Method for determining robot auricle antenna layout and robot signal device

Abstract

The embodiment of the invention relates to the technical field of robot antennas, in particular to a method for determining a robot auricle antenna layout, a robot signal device and a robot. The method comprises the following steps: S1, establishing an auricle structure model; s2, on the auricle structure model, selecting a first area as a position for setting an antenna unit, and selecting a second area as a position for setting an electromagnetic function structure; s3, with improvement of the radiation performance and / or port performance of the antenna as an optimization target, collaborative optimization is carried out on the shape, size and position of the antenna unit on the first area and the spatial orientation and geometric parameters of the electromagnetic function structure through electromagnetic simulation; and S4, outputting the optimized final design parameters of the antenna unit and the electromagnetic function structure. According to the method, antenna design and a robot auricle structure are fused, shielding and attenuation of electromagnetic waves by a metal machine body and an internal structure are avoided, and the anti-interference capability and the communication stability of the robot in a complex environment are improved.

Description

Technical Field

[0001] Embodiments of this application relate to the field of robot antenna technology, specifically to a method for determining the layout of a robot's auricular antenna, a robot signaling device, and a robot. Background Technology

[0002] The statements herein are provided merely as background information in connection with this application and do not necessarily constitute prior art.

[0003] Signal transmission and reception are the core support for robots to achieve autonomous decision-making, environmental interaction, and collaborative operation. As robotics technology penetrates deeper into fields such as industrial automation, healthcare services, and autonomous driving, its reliance on communication becomes increasingly significant. Signal quality directly determines the robot's response speed, operational safety, and task completion rate. Low-latency, high-reliability communication links have become a key prerequisite for the intelligent upgrading of robots. However, in traditional robot antenna technology, to ensure excellent signal transmission and reception performance, an external antenna is usually placed on the robot's head. This not only disrupts the biomimetic appearance but also makes the exposed antenna vulnerable to damage and has poor reliability. To maintain the robot's biomimetic appearance, the antenna is usually hidden in the robot's shell. However, it is subject to electromagnetic shielding from the body structure, which reduces signal transmission and reception performance. Therefore, traditional robot antenna technology can hardly meet the modern robot's requirements for high reliability, low latency, and wide adaptability in communication. Developing new antenna designs that integrate with the robot structure, resist dynamic interference, and adapt to multiple scenarios is crucial. Summary of the Invention

[0004] A brief overview of this application is provided below to offer a basic understanding of certain aspects thereof. It should be understood that this overview is not an exhaustive summary of the application. It is not intended to identify key or essential parts of the application, nor is it intended to limit its scope. Its purpose is merely to present certain concepts in a simplified form as a prelude to the more detailed description that follows.

[0005] In a first aspect, embodiments of this application provide a method for determining the layout of a robot auricular antennas, the method comprising the following steps: S1: establishing an auricular structure model; S2: selecting at least one first region on the auricular structure model as the location for setting antenna units, and selecting at least one second region as the location for setting electromagnetic functional structures; S3: with the optimization goal of improving the radiation performance and / or port performance of the antenna, based on the physiological structural characteristics of the auricular structure model, performing coordinated optimization of the shape, size, and position of the antenna units on the first region, as well as the spatial orientation and geometric parameters of the electromagnetic functional structures, through electromagnetic simulation; S4: outputting the final design parameters of the optimized antenna units and electromagnetic functional structures.

[0006] The method provided in this application establishes an auricle model and designs a first region and a second region on the auricle model, so that the antenna is combined with the auricle part of the robot. Taking advantage of the fact that the ear has no electromagnetic shielding at the robot's body, signal interruption caused by the robot's own structure is reduced, and the electromagnetic wave transmission and reception efficiency is improved. At the same time, by optimizing the radiation performance and port performance of the antenna unit, the antenna can maintain high signal transmission and reception efficiency in the robot's dynamic operation scenario and adapt to multi-band communication requirements, significantly improving the reliability of robot communication. By dividing the first region and the second region and co-optimizing them in electromagnetic simulation, the physiological structure of the auricle part can be fully utilized, so that the layout of the antenna unit and the electromagnetic functional structure is reasonable and they work together in signal transmission and reception. Electromagnetic interference can also be suppressed in a targeted manner, improving the robot's electromagnetic compatibility and signal transmission and reception efficiency. This effectively improves the signal stability and multi-band adaptability of the antenna in the robot's motion scenario, solving the problems of insufficient dynamic performance and poor scenario adaptability of traditional layouts. Furthermore, the output optimized design parameters can provide a basis for standardized production, which is conducive to reducing maintenance costs and promoting the large-scale application of robot ear antenna communication. This method deeply integrates antenna design with the robot's auricle structure. By utilizing the fact that the auricle has no electromagnetic shielding, it avoids the blockage and attenuation of electromagnetic waves by the metal body and internal structure, providing a smooth signal propagation path for the antenna unit. This achieves integrated communication module and body structure, improving the antenna's anti-interference capability during the robot's dynamic movement. Through the coordinated optimization of electromagnetic functional structure and antenna unit, it effectively reduces the impact of mechanical posture changes on signal transmission. At the same time, simulation optimization can quickly match the communication requirements of different scenarios, improving the robot's communication stability and operational reliability in complex environments.

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

[0008] Embodiments of this application also provide a robot, which includes: any one of the robot signaling devices provided in the embodiments of this application, wherein the communication units in the two robot signaling devices are configured to operate in different communication frequency bands.

[0009] These and other advantages of this application will become more apparent from the following detailed description of preferred embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0010] To further illustrate the above and other advantages and features of this application, the specific embodiments of this application will be described in more detail below with reference to the accompanying drawings. The drawings, together with the following detailed description, are included in and form a part of this specification. Elements having the same function and structure are indicated by the same reference numerals. It should be understood that these drawings only depict typical examples of this application and should not be considered as limiting the scope of this application.

[0011] Figure 1 This is a flowchart of a method for determining the layout of a robot's auricular antenna according to an embodiment of this application;

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

[0013] It should be noted that the accompanying drawings are not necessarily drawn to scale, but are shown only in a schematic manner without affecting the reader's understanding.

[0014] Explanation of reference numerals in the attached figures:

[0015] 10. Bionic head structure; 20. Communication unit. Detailed Implementation

[0016] Exemplary embodiments of this application will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the development of any such actual embodiment to achieve the developer's specific goals, such as complying with constraints related to the system and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the content of this application.

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

[0018] It should be noted that, unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning as understood by a person with ordinary skills in the field to which this application pertains.

[0019] In the description of the embodiments of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In related technologies, traditional antenna placement schemes have significant limitations in robot applications. Early robot development focused on mechanical execution functions, and communication modules were often installed as peripherals, lacking coordinated design with the robot body structure. As robots become smaller, their internal space becomes increasingly compact, and the size and layout of traditional antennas easily conflict with mechanical structures and sensor modules, making it difficult to achieve optimal installation in limited space. At the same time, during robot movement, the directivity of traditional fixed antennas is easily affected by attitude changes, leading to signal attenuation and exacerbated multipath effects, especially in complex environments where communication interruptions are likely to occur. Furthermore, traditional antennas are mostly single-band or directional, which cannot be compatible with the multi-band coordination required for 5G communication, and it is even more difficult to achieve the spatial diversity gain of MIMO (Multiple Input Multiple Output) technology, making it difficult to adapt to the cross-scenario operation requirements of robots—such as omnidirectional coverage required in indoor environments and high-gain directional transmission required for long-distance outdoor operations. Traditional solutions are difficult to take into account diverse communication scenarios.

[0021] To address the aforementioned technical problems, embodiments of this application provide a method for determining the layout of a robot's auricular antenna. Figure 1 This is a flowchart of a method for determining the layout of a robot's auricular antenna according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps: S1: Establish an auricular structure model; S2: On the auricular structure model, select at least one first region as the location for setting the antenna unit, and select at least one second region as the location for setting the electromagnetic functional structure; S3: With the optimization goal of improving the radiation performance and / or port performance of the antenna, based on the physiological structural characteristics of the auricular structure model, perform coordinated optimization of the shape, size, position of the antenna unit in the first region, as well as the spatial orientation and geometric parameters of the electromagnetic functional structure through electromagnetic simulation; S4: Output the final design parameters of the optimized antenna unit and electromagnetic functional structure.

[0022] The method provided in this application establishes an auricle model and designs a first region and a second region on the auricle model, so that the antenna is combined with the auricle part of the robot. Taking advantage of the fact that the ear has no electromagnetic shielding at the robot's body, signal interruption caused by the robot's own structure is reduced, and the electromagnetic wave transmission and reception efficiency is improved. At the same time, by optimizing the radiation performance and port performance of the antenna unit, the antenna can maintain high signal transmission and reception efficiency in the robot's dynamic operation scenario and adapt to multi-band communication requirements, significantly improving the reliability of robot communication. By dividing the first region and the second region and co-optimizing them in electromagnetic simulation, the physiological structure of the auricle part can be fully utilized, so that the layout of the antenna unit and the electromagnetic functional structure is reasonable and they work together in signal transmission and reception. Electromagnetic interference can also be suppressed in a targeted manner, improving the robot's electromagnetic compatibility and signal transmission and reception efficiency. This effectively improves the signal stability and multi-band adaptability of the antenna in the robot's motion scenario, solving the problems of insufficient dynamic performance and poor scenario adaptability of traditional layouts. Furthermore, the output optimized design parameters can provide a basis for standardized production, which is conducive to reducing maintenance costs and promoting the large-scale application of robot ear antenna communication. This method deeply integrates antenna design with the robot's auricular structure. Utilizing the auricle's lack of electromagnetic shielding, it avoids the blockage and attenuation of electromagnetic waves by the metal body and internal structures, providing a clear signal propagation path for the antenna unit and achieving integrated communication module and body structure. Simultaneously, by leveraging the physiological characteristics of the biological auricle (such as natural curvature and cavity shape) to arrange the antenna, it allows the antenna to better fit the ear structure, making the robot's overall shape closer to natural biological features and improving simulation accuracy. Through the synergistic optimization of the electromagnetic functional structure and antenna unit, it can also effectively reduce the impact of mechanical posture changes on signal transmission, enhance anti-interference capabilities during dynamic movement, and improve the robot's communication stability and operational reliability in complex environments.

[0023] In some embodiments, in step S1, an auricle model can be created in modeling software such as 3Dmax, SolidWorks, AutoCAD, etc., or it can be modeled using the built-in modeling function of electromagnetic simulation software such as CST Studio Suite, COMSOL Multiphysics, ANSYS HFSS, etc., or an existing auricle model or 3D scan can be imported. This application does not limit the modeling method of the auricle model.

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

[0025] In some embodiments, in step S2, the first region can be selected from the corresponding positions of ear anatomical structures such as the helix, tragus, and earlobe on the auricular structure model. This application does not limit this, but preferably, one or more of the corresponding positions of the helix, tragus, and earlobe on the auricular structure model can be selected as the first region.

[0026] In some embodiments, in step S3, electromagnetic simulation software such as CST Studio Suite, COMSOL Multiphysics, and ANSYS HFSS can be used to collaboratively optimize the shape, size, position, and spatial orientation and geometric parameters of the electromagnetic functional structure of the antenna element in the first region.

[0027] In some embodiments, improving the radiation performance of an antenna element includes, but is not limited to, increasing gain and directional radiation. Figure 1 Improve consistency and multipath interference resistance, and enhance the port performance of the antenna element, including but not limited to reducing the VSWR and improving port isolation.

[0028] In some embodiments, collaborative optimization employs a genetic algorithm or a particle swarm optimization algorithm for multi-parameter iterative optimization.

[0029] The embodiments provided in this application employ a genetic algorithm or a particle swarm optimization algorithm to perform multi-parameter iterative optimization on the shape, size, position, and spatial orientation and geometric parameters of the electromagnetic functional structure of the antenna unit in the first region. By iteratively optimizing multiple parameters through the algorithm, performance goals such as maximizing antenna radiation efficiency, minimizing electromagnetic interference, and optimizing frequency band adaptability can be achieved. At the same time, the geometric contour and spatial constraints of the auricle can be accurately matched, so that the system achieves the global optimal state of electromagnetic performance and structural adaptability while meeting the installation constraints of the robot's auricle's limited space, forming an integrated solution that coordinates performance and structure.

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

[0031] In some embodiments, step S3 further includes the following steps: determining that the electromagnetic functional structure is a reflective structure, and with the goal of maximizing the far-field gain in the direction directly in front of the robot, determining the spatial orientation deflection angle and radius of curvature of the reflective structure through electromagnetic simulation.

[0032] The embodiments provided in this application define the electromagnetic functional structure as a reflective structure and aim to maximize the far-field gain in the direction directly in front of the robot. By specifically optimizing its spatial orientation deflection angle and radius of curvature, the angle and curvature of the reflective structure can be controlled, effectively focusing the radiated energy of the antenna unit onto the directly in front region. This enhances the far-field gain in this direction and strengthens the signal interaction strength between the robot and targets in front (such as obstacles, collaborative devices, and manipulated objects). Simultaneously, the directional guidance of the reflective structure reduces lateral and rearward electromagnetic wave scattering, lowering energy loss and electromagnetic interference in non-target directions, making communication more stable in the robot's key interaction directions. This directional optimization design is suitable for scenarios such as mobile robot navigation, obstacle detection, and human-robot interaction, ensuring a significant improvement in signal transmission distance and anti-interference capability in the core direction, and enhancing the robot's operational reliability in dynamic environments.

[0033] In some embodiments, the spatial orientation deflection angle of the reflective structure is the angle between the normal to the reflective surface and the direction directly in front of the robot.

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

[0035] (1).

[0036] Where c is the speed of light, f is the antenna's operating center frequency, and m is the proportionality coefficient.

[0037] In some embodiments, the second region where the reflective structure is located can be the corresponding position of the concha cavity on the auricular structure model. The embodiments provided in this application can make full use of the natural concave curved surface shape of the concha cavity by setting the reflective structure on the concha cavity, without occupying additional internal space of the robot, avoiding the mechanical interference problem of traditional external reflective devices, and its non-electromagnetic shielding characteristics can reduce the attenuation loss of reflected signals, further improving energy utilization efficiency.

[0038] In some embodiments, step S3 further includes the following steps: selecting at least two first regions as locations for setting up antenna elements, and determining the isolation between antenna elements.

[0039] The embodiments provided in this application, by selecting at least two first regions to set up antenna units and determining their isolation, can effectively reduce electromagnetic coupling and signal interference between multiple antenna units, ensuring that each antenna unit maintains independent and stable performance when working together, which is beneficial for robots to realize multi-band communication and / or MIMO technology.

[0040] In some embodiments, at least the corresponding positions of the helix and tragus on the auricular structure model are selected as the first region. The embodiments provided in this application combine the spatial distribution characteristics of the auricular structure and set multiple first regions on the helix and tragus, which can utilize the natural concave and convex shape of the auricle to form physical isolation and improve the isolation of the antenna unit.

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

[0042] In the embodiments provided in this application, by introducing an impedance adjustment module in the simulation and performing collaborative optimization, the antenna can compensate for impedance mismatch in real time when environmental parameters change or the robot's posture is adjusted, maintain the stability of performance indicators such as VSWR and radiation efficiency, and enable the robot to maintain stable communication in complex and ever-changing scenarios.

[0043] Embodiments of this application also provide a robot signaling device. Figure 2 This is a schematic diagram of the structure of a robot signal device according to an embodiment of this application, as shown below. Figure 2 As shown, the device includes: a head bionic structure 10 with an ear shape; at least three communication units 20, which are embedded in, attached to, or formed by different anatomical positions of the outer ear portion of the head bionic structure 10; wherein the communication units 20 are configured to transmit and receive wireless communication signals.

[0044] The device provided in the embodiments of this application, by setting a head bionic structure 10 with an ear shape, and setting a communication unit 20 capable of transmitting and receiving wireless signals in the outer ear part of the head bionic structure 10, utilizes the structure of the outer ear to naturally guide the directional transmission and reception of electromagnetic waves. Simultaneously, due to the special position of the ear, there is no electromagnetic shielding around it, reducing the signal attenuation caused by the metal body, improving the transmission and reception efficiency and long-distance transmission stability of the robot's wireless communication. On the other hand, it avoids the damage to the overall structure of the robot caused by adding an additional antenna, saving body space, and making the communication module more concealed, improving the robot's appearance simulation, enhancing the user's interactive experience, and is suitable for service robots, collaborative robots, and other scenarios with high requirements for appearance friendliness. By setting at least three communication units 20 at different anatomical locations on the outer ear of a single device, when the device is applied to a bionic robot, it can be combined with three communication units 20 in another robot signal device to form a combined module containing six communication units. This can meet the robot's communication requirements for multiple frequency bands and multiple channels, support MIMO technology, and realize the parallel transmission of multiple signal standards. At the same time, the spatial separation of different anatomical locations on the outer ear (such as the helix, concha, and tragus) naturally forms physical isolation, which can effectively reduce the electromagnetic coupling between communication units 20, improve the independence and anti-interference ability of signals in each frequency band, enhance the robot's communication transmission and reception capacity and connection stability in complex environments, and make the robot suitable for high-density data transmission scenarios.

[0045] In some embodiments, the head biomimetic structure can be in the shape of a human ear or in the shape of a biological ear with ear features such as natural curvature and cavity shape. This application does not limit this.

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

[0047] In some embodiments, the communication unit may be one or more of the following antennas that can be adapted to the ear shape: loop antenna, slot antenna, patch antenna, inverted-F antenna (IFA), monopole antenna, or bent wire antenna; this application does not limit this.

[0048] In some embodiments, at least a portion of the head biomimetic structure is configured as an electromagnetic functional structure that can influence the electromagnetic wave front radiated by the communication unit.

[0049] In the embodiments provided in this application, at least a portion of the head bionic structure is constructed as an electromagnetic functional structure that can influence the wavefront of the electromagnetic waves radiated by the communication unit. This achieves an integrated design of the electromagnetic functional structure and the head bionic structure, avoiding the space occupation and structural obtrusion caused by the addition of additional control components, and preserving the integrity of the robot's appearance. At the same time, the bionic shape of the ear is used to achieve directional control of electromagnetic waves, adjust the wavefront phase and propagation direction, and focus the signal radiated by the communication unit on a specific target direction. This makes the radiation characteristics of the communication unit more suitable for the robot's operating scenario, improving the adaptability and energy efficiency of the robot's communication.

[0050] In some embodiments, the electromagnetic functional structure is a reflective surface, which is configured to change the final radiation pattern of the electromagnetic waves radiated by the communication unit.

[0051] In the embodiments provided in this application, by designing the reflective surface as a structure that can change the final radiation pattern of electromagnetic waves, the signal coverage of the target area can be enhanced in a targeted manner. For example, the signal in the target area can be enhanced in a directional manner or the signal blockage of the body can be avoided. Ineffective radiation in non-target directions can be reduced, which can improve communication directivity and energy utilization efficiency, and reduce electromagnetic interference to surrounding equipment. It can be applied to the multi-scenario operation needs of robots.

[0052] In some embodiments, the reflective surface is formed from the concha cavity anatomy of a head-inspired biomimetic structure.

[0053] The embodiments provided in this application form a reflective surface by using the anatomical structure of the concha cavity of the head bionic structure. This can make full use of the natural concave curved surface shape of the concha cavity, without occupying additional internal space of the robot, avoiding the mechanical interference problem of traditional external reflective devices. Furthermore, its non-electromagnetic shielding characteristic can reduce the attenuation and loss of reflected signals, further improving energy utilization efficiency.

[0054] In some embodiments, the outer ear portion of the head biomimetic structure is covered with a flexible material layer.

[0055] The embodiments provided in this application achieve the purpose of replicating the tactile and morphological characteristics of a biological ear by covering the outer part of the ear with a flexible material layer, reducing the sense of alienation caused by the rigid structure of the ear during human-computer interaction, maintaining the morphological stability of key parts such as the helix and concha, and ensuring the layout accuracy of the communication unit.

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

[0057] Embodiments of this application also provide a robot, which includes: any one of the robot signaling devices provided in the embodiments of this application, wherein the communication units in the two robot signaling devices are configured to operate in different communication frequency bands.

[0058] The embodiments provided in this application maintain the integrity of the robot's appearance by configuring two robot signaling devices on the robot and including at least two communication units that receive signals in different frequency bands. Furthermore, the division of labor and cooperation among the multi-frequency units avoids the performance bottleneck of single-frequency communication in complex electromagnetic environments. At the same time, the redundant configuration of the dual devices greatly improves the fault resistance of the communication system. In addition, the layout of the dual signaling devices can utilize the spatial diversity effect to reduce signal interruption caused by unidirectional blockage, ensuring that the robot always maintains stable signal connection and data interaction efficiency in scenarios such as industrial collaboration and home services.

[0059] In some embodiments, two robot signaling devices are respectively located at the left and right ears of the robot's head.

[0060] The following example, using a robot signaling device designed by the inventor in CST Studio Suite for home service robots, will provide a more specific and detailed supplement to one or more embodiments mentioned above:

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

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

[0063] Using the "Region" tool in CST, an editable region was defined on the auricle model to facilitate the subsequent deployment of antennas and electromagnetic structures. Three anatomical sites were selected as the first region:

[0064] A 15mm × 5mm rectangle "Region 1" is marked on the outer side of the middle section of the helix as the mounting area for the patch antenna;

[0065] A trapezoidal area of ​​8mm × 6mm, designated as "Region 2" on the front of the tragus, is set as the installation area for the inverted F antenna (IFA).

[0066] A circular area with a diameter of 8mm, designated as "Region 3," is marked at the bottom of the earlobe as the mounting area for a monopole antenna.

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

[0068] In CST, multi-parameter iterative optimization is achieved through the "Optimization" module (which supports genetic algorithms) combined with the "Time Domain Solver" (a time-domain solver suitable for fast multi-frequency simulation). The core process is as follows:

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

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

[0071] Port performance: VSWR of each antenna element ≤1.5 (monitored in "Port Properties" in CST), and isolation between adjacent elements ≥20dB (calculated in "S-Parameters" in CST);

[0072] Environmental stability: When temperature (-10~45℃) and humidity (30%~85%RH) change, the change in VSWR is ≤0.1 and the gain attenuation is ≤0.5dBi (simulated by “Parameter Sweep” in CST to simulate environmental parameter changes).

[0073] In CST, select "Genetic Algorithm" under "Optimization" and set the parameters as follows: population size 50, number of iterations 100, crossover probability 0.8, mutation probability 0.05, to ensure global optimization;

[0074] Set the key parameters of the antenna element and the reflection structure as "Design Variables" in CST, as follows:

[0075] The dimensions (length × width × thickness) of the helix patch antenna are set to: 25-35mm × 4-6mm × 0.6-1mm;

[0076] The arm length and short-circuit post height of the tragus inverted F antenna are set to be 15-20mm and 2-4mm, respectively.

[0077] The diameter and length of the earlobe monopole antenna are set to 1-1.5mm and 20-30mm, respectively.

[0078] The deflection angle (angle between the normal and the front) and radius of curvature of the concha reflective surface are set to be 5-15° and 20-30mm, respectively.

[0079] The phase and amplitude of electromagnetic waves reflected from Region 4 of the concha can be observed in real time using the Field Monitor.

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

[0081] In CST, call "Lumped Element" in "Component Library" and add an LC series network as an impedance adjustment module, which is then integrated into the feed terminal of each antenna element;

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

[0083] In CST, the electromagnetic field distribution of each antenna element is analyzed through "Near Field". The spatial positions of the helix, tragus, and earlobe antennas are adjusted (using the natural concave and convex structure of the auricle) to achieve an isolation of ≥22dB (helix-tragus unit) and ≥25dB ​​(tragus-earlobe unit) to meet the requirements of multi-band collaborative operation.

[0084] Export the following design parameters using the "Export" function in CST:

[0085] Helix patch antenna: arc-shaped (adapts to the curvature of the helix), dimensions 30mm×5mm×0.8mm, feed point distance from one end 8mm, VSWR ≤1.4, 2.4GHz band;

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

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

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

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

[0090] The outer ear portion is covered with a medical-grade silicone layer (1.5mm thick, Shore hardness 30A), whose dielectric constant is defined in the "Material Library" of CST. (Low loss) Simulation verification shows that the silicone layer attenuates electromagnetic wave transmission by ≤0.3dB and can protect the internal antenna unit (in CST, the "Mechanical" module simulates a collision, and the silicone layer can buffer 80% of the impact force).

[0091] Those skilled in the art will understand that the specific embodiments described above are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any modifications, substitutions, combinations, or improvements made within the spirit and essence of the present invention should be included within the scope of protection of the present invention.

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

[0093] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A method for determining the layout of an auricular antenna on a robot, characterized in that, The method includes the following steps: S1: Establish a model of the auricle structure; S2: On the auricle structure model, at least one first region is selected as the location for setting the antenna unit, and at least one second region is selected as the location for setting the electromagnetic functional structure; S3: With the goal of improving the radiation performance and / or port performance of the antenna, based on the physiological structural characteristics of the auricle structure model, electromagnetic simulation is used to collaboratively optimize the shape, size, position of the antenna unit in the first region, as well as the spatial orientation and geometric parameters of the electromagnetic functional structure. S4: Output the final design parameters of the optimized antenna element and the electromagnetic functional structure.

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

3. The method according to claim 1, characterized in that, Step S3 also includes the following steps: determining that the electromagnetic functional structure is a reflective structure, and taking maximizing the far-field gain in the direction directly in front of the robot as the optimization objective, and determining the spatial orientation deflection angle and radius of curvature of the reflective structure through electromagnetic simulation.

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

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

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

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

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

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

10. The apparatus according to any one of claims 6 to 9, characterized in that, The outer ear portion of the biomimetic head structure is covered with a layer of flexible material.

11. A robot, characterized in that, The robot includes: Two robot signaling devices as described in any one of claims 6-10, wherein the communication units in the two robot signaling devices are configured to operate in different communication frequency bands.

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