US 11,927,971 B2
Control apparatus, uninhabited airborne vehicle, and method
Shin Sakurada, Toyota (JP); Kazuya Nishimura, Anjo (JP); and Soutaro Kaneko, Nagoya (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed on Aug. 20, 2021, as Appl. No. 17/407,469.
Claims priority of application No. 2020-171398 (JP), filed on Oct. 9, 2020.
Prior Publication US 2022/0113743 A1, Apr. 14, 2022
Int. Cl. G05D 1/10 (2006.01); B64C 39/02 (2023.01); G05D 1/00 (2006.01)
CPC G05D 1/101 (2013.01) [B64C 39/024 (2013.01); B64U 2201/10 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A control apparatus comprising a processor configured to:
receive information on a building;
move an uninhabited airborne vehicle along a first flight path to a reference position set for the building;
acquire information on sounds in a plurality of rooms arranged along an outer wall of the building and information on whether windows of the rooms are open or closed; and
move the uninhabited airborne vehicle from the reference position to a destination room along an outer wall of the building along a second flight path so as to keep a certain distance from the outer wall of the building, the second flight path avoiding specific rooms where a sound source device is lower than a threshold, noise cancellation is not carried out, or speech interaction takes place, and the second flight path avoiding rooms where the windows are open.