US 12,235,191 B2
Flight imaging system and method
Tadashi Kasamatsu, Ashigarakami-gun (JP); Yasukazu Nihei, Ashigarakami-gun (JP); Hiroaki Nakamura, Tokyo (JP); Naoko Yoshida, Ashigarakami-gun (JP); and Makoto Yonaha, Tokyo (JP)
Assigned to FUJIFILM Corporation, Tokyo (JP)
Filed by FUJIFILM Corporation, Tokyo (JP)
Filed on Oct. 28, 2022, as Appl. No. 18/050,833.
Application 18/050,833 is a continuation of application No. PCT/JP2021/019701, filed on May 25, 2021.
Claims priority of application No. 2020-094326 (JP), filed on May 29, 2020.
Prior Publication US 2023/0101728 A1, Mar. 30, 2023
Int. Cl. G01M 5/00 (2006.01); B64C 39/02 (2023.01); B64U 20/87 (2023.01); B64U 30/20 (2023.01); B64U 50/19 (2023.01); G01C 5/00 (2006.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01); H04N 23/61 (2023.01); B64U 101/30 (2023.01)
CPC G01M 5/0091 (2013.01) [B64C 39/024 (2013.01); B64U 20/87 (2023.01); G01C 5/005 (2013.01); G01M 5/0033 (2013.01); G01M 5/0075 (2013.01); G01S 13/86 (2013.01); G01S 13/867 (2013.01); G01S 13/89 (2013.01); B64U 30/20 (2023.01); B64U 50/19 (2023.01); B64U 2101/30 (2023.01); B64U 2201/104 (2023.01); B64U 2201/20 (2023.01); H04N 23/61 (2023.01)] 10 Claims
OG exemplary drawing
 
1. A flight imaging system comprising:
a visible camera that captures a visible image;
a first millimeter-wave radar;
a laser distance meter;
a reference surface detecting unit that detects whether or not a reference surface is difficult to detect with the laser distance meter;
an unmanned flying object on which the visible camera, the first millimeter-wave radar, the laser distance meter and the reference surface detecting unit are mounted; and
a processor that controls the visible camera, the first millimeter-wave radar, the laser distance meter, the reference surface detecting unit and the unmanned flying object,
wherein the processor is configured to
control the visible camera to capture a visible image of a surface layer of a structure by the visible camera, and control the first millimeter-wave radar to transmit a millimeter wave toward the structure from the first millimeter-wave radar and receive a reflected wave of the millimeter wave from the structure, in a case of imaging the structure, and
cause, during flight of the unmanned flying object, the laser distance meter to measure:
an altitude of the unmanned flying object from the reference surface to acquire altitude information indicating the measured altitude, in a case where the reference surface detecting unit detects that the reference surface is not difficult to detect with the laser distance meter; and
an altitude of the unmanned flying object from a new reference surface which is capable of being detected by the laser distance meter and is newly set as the reference surface, to acquire altitude information indicating the measured altitude, in a case where the reference surface detecting unit detects that the reference surface is difficult to detect with the laser distance meter, and
wherein the altitude information is used in a case of flying the unmanned flying object.