Coplanar waveguide feed type stretchable flexible Bluetooth antenna applied to insect robot

Abstract

The invention discloses a coplanar waveguide feed type stretchable flexible Bluetooth antenna applied to an insect robot, and the antenna is of a two-layer structure and is mainly composed of a dielectric substrate, a grounding unit, a feed line unit and a radiation unit. Wherein the dielectric substrate is a first layer, and the grounding unit, the feeder unit and the radiating unit are arranged on a second layer of the antenna and on the same surface of the dielectric substrate. The grounding unit comprises two parts: a first side of the grounding unit and a second side of the grounding unit. The first side of the grounding unit and the second side of the grounding unit are both stretchable structures. The length of the feeder unit is the same as that of the grounding unit, and the feeder unit is of a long rectangular structure. The radiation unit is of a multi-section rectangular broken line structure. Compared with an existing antenna, the antenna has the advantages of being stretchable, small in antenna size, capable of being well attached to the insect robot, diverse in application scene and the like.

Description

Technical Field

[0001] The present invention relates to the field of flexible antennas, and particularly to a coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to insect robots. Background Art

[0002] Insects are one of the oldest animals on the earth. After millions of years of evolution, they have become the most diverse group in the biological world. Some small-sized insects exhibit amazing locomotor abilities. Micro-insect robots have been gradually developed and used in complex working scenarios such as environmental monitoring during agricultural production and dredging of oil and gas pipelines. By using insects as carrier animals and equipping them with an electronic backpack for nerve stimulation to generate electrical stimulation to excite nerves and muscles, the movement of insects can be directly controlled. Such insect robots are small in size and have excellent locomotor abilities. Moreover, the carried electronic backpack has multiple functions such as sound localization, which enables them to effectively perform tasks under natural disasters.

[0003] However, most of the antennas used in the backpacks of current insect robots are rigid antennas. Due to their fixed shapes, traditional rigid antennas cannot fit well with insect robots. Flexible antennas can adapt to the dynamic changes of the insect's curved surface and work without affecting the normal activities of insects. At the same time, flexible antennas are small in size, light in weight and easy to integrate, which can minimize the impact on the movement of insects and improve communication efficiency. Therefore, it is of great significance to research and develop flexible antennas with excellent performance and applicable to insect payloads. Summary of the Invention

[0004] Aiming at the above application scenarios, the present invention aims to solve the problem that the existing backpack antennas of insect robots do not fit well with the body, and proposes a coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to insect robots, which improves the adaptability of the antenna to insect robots while optimizing the communication performance.

[0005] The antenna has a two-layer structure and is mainly composed of a dielectric substrate, a grounding unit, a feeder unit, and a radiation unit. The dielectric substrate is the first layer, and the grounding unit, the feeder unit, and the radiation unit are on the second layer of the antenna and are all located on the upper layer of the dielectric substrate. The grounding unit consists of two parts: the first side of the grounding unit and the second side of the grounding unit. Both the first side and the second side of the grounding unit are stretchable structures. The length of the feeder unit is the same as that of the grounding unit, and it is a long rectangular structure. The feeder unit is a key component for transmitting signals and adjusting impedance matching. It is located between the first side and the second side of the grounding unit and is parallel to the grounding unit. There are gaps between the feeder unit and the first side and the second side of the grounding unit to control the distribution of the electromagnetic field, adjust the characteristic impedance, and optimize the radiation performance of the antenna. The radiation unit is an important component in the antenna that realizes the mutual conversion between electrical signals and electromagnetic wave signals. It is a multi-segment rectangular broken-line structure, including the first segment of the radiation unit, the second segment of the radiation unit, the third segment of the radiation unit, the fourth segment of the radiation unit, the fifth segment of the radiation unit, and the sixth segment of the radiation unit. The first segment of the radiation unit is connected to the feeder unit, and the second segment of the radiation unit is vertically connected to the first segment of the radiation unit in an L shape; the third segment of the radiation unit is vertically connected to the first segment of the radiation unit in an L shape and is parallel to the first segment of the radiation unit; the fourth segment of the radiation unit is vertically connected to the third segment of the radiation unit in an L shape and is parallel to the first segment of the radiation unit; the fifth segment of the radiation unit is vertically connected to the fourth segment of the radiation unit in an L shape and is parallel to the third segment of the radiation unit; the sixth segment of the radiation unit is vertically connected to the fifth segment of the radiation unit in an L shape and is parallel to the fourth segment of the radiation unit. This structural design of the radiation unit of the antenna is beneficial to simplifying the overall layout of the antenna, reducing the loss during signal transmission, improving the radiation efficiency of the antenna, and facilitating the integration with the circuit system of the insect robot. Moreover, this design of the folded-line structure of the radiation unit of the antenna increases the current path length of the radiation unit, effectively enhancing the radiation ability of the antenna in the Bluetooth frequency band, enabling the antenna to more efficiently convert electrical signals into electromagnetic waves for radiation, thereby meeting the signal transmission and reception requirements of the insect robot during communication.

[0006] The grounding unit of the antenna includes the first side and the second side of the grounding unit, both of which are stretchable structures. The first side of the grounding unit consists of the first segment of the rectangular structure, the second segment of the rectangular structure, and an array of stretching units. The number of arrays of the stretching units along the horizontal direction is several, and the number of arrays along the vertical direction is greater than the number of arrays along the horizontal direction. The first segment of the rectangular structure and the second segment of the rectangular structure are vertically connected in an L shape, and the stretching array after the array of stretching units is connected to the first segment of the rectangular structure in the first side of the grounding unit and the second segment of the rectangular structure in the first side of the grounding unit. The so-called along the horizontal direction is the direction from the first side to the second side of the antenna, and the so-called along the vertical direction is the direction from the feeder of the antenna to the first segment of the antenna radiation unit.

[0007] The second side of the grounding unit consists of a third section of a rectangular structure, a fourth section of a rectangular structure, and an array of stretching elements. The number of arrays of the stretching elements on the second side of the grounding unit in the horizontal direction is several, and the number of arrays in the vertical direction is the same as the number of arrays in the vertical direction on the first side of the grounding unit of the antenna. The number of arrays of the stretching elements affects the performance of the antenna. The number of arrays in the vertical direction affects the impedance, gain, and operating frequency band of the antenna; the number of arrays in the horizontal direction affects the impedance of the antenna. The third section of the rectangular structure and the fourth section of the rectangular structure are vertically connected in an L shape, and the stretching array after the arrays of the stretching elements is connected to the third section of the rectangular structure and the fourth section of the rectangular structure in the second side of the grounding unit.

[0008] The stretching unit is composed of the first horizontal rectangular section of the stretching unit, the second horizontal rectangular section of the stretching unit, the third horizontal rectangular section of the stretching unit, the first horizontal rectangular section of the fourth part of the stretching unit, the fifth horizontal rectangular section of the stretching unit, the sixth horizontal rectangular section of the stretching unit, the seventh horizontal rectangular section of the stretching unit, the first vertical rectangular section of the stretching unit, the second vertical rectangular section of the stretching unit, the third vertical rectangular section of the stretching unit, the fourth vertical rectangular section of the stretching unit, the fifth vertical rectangular section of the stretching unit, and a regular quadrilateral. The first horizontal rectangular section of the stretching unit is connected to the regular quadrilateral and has the same axis of symmetry as the regular quadrilateral. The second horizontal rectangular section of the stretching unit is perpendicularly connected to the first horizontal rectangular section of the stretching unit in an L shape. The third horizontal rectangular section of the stretching unit is perpendicularly connected to the second horizontal rectangular section of the stretching unit in an L shape. The first horizontal rectangular section of the stretching unit; The fourth horizontal rectangular section of the stretching unit is perpendicularly connected to the third horizontal rectangular section of the stretching unit in an L shape and is parallel to the second horizontal rectangular section of the stretching unit. The fifth horizontal rectangular section of the stretching unit is perpendicularly connected to the fourth horizontal rectangular section of the stretching unit in an L shape and is parallel to the third horizontal rectangular section of the stretching unit. The sixth horizontal rectangular section of the stretching unit is perpendicularly connected to the fifth horizontal rectangular section of the stretching unit in an L shape and is parallel to the fourth horizontal rectangular section of the stretching unit. The seventh horizontal rectangular section of the stretching unit is perpendicularly connected to the sixth horizontal rectangular section of the stretching unit in an L shape and is parallel to the fifth horizontal rectangular section of the stretching unit. The first vertical rectangular section of the stretching unit and the first horizontal rectangular section of the stretching unit are respectively located on adjacent sides of the regular quadrilateral. The long side of the first vertical rectangular section of the stretching unit is connected to the regular quadrilateral, and one of its sides is collinear with the side of the regular quadrilateral. The second vertical rectangular section of the stretching unit is perpendicularly connected to the first vertical rectangular section of the stretching unit in an L shape. The third vertical rectangular section of the stretching unit is perpendicularly connected to the second vertical rectangular section of the stretching unit in an L shape and is parallel to the first vertical rectangular section of the stretching unit. The fourth vertical rectangular section of the stretching unit is perpendicularly connected to the third vertical rectangular section of the stretching unit in an L shape and is parallel to the second vertical rectangular section of the stretching unit. The fifth vertical rectangular section of the stretching unit is perpendicularly connected to the fourth vertical rectangular section of the stretching unit in an L shape and is parallel to the third vertical rectangular section of the stretching unit. This complex and delicate design of the grounding unit structure not only enables the grounding unit to have good stretchability and adapt to various deformations generated during the movement of the insect robot, but also can optimize the grounding performance of the antenna through reasonable geometric shapes and size combinations, effectively reduce signal reflection, and improve the radiation performance of the antenna.

[0009] The antenna consists of two layers. The first layer is a dielectric substrate layer, and the second layer is a metal layer composed of a grounding unit, a feeder unit, and a radiation unit. There is no gap between the two layers. The dielectric substrate uses a flexible material with stretchability, and the material is a polymer, such as polyimide (PI), polydimethylsiloxane (PDMS), polyethylene terephthalate (PET), or thermoplastic polyurethane elastomer (TPU), etc. The dielectric constants of these polymers are between 2.8 and 4, the Young's modulus ranges from 500 KPa to 3 GPa, and the dielectric loss is not greater than 0.04. Such material properties can not only ensure the stability of the antenna structure when the dielectric substrate undergoes deformations such as stretching and bending during the movement of the insect robot, but also provide good basic support for the electrical performance of the antenna, ensuring the stability and efficiency of signal transmission.

[0010] The dielectric substrate consists of a dielectric substrate support plate, the first section of the radiation unit support plate, the second section of the radiation unit support plate, the third section of the radiation unit support plate, the fourth section of the radiation unit support plate, the fifth section of the radiation unit support plate, and the sixth section of the radiation unit support plate. On the dielectric substrate support plate are the first side of the grounding unit, the second side of the grounding unit, the feeder unit, and the gaps between the first side of the grounding unit, the second side of the grounding unit, and the feeder unit; the first section of the radiation unit support plate is coaxial with the first section of the radiation unit, and its width is not less than the width of the first section of the radiation unit; the second section of the radiation unit support plate is coaxial with the second section of the radiation unit, and its width is not less than the width of the second section of the radiation unit; the third section of the radiation unit support plate is coaxial with the third section of the radiation unit, and its width is not less than the width of the third section of the radiation unit; the fourth section of the radiation unit support plate is coaxial with the fourth section of the radiation unit, and its width is not less than the width of the fourth section of the radiation unit; the fifth section of the radiation unit support plate is coaxial with the fifth section of the radiation unit, and its width is not less than the width of the fifth section of the radiation unit; the sixth section of the radiation unit support plate is coaxial with the sixth section of the radiation unit, and its width is not less than the width of the sixth section of the radiation unit. The dielectric substrate can support the radiation unit and the feeding structure, enhance the antenna's ability to withstand deformation, adjust the electromagnetic characteristics of the antenna, and enhance the antenna's environmental adaptability.

[0011] The feeder unit of the present invention is rectangular, with a length equivalent to the length of the first section of the rectangle on the first side of the grounding unit. The input impedance at the end of the feeder unit is 50 Ω, and the starting end is connected to the radiation unit. Such a design ensures that the feeder unit can stably and efficiently transmit signals to the radiation unit. At the same time, the 50 Ω input impedance matching helps reduce the power loss of the signal during transmission and improve the quality and efficiency of signal transmission. The echo loss parameter of the designed antenna at the working center frequency band of 2.45 GHz is less than -10 dB. The designed antenna is an omnidirectional antenna at the working center frequency band, and the voltage standing wave ratio is less than 1.5. By optimizing the length of the antenna radiation unit, the number of arrays of the stretching unit of the grounding unit, and the material properties of the dielectric substrate, the working center frequency band of the antenna can be changed.

[0012] Advantages of the present invention: (1) In the present invention, the grounding unit, feeder, and radiation unit are compactly designed on a flexible substrate to form a flexible antenna. The total thickness can be controlled within dozens of micrometers. Compared with commercial antennas, it has a smaller size, thinner thickness, and greatly improved integration. The coplanar waveguide structure used can significantly increase the working bandwidth of the antenna and improve the signal reception and transmission capabilities. The structure of the zigzag radiation patch used can further reduce the size of the antenna and maintain a stable working frequency band during operation. After simulation verification, when the antenna is bent along a cylinder with the same curvature as the insect, the center working frequency band of the antenna is basically not shifted, that is, it still maintains high antenna radiation performance when bent.

[0013] (2) In the present invention, the grounding unit is designed as a stretchable structure. The structure connecting the regular quadrilateral and the folded line enables the antenna to have the ability to deform along three perpendicular axes in space while maintaining certain mechanical properties, and enables the antenna to have a stronger fitting ability when facing complex surfaces, solving the problem of poor fitting between traditional rigid antennas and biological carriers. After experimental verification, when the designed antenna is stretched by 8% along the horizontal axis, the working bandwidth of the antenna only shrinks by 80 MHz compared with the simulation value, and the return loss parameter in the Bluetooth working frequency band is still less than -10 dB.

[0014] (3) The present invention can not only adapt to insect robots, but also be adapted to other scenarios with requirements for flexibility and stretchability, such as other wearable devices and soft robots. By adjusting the number of stretch unit arrays and the parameters of the dielectric substrate, the working frequency band can be flexibly adjusted.

[0015] (4) The multi-segment zigzag radiation unit of the present invention effectively shortens the size of the antenna while achieving a return loss at the center working frequency of 2.45 GHz in the Bluetooth band, and the voltage standing wave ratio ≤ 1.5, meeting the requirements of short-distance communication. Description of the Drawings

[0016] Figure 1 is a three-dimensional perspective view shown in an embodiment of the present invention; Figure 2 is a structural diagram of the first side of the grounding unit shown in an embodiment of the present invention; Figure 3 is a structural diagram of the second side of the grounding unit shown in an embodiment of the present invention; Figure 4 is a stretching structural diagram of the grounding unit shown in an embodiment of the present invention; Figure 5 is a side view of the antenna shown in an embodiment of the present invention; Figure 6It is a schematic diagram of a dielectric substrate structure shown in an embodiment of the present invention.

[0017] Figure 7 It is a return loss parameter graph shown in an embodiment of the present invention.

[0018] Figure 8 It is the simulation result of the three-dimensional gain pattern at 2.45 GHz shown in an embodiment of the present invention. Detailed implementation manners

[0019] The present invention will be further clarified below in conjunction with the accompanying drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a specific component.

[0020] The present invention provides a coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot, as Figures 1-8 shown.

[0021] As Figure 1As shown in the figure, the antenna has a two-layer structure and is mainly composed of a dielectric substrate 1, a grounding unit 2, a feeder unit 3, and a radiation unit 4. Among them, the dielectric substrate 1 is the first layer, and the grounding unit, the feeder unit, and the radiation unit are on the second layer of the antenna and are all located on the upper layer of the dielectric substrate. The grounding unit 2 consists of two parts in total: the first side 2-1 of the grounding unit and the second side 2-2 of the grounding unit. Both the first side 2-1 and the second side 2-2 of the grounding unit are stretchable structures. The length of the feeder unit 3 is the same as that of the grounding unit, and it is a long rectangular structure. The feeder unit is a key component for transmitting signals and adjusting impedance matching. It is located between the first side 2-1 and the second side 2-2 of the grounding unit and is parallel to the grounding unit. There are gaps between the feeder unit and the first side and the second side of the grounding unit to control the distribution of the electromagnetic field, adjust the characteristic impedance, and optimize the radiation performance of the antenna. The radiation unit 4 is an important component in the antenna that realizes the mutual conversion between electrical signals and electromagnetic wave signals. It is a multi-segment rectangular broken-line structure and includes the first segment 4-1 of the radiation unit, the second segment 4-2 of the radiation unit, the third segment 4-3 of the radiation unit, the fourth segment 4-4 of the radiation unit, the fifth segment 4-5 of the radiation unit, and the sixth segment 4-6 of the radiation unit. The first segment 4-1 of the radiation unit is connected to the feeder unit 3, and the second segment 4-2 of the radiation unit is perpendicularly connected to the first segment 4-1 of the radiation unit in an L shape; the third segment 4-3 of the radiation unit is perpendicularly connected to the second segment 4-1 of the radiation unit in an L shape and is parallel to the first segment 4-1 of the radiation unit; the fourth segment 4-4 of the radiation unit is perpendicularly connected to the third segment 4-3 of the radiation unit in an L shape and is parallel to the second segment 4-1 of the radiation unit; the fifth segment 4-5 of the radiation unit is perpendicularly connected to the fourth segment 4-4 of the radiation unit in an L shape and is parallel to the third segment 4-3 of the radiation unit; the sixth segment 4-6 of the radiation unit is perpendicularly connected to the fifth segment 4-5 of the radiation unit in an L shape and is parallel to the fourth segment 4-4 of the radiation unit. This structural design of the antenna is beneficial to simplifying the overall layout of the antenna, reducing the loss during signal transmission, improving the radiation efficiency of the antenna, and facilitating the integration with the circuit system of the insect robot. Moreover, this design of the folded-line structure of the radiation unit of the antenna increases the current path length of the radiation unit, effectively improves the radiation ability of the antenna in the Bluetooth frequency band, enables the antenna to more efficiently convert electrical signals into electromagnetic waves for radiation, and thus meets the signal transmission and reception requirements of the insect robot during communication.

[0022] The grounding unit of the antenna includes the first side and the second side of the grounding unit, both of which are stretchable structures.

[0023] As Figure 2As shown, the first side of the grounding unit consists of the first section G1 of a rectangular structure, the second section G2 of a rectangular structure, and an array of stretching units U1. The number of arrays of the stretching units U1 along the horizontal direction is several, and the number of arrays along the vertical direction is greater than the number of arrays along the horizontal direction. The first section G1 of the rectangular structure and the second section G2 of the rectangular structure are vertically connected in an L shape, and the stretching units after the array of the stretching units U1 are connected to the first section G1 of the rectangular structure and the second section G2 of the rectangular structure.

[0024] As Figure 3 shown, the second side of the grounding unit consists of the third section G3 of a rectangular structure, the fourth section G4 of a rectangular structure, and an array of stretching units U1. The number of arrays of the stretching units U1 along the horizontal direction is several, and the number of arrays along the vertical direction is the same as the number of arrays along the vertical direction on the first side of the grounding unit of the antenna. The third section G3 of the rectangular structure and the fourth section G4 of the rectangular structure on the second side of the grounding unit are vertically connected in an L shape, and the stretching array after the array of the stretching units U1 is connected to the third section G3 of the rectangular structure and the fourth section G4 of the rectangular structure on the second side of the grounding unit.

[0025] As Figure 4As shown in the figure, the stretching unit U1 is composed of the first horizontal rectangular section F1, the second horizontal rectangular section F2, the third horizontal rectangular section F3, the fourth horizontal rectangular section F4, the fifth horizontal rectangular section F5, the sixth horizontal rectangular section F6, the seventh horizontal rectangular section F7, the first vertical rectangular section T1, the second vertical rectangular section T2, the third vertical rectangular section T3, the fourth vertical rectangular section T4, the fifth vertical rectangular section T5 of the stretching unit and a regular quadrilateral. The first horizontal rectangular section F1 of the stretching unit is connected to the regular quadrilateral S1 and has the same axis of symmetry as the regular quadrilateral S1. The second horizontal rectangular section F2 of the stretching unit is vertically connected to the first horizontal rectangular section F1 in an L shape. The third horizontal rectangular section F3 of the stretching unit is vertically connected to the second horizontal rectangular section F2 in an L shape and is parallel to the first horizontal rectangular section F1 of the stretching unit. The fourth horizontal rectangular section F4 of the stretching unit is vertically connected to the third horizontal rectangular section F3 in an L shape and is parallel to the second horizontal rectangular section F2 of the stretching unit. The fifth horizontal rectangular section F5 of the stretching unit is vertically connected to the fourth horizontal rectangular section F4 in an L shape and is parallel to the third horizontal rectangular section F3 of the stretching unit. The sixth horizontal rectangular section F6 of the stretching unit is vertically connected to the fifth horizontal rectangular section F5 in an L shape and is parallel to the fourth horizontal rectangular section F4 of the stretching unit. The seventh horizontal rectangular section F7 of the rectangular stretching unit is vertically connected to the sixth horizontal rectangular section F6 in an L shape and is parallel to the fifth horizontal rectangular section F5 of the stretching unit. The first vertical rectangular section T1 of the stretching unit and the first horizontal rectangular section F1 of the stretching unit are respectively located on adjacent sides of the regular quadrilateral S1. The long side of the first vertical rectangular section T1 of the stretching unit is connected to the regular quadrilateral S1, and one of its sides is collinear with the side of S1. The second vertical rectangular section T2 of the stretching unit is vertically connected to the first vertical rectangular section T1 in an L shape. The third vertical rectangular section T3 of the stretching unit is vertically connected to the second vertical rectangular section T2 in an L shape and is parallel to the first vertical rectangular section T1 of the stretching unit. The fourth vertical rectangular section T4 of the stretching unit is vertically connected to the third vertical rectangular section T3 in an L shape and is parallel to the second vertical rectangular section T2 of the stretching unit. The fifth vertical rectangular section T5 of the stretching unit is vertically connected to the fourth vertical rectangular section T4 in an L shape and is parallel to the third vertical rectangular section T3 of the stretching unit. This complex and delicate design of the grounding unit structure not only enables the grounding unit to have good stretchability and adapt to various deformations generated during the movement of the insect robot, but also can optimize the grounding performance of the antenna through reasonable geometric shapes and size combinations, effectively reduce signal reflection, and improve the radiation performance of the antenna.

[0026] As Figure 5 shown, the antenna consists of two layers. The first layer is the dielectric substrate layer 1, and the second layer is the metal layer 5 composed of a ground unit 2, a feeder unit 3, and a radiation unit 4. There is no gap between the two layers. The dielectric substrate of the antenna is made of a flexible material with stretchability, and the material is a polymer, such as polyimide (PI), polydimethylsiloxane (PDMS), polyethylene terephthalate (PET), or thermoplastic polyurethane elastomer (TPU), etc. The dielectric constants of these polymers are between 2.8 and 4, the Young's modulus ranges from 500 KPa to 3 GPa, and the dielectric loss is not greater than 0.04. Such material properties can not only ensure the stability of the antenna structure when the dielectric substrate undergoes stretching, bending, and other deformations during the movement of the insect robot, but also provide good basic support for the electrical performance of the antenna, ensuring the stability and efficiency of signal transmission.

[0027] As Figure 6 shown, the dielectric substrate consists of a dielectric substrate support plate 1-1, a first section of the radiation unit support plate 1-2, a second section of the radiation unit support plate 1-3, a third section of the radiation unit support plate 1-4, a fourth section of the radiation unit support plate 1-5, a fifth section of the radiation unit support plate 1-6, and a sixth section of the radiation unit support plate 1-7. On the dielectric substrate support plate 1-1 are the first side 2-1 of the ground unit, the second side 2-2 of the ground unit, the feeder unit 3, and the gaps between the first side 2-1 of the ground unit, the second side 2-2 of the ground unit, and the feeder unit; the first section of the radiation unit support plate 1-2 is coaxial with the first section 4-1 of the radiation unit, and the width is not less than the width of the first section 4-1 of the radiation unit; the second section of the radiation unit support plate 1-3 is coaxial with the second section 4-2 of the radiation unit, and the width is not less than the width of the second section 4-2 of the radiation unit; the third section of the radiation unit support plate 1-4 is coaxial with the third section 4-3 of the radiation unit, and the width is not less than the width of the third section 4-3 of the radiation unit; the fourth section of the radiation unit support plate 1-5 is coaxial with the fourth section 4-4 of the radiation unit, and the width is not less than the width of the fourth section 4-4 of the radiation unit; the fifth section of the radiation unit support plate 1-6 is coaxial with the fifth section 4-5 of the radiation unit, and the width is not less than the width of the fifth section 4-5 of the radiation unit; the sixth section of the radiation unit support plate 1-7 is coaxial with the sixth section 4-6 of the radiation unit, and the width is not less than the width of the sixth section 4-6 of the radiation unit.

[0028] The feeder unit of the present invention is rectangular, and its length is equivalent to the length of the second section G2 of the rectangular structure of the ground unit. The input impedance at the end of the feeder unit is 50Ω, and the starting end is connected to the radiation unit. Such a design ensures that the feeder unit can stably and efficiently transmit signals to the radiation unit. At the same time, the 50Ω input impedance matching helps to reduce the power loss of the signal during transmission and improve the quality and efficiency of signal transmission.

[0029] As Figure 7 shown, the echo loss parameter of the antenna designed by the present invention in the working center frequency band is less than -10 dB. When the antenna is bent, the working center frequency band shifts to 2.41 GHz. When the antenna is stretched, the working center frequency band shifts to 2.47 GHz. As Figure 8 shown, the designed antenna is an omnidirectional antenna in the working center frequency band. The standing wave ratio is less than 1.5. Thus, when the antenna is bent and stretched, the working bandwidth of the antenna changes little, and the working center frequency band shifts little. Compared with the existing flexible antennas, this antenna has obvious advantages not only in terms of size, but also has more stable radiation performance.

[0030] Installation method: Select a Dorcus titanus platymelus as the experimental object. Weld the designed antenna on the flexible electronic backpack with reserved pads using a soldering iron, and fix the antenna and the flexible backpack on the back of the Dorcus titanus platymelus by means of dispensing glue, ensuring that the antenna is closely attached to the insect without affecting the normal movement of the insect.

[0031] Motion test: Observe the motion of the insect after installing the flexible electronic backpack and the flexible Bluetooth antenna, including turning, crawling, etc. During the motion of the insect, use the upper computer to receive the information collected by the flexible electronic backpack.

[0032] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features.

Claims

1. A coplanar waveguide-fed stretchable flexible Bluetooth antenna for an insect robot, characterized in that, The Bluetooth antenna has a two-layer structure. The lower layer includes a dielectric substrate (1); the upper layer includes a grounding unit (2), a feeder unit (3), and a radiation unit (4); the grounding unit (2) includes a first side (2-1) and a second side (2-2) of the grounding unit; the feeder unit (3) is parallel to the grounding unit (2); the length of the feeder unit (3) is the same as that of the grounding unit (2), and it is located between the first side (2-1) and the second side (2-2) of the grounding unit with a gap therebetween. The radiation unit (4) is a multi-segment rectangular broken-line structure and is connected to the feeder unit (3).

2. The coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 1, wherein The radiation unit (4) includes a first segment (4-1), a second segment (4-2), a third segment (4-3), a fourth segment (4-4), a fifth segment (4-5), and a sixth segment (4-6) of the radiation unit; The first segment (4-1) of the radiation unit is connected to the feeder unit (3), and the second segment (4-2) of the radiation unit is vertically connected to the first segment (4-1) of the radiation unit in an L shape; the third segment (4-3) of the radiation unit is vertically connected to the second segment (4-2) of the radiation unit in an L shape and is parallel to the first segment (4-1) of the radiation unit; the fourth segment (4-4) of the radiation unit is vertically connected to the third segment (4-3) of the radiation unit in an L shape and is parallel to the second segment (4-2) of the radiation unit; the fifth segment (4-5) of the radiation unit is vertically connected to the fourth segment (4-4) of the radiation unit in an L shape and is parallel to the third segment (4-3) of the radiation unit; the sixth segment (4-6) of the radiation unit is vertically connected to the fifth segment (4-5) of the radiation unit in an L shape and is parallel to the fourth segment (4-4) of the radiation unit.

3. A coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 1, characterized in that, Both the first side (2-1) and the second side (2-2) of the grounding unit are tensile structures; the first side (2-1) of the grounding unit is composed of an array of a first segment (G1) of a rectangular structure, a second segment (G2) of a rectangular structure, and a stretching unit (U1); the number of arrays of the stretching unit (U1) along the horizontal direction is several, and the number of arrays along the vertical direction is greater than the number of arrays along the horizontal direction; the first segment (G1) and the second segment (G2) of the rectangular structure are vertically connected in an L shape, and the stretched unit after the array of the stretching unit (U1) is connected to the first segment (G1) and the second segment (G2) of the rectangular structure.

4. A coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 1, characterized in that, The second side (2-2) of the grounding unit is composed of an array of a third segment (G3) of a rectangular structure, a fourth segment (G4) of a rectangular structure, and a stretching unit (U1); the number of arrays of the stretching unit (U1) along the horizontal direction is several, and the number of arrays along the vertical direction is the same as the number of arrays along the vertical direction of the first side of the grounding unit of the antenna; the third segment (G3) and the fourth segment (G4) of the rectangular structure are vertically connected in an L shape, and the stretched array after the array of the stretching unit (U1) is connected to the third segment (G3) and the fourth segment (G4) of the rectangular structure that form the second side of the grounding unit.

5. A coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 3 or 4, characterized in that The stretching unit (U1) is composed of the first horizontal rectangular section (F1) of the stretching unit, the second horizontal rectangular section (F2) of the stretching unit, the third horizontal rectangular section (F3) of the stretching unit, the fourth horizontal rectangular section (F4) of the stretching unit, the fifth horizontal rectangular section (F5) of the stretching unit, the sixth horizontal rectangular section (F6) of the stretching unit, the seventh horizontal rectangular section (F7) of the stretching unit, the first vertical rectangular section (T1) of the stretching unit, the second vertical rectangular section (T2) of the stretching unit, the third vertical rectangular section (T3) of the stretching unit, the fourth vertical rectangular section (T4) of the stretching unit, the fifth vertical rectangular section (T5) of the stretching unit, and a regular quadrilateral.

6. A coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 3 or 4, characterized in that, The first horizontal rectangular section (F1) of the stretching unit is connected to the regular quadrilateral (S1) and has the same axis of symmetry as the regular quadrilateral (S1); the second horizontal rectangular section (F2) of the stretching unit is perpendicularly connected to the first horizontal rectangular section (F1) of the stretching unit in an L shape, the third horizontal rectangular section (F3) of the stretching unit is perpendicularly connected to the second horizontal rectangular section (F2) of the stretching unit in an L shape and is parallel to the first horizontal rectangular section (F1) of the stretching unit; the fourth horizontal rectangular section (F4) of the stretching unit is perpendicularly connected to the third horizontal rectangular section (F3) of the stretching unit in an L shape and is parallel to the second horizontal rectangular section (F2) of the stretching unit; the fifth horizontal rectangular section (F5) of the stretching unit is perpendicularly connected to the fourth horizontal rectangular section (F4) of the stretching unit in an L shape and is parallel to the third horizontal rectangular section (F3) of the stretching unit; the sixth horizontal rectangular section (F6) of the stretching unit is perpendicularly connected to the fifth horizontal rectangular section (F5) of the stretching unit in an L shape and is parallel to the fourth horizontal rectangular section (F4) of the stretching unit; the seventh horizontal rectangular section (F7) of the rectangular stretching unit is perpendicularly connected to the sixth horizontal rectangular section (F6) of the stretching unit in an L shape and is parallel to the fifth horizontal rectangular section (F5) of the stretching unit; the first vertical rectangular section (T1) of the stretching unit and the first horizontal rectangular section (F1) of the stretching unit are respectively located on adjacent sides of the regular quadrilateral (S1), the long side of the first vertical rectangular section (T1) of the stretching unit is connected to the regular quadrilateral (S1), and one of its sides is collinear with the side of (S1); the second vertical rectangular section (T2) of the stretching unit is perpendicularly connected to the first vertical rectangular section (T1) of the stretching unit in an L shape, the third vertical rectangular section (T3) of the stretching unit is perpendicularly connected to the second vertical rectangular section (T2) of the stretching unit in an L shape and is parallel to the first vertical rectangular section (T1) of the stretching unit; the fourth vertical rectangular section (T4) of the stretching unit is perpendicularly connected to the third vertical rectangular section (T3) of the stretching unit in an L shape and is parallel to the second vertical rectangular section (T2) of the stretching unit; the fifth vertical rectangular section (T5) of the stretching unit is perpendicularly connected to the fourth vertical rectangular section (T4) of the stretching unit in an L shape and is parallel to the third vertical rectangular section (T3) of the stretching unit.

7. A coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 1, characterized in that, The dielectric substrate is composed of a dielectric substrate support plate (1-1), a first section of the radiation element support plate (1-2), a second section of the radiation element support plate (1-3), a third section of the radiation element support plate (1-4), a fourth section of the radiation element support plate (1-5), a fifth section of the radiation element support plate (1-6), and a sixth section of the radiation element support plate (1-7); on the dielectric substrate support plate (1-1) are a first side of the grounding unit (2-1), a second side of the grounding unit (2-2), a feeder unit (3), and the gaps between the first side of the grounding unit (2-1), the second side of the grounding unit (2-2) and the feeder unit; the first section of the radiation element support plate (1-2) is coaxial with the first section of the radiation element (4-1), and its width is not less than the width of the first section of the radiation element (4-1); the second section of the radiation element support plate (1-3) is coaxial with the second section of the radiation element (4-2), and its width is not less than the width of the second section of the radiation element (4-2); the third section of the radiation element support plate (1-4) is coaxial with the third section of the radiation element (4-3), and its width is not less than the width of the third section of the radiation element (4-3); the fourth section of the radiation element support plate (1-5) is coaxial with the fourth section of the radiation element (4-4), and its width is not less than the width of the fourth section of the radiation element (4-4); the fifth section of the radiation element support plate (1-6) is coaxial with the fifth section of the radiation element (4-5), and its width is not less than the width of the fifth section of the radiation element (4-5); the sixth section of the radiation element support plate (1-7) is coaxial with the sixth section of the radiation element (4-6), and its width is not less than the width of the sixth section of the radiation element (4-6).

8. A coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 1, characterized in that, The materials of the grounding unit (2), the feeder unit (3), and the radiation unit (4) are conductive materials; the conductive material is one of gold, silver, copper, cadmium, graphene, and Mxene; the thicknesses of the grounding unit (2), the feeder unit (3), and the radiation unit (4) are 500 nm - 14 μm.

9. The coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to claim 1, wherein The dielectric substrate (1) is made of a flexible material, and the material is a polymer, and the dielectric constant of the polymer is between 2.8 and 4.

10. The application of the coplanar waveguide-fed stretchable flexible Bluetooth antenna applied to an insect robot according to any one of claims 1-9, characterized in that, This antenna is used for insect robots or applied to other devices or scenarios that require the stretchability and flexibility of the antenna.

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