Humanoid robot resonance sound shape conduction device, conduction method and humanoid robot

Abstract

The invention discloses a humanoid robot resonance sound shape conduction device and method and a humanoid robot. The resonance sound shape conduction device comprises a sound receiving module, a driving module, a coil, a magnetic base and a vibration disc, one end of the magnetic base extends into the coil, and the other end of the magnetic base extends out of the coil and is fixedly connected with the vibration disc; the vibration disc is fixedly installed on the outer side or the inner side of a shell of the humanoid robot, and the sound receiving module is used for receiving sound signals sent by the humanoid robot; the driving module receives the sound signals and drives the coil to generate an alternating magnetic field, and the alternating magnetic field drives the magnetic base to regularly move in the axial direction of the coil so that the vibration disc can drive the shell of the humanoid robot to synchronously and regularly vibrate and transmit the sound signals to the periphery. The combination of the resonance sound shape conduction device and the shell structure can reduce the cost to a certain extent, reduces electronic components and wiring required by the loudspeaker system, and reduces the production and maintenance cost.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a humanoid robot resonant sound-shape transmission device, a transmission method and the humanoid robot. Background Art

[0002] With the rapid development of humanoid robot technology, voice interaction has become an important manifestation of its intelligence. Currently, humanoid robots' voice transmission mainly relies on built-in or external speaker systems. However, existing technologies have the following problems: The complex traditional speaker system not only increases the structural complexity of the humanoid robot, but also takes up valuable internal space and affects the layout of other functional modules. Moreover, the external speaker system often destroys the overall appearance design of the humanoid robot, is difficult to coordinate with the bionic form of the humanoid robot, and reduces the user experience. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a humanoid robot resonant sound-shape conduction device, a conduction method and a humanoid robot, which, while achieving efficient acoustic performance, takes into account space utilization, aesthetics, interactive experience and economy, and provides a lightweight, highly integrated sound conduction solution for the humanoid robot.

[0004] The purpose of the present invention is achieved by adopting the following technical solutions: A resonant sound and shape conduction device for a humanoid robot, the resonant sound and shape conduction device comprising a sound receiving module, a driving module, a coil, a magnetic base and a vibration disk, wherein one end of the magnetic base extends into the coil, and the other end of the magnetic base extends outside the coil and is fixedly connected to the vibration disk, the vibration disk is fixedly mounted on the outside or inside of the shell of the humanoid robot, the sound receiving module is used to receive sound signals emitted by the humanoid robot; the driving module receives the sound signal and drives the coil to generate an alternating magnetic field, the alternating magnetic field drives the magnetic base to move regularly along the axial direction of the coil, so that the vibration disk drives the shell of the humanoid robot to vibrate synchronously and regularly, and spreads the sound signal to the surroundings.

[0005] The sound receiving unit receives the sound signal emitted by the humanoid robot and converts the sound signal into an audio electrical signal. In a preferred embodiment of the present invention, the sound receiving unit can be integrated into the sound-generating device of the humanoid robot. For example, the voice electrical signal obtained by the humanoid robot based on AI technology or text analysis is directly transmitted to the driving module; the driving module receives the audio electrical signal and drives the coil to generate an alternating magnetic field after filtering and amplifying the audio electrical signal; the magnetic base made of permanent magnet material interacts with the alternating magnetic field of the coil to generate a Lorentz force, which pushes the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibration disk, and the shell vibrates synchronously with the vibration disk and pushes the air molecules in contact with its surface, generating sound waves in the air and propagating to all sides.

[0006] Since the shell of a humanoid robot usually has a large surface area, the resonant sound-shape conduction device drives the entire shell to vibrate and produce sound through a vibration disk, so that the sound can be spread more evenly to the surroundings, expanding the coverage range and reducing the uneven sound field problem caused by the directionality of traditional speakers; at the same time, the vibration conduction of the shell can reduce the distortion during sound propagation and improve the clarity of sound quality.

[0007] At the same time, the humanoid robot shell is directly used as the sound-producing component, eliminating the need for additional complex speaker systems such as independent sound chambers and diaphragms inside or outside. This saves internal space, makes the humanoid robot structure more compact, and prevents external speakers from damaging the overall aesthetics, maintaining a simple and smooth appearance. Moreover, the vibration of the shell is synchronized with the sound signal, generating physical vibration feedback that matches the humanoid robot's movements and voice, giving the sound a stronger sense of reality and vividness. Especially in interactive scenarios such as conversations and performances, it can enhance the user's sense of presence and immersion, and improve the naturalness of human-computer interaction.

[0008] Compared with traditional high-quality speaker systems, this device simplifies the sound-generating structure through the synergy between the resonator and the housing, reduces the need for electronic components and complex wiring, and lowers production costs; at the same time, the modular design facilitates maintenance or replacement, further reducing long-term use costs.

[0009] In a preferred embodiment, a plurality of installation areas are provided on the housing of the humanoid robot, and one or more resonant sound and shape conducting devices are installed in each installation area.

[0010] By arranging resonant sound-shape conduction devices in multiple installation areas of the humanoid robot shell, a distributed vibration sound system can be formed, allowing sound to propagate synchronously from different positions, further expanding the sound field coverage, and avoiding the problem of local volume unevenness caused by single-point sound. This is especially suitable for large humanoid robots or those with movable joints. Moreover, by independently controlling the vibration frequency and intensity of the devices in different areas, stereo layering or local directional sound generation can be achieved (such as simulating human voices with the head and playing background music with the torso), enriching the layering of sound expression and adapting to more complex interaction or entertainment needs.

[0011] In a preferred embodiment, the resonant sound and shape conduction device also includes a frequency division module for dividing the sound signal, and then transmitting the high-frequency sound signal and low-frequency sound signal obtained after the frequency division to the sound receiving modules of the resonant sound and shape conduction devices in different installation areas respectively. The resonant sound and shape conduction devices that receive the high-frequency sound signal and the low-frequency sound signal are respectively called high-frequency resonators and low-frequency resonators.

[0012] Multiple vibration sources operating simultaneously disperse energy over a larger area of ​​the enclosure, pushing more air and significantly increasing overall volume. This makes it ideal for use in scenarios requiring high volume output, such as outdoors or in noisy environments. Different areas of the enclosure respond better to different frequencies, and targeted driving broadens the effective frequency range and reduces distortion.

[0013] The crossover module divides the sound signal into high and low frequencies, transmitting them to the corresponding resonators (high and low frequency resonators) respectively. This allows the sound of different frequency bands to vibrate and sound from the most suitable area of ​​the housing, avoiding the limitations of a single vibration plate in balancing the full frequency range. This significantly improves the clarity, layering, and dynamic range of the sound. Low frequencies require large amplitude drive and are suitable for installation in rigid, large areas (such as the torso). High frequencies require fast response and are suitable for installation in thin, localized areas (such as the head and arms).

[0014] Furthermore, different parts of a humanoid robot's housing may respond differently to vibrations of different frequencies due to differences in material, thickness, or structure. A frequency-splitting design allows high-, mid-, and low-frequency signals to drive separate areas of the housing with matching vibration characteristics, thereby reducing distortion and improving sound fidelity.

[0015] In some embodiments, by distributing sounds of different frequency bands to different positions of the humanoid robot shell, the directional characteristics of natural sound sources can be simulated, the three-dimensional sense and spatial positioning of the sound can be enhanced, and the human-computer interaction can be closer to a real conversation experience.

[0016] In a preferred embodiment, an elastic material layer is provided between the low-frequency resonator and the mounting surface of the housing; or / and, a composite material layer is provided between the high-frequency resonator and the mounting surface of the housing, the composite material layer comprising a stiffness material layer, a damping material layer and a porous material layer, the stiffness material layer, the damping material layer and the porous material layer are bonded in sequence, and the porous material layer is affixed to the mounting surface of the low-frequency resonator and the housing.

[0017] The elastic material layer buffers the high-amplitude vibrations of the low-frequency resonator, converting low-frequency mechanical energy into acoustic energy rather than structural vibration loss, thus preventing resonant noise from the housing structure. It also enhances the elasticity of the low-frequency response, making the bass richer and fuller without distortion. The composite material layer gradually couples high-frequency vibration energy to the housing through the gradient material, reducing reflections and the formation of standing waves. This means that the rigid material layer provides support and stability, efficiently transmitting high frequencies. The damping material layer absorbs local resonances of the housing, flattening the frequency response curve. The porous material layer, such as porous (honeycomb) silicone, optimizes sound wave diffusion and absorbs mid- and low-frequency crosstalk. The three layers work together to significantly enhance high-frequency clarity and detail.

[0018] In a preferred embodiment, the thickness t1 of the housing at a position corresponding to the low-frequency resonator and the thickness t3 of the housing at a position corresponding to the high-frequency resonator satisfy: t1 > t3.

[0019] The differentiated thickness design of the humanoid robot itself allows for optimal resonator configuration, achieving precise matching of vibration characteristics across frequency bands without adding any additional components, ensuring structural reliability and cost-effectiveness. Low-frequency vibrations require greater mass and inertia to maintain stable long-wave vibrations, and a thicker outer shell provides sufficient mass support to avoid structural deformation or energy loss caused by excessive amplitude during low-frequency resonance. High-frequency vibrations require lighter and thinner materials for rapid response, and a thinner outer shell improves the transmission efficiency of high-frequency sound waves, enhancing sound clarity and detail.

[0020] In a preferred embodiment, the high-frequency resonator is mounted on the head of the humanoid robot, and the low-frequency resonator is mounted on the chest of the humanoid robot.

[0021] Installing the high-frequency resonator on the head can achieve more precise sound wave pointing, facilitating directional sound propagation during conversation; installing the low-frequency resonator on the chest can utilize the larger surface area of ​​the chest cavity to achieve uniform diffusion of low-frequency sound waves, enhancing the weight and authority of the voice.

[0022] In a preferred embodiment, the frequency division module is further used to divide the sound signal to obtain an intermediate frequency sound signal, and the resonant sound-shape conduction device that receives the intermediate frequency sound signal is called an intermediate frequency resonator.

[0023] The mid-frequency band is the core frequency band of human voice and most musical instruments. Independent control can ensure the naturalness and emotional expression of speech during human-computer interaction. By adding a mid-frequency resonator, a complete high, mid and low frequency three-band sound generation system is formed, covering a wider sound spectrum range and significantly improving speech clarity and expressiveness.

[0024] In a preferred embodiment, one or more grooves are provided on the mounting surface between the intermediate frequency resonator and the housing, and the grooves are filled with elastic material; or / and, the thickness t1 of the housing at the position corresponding to the low frequency resonator, the thickness t2 of the housing at the position corresponding to the intermediate frequency resonator, and the thickness t3 of the housing at the position corresponding to the high frequency resonator satisfy: t1>t2>t3; or / and, the intermediate frequency resonator is mounted on the shoulder of the humanoid robot.

[0025] By opening grooves on the mounting surface of the mid-frequency resonator and filling them with elastic material, the stiffness and damping characteristics of the mid-frequency vibration transmission can be precisely controlled, thus avoiding resonance peaks in the mid-frequency band and ensuring the clarity and naturalness of the human voice frequency band.

[0026] By making the shell thickest in the low-frequency zone, second in the mid-frequency zone, and thinnest in the high-frequency zone, a gradient transition of mechanical impedance is formed, achieving optimal matching of vibration energy in each frequency band and reducing mutual interference between frequency bands.

[0027] Mid-frequency resonators are mounted on the shoulders to simulate the resonance of the shoulders and neck during human speech. Together with the high-frequency sound from the head and the low-frequency sound from the chest, they form a "head-shoulder-chest" three-frequency sound system that aligns with the acoustic characteristics of the human body, giving the humanoid robot's speech a more humanlike quality. For example, two low-frequency resonators can be placed in the chest cavity to cover frequencies below 100Hz; four mid-frequency resonators can be placed in the shoulders to cover the fundamental frequency of the human voice; and one high-frequency resonator can be placed in the head to provide detail and brightness.

[0028] A method for resonant sound and shape transmission of a humanoid robot, which uses the above-mentioned resonant sound and shape transmission device of a humanoid robot, comprises the following steps: The sound receiving unit receives the sound signal emitted by the humanoid robot and converts the sound signal into an audio electrical signal; The driving module receives the audio electrical signal and drives the coil to generate an alternating magnetic field after filtering and amplifying the audio electrical signal; The interaction between the magnetic base made of permanent magnet material and the alternating magnetic field of the coil generates a Lorentz force, which pushes the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibration disk. The shell vibrates synchronously with the vibration disk and pushes the air molecules in contact with its surface, generating sound waves in the air and propagating in all directions.

[0029] Since the shell of a humanoid robot usually has a large surface area, the resonant sound-shape conduction device drives the entire shell to vibrate and produce sound through a vibration disk, so that the sound can be spread more evenly to the surroundings, expanding the coverage range and reducing the uneven sound field problem caused by the directionality of traditional speakers; at the same time, the vibration conduction of the shell can reduce the distortion during sound propagation and improve the clarity of sound quality.

[0030] At the same time, the humanoid robot shell is directly used as the sound-producing component, eliminating the need for additional complex speaker systems inside or outside. This saves internal space, makes the humanoid robot structure more compact, and prevents external speakers from damaging the overall aesthetics, maintaining a simple and smooth appearance. Moreover, the vibration of the shell is synchronized with the sound signal, generating physical vibration feedback that matches the humanoid robot's movements and voice, giving the sound a stronger sense of reality and vividness. Especially in interactive scenarios such as conversations and performances, it can enhance the user's sense of presence and immersion, and improve the naturalness of human-computer interaction.

[0031] Compared with traditional high-quality speaker systems, this device simplifies the sound-generating structure through the synergy between the resonator and the housing, reduces the need for electronic components and complex wiring, and lowers production costs; at the same time, the modular design facilitates maintenance or replacement, further reducing long-term use costs.

[0032] A humanoid robot comprises the above-mentioned humanoid robot resonant sound-shape conduction device.

[0033] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the structure of the resonant sound-shape transmission device for a humanoid robot according to the present invention; Figure 2 This is a principle block diagram of the humanoid robot resonant sound-shape transmission device of the present invention; Figure 3 Schematic diagram of the flow of the humanoid robot resonant sound-shape transmission method of the present invention. DETAILED DESCRIPTION

[0035] Below, the present invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and cannot be understood as limiting this application.

[0036] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0038] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0039] Please refer to Figure 1 and 2As shown in the figure, a resonant sound-shape transmission device for a humanoid robot according to the present invention may include a sound receiving module 170, a driving module 180, a coil 120, a housing 110, a magnetic base 130, and a vibration disk 160. The combined structure of the coil, housing, magnetic base, and vibration disk is referred to as a resonator. The sound receiving unit receives the sound signal emitted by the humanoid robot and converts the sound signal into an audio electrical signal. The driving module receives the audio electrical signal and, after filtering and amplifying the audio electrical signal, drives the coil to energize. For example, the sound receiving module and the driving module may be integrated into the sound generating device of the humanoid robot. The voice electrical signal obtained by the humanoid robot based on AI technology or text analysis is directly transmitted to the driving module, which is then connected to the coil via a wire.

[0040] The coil is wound around a hollow tube, the upper end of which is fixedly connected to the upper end of the inner wall of the shell. The magnetic base is a cylindrical or annular permanent magnet, axially magnetized (e.g., with an N pole on one end and an S pole on the other). One end of the magnetic base is inserted into the hollow tube, and the other end extends beyond the opening at the lower end of the hollow tube. The magnetic base and the hollow tube are coaxial, with a certain gap between them. The shell also adopts a lower open structure. The other end of the magnetic base is fixedly connected to a vibration disk 160 located outside the shell via a connector 140 or is directly integrated with the vibration disk. The vibration disk is fixedly connected to the shell of the humanoid robot.

[0041] In some other embodiments, in order to prevent the movement of the magnetic base, a guide member 150 can be further provided on the lower side of the shell. The guide member is a hollow structure with an open upper end, and a guide structure is provided between its outer wall and the inner wall of the shell. For example, a slider is provided on the outer wall of the guide member, and a slide groove is provided on the inner wall of the shell that is axially distributed and cooperates with the slider. It can be understood that the coil and the magnetic base are located in the area surrounded by the shell and the guide member, the other end of the magnetic base is fixedly connected to the inner bottom center of the guide member, and the vibration disk is fixedly connected to the outer center of the guide member through the connecting member 140.

[0042] The shape of the vibration plate can be set to circular, rectangular, irregular, etc. according to the shape of the shell at the corresponding position. It can be understood that in order to achieve better sound conduction effect, the entire surface of the vibration plate is best fitted with the shell at the corresponding position.

[0043] The driving module receives the voice electrical signal, converts it into an alternating current corresponding to the sound characteristics (frequency, loudness), and after amplification and / or filtering, inputs it into the coil. When the alternating current is passed through the coil, an alternating magnetic field is generated, which interacts with the constant magnetic field of the magnetic base to generate a Lorentz force. This Lorentz force pushes the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibration disk. The housing vibrates synchronously with the vibration disk (the vibration frequency is consistent with the sound frequency, and the amplitude is positively correlated with the loudness of the sound). The housing acts as a vibration source, and its vibration directly pushes the surrounding air to form sparse and dense waves (sound waves), which propagate in all directions and are eventually received by the human ear as sound.

[0044] Since the shell of a humanoid robot usually has a large surface area, the resonant sound-shape conduction device drives the entire shell to vibrate and produce sound through a vibration disk, so that the sound can be spread more evenly to the surroundings, expanding the coverage range and reducing the uneven sound field problem caused by the directionality of traditional speakers; at the same time, the vibration conduction of the shell can reduce the distortion during sound propagation and improve the clarity of sound quality.

[0045] By directly utilizing the humanoid robot's outer shell as the sound-generating component, there's no need for a complex speaker system inside or outside. This saves internal space, makes the humanoid robot's structure more compact, and prevents external speakers from damaging the overall aesthetics, maintaining a simple and smooth appearance. The vibration of the shell is synchronized with the sound signal, generating physical vibration feedback that matches the humanoid robot's movements and voice, giving the sound a stronger sense of reality and vividness. Especially in interactive scenarios such as conversations and performances, it can enhance the user's sense of presence and immersion, and improve the naturalness of human-computer interaction.

[0046] Compared with traditional high-quality speaker systems, this device simplifies the sound-generating structure through the synergy between the resonator and the housing, reduces the need for electronic components and complex wiring, and lowers production costs; at the same time, the modular design facilitates maintenance or replacement, further reducing long-term use costs.

[0047] In some embodiments, multiple resonant sound-shape transmission devices can be installed to increase local or overall volume, while also achieving a stereo effect. For example, the humanoid robot's housing is provided with multiple mounting areas, each of which is equipped with one or more resonant sound-shape transmission devices. For example, mounting areas can be provided on the shoulders, chest, and head, respectively. Two resonators can be installed in the chest mounting area, four resonators can be installed in the shoulder mounting area, and one resonator can be installed in the head mounting area.

[0048] By arranging resonant sound-shape conduction devices in multiple installation areas of the humanoid robot shell, a distributed vibration sound system can be formed, allowing sound to propagate synchronously from different positions, further expanding the sound field coverage, and avoiding the problem of local volume unevenness caused by single-point sound. This is especially suitable for large humanoid robots or those with movable joints. Moreover, by independently controlling the vibration frequency and intensity of the devices in different areas, stereo layering or local directional sound generation can be achieved (such as simulating human voices with the head and playing background music with the torso), enriching the layering of sound expression and adapting to more complex interaction or entertainment needs.

[0049] In addition to the above method, the overall volume can be increased and distortion can be reduced by setting resonators that receive different frequencies in different areas.

[0050] Exemplarily, the resonant sound-shape conduction device may further include a frequency division module for dividing the sound signal, and then transmitting the high-frequency sound signal, medium-frequency sound signal and low-frequency sound signal obtained after the frequency division to the sound receiving modules of the resonant sound-shape conduction device in different installation areas respectively. The resonant sound-shape conduction devices that receive the high-frequency sound signal, medium-frequency sound signal and low-frequency sound signal are respectively called a high-frequency resonator, a medium-frequency resonator and a low-frequency resonator.

[0051] Multiple vibration sources working simultaneously can disperse energy to a larger area of ​​the casing, push more air, and significantly increase the overall volume. It can be used in scenarios that require high-volume output, such as outdoors and noisy environments. Targeted driving can broaden the effective frequency response range and reduce distortion.

[0052] The sound signal is divided into high frequency, medium frequency and low frequency through the frequency division module, and transmitted to the resonators of the corresponding frequency bands respectively, so that the sounds of different frequency bands are vibrated and emitted by the most suitable area of ​​the shell, avoiding the limitation of a single vibration plate that is difficult to take into account the full-band response, and significantly improving the clarity, layering and dynamic range of the sound.

[0053] Different areas of the shell respond better to different frequencies, and the thickness t1 of the shell at the position corresponding to the low-frequency resonator, the thickness t2 of the shell at the position corresponding to the intermediate-frequency resonator, and the thickness t3 of the shell at the position corresponding to the high-frequency resonator satisfy: t1>t2>t3.

[0054] Different parts of a humanoid robot's housing may respond differently to vibrations of different frequencies due to differences in material, thickness, or structure. By designing the humanoid robot's inherent thickness, we can achieve optimal resonator configuration. This allows for precise matching of vibration characteristics across frequency bands without adding additional components, ensuring structural reliability and cost-effectiveness.

[0055] The crossover design allows high-frequency, mid-frequency and low-frequency signals to drive the shell areas with matching vibration characteristics respectively. Among them, low-frequency vibration requires greater mass and inertia to maintain stable long-wave vibration. The thicker shell can provide sufficient mass support to avoid structural deformation or energy loss caused by excessive amplitude during low-frequency resonance; high-frequency vibration requires lighter and thinner materials to achieve rapid response. The thinner shell is conducive to improving the transmission efficiency of high-frequency sound waves and enhancing the clarity and detail of the sound.

[0056] By making the shell thickest in the low-frequency region (t1), second thickest in the mid-frequency region (t2), and thinnest in the high-frequency region (t3), a gradient transition of mechanical impedance is created, achieving optimal matching of vibration energy across frequency bands and reducing mutual interference between frequency bands. Furthermore, by distributing sounds of different frequency bands to different locations on the humanoid robot's shell, the directional characteristics of natural sound sources can be simulated, enhancing the three-dimensionality and spatial positioning of sounds, making human-computer interaction more like a real conversation experience.

[0057] As an optional implementation plan, the high-frequency resonator can be installed on the head to achieve more precise sound wave pointing, facilitating directional sound propagation during conversations; the mid-frequency resonator can be installed on the shoulder to simulate the resonance effect of the shoulder and neck when humans speak, and together with the high frequency of the head and the low frequency of the chest, it forms a "head-shoulder-chest" three-frequency sound system that conforms to the acoustic characteristics of the human body, making the humanoid robot's voice more humane; the low-frequency resonator can be installed on the chest to utilize the larger surface area of ​​the chest cavity to achieve uniform diffusion of low-frequency sound waves, enhancing the weight and authority of the voice.

[0058] For example, two low-frequency resonators can be set in the chest cavity to cover the frequency band below 100Hz (such as engine sounds, drum beats, etc.); four mid-frequency resonators can be set in the shoulders to cover the fundamental frequency of human voice (frequency between 300-3kHz); and one high-frequency resonator can be set in the head to be responsible for the details and brightness of the sound (such as sibilance, overtones, etc., with frequencies greater than 3kHz).

[0059] To ensure sound transmission quality, a layer of elastic material can be provided between the low-frequency resonator and the mounting surface of the housing. This layer of elastic material can buffer the high-amplitude vibrations of the low-frequency resonator, converting more low-frequency mechanical energy into acoustic energy rather than structural vibration loss, thereby preventing resonant noise from the housing structure. It also enhances the elasticity of the low-frequency response, making the bass richer and fuller without distortion.

[0060] One or more grooves can be opened on the mounting surface between the intermediate frequency resonator and the housing, and the grooves are filled with elastic material. By opening grooves and filling them with elastic material on the mounting surface of the intermediate frequency resonator, the stiffness and damping characteristics of the intermediate frequency vibration conduction can be precisely controlled. That is, by adjusting the distribution density of the grooves and the hardness of the filling material, the selective suppression or enhancement of specific intermediate frequency resonance points can be achieved, which is equivalent to mechanical EQ adjustment, avoiding the occurrence of resonance peaks in the intermediate frequency band and ensuring the clarity and naturalness of the fundamental frequency of the human voice.

[0061] A composite material layer can be arranged between the high-frequency resonator and the mounting surface of the shell, and the composite material layer includes a stiffness material layer, a damping material layer and a porous material layer. The stiffness material layer, the damping material layer and the porous material layer are bonded in sequence, and the porous material layer is attached to the mounting surface of the high-frequency resonator and the shell.

[0062] The composite material layer allows high-frequency vibration energy to be gradually coupled to the shell through the gradient material, reducing reflection and standing wave formation, that is, the rigid material layer provides support stability and efficiently transmits the intermediate frequency signal; the damping material layer can absorb local resonance of the shell (such as the "metallic sound" of 5kHz-8kHz), making the frequency response curve flatter; the porous material layer can be realized by porous silicone, for example, to optimize sound wave diffusion and absorb mid- and low-frequency crosstalk. The three work together to significantly improve high-frequency clarity and detail performance.

[0063] For a specific method of powering a humanoid robot based on the above-mentioned humanoid robot resonant sound-shape transmission device, please refer to Figure 3 As shown, it may include the following steps: S210, the sound receiving unit receives the sound signal emitted by the humanoid robot and converts the sound signal into an audio electrical signal; S220: The driving module receives the audio electrical signal and drives the coil to generate an alternating magnetic field after filtering and amplifying the audio electrical signal. S230. The interaction between the magnetic base made of permanent magnet material and the alternating magnetic field of the coil generates a Lorentz force, which pushes the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibration disk. The shell vibrates synchronously with the vibration disk and pushes the air molecules in contact with its surface, generating sound waves in the air and propagating to all directions.

[0064] The humanoid robot of the present invention includes the above-mentioned humanoid robot resonant sound-shape transmission device. Other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0065] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.

[0066] The above-mentioned implementation manner is only a preferred embodiment of the embodiment of the present invention and cannot be used to limit the scope of protection of the embodiment of the present invention. Any non-substantial changes and replacements made by technical personnel in this field on the basis of the embodiment of the present invention shall fall within the scope of protection required by the embodiment of the present invention.

Claims

1. A humanoid robot resonant sound-shape transmission device, characterized in that: The resonant sound-shape conduction device includes a sound receiving module, a driving module, a coil, a magnetic base and a vibration disk, wherein one end of the magnetic base extends into the coil, and the other end of the magnetic base extends outside the coil and is fixedly connected to the vibration disk, and the vibration disk is fixedly installed on the outside or inside of the shell of the humanoid robot. The sound receiving module is used to receive the sound signal emitted by the humanoid robot; the driving module receives the sound signal and drives the coil to generate an alternating magnetic field, and the alternating magnetic field drives the magnetic base to move regularly along the axial direction of the coil, so that the vibration disk drives the shell of the humanoid robot to vibrate synchronously and regularly, and spreads the sound signal to the surroundings.

2. The humanoid robot resonant sound-shape transmission device according to claim 1, wherein: A plurality of installation areas are provided on the shell of the humanoid robot, and one or more resonant sound-shape conducting devices are installed in each installation area.

3. The humanoid robot resonant sound and shape transmission device according to claim 2, wherein: The resonant sound and shape conduction device also includes a frequency division module for dividing the sound signal, and then transmitting the high-frequency sound signal and low-frequency sound signal obtained after the frequency division to the sound receiving modules of the resonant sound and shape conduction devices in different installation areas respectively. The resonant sound and shape conduction devices that receive the high-frequency sound signal and the low-frequency sound signal are respectively called high-frequency resonators and low-frequency resonators.

4. The humanoid robot resonant sound and shape transmission device according to claim 3, wherein: An elastic material layer is provided between the low-frequency resonator and the mounting surface of the shell; or / and, a composite material layer is provided between the high-frequency resonator and the mounting surface of the shell, the composite material layer including a stiffness material layer, a damping material layer and a porous material layer, the stiffness material layer, the damping material layer and the porous material layer are bonded in sequence, and the porous material layer is affixed to the mounting surface of the high-frequency resonator and the shell.

5. The humanoid robot resonant sound and shape transmission device according to claim 3, characterized in that: The thickness t1 of the shell at a position corresponding to the low-frequency resonator and the thickness t3 of the shell at a position corresponding to the high-frequency resonator satisfy: t1>t3.

6. The humanoid robot resonant sound-shape transmission device according to claim 3, wherein: The high-frequency resonator is installed on the head of the humanoid robot, and the low-frequency resonator is installed on the chest of the humanoid robot.

7. The humanoid robot resonant sound and shape transmission device according to claim 3, wherein: The frequency division module is further used to divide the sound signal into intermediate frequency sound signals, and the resonant sound-shape conducting device that receives the intermediate frequency sound signals is called an intermediate frequency resonator.

8. The humanoid robot resonant sound and shape transmission device according to claim 7, characterized in that: One or more grooves are provided on the mounting surface between the intermediate frequency resonator and the housing, and the grooves are filled with elastic material; or / and, the thickness t1 of the housing at the corresponding position of the low frequency resonator, the thickness t2 of the housing at the corresponding position of the intermediate frequency resonator, and the thickness t3 of the housing at the corresponding position of the high frequency resonator satisfy the following conditions: t1>t2>t3; or / and, the intermediate frequency resonator is mounted on the shoulder of the humanoid robot.

9. A method for resonant sound and shape transmission of a humanoid robot, using the resonant sound and shape transmission device of a humanoid robot according to any one of claims 1 to 8, characterized in that: It includes the following steps: The sound receiving unit receives the sound signal emitted by the humanoid robot and converts the sound signal into an audio electrical signal; The driving module receives the audio electrical signal and drives the coil to generate an alternating magnetic field after filtering and amplifying the audio electrical signal; The interaction between the magnetic base made of permanent magnet material and the alternating magnetic field of the coil generates a Lorentz force, which pushes the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibration disk. The shell vibrates synchronously with the vibration disk and pushes the air molecules in contact with its surface, generating sound waves in the air and propagating in all directions.

10. A humanoid robot, characterized in that The invention comprises the humanoid robot resonant sound-shape conduction device according to any one of claims 1 to 8.

Images