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

Abstract

The application discloses a humanoid robot resonance sound shape conduction device, a conduction 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 vibrating disc. One end of the magnetic base extends into the coil, the other end of the magnetic base extends out of the coil and is fixedly connected with the vibrating disc. The vibrating disc is fixedly installed on the outside or the inside of the shell of the humanoid robot. The sound receiving module is used for receiving sound signals emitted by the humanoid robot. The driving module receives the sound signals 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 vibrating disc drives the shell of the humanoid robot to vibrate regularly and synchronously, and the sound signals are spread to the surroundings. The combination of the resonance sound shape conduction device and the shell structure can reduce the cost to a certain extent, meanwhile, the electronic components and wiring required by the loudspeaker system are reduced, and the production and maintenance costs are reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a resonant acoustic transmission device, transmission method, and humanoid robot for a humanoid robot. Background Technology

[0002] With the rapid development of humanoid robot technology, voice interaction has become an important manifestation of its intelligence. Currently, the sound propagation of humanoid robots mainly relies on built-in or external speaker systems. However, existing technologies have the following problems:

[0003] Complex traditional speaker systems not only increase the structural complexity of humanoid robots, but also occupy valuable internal space, affecting the layout of other functional modules. Moreover, external speaker systems often disrupt the overall appearance design of humanoid robots, making it difficult to coordinate with the biomimetic form of humanoid robots and reducing the user experience. Summary of the Invention

[0004] 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 conduction device, conduction method and humanoid robot, which achieves high-efficiency acoustic performance while taking into account space utilization, aesthetics, interactive experience and economy, and provides a lightweight and highly integrated sound conduction solution for humanoid robots.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A resonant sound transmission device for a humanoid robot includes a sound receiving module, a driving module, a coil, a magnetic base, and a vibrating disk. One end of the magnetic base extends into the coil, and the other end extends outside the coil and is fixedly connected to the vibrating disk. The vibrating disk is fixedly installed on the outside or inside of the humanoid robot's shell. The sound receiving module receives sound signals emitted by the humanoid robot. The driving module receives the sound signals 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 vibrating disk drives the humanoid robot's shell to vibrate synchronously and regularly, propagating the sound signals in all directions.

[0007] 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 humanoid robot's voice-generating device. For example, the humanoid robot directly transmits the voice electrical signal obtained based on AI technology or text analysis to the drive module. The drive 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. This Lorentz force pushes the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibrating disk. The outer shell vibrates synchronously with the vibrating disk and pushes the air molecules in contact with its surface to generate sound waves in the air, which propagate in all directions.

[0008] Since humanoid robot shells typically have a large surface area, the resonant sound transmission device uses a vibrating plate to drive the entire shell to vibrate and produce sound, making the sound spread more evenly in all directions, expanding the coverage area, and reducing the sound field unevenness caused by the directivity of traditional speakers; at the same time, the shell vibration transmission can reduce distortion during sound propagation and improve sound quality clarity.

[0009] At the same time, by directly using the humanoid robot shell as the sound-generating component, there is no need to set up a complex speaker system such as an independent sound chamber or diaphragm inside or outside, which saves internal space, makes the humanoid robot structure layout more compact, and avoids external speakers from ruining the overall aesthetics, keeping the appearance simple and smooth.

[0010] Moreover, the shell vibration 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 realism and vividness. Especially in interactive scenarios such as dialogue and performance, it can enhance the user's sense of presence and immersion, and improve the naturalness of human-computer interaction.

[0011] Compared to traditional high-quality loudspeaker systems, this device simplifies the sound-generating structure through the synergistic effect of the resonator and the housing, reducing the need for electronic components and complex wiring, and lowering production costs; at the same time, the modular design facilitates maintenance or replacement, further reducing long-term operating costs.

[0012] In a preferred embodiment, the shell of the humanoid robot is provided with multiple mounting areas, and one or more of the resonant acoustic conduction devices are installed in each mounting area.

[0013] By arranging resonant sound conduction devices in multiple installation areas on the shell of a humanoid robot, a distributed vibration sound generation system can be formed, allowing sound to propagate synchronously from different locations, further expanding the sound field coverage, and avoiding the problem of uneven local volume caused by single-point sound generation. This is especially suitable for large or movable joint humanoid robots. 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 in the head and playing background music in the torso), enriching the sense of layering in sound expression and adapting to more complex interactive or entertainment needs.

[0014] In a preferred embodiment, the resonant acoustic wave conduction device further includes a frequency division module for dividing the sound signal into frequencies, and then transmitting the high-frequency sound signal and low-frequency sound signal obtained after frequency division to the sound receiving modules of the resonant acoustic wave conduction device in different installation areas. The resonant acoustic wave 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.

[0015] Multiple vibration sources operating simultaneously can distribute energy over a larger area of ​​the casing, pushing more air and significantly increasing the overall volume. This makes it suitable for scenarios requiring high volume output, such as outdoors or in noisy environments. Different areas of the casing respond better to different frequencies, and targeted driving can widen the effective frequency response range and reduce distortion.

[0016] The sound signal is divided into high-frequency and low-frequency components by a crossover module, and then transmitted to the corresponding resonators (high-frequency resonator and low-frequency resonator) for each frequency band. This allows the sound of different frequency bands to vibrate and produce sound from the most suitable area of ​​the housing, avoiding the limitations of a single vibrating plate that cannot handle the entire 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 areas with high rigidity and 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).

[0017] Furthermore, different parts of a humanoid robot's shell may respond differently to vibrations at different frequencies due to variations in material, thickness, or structure. Frequency division design allows high-frequency, mid-frequency, and low-frequency signals to drive shell regions with matched vibration characteristics, thereby reducing distortion and improving sound fidelity.

[0018] In some embodiments, by distributing sounds of different frequency bands to different locations on the shell of a humanoid robot, the directional characteristics of natural sound sources can be simulated, enhancing the stereoscopic and spatial positioning of the sound, making human-computer interaction closer to a real conversation experience.

[0019] In a preferred embodiment, an elastic material layer is disposed between the low-frequency resonator and the mounting surface of the housing; or / and, a composite material layer is disposed between the high-frequency resonator and the mounting surface of the housing, the composite material layer comprising a stiffening material layer, a damping material layer and a porous material layer, the stiffening material layer, the damping material layer and the porous material layer being bonded in sequence, and the porous material layer being attached to the mounting surface of the low-frequency resonator and the housing.

[0020] The elastic material layer buffers the large-amplitude vibrations of the low-frequency resonator, converting more low-frequency mechanical energy into acoustic energy rather than structural vibration loss, thus preventing resonance noise from the shell structure. It also enhances the elasticity of the low-frequency response, making the bass richer and fuller without distortion. The composite material layer allows high-frequency vibration energy to be gradually coupled to the shell through gradient materials, reducing reflections and standing wave formation. In other words, it provides support and stability through the stiffness material layer, efficiently transmitting high frequencies. The damping material layer absorbs local resonances in the shell, making the frequency response curve flatter. The porous material layer, which can be achieved using porous (honeycomb) silicone, optimizes sound wave diffusion and absorbs mid-to-low frequency crosstalk. These three elements work synergistically to significantly improve high-frequency clarity and detail.

[0021] In a preferred embodiment, the thickness t1 of the outer shell at the position corresponding to the low-frequency resonator and the thickness t3 of the outer shell at the position corresponding to the high-frequency resonator satisfy: t1 > t3.

[0022] The optimal configuration of the resonator can be achieved through differentiated thickness design of the humanoid robot itself. This allows for precise matching of vibration characteristics across different frequency bands without adding any additional components, ensuring structural reliability and economy. Specifically, low-frequency vibrations require greater mass and inertia to maintain stable long-wave vibrations; a thicker shell provides sufficient mass support, preventing structural deformation or energy loss due to excessive amplitude during low-frequency resonance. High-frequency vibrations require thinner materials for rapid response; a thinner shell improves the transmission efficiency of high-frequency sound waves, enhancing clarity and detail.

[0023] 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.

[0024] Installing a high-frequency resonator on the head allows for more precise sound wave directionality, facilitating directional sound propagation during conversations; installing a low-frequency resonator on the chest utilizes the larger surface area of ​​the chest cavity to achieve uniform diffusion of low-frequency sound waves, enhancing the depth and authority of the voice.

[0025] 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 acoustic transmission device that receives the intermediate frequency sound signal is called an intermediate frequency resonator.

[0026] The mid-frequency band is the core frequency band for human voices 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 system is formed, covering a wider range of sound spectrum and significantly improving speech clarity and expressiveness.

[0027] In a preferred embodiment, one or more grooves are formed 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.

[0028] By creating grooves on the mounting surface of the mid-frequency resonator and filling them with elastic material, the stiffness and damping characteristics of mid-frequency vibration transmission can be precisely controlled, avoiding resonance peaks in the mid-frequency band and ensuring clear and natural vocal frequencies.

[0029] By making the outer shell thickest in the low-frequency region, followed by the mid-frequency region, and thinnest in the high-frequency region, 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.

[0030] By mounting mid-frequency resonators on the shoulders, the resonance effect of the shoulder and neck area during human vocalization is simulated. Together with the high frequencies of the head and the low frequencies of the chest, this forms a "head-shoulder-chest" three-frequency vocalization system that conforms to the acoustic characteristics of the human body, making the humanoid robot's voice more human-like. For example, two low-frequency resonators can be placed in the chest cavity to cover the frequency band below 100Hz; four mid-frequency resonators can be placed in the shoulders to cover the fundamental frequency of human voice; and one high-frequency resonator can be placed in the head to handle the detail and brightness of the sound.

[0031] A method for resonant sound transmission in a humanoid robot, employing the aforementioned resonant sound transmission device for a humanoid robot, includes the following steps:

[0032] The sound receiving unit receives the sound signals emitted by the humanoid robot and converts the sound signals into audio electrical signals;

[0033] The driving module receives the audio electrical signal and, after filtering and amplifying the audio electrical signal, drives the coil to generate an alternating magnetic field.

[0034] The magnetic base made of permanent magnet material interacts with the alternating magnetic field of the coil to generate a Lorentz force. This Lorentz force drives the magnetic base to move along the axial direction of the coil, thereby driving the reciprocating vibration of the vibrating disk. The outer shell vibrates synchronously with the vibrating disk and pushes the air molecules in contact with its surface to generate sound waves in the air, which propagate in all directions.

[0035] Since humanoid robot shells typically have a large surface area, the resonant sound transmission device uses a vibrating plate to drive the entire shell to vibrate and produce sound, making the sound spread more evenly in all directions, expanding the coverage area, and reducing the sound field unevenness caused by the directivity of traditional speakers; at the same time, the shell vibration transmission can reduce distortion during sound propagation and improve sound quality clarity.

[0036] Meanwhile, by directly using the humanoid robot shell as the sound-generating component, there is no need to set up a complex speaker system inside or outside, which saves internal space, makes the humanoid robot's structural layout more compact, and avoids external speakers from ruining the overall aesthetics, keeping the appearance simple and smooth.

[0037] Moreover, the shell vibration 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 realism and vividness. Especially in interactive scenarios such as dialogue and performance, it can enhance the user's sense of presence and immersion, and improve the naturalness of human-computer interaction.

[0038] Compared to traditional high-quality loudspeaker systems, this device simplifies the sound-generating structure through the synergistic effect of the resonator and the housing, reducing the need for electronic components and complex wiring, and lowering production costs; at the same time, the modular design facilitates maintenance or replacement, further reducing long-term operating costs.

[0039] Humanoid robot, including the aforementioned humanoid robot resonant sound and shape transmission device.

[0040] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of the humanoid robot resonant sound transmission device of the present invention;

[0042] Figure 2 This is a schematic diagram of the humanoid robot resonant sound transmission device of the present invention;

[0043] Figure 3 This is a schematic flowchart of the resonant sound transmission method for humanoid robots according to the present invention. Detailed Implementation

[0044] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment are commercially available. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0045] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0048] Please refer to Figure 1 and 2As shown, this invention provides a resonant sound transmission device for a humanoid robot, which may include a sound receiving module 170, a driving module 180, a coil 120, a housing 110, a magnetic base 130, and a vibrating disk 160. The combined structure of the coil, housing, magnetic base, and vibrating disk is referred to as a resonator. The sound receiving unit receives sound signals emitted by the humanoid robot and converts them into audio electrical signals. The driving module receives the audio electrical signals and, after filtering and amplification, drives the coil to energize. For example, the sound receiving module and the driving module can be integrated into the humanoid robot's built-in sound generating device. The humanoid robot directly transmits the voice electrical signals obtained based on AI technology or text analysis to the driving module, which is then connected to the coil via wires.

[0049] The coil is wound around a hollow tube, and the upper end of the hollow tube is fixedly connected to the upper end of the inner wall of the shell. The magnetic base is a cylindrical or ring-shaped permanent magnet, axially magnetized (e.g., one end is an N pole and the other end is an S pole). One end of the magnetic base is inserted into the hollow tube, and the other end extends to the opening at the lower end of the hollow tube. The magnetic base and the hollow tube are coaxial and there is a certain gap between them. The shell also adopts a structure with an open lower end. The other end of the magnetic base is fixedly connected to the vibrating plate 160 located outside the shell through the connector 140 or directly integrally formed with the vibrating plate. The vibrating plate is fixedly connected to the shell of the humanoid robot.

[0050] In some other embodiments, to prevent the magnetic base from shifting, a guide 150 can be provided on the lower side of the housing. The guide has a hollow structure with an open top, and a guide structure is provided between its outer wall and the inner wall of the housing. For example, a slider is provided on the outer wall of the guide, and a groove is provided on the inner wall of the housing that is axially distributed and cooperates with the slider. It is understood that the coil and the magnetic base are located in the area enclosed by the housing and the guide. The other end of the magnetic base is fixedly connected to the center of the bottom of the inner side of the guide, and the vibrating plate is fixedly connected to the center of the outer side of the guide through the connector 140.

[0051] The shape of the vibratory plate can be set to a circle, rectangle, or irregular shape according to the shape of the shell at the corresponding position. Understandably, in order to achieve a better sound transmission effect, the entire surface of the vibratory plate should ideally fit in close contact with the shell at the corresponding position.

[0052] The drive 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. After the alternating current is passed through the coil, it generates an alternating magnetic field, 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 vibrating disk. The outer shell vibrates synchronously with the vibrating disk (the vibration frequency is consistent with the sound frequency, and the amplitude is positively correlated with the sound loudness). The outer shell acts as a vibration source, and its vibration directly pushes the surrounding air to form rarefaction waves (sound waves), which propagate in all directions and are ultimately received by the human ear as sound.

[0053] Since humanoid robot shells typically have a large surface area, the resonant sound transmission device uses a vibrating plate to drive the entire shell to vibrate and produce sound, making the sound spread more evenly in all directions, expanding the coverage area, and reducing the sound field unevenness caused by the directivity of traditional speakers; at the same time, the shell vibration transmission can reduce distortion during sound propagation and improve sound quality clarity.

[0054] By directly using the humanoid robot shell as the sound-generating component, there is no need to set up a complex speaker system inside or outside, which saves internal space, makes the humanoid robot's structural layout more compact, and avoids external speakers from ruining the overall aesthetics, keeping the appearance simple and smooth.

[0055] The shell vibration 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 realism and vividness. Especially in interactive scenarios such as dialogue and performance, it can enhance the user's sense of presence and immersion, and improve the naturalness of human-computer interaction.

[0056] Compared to traditional high-quality loudspeaker systems, this device simplifies the sound-generating structure through the synergistic effect of the resonator and the housing, reducing the need for electronic components and complex wiring, and lowering production costs; at the same time, the modular design facilitates maintenance or replacement, further reducing long-term operating costs.

[0057] In some embodiments, multiple resonant sound-conducting devices can be used to enhance local or overall volume, while also achieving a stereo effect. For example, multiple mounting areas are provided on the shell of the humanoid robot, and one or more of the aforementioned resonant sound-conducting devices are installed in each mounting area. For instance, mounting areas can be provided on the shoulder, chest, and head respectively; two resonators can be installed in the chest mounting area, four resonators in the shoulder mounting area, and one resonator in the head mounting area.

[0058] By arranging resonant sound conduction devices in multiple installation areas on the shell of a humanoid robot, a distributed vibration sound generation system can be formed, allowing sound to propagate synchronously from different locations, further expanding the sound field coverage, and avoiding the problem of uneven local volume caused by single-point sound generation. This is especially suitable for large or movable joint humanoid robots. 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 in the head and playing background music in the torso), enriching the sense of layering in sound expression and adapting to more complex interactive or entertainment needs.

[0059] Building upon the methods described above, the overall volume can be increased and distortion reduced by setting up resonators that receive different frequencies in different areas.

[0060] For example, the resonant sound-shaped conduction device may further include a frequency division module for dividing the sound signal into frequencies, and then transmitting the high-frequency sound signal, mid-frequency sound signal and low-frequency sound signal obtained after frequency division to the sound receiving module of the resonant sound-shaped conduction device in different installation areas respectively. The resonant sound-shaped conduction device that receives the high-frequency sound signal, mid-frequency sound signal and low-frequency sound signal is referred to as a high-frequency resonator, a mid-frequency resonator and a low-frequency resonator respectively.

[0061] Multiple vibration sources working simultaneously can distribute energy over a larger area of ​​the casing, pushing more air and significantly increasing the overall volume. This makes it suitable for scenarios requiring high volume output, such as outdoors and noisy environments. Targeted driving can broaden the effective frequency response range and reduce distortion.

[0062] The sound signal is divided into high frequency, mid frequency and low frequency by the frequency division module and transmitted to the resonator of the corresponding frequency band. This allows the sound of different frequency bands to vibrate and produce sound from the most suitable shell area, avoiding the limitation of a single vibrating plate that cannot cover the full frequency response, and significantly improving the clarity, layering and dynamic range of the sound.

[0063] Different regions of the shell have better response to different frequencies. 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 mid-frequency resonator, and the thickness t3 of the shell at the position corresponding to the high-frequency resonator satisfy the following: t1 > t2 > t3.

[0064] Different parts of a humanoid robot's shell may respond differently to vibrations at different frequencies due to variations in material, thickness, or structure. Optimal resonator configuration can be achieved through differentiated thickness design within the humanoid robot itself, enabling precise matching of vibration characteristics across various frequency bands without adding any extra components, thus ensuring structural reliability and cost-effectiveness.

[0065] The crossover design allows high-frequency, mid-frequency, and low-frequency signals to drive the shell regions with matched vibration characteristics respectively. Low-frequency vibration requires greater mass and inertia to maintain stable long-wave vibration. A 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 thinner and lighter materials to achieve fast response. A thinner shell is beneficial to improving the transmission efficiency of high-frequency sound waves and enhancing the clarity and detail of the sound.

[0066] By making the shell thickest in the low-frequency range (t1), followed by the mid-frequency range (t2), and thinnest in the high-frequency range (t3), a gradient transition of mechanical impedance is created, achieving optimal matching of vibration energy across frequency bands and reducing mutual interference between bands. Furthermore, by distributing sound from different frequency bands to different locations on the humanoid robot's shell, the directional characteristics of natural sound sources can be simulated, enhancing the stereoscopic and spatial positioning of the sound, making human-computer interaction closer to a realistic dialogue experience.

[0067] As an alternative implementation, a high-frequency resonator can be installed in the head to achieve more precise sound wave directionality, facilitating the directional propagation of sound during dialogue; a mid-frequency resonator can be installed in the shoulder to simulate the resonance effect of the shoulder and neck area when humans speak, forming a "head-shoulder-chest" three-frequency vocalization system that conforms to human acoustic characteristics, making the humanoid robot's voice more human-like; a low-frequency resonator can be installed in the chest to utilize the large surface area of ​​the chest cavity to achieve uniform diffusion of low-frequency sound waves, enhancing the depth and authority of the voice.

[0068] For example, two low-frequency resonators can be placed in the chest cavity to cover the frequency band below 100Hz (such as engine sounds, drum beats, etc.); four mid-frequency resonators can be placed in the shoulders to cover the fundamental frequency of human voice (frequency between 300-3kHz); and one high-frequency resonator can be placed in the head to be responsible for the details and brightness of the sound (such as sibilance, overtones, etc., with frequencies greater than 3kHz).

[0069] To ensure sound transmission quality, an elastic material layer can be placed between the low-frequency resonator and the mounting surface of the housing. The elastic material layer can buffer the large-amplitude vibration of the low-frequency resonator, converting more low-frequency mechanical energy into sound energy rather than structural vibration loss, avoiding resonance noise from the housing structure, and enhancing the elasticity of the low-frequency response, making the bass richer and fuller without distortion.

[0070] One or more grooves can be formed on the mounting surface between the mid-frequency resonator and the housing. The grooves are filled with elastic material. By forming grooves on the mounting surface of the mid-frequency resonator and filling them with elastic material, the stiffness and damping characteristics of mid-frequency vibration transmission can be precisely controlled. That is, by adjusting the distribution density of the grooves and the hardness of the filling material, selective suppression or enhancement of specific mid-frequency resonance points can be achieved, which is equivalent to mechanical EQ adjustment. This avoids resonance peaks in the mid-frequency band and ensures the clarity and naturalness of the fundamental frequency of human voice.

[0071] A composite material layer can be provided between the high-frequency resonator and the mounting surface of the housing. The composite material layer includes a stiffening material layer, a damping material layer and a porous material layer. The stiffening material layer, the damping material layer and the porous material layer are bonded together in sequence, and the porous material layer is attached to the mounting surface of the high-frequency resonator and the housing.

[0072] The composite material layer allows high-frequency vibration energy to be gradually coupled to the shell through gradient materials, reducing reflection and standing wave formation. In other words, the stiffness material layer provides support stability and efficiently conducts mid-frequency signals. The damping material layer can absorb local resonances in the shell (such as the "metallic sound" of 5kHz-8kHz), making the frequency response curve flatter. The porous material layer, such as porous silicone, is used to optimize sound wave diffusion and absorb mid- and low-frequency crosstalk. The three work together to significantly improve high-frequency clarity and detail.

[0073] For a detailed method of powering a humanoid robot using the aforementioned resonant acoustic conduction device, please refer to [reference needed]. Figure 3 As shown, it may include the following steps:

[0074] S210, The sound receiving unit receives the sound signal emitted by the humanoid robot and converts the sound signal into an audio electrical signal;

[0075] 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;

[0076] S230. The alternating magnetic field of the magnetic base made of permanent magnet material interacts with the coil 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 vibrating disk. The outer shell vibrates synchronously with the vibrating disk and pushes the air molecules in contact with its surface to generate sound waves in the air, which propagate in all directions.

[0077] The humanoid robot of the present invention includes the above-described humanoid robot resonant sound and shape conduction device. The other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0078] Although only certain components and embodiments of this application have been illustrated and described, many modifications and alterations will be apparent to those skilled in the art without actually departing from the scope and spirit of the claims, such as variations in the size, dimensions, structure, shape and proportion of the various elements, installation arrangement, material use, color, orientation, etc.

[0079] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the embodiments of the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A humanoid robot resonant acoustic form conduction device, characterized by, The resonant sound transmission device includes a sound receiving module, a driving module, a coil, a magnetic base, and a vibrating disk. One end of the magnetic base extends into the coil, and the other end extends out of the coil and is fixedly connected to the vibrating disk. The vibrating disk is fixedly installed on the outside or inside of the humanoid robot's shell. The sound receiving module receives 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. The alternating magnetic field drives the magnetic base to move regularly along the axial direction of the coil, so that the vibrating disk drives the humanoid robot's shell to vibrate synchronously and regularly, propagating the sound signal in all directions. The humanoid robot has multiple mounting areas on its shell, and one or more of the resonant sound-sound conduction devices are installed in each mounting area. The resonant sound-sound conduction device also includes a frequency division module for dividing the sound signal into frequencies, and then transmitting the high-frequency sound signal, mid-frequency sound signal and low-frequency sound signal obtained after frequency division to the sound receiving module of the resonant sound-sound conduction device in different mounting areas. The resonant sound-sound conduction devices that receive the high-frequency sound signal, mid-frequency sound signal and low-frequency sound signal are respectively called high-frequency resonator and low-frequency resonator. The thickness t1 of the shell corresponding to the low-frequency resonator, the thickness t2 of the shell corresponding to the mid-frequency resonator, and the thickness t3 of the shell corresponding to the high-frequency resonator satisfy the following condition: t1 > t2 > t3.

2. The humanoid robot resonant sound-shape conduction device as described in claim 1, characterized in that, 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 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 being bonded in sequence, and the porous material layer being attached to the mounting surface of the high-frequency resonator and the housing.

3. The humanoid robot resonant sound-shape conduction device as described in claim 1, characterized in that, The high-frequency resonator is installed in the head of the humanoid robot, the low-frequency resonator is installed in the chest of the humanoid robot, and the mid-frequency resonator is installed in the shoulder of the humanoid robot.

4. The humanoid robot resonant sound-shape conduction device as described in claim 1, characterized in that, One or more grooves are provided on the mounting surface between the mid-frequency resonator and the housing, and the grooves are filled with elastic material.

5. A humanoid robot, characterized in that, Includes the humanoid robot resonant sound-shape conduction device as described in any one of claims 1-4.

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