and known, even if the bottom 107 is inclined. Therefore, when the bottom of the ship 102 rests on the blocks, there is no difference in the relative height position of the ship 102 with respect to the bottom 107 of the dock 101 at the bow side and the stern side. Therefore, by taking the difference between the height from the bottom 107 to the top surface of each block and the water depth information obtained at the floating body 1, the relative height position of the floating body 1 with respect to the hull can be calculated.

[0027] The information processing unit 6 creates image data with position information by linking the horizontal position information of the levitation body 1 obtained by the horizontal position positioning unit 4 at the time when the image was captured by the imaging unit 3, the height position information of the levitation body 1 obtained by the height position positioning unit 5 at the same time, and the image information captured at the same time.

[0028] The transmitting unit 7 wirelessly transmits the image data with location information created by the information processing unit 6 to the three-dimensional model generation server 2. The radio waves transmitted to the three-dimensional model generation server 2 may be of the Bluetooth (registered trademark) standard or the Wi-Fi (registered trademark) standard.

[0029] The levitation body 1 may be provided with a time detection unit, a distance measurement unit, a direction detection unit, and an elevation / depression angle detection unit. The time detection unit detects time information from satellite radio waves or a built-in clock. If the time information is linked to the horizontal position information, the height position information, and the image information, respectively, the 3D model generation server 2 can link the horizontal position information, the height position information, and the image information that have the same linked time information to generate image data with position information.

[0030] The distance measuring unit detects the distance from the floating body 1 to the hull, which is the subject, based on the extension amount of the imaging lens 31 when the imaging unit 3 is in a focused state. The direction detection unit detects the direction in which the optical axis of the imaging lens 31 is pointing by detecting the geomagnetism. The elevation / depression angle detection unit detects the elevation / depression angle (angle of elevation or angle of depression) of the optical axis of the imaging lens 31. The elevation / depression angle detection unit can be configured by providing height position measurement units at two locations (forward and backward) on the levitating body 1 along the optical axis of the imaging unit 3. By comparing the two pieces of height position information detected by the two height position measurement units provided at the two locations, the elevation / depression angle of the optical axis can be detected. By providing these distance measurement units, direction detection units, and elevation / depression angle detection units and acquiring information on the distance from the floating body 1 to the hull, the direction of the optical axis of the imaging lens 31, and the elevation / depression angles of the optical axis, it becomes easy to synthesize multiple pieces of image information in the 3D model generation server 2. However, even without this information, it is possible to synthesize multiple pieces of image information.

[0031] The three-dimensional model generation server 2 uses multiple image data with position information transmitted from the transmitter, synthesizes them according to the linked horizontal position information and height position information, and generates a three-dimensional model (3D mapping data) 106 of the entire hull exterior.

[0032] (Procedure for photographing the exterior of the ship) Photographing of the exterior of the hull using this hull photography system can begin from the time the ship 102 enters the dock 101 and stops. When the photographing starts, the floating body 1 moves on the water surface 103 and photographs while circling the docked ship 102. At the same time as photographing, horizontal position information and height position information are acquired. The photographing at this time is of the upper part of the hull appearing above the water surface 103.

[0033] After the ship 102 has stopped, the dock 101 closes the door ship and drains the seawater inside the dock 101. While the seawater is being drained, the ship 102, while remaining in stern trim, descends together with the water surface 103, and when the bottom of the ship touches the keel parallel to each block on the bottom 107 of the dock 101, the relative positions of the dock 101 and the ship 102 are fixed, and thereafter the water surface 103 descends relative to the hull. As the water surface 103 descends relative to the hull, the lower part of the hull, which was previously underwater and invisible, appears above the water surface 103, and the floating body 1 photographs this newly revealed lower part of the hull.

[0034] When the drainage of water from the dock 101 is completed, the entire hull will appear, and the floating body 1 can complete photographing the entire hull by the time the drainage is completed.

[0035] This hull photography system makes effective use of the downtime during which no other work can be done while seawater is being drained, and can complete photography of the entire hull by the time the drainage is complete.This allows for efficient photography without taking into account other work time, and shortens the docking work period. Furthermore, this ship hull photography system acquires horizontal and height position information at the same time as photography, making it possible to easily and accurately identify the photography location and ensure traceability. Furthermore, this hull photography system synthesizes image information to generate a three-dimensional model 106, so it is easy to see which part of the hull the image was taken of, and even if there are parts that have not been photographed, it is easy to determine that there are parts that have not been photographed.

[0036] After the discharge of seawater is completed, the hull is cleaned and inspected, and organisms attached to the hull are removed in the dock 101. Therefore, the hull photographed while seawater is being discharged is a hull that may be fouled or may have organisms attached to the hull, before cleaning and removal of organisms attached to the hull are performed. Images taken while the seawater is being discharged can be used to record the state of fouling and biological adhesion, and can also be used to identify areas prone to fouling and biological adhesion.

[0037] After various tasks are completed at the dock 101, seawater is poured into the dock 101. While the seawater is being poured in, the water surface 103 rises relative to the hull. As the water surface 103 rises relative to the hull, the lower part of the hull that was previously visible becomes invisible below the water surface 103, so the floating body 1 photographs the lower part of the hull before the lower part of the hull goes below the water surface 103. When the water surface 103 rises to a predetermined position, the ship 102 surfaces and the bottom of the ship separates from the bottom of the dock 101. Thereafter, the ship 102 rises together with the water surface 103. At this time, the floating body 1 also photographs the upper part of the hull that appears above the water surface 103.

[0038] The hull photographed while seawater was being poured in shows a hull that is free of fouling and organisms attached to the hull after cleaning and removal of organisms attached to the hull have been completed. Images taken during the seawater injection can be used to document the results of the cleaning and removal of fouling organisms from the hull, and these images can be sent to other docks, both domestically and internationally, to prove that the cleaning and removal work was carried out correctly. In this embodiment, the bottom of the ship can be photographed as usual after the water is discharged.

[0039] Second Embodiment FIG. 3 is a side view showing the configuration of a ship hull photographing system according to a second embodiment of the present invention. In this embodiment, the mobile body is an unmanned aerial vehicle 11 that floats in the space around the ship 102 and can move through the space. For example, a so-called drone can be used as the unmanned aerial vehicle 11. It is preferable that the unmanned aerial vehicle 11 also has an exterior that does not reflect light, such as matte black, in order to prevent the exterior of the hull from being reflected in the subject when photographing.

[0040] In this embodiment, the height position measurement unit 5 obtains the distance from the water surface around the ship using a non-contact sensor equipped on the unmanned aerial vehicle 11, obtains the position of the water surface 103 relative to the hull from data from the bow draft gauge 104 and stern draft gauge 105 equipped on the ship, and obtains height position information of the unmanned aerial vehicle 11 based on the position of the water surface 103 and the distance from the water surface 103. As the non-contact sensor, for example, a radio wave water level meter or an ultrasonic level meter can be used. In this embodiment as well, the height position information acquired by the height position measuring unit 5 is the relative height position of the floating body 1 with the hull as the reference.

[0041] In this embodiment, by photographing the area around the hull as in the first embodiment and also photographing the bottom of the ship with the unmanned aerial vehicle 11, more detailed mapping data including the bottom of the ship can be generated. The other configurations and imaging procedures are the same as those in the first embodiment, and therefore the description will be omitted.

[0042] Third Embodiment FIG. 4 is a side view showing the configuration of a ship hull photographing system according to the third embodiment of the present invention. In this embodiment, the moving body is a wall-surface traveling body 12 that is attached to the exterior of the hull of the ship 102 and can move along the exterior surface of the hull. The wall-surface traveling body 12 is attached to the exterior of the hull by, for example, magnetic force or air suction, and can move along the exterior surface of the hull by driving wheels or caterpillar tracks. It is preferable that the wall-surface traveling body 12 also has an exterior that does not reflect light, such as matte black, in order to prevent the exterior of the hull from being reflected in the subject when photographing it.

[0043] In this embodiment, the imaging unit 3 is configured so that the optical axis of the imaging lens 31 faces the hull, and is always able to capture images of the exterior of the hull even when moving along the exterior surface of the hull.

[0044] In this embodiment, the height position measurement unit 5 obtains the distance from the water surface around the ship using a non-contact sensor equipped on the wall-mounted traveling body 12, obtains the position of the water surface 103 relative to the hull from data from the bow draft gauge 104 and stern draft gauge 105 equipped on the ship, and obtains height position information of the unmanned aerial vehicle 11 based on the position of the water surface 103 and the distance from the water surface 103. As the non-contact sensor, for example, a radio wave water level meter or an ultrasonic level meter can be used. In this embodiment as well, the height position information acquired by the height position measuring unit 5 is the relative height position of the floating body 1 with the hull as the reference.

[0045] In this embodiment, the unmanned aerial vehicle 11 of the second embodiment may be used to photograph the bottom of the ship, or a wall-mounted traveling vehicle may be made to travel along the bottom of the ship to photograph the bottom. The other configurations and imaging procedures are the same as those in the first embodiment, and therefore the description will be omitted. [Explanation of symbols]

[0046] 1. Floating body 2. 3D model generation server 3. Imaging unit 4. Horizontal position measurement unit 5 Height position measurement unit 6. Information Processing Section 7. Transmitter 11 Unmanned aerial vehicle 12 Wall-mounted vehicle 31 Imaging lens 32 Image sensor 101 Dock 102 Ships 103 Water surface 104 Bow draft 105 Aft draft 106 Three-dimensional model 107 Bottom

Claims

1. A ship hull photography system including a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is a floating body that can rise to the water surface around the ship and move on the water surface, the height position measuring unit acquires the position of the water surface relative to the hull from data of a draft gauge equipped on the ship, and acquires the height position information of the floating body based on the position of the water surface. A ship hull photography system.

2. A ship hull photography system comprising a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is a floating body that can rise to the water surface around the ship and move on the water surface, The height position measuring unit is a depth meter that acquires the water depth from the water surface to the bottom of the water, and acquires the height position information of the floating body based on the water depth. A ship hull photography system.

3. A ship hull photography system comprising a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of a plurality of locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is an unmanned aerial vehicle that can float in the space around the ship and move in the space, The height position measurement unit acquires the distance from the water surface around the ship using a non-contact sensor equipped on the unmanned aerial vehicle, acquires the position of the water surface relative to the hull from data on a draft gauge equipped on the ship, and acquires the height position information of the unmanned aerial vehicle based on the position of the water surface and the distance from the water surface. A ship hull photography system.

4. A ship hull photography system comprising a moving body and a three-dimensional model generation server, The moving body includes an imaging unit that captures images of multiple locations on the exterior of a ship's hull, a horizontal position measuring unit, a height position measuring unit, an information processing unit, and a transmission unit, the information processing unit creates image data with position information that links image information captured by the imaging unit at the time of capturing an image, horizontal position information of the moving object obtained by the horizontal position positioning unit at the time of capturing an image by the imaging unit, and height position information of the moving object obtained by the height position positioning unit at the time of capturing an image by the imaging unit, the transmitting unit transmits the image data with location information created by the information processing unit to the three-dimensional model generation server; the 3D model generation server uses the received image data with position information to synthesize the plurality of pieces of image information in accordance with the linked horizontal position information and the linked height position information, and generates a 3D model of the ship; The moving body is a wall-surface traveling body that is attached to the exterior hull of the ship and can move along the exterior hull surface, The height position measuring unit acquires the distance from the water surface around the ship using a non-contact sensor equipped on the wall-mounted traveling body, acquires the position of the water surface relative to the hull from data on a draft gauge equipped on the ship, and acquires the height position information of the wall-mounted traveling body based on the position of the water surface and the distance from the water surface. A ship hull photography system.

Images