A lamp language display method and device of a flying robot and the flying robot

Abstract

The embodiment of the application provides a kind of flying robot lamp language display method, device and flying robot, it is related to flying robot technical field, can make observer only through the spatial geometry of light distribution judges the movement intention of flying robot.Method includes: obtaining the current movement state of flying robot;According to current movement state, determine the light source to be lit that needs to be lit;In the case where the movement type is translational motion, first to-be-lit surface is determined according to the movement direction, and the first to-be-lit surface is the outer surface of the flying robot;In the case where the movement type is steering motion, second to-be-lit surface is determined according to the movement direction, and the second to-be-lit surface is a virtual plane determined by at least two to-be-lit light sources;In the case where the movement type is roll motion, third to-be-lit surface and its switching direction are determined according to the movement direction, and the switching direction is used to determine the lighting sequence;The to-be-lit light source that needs to be lit is controlled to be lit, and the lamp language display of the flying robot is formed.

Description

Technical Field

[0001] This application relates to the field of flying robot technology, and in particular to a method, device, and flying robot for displaying light signals. Background Technology

[0002] With the widespread application of flying robots in scenarios such as inspection, security, warehousing, service assistance, low-altitude transportation, and human-machine collaboration, robots not only need to complete flight control during operation, but also need to communicate their motion status and behavioral intentions to operators, surrounding personnel, or collaborating equipment. Light signals, due to their simple structure, strong real-time performance, and long-distance visibility, are widely used for status expression in flying robots.

[0003] However, current flying robots typically use color, flashing, or localized lighting to express their motion, which can only represent a limited number of discrete states. This makes it difficult to clearly and reliably represent complex motion states, increasing the difficulty of recognizing the motion state of flying robots and reducing recognition efficiency. Summary of the Invention

[0004] This application provides a method, device, and flying robot for displaying light signals, which allows observers to intuitively judge the flying robot's movement intention simply by observing the spatial geometry of the light distribution, thereby reducing the difficulty of recognizing light signals and improving the recognition efficiency of light signals.

[0005] A first aspect of this application provides a method for displaying light signals on a flying robot, comprising: When the light signal display requirement of the flying robot is the motion status display requirement, the current motion status of the flying robot is obtained, wherein the current motion status includes the motion direction and motion type, and the motion type includes translational motion, turning motion and rolling motion; Based on the current motion state of the flying robot, determine the light source to be lit that the flying robot needs to illuminate in the current motion state, wherein the light source to be lit is disposed on the body of the flying robot; In the case where the motion type of the flying robot is translational motion, the first surface to be lit of the flying robot is determined according to the motion direction of the flying robot. At least one light source to be lit is provided in the first surface to be lit, and the first surface to be lit is the outer surface of the flying robot. When the motion type of the flying robot is turning motion, the second surface to be lit of the flying robot is determined according to the motion direction of the flying robot. The second surface to be lit is a virtual plane jointly determined by at least two light sources to be lit. The first surface to be lit intersects with the second surface to be lit. When the motion type of the flying robot is rolling motion, the third surface to be lit and its switching direction are determined according to the motion direction of the flying robot. The switching direction is used to determine the lighting order of the third surface to be lit. Different switching directions correspond to different switching orders. In rolling motion, the outer surface of the flying robot that needs to be lit is the third surface to be lit, and the outer surface of the flying robot that does not need to be lit is the fourth surface to be lit. The system controls the illumination of the light sources that need to be lit, thus creating a light signal display for the flying robot.

[0006] In some embodiments, the flying robot is in the shape of a cuboid and has eight vertices, with the light source to be lit correspondingly located at each of the vertices of the flying robot. When the motion type of the flying robot is translational motion, determining the first illuminated surface of the flying robot based on its motion direction includes: Based on the direction of motion of the flying robot, one of the outer surfaces of the flying robot that corresponds to the direction of motion is determined as the first surface to be illuminated. The first surface to be illuminated is determined by the light sources to be illuminated at the four apex corners of the flying robot. When the motion type of the flying robot is translational motion, the control requires illuminating the light source to be lit, including: Control the four light sources corresponding to the first surface to be lit to be lit to be lit together.

[0007] In some embodiments, the flying robot is in the shape of a cuboid and has eight vertices, with the light source to be lit correspondingly located at each of the vertices of the flying robot. When the motion type of the flying robot is turning motion, determining the second illuminated surface of the flying robot based on its motion direction includes: Based on the direction of motion of the flying robot, a virtual plane on the body of the flying robot corresponding to the direction of motion is determined as the second surface to be lit. The second surface to be lit is determined by a set of parallel and non-coplanar edges on the body of the flying robot, and the second surface to be lit is determined by the light sources to be lit at the four vertices of the flying robot. When the motion type of the flying robot is turning motion, the control requires the lighting of the light source to be lit, including: Control the four light sources corresponding to the second surface to be lit to be lit to be lit together.

[0008] In some embodiments, the flying robot is in the shape of a cuboid and has eight vertices, with the light source to be lit correspondingly located at each of the vertices of the flying robot. When the motion type of the flying robot is rolling motion, determining the third illuminated surface of the flying robot and its switching direction based on the motion direction of the flying robot includes: Based on the direction of motion of the flying robot, four third surfaces to be lit on the body of the flying robot corresponding to the direction of motion and their switching directions are determined. The third surfaces to be lit are determined by the light sources to be lit at the four corners of the flying robot. When the motion type of the flying robot is rolling motion, the control requires the lighting of the light source to be lit, including: According to the switching direction, the third surfaces to be lit are sequentially controlled to be lit, wherein the four light sources corresponding to each third surface to be lit are lit together.

[0009] In some embodiments, before the step of controlling the light source to be lit to form the light signal display of the flying robot, the method further includes: Based on the motion type of the flying robot, the lighting method of the light source to be lit is determined, wherein the lighting method includes at least one of flashing, flashing frequency, and constant lighting time.

[0010] In some implementations, prior to the step of acquiring the current motion state of the flying robot, the method further includes: The light signal display requirements of the flying robot are obtained, including motion status display requirements, operation feedback display requirements, prompt display requirements, and warning display requirements. Based on the light signal display requirements, determine the illumination color of the light source to be lit.

[0011] In some embodiments, the light signal display method of the flying robot further includes: If the flying robot has multiple light signal display requirements, the current light signal display requirement of the flying robot is determined according to the priority sequence. Among them, the warning display requirement is the first priority, the operation feedback display requirement is the second priority, the prompt display requirement is the third priority, and the motion status display requirement is the fourth priority; When the light message display request corresponding to a higher priority is triggered, the light message display request corresponding to the higher priority is displayed first, and the display of the light message display request corresponding to a lower priority is paused. After the display of the light message display request corresponding to the higher priority is completed, the display of the light message display request corresponding to the lower priority is restored according to the light message display request that is still valid. When the flying robot displays the prompt display requirement, the flying robot enters a hovering or stable state; After the prompt display requirement is completed, the flying robot displays the motion status display requirement or controls the flying robot to enter the corresponding motion status.

[0012] In some embodiments, before the step of determining the light source to be lit by the flying robot in its current motion state, the method further includes: The location of the observed object is obtained to display the motion state of the flying robot; The step of determining the light source to be lit by the flying robot in its current motion state, based on the current motion state of the flying robot, includes: Based on the current motion state of the flying robot, determine the initial light source to be lit that the flying robot needs to illuminate in the current motion state; Based on the location of the observed object, determine whether the initial light source to be lit can be directly observed by the observed object; When the initial light source to be lit can be directly observed by the object being observed, the light source to be lit is controlled to be lit, forming the light signal display of the flying robot; When the initial light source to be lit cannot be directly observed by the object being observed, a modified light source to be lit and its lighting strategy are determined based on the initial light source to be lit.

[0013] A second aspect of this application provides a light signal display device for a flying robot, used to execute the light signal display method for a flying robot as described in any of the first aspects above, the device comprising: The status acquisition module is used to acquire the current motion state of the flying robot when the light signal display requirement of the flying robot is the motion status display requirement. The current motion state includes the motion direction and motion type, and the motion type includes translational motion, turning motion and rolling motion. A light source determination module is used to determine, based on the current motion state of the flying robot, the light source to be lit that the flying robot needs to be lit in the current motion state, wherein the light source to be lit is disposed on the body of the flying robot. In the case where the motion type of the flying robot is translational motion, the first surface to be lit of the flying robot is determined according to the motion direction of the flying robot. At least one light source to be lit is provided in the first surface to be lit, and the first surface to be lit is the outer surface of the flying robot. When the motion type of the flying robot is turning motion, the second surface to be lit of the flying robot is determined according to the motion direction of the flying robot. The second surface to be lit is a virtual plane jointly determined by at least two light sources to be lit. The first surface to be lit intersects with the second surface to be lit. When the motion type of the flying robot is rolling motion, the third surface to be lit and its switching direction are determined according to the motion direction of the flying robot. The switching direction is used to determine the lighting order of the third surface to be lit. Different switching directions correspond to different switching orders. In rolling motion, the outer surface of the flying robot that needs to be lit is the third surface to be lit, and the outer surface of the flying robot that does not need to be lit is the fourth surface to be lit. The light source illumination module is used to control the illumination of the light sources that need to be lit, thereby forming the light signal display of the flying robot.

[0014] A third aspect of this application provides a flying robot, comprising: A light signal display method for performing any of the methods described in the first aspect above for a flying robot.

[0015] The light signal display method, apparatus, and flying robot provided in this application embodiment, when the light signal display requirement of the flying robot is a motion state display requirement, obtains the current motion state of the flying robot. During translational motion, the outer surface of the flying robot is determined as the first surface to be illuminated, so that the illuminated area forms a spatial surface related to the motion direction, allowing the observer to directly determine the translation direction by the spatial orientation of the light source within the surface. During turning motion, a virtual plane composed of at least two illuminated point light sources is determined as the second surface to be illuminated, and this virtual plane intersects with the first surface to be illuminated, allowing the observer to identify the direction of attitude change based on the location of the illuminated point light sources. During rolling motion, a third and fourth surface to be illuminated are determined to distinguish the outer surfaces that need to be illuminated from those that do not, and the switching direction of the third surface to be illuminated is determined. The outer surfaces can be illuminated sequentially according to the switching direction to form a continuous light flow propagating along the rolling direction, allowing the observer to form a continuous rotation direction display. Therefore, the light signal display method for flying robots provided in this application can map the motion state of the flying robot to the spatial geometric structure formed by point light sources, so that the observer can intuitively judge the motion intention of the flying robot simply by the spatial geometric shape of the light distribution, thereby reducing the recognition difficulty of light signal display and improving the recognition efficiency of light signal display. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic flowchart illustrating a light signal display method for a flying robot provided in an embodiment of this application; Figure 2 A schematic diagram of the point light source position of a flying robot for a light signal display method provided in this application embodiment; Figure 3 A schematic diagram of the lighting timing of the light source to be lit during the rolling motion of a light signal display method for a flying robot provided in an embodiment of this application; Figure 4 This is a schematic structural diagram of a light signal display device for a flying robot provided in an embodiment of this application. Detailed Implementation

[0018] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0019] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0020] With the widespread application of six-degree-of-freedom flying robots in scenarios such as inspection, security, warehousing, low-altitude transportation, and human-machine collaboration, robots not only need to complete flight control, but also need to communicate their motion status and behavioral intentions to operators or surrounding personnel. Light signals are widely used for status expression of flying robots due to their simple structure, strong real-time performance, and long-distance visibility.

[0021] Currently, common lighting methods in this field mainly include color-based status indications, flashing pattern-based cues, position-based directional indications, and combinations thereof. However, existing technologies primarily address heading indication and do not establish a unified lighting code for the six degrees of freedom (forward, backward, left, right, up, down translation, pitch, yaw, and roll) of flying robots in three-dimensional space, nor do they utilize the spatial geometric features of the flying robot's fuselage for systematic directional encoding. Therefore, existing technologies suffer from semantic overlap, conflicting expressions, or excessive similarity when expressing the complex motion intentions of six-degree-of-freedom flying robots, making them difficult for observers to quickly and accurately identify.

[0022] Figure 1 This is a schematic flowchart illustrating a light signal display method for a flying robot, provided as an embodiment of this application. Figure 1 As shown, a first aspect of this application provides a method for displaying light signals for a flying robot, comprising: Step S110: When the light signal display requirement of the flying robot is the motion status display requirement, obtain the current motion status of the flying robot. The current motion status includes the motion direction and motion type. The motion type includes translational motion, turning motion and rolling motion.

[0023] For example, the motion status display requirement is mainly used to express the motion that the robot is performing or maintaining.

[0024] Step S120: Based on the current motion state of the flying robot, determine the light source to be lit that the flying robot needs to be lit in the current motion state, wherein the light source to be lit is set on the body of the flying robot.

[0025] In the case where the motion type of the flying robot is translational motion, the first surface to be lit of the flying robot is determined according to the motion direction of the flying robot. At least one light source to be lit is provided in the first surface to be lit, and the first surface to be lit is the outer surface of the flying robot.

[0026] For example, for a flying robot formed by splicing multiple polygonal outer surfaces in different directions, such as a cuboid or prism, the first surface to be illuminated can be one of the outer surfaces of the flying robot. For a flying robot with a continuous non-directional surface, such as a sphere or cylinder, the first surface to be illuminated can be a local area of ​​one of the outer surfaces of the flying robot. Taking a cylindrical flying robot as an example, its arc surface can be divided into multiple first surfaces to be illuminated according to the moving direction of the flying robot, specifically including at least four directions: up, down, left, and right.

[0027] For example, the light source to be lit can be set at any position that can be used to identify the specific orientation, such as the top corner of the flying robot, any position in the plane of the outer surface, or the edge of the spliced ​​surface.

[0028] For example, to further distinguish the relative directions within each first surface to be illuminated, different first surfaces to be illuminated can be equipped with light sources of different arrangement, distribution quantity, and light source shape.

[0029] When the motion type of the flying robot is turning motion, the second illuminated surface of the flying robot is determined according to the motion direction of the flying robot. The second illuminated surface is a virtual plane jointly determined by at least two light sources to be lit. The first illuminated surface intersects with the second illuminated surface.

[0030] For example, the turning movements of a flying robot may include actions such as head-up, head-down, left turn, and right turn. The turning direction of the flying robot can be indicated by a virtual plane; for example, the turning direction can be indicated by the direction of the line formed by the light sources to be lit in the second illuminated surface.

[0031] When the motion type of the flying robot is rolling motion, the third surface to be lit and its switching direction are determined according to the direction of the flying robot's motion. The switching direction is used to determine the lighting order of the third surface to be lit. Different switching directions correspond to different switching orders. In rolling motion, the outer surface of the flying robot that needs to be lit is the third surface to be lit, and the outer surface of the flying robot that does not need to be lit is the fourth surface to be lit.

[0032] For example, during the rolling motion, the flying robot sequentially illuminates different third surfaces to be lit according to the switching direction, forming a continuous lighting animation to help the observer confirm the rolling direction. Specifically, the rolling direction can include forward / backward rolling and left / right rolling. Taking a cylindrical flying robot as an example, using two circular surfaces as the forward / backward direction of the flying robot, its curved surface can be divided into multiple illuminateable directions such as up, down, left, and right according to the robot's movable direction.

[0033] Step S130: Control the light source to be lit to illuminate, forming the light signal display of the flying robot.

[0034] The light signal display method for flying robots provided in this application, when the light signal display requirement of the flying robot is a motion status display requirement, obtains the current motion state of the flying robot. During translational motion, the outer surface of the flying robot is determined as the first surface to be illuminated, so that the illuminated area forms a spatial surface related to the motion direction, allowing the observer to directly determine the translation direction by the spatial orientation of the light source within the surface. During turning motion, a virtual plane composed of at least two illuminated point light sources is determined as the second surface to be illuminated, and this virtual plane intersects with the first surface to be illuminated, allowing the observer to identify the direction of attitude change based on the location of the illuminated point light sources. During rolling motion, a third and fourth surface to be illuminated are determined to distinguish the outer surfaces that need to be illuminated from those that do not, and the switching direction of the third surface to be illuminated is determined. The outer surfaces can be illuminated sequentially according to the switching direction to form a continuous light flow propagating along the rolling direction, allowing the observer to form a continuous rotation direction display. Therefore, the light signal display method for flying robots provided in this application can map the motion state of the flying robot to the spatial geometric structure formed by point light sources, so that the observer can intuitively judge the motion intention of the flying robot simply by the spatial geometric shape of the light distribution, thereby reducing the recognition difficulty of light signal display and improving the recognition efficiency of light signal display.

[0035] Figure 2 This is a schematic diagram showing the position of a point light source on a flying robot, as provided in an embodiment of this application, for a method of displaying light signals on a flying robot. Figure 2 As shown, in some feasible implementations, the flying robot is rectangular in shape and has eight vertices. The light sources to be illuminated are correspondingly located at the vertices of the flying robot. When the flying robot's motion is translational, the first surface to be illuminated is determined according to the direction of motion. This includes: determining one of the outer surfaces of the flying robot's fuselage corresponding to the direction of motion as the first surface to be illuminated, wherein the first surface to be illuminated is jointly determined by the light sources to be illuminated at the four vertices of the flying robot. When the flying robot's motion is translational, the light sources to be illuminated are controlled to be lit, including: controlling the four light sources corresponding to the first surface to be illuminated to be lit to be lit simultaneously. The illumination schemes for the light sources to be illuminated in different directions of translational motion are shown in Table 1 below.

[0036] Table 1: Lighting schemes for light sources to be lit by flying robots during translational motion

[0037] The light signal display method for flying robots provided in this application embodiment, when the flying robot is set to a cuboid shape with eight vertices and the light sources to be lit are correspondingly set at the vertices, controls the four light sources to be lit at the four vertices of the outer surface corresponding to the direction of movement to be lit simultaneously during translational movement. This allows the four lit light sources to form a complete outer surface, enabling the observer to identify the lit area as a spatial surface corresponding to the direction of movement. Compared to lighting a single or partial light source, using four light sources on a complete outer surface to light up simultaneously enhances the spatial directionality of the movement direction, allowing the observer to more accurately determine the direction of translation. This further reduces the recognition difficulty of light signal displays and improves the recognition efficiency of light signal displays.

[0038] like Figure 2As shown, in some feasible implementations, the flying robot is rectangular in shape and has eight vertices. The light sources to be illuminated are correspondingly located at the vertices of the flying robot. When the flying robot's motion type is turning motion, the second illuminated surface of the flying robot is determined according to the direction of motion. This includes: determining a virtual plane on the body of the flying robot corresponding to the direction of motion as the second illuminated surface, wherein the second illuminated surface is determined by a set of parallel and non-coplanar edges on the body of the flying robot, and is jointly determined by the light sources to be illuminated at the four vertices of the flying robot. When the flying robot's motion type is turning motion, the light sources to be illuminated are controlled to be lit, including: controlling the four light sources corresponding to the second illuminated surface to be lit to be lit simultaneously. The lighting schemes for the light sources to be illuminated for different directions of turning motion are shown in Table 2 below.

[0039] Table 2: Lighting schemes for light sources to be lit during turning motion of flying robots

[0040] The light signal display method for flying robots provided in this application embodiment, when the flying robot is shaped like a cuboid with eight vertices and the light sources to be lit are correspondingly located at the vertices, controls the four light sources to be lit at the four vertices of the outer surface corresponding to the direction of movement to be lit simultaneously during translational movement. This allows the four lit light sources to form a complete outer surface, enabling the observer to identify the direction of attitude change through the spatial position of the virtual plane formed by the four lit light sources. Simultaneously, since this virtual plane intersects with the first light-to-be-lit surface corresponding to the translational movement, the observer can distinguish between turning and translational movements based on the position of the lit light sources in the fuselage's spatial geometry. That is, the light source on the outer surface lights up for translational movement, and the light source on the virtual plane intersecting with the translational surface lights up for turning movement. This avoids confusion between light signals of different types of movement in the same spatial orientation, further reducing the difficulty of light signal display recognition and improving the recognition efficiency.

[0041] like Figure 2As shown, in some feasible implementations, the flying robot is rectangular in shape and has eight vertices. The light sources to be illuminated are correspondingly located at the vertices of the flying robot. When the flying robot's motion type is rolling motion, the third illuminated surface and its switching direction are determined according to the flying robot's motion direction. This includes: determining four third illuminated surfaces on the flying robot's body corresponding to the motion direction and their switching directions, wherein the third illuminated surfaces are jointly determined by the light sources to be illuminated at the four vertices of the flying robot. When the flying robot's motion type is rolling motion, the light sources to be illuminated are controlled to be lit, including: controlling the third illuminated surfaces to be lit sequentially according to the switching direction, wherein the four light sources corresponding to each third illuminated surface are jointly lit. The lighting schemes for the light sources to be illuminated in different directions of turning motion are shown in Table 3 below.

[0042] Table 3: Lighting schemes for light sources to be lit during turning motion of flying robots

[0043] The light signal display method for flying robots provided in this application embodiment, assuming the flying robot is a cuboid with eight vertices and light sources to be illuminated are positioned at the vertices, determines four third illuminated surfaces and their switching directions during roll motion. By sequentially controlling the four light sources corresponding to each third illuminated surface to illuminate simultaneously according to the switching direction, multiple outer surfaces can be illuminated sequentially along the roll direction. This allows the observer to perceive a continuous flow of light propagating along the roll direction, thus forming a continuous roll direction perception. By distinguishing between illuminated and non-illuminated outer surfaces, the observer can identify the rolling motion state based on the position of the currently illuminated outer surface on the robot body, thereby determining the roll direction. This further reduces the recognition difficulty of light signal displays and improves their recognition efficiency.

[0044] In some feasible implementations, before the step of controlling the light source to be lit to form the light signal display of the flying robot, the method of lighting the light source to be lit is further included: determining the lighting mode of the light source to be lit according to the motion type of the flying robot, wherein the lighting mode includes at least one of flashing, flashing frequency and constant lighting time.

[0045] For example, for translational motion, the light source to be illuminated can be lit in a constant-on mode. For turning motion, the light source to be illuminated can be lit in a single-flash mode, wherein the single-flash mode preferably uses a flashing frequency of 1Hz, that is, with a flashing cycle of 1 second, the point light source lights up once and turns off once in each cycle, which is used to represent the intention of posture changes such as looking up, looking down, turning left, and turning right. If it is necessary to further express speed or acceleration, the motion intensity can be represented by increasing or decreasing the flashing frequency while keeping the spatial combination of point light sources unchanged.

[0046] For example, for rolling motion, the light sources to be illuminated can switch in a rolling animation mode. The rolling animation has a complete cycle of 2 seconds, and within one cycle, the corresponding corner point light source groups are switched sequentially according to a preset order. Specifically, at each moment, it is preferable to simultaneously illuminate two corresponding sets of corner point light sources, each set including two corresponding corner point light sources. Therefore, at each moment, a total of four point light sources are illuminated. Through the continuous overlapping switching of the two sets of point light sources, the observer perceives a continuous flow of light propagating along the rolling direction, thus forming a clear indication of the rolling direction. The rolling animation cycle and the switching interval between adjacent point light source groups can be adaptively adjusted according to the number of lights, observation distance, ambient light intensity, and robot movement speed.

[0047] It should be noted that for rolling motion, since rolling-related light signals need to express a continuous rotational trend around the longitudinal axis of the aircraft, if only some lights flash synchronously, it is difficult for the observer to judge the direction of rotation. Therefore, a scheme of grouping and overlapping switching along the corresponding corners of the aircraft can be further adopted, allowing the observer to perceive the direction of rolling through the temporal sequence and overlapping continuity of the light spots. Specific timing instructions are as follows... Figure 3 . Figure 3 This is a schematic diagram of the lighting timing of the light source to be lit during the rolling motion of a light signal display method for a flying robot provided in an embodiment of this application.

[0048] The light signal display method for flying robots provided in this application determines the lighting mode of the light source to be lit based on the motion type before controlling the lighting. This allows translation, turning, and rolling motion types to be distinguished by different lighting modes such as constant light, flashing, and switching lighting. This enables observers to help determine the motion type by observing the lighting mode of the light source, thereby further reducing the difficulty of light signal display recognition and improving the recognition efficiency of light signal display.

[0049] In some feasible implementations, before obtaining the current motion state of the flying robot, the method further includes: obtaining the light signal display requirements of the flying robot, which include motion state display requirements, operation feedback display requirements, prompt display requirements, and warning display requirements; and determining the lighting color of the light source to be lit based on the light signal display requirements.

[0050] For example, the color for displaying motion status can be set as the first color, the color for displaying operation feedback can be set as the second color, the color for displaying prompts can be set as the third color, and the color for displaying warnings can be set as the fourth color. The second and third colors can be the same. Specific colors can include red, green, yellow, white, and blue. For example, the first color can be blue, the second and third colors can be green, and the fourth color can be red.

[0051] For example, the operation feedback display requirement can be a display requirement formed after the flying robot interacts with the user, specifically used to indicate interactive states such as user command recognition, task commencement, task completion, and command failure. The prompt display requirement can be a display requirement indicating the flying robot's impending movement intention or state transition. The warning display requirement can be used to indicate safety-related states such as collision risk, proximity to the target, abnormal battery level, control malfunction, communication failure, or task abort.

[0052] For example, the illuminated position of the light source can express spatial orientation, feedback type, or state change mode. Synchronous changes in all point light sources can be used to express information without a specific direction, such as task completion, power abnormality, or control malfunction. Changes in the illuminated light source at a corresponding orientation can be used to express movement direction, warning direction, or risk location. Whether the light source flashes can be used to distinguish light signals that are spatially close and easily confused. For example, for a flying robot's upward movement and head tilting, both may involve point light sources on the upper side of the body. However, upward movement is a translational motion, which can be represented by a constantly lit corresponding upper point light source, while head tilting is a rotational motion, which can be represented by a flashing corresponding point light source. This differentiated design of flashing allows the observer to distinguish between movement and rotation intentions within the same spatial orientation.

[0053] For example, for red warning messages, warning messages without a clear spatial direction such as abnormal power, abnormal control, abnormal communication, or task abortion, control all point light sources to turn red synchronously, flash synchronously, or flash according to a preset warning rhythm. For risk messages with a clear spatial direction such as the distance to one side is too close, there is an obstacle or local collision risk in one direction, control the point light source in the corresponding direction to turn red or flash to indicate the direction of the risk source.

[0054] For example, to meet the requirements for displaying operational feedback, the flying robot can use all point light sources to flash green in single or double flashes, short periods of continuous light, or a preset flashing rhythm to indicate that the user command has been recognized, the task has started, the task has been completed, or the command cannot be executed. For instance, a single green flash of all point light sources can indicate that the user command has been recognized; a double green flash of all point light sources can indicate that the task has started or been completed; a specific green flashing rhythm can indicate that the command cannot be executed or that the user needs to reconfirm. The specific flashing rhythms can be preset according to the application scenario.

[0055] For example, to meet the need for display prompts, before performing complex movements or state transitions, the flying robot first enters a hovering or stable state and outputs a prompt signal via a green point light source or a combination of point light sources in the corresponding direction. The green autonomous prompt signal is used to inform those around the robot of its impending movement or state transition before the robot actually moves. After the prompt signal has been displayed for a preset duration or has met preset confirmation conditions, the robot then enters the corresponding movement state or switches to the blue basic movement signal.

[0056] For example, the movement speed, acceleration, urgency level, or risk level of the flying robot can be further characterized by the flashing frequency, flashing rhythm, brightness, or brightness variation of the light source to be lit. For instance, in a warning state, a higher flashing frequency or higher brightness can indicate a higher risk level; in a basic motion state, changes in flashing frequency or brightness can be used to indicate higher movement speed or acceleration.

[0057] For example, the specific lighting methods of the light source to be lit on the flying robot are shown in Table 4 below.

[0058] Table 4: Relationship between Color Layering and State Representation of Flying Robots

[0059] The light signal display method for flying robots provided in this application obtains the light signal display requirements of the flying robot and determines the lighting color of the light source to be lit based on the requirements. This allows different types of light signal display requirements to correspond to different colors, thereby enabling observers to distinguish the information type expressed by the current light signal from the color level, reducing semantic confusion between different information types, further reducing the recognition difficulty of light signal display, and improving the recognition efficiency of light signal display.

[0060] In some feasible implementations, the light signal display method for the flying robot further includes: when the flying robot has multiple light signal display needs, determining the current light signal display need of the flying robot according to a priority sequence; wherein, the warning display need is the first priority, the operation feedback display need is the second priority, the prompt display need is the third priority, and the motion status display need is the fourth priority; when the light signal display need corresponding to a higher priority is triggered, the light signal display need corresponding to the higher priority is displayed first, and the display of the light signal display need corresponding to the lower priority is paused; after the light signal display need corresponding to a higher priority is displayed, the display of the light signal display need corresponding to the lower priority is resumed according to the light signal display need that is still valid; wherein, when the flying robot displays the prompt display need, the flying robot enters a hovering or stable state; after the prompt display need is displayed, the flying robot displays the motion status display need or controls the flying robot to enter the corresponding motion state.

[0061] For example, when a high-priority light signal is triggered, the light controller pauses, overrides, or delays the low-priority light signal; after the high-priority light signal ends, the corresponding prompt light signal or basic motion light signal is restored according to the currently valid state requirements. For instance, when the robot is outputting a blue basic motion light signal, if a user operation command feedback requirement is detected, a green interactive feedback light signal is output first; if a risk of being too close or colliding is detected during the output of the green prompt light signal, it immediately switches to a red warning light signal; after the warning is cleared, the green prompt light signal or blue basic motion light signal is restored according to the current state.

[0062] The light signal display method for flying robots provided in this application determines the current display requirement according to a priority sequence when multiple light signal display requirements exist simultaneously. This ensures that safety-related information is prioritized when multiple types of information coexist, preventing simultaneous display of requirements of different priorities or mutual obscuring, and ensuring that different display requirements can be identified by the observer according to a clear priority. By pausing the display of low-priority requirements when a high-priority requirement is triggered and resuming the display of low-priority requirements based on the still valid requirements after the high-priority requirement is completed, information vacuums or conflicts can be avoided during light signal switching. By controlling the flying robot to enter a hovering or stable state when a display requirement is prompted and to enter the corresponding motion state after the prompt is completed, the observer can learn about the upcoming motion intention through the prompt light signal before the flying robot actually moves, thereby reducing the observer's cognitive confusion between the current motion state and the upcoming motion intention, further reducing the recognition difficulty of light signal displays, and improving the recognition efficiency of light signal displays.

[0063] In some feasible implementations, before determining the light source to be lit by the flying robot in its current motion state, the method further includes: obtaining the location of the observation object required for the display of the flying robot's motion state; determining the light source to be lit by the flying robot in its current motion state, including: determining the initial light source to be lit by the flying robot in its current motion state; determining whether the initial light source to be lit can be directly observed by the observation object based on the location of the observation object; controlling the light source to be lit to illuminate when the initial light source to be lit can be directly observed by the observation object, thus forming the light signal display of the flying robot; and determining the corrected light source to be lit and its lighting strategy based on the initial light source to be lit when the initial light source to be lit cannot be directly observed by the observation object.

[0064] It should be noted that, taking translational motion as an example, when the observer is on the ground and the flying robot needs to move upwards, if the light source to be lit is to be lit according to the indicated direction of movement, then the light source on the upper surface of the flying robot needs to be lit. However, at this time, the observer at a lower position may have difficulty accurately observing the lighting status of the upper surface. Therefore, the light source on the upper surface needs to be used as the initial light source, and then adjusted according to the observer's observation ability and needs. Specifically, special lighting colors, flashing frequencies, or lighting brightness can be set to indicate to the observer that the current lighting strategy for the light source differs from the basic lighting strategy. Furthermore, a mapping relationship between the modified light source to be lit and the initial light source to be lit can be established according to preset rules. For example, the modified light source to be lit can be completely opposite to the initial light source to be lit in terms of orientation. That is, when the observer is on the ground and the flying robot moves upward, the light source to be lit on the lower surface of the flying robot can be lit, and the lit color is yellow. When the observer is above the flying robot and the flying robot moves upward, the light source to be lit on the upper surface of the flying robot can be lit, and the lit color is blue.

[0065] For example, the initial light source to be lit can be corrected according to the relative position of the flying robot and the observer, so as to ensure that the observer can clearly observe the light signal display of the flying robot from any observation position.

[0066] For example, the initial light source to be lit can be adjusted based on the altitude, visibility, and weather conditions of the flying robot's current location. Taking the flying robot as a cuboid as an example, the light source at the top corner of the flying robot is used as the object to be lit under normal circumstances, while the light source inside the outer surface of the flying robot is used as the object to be lit under special lighting conditions such as enhanced lighting. The observation difficulty for the observer can be determined based on the distance between the current altitude of the flying robot and the observer, the visibility of the current location of the flying robot, and the weather conditions of the current location of the flying robot. Furthermore, other light sources to be lit can be used as auxiliary light sources. By lighting both the initial light source and the auxiliary light sources together as the initial light source, brightness compensation is achieved, ensuring that the light signals displayed by the flying robot are still clearly identifiable at higher altitudes.

[0067] The light signal display method for flying robots provided in this application obtains the location of the observed object and determines whether the initial light source to be lit can be directly observed by the observed object. When the initial light source to be lit can be directly observed, it can be lit directly. When the initial light source to be lit cannot be directly observed, the light source to be lit and its lighting strategy are determined and modified according to the initial light source to be lit. This allows the light signal display to adapt to different observation positions and angles of the observer relative to the flying robot, avoiding the inability of the observer to receive complete light signal information due to viewpoint obstruction, further reducing the recognition difficulty of the light signal display and improving the recognition efficiency of the light signal display.

[0068] Figure 4 This is a schematic structural diagram of a light signal display device for a flying robot provided in an embodiment of this application. Figure 4As shown, in a second aspect of this application, a light signal display device for a flying robot is provided, used to execute the light signal display method for a flying robot as described in any of the first aspects above. The device includes: a state acquisition module 101, a light source determination module 102, and a light source illumination module 103. The state acquisition module 101 is used to acquire the current motion state of the flying robot when the light signal display requirement is a motion state display requirement. The current motion state includes a motion direction and a motion type, and the motion type includes translational motion, turning motion, and rolling motion. The light source determination module 102 is used to determine, based on the current motion state of the flying robot, the light source to be illuminated that needs to be lit in the current motion state, wherein the light source to be illuminated is disposed on the body of the flying robot. Specifically, when the motion type of the flying robot is translational motion, a first illuminated surface of the flying robot is determined based on the motion direction of the flying robot. At least one light source to be illuminated is disposed within the first illuminated surface, which is the outer surface of the flying robot. In the case of turning motion, a second illuminated surface of the flying robot is determined according to the direction of motion. The second illuminated surface is a virtual plane jointly defined by at least two light sources to be illuminated. The first illuminated surface intersects with the second illuminated surface. In the case of rolling motion, a third illuminated surface and its switching direction are determined according to the direction of motion. The switching direction is used to determine the lighting order of the third illuminated surface. Different switching directions correspond to different switching orders. In rolling motion, the outer surface of the flying robot that needs to be illuminated is the third illuminated surface, and the outer surface of the flying robot that does not need to be illuminated is the fourth illuminated surface. The light source illumination module 103 is used to control the illumination of the light sources to be illuminated, forming the light signal display of the flying robot.

[0069] The light signal display device for a flying robot provided in this application, when the light signal display requirement of the flying robot is a motion status display requirement, obtains the current motion state of the flying robot. During translational motion, the outer surface of the flying robot is determined as the first surface to be illuminated, so that the illuminated area forms a spatial surface related to the motion direction, allowing the observer to directly determine the translation direction by the spatial orientation of the light source within the surface. During turning motion, a virtual plane composed of at least two illuminated point light sources is determined as the second surface to be illuminated, and this virtual plane intersects with the first surface to be illuminated, allowing the observer to identify the direction of attitude change based on the location of the illuminated point light sources. During rolling motion, a third and fourth surface to be illuminated are determined to distinguish the outer surfaces that need to be illuminated from those that do not, and the switching direction of the third surface to be illuminated is determined. The outer surfaces can be illuminated sequentially according to the switching direction to form a continuous light flow propagating along the rolling direction, allowing the observer to form a continuous rotation direction display. Therefore, the light signal display method for flying robots provided in this application can map the motion state of the flying robot to the spatial geometric structure formed by point light sources, so that the observer can intuitively judge the motion intention of the flying robot simply by the spatial geometric shape of the light distribution, thereby reducing the recognition difficulty of light signal display and improving the recognition efficiency of light signal display.

[0070] A third aspect of this application provides a flying robot, including: a light signal display method for performing any of the actions described in the first aspect above.

[0071] The flying robot provided in this application, when its light display requirement is a motion status display requirement, acquires the current motion state of the flying robot. During translational motion, the outer surface of the flying robot is determined as the first surface to be illuminated, so that the illuminated area forms a spatial plane related to the direction of motion, allowing the observer to directly determine the translation direction by the spatial orientation of the light source within the plane. During turning motion, a virtual plane composed of at least two illuminated point light sources is determined as the second surface to be illuminated, and this virtual plane intersects with the first surface to be illuminated, allowing the observer to identify the direction of attitude change based on the location of the illuminated point light sources. During rolling motion, a third and fourth surface to be illuminated are determined to distinguish the outer surfaces that need to be illuminated from those that do not, and the switching direction of the third surface to be illuminated is determined. The outer surfaces can be illuminated sequentially according to the switching direction to form a continuous light flow propagating along the rolling direction, allowing the observer to form a continuous rotation direction display. Therefore, the light signal display method for flying robots provided in this application can map the motion state of the flying robot to the spatial geometric structure formed by point light sources, so that the observer can intuitively judge the motion intention of the flying robot simply by the spatial geometric shape of the light distribution, thereby reducing the recognition difficulty of light signal display and improving the recognition efficiency of light signal display.

[0072] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

[0073] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0074] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0075] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for displaying light signals on a flying robot, characterized in that, include: When the light signal display requirement of the flying robot is the motion status display requirement, the current motion status of the flying robot is obtained, wherein the current motion status includes the motion direction and motion type, and the motion type includes translational motion, turning motion and rolling motion; Based on the current motion state of the flying robot, determine the light source to be lit that the flying robot needs to illuminate in the current motion state, wherein the light source to be lit is disposed on the body of the flying robot; In the case where the motion type of the flying robot is translational motion, the first surface to be lit of the flying robot is determined according to the motion direction of the flying robot. At least one light source to be lit is provided in the first surface to be lit, and the first surface to be lit is the outer surface of the flying robot. When the motion type of the flying robot is turning motion, the second surface to be lit of the flying robot is determined according to the motion direction of the flying robot. The second surface to be lit is a virtual plane jointly determined by at least two light sources to be lit. The first surface to be lit intersects with the second surface to be lit. When the motion type of the flying robot is rolling motion, the third surface to be lit and its switching direction are determined according to the motion direction of the flying robot. The switching direction is used to determine the lighting order of the third surface to be lit. Different switching directions correspond to different switching orders. In rolling motion, the outer surface of the flying robot that needs to be lit is the third surface to be lit, and the outer surface of the flying robot that does not need to be lit is the fourth surface to be lit. The system controls the illumination of the light sources that need to be lit, thus creating a light signal display for the flying robot.

2. The light signal display method for a flying robot according to claim 1, characterized in that, The flying robot is in the shape of a cuboid and has eight apex corners. The light source to be lit is located at the apex corner of the flying robot. When the motion type of the flying robot is translational motion, determining the first illuminated surface of the flying robot based on its motion direction includes: Based on the direction of motion of the flying robot, one of the outer surfaces of the flying robot that corresponds to the direction of motion is determined as the first surface to be illuminated. The first surface to be illuminated is determined by the light sources to be illuminated at the four apex corners of the flying robot. When the motion type of the flying robot is translational motion, the control requires illuminating the light source to be lit, including: Control the four light sources corresponding to the first surface to be lit to be lit to be lit together.

3. The light signal display method for a flying robot according to claim 1, characterized in that, The flying robot is in the shape of a cuboid and has eight apex corners. The light source to be lit is located at the apex corner of the flying robot. When the motion type of the flying robot is turning motion, determining the second illuminated surface of the flying robot based on its motion direction includes: Based on the direction of motion of the flying robot, a virtual plane on the body of the flying robot corresponding to the direction of motion is determined as the second surface to be lit. The second surface to be lit is determined by a set of parallel and non-coplanar edges on the body of the flying robot, and the second surface to be lit is determined by the light sources to be lit at the four vertices of the flying robot. When the motion type of the flying robot is turning motion, the control requires the lighting of the light source to be lit, including: Control the four light sources corresponding to the second surface to be lit to be lit to be lit together.

4. The light signal display method for a flying robot according to claim 1, characterized in that, The flying robot is in the shape of a cuboid and has eight apex corners. The light source to be lit is located at the apex corner of the flying robot. When the motion type of the flying robot is rolling motion, determining the third illuminated surface of the flying robot and its switching direction based on the motion direction of the flying robot includes: Based on the direction of motion of the flying robot, four third surfaces to be lit on the body of the flying robot corresponding to the direction of motion and their switching directions are determined. The third surfaces to be lit are determined by the light sources to be lit at the four corners of the flying robot. When the motion type of the flying robot is rolling motion, the control requires the lighting of the light source to be lit, including: According to the switching direction, the third surfaces to be lit are sequentially controlled to be lit, wherein the four light sources corresponding to each third surface to be lit are lit together.

5. The light signal display method for a flying robot according to claim 1, characterized in that, Before the step of controlling the light source to be lit to form the light signal display of the flying robot, the method further includes: Based on the motion type of the flying robot, the lighting method of the light source to be lit is determined, wherein the lighting method includes at least one of flashing, flashing frequency, and constant lighting time.

6. The light signal display method for a flying robot according to claim 1, characterized in that, Before the step of obtaining the current motion state of the flying robot, the method further includes: The light signal display requirements of the flying robot are obtained, including motion status display requirements, operation feedback display requirements, prompt display requirements, and warning display requirements. Based on the light signal display requirements, determine the illumination color of the light source to be lit.

7. The light signal display method for a flying robot according to claim 6, characterized in that, Also includes: If the flying robot has multiple light signal display requirements, the current light signal display requirement of the flying robot is determined according to the priority sequence. Among them, the warning display requirement is the first priority, the operation feedback display requirement is the second priority, the prompt display requirement is the third priority, and the motion status display requirement is the fourth priority; When the light message display request corresponding to a higher priority is triggered, the light message display request corresponding to the higher priority is displayed first, and the display of the light message display request corresponding to a lower priority is paused. After the display of the light message display request corresponding to the higher priority is completed, the display of the light message display request corresponding to the lower priority is restored according to the light message display request that is still valid. When the flying robot displays the prompt display requirement, the flying robot enters a hovering or stable state; After the prompt display requirement is completed, the flying robot displays the motion status display requirement or controls the flying robot to enter the corresponding motion status.

8. The light signal display method for a flying robot according to claim 1, characterized in that, Before the step of determining the light source to be lit by the flying robot in its current motion state, based on the current motion state of the flying robot, the method further includes: The location of the observed object is obtained to display the motion state of the flying robot; The step of determining the light source to be lit by the flying robot in its current motion state, based on the current motion state of the flying robot, includes: Based on the current motion state of the flying robot, determine the initial light source to be lit that the flying robot needs to illuminate in the current motion state; Based on the location of the observed object, determine whether the initial light source to be lit can be directly observed by the observed object; When the initial light source to be lit can be directly observed by the object being observed, the light source to be lit is controlled to be lit, forming the light signal display of the flying robot; When the initial light source to be lit cannot be directly observed by the object being observed, a modified light source to be lit and its lighting strategy are determined based on the initial light source to be lit.

9. A light signal display device for a flying robot, characterized in that, The apparatus for performing a light signal display method for a flying robot as described in any one of claims 1 to 8, the apparatus comprising: The status acquisition module is used to acquire the current motion state of the flying robot when the light signal display requirement of the flying robot is the motion status display requirement. The current motion state includes the motion direction and motion type, and the motion type includes translational motion, turning motion and rolling motion. A light source determination module is used to determine, based on the current motion state of the flying robot, the light source to be lit that the flying robot needs to be lit in the current motion state, wherein the light source to be lit is disposed on the body of the flying robot. In the case where the motion type of the flying robot is translational motion, the first surface to be lit of the flying robot is determined according to the motion direction of the flying robot. At least one light source to be lit is provided in the first surface to be lit, and the first surface to be lit is the outer surface of the flying robot. When the motion type of the flying robot is turning motion, the second surface to be lit of the flying robot is determined according to the motion direction of the flying robot. The second surface to be lit is a virtual plane jointly determined by at least two light sources to be lit. The first surface to be lit intersects with the second surface to be lit. When the motion type of the flying robot is rolling motion, the third surface to be lit and its switching direction are determined according to the motion direction of the flying robot. The switching direction is used to determine the lighting order of the third surface to be lit. Different switching directions correspond to different switching orders. In rolling motion, the outer surface of the flying robot that needs to be lit is the third surface to be lit, and the outer surface of the flying robot that does not need to be lit is the fourth surface to be lit. The light source illumination module is used to control the illumination of the light sources that need to be lit, thereby forming the light signal display of the flying robot.

10. A flying robot, characterized in that, include: A light signal display method for performing the flight robot as described in any one of claims 1 to 8.

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