KR20240060263A - Draft Measurement System and Draft Measuring Method - Google Patents

Abstract

The present invention relates to a draft measurement system and a draft measurement method that acquire image information about the draft using an unmanned aerial vehicle, process the image information, and measure the draft. The draft measurement system includes a correction unit, a recognition unit, and a calculation unit. It may include, and the draft measurement method may include an information acquisition step, a correction step, a recognition step, and a calculation step.

Description

Draft Measurement System and Draft Measuring Method}

The present invention relates to a draft measurement system and method for obtaining image information about the draft using an unmanned aerial vehicle, processing the image information, and measuring the draft.

Ships undergo a draught survey or inclining test at the launch stage. The incline test is intended to determine the center of gravity of the built ship and the light weight, which is the weight of the ship, while the tilt test is intended to determine the dead weight, which is the weight of the cargo.

Generally, the petty sand test is conducted by checking draft markings at six locations on the required ship and measuring them with a draft reading gauge (hydrometer). In order to make these measurements, several supervisors had to board the electric wire and travel in person.

In addition, if the test vessel is double moored at the quay wall or the test is performed in the inner harbor outside the quay wall, there is a problem such as having to move the vessel using a tugboat for the quay test.

Therefore, there is a need for a draft measurement system and method that does not cause the above-mentioned problems.

Korean Patent Publication No. 10-2019-0019336 (published on February 27, 2019)

The present invention is intended to solve the above problems, and its purpose is to provide a draft measurement system or method that can measure draft using image information captured using an unmanned aerial vehicle.

In order to achieve the above object, the present invention provides a draft measurement system and method formed as follows.

The draft measurement system according to an embodiment of the present invention converts distorted information of image information obtained by photographing a baseline and a draft mark for measuring the draft of a ship using an image conversion technique, and converts letters and baselines from the image information. A correction unit that performs morphology image processing to extract a shape (morphology) image processing, a recognition unit that recognizes the reference line and the draft mark through optical character recognition in the image information on which image processing was performed in the correction unit, and the recognition unit It includes a calculation unit that calculates the draft using the reference line and the draft mark obtained from the unit.

In addition, the image information is acquired by an unmanned aerial vehicle, and the unmanned aerial vehicle includes a photographing unit that photographs the image information, and a radar to measure the angle between the point where the image information is photographed and the point where actual measurement is to be performed. It may include a measuring unit that fires.

The draft measurement method according to an embodiment of the present invention includes an information acquisition step of acquiring image information by taking an image including a ship's draft mark, and correcting a distorted image using the image information using an image conversion technique. It includes a correction step, a recognition step of recognizing the draft mark and the baseline of the draft survey from the corrected image information through optical character recognition (OCR), and a calculation step of calculating the draft using the draft mark and baseline. .

Through the above structure and method, the present invention provides the advantage of being able to measure the draft of a ship without directly measuring it with a manual gauge, and of being able to measure it without mobilizing a tugboat or electric wire.

1 is a schematic diagram of a draft measurement system according to an embodiment of the present invention.
Figure 2 shows a state in which an unmanned aerial vehicle acquires image information and measures an angle of a ship according to an embodiment of the present invention.
Figure 3 shows a draft mark and reference line taken by an unmanned aerial vehicle on a ship.
Figure 4 shows image information corrected according to an embodiment of the present invention. (a) shows image information in a perspective converted state, and (b) shows image information in a state in which form image processing has been performed.
Figure 5 is a flowchart showing a method for measuring draft according to an embodiment of the present invention.
Figure 6 is a flowchart showing a draft measurement method according to another embodiment of the present invention.
Figure 7 is a flowchart showing the second image processing step.

Hereinafter, specific embodiments of the present invention will be described with reference to the attached drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, or delete other components within the scope of the same spirit, or create other degenerative inventions or this invention. Other embodiments that are included within the scope of the inventive idea can be easily proposed, but it will also be said that this is included within the scope of the inventive idea of the present application.

In addition, in describing the present invention, '~ part' or 'unit' may be used in various ways, for example, a processor, program instructions executed by the processor, software module, microcode, computer program product, logic circuit, application-specific It can be implemented by an integrated circuit, firmware, etc.

The contents of the method disclosed in the embodiments of the present application may be directly implemented with a hardware processor, or may be implemented and completed through a combination of hardware and software modules among the processors. Software modules may be stored in conventional storage media such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. The storage medium is located in a memory, and the processor reads the information stored in the memory and combines it with the hardware to complete the content of the method described above. To prevent duplication, detailed description is omitted here.

In the implementation process, each content of the above-described method can be completed by a logical integrated circuit of hardware among processors or instructions in the form of software. The contents of the method disclosed in the embodiments of the present application may be directly implemented with a hardware processor, or may be implemented and completed through a combination of hardware and software modules among the processors. Software modules may be stored in conventional storage media such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. The storage medium is located in a memory, and the processor reads the information stored in the memory and combines it with the hardware to complete the content of the method described above.

That is, those skilled in the art will know that each exemplary unit and algorithm step described in the embodiments disclosed herein can be combined and realized by electronic hardware or a combination of computer software and electronic hardware. You can. Whether these functions are performed by hardware or software is determined by the specific application and design constraints of the technical solution. Those skilled in the art may implement the described functionality using different methods for each particular application, but such implementation should not be considered beyond the scope of the present application.

In some embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a kind of logical function division, and other division methods may exist in actual implementation, for example, a plurality of units. Alternatively, the assembly may be combined or integrated into another system, or some features may be ignored or not performed. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be an indirect coupling or communication connection through some interface, device or unit and may be electrical, mechanical or other form.

Units described above as separate parts may be physically separated, and parts displayed as units may or may not be physical units, that is, they may be located in one place or distributed across a plurality of network units. Some or all of the units may be selected according to actual demand to realize the purpose of the scheme of this embodiment.

That is, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist alone, or two or more than two units may be integrated into one unit.

If the above function is implemented in the form of a software function unit and sold or used as an independent product, it may be stored in a single computer-readable storage medium. Based on this understanding, the part of the technical solution of this application that is essentially or a contribution to the prior art or a part of the technical solution may be implemented in the form of a software product, and the computer software product is stored in a storage medium. , including some instructions to cause one computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The above-described storage media includes various media that can store program code, such as USB memory, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or CD-ROM. Includes.

1 shows a draft measurement system according to an embodiment of the present invention.

Figure 2 shows a state in which an unmanned aerial vehicle measures the draft of a ship. Figure 3 schematically shows the side of the ship measured by the unmanned aerial vehicle. Figure 4 shows a state in which image information has been processed, where (a) is image information in a perspective-converted state, and (b) is image information in a state processed for easy recognition.

The draft measurement system according to an embodiment of the present invention includes a storage unit 21, a correction unit 22, a recognition unit 23, and a calculation unit 24.

And the draft measurement system may include a server (2), an unmanned aerial vehicle (1), and a display device (3) including the above configuration.

Draft refers to the depth to which the ship's hull sinks when it is floating on the water, that is, the vertical distance from the bottom of the hull to the water, and is also expressed as water.

The purpose of the present invention is to accurately measure the draft without manpower aboard a utility ship, which is a ship that acts as a liaison between a large ship and the land or between a ship and a ship.

The draft measurement system may include an unmanned aerial vehicle (1), a server (2) that processes image information received from the unmanned aerial vehicle, and a display device (3) that displays processing contents of the server (2).

The unmanned aerial vehicle (1) acquires image information and measures angles.

The unmanned aerial vehicle (1) may generally refer to a drone, and in a draft measurement system, it approaches a ship and performs measurements or photographs instead of manpower.

The unmanned aerial vehicle (1) is equipped with a photographing unit (11) to capture image information, and a measuring unit (12) to measure the angle between the point measured during human measurement and the actual measurement point of the unmanned aerial vehicle (1). .

The photographing unit 11 includes all general cameras, and may not be integrally formed with the unmanned air vehicle 1 but may be additionally attached or added.

The unmanned aerial vehicle 1 is moved to the draft measurement position of the ship 100, and image information can be acquired at the draft measurement position. Image information can be obtained by taking images of the ship's draft mark 110 and the test baseline 120. Then, a plurality of the image information is acquired from a plurality of shooting points. The photographing positions of the ship 100 for measuring draft are generally multiple points. Additionally, multiple image information can be obtained at each point.

The point at which the unmanned aerial vehicle (1) measures the ship's draft may be different from when it is actually measured by manpower. In general, the baseline 120 and the draft mark 110 are measured at a point close to the water surface on the outer surface of the ship 100, so they are measured without a large error. However, the distance between the unmanned aerial vehicle 1 and the ship 100 and the distance from the water may be significantly different.

The measuring unit 12 can measure angle information for correcting image information acquired by the photographing unit 11. This measuring unit 12 can also measure through radar. However, it is not limited to radar, and may include any measuring means capable of obtaining the angle θ.

As an example, radar can be used to measure the angle (θ) between the point where the image information is captured and the point where actual measurement is to be performed.

As an example, the measuring unit 12 may derive the angle by measuring the length of a first direction parallel to the water surface and a second direction perpendicular to the water surface at the photographing point. That is, the first length L1, which is the length to the ship in the first direction, and the second length L2, which is the length to the water surface in the second direction perpendicular to the water surface, can be measured. Through this, it is possible to measure the angle θ formed by a line connecting the plane containing the photographing point and the reference line 120 perpendicular to the photographing point in the first or second direction.

The unmanned aerial vehicle 1 may further include a recorder unit 13, a control unit 14, an information reception unit 15, and an information transmission unit 16.

The recorder unit 13 can store image information acquired by the photographing unit 11. Additionally, in addition to image information, angle measurement information may also be stored. Also, it may be provided outside the unmanned air vehicle 1 rather than inside it.

The control unit 14 can control the flight state of the unmanned aerial vehicle (1). Additionally, the operations of the imaging unit 11 and the measuring unit 12 can be controlled. The above control operations may be stored in advance, and may be transmitted and controlled through the external server 2.

The unmanned aerial vehicle 1 may be equipped with an information reception unit 15 and an information transmission unit 16. The information transmission unit 16 can transmit information obtained from the unmanned air vehicle 1 to the server 2. And the information receiving unit 15 can receive information necessary for the unmanned air vehicle 1 from the outside.

The server 2 may be formed with a storage unit 21, a correction unit 22, a recognition unit 23, a calculation unit 24, and a server transmission/reception unit 25.

The storage unit 21 may store image information and angle measurement information captured by the unmanned aerial vehicle 1. The storage unit 21 may also store all information transmitted by the unmanned aerial vehicle 1.

The correction unit 22 may correct a distorted image using the image information using an image conversion technique.

The correction unit 22 may receive data directly from the unmanned air vehicle 1 or from the storage unit 21 and perform a preprocessing step to accurately measure the draft from the image information.

The image information measured from the unmanned aerial vehicle (1) is measured from a position higher than the draft mark (110) downward, and therefore, if the draft mark (110) and the reference line (120) are recognized and calculated directly using the image information, a distorted image is generated. Information may make it difficult to accurately measure draft values. Therefore, for accurate measurement, the correction unit 22 can perform correction to convert the distorted part to its original state through an image conversion technique.

The value of draft corrected according to angle measurement may differ from the measured value by actual draft measurement or the ideal measured value. In general, this value can be considered negligible, but for accurate correction, the overall shape of the ship is stored in the storage unit 21 of the server 2 to compensate for errors in the measurement angle due to the shape of the ship. After that, the image information can be corrected.

For example, an image can be converted using an image processing method based on perspective transform, which is one of the image conversion techniques. Perspective transformation is a transformation to express perspective and refers to a transformation that maintains only the properties of straight lines. That is, when measuring a distorted image, the angle can be measured and obtained, and the angle value can be substituted into a transformation matrix for perspective transformation to perform correction to transform the shape of the image into an undistorted state. Through this conversion, the draft mark 110 can be converted into an image as if photographed from the front, as shown in Figure 4 (a).

Additionally, the correction unit 22 may process the image to easily obtain information about the draft from the image.

For example, in order to extract letters and reference lines 120 from image information, morphology image processing may be performed to clearly convert the letters and reference lines 120 of the image information.

Image information can be converted to a black-and-white image according to black-and-white conversion, and morphological gradient (Morph Gradient) can be performed to extract the boundary image of the area existing inside the black-and-white image. This converts the pixel value within the image into an image that represents the intensity of that pixel compared to its nearest neighbors. And, for the boundary image, a threshold detection (Adaptive Threshold) transformation is performed for each certain area, and if there is a discontinuous point or line of the border image in the border image, a transformation (Morph Close) is performed to connect the point or line. do. After that, processing can be performed to remove unnecessary lines that meet specific conditions (Long Line Remove).

The correction unit 22 performs the above conversion and processing to recognize the accurate draft mark 110 and reference line 120 in the image information and prevent unnecessary noise from being recognized.

However, it is not limited to image conversion and processing as described above, and all conversion and processing provided to recognize characters from image information can be performed through the recognition unit 23 below.

The recognition unit 23 may recognize information for measuring draft from image information in a state in which the image processing has been performed.

For example, the draft mark 110 and the baseline 120 of the draft survey can be recognized through optical character recognition (OCR). Therefore, in order to obtain characters included in image information, images can be scanned using digital character recognition and converted into a format that can be processed by a computer, etc. At this time, in addition to the letters representing the draft mark 110, a reference line 120, which is a line close to a straight line, can also be obtained.

Also, if multiple images are acquired from multiple points, the recognized numbers can be compared to remove information that cannot be viewed as normal information due to incorrect recognition or incorrect capturing or conversion.

For example, there is image information taken five times for each point at six points on the ship, and the draft mark (110) value recognized in the five image information taken at the first point of the ship is different from the value recognized in other images. It is possible to compare whether there are significantly different values, remove them if there are any, and derive only the values recognized from other images and provide them to the calculation unit 24. This comparison and removal can be performed separately for every point.

The calculation unit 24 may calculate the reference line 120 and the draft mark 110 obtained from the recognition unit 23. The calculation unit 24 performs calculations and derives the draft value as a result. And, since several pieces of the image information have been acquired, several draft values can be obtained through the image information, and the average value for these can be derived as the draft value.

For example, if there is image information taken twice for each point at six points of the ship, the first draft value is calculated using the first image information of the six points, and the second draft value is calculated using the second image information of the six points. , it may be to obtain the average of the two draft values. However, the number of measurement points and shots on board the ship is not limited to the above-mentioned numbers.

The server transceiver 25 may receive information obtained from the unmanned aerial vehicle 1, etc., to the server 2, and transmit the calculated value by the server 2 to the display device 3. The server 2 can be connected to other servers 2 in addition to the unmanned aerial vehicle 1 and the display device 3, and can transmit and receive information.

The display device 3 displays the results derived from the server 2. Alternatively, information obtained from the unmanned aerial vehicle (1) may be displayed.

Hereinafter, in the case of the draft measurement method, if it has the same name, composition, effect, etc. as the contents described in the above-mentioned draft measurement method, the above description will be cited. In addition, the drawing numbers of the configurations shown only in FIGS. 1 to 4 will be cited.

Figure 5 shows a flow chart for a draft measurement method according to an embodiment of the present invention. Figure 6 shows a flowchart of a draft measurement method according to another embodiment of the present invention. Figure 7 shows a flow chart for the second image processing step.

The draft measurement method according to an embodiment of the present invention may be comprised of an information acquisition step (S100), a correction step (S200), a recognition step (S300), and a calculation step (S500).

In the information acquisition step (S100), the unmanned aerial vehicle 1 may acquire image information by photographing an image including the ship's draft mark 110.

In addition, an image capturing step (S110) of acquiring the information necessary for measuring the draft, such as the ship's draft mark 110 and the reference line 120, as image information, and an angle measurement step of measuring the angle of the position at which the image information is acquired. (S120) may be included.

For example, the information acquisition step (S100) may be performed by the unmanned aerial vehicle (1). The unmanned aerial vehicle 1 is provided with a photographing unit 11 and can acquire a plurality of image information from a plurality of photographing points. In addition, simultaneously or sequentially with the shooting of the image information, the unmanned air vehicle 1 acquires the image information at a point on the baseline 120 of the ship through the measurement unit 12 of the unmanned air vehicle 1. The angle of position (θ) can be measured.

The correction step (S200) may be a step in which the correction unit 22 corrects a distorted image using the image information using an image conversion technique.

The correction step (S200) is a first image processing step (S210) in which the correction unit 22 receives the image and the correction unit 22 corrects the distorted image, and the text and reference line 120 of the image information It may include a second image processing step (S220) that clearly converts.

The first image processing step (S210) may be a step in which the correction unit 22 performs perspective conversion to correct a distorted image.

For example, in the angle measurement step (S120), perspective transformation is performed using angle information. This may be a step in which the shape of the image is converted to an undistorted state by substituting the angle value into a transformation matrix for perspective conversion.

The second image processing step (S220) may be a step of converting the image information so that the recognition unit 23 can easily recognize the draft mark 110 and the reference line 120 required for measuring the draft.

For example, it may be shape image processing or morphology image processing. The second image processing step (S220) includes a 2-1 image processing step of black-and-white conversion (S221) of converting the image into a black-and-white image through black-and-white conversion, and a morphological process of extracting a boundary image from the black-and-white image. A 2-2 image processing step (S222) according to the gradient (Morph Gradient), a 2-3 image processing step (S223) of performing threshold detection (Adaptive Threshold) conversion for each certain area on the boundary image, If there is a discontinuous point or line of the border image in the border image, a 2-4 image processing step (S224) of performing a transformation (Morph Close) connecting the point or line and a specific condition in the image It may include a 2-5 image processing step (S225), which is a transformation (Long Line Remove) that removes unnecessary lines that satisfies .

The recognition step (S300) is a step in which the recognition unit 23 recognizes the draft mark 110 and the baseline 120 for draft measurement required for draft measurement through optical character recognition in the corrected image information.

The calculation step (S500) is a step in which the calculation unit 24 calculates the draft using the draft mark 110 and the reference line 120.

As an example, in the calculation step (S500), the photographing unit 11 of the unmanned air vehicle 1 may acquire a plurality of the image information at a plurality of photographing points, and the recognized draft according to each photographing point. After calculating the average with the mark 110 and the survey reference line 120, the draft value can be calculated.

In addition, a display step (not shown) of displaying the draft value obtained by the calculation unit 24 on the display device 3 may be further included.

According to another embodiment of the present invention, the photographing unit 11 of the unmanned air vehicle 1 can acquire a plurality of image information from a plurality of photographing points, and the correction step for the plurality of image information (S200) to the calculation step (S500) can be performed. At this time, the calculation unit 24 must not calculate the average value before calculation in the calculation step (S500).

After the calculation step (S500), the calculation unit 24 may further include an average step (S600) of calculating an average for the draft calculated from the plurality of image information.

For example, a plurality of image information acquired from a plurality of shooting points can be divided into one image acquired from a plurality of shooting points and become a plurality of set information. For example, if images are taken from points 1 to 6, and each point is taken three times, the first image information taken at points 1 to 6 constitutes one set, and the second image information constitutes another set. An example is how a set of is formed, and the third image information forms the final set. In this case, one draft value is measured per set, and the draft value can be derived as the average of the three sets.

It provides the effect of reducing the error between the actual draft value and the calculated draft value using the average method.

As another embodiment of the present invention, like the averaging step (S600), a comparison step (S400) may be further included between the recognition step (S300) and the calculation step (S500) to increase accuracy.

The comparison step (S400), before the calculation step (S500), compares the characters of the draft mark 110 obtained from the plurality of image information of each shooting point in the recognition step (S300) to determine a significant This may be a step to check the text.

For example, if images were taken at points 1 to 6, and each point was taken five times, the information on the draft mark 110 and the reference line 120 recognized in the five images at each point are compared to determine a certain range. If data that deviates is recognized, methods such as removing it or using it by removing the largest and smallest values can be considered.

The number of shots according to the above example is not limited, and the accuracy may increase as the number of shots increases.

It prevents data recognition due to errors and improves the accuracy of draft values by eliminating errors that occur when shooting or angle measurement is incorrect. Both the comparison step (S400) and the averaging step (S600) may be performed.

According to the method of measuring draft such as the present invention, it is possible for a person to measure the draft without going close to the ship using an electric wire, etc., and it is possible to avoid the difficulties of measuring it directly by a person, such as difficulty in measuring when the water surface is unstable due to weather. It can be prevented. Additionally, the unmanned aerial vehicle captures image information multiple times, providing the effect of increasing the accuracy of the draft value.

In the above, the present invention has been described focusing on the embodiments, but the present invention is not limited to the above-described embodiments, and may be modified and implemented by those skilled in the art without changing the technical spirit of the present invention as claimed in the claims. Of course.

1: Unmanned aerial vehicle 2: Server
3: Display device
11: imaging unit 12: measuring unit
13: recorder section 14: control section
15: Information reception unit 16: Information transmission unit
21: storage unit 22: correction unit
23: recognition unit 24: calculation unit
25: Server transceiver
S100: Information acquisition step S110: Image shooting step
S120: Angle measurement step S200: Correction step
S210: First image processing step S220: Second image processing step
S300: Recognition step S400: Comparison step
S500: Calculation step S600: Average step

Claims (11)

An information acquisition step of acquiring image information by photographing an image including a ship's draft mark;
A correction step of correcting a distorted image using the image information using an image conversion technique;
A recognition step of recognizing the draft mark and the baseline of the draft survey from the corrected image information through optical character recognition (OCR); and
A draft measurement method including a calculation step of calculating the draft using the draft mark and reference line.
According to paragraph 1,
The information acquisition step is,
An image capturing step in which the capturing unit of the unmanned aerial vehicle acquires a plurality of the image information at each of a plurality of capturing points,
After the above calculation step,
A draft measurement method further comprising: an averaging step of calculating an average value of the draft calculated from the plurality of image information on which the correction step or the calculation step was performed.
According to paragraph 2,
In the acquisition step,
It further includes an angle measuring step of measuring the angle between a point of the reference line and a position at which the unmanned aerial vehicle acquires the image information through a measuring unit provided in the unmanned aerial vehicle,
In the correction step, the image conversion technique is a draft measurement method including a first image processing step of correcting using the angle as perspective conversion.
According to paragraph 3,
After the first image processing step,
A draft measurement method further comprising a second image processing step of clearly converting the characters and baseline of the image information.
According to clause 4,
The second image processing step is,
A 2-1 image processing step of converting the image into a black and white image through black and white conversion;
A 2-2 image processing step of extracting a boundary image from the black and white image;
A 2-3 image processing step of performing adaptive threshold conversion for each predetermined area on the boundary image;
If there are discontinuous points or lines in the border image, a 2-4 image processing step of performing transformation to connect the points or lines; and
A 2-5 image processing step of removing unnecessary lines that satisfy specific conditions in the image.
According to clause 5,
The unmanned aerial vehicle captures images from the photographing points of the ship and acquires a plurality of image information for each of the plurality of photographing points,
Before the calculation step, a comparison step of confirming significant characters by comparing them with the characters of the draft mark obtained from the plurality of image information of each of the photographing points in the recognition step. A draft measurement method further comprising a.
The distorted information of the image information obtained by photographing the baseline and draft mark for measuring the draft of the ship is converted using an image conversion technique, and morphology image processing is performed to extract letters and baselines from the image information. correction department,
a recognition unit that recognizes the reference line and the draft mark through optical character recognition in the image information on which image processing has been performed in the correction unit;
A draft measurement system including a calculation unit that calculates the draft using the reference line and the draft mark obtained from the recognition unit.
In clause 7,
The image information is acquired by an unmanned aerial vehicle,
The unmanned aerial vehicle,
A draft measurement system comprising a photographing unit that photographs the image information, and a measuring portion that fires a radar to measure the angle between the point where the image information is photographed and the point that should actually be measured.
According to clause 8,
The measuring unit,
A first length, which is the length from the photographing point to the ship in a first direction parallel to the water surface, and a second length, which is the length from the photographing point to the water surface in a second direction perpendicular to the water surface, are measured, and the reference line is measured at the photographing point. Measure the angle formed with this first or second direction,
A draft measurement system, characterized in that the distorted image is converted in the correction unit using the angle.
In clause 7,
A draft measurement system further comprising a display device that displays results calculated by the calculation unit.
According to clause 8,
The unmanned aerial vehicle,
A draft measurement system further comprising a recorder unit that stores measured values for the image information and the angle.

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