Method of determining a robotic auricle antenna layout and robotic signal device

Abstract

Embodiments of the present application relate to the technical field of robot antenna, and particularly relate to a method for determining a layout of a robot auricle antenna, a robot signal device and a robot. The method comprises the following steps: S1: establishing an auricle structure model; S2: selecting a first region as a position for setting an antenna unit and selecting a second region as a position for setting an electromagnetic function structure on the auricle structure model; S3: performing a collaborative optimization on a shape, a size, a position of the antenna unit on the first region and a spatial orientation and a geometric parameter of the electromagnetic function structure by electromagnetic simulation, with an improvement of a radiation performance and / or a port performance of the antenna as an optimization target; and S4: outputting final design parameters of the antenna unit and the electromagnetic function structure after optimization. The method integrates the antenna design and the robot auricle structure, avoids shielding and attenuation of electromagnetic waves by a metal body and internal structures, and improves the anti-interference capability and communication stability of the robot in a complex environment.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robot antenna, in particular to a method for determining a robot auricle antenna layout, a robot signal device and a robot. BACKGROUND

[0002] The statements herein are merely provided to give a basic understanding of the present application, and do not necessarily constitute the prior art.

[0003] Signal transceiving is the core support for robots to realize autonomous decision-making, environmental interaction and collaborative work. With the in-depth penetration of robot technology into the fields of industrial automation, service and medical treatment, automatic driving and the like, its dependence on communication is becoming more and more significant. The signal quality directly determines the response speed, work safety and task completion degree of the robot, and a low-delay and high-reliability communication link has become a key prerequisite for the intelligent upgrading of the robot. However, in the traditional robot antenna technology, in order to ensure good signal transceiving performance, an external antenna is usually arranged on the head of the robot, which destroys the bionic appearance and is easily damaged and has poor reliability. In order to ensure the bionic degree of the appearance of the robot, the antenna is usually hidden in the robot shell, which is electromagnetically shielded by the body structure and reduces the signal transceiving performance. Therefore, the traditional robot antenna technology has been difficult to meet the demand of modern robots for high reliability, low delay and wide adaptation of communication, and it is very important to develop a new type of antenna design which is integrated with the structure of the robot, resistant to dynamic interference and adaptable to multiple scenes. SUMMARY

[0004] In the following, a brief summary of the present application is given in order to provide a basic understanding of some aspects of the present application. It should be understood that this summary is not an extensive overview of the present application. It is not intended to identify key or critical elements of the present application, nor is it intended to limit the scope of the present application. Its purpose is merely to present some concepts in a simplified form as a prelude to the more detailed description to be discussed later.

[0005] In a first aspect, embodiments of the present application provide a method for determining a robot auricle antenna layout, the method comprising the following steps: S1: establishing an auricle structure model; S2: selecting at least one first region as a position for arranging an antenna element and selecting at least one second region as a position for arranging an electromagnetic functional structure on the auricle structure model; S3: taking improvement of the radiation performance and / or port performance of the antenna as an optimization target, and based on the physiological structure characteristics of the auricle structure model, performing collaborative optimization on the shape, size, position of the antenna element on the first region and the spatial orientation and geometric parameters of the electromagnetic functional structure through electromagnetic simulation; and S4: outputting the final design parameters of the optimized antenna element and electromagnetic functional structure.

[0006] The method provided by the embodiment of the application establishes an auricle model, and designs a first region and a second region on the auricle model, so that the antenna is combined with the auricle part of the robot, the characteristics of the ear part being free of electromagnetic shielding at the body of the robot are utilized, signal interruption caused by the structure of the robot itself is reduced, electromagnetic wave transmission efficiency is improved, the radiation performance and port performance of the antenna unit are improved as optimization targets, the antenna can maintain high signal transmission efficiency and adapt to multi-frequency communication requirements in a dynamic operation scenario of the robot, the reliability of communication of the robot is significantly improved, the physiological structure of the auricle part is fully utilized through division of the first region and the second region and collaborative optimization in electromagnetic simulation, the layout of the antenna unit and the electromagnetic functional structure is reasonable and works collaboratively in signal transmission, electromagnetic interference can be targetedly suppressed, electromagnetic compatibility and signal transmission efficiency of the robot are improved, signal stability and multi-frequency adaptation capability of the antenna in the robot motion scenario are effectively improved, the problems of insufficient dynamic performance and poor scene adaptability in the traditional layout are solved, further, the output optimization design parameters can provide a basis for standardized production, which is beneficial to reducing maintenance cost and promoting large-scale application of the robot ear antenna communication. The method deeply integrates the antenna design and the auricle structure of the robot, utilizes the characteristics of the auricle part being free of electromagnetic shielding, can avoid shielding and attenuation of electromagnetic waves by the metal body and internal structure of the robot, provides a smooth signal transmission path for the antenna unit, realizes integrated integration of the communication module and the body structure, improves the anti-interference capability of the antenna in the dynamic motion of the robot, effectively weakens the influence of mechanical posture change on signal transmission through collaborative optimization of the electromagnetic functional structure and the antenna unit, and quickly matches communication requirements in different scenes through simulation optimization, thereby improving communication stability and operation reliability of the robot in a complex environment.

[0007] The application further provides a robot signal device, which comprises: a head bionic structure with an ear shape; and at least three communication units embedded in, attached to, or formed by different anatomical positions of an outer ear part of the head bionic structure; wherein the communication units are configured to receive and transmit wireless communication signals.

[0008] The embodiment of the application further provides a robot, which comprises: two robot signal devices provided by any one of the embodiments of the application, wherein the communication units in the two robot signal devices are configured to work in different communication frequency bands.

[0009] These and other advantages of the application will become apparent from the following detailed description of the preferred embodiments of the application, from the claims, and from the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0010] To further illustrate and describe the above and other advantages and features of the present application, a further detailed description is made to the specific embodiments thereof, in connection with the accompanying drawings. The drawings provided in the present specification and the following detailed description are included as a part of this specification to explain and describe the application in detail.

[0011] Figure 1 is a flow chart of a method for determining a robot auricle antenna layout according to an embodiment of the present application;

[0012] Figure 2 is a structural schematic diagram of a robot signal device according to an embodiment of the present application.

[0013] It should be noted that the accompanying drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and serve to explain the principles of, and to enable others skilled in the art to make and use the present application.

[0014] Legend for the drawings:

[0015] 10, head bionic structure; 20, communication unit. DETAILED DESCRIPTION

[0016] Exemplary embodiments of the present application will be described hereinafter with reference to the accompanying drawings. In the description, all the features of the actual embodiments are not described in order to make the present application clear and brief. It should be appreciated that, in the development of any such actual embodiment, numerous implementation-specific decisions must be made in order to achieve the developer's specific goals, such as compliance with system- and business-related constraints, which will vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking of those of ordinary skill in the art having the benefit of this disclosure.

[0017] It should also be noted that, in the drawings, only the structures and / or processing steps closely related to the solutions according to the present application are shown, and other details not closely related to the present application are omitted, in order to avoid obscuring the present application with unnecessary details.

[0018] It should be noted that, unless otherwise defined, technical or scientific terms used in the present application should be understood as having the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0019] In the description of the embodiments of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0020] In the related art, the traditional antenna arrangement scheme has significant limitations in robot applications. Early robot development focuses on mechanical execution functions, and the communication module is often attached as an external device. There is a lack of collaborative design with the body structure. With the miniaturization of robots, the internal space is increasingly compact. The size and layout of traditional antennas are easily conflicted with mechanical structures and sensor modules, making it difficult to achieve optimal installation in limited space. At the same time, during the movement of the robot, the directivity of the traditional fixed antenna is easily affected by the change in posture, leading to signal attenuation and exacerbation of multipath effects. Especially in complex environments, communication interruption is easy to occur. Further, the traditional antenna is mostly single frequency or directional mode, which cannot be compatible with the multi-frequency coordination required by 5G communication. It is more difficult to achieve the spatial diversity gain of MIMO (Multiple Input Multiple Output) technology, and it is difficult to adapt to the cross-scene operation requirements of robots - such as omnidirectional coverage in indoor environments and high-gain directional transmission for long-distance outdoor operations. The traditional scheme is difficult to consider multiple communication scenarios.

[0021] To solve the above technical problems, the embodiments of the present application provide a method for determining the layout of a robot auricle antenna, Figure 1 is a flowchart of the method for determining the layout of a robot auricle antenna according to the embodiments of the present application, as Figure 1 shown, the method comprises the following steps: S1: establishing an auricle structure model; S2: selecting at least one first region as the position of setting the antenna unit and at least one second region as the position of setting the electromagnetic function structure on the auricle structure model; S3: taking improving the radiation performance and / or port performance of the antenna as the optimization target, based on the physiological structure characteristics of the auricle structure model, the shape, size, position of the antenna unit on the first region and the spatial orientation and geometric parameters of the electromagnetic function structure are cooperatively optimized through electromagnetic simulation; S4: output the final design parameters of the optimized antenna unit and electromagnetic function structure.

[0022] The method provided by the embodiment of the application establishes an auricle model, and designs the first region and the second region on the auricle model, so that the antenna is combined with the auricle part of the robot, the characteristics that the ear part is free of electromagnetic shielding at the body of the robot are utilized, signal interruption caused by the structure of the robot itself is reduced, electromagnetic wave transmitting and receiving efficiency is improved, the radiation performance and port performance of the antenna unit are improved as optimization targets, the antenna can maintain high signal transmitting and receiving efficiency and adapt to multi-frequency band communication demand in a dynamic operation scene of the robot, the reliability of robot communication is significantly improved, the physiological structure of the auricle part is fully utilized through the division of the first region and the second region and collaborative optimization in electromagnetic simulation, the layout of the antenna unit and the electromagnetic functional structure is reasonable and works collaboratively in signal transmitting and receiving, electromagnetic interference can be targetedly suppressed, the electromagnetic compatibility of the robot and the signal transmitting and receiving efficiency are improved, the signal stability and multi-frequency band adaptation capability of the antenna in the robot motion scene are effectively improved, the problems of insufficient dynamic performance and poor scene adaptability of the traditional layout are solved, further, the output optimization design parameters can provide a basis for standardized production, which is beneficial to reducing maintenance cost and promoting the large-scale application of robot ear antenna communication. The method deeply integrates the antenna design and the auricle structure of the robot, utilizes the characteristics that the auricle part is free of electromagnetic shielding, can avoid the shielding and attenuation of electromagnetic waves by the metal body and the internal structure of the robot, provides a smooth signal propagation path for the antenna unit, and realizes the integration of the communication module and the body structure. Meanwhile, the antenna is arranged by means of the physiological characteristics (such as natural curvature and cavity shape) of the biological auricle, the antenna is more suitable for the ear structure, the overall form of the robot is closer to the natural biological characteristics, and the simulation degree is improved; through the collaborative optimization of the electromagnetic functional structure and the antenna unit, the influence of mechanical posture change on signal transmission can be effectively weakened, the anti-interference capability in dynamic motion is enhanced, and the communication stability and operation reliability of the robot in a complex environment are improved.

[0023] In some embodiments, in the S1 step, the auricle model can be established in modeling software, for example, 3Dmax, SolidWorks, AutoCAD, etc., can also be modeled by using the modeling function of the electromagnetic simulation software, for example, CST Studio Suite, COMSOL Multiphysics, ANSYS HFSS, etc., or can be imported by using an existing auricle model or 3D scanning, and the modeling method of the auricle model is not limited in the application.

[0024] In some embodiments, in the S1 step, the auricle model can be a human auricle model, or a biological auricle model with ear characteristics such as natural curvature and cavity shape, and the application does not limit this.

[0025] In some embodiments, in the S2 step, the first region can select the corresponding positions of the antihelix, tragus, earlobe, etc. ear anatomical structure on the auricle structure model, and the present application does not limit this, but preferably one or more of the corresponding positions of the antihelix, tragus, earlobe on the auricle structure model can be selected as the first region.

[0026] In some embodiments, in the S3 step, the shape, size, position of the antenna unit on the first region and the spatial orientation and geometric parameters of the electromagnetic functional structure can be optimized by using electromagnetic simulation software such as CST Studio Suite, COMSOL Multiphysics, ANSYS HFSS, etc.

[0027] In some embodiments, improving the radiation performance of the antenna unit includes but is not limited to improving the gain, directivity Figure 1 and multipath interference resistance, and improving the port performance of the antenna unit includes but is not limited to reducing the standing wave ratio and improving the port isolation.

[0028] In some embodiments, the collaborative optimization is performed by using a genetic algorithm or a particle swarm optimization algorithm for multi-parameter iterative optimization.

[0029] The embodiments provided by the present application can perform multi-parameter iterative optimization on the shape, size, position of the antenna unit on the first region and the spatial orientation and geometric parameters of the electromagnetic functional structure by using a genetic algorithm or a particle swarm algorithm, and through the iterative optimization of multiple parameters by the algorithm, the performance targets of maximizing the antenna radiation efficiency, minimizing the electromagnetic interference, and optimizing the frequency band adaptability can be achieved, and the geometric contour and spatial limitation of the auricle can be accurately matched, so that the system reaches the global optimal state of electromagnetic performance and structural adaptability, meets the installation constraints of the limited space of the robot auricle, and forms a performance and structure collaborative integrated solution.

[0030] In some embodiments, the collaborative optimization can be achieved by using the genetic algorithm function or the particle swarm optimization algorithm function built in the electromagnetic simulation software, and the electromagnetic simulation software used can be CST Studio Suite, COMSOL Multiphysics, etc.

[0031] In some embodiments, in the S3 step, the following step is further included: determining that the electromagnetic functional structure is a reflection structure, and taking the maximum far-field gain in the front direction of the robot as the optimization target, and determining the spatial orientation deflection angle and curvature radius of the reflection structure by electromagnetic simulation.

[0032] The embodiments provided in the application can realize the adjustment and control of the angle and radian of the reflection structure, effectively focus the radiation energy of the antenna unit on the front area, and further improve the far-field gain in this direction, thereby enhancing the signal interaction intensity between the robot and the front target (such as an obstacle, a cooperative device, or an operating object); at the same time, the directional guidance of the reflection structure can reduce the scattering of electromagnetic waves to the side and rear, reduce the energy loss and electromagnetic interference in the non-target direction, and make the communication in the key interaction direction of the robot more stable. This directional optimization design is suitable for mobile robot navigation, front obstacle detection, human-robot interaction, and other scenes, and can ensure that the signal transmission distance and anti-interference ability in the core direction are significantly improved, thereby enhancing the operation reliability of the robot in a dynamic environment.

[0033] In some embodiments, the spatial orientation deflection angle of the reflection structure is the included angle between the normal of the reflection surface and the front direction of the robot.

[0034] In some embodiments, the optimization range of the average curvature radius R meets formula (1):

[0035] (1).

[0036] Wherein, c is the speed of light, f is the center frequency of the antenna, and m is a proportional coefficient.

[0037] In some embodiments, the second area where the reflection structure is located can be the corresponding position of the concha cavity on the auricle structure model. The embodiments provided in the application can make full use of the natural concave curved surface form of the concha cavity, without occupying additional internal space of the robot, thereby avoiding the mechanical interference problem of the traditional external reflection device, and the non-electromagnetic shielding characteristic of the reflection structure can reduce the attenuation loss of the reflected signal, thereby further improving the energy utilization efficiency.

[0038] In some embodiments, in the S3 step, the following steps are further included: selecting at least two first areas as the positions where the antenna units are arranged, and determining the isolation degree between the antenna units.

[0039] The embodiments provided in the application can effectively reduce the electromagnetic coupling and signal interference between the multiple antenna units by selecting at least two first areas to arrange the antenna units and determining the isolation degree, thereby ensuring that each antenna unit maintains independent and stable performance when working cooperatively, and facilitating the robot to realize multi-band communication and / or MIMO technology.

[0040] In some embodiments, at least the corresponding positions of the antihelix and the tragus on the auricle structure model are selected as the first region, and the embodiments provided in the present application set multiple first regions in the antihelix part and the tragus part by combining the spatial distribution characteristics of the auricle structure, so that physical isolation can be formed by using the natural concave-convex shape of the auricle, and the isolation of the antenna unit is improved.

[0041] In some embodiments, in the S3 step, the following step is further included: introducing an impedance adjustment module in the simulation for collaborative optimization with the optimization target of maintaining the stability of the antenna performance under environmental changes.

[0042] In the embodiments provided in the present application, by introducing an impedance adjustment module in the simulation for collaborative optimization, the antenna can compensate for impedance mismatch in real time when the environmental parameters change or the robot posture adjusts, maintain the stability of performance indicators such as the standing wave ratio and the radiation efficiency, and enable the robot to maintain stable communication in a complex and variable scene.

[0043] The embodiments of the present application also provide a robot signal device, Figure 2 is a structural schematic diagram of a robot signal device according to the embodiments of the present application, as Figure 2 shown, the device includes: a head bionic structure 10 with an ear shape; at least three communication units 20 embedded in, attached to or composed of different anatomical positions of the outer ear part of the head bionic structure 10; wherein the communication unit 20 is arranged to be capable of receiving and transmitting wireless communication signals.

[0044] The device provided by the embodiment of the present application is provided with a head bionic structure 10 with an ear shape, and a communication unit 20 capable of receiving and transmitting wireless signals is arranged on the outer ear part of the head bionic structure 10. The structure of the outer ear is used to guide the directional transmission and reception of electromagnetic waves, and the special position of the ear part has no electromagnetic shielding around it, which reduces the shielding and attenuation of signals by the metal body, improves the transmission efficiency and stability of long-distance transmission of wireless communication of the robot, avoids the damage of additional antennas to the overall structure of the robot, saves the space of the body, makes the communication module more concealed, improves the appearance simulation degree of the robot, enhances the interactive experience of the user, and is suitable for scenes such as service robots and collaborative robots which have high requirements on appearance friendliness. Further, at least three communication units 20 are arranged at different anatomical parts of the outer ear of a single device, so that when the device is applied to a bionic robot, it can cooperate with the three communication units 20 in another robot signal device to form a combined module containing six communication units, which can meet the demand of multiple frequency bands and multiple channels of robot communication, support MIMO technology, realize parallel transmission of multiple system signals, and at the same time, the spatial separation of different anatomical parts of the outer ear (such as the helix, concha cavity and tragus) naturally forms physical isolation, which can effectively reduce the electromagnetic coupling between the communication units 20, improve the independence and anti-interference ability of each frequency band signal, enhance the communication transmission capacity and connection stability of the robot in complex environments, so that the robot can be applied to high-density data transmission scenes.

[0045] In some embodiments, the head bionic structure can be the shape of a human ear or the shape of a biological ear with ear features such as natural curvature, cavity shape, etc., which is not limited in the present application.

[0046] In some embodiments, the working frequency band of the communication unit can include one or more of 700MHz, 880-915MHz, 925-960MHz, 1920-1980MHz, 2110-2170MHz, 3.5GHz, 2.6GHz, 2.4GHz, 4.9GHz, 5.8GHz ISM frequency band, etc., which can realize 5G, 4G, wireless Bluetooth communication.

[0047] In some embodiments, the communication unit can be one or more of a loop antenna, a slot antenna, a patch antenna, an inverted F antenna (IFA), a monopole antenna, or a folded line antenna, etc., which can be adapted to the shape of the ear, which is not limited in the present application.

[0048] In some embodiments, at least a part of the area of the head bionic structure is constructed as an electromagnetic functional structure capable of affecting the electromagnetic wave front radiated by the communication unit.

[0049] The embodiment provided in the application realizes the integrated design of the electromagnetic function structure and the head bionic structure by constructing at least a part of the area of the head bionic structure as an electromagnetic function structure capable of affecting the wave front of the electromagnetic wave radiated by the communication unit, avoids the space occupation and the structure protruding caused by the additional installation of the regulation component, maintains the integrity of the appearance of the robot, and simultaneously realizes the directional regulation of the electromagnetic wave by using the bionic form of the ear shape, adjusts the wave front phase and the propagation direction, focuses the signal radiated by the communication unit on a specific target direction, and then makes the radiation characteristics of the communication unit more suitable for the working scene of the robot, thereby improving the adaptability and energy efficiency ratio of the robot communication.

[0050] In some embodiments, the electromagnetic function structure is a reflecting surface, and the reflecting surface is arranged to change the final radiation pattern of the electromagnetic wave radiated by the communication unit.

[0051] In the embodiment provided in the application, the reflecting surface is designed as a structure capable of changing the final radiation pattern of the electromagnetic wave, the signal coverage of the target area can be specifically strengthened, for example, the signal of the target area is directionally enhanced or the signal of the robot body is avoided, the invalid radiation in the non-target direction can be reduced, the communication directivity and the energy utilization efficiency are improved, the electromagnetic interference on the surrounding equipment is reduced, and the embodiment can be applied to the multi-scene working requirements of the robot.

[0052] In some embodiments, the reflecting surface is formed by the concha cavity anatomy of the head bionic structure.

[0053] In the embodiment provided in the application, the reflecting surface is formed by the concha cavity anatomy of the head bionic structure, the natural recessed curved surface form of the concha cavity can be fully utilized, the internal space of the robot is not additionally occupied, the mechanical interference problem of the traditional external reflecting device is avoided, the characteristic of no electromagnetic shielding can reduce the attenuation loss of the reflected signal, and the energy utilization efficiency is further improved.

[0054] In some embodiments, the outer ear part of the head bionic structure is externally coated with a flexible material layer.

[0055] In the embodiment provided in the application, the flexible material layer is externally coated on the outer ear part, the purpose of copying the touch and form characteristics of the biological ear is realized, the alienation caused by the hard structure of the ear during human-computer interaction is reduced, the form stability of the key parts such as the helix and the concha cavity is maintained, and the layout accuracy of the communication unit is ensured.

[0056] In some embodiments, the flexible material layer can be a material with stable dielectric constant, low loss value and bionic texture, for example, medical-grade silicone, thermoplastic elastomer (TPE), polyurethane (PU) foam / gel and the like.

[0057] The embodiments of the present application also provide a robot, comprising: two robot signal devices provided by any one of the embodiments of the present application, wherein the communication units in the two robot signal devices are configured to work in different communication frequency bands.

[0058] The embodiments provided by the present application maintain the integrity of the appearance of the robot by configuring two robot signal devices on the robot and containing at least two communication units receiving signals in different frequency bands, avoid the performance bottleneck of single-frequency communication in a complex electromagnetic environment through the division and cooperation of multi-frequency band units, and greatly improve the fault tolerance of the communication system through the redundant configuration of the double devices. Further, the layout of the double signal devices can reduce signal interruption caused by single direction shielding by using the space diversity effect, and ensure that the robot always maintains stable signal connection and data interaction efficiency in industrial collaboration, home service and other scenarios.

[0059] In some embodiments, the two robot signal devices are respectively distributed at the left and right ear positions of the head of the robot.

[0060] The following takes the robot signal device designed by the inventor in CST Studio Suite for a household service robot as an example to make more specific and detailed supplements to one or more embodiments involved in the above:

[0061] Using the "3D Modeling" module in CST, import the standard adult auricle model (precision 0.1 mm, format.STL), and read it directly through the "Import" function in CST;

[0062] Restore the helix (arc radius 5-8 mm), tragus (thickness 3 mm, height 8 mm), earlobe (diameter 10 mm), and concha cavity (initial concave curvature radius 20 mm) in CST, and define the material as ABS engineering plastic (dielectric constant , loss tangent ) to match the basic material properties of the robot head, and check the key dimensions such as the depth of the concha cavity and the curvature of the helix through the "Cross-Section" function of the "View" module in CST to ensure consistency with the human anatomy.

[0063] Use the "Region" tool in CST to define an editable area on the auricle model to facilitate subsequent antenna and electromagnetic structure deployment, and select three anatomical sites as the first region:

[0064] Define a 15mm x 5mm rectangular "Region1" outside the middle of the helix as the patch antenna mounting area;

[0065] A trapezoidal "Region2" of 8mm x 6mm is defined on the front of the tragus and is set as the installation area of an inverted F antenna (IFA);

[0066] A circular "Region3" of 8mm in diameter is defined at the bottom of the earlobe and is set as the installation area of a monopole antenna;

[0067] The entire inner surface of the concha cavity is set as "Region4" as a reflective structure, and is marked as "PerfectE" (ideal conductive reflective surface) in CST.

[0068] In CST, the "Optimization" module (supporting genetic algorithm) is combined with the "Time Domain Solver" (time domain solver, suitable for multi-band fast simulation) to realize multi-parameter iterative optimization, and the core process is as follows:

[0069] In CST, the "Optimization Goal" is set as:

[0070] Radiation performance: far-field gain ≥ 5dBi (calculated by "Far Field" in CST) in the front direction (0° direction) of the robot, half-power beam width ≥ 60°, and multipath interference suppression rate ≥ 30%;

[0071] Port performance: the standing wave ratio of each antenna unit ≤ 1.5 (monitored in "Port Properties" in CST), and the isolation degree of adjacent units ≥ 20dB (calculated in "S-Parameters" in CST);

[0072] Environmental stability: when the temperature changes from -10 to 45℃ and the humidity changes from 30% to 85%RH, the change in standing wave ratio is ≤ 0.1, and the gain attenuation is ≤ 0.5dBi (the environmental parameter changes are simulated by "Parameter Sweep" in CST).

[0073] In CST, "Genetic Algorithm" (genetic algorithm) is selected in "Optimization", and the parameters are set as: population size 50, iteration number 100, crossover probability 0.8, mutation probability 0.05, and global optimization is ensured;

[0074] The key parameters of the antenna unit and the reflective structure are set as "Design Variables" in CST, as follows:

[0075] The size (length x width x thickness) of the helix patch antenna is set in the range of 25-35mm x 4-6mm x 0.6-1mm;

[0076] The length of the arm of the tragus inverted F antenna, the height of the short-circuit column ranges from 15 to 20 mm and from 2 to 4 mm;

[0077] The diameter and length of the concha monopole antenna ranges from 1 to 1.5 mm and from 20 to 30 mm;

[0078] The deflection angle (the angle between the normal and the front) and the radius of curvature of the reflection surface of the concha cavity ranges from 5 to 15° and from 20 to 30 mm;

[0079] The phase and amplitude of the electromagnetic wave reflected by the concha cavity "Region4" are observed in real time through "Field Monitor";

[0080] Through CST iterative simulation, the optimal parameters of the concha cavity are: deflection angle 10° (front gain ratio 0° increases by 1.9dBi), radius of curvature 25 mm (based on formula (1), c=3×10 8 m / s, f=2.4GHz, m=0.2, CST verifies that this radius can reduce the reflection phase deviation);

[0081] "Component Library" in CST is called "Lumped Element" (lumped element), LC series network is added as an impedance adjustment module, and is integrated into the feeding end of each antenna unit;

[0082] The LC value is set as a design variable (L: 10-15nH, C: 2-4pF), and the impedance matching condition is checked in real time through "Smith Chart" in CST, and the final optimization result is: L=12nH, C=3pF, which ensures that the input impedance is close to 50Ω in the frequency bands of 2.4GHz, 3.5GHz and 5.8GHz, and dynamically compensates for the mismatch when the environment changes;

[0083] The electromagnetic field distribution of each antenna unit is analyzed through "Near Field" in CST, and the spatial position of the helix, tragus and concha antenna is adjusted (using the natural concave-convex structure of the auricle), and finally the isolation degree is ≥22dB (helix-tragus unit), ≥25dB (tragus-concha unit), which meets the demand of multi-frequency band collaborative work.

[0084] The following design parameters are exported through the "Export" function in CST:

[0085] Helix patch antenna: arc shape (adapted to the curvature of the helix), size 30mm×5mm×0.8mm, feeding point 8mm from one end, VSWR≤1.4, 2.4GHz frequency band;

[0086] Tragus inverted F antenna: arm length 18mm, short-circuit column height 3mm, isolation degree ≥22dB, 3.5GHz frequency band;

[0087] Lobe monopole antenna: diameter 1.2mm, length 25mm, front gain ≥5.2dB, 5.8GHz band;

[0088] Concha cavity reflection surface: deflection angle 10°, curvature radius 25mm;

[0089] Impedance adjustment module: LC series network (L=12nH, C=3pF), working temperature 10~45℃.

[0090] Outer ear part coated with medical grade silicone layer (thickness 1.5mm, Shore hardness 30A), its dielectric constant (low loss) is defined in CST "Material Library" Simulation verification shows that the silicone layer attenuates electromagnetic wave transmission by ≤0.3dB, and can protect the internal antenna unit (CST "Mechanical" module simulates collision, and the silicone layer can buffer 80% impact force).

[0091] Those skilled in the art can understand that the above-described specific embodiments are only used to illustrate the principles and effects of the present application, and are not intended to limit the present application. Any modification, replacement, combination or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0092] For the embodiments of the present application, it should also be noted that the embodiments and features in the embodiments of the present application can be combined with each other to obtain new embodiments without conflict.

[0093] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for determining the layout of an auricular antenna on a robot, characterized in that, The method includes the following steps: S1: Establish a model of the auricle structure; S2: On the auricle structure model, at least one first region is selected as the location for setting the antenna unit, and at least one second region is selected as the location for setting the electromagnetic functional structure; S3: Determine that the electromagnetic functional structure is a reflective structure, and take maximizing the far-field gain in the direction directly in front of the robot as the optimization objective. Determine the spatial orientation deflection angle and radius of curvature of the reflective structure through electromagnetic simulation. With the optimization objective of improving the radiation performance and / or port performance of the antenna, based on the physiological structural characteristics of the auricle structure model, perform coordinated optimization of the shape, size, position of the antenna unit in the first region and the spatial orientation and geometric parameters of the electromagnetic functional structure through electromagnetic simulation. S4: Output the final design parameters of the optimized antenna element and the electromagnetic functional structure.

2. The method according to claim 1, characterized in that, The collaborative optimization employs a genetic algorithm or a particle swarm optimization algorithm for multi-parameter iterative optimization.

3. The method according to claim 1, characterized in that, Step S3 further includes the following steps: selecting at least two of the first regions as locations for setting the antenna elements, and determining the isolation between the antenna elements.

4. The method according to claim 1, characterized in that, Step S3 also includes the following steps: with the optimization objective of maintaining the stability of antenna performance under environmental changes, an impedance adjustment module is introduced into the simulation for collaborative optimization.

5. A robot signaling device, characterized in that, The device includes a communication unit, the layout of which is determined by the method of any one of claims 1-4, and comprises: A biomimetic head structure with an ear-like shape; At least three communication units, which are embedded in, attached to, or constituted by different anatomical positions of the outer ear portion of the bionic head structure; The communication unit is configured to transmit and receive wireless communication signals.

6. The apparatus according to claim 5, characterized in that, At least a portion of the head bionic structure is configured as an electromagnetic functional structure that can influence the electromagnetic wave front radiated by the communication unit.

7. The apparatus according to claim 6, characterized in that, The electromagnetic functional structure is a reflective surface, which is configured to change the final radiation pattern of the electromagnetic waves radiated by the communication unit.

8. The apparatus according to claim 7, characterized in that, The reflective surface is formed by the anatomical structure of the concha cavity of the biomimetic head structure.

9. The apparatus according to any one of claims 5 to 8, characterized in that, The outer ear portion of the biomimetic head structure is covered with a layer of flexible material.

10. A robot, characterized in that, The robot includes: Two robot signaling devices as described in any one of claims 5-9, wherein the communication units in the two robot signaling devices are configured to operate in different communication frequency bands.

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