Robotic joint contactless data transmission system based on millimeter wave wireless link

Abstract

The application belongs to the technical field of data transmission, and particularly relates to a robot joint non-contact data transmission system based on a millimeter wave wireless link, which comprises the following steps: a robot joint rotating shaft is three-layer coaxially embedded and assembled, a calibration gap is reserved, and a coil mounting area is reserved, so that a three-layer annular assembly is prepared; a magnetic sensing probe and a reverse cancellation coil array are arranged on the outer wall of a shielding sleeve, and a magnetic coupling secondary side circuit forms an integrated shielding cancellation assembly. Raw leakage magnetic signals are collected, an equal-amplitude anti-phase compensation waveform is analyzed and output, and a reverse driving current is output according to the secondary side self-powered output. The coil generates a counter magnetic field, and wave-absorbing material is matched to realize bidirectional electromagnetic suppression, so that a low-interference millimeter wave communication inner ring is formed; a full-duplex millimeter wave high-speed link is built, multiple joint cascading networking is realized, and the robot joint gigabit non-contact energy and data integrated transmission is realized. In the application, through three-layer coaxial precise assembly and active and passive double shielding architecture, a strong anti-interference effect of joint energy simultaneous transmission is realized.

Description

Technical Field

[0001] This invention belongs to the field of data transmission technology, specifically a contactless data transmission system for robot joints based on millimeter-wave wireless links. Background Technology

[0002] In existing robot systems, electrical power and data transmission between joints are typically achieved using cables, flexible ribbon cables, or slip ring structures. As robot degrees of freedom continue to increase, especially in humanoid robots, wheeled robots, and high-dynamic robotic arms, traditional wired transmission methods are increasingly revealing the following problems: Robot joints are subjected to prolonged high-frequency rotation, reciprocating oscillation, and continuous dynamic motion, making internal wiring harnesses prone to fatigue fracture, poor contact, and sheath wear. Some existing robots use conductive slip rings to achieve continuous joint rotation, but slip ring structures suffer from mechanical wear, changes in contact resistance, and poor high-speed signal integrity. The data volume of structured light cameras, binocular cameras, and depth vision modules is constantly increasing, and traditional solutions such as CAN bus and RS485 are insufficient to meet the demands of Gbps-level high-speed image data transmission. Complex internal wiring leads to difficulties in joint assembly, maintenance, and module replacement. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention proposes a contactless data transmission system for robot joints based on millimeter-wave wireless links. This invention primarily addresses the problems of high-speed contactless data transmission and contactless power supply between robot joints.

[0004] The present invention provides a contactless data transmission system for robot joints based on millimeter-wave wireless links, comprising: a coaxial assembly module, used for coaxial nesting assembly according to the coaxial rotating shaft communication ring of the robot joint, calibrating the coaxial gap and reserving the coil mounting area to obtain a coaxial three-layer ring mechanical assembly.

[0005] A coil module is used to lay out a miniature reverse cancellation coil array and a magnetic sensing probe on the outer wall of the middle shielding sleeve according to the three-layer ring assembly. The coil power supply circuit is connected to the magnetic coupling secondary side for wiring to build an integrated shielding cancellation component.

[0006] The leakage flux acquisition module is used to start the resonant power supply of the magnetically coupled primary-side inverter circuit based on the integrated shielding and cancellation component, acquire the original electrical signal, and output a real-time dynamic leakage flux characteristic signal dataset.

[0007] The compensation generation module is used to perform analytical calculations on the leakage magnetic characteristic dataset, generate a compensation drive waveform that is equal in amplitude and opposite in phase to the leakage magnetic field, and output a reverse magnetic field drive current that matches the change in leakage magnetic field according to the secondary self-powered circuit.

[0008] The interference suppression module is used to input the reverse drive current to cancel the coil array to generate a counteracting magnetic field. Combined with composite shielding absorbing particles to block radio frequency leakage, it performs bidirectional electromagnetic interference suppression and obtains a low-interference clean inner millimeter-wave communication ring space.

[0009] The networking module is used to build a millimeter-wave full-duplex high-speed link using a low-interference clean inner millimeter-wave communication ring space. Multi-level articulated links are cascaded to form a whole-machine wireless communication network, which, after integration, realizes gigabit contactless data and energy integrated transmission.

[0010] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention includes a coaxial assembly module comprising:

[0011] The inner ring base unit is used to fix the inner millimeter-wave communication ring. A high-precision positioning mandrel passes through its support hole to limit rotation. The bottom surface and axis are calibrated by CNC machining, and the inner communication ring reference component is output.

[0012] The double-layer nested unit is used to fit the inner communication ring reference component into the middle composite shielding sleeve, restricting the sleeve rotation. The coaxial gap between the inner and outer layers is monitored and calibrated in real time by a sensor, and a mounting area for the inner coil is reserved to output the double-layer nested assembly.

[0013] The three-layer integrated unit is used to nest a double-layer nested component outside the outer magnetic coupling power supply ring, using coaxial tooling for nesting, calibrating the overall coaxial gap of the three-layer structure, integrating a coaxial three-layer ring mechanical assembly, and outputting a coaxial three-layer ring mechanical assembly.

[0014] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention includes a coil deployment module comprising:

[0015] A sensing unit is deployed to accurately position and deploy magnetic sensing probes on the outer wall of the middle shielding sleeve based on the three-layer ring assembly through high-precision dispensing, and output the three-layer ring assembly.

[0016] The assembly coil unit is used to arrange a miniature reverse cancellation coil array along the axial direction on the outer wall of the three-layer annular assembly to output the three-layer annular assembly.

[0017] The circuit integration unit is used to connect the coil power supply circuit directly to the magnetic coupling secondary side of the three-layer ring assembly through precision wiring to complete the wiring, and output an integrated shielding and cancellation component.

[0018] According to the contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention, the specific steps for outputting the integrated shielding and cancellation component in the line integration unit are as follows:

[0019] The insulation layer of the magnetic coupling secondary coil at a specific location is peeled off using CNC micro-carving to expose the conductive pads, resulting in the output of the three-layer ring assembly.

[0020] The three-layer ring assembly is output by electrically connecting the pins of the micro reverse cancellation coil array to the exposed secondary conductive pads through micro precision wiring.

[0021] The three-layer ring assembly is insulated and stress-buried in the precision wiring area using micro-nano dispensing or local curing processes to construct an integrated shielding and offsetting component.

[0022] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention includes a magnetic flux leakage acquisition module comprising:

[0023] The magnetic sensing acquisition unit is used to power on the magnetically coupled primary-side inverter circuit to start resonance, sense the changes in the leakage magnetic field in the interlayer in real time, convert the physical magnetic signal into a weak analog voltage signal, and output the original electrical signal stream.

[0024] The signal conditioning unit is used to condition and convert the original electrical signal stream to digital. It enhances the signal amplitude through an amplifier circuit, filters out high-frequency switching noise and power frequency interference using a bandpass filter, and outputs a high signal-to-noise ratio discrete-time digital signal through high-speed ADC sampling and quantization.

[0025] The feature extraction unit is used to convert discrete-time series digital signals into frequency domain spectra, calculate the fundamental amplitude, phase angle shift and specific frequency components of the leakage magnetic signal, construct feature vectors, and output a real-time dynamic leakage magnetic feature signal dataset.

[0026] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention includes a compensation generation module comprising:

[0027] The parameter analysis unit is used to perform analytical operations on the real-time dynamic leakage magnetic characteristic signal dataset, separate the instantaneous amplitude and phase information of each harmonic component, and output the leakage magnetic state parameter matrix.

[0028] The waveform generation unit is used to perform inverse compensation based on the leakage flux state parameter matrix. It generates multi-frequency composite equal-amplitude inverse compensation drive waveform data by taking equal values ​​for the amplitude and inverse phase for the harmonic components, converts it into an analog voltage signal, and outputs the compensation drive waveform analog signal.

[0029] The current matching unit is used to perform current matching and power amplification based on the analog signal of the compensation drive waveform and the power supply capability of the secondary self-powered circuit, dynamically adjust the amplitude and phase of the drive current to track the leakage flux change, and output the reverse magnetic field drive current.

[0030] According to the contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention, the specific steps for outputting the compensated drive waveform analog signal in the waveform generation unit are as follows:

[0031] An equivalent mapping operation is performed on the amplitude of each harmonic component in the leakage magnetic state parameter matrix, and an inversion operation with π is performed on the phase of each harmonic component. In turn, inverted harmonic complex components corresponding one-to-one with the original harmonics are generated, and the frequency domain compensation vector is output.

[0032] An inverse fast Fourier transform is performed on the frequency domain compensation vector to synthesize and restore each anti-phase harmonic component in the frequency domain into a discrete sampling point sequence in the time domain. Amplitude normalization and peak limiting processing are performed on the sampling point sequence to output a discrete compensation drive waveform digital sequence.

[0033] The discrete compensation drive waveform digital sequence is fed into the digital-to-analog converter, and the digital-to-analog conversion is performed point by point with a fixed sampling clock to output the compensation drive waveform analog voltage signal.

[0034] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention includes an interference suppression module comprising:

[0035] The current decomposition unit is used to perform spatial vector decomposition of the reverse magnetic field driving current. It calculates the required distribution current amplitude and phase of the coil based on the spatial position and winding parameters of the coil in the canceling coil array, and outputs a discrete driving current digital sequence.

[0036] The magnetic field superposition unit is used to restore the discrete digital sequence of driving current in each coil to the analog driving current, inject it into the corresponding coil according to the allocation matrix, and output the residual magnetic field distribution data by superimposing it in the interlayer space after each coil is energized.

[0037] The interference assessment unit is used to calculate the attenuation and reflection loss of radio frequency interference signals in the particle layer based on the residual magnetic field distribution data and the dielectric and magnetic loss parameters of the composite shielding absorbing particles, to evaluate the bidirectional electromagnetic interference suppression effect, and to form a low-interference clean inner layer millimeter-wave communication ring space.

[0038] According to the contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention, the specific steps for forming a low-interference, clean inner millimeter-wave communication ring space in the interference assessment unit are as follows:

[0039] The amplitude and phase of the residual magnetic field distribution data are extracted according to the spatial grid nodes. Based on the dielectric loss tangent and magnetic loss tangent of the composite shielding absorbing particles, the power attenuation and interface reflection loss of the radio frequency interference signal at each grid node are calculated by substituting them into the transmission line impedance model. The numerical matrix of attenuation and reflection loss is then output.

[0040] Spatial weighted superposition of the attenuation and reflection loss numerical matrices of each node is performed. The active cancellation residual field strength and the passive absorption attenuation are subtracted node by node to obtain the net residual interference field strength value of each grid node. The net residual interference field strength value of all nodes is normalized, and the inner space electromagnetic interference distribution map data is output.

[0041] The electromagnetic interference distribution map data of the inner space is compared node by node with the lowest signal-to-noise ratio threshold to filter continuous spatial regions. The radial inner and outer boundary coordinates of the region are calculated, and the geometric boundary parameters of the low-interference clean inner millimeter-wave communication ring space are output.

[0042] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by the present invention includes a networking communication module comprising:

[0043] The channel parameter configuration unit is used to calculate the optimal deployment position and beam alignment angle of the millimeter-wave transceiver antenna based on the geometric boundary parameters of the low-interference clean inner millimeter-wave communication ring space, configure the full-duplex transceiver frequency pair and channel bandwidth parameters, and output the physical layer channel configuration parameter table.

[0044] The service multiplexing unit is used to classify and label the image data stream and attitude data stream according to bandwidth requirements and real-time levels based on the physical layer channel configuration parameter table, allocate high-bandwidth downlink channels for image data and apply compression coding, allocate low-latency uplink channels for attitude data and apply priority queue scheduling, and output a multi-service multiplexed data frame sequence.

[0045] The network topology unit is used to encapsulate and route multiplexed data frame sequences according to joint numbers. Each joint node performs frame forwarding and data decapsulation based on the routing marks, and the nodes are cascaded to form a multi-hop wireless communication topology. The topology connection table and data throughput indicators of each node are output.

[0046] The parameter tuning unit is used to perform node-by-node verification of the channel fading margin based on the topology connection table of the whole machine's wireless communication network and the data throughput index of each node, dynamically adjust the transmit power and adaptive modulation and coding scheme, and output a set of integrated data and energy operation parameters that meet the requirements of stable gigabit transmission.

[0047] The contactless data transmission system for robot joints based on millimeter-wave wireless links provided by this invention simplifies the joint structure and improves long-term operational stability through self-powered closed-loop compensation and modular integration design.

[0048] The beneficial effects of this invention are as follows:

[0049] 1. This invention employs a high-precision coaxial assembly process, performing micron-level calibration and nesting of the outer magnetic coupling power supply ring, the middle composite shielding sleeve, and the inner millimeter-wave communication ring. This rigorously controls the coaxiality and flatness tolerances of the structure, mitigating electromagnetic interference caused by multi-layer eccentricity at the mechanical structure level. Combining the passive absorption and blocking mechanism of the middle shielding sleeve with the active magnetic field compensation of the reverse cancellation coil array, real-time data acquisition of leakage magnetic field amplitude, phase, and frequency is achieved through a magnetic sensing probe. After signal conditioning and algorithm decoupling, an equal-amplitude, anti-phase compensation current is generated to dynamically cancel the alternating leakage magnetic field generated by the magnetic coupling power supply. This architecture completely solves the mutual interference problem between contactless power supply and high-speed millimeter-wave communication in robot joints, effectively suppressing inverter circuit pulse interference, power frequency noise, and high-frequency crosstalk in millimeter waves. It keeps the magnetic field strength in the inner communication area within the gigabit transmission threshold, ensuring stable operation of 24GHz / 60GHz / 77GHz millimeter-wave links and enabling full-duplex lossless transmission of Gbps-level image data from structured light and binocular cameras, significantly improving the reliability of data transmission in complex electromagnetic environments of robot joints.

[0050] 2. This invention achieves self-powered drive through a magnetically coupled contactless power supply secondary-side voltage regulator circuit. The power supply circuits of the reverse cancellation coil and magnetic sensing probe are directly connected to the power output terminal, eliminating the need for additional independent power supply modules and wiring structures. Micron-level precision wiring and partitioned isolated wiring processes, coupled with standardized gold-plated connectors and insulation protection design, avoid cable bending, wear, and short-circuit faults caused by the robot joint's 360° continuous rotation and high-frequency reciprocating oscillation. Through multi-dimensional signal decoupling, dynamic current matching, and real-time magnetic field calibration, closed-loop dynamic control of leakage magnetic interference is achieved, adapting to joint load changes, slight structural deformation, and power fluctuations. This design greatly simplifies the internal circuitry and wiring structure of the robot joint, improves the modularity and integration of the equipment, effectively reduces maintenance costs for later fault diagnosis and module replacement, and is suitable for long-term, high-frequency operation scenarios of multi-joint cascades in humanoid robots and industrial robotic arms, significantly extending the equipment's service life. Attached Figure Description

[0051] The invention will now be further described with reference to the accompanying drawings.

[0052] Figure 1 This is a block diagram of a contactless data transmission system for robot joints based on millimeter-wave wireless links provided in an embodiment of the present invention.

[0053] Figure 2 This is a schematic diagram of the overall structure of a contactless data transmission system for robot joints based on millimeter-wave wireless links provided in an embodiment of the present invention.

[0054] Figure 3 This is a schematic diagram of the coaxial layered structure inside the joint of the robot joint contactless data transmission system based on millimeter-wave wireless link provided in an embodiment of the present invention.

[0055] Figure 4 This is a schematic diagram of a robot application scenario structure for a robot joint contactless data transmission system based on millimeter-wave wireless links provided in an embodiment of the present invention. Detailed Implementation

[0056] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below according to specific embodiments.

[0057] like Figures 1 to 3 As shown in the figure, the contactless data transmission system for robot joints based on millimeter-wave wireless links provided in this embodiment of the invention includes:

[0058] The coaxial assembly module is used to coaxially nest and assemble the outer magnetic coupling power supply ring, the middle composite shielding sleeve, and the inner millimeter-wave communication ring according to the coaxial rotation axis of the robot joint, calibrate the coaxial gap and reserve the coil mounting area to obtain a coaxial three-layer ring mechanical assembly.

[0059] The inner ring base unit, the inner millimeter-wave communication ring, is the core reference carrier of the entire coaxial three-layer structure. It undertakes the core functions of millimeter-wave ring array antenna installation and high-speed wireless signal transmission. Its coaxiality and flatness directly determine the assembly accuracy and electromagnetic isolation effect of the subsequent shielding layer and magnetic coupling power supply ring. Therefore, it needs to be processed as a separate reference component with high precision. In the initial stage of processing and assembly, the formed millimeter-wave communication ring blank is taken and placed on a precision CNC machining platform. A high-precision positioning mandrel is selected to vertically penetrate the central support hole of the communication ring. The outer diameter of the mandrel and the support hole adopt a micron-level clearance fit. The outer circular surface of the mandrel completely constrains the radial rotation and radial offset degrees of freedom of the communication ring, eliminating the ring body deflection and eccentricity problems during processing. The CNC milling and surface grinding processes are initiated. Using the central axis of the positioning mandrel as a unified reference, the perpendicularity of the upper and lower mounting surfaces of the communication ring to the central axis is calibrated. Real-time data on the flatness of the bottom surface and the coaxiality of the inner hole are collected using a coordinate measuring machine. The CNC system automatically compensates for the tool feed rate based on the measured error. The ring end face and inner and outer cylindrical surfaces are repeatedly fine-ground. The coaxiality error of the inner hole of the ring meets the constraint judgment condition. The calculation formula is: In the formula, For the coaxiality error of the inner hole of the inner millimeter-wave communication ring, The angle of rotation around the ring body, ranging from 0 to... , For angle The actual measured radius of the inner hole of the ring is as follows. The theoretical standard radius of the inner hole of the ring is represented by 0.005mm, which is the maximum allowable coaxiality tolerance threshold for machining. The flatness of the end face is controlled within 0.002mm. After machining, deburring and vacuum degreasing cleaning are performed to avoid metal debris and oil residue interfering with the millimeter-wave antenna mounting. After cleaning and drying, a full-dimensional re-inspection is carried out using an optical image inspection instrument, and the inspection reports for aperture, roundness, and flatness are recorded. After all accuracy indicators meet the standards, the mandrel limiting structure is latched to prevent the reference component from shifting or deforming. The output is an inner communication ring reference component with a unified precision reference and qualified dimensions, providing a unique and accurate positioning reference for the nested assembly of the middle shielding sleeve, thus avoiding electromagnetic interference and millimeter-wave beam offset failures caused by multi-layer structure eccentricity from the source.

[0060] The double-layer nested unit requires cleaning the outer cylindrical surface of the inner communication ring and the inner hole of the shielding sleeve before assembly to eliminate gap deviations caused by dust and metal particles. The inner communication ring reference component, along with the positioning mandrel, is vertically suspended and smoothly inserted into the middle composite shielding sleeve from top to bottom. A dedicated anti-rotation fixture clamps the sleeve from multiple points around its circumference, restricting its circumferential rotation and axial movement, preventing rubbing or eccentric misalignment between the ring and the sleeve during the nesting process. Multiple laser displacement sensors are arranged around the assembly station, with eight monitoring points evenly distributed circumferentially. These sensors collect real-time radial gap values ​​between the outer wall of the inner communication ring and the inner wall of the shielding sleeve, and the data is synchronously transmitted to the industrial control system. If local gaps are found to be too large or too small, the radial position of the shielding sleeve is slightly corrected by adjusting the lateral slider of the fine-tuning fixture until the overall circumferential gap difference is controlled within ±0.01mm, forming a uniform coaxial gap. After calibration, mark the relative installation positions of the sleeve and the inner ring, and reserve an annular area inside the shielding sleeve for mounting the magnetic coupling coil to ensure that the subsequent power supply coil has a flat mounting base and no structural interference.

[0061] The three-layer integrated unit is used to integrate the double-layer nested component with the outer magnetic coupling power supply ring, forming a three-layer coaxial integrated mechanical assembly consisting of an outer power supply ring, a middle shielding sleeve, and an inner millimeter-wave communication ring. The overall coaxial accuracy of the three layers directly affects the efficiency of magnetic coupling power supply and the anti-interference capability of millimeter-wave communication. During assembly, the outer magnetic coupling power supply ring is first fixed to a vertical coaxial tooling base. The tooling has a built-in centering reference axis, which is consistent with the original positioning mandrel of the inner communication ring, ensuring that the overall structural reference coincides. The double-layer nested component is vertically hoisted and slowly lowered along the tooling's centering axis, completely fitting into the outer magnetic coupling power supply ring. During the lowering process, the circumferential gap monitoring sensor of the tooling is observed in real time, and radial gap data between the inner wall of the outer power supply ring and the outer wall of the middle shielding sleeve is collected simultaneously. To address the issue of uneven circumferential gap, the overall radial position of the double-layer nested component is adjusted through a multi-directional micro-adjustment mechanism at the bottom of the tooling. Repeated calibration ensures that the circumferential gap of the three-layer ring structure is uniform and consistent, and the coaxiality of the three layers meets the standard. After the gap calibration is completed, a fastening assembly consisting of circumferentially distributed locking screws and axial limiting blocks is used. The assembly is symmetrically tightened step-by-step along the circumference, with continuous monitoring of the gap value during the tightening process to prevent excessive tightening force on one side from causing structural eccentricity or deformation. After tightening, the temporary tooling and positioning mandrel are removed, and the three-layer ring assembly undergoes a comprehensive inspection of its overall dimensions, coaxiality, and flatness. The reserved coil mounting area and millimeter-wave antenna mounting area are checked for any compression deformation or structural obstruction. After passing the inspection, the assembly surface is treated with insulation to eliminate the risk of short circuits from metal parts. The three functional layers of magnetic coupling power supply, electromagnetic shielding, and millimeter-wave communication are integrated to complete the overall structural locking and shaping, resulting in a coaxial three-layer ring mechanical assembly that meets the requirements for contactless energy and data transmission for robot joints.

[0062] A coil module is deployed to use the three-layer ring assembly as a carrier. A miniature reverse cancellation coil array and a magnetic sensing probe are deployed on the outer wall of the middle shielding sleeve. The coil power supply circuit is connected to the magnetic coupling secondary side to complete the wiring and construct an integrated shielding cancellation component.

[0063] A sensor unit is deployed to perform plasma cleaning and degreasing on the outer wall of the three-layer annular assembly and the outer cylindrical surface of the middle shielding sleeve, removing residual metal debris and oil stains to prevent impurities from causing adhesive failure and magnetic field detection errors. Using the unified coaxial axis of the three-layer structure as the positioning reference, a three-coordinate positioning platform is used to lock the circumferential and axial positions of the assembly. The probe placement points are delineated according to the annular arrangement trajectory of the magnetic coupling coils, with the points evenly distributed along the circumference of the sleeve's outer wall, covering the entire working area of ​​the coils. High-precision dispensing equipment is used for probe fixation, with the dispensing path strictly matching the pre-set positioning groove. High-temperature resistant, low-permeability insulating adhesive is selected to prevent magnetic interference from the adhesive's magnetic field acquisition. If an embedded injection molding process is used, the magnetic sensing probe is pre-positioned into the tooling slot and injected with low-dielectric insulating plastic for integral molding, ensuring a tight, gapless fit between the probe and the outer wall of the shielding sleeve. After deployment, a miniature signal lead is connected, with the lead stored in a pre-reserved routing groove along the sleeve's axial direction. The alternating magnetic field of magnetic coupling was simulated using a magnetic field generator. The acquisition accuracy of each magnetic sensing probe was calibrated, and the magnetic field values ​​under different gaps were recorded to verify that the probe could provide real-time feedback on the magnetic field distortion caused by the coaxial misalignment of the three-layer structure. After all probes were calibrated and qualified, they were insulated and encapsulated for protection. The glue / injection molding gaps were sealed to prevent dust and lubricating oil inside the joint from corroding the sensing elements. The result was a three-layer ring assembly of the integrated magnetic sensing probe.

[0064] The assembly coil unit is used for re-inspection of the coaxiality of the three-layer assembly and the stability of the magnetic sensor probe signal output. It confirms that all probe leads are properly housed on the outer wall of the middle shielding sleeve, with no protrusions obstructing the coil layout area. An axially segmented tooling fixture is used to clamp the assembly, limiting its circumferential rotational freedom. The layout area is divided into multiple segments along the axial direction, using the annular axis as a reference. The miniature reverse cancellation coil array employs an ultra-thin flexible winding structure, with the size of each coil adaptable to the narrow internal space of the joint, meeting the modular assembly needs of various robots such as humanoid robots and industrial robotic arms. The coil array is attached and fixed to the outermost wall of the three-layer assembly, arranged in layers at equal intervals along the axial direction. The winding direction and number of turns of each cancellation coil are simulated and matched to the phase of the outer magnetic coupling resonant magnetic field, generating a reverse cancellation magnetic flux. Insulating high-temperature resistant pressure strips are used to pre-fix the coil array, and a small amount of insulating adhesive is used to reinforce the winding ends, preventing the coils from loosening or falling off during the robot joint's continuous 360° rotation. After deployment, the independent control harnesses of the coil array were organized and routed separately from the magnetic sensing probe wiring on the outer wall of the middle layer, with the two types of wiring isolated from each other to avoid crosstalk. Magnetic field testing equipment was connected to read real-time magnetic field data from the magnetic sensing probe, and the input current of the cancellation coil was dynamically adjusted to verify the stray magnetic field attenuation effect, ensuring that the magnetic field strength in the inner millimeter-wave communication area was reduced to a threshold that would not affect high-speed image transmission above 1Gbps. After completing the functional debugging of the coil array, a unified waterproof and wear-resistant insulating coating was applied to avoid the risk of wear and short circuits caused by joint reciprocating motion. The resulting composite three-layer ring assembly, equipped with a magnetic sensing probe and a miniature reverse cancellation coil array, perfected the original electromagnetic isolation design scheme from the perspective of active magnetic field cancellation.

[0065] The integrated wiring unit employs micron-level precision cabling technology, using ultra-fine shielded coaxial cables. These cables are laid flat and fixed along pre-reserved routing channels in the middle shielding sleeve, and secured in sections with insulating clips. This prevents cable bending and fatigue breakage during high-frequency rotation and oscillation of the robot, overcoming the defects of easily worn and broken wire harnesses in the original background technology. The complete power supply circuit of the reverse cancellation coil array is directly connected to the rectified and regulated output terminal of the magnetic coupling power supply secondary side. The stable power output continuously from the magnetic coupling module serves as the drive power for the cancellation coils, eliminating the need for an additional independent power supply module, simplifying the internal circuit structure of the joint, and improving modularity. All wiring nodes use gold-plated crimp terminals, and the nodes are sealed with insulating heat-shrink tubing to prevent contact resistance fluctuations caused by metal-to-metal oxidation. After wiring, all cable ends are collected and uniformly connected to the data processing module interface on the joint side, with standardized plug-in terminals reserved for easy multi-joint cascading assembly and subsequent module replacement and maintenance.

[0066] Power-on debugging: After the magnetic coupling module is powered on and a stable power supply is established, the magnetic sensing probe collects magnetic field data in real time. The system adjusts the output magnetic flux of the reverse cancellation coil based on feedback, and works in conjunction with the middle metal shielding layer to achieve dual anti-interference, ensuring stable transmission of Gbps-level structured light and binocular camera image data by the millimeter-wave ring array antenna. After all circuits pass the continuity, shielding, and magnetic field cancellation performance tests, the wiring channels are sealed and filled for protection. Integrating all functions of magnetic sensing, active magnetic field cancellation, magnetic coupling power supply, and millimeter-wave shielding, an integrated shielding and cancellation component is formed, which can be directly integrated into the robot's rotating joint, perfectly meeting the invention's core design goals of contactless power supply, high-speed wireless transmission, low interference, and high reliability.

[0067] The leakage flux acquisition module is used to start the resonant power supply of the magnetically coupled primary-side inverter circuit based on the integrated shielding and cancellation component. It acquires the original electrical signals of leakage flux amplitude, phase, and frequency through magnetic sensing probes deployed on the outer wall of the structure, and outputs a real-time dynamic leakage flux characteristic signal dataset.

[0068] The magnetic sensing acquisition unit is used to connect to the robot joint's main control power supply, supplying DC input power to the primary-side inverter circuit of the magnetically coupled power supply. The inverter circuit outputs a high-frequency alternating AC waveform according to the magnetically coupled resonant operating frequency band, driving the outer power supply ring's ring transmitting coil to generate an alternating magnetic field. The primary-side magnetic field forms a coupled resonant circuit with the middle shielding sleeve and the inner millimeter-wave communication ring, gradually establishing a stable non-contact energy transmission channel across the joint, perfectly matching the core scheme of the original magnetically coupled resonant power supply. After the resonant power supply is stably established, multiple sets of magnetic sensing probes evenly distributed circumferentially on the outer wall of the middle shielding sleeve simultaneously enter the acquisition mode. The probes are close to the outer wall of the shielding layer, accurately capturing the residual leakage magnetic field generated by the outer power supply ring penetrating the metal shielding interlayer. Due to the coaxial gap deviation of the three-layer structure assembly and the alternating magnetic field radiation effect, a dynamically changing leakage magnetic flux will be generated inside the interlayer. The magnetic sensing element inside the probe continuously senses the strength and phase changes of the magnetic field in real time. Based on Faraday's law of electromagnetic induction, the continuously changing physical magnetic flux is converted into a weak original analog voltage signal. The formula for calculating the voltage signal is: In the formula, This outputs the raw analog voltage from the magnetic sensing probe, in mV. This refers to the number of turns of the induction coil inside the magnetic sensing probe. The instantaneous leakage flux through the interlayer shielding layer is expressed in Wb, where t represents the continuous operating time of the system. The negative sign in the formula represents the time derivative of the leakage flux. The negative sign indicates that the induced voltage and the change in magnetic flux are out of phase, which is an inherent symbol of Faraday's law of electromagnetic induction.

[0069] Due to the confined space of the joint and the attenuation caused by multi-layered metal shielding, the amplitude of the original electrical signal is extremely low. It is also mixed with high-frequency radiation clutter from millimeter-wave communication (24GHz / 60GHz / 77GHz) and switching pulse interference from the inverter circuit, resulting in poor signal integrity. All the original electrical signal streams generated by the probes are independently exported through preset axial precision wiring. The cables are laid out in a partitioned and isolated manner to avoid crosstalk. They are synchronously transmitted to the back-end signal processing unit, which outputs the complete, unfiltered, and unamplified original analog electrical signal stream. This fully restores the real-time leakage magnetic flux change state inside the three-layer coaxial structure, providing a complete original data source for subsequent signal noise reduction and analog-to-digital conversion. This enables real-time monitoring of magnetic coupling and millimeter-wave communication interference from the bottom layer.

[0070] The signal conditioning unit takes the raw electrical signal and feeds it into a multi-stage instrumentation amplifier circuit. It performs linear gain amplification on the weak millivolt-level voltage signal output from the magnetic sensing probe, dynamically adjusting the amplification factor based on the leakage magnetic field amplitude to avoid signal saturation distortion and increase the effective leakage magnetic field amplitude ratio. The amplified signal then enters a multi-stage bandpass filter. The filter's passband is strictly matched to the magnetically coupled resonant operating frequency range, precisely filtering out two types of interference noise: high-frequency pulse noise generated by the switching action of the magnetically coupled primary-side inverter circuit, and low-frequency interference from the robot driver and main control circuit. It also blocks high-frequency communication noise radiated by the inner millimeter-wave loop antenna, preventing reverse crosstalk of millimeter-wave Gbps-level high-speed data signals to the leakage magnetic field acquisition circuit. The filtered and noise-reduced pure analog leakage magnetic field signal is then sent to a high-speed ADC analog-to-digital converter chip. The chip's sampling rate matches the frequency of the alternating magnetic field of the magnetic coupling, performing equal-interval sampling and level quantization of the continuous analog waveform, converting the continuously changing analog voltage value into binary digital code. During the conversion process, a hardware differential acquisition circuit is simultaneously added to cancel common-mode interference introduced during cable transmission, further improving the signal-to-noise ratio. After conversion, discrete-time digital signals are output sequentially at fixed time intervals. Each set of digital sampling points is synchronously marked with a timestamp, recording the leakage magnetic flux of the three-layer coaxial structure at the corresponding moment. The output digital signal is transmitted to the main control and processing unit. The signal channel is physically isolated from the millimeter-wave high-speed image transmission channel, without occupying transmission bandwidth or affecting the full-duplex transmission of image data packets from the structured light camera and binocular camera. The output is a discrete-time digital signal with sufficient noise suppression and complete time alignment, providing reliable digital input for frequency domain analysis.

[0071] The feature extraction unit reads the timestamped discrete digital sampling sequence, preprocesses the time-domain waveform to eliminate calculation errors caused by signal drift and baseline offset, and performs piecewise FFT operations to decompose the leakage magnetic flux amplitude waveform into a frequency domain spectrum composed of multiple independent frequency components. The frequency domain spectrum distinguishes two types of signal components: the effective fundamental leakage magnetic flux component generated by magnetic coupling resonance and other stray harmonic interference components. The algorithm automatically identifies and calculates the fundamental leakage magnetic flux amplitude and fundamental phase angle offset, extracting key physical parameters such as harmonic amplitude and harmonic proportion at specific interference frequencies. The amplitude, phase, harmonic intensity, frequency offset, and other multi-dimensional parameters are integrated and normalized to construct a standardized multi-dimensional physical parameter feature vector. Each feature vector is bound to relevant operating condition information such as the sampling time, the coaxial gap state of the three-layer structure, and the magnetic coupling output power. Continuous real-time iterative computation generates a constantly updated dynamic leakage magnetic field characteristic signal dataset. This dataset can be sent to the beam control module and the cancellation coil drive unit in real time. Based on the leakage magnetic field amplitude and phase deviation within the characteristic vector, the system dynamically adjusts the output current and magnetic flux phase of the outer wall micro reverse cancellation coil array to generate a reverse magnetic field to cancel the leakage magnetic field in the interlayer. This, combined with the middle metal shielding layer, forms active and passive dual electromagnetic isolation. This dataset can be used as system self-test data to monitor coaxiality deformation and coil aging faults after long-term operation of the three-layer ring assembly, improving the long-term operational reliability of robot joints and fully adapting to the electromagnetic interference closed-loop control requirements in humanoid and industrial robotic arm multi-joint cascade scenarios.

[0072] The compensation generation module is used to input the leakage magnetic characteristic dataset into the control unit for analytical calculation, generate a compensation drive waveform with the same amplitude and opposite phase as the leakage magnetic field, and output a reverse magnetic field drive current that matches the change of leakage magnetic field according to the secondary self-powered circuit.

[0073] The parameter analysis unit, powered by a digital signal processor, reads a multi-dimensional feature vector dataset containing fundamental amplitude, phase shift, and multiple harmonic components in real time. It performs data preprocessing, removing abnormal sampling points caused by high-speed joint rotation jitter and crosstalk from millimeter-wave 24 / 60 / 77GHz high-frequency communication. It also performs smooth interpolation calibration on the timing data to ensure synchronized alignment of all amplitude, phase, and frequency parameters. A coordinate transformation operation is performed to convert the frequency domain components in Cartesian coordinates to polar coordinates, eliminating the cross-coupling between the magnetically coupled resonant fundamental wave and each harmonic. A matrix decoupling algorithm is then used to decouple and separate the multi-dimensional feature vectors, removing the parameter coupling effect caused by the superposition of the alternating magnetic field of the outer power supply ring, the coaxial gap deviation of the three-layer structure, and millimeter-wave radiated noise. This allows for the independent extraction of three types of physical information for each harmonic component: instantaneous amplitude, instantaneous phase, and real-time frequency. During the decoupling operation, effective leakage magnetic harmonics and millimeter-wave communication noise are strictly distinguished, retaining only the interfering magnetic field component generated by the magnetically coupled power supply and filtering out high-frequency communication noise unrelated to the power supply to avoid false triggering of the compensation waveform. After all components are decomposed, the instantaneous amplitude, phase, and frequency parameters of each order component, such as the fundamental, second harmonic, and third harmonic, are arranged according to matrix row and column rules to construct a standardized and clearly dimensional leakage magnetic state parameter matrix. Each row in the matrix corresponds to a single harmonic component, and each column corresponds to the amplitude, phase, and frequency characteristic parameters. This parameter matrix is ​​synchronously transmitted to the compensation algorithm calculation unit, completely and uncoupledly reflecting the real-time leakage magnetic distribution state within the middle shielding layer. This avoids the problem of reduced compensation accuracy caused by multi-parameter coupling, ensuring stable transmission of high-speed image data streams above 1Gbps by the inner millimeter-wave ring array antenna without signal integrity interference from magnetic coupling leakage magnetic field.

[0074] The waveform generation unit reads the independent amplitude and phase data of each harmonic in the leakage magnetic state parameter matrix, and performs anti-phase compensation logic for each harmonic component: a one-to-one cancellation strategy with equal amplitude and opposite phase is adopted for leakage magnetic harmonics of any order, and the corresponding constraint equations are denoted as: In the formula, h represents the order of the leakage magnetic harmonic, h=1 corresponds to the fundamental frequency, and h≥2 corresponds to higher harmonics. A h The amplitude of the h-th order leakage magnetic harmonic is... To compensate for the output amplitude of the corresponding order waveform, The original phase angle of the leakage harmonic is expressed in rad. Represents the phase angle of the compensated drive waveform. The circumferential phase offset is equivalent to a 180° reverse phase. After constructing the inverted waveforms of all effective leakage magnetic harmonics, including the fundamental, second, and third harmonics, all single-frequency inverted waveforms are superimposed in the time domain and fused to generate multi-frequency composite equal-amplitude inverted phase compensation drive waveform digital data. This waveform can synchronously cancel the leakage magnetic interference superimposed by multiple frequencies within the multi-layer structure, adapting to the dynamically changing leakage magnetic conditions during the 360° continuous rotation of robot joints. The generated digital waveform data is sent to a high-speed digital-to-analog converter. The converter matches the conversion rate according to the rate of change of the magnetically coupled resonant magnetic field, continuously converting the discrete digital waveform quantization values ​​into continuously changing analog voltage signals, and outputting standardized compensation drive waveform analog signals. The signal transmission channel uses independent shielded wiring, physically isolated from the millimeter-wave high-speed image transmission line, eliminating back crosstalk of the compensation waveform signal to the visual image data packet transmission, and ensuring stable packet upload of image data from the structured light camera and binocular camera. The output analog compensation drive waveform fully preserves the amplitude matching relationship and anti-phase characteristics of each harmonic, and is transmitted to the subsequent power drive stage without distortion. It has reserved dynamic adjustment margin and can continuously correct waveform parameters in real time with the real-time update of the leakage magnetic state parameter matrix, realizing closed-loop dynamic compensation of leakage magnetic interference, and is suitable for complex electromagnetic environments of humanoid and industrial robotic arms with multiple joints cascaded.

[0075] The current matching unit, after receiving the analog signal of the compensation drive waveform in the power drive stage, retrieves the real-time output parameters of the self-powered circuit after rectification and stabilization on the magnetic coupling secondary side. It calculates the maximum output drive power and the upper limit of the continuous supply current under the current operating conditions, and completes the current matching calculation by combining the winding impedance and number of turns of the cancellation coil array. This automatically adapts the power supply capability to different joint loads and different magnetic coupling output powers, avoiding faults such as insufficient power supply or current overload that could burn out the coil. The compensation analog voltage waveform is linearly amplified, and the amplitude and phase of the output drive current are dynamically adjusted synchronously according to the real-time changes in leakage flux: when the leakage flux amplitude increases, the output current amplitude is increased synchronously; when the leakage flux phase shifts, the current phase is corrected synchronously, tracking the dynamic change trend of the interlayer leakage flux in real time throughout the process. The amplified and matched output current has the characteristics of being completely equal in amplitude and opposite in phase to the interlayer leakage magnetic field, and is delivered as the reverse magnetic field drive current to the miniature reverse cancellation coil array axially arranged on the outer wall of the middle shielding sleeve. When the driving current is applied to the coil array, it generates a canceling magnetic flux in the opposite direction to the magnetic flux leakage flux of the magnetic coupling. This, combined with the middle metal shielding layer, forms a dual isolation mechanism of "passive shielding + active magnetic field cancellation," significantly reducing stray magnetic fields penetrating into the inner millimeter-wave communication ring. This ensures the signal transmission quality of the 24GHz / 60GHz / 77GHz millimeter-wave loop antenna and stably supports Gbps-level high-speed full-duplex image data transmission. The entire power drive process directly reuses the magnetic coupling secondary power supply, eliminating the need for an external power supply. This simplifies the internal wiring of the joint, aligning with the original paper's beneficial effects of reducing wiring complexity and improving the modularity of the robot. It is suitable for the long-term high-frequency reciprocating rotation and continuous 360° rotation of the joint, improving the long-term reliability of the system.

[0076] The interference suppression module is used to input the reverse drive current to cancel the coil array to generate a counteracting magnetic field. Combined with composite shielding absorbing particles to block radio frequency leakage, it performs bidirectional electromagnetic interference suppression and obtains a low-interference clean inner millimeter-wave communication ring space.

[0077] The current decomposition unit collects all structural parameters of the entire cancelling coil array, including the axial arrangement coordinates, circumferential installation angle, winding direction, number of turns, equivalent impedance, and effective magnetic flux coverage of each group of miniature coils. A three-dimensional spatial vector coordinate system is established, and the overall reverse magnetic field driving current is used as the composite vector for spatial vector decomposition calculations. The leakage magnetic field inside the interlayer is a three-dimensional alternating magnetic field with multi-dimensional magnetic flux components in the axial, radial, and circumferential directions. A single overall driving current cannot match the magnetic field cancellation requirements of coils at different positions. Therefore, a vector decoupling algorithm is used to decompose the total reverse magnetic flux vector into component vectors corresponding one-to-one with the spatial position of each coil. The phase of the component vectors is then corrected based on the coil winding direction. Combined with coil impedance losses, the independent required current amplitude and phase offset for each coil are calculated to eliminate the cancellation deviation caused by magnetic flux superposition and coupling between coils. After calculating the amplitude and phase parameters of all coil channels, a standardized multi-channel drive current allocation matrix is ​​constructed according to the four dimensions of channel number, timing, amplitude, and phase. Each row of the matrix corresponds to a single set of cancellation coils, and each column contains the channel identifier, current amplitude, phase offset, and timing synchronization parameters. Using the magnetic coupling resonant alternating frequency as the reference timing, discrete drive current digital sequences with equal intervals are generated according to the current parameters of each set of coils in the allocation matrix. The digital sequences of different channels are strictly time-aligned to ensure synchronous superposition of the magnetic fields of multiple coils. The digital sequences are stored in independent channel buffer partitions, physically isolated from the millimeter-wave image transmission data bus, to avoid crosstalk of digital drive signals to the 24GHz / 60GHz / 77GHz millimeter-wave high-speed communication links, and output multi-channel synchronous discrete drive current digital sequences.

[0078] The magnetic field superposition unit sends the multi-channel discrete drive current digital sequence to an independent high-speed digital-to-analog converter (DAC) unit. Each channel's conversion circuit is isolated to prevent crosstalk between analog signals. The DAC continuously restores the discrete digital quantization values ​​to a continuously variable analog current reference signal based on the sampling timing. The waveform linearity is calibrated synchronously within the operating frequency band of the matching coil winding to eliminate phase shift of the canceling magnetic field caused by conversion distortion. The analog reference signal is sent to an independent power amplifier branch. Combined with the output power of the self-powered circuit on the magnetic coupling secondary side, the amplification gain is dynamically adjusted. The matching coil impedance achieves constant current drive, avoiding current fluctuations caused by coil deformation and changes in cable contact impedance during the robot's 360° joint rotation. The amplified, channel-specific analog drive current is injected into each miniature canceling coil in the array according to the drive current distribution matrix. Each coil, after receiving an amplitude and phase current matching its spatial position, independently generates a local reverse magnetic flux. All coil magnetic fluxes are synchronously vector-superimposed in the middle shielding interlayer space, synthesizing an opposing magnetic field with equal amplitude and completely opposite phase to the original leakage magnetic field of the magnetic coupling, thus canceling the alternating leakage magnetic field penetrating the shielding layer across the entire domain. The system has multiple sets of distributed magnetic sensing probes built in to collect magnetic flux intensity at all points in the interlayer in real time. It collects magnetic field values ​​at different positions in the circumferential and axial directions with high density, summarizes the magnetic field intensity, phase and harmonic component data of the whole domain, and generates visualized residual magnetic field distribution data of the interlayer. It clearly marks the weak stray magnetic field area, the maximum residual magnetic flux amplitude and the distribution points of harmonic interference that remain after active cancellation.

[0079] The interference assessment unit retrieves the basic electromagnetic parameters of the composite shielding absorbing particles embedded in the middle metal shielding layer, including the material's dielectric loss, magnetic loss, reflection loss at different frequencies, and absorption loss thresholds. These parameters are adapted to two types of interference sources: magnetically coupled low-frequency alternating magnetic fields and 24 / 60 / 77GHz millimeter-wave high-frequency radio frequency interference. The unit imports the global residual magnetic field distribution data of the interlayer, calculates the magnetic loss attenuation of residual leakage magnetic field within the absorbing particle layer, and measures the reflection loss and absorption attenuation values ​​of millimeter-wave communication signal radiation outwards and external radio frequency clutter penetration inwards. It distinguishes the suppression attenuation amplitudes of three types of interference: low-frequency magnetic field interference from magnetically coupled power supply, power frequency interference from external servo drivers, and millimeter-wave radio frequency mutual interference. The bidirectional electromagnetic interference suppression effect is jointly evaluated through global multi-point simulation and measured data: it blocks the outer layer magnetically coupled leakage magnetic field from invading the inner millimeter-wave communication ring inwards, and blocks the leakage of millimeter-wave high-frequency communication signals from interfering with the magnetically coupled power supply circuit outwards, achieving the frequency isolation + spatial shielding dual anti-interference mechanism required by the relevant materials. The parameters such as residual magnetic field amplitude, radio frequency attenuation coefficient, signal-to-noise ratio, and harmonic suppression ratio of each region are uniformly quantified and standardized to output the inner electromagnetic environment cleanliness index. The index includes core parameters such as maximum residual magnetic flux, interference attenuation multiple, millimeter-wave communication signal-to-noise ratio, and upper limit of channel interference-free stable bandwidth. When all cleanliness indicators reach the design threshold, the three-layer coaxial structure of the outer magnetic coupling power supply ring, the middle metal absorbing shielding layer, and the inner millimeter-wave communication ring forms a complete dual anti-interference system, which completely reduces the mutual interference between power transmission and high-speed wireless data transmission, forming a low-interference clean inner millimeter-wave communication ring space. This supports full-duplex stable transmission of gigabit image data streams from structured light and binocular cameras, adapts to multi-joint cascaded and long-term high-frequency rotation operation conditions, and improves the modularity and operational reliability of the whole machine.

[0080] The network communication module utilizes a low-interference, clean inner millimeter-wave communication ring space to build a millimeter-wave full-duplex high-speed link, hierarchically schedules image and attitude data transmission, and cascades multi-level joint links to form a whole-machine wireless communication network. After modular integration, it achieves stable gigabit contactless data and energy integrated transmission under 360° rotation.

[0081] The channel parameter allocation unit collects complete geometric boundary parameters of the inner millimeter-wave communication ring, including mechanical dimensional data such as the ring's inner diameter, outer diameter, axial length, coaxiality of the ring array antenna mounting reference plane, and unobstructed field of view during 360° rotation. Combined with electromagnetic wave propagation attenuation models for three millimeter-wave operating frequency bands (24GHz, 60GHz, and 77GHz), it calculates the optimal antenna deployment point and beam alignment angle through beam simulation iteration. Considering the robot joint's continuous 360° rotation throughout its range, the ring array antenna is uniformly arranged along the axial direction. The algorithm automatically avoids beam obstruction and reflection loss during rotation, determining the circumferential spacing, axial installation height, and pitch and horizontal beam deflection angles for each millimeter-wave transceiver unit to ensure unobstructed field of view for the transceiver link under any joint rotation angle. After completing the antenna layout calculation, the system's full-duplex communication mechanism is matched to configure independent transceiver frequency pairs, with the transceiver bands isolated to avoid self-interference. Channel bandwidth is allocated according to the gigabit-level image transmission requirements of structured light and binocular cameras, distinguishing the bandwidth specifications of the high-speed image main channel and the attitude sensing auxiliary channel. The parameter configuration is synchronized with the millimeter-wave transmission rate target of greater than 1Gbps, and complete information such as channel carrier frequency, channel spacing, modulation method, transmit reference power, antenna gain, and beam control offset threshold is written in. After unified organization, verification, and normalization, a standardized physical layer channel configuration parameter table is generated. This parameter table serves as the underlying operating basis for the millimeter-wave wireless transceiver module and beam control module, completely avoiding beam distortion and signal-to-noise ratio degradation caused by magnetic leakage in magnetically coupled power supply, and providing underlying communication hardware parameter support for multi-service data multiplexing transmission.

[0082] The service reuse unit distinguishes two types of service data streams based on key indicators: image data streams from the structured light camera and binocular camera at the robotic arm's end effector are characterized by large data volume and high bandwidth requirements. Joint angle and velocity attitude data collected by the attitude detection module are characterized by small data volume, latency sensitivity, and periodic uploading. Based on bandwidth requirements and real-time requirements, the two types of data streams are categorized and tagged. Resources are allocated according to physical layer channel bandwidth: all high-bandwidth downlink channels are allocated to the image data stream, and the built-in encoding and compression algorithm of the data processing module is synchronously invoked to perform frame buffering, compression encoding, and data packet processing on the original image, reducing the transmission volume of a single image frame and adapting to gigabit millimeter-wave channel transmission capabilities. Low-latency uplink channels are allocated to the attitude sensing data stream, and a hardware priority queue scheduling mechanism is established. Attitude control frames have the highest transmission priority and can be sent in queue, ensuring low-latency interaction of robot motion control commands. The scheduling process relies on the module's full-duplex communication architecture, eliminating data blocking and channel preemption conflicts. High-volume downlink image transmission and high-frequency uplink attitude transmission are synchronously and in parallel. Image packets and periodic attitude control messages are encapsulated and compressed according to a unified frame format, and frame headers are added with service type identifiers, timestamps, and check codes. These are then sequentially spliced ​​together to form a continuous and stable multi-service multiplexed data frame sequence.

[0083] The network topology unit is used to add a unique joint number to each multiplexed data frame sequence to complete address encapsulation. The frame header contains the source node ID, target node ID, forwarding hop count, and routing flag fields, distinguishing between local interaction frames and cross-joint forwarding frames. The encapsulated data frames are then sent to the built-in millimeter-wave wireless transceiver nodes in each joint. Each joint node reads the routing flag within the frame and executes the corresponding logic: data destined for its own node is directly decapsulated, separating image and posture data and distributing them to the vision module and posture detection module. Data destined for a remote joint is forwarded to the next-level joint's millimeter-wave link according to a preset multi-hop path. Using the humanoid robot's shoulder joint as the primary master node, and the elbow and wrist joints as secondary and tertiary slave nodes, a multi-hop wireless communication topology is established. All nodes rely on millimeter-wave near-field links for data relay, eliminating the need for cross-joint cabling and significantly simplifying the internal wiring structure. After network completion, the system automatically calculates the instantaneous uplink and downlink data throughput, average throughput, and peak throughput of each joint node, and records the maximum stable transmission bandwidth of each node. Organize information such as node hierarchical connection relationships, forwarding paths, hop count limits, and link priorities, compile a complete topology connection relationship table, and simultaneously include throughput metrics for each node.

[0084] The parameter tuning unit traverses all joint nodes within the topology, simulating the full-angle reciprocating rotation of the joints. It calculates the channel fading margin of the millimeter-wave communication link angle by angle, focusing on verifying the signal attenuation amplitude under scenarios of large-angle deflection, slight eccentricity of multi-layer structures, and dynamic power fluctuations in magnetic coupling. It determines whether the current fixed transmit power and modulation scheme meet the requirements for stable gigabit transmission. For nodes with insufficient fading margin, an adaptive control mechanism is activated: when channel attenuation is severe, the millimeter-wave transmit power is increased, and a higher-order adaptive modulation and coding scheme is switched to improve the single-channel transmission rate. When the channel condition is good, the transmit power is reduced to save energy and reduce the reverse interference of RF radiation to the magnetic coupling power supply circuit. The control process takes into account the output power constraints of the magnetic coupling secondary power supply, dynamically matching the RF transmit power consumption with the wireless power supply capacity to achieve coordinated matching of energy supply and data transmission. It continuously iterates and dynamically adjusts multi-dimensional parameters such as transmit power, modulation and coding order, beam compensation angle, channel switching threshold, and magnetic coupling resonant reference power of all nodes. It integrates a complete set of parameters for antenna deployment, channel configuration, service scheduling, routing and forwarding, power adaptation, and active magnetic field cancellation to form a standardized integrated data and energy operation parameter set.

[0085] In summary, this embodiment provides a contactless data transmission system for robot joints based on millimeter-wave wireless links. A clean inner millimeter-wave communication space is used to establish a full-duplex high-speed wireless transmission link. Through precise physical layer channel parameter allocation and hierarchical scheduling of multi-service data, the system differentiates the transmission needs of high-bandwidth image data from low-latency attitude sensing data, constructing a priority-differentiated transmission mechanism to achieve parallel, non-blocking transmission of large-volume image downlinks and high-real-time attitude command uplinks. A multi-hop wireless network topology is built, with multi-level joint nodes completing data relay, completely eliminating traditional cross-joint physical cabling and simplifying the overall wiring system. Combining operational condition simulation traversal and dynamic adaptive optimization mechanisms, the system matches channel fading states in real time, adaptively adjusting millimeter-wave transmission power, modulation and coding order, and beam angle to dynamically balance power consumption and transmission performance. This achieves 360° contactless, no-dead-angle energy supply and high-speed data transmission for robot joints, solving the pain points of wear and tear in traditional wired transmission and the stuttering and interference in contact transmission, comprehensively improving the overall robot's motion flexibility, data transmission timeliness, and multi-joint collaborative work accuracy.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A contactless data transmission system for robot joints based on millimeter-wave wireless links, characterized in that, include: The coaxial assembly module is used to perform three-layer coaxial nested assembly of the outer magnetic coupling power supply ring, the middle composite shielding sleeve, and the inner millimeter-wave communication ring according to the coaxial rotating axis of the robot joint, to obtain a coaxial three-layer ring mechanical assembly. A coil module is used to lay out a miniature reverse cancellation coil array and a magnetic sensing probe on the outer wall of the middle shielding sleeve according to the three-layer annular assembly, and to connect the coil power supply circuit to the magnetic coupling secondary side for wiring to construct an integrated shielding cancellation component. The leakage flux acquisition module is used to power on the magnetically coupled primary-side inverter circuit based on the integrated shielding and cancellation component, acquire the original electrical signal, and output a real-time dynamic leakage flux characteristic signal dataset. The compensation generation module is used to perform analytical operations on the leakage magnetic characteristic dataset, generate a compensation drive waveform that is equal in amplitude and opposite in phase to the leakage magnetic field, and output a reverse magnetic field drive current that matches the leakage magnetic field change according to the secondary self-powered circuit. The interference suppression module is used to generate a counteracting magnetic field by inputting the reverse drive current into the canceling coil array, and combined with composite shielding absorbing particles to block radio frequency leakage, to suppress bidirectional electromagnetic interference and obtain a low-interference clean inner millimeter-wave communication ring space. The networking module is used to build a millimeter-wave full-duplex high-speed link using the low-interference clean inner millimeter-wave communication ring space. Multi-level articulated links are cascaded to form a whole-machine wireless communication network, which, after integration, realizes gigabit contactless data and energy integrated transmission.

2. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The coaxial assembly module includes: The inner ring base unit is used to fix the inner millimeter-wave communication ring. A high-precision positioning mandrel passes through its support hole to limit rotation. The bottom surface and axis are calibrated by CNC machining, and the inner communication ring reference component is output. The double-layer nested unit is used to fit the inner communication ring reference component into the middle composite shielding sleeve, restrict the rotation of the sleeve, monitor and calibrate the coaxial gap between the inner and outer layers in real time through sensors, reserve the mounting area of ​​the inner coil, and output the double-layer nested assembly. The three-layer integrated unit is used to fit the double-layer nested component into the outer magnetic coupling power supply ring, use coaxial tooling for nesting, calibrate the overall coaxial gap of the three-layer structure, integrate the coaxial three-layer ring mechanical assembly, and output the coaxial three-layer ring mechanical assembly.

3. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The coil deployment module includes: A sensing unit is deployed to accurately position and deploy magnetic sensing probes on the outer wall of the middle shielding sleeve based on the three-layer annular assembly through high-precision dispensing, and output the three-layer annular assembly. The assembly coil unit is used to arrange a miniature reverse cancellation coil array along the axial direction on the outer wall of the three-layer annular assembly to output the three-layer annular assembly. The circuit integration unit is used to connect the coil power supply circuit directly to the magnetic coupling secondary side of the three-layer ring assembly through precision wiring to complete the wiring and output an integrated shielding and cancellation component.

4. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 3, characterized in that: The specific steps for outputting the integrated shielding and cancellation component in the line integration unit are as follows: The insulation layer of the magnetic coupling secondary coil at a specific location is peeled off using CNC micro-carving to expose the conductive pads, resulting in the output of the three-layer ring assembly. The three-layer ring assembly is output by electrically connecting the pins of the micro reverse cancellation coil array to the exposed secondary conductive pads through micro precision wiring. The three-layer ring assembly is insulated and stress-buried in the precision wiring area using micro-nano dispensing or local curing processes to construct an integrated shielding and offsetting component.

5. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The magnetic flux leakage acquisition module includes: The magnetic sensing acquisition unit is used to power on the magnetically coupled primary-side inverter circuit to start resonant power supply, sense the changes in leakage magnetic field in the interlayer in real time, convert the physical magnetic signal into a weak analog voltage signal, and output the original electrical signal stream. The signal conditioning unit is used to perform signal conditioning and analog-to-digital conversion on the original electrical signal stream, enhance the signal amplitude through an amplifier circuit, filter out high-frequency switching noise and power frequency interference through a bandpass filter, and output a high signal-to-noise ratio discrete time sequence digital signal through high-speed ADC sampling and quantization. The feature extraction unit is used to convert the discrete time series digital signal into a frequency domain spectrum, calculate the fundamental amplitude, phase angle shift and specific frequency components of the leakage magnetic signal, construct feature vectors, and output a real-time dynamic leakage magnetic feature signal dataset.

6. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The compensation generation module includes: The parameter analysis unit is used to perform analytical operations on the real-time dynamic leakage magnetic characteristic signal dataset, separate the instantaneous amplitude and phase information of each harmonic component, and output the leakage magnetic state parameter matrix. The waveform generation unit is used to perform inverse compensation based on the leakage flux state parameter matrix, generate multi-frequency composite equal-amplitude inverse compensation drive waveform data based on the equal amplitude and inverse phase of the harmonic components, convert it into an analog voltage signal, and output the compensation drive waveform analog signal. The current matching unit is used to perform current matching and power amplification based on the compensated drive waveform analog signal and the power supply capability of the secondary self-powered circuit, dynamically adjust the amplitude and phase of the drive current to track the leakage flux change, and output the reverse magnetic field drive current.

7. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The specific steps for outputting the compensated drive waveform analog signal in the waveform generation unit are as follows: An equivalent mapping operation is performed on the amplitude of each harmonic component in the leakage magnetic state parameter matrix, and an inversion operation with π is performed on the phase of each harmonic component to generate inverted harmonic complex components that correspond one-to-one with the original harmonics, and a frequency domain compensation vector is output. Perform an inverse fast Fourier transform on the frequency domain compensation vector to synthesize and restore each anti-phase harmonic component in the frequency domain into a discrete sampling point sequence in the time domain. Perform amplitude normalization and peak value limiting processing on the sampling point sequence to output a discrete compensation drive waveform digital sequence. The discrete compensation drive waveform digital sequence is sent to a digital-to-analog converter, and the digital-to-analog conversion is performed point by point with a fixed sampling clock to output the compensation drive waveform analog voltage signal.

8. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The interference suppression module includes: The current decomposition unit is used to perform spatial vector decomposition on the reverse magnetic field driving current, calculate the required distribution current amplitude and phase of the coil based on the spatial position and winding parameters of the coil in the canceling coil array, and output a discrete driving current digital sequence. The magnetic field superposition unit is used to restore the discrete digital sequence of driving current in each coil to the analog driving current, inject it into the corresponding coil according to the allocation matrix, and after each coil is energized, the residual magnetic field distribution data is superimposed and output in the interlayer space. The interference assessment unit is used to calculate the attenuation and reflection loss of the radio frequency interference signal in the particle layer based on the residual magnetic field distribution data and the dielectric loss and magnetic loss parameters of the composite shielding absorbing particles, to evaluate the bidirectional electromagnetic interference suppression effect, and to form a low-interference clean inner layer millimeter-wave communication ring space.

9. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 8, characterized in that: The specific steps for forming a low-interference, clean inner millimeter-wave communication ring space in the interference assessment unit are as follows: The amplitude and phase of the residual magnetic field distribution data are extracted according to the spatial grid nodes. Based on the dielectric loss tangent and magnetic loss tangent of the composite shielding absorbing particles, the power attenuation and interface reflection loss of the radio frequency interference signal at each grid node are calculated by substituting them into the transmission line impedance model. The attenuation and reflection loss numerical matrices are then output. The attenuation and reflection loss numerical matrices of each node are spatially weighted and superimposed. The active cancellation residual field strength and the passive absorption attenuation are subtracted node by node to obtain the net residual interference field strength value of each grid node. The net residual interference field strength value of all nodes is normalized and the inner space electromagnetic interference distribution map data is output. The electromagnetic interference distribution map data of the inner space is compared node by node with the lowest signal-to-noise ratio threshold to filter continuous spatial regions. The radial inner and outer boundary coordinates of the region are calculated, and the geometric boundary parameters of the low-interference clean inner millimeter-wave communication ring space are output.

10. The contactless data transmission system for robot joints based on millimeter-wave wireless links according to claim 1, characterized in that: The network communication module includes: The channel parameter configuration unit is used to calculate the optimal deployment position and beam alignment angle of the millimeter-wave transceiver antenna based on the geometric boundary parameters of the low-interference clean inner millimeter-wave communication ring space, configure the full-duplex transceiver frequency pair and channel bandwidth parameters, and output the physical layer channel configuration parameter table. The service multiplexing unit is used to classify and label the image data stream and attitude data stream according to bandwidth requirements and real-time levels based on the physical layer channel configuration parameter table, allocate a high-bandwidth downlink channel for the image data and apply compression coding, allocate a low-latency uplink channel for the attitude data and apply priority queue scheduling, and output a multi-service multiplexing data frame sequence. The network topology unit is used to encapsulate the multi-service multiplexed data frame sequence by joint number and perform address encapsulation and routing marking. Each joint node performs frame forwarding and data decapsulation according to the routing marking. The nodes are cascaded to form a multi-hop wireless communication topology and output a topology connection table and data throughput indicators of each node. The parameter tuning unit is used to perform node-by-node verification of the channel fading margin based on the topology connection table of the whole machine's wireless communication network and the data throughput index of each node, dynamically adjust the transmit power and adaptive modulation and coding scheme, and output a set of integrated data and energy operation parameters that meet the requirements of stable gigabit transmission.

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