Sound production module, head sound production structure, control method thereof, and robot

Abstract

The embodiment of the application provides a sound production module, a head sound production structure, a control method thereof and a robot. The sound production module is arranged on the inner side of the head shell, and an excitation source is attached to the surface of the sound production module. The excitation source is deformed along the thickness direction under the action of excitation voltage, drives the sound production module to vibrate along the direction perpendicular to the surface of the sound production module, and emits sound waves. The sound production structure of the application solves the dependence of the traditional sound production structure on the complex sound guide and the independent sound cavity structure, greatly reduces the overall volume and space occupation of the sound production system, and meets the design requirements of the narrow space and high integration of the robot head.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, and in particular to a sound production module, a head sound production structure, a control method thereof, and a robot. BACKGROUND

[0002] The existing humanoid robot voice interaction system usually uses a loudspeaker module to produce sound, and combines head or trunk installation, sound guide structure, and conventional directional control to realize voice output.

[0003] However, when the head space is limited, the existing sound production scheme is difficult to meet the design requirements of miniaturization and high integration of the head. SUMMARY

[0004] The sound production module, the head sound production structure, the control method thereof, and the robot provided by the embodiments of the present application solve the problem that the existing sound production scheme is difficult to meet the design requirements of miniaturization and high integration of the head.

[0005] In a first aspect, the present application provides a sound production module, comprising:

[0006] a sound production component arranged on the inner side of the head shell;

[0007] an excitation source attached to the surface of the sound production component; wherein the excitation source generates deformation along the thickness direction of the excitation source under the action of an excitation voltage, drives the sound production component to vibrate along the direction perpendicular to the surface of the sound production component, and emits sound waves.

[0008] Optionally, the sound production component comprises a planar metal sheet.

[0009] Optionally, the excitation source comprises a thin-film loudspeaker.

[0010] Optionally, the sound production module further comprises:

[0011] a resilient damping component attached between the inner side of the head shell and the sound production component, for absorbing the vibration transmission of the sound production component to the head shell.

[0012] Optionally, the resilient damping component is a hollow structure, the sound production component and the head shell abut two ends of the resilient damping component respectively, and the sound production component, the resilient damping component, and the head shell enclose to form an acoustic cavity.

[0013] The head shell is provided with a sound outlet hole, the acoustic cavity is closed except for the sound outlet hole, and the acoustic cavity and the sound outlet hole constitute a Helmholtz acoustic structure.

[0014] Optionally, an adhesive is applied between the sound production component and the resilient damping component, and between the resilient damping component and the inner side of the head shell.

[0015] In a second aspect, the present application provides a head sound production structure, comprising at least one sound production module according to the first aspect and a head shell.

[0016] Optionally, the head shell is provided with at least one sound outlet hole.

[0017] Optionally, the sound outlet hole is arranged at a mouth region or a cheek region of the head of the robot; the sound outlet hole is used to correspond to the mouth or the cheek of a human body when the head sound production structure is worn on the head of the human body.

[0018] Optionally, a plurality of sound outlet holes are arranged in an array.

[0019] Optionally, the shape of the sound outlet hole comprises at least one of a circle, a slit and a grid.

[0020] Optionally, the head sound production structure further comprises:

[0021] a driving circuit connected to the excitation source of each sound production module, used to apply an excitation voltage to the excitation source.

[0022] Optionally, the driving circuit comprises an audio processor and a power amplifier.

[0023] The output end of the audio processor is electrically connected to the input end of the power amplifier, and the output end of the power amplifier is electrically connected to the excitation source.

[0024] The audio processor is used to receive an audio input signal and perform signal processing on the audio signal, and output the processed audio signal to the power amplifier.

[0025] The power amplifier is used to perform power amplification on the received audio signal, and output an excitation voltage to the excitation source.

[0026] Optionally, the driving circuit connects the electrodes of the excitation source based on a flexible printed circuit board.

[0027] In a third aspect, the present application provides a control method of a head sound production structure, used for the head sound production structure according to the second aspect, the method comprising:

[0028] determining a compensation audio signal of at least one sound production module according to the spatial position difference characteristics of each sound production module relative to a target sound production direction;

[0029] driving the corresponding sound production module to produce sound based on the compensation audio signal; the sound signals output by each sound production module are in-phase superimposed in space to form a directional sound beam pointing to the target sound production direction, realizing directional sound production.

[0030] Optionally, the determining the compensation audio signal of at least one of the sound-emitting modules according to the spatial position difference characteristics of each sound-emitting module relative to the target sound-emitting direction comprises:

[0031] determining a signal compensation parameter of at least one of the sound-emitting modules according to the spatial position difference characteristics of each sound-emitting module relative to the target sound-emitting direction;

[0032] performing time reversal preprocessing on the audio input signal based on the signal compensation parameter to obtain the compensation audio signal corresponding to each of the sound-emitting modules.

[0033] Optionally, the signal compensation parameter comprises a time advance amount, and the determining the signal compensation parameter of at least one of the sound-emitting modules according to the spatial position difference characteristics of each sound-emitting module relative to the target sound-emitting direction comprises:

[0034] determining a target sound-emitting module to be time-controlled according to the target sound-emitting direction;

[0035] for each of the target sound-emitting modules, calculating a corresponding time advance amount according to a straight-line distance between the target sound-emitting module and a region corresponding to the target sound-emitting direction and a sound wave propagation speed, so that sound signals output by each of the sound-emitting modules reach the target sound-emitting direction synchronously and are superimposed in phase.

[0036] Optionally, the method further comprises:

[0037] calculating a reference driving delay time of adjacent sound-emitting modules according to a fixed interval between the adjacent sound-emitting modules and the sound wave propagation speed;

[0038] using the reference driving delay time as an array time sequence reference to calibrate and correct the time advance amount corresponding to each of the target sound-emitting modules;

[0039] and / or, the method further comprises:

[0040] when the target sound-emitting direction changes, recalculating the signal compensation parameter of each sound-emitting module and performing smooth switching to realize dynamic tracking of the directional sound beam.

[0041] In a fourth aspect, the present application provides a robot comprising the head sound-emitting structure of the second aspect;

[0042] and / or a control unit configured to execute the method of the third aspect.

[0043] In a fifth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the third aspect and / or various possible implementation manners of the third aspect.

[0044] Sixthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the third aspect and / or various possible implementations of the third aspect as described above.

[0045] The sound-generating module, head sound-generating structure and control method, and robot provided in this application embodiment, by setting a sound-generating component on the inner side of the head shell and attaching an excitation source to the surface of the sound-generating component, utilize the excitation source to deform along the thickness direction under the action of excitation voltage, drive the sound-generating component to vibrate along the direction perpendicular to its plate surface and emit sound waves, solve the dependence of traditional sound-generating structures on complex sound guiding and independent sound cavity structures, greatly reduce the overall volume and space occupation of the sound-generating system, and adapt to the design requirements of the robot head with narrow space and high integration. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] Figure 1 A schematic diagram of the head-emitting structure provided in the embodiments of this application. Figure 1 ;

[0048] Figure 2 A schematic diagram of the head-emitting structure provided in the embodiments of this application. Figure 2 ;

[0049] Figure 3 This is a schematic diagram of the head-emitting structure provided in an embodiment of this application.

[0050] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0051] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0052] Humanoid robot voice interaction technology is widely used in scenarios such as tour guiding, medical care, industrial inspection, and home services. Related systems typically consist of a robot main control unit, a voice processing unit, a voice-generating device, and a head or torso mounting structure, used to broadcast information to surrounding users, provide status feedback, and complete daily conversations.

[0053] Existing robots generally use traditional independent speakers as sound-producing components. The speaker body and its matching sound cavity and sound guiding structure occupy a large volume. Under the layout conditions where the head space is relatively tight, it is easily limited by the installation volume, wiring position and opening structure. This directly reduces the layout margin of vision module, sensor and drive components, resulting in limited head integration and difficult layout design, making it difficult to meet the head design requirements of miniaturization and high integration.

[0054] To address this, this application provides a sound-generating module in which an excitation source is directly attached to the surface of a sound-generating component within a confined space. The sound-generating component vibrates along the normal direction of the board surface using the thickness deformation of the excitation source, eliminating the need for the independent sound cavity, sound guide channel, and sound-permeable opening structure required by traditional loudspeakers. Therefore, based on this attached board surface sound-generating design, the space occupied by the sound-generating system can be significantly reduced, adapting to the design requirements of limited space and high integration in robot heads.

[0055] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0056] Figure 1 This is a schematic diagram of the head-emitting structure provided in the embodiments of this application, as shown below. Figure 1 As shown, the sound-generating module provided in this application embodiment includes:

[0057] A sound-generating component 120 is disposed inside the head shell 10, and an excitation source 140 is attached to the surface of the sound-generating component 120; wherein, the excitation source 140 deforms along the thickness direction under the action of excitation voltage, and couples the deformation to the sound-generating component 120, so as to drive the sound-generating component 120 to vibrate along the direction perpendicular to its plate surface and emit sound waves.

[0058] The sound-generating component 120 refers to the vibration radiation medium used to bear mechanical vibration and radiate the mechanical vibration into sound waves. In this scheme, it serves as the main vibration output component of the sound source, responsible for generating normal vibration of the plate surface under the drive of the excitation source 140 and outputting sound signals to the outside. The sound-generating component 120 is located inside the head shell 10.

[0059] For example, the sound-generating component 120 may be a plate-like structure, sheet-like structure or annular plate structure suitable for vibration radiation, and may adopt an arc-shaped thin sheet, a multi-layer stacked structure or a lightweight rigid plate.

[0060] The excitation source 140 refers to an electromechanical transducer unit that is attached to the surface of the sound-generating component 120. Under the action of the excitation voltage, it undergoes periodic expansion, contraction, bending, or combined deformation along its own thickness direction, and transmits this deformation to the surface of the sound-generating component 120 to drive the sound-generating component 120 to generate normal vibration of the plate surface. The excitation source 140 and the sound-generating component 120 are attached together and form an interface coupling. The excitation source 140 can be an electromechanical transducer structure capable of undergoing thickness deformation under the action of the excitation voltage.

[0061] In practical applications, an external control circuit applies an excitation voltage to the excitation source 140. Under the action of an electric field or electro-stress, the excitation source 140 undergoes periodic deformation along its thickness direction. This deformation is directly transmitted to the sound-generating component 120 through the bonding interface, causing the sound-generating component 120 to vibrate on the inner side of the head shell 10 in a direction perpendicular to the plate surface, and outputting sound waves outward in a plate-surface radiation manner. Since the sound-generating component 120 is directly arranged on the inner side of the head shell 10, and the excitation source 140 and the sound-generating component 120 adopt a high-coupling bonding relationship, a relatively compact acoustic structure can be formed within the confined head space, while maintaining the structural continuity of the head shell 10.

[0062] Understandably, when the sound-generating component 120, acting as a plate-shaped radiating medium, has its vibration surface aligned with the mounting posture of the inner side of the head shell 10, the direction of sound wave output can correspond to the head's orientation, making the voice output more concentrated in the interactive area facing the robot. In close-range multi-person interaction or complex environments, the sound-generating position is also easier to coordinate with the head surface layout, allowing the robot to complete voice broadcasting and interactive output even when the vision module, sensors, and drive components already occupy a significant amount of internal space. Based on the mechanism of the excitation source 140 deforming along the thickness direction and driving the sound-generating component 120 to vibrate along the normal direction of the plate surface, electrical signals can be converted into stable mechanical sound source output, thereby achieving an integrated arrangement of the sound-generating architecture inside the head.

[0063] In one possible implementation, the sound-generating component 120 includes a planar metal sheet.

[0064] Because the planar metal sheet has good in-plane stiffness and controllable plate vibration characteristics, it can obtain a stable acoustic response in a small installation space. Furthermore, the resonant frequency and sound pressure output can be adjusted by changing the sheet thickness, the peripheral fixing method, the bonding area, and the material damping, so that the sound wave output is more suitable for the integrated layout inside the head shell 10.

[0065] In one possible implementation, the excitation source 140 includes a thin-film speaker.

[0066] The film loudspeaker can form a compact, integrated acoustic path with the sound-generating component 120, reducing the space occupied by traditional loudspeakers and acoustic cavity structures inside the head.

[0067] For example, a thin-film loudspeaker can be a piezoelectric thin-film loudspeaker, such as a PVDF (Polyvinylidene Fluoride) piezoelectric thin-film loudspeaker. The size of this thin-film loudspeaker is approximately 1 / 2 to 1 / 3 the size of the metal sheet. It can be attached to the geometric center of the upper surface of the planar metal sheet facing away from the small acoustic cavity via a pressure-sensitive adhesive layer, achieving single-point attachment. Simultaneously, this piezoelectric thin-film loudspeaker can also be arranged at multiple symmetrical positions along the planar metal sheet to form a multi-point driving structure, thereby improving the vibration mode distribution of the metal sheet and effectively enhancing the overall sound field uniformity. The piezoelectric thin film of the loudspeaker can also be a PZT (Lead Zirconium Titanate) piezoelectric thin film, an AlN (Aluminum Nitride) piezoelectric thin film, etc.

[0068] In the above embodiments, based on the design of the sound-generating component 120 including a planar metal sheet and the excitation source 140 including a thin-film speaker, while ensuring sound wave output, it can improve the structural integration and environmental adaptability of the humanoid robot's head area, and is conducive to maintaining relatively stable acoustic directivity and sound emission consistency under conditions of close interaction between multiple people or limited installation.

[0069] In practical applications, when the thin-film loudspeaker receives the electrical excitation signal output from the main control unit or the audio drive circuit 200, and undergoes periodic deformation along its thickness direction under the action of the excitation voltage, the out-of-plane vibration generated by the flexible diaphragm is directly transmitted to the planar metal sheet that is closely attached to it, causing the planar metal sheet to form a plate bending vibration under the constraint boundary conditions and radiate sound energy outward in the form of bending waves.

[0070] It should be noted that the sound-generating component 120, including the metal sheet, is only one example; other forms are also possible, such as a piezoelectric or electromagnetic vibrating sound-generating device that can be bonded and driven. The excitation source 140, including the diaphragm loudspeaker, is only one example; other forms are also possible, such as a hard alloy sheet, a composite metal plate, etc.

[0071] In one possible implementation, the sound-generating module further includes an elastic damping component 130, which is attached to the inner side of the head shell 10 and the sound-generating component 120 to absorb vibrations transmitted from the sound-generating component to the head shell 10.

[0072] The elastic vibration damping component 130 is an elastic buffer vibration isolation component disposed between the inner side of the head shell 10 and the sound generating component 120. It is used to absorb, attenuate and isolate the mechanical vibration generated by the sound generating component 120 and transmitted to the shell during operation, thereby reducing the vibration from the head shell 10 to the outside and reducing structural resonance.

[0073] For example, the elastic damping component 130 is arranged around, on the back of, or in the support contact area corresponding to the housing of the sound-generating component 120. It can contact the sound-generating component 120 by bonding and form a support with the inner wall of the head housing 10. For example, it can be positioned by bonding, thermoforming and integral connection to ensure that it does not shift under long-term vibration conditions.

[0074] For example, the elastic damping component 130 can be a hollow silicone pad, with a single cavity inside to provide compression and rebound space; the elastic damping component 130 can also be a hollow rubber ring or a cylindrical cavity structure, with its outer periphery fitting against the inner wall of the outer shell and its inner periphery fitting against the edge of the sound-generating component 120 to form circumferential vibration isolation support. The specific elastic modulus, cavity shape, contact area, and assembly preload of the elastic damping component 130 can be adaptively adjusted according to the structure of the head shell 10, the size of the sound-generating component 120, and the target audio frequency range.

[0075] For example, when the sound-generating component 120 includes a metal sheet and the elastic damping component 130 includes a gasket, the planar dimensions of the metal sheet completely cover the outer edge of the gasket, thereby completely sealing the upper part of the hollow area of ​​the gasket; based on the closed structure of the metal sheet and the hollow elastic damping component 130, the sound-generating component 120, the elastic damping component 130 and the head shell 10 together form a sealed acoustic cavity 170, effectively avoiding the problem of sound energy leakage.

[0076] In practical applications, when the excitation source 140 undergoes a slight deformation along its thickness under the excitation voltage, it drives the attached sound-generating component 120 to vibrate in a direction perpendicular to the plate surface to generate sound waves. Simultaneously, the sound-generating component 120 generates a certain amount of reverse mechanical vibration while outputting sound energy. This vibration is transmitted to the elastic damping component 130 via the contact interface between it and the head shell 10. Because the elastic damping component 130 possesses compression, rebound, and micro-shear deformation capabilities, it can absorb and dissipate vibration energy through internal material damping and structural deformation after being subjected to force, thereby reducing the amplitude of the vibration propagating further to the head shell 10. Simultaneously, the elastic damping component 130, acting as an intermediate vibration-damping layer, maintains the elastic support relationship between the sound-generating component 120 and the head shell 10, reducing the rigid impact on the shell while ensuring stable positioning of the sound-generating component 120.

[0077] Based on this, the elastic damping component 130 is provided between the inner side of the head shell 10 and the sound-generating component 120 to reduce the resonance probability of the head shell 10, reduce the leakage of stray noise caused by shell vibration, and reduce vibration interference to the internal vision module, sensor or other electronic devices of the head, thereby improving the working stability of the sound-generating module, the purity of acoustic output and the overall integration compatibility within a confined space.

[0078] Optionally, the elastic damping component 130 has a hollow structure, and the sound-generating component 120 and the head shell 10 respectively abut against the two ends of the elastic damping component 130. The sound-generating component 120, the elastic damping component 130 and the shell enclose to form an acoustic cavity 170. The head shell 10 has a sound outlet hole, and the acoustic cavity 170 is closed except for the sound outlet hole. The acoustic cavity 170 and the sound outlet hole constitute a Helmholtz acoustic structure.

[0079] The sound-generating component 120 and the head shell 10 respectively abut against the two ends of the elastic damping component 130, so that the elastic damping component 130 forms a compressed support state in the axial direction. The sound-generating component 120, the elastic damping component 130 and the shell enclose an acoustic cavity 170, so that the vibration energy of the sound-generating component 120 preferentially acts on the air medium inside the acoustic cavity 170 and radiates outward through the sound outlet.

[0080] The head shell 10 has a sound outlet, and the acoustic cavity 170 is sealed except for the sound outlet, which can prevent sound energy from leaking into unintended paths and allow the gas inside the acoustic cavity 170 to form a controllable pressure change under the drive of the sound generating component 120. The acoustic cavity 170 and the sound outlet constitute a Helmholtz acoustic structure, in which the acoustic cavity 170 serves as a resonant cavity and the sound outlet serves as a neck opening. Together, they determine the resonant frequency and sound radiation characteristics of the system.

[0081] For example, the sound outlet can be configured as a single circular hole, multiple parallel micro-holes, elongated slit holes, or through holes with beveled corners. The opening area, hole length, and volume relationship with the acoustic cavity 170 can be matched according to the target speech frequency band to improve low-frequency sound pressure and overall radiation efficiency within a limited space. The closed boundary of the acoustic cavity 170 can be defined by the inner wall of the head housing 10, the back of the sound-generating component 120, the outer peripheral wall of the elastic damping component 130, and necessary sealing layers. If necessary, sealant, elastic sealing rings, or compression frames can also be provided on the contact surfaces to further reduce air leakage and unintended resonance.

[0082] For example, the volume of the acoustic cavity 170 can be set according to the Helmholtz resonance relationship. Generally, the larger the cavity, the lower the resonant frequency, while the longer the equivalent neck length of the sound outlet and the smaller the opening area, the lower the resonant frequency. Therefore, in actual design, the acoustic response can be finely controlled by adjusting the depth of the acoustic cavity 170, the diameter or slit width of the sound outlet, and the hollow cross-sectional dimensions of the elastic damping component 130. The hollow structure of the elastic damping component 130 can also provide a certain limit and buffer margin during assembly, so that the reverse mechanical vibration generated during the operation of the sound-generating component 120 is preferentially consumed by elastic deformation, thereby reducing the structural noise transmitted to the head shell 10 and keeping the sound pressure output at the sound outlet more concentrated and stable.

[0083] In practical applications, the excitation source 140 deforms along its thickness under the excitation voltage, thereby causing the sound-generating component 120 to vibrate in a direction perpendicular to the plate surface. The vibration of the sound-generating component 120 causes periodic micro-compression and recovery between itself and the elastic damping component 130, as well as between the elastic damping component 130 and the head shell 10. Since the elastic damping component 130 is a hollow structure, its internal buffer cavity will generate a controllable volumetric elastic response with changes in air pressure when compressed, which absorbs part of the mechanical vibration energy and maintains the boundary stability of the acoustic cavity 170. At the same time, the air in the acoustic cavity 170 undergoes periodic compression and expansion under the drive of the sound-generating component 120, and the air vibration radiates outward through the sound outlet to form sound waves. Since the acoustic cavity 170 is closed except for the sound outlet, the leakage of acoustic energy and structural leakage are significantly reduced. The Helmholtz acoustic structure formed by the acoustic cavity 170 and the sound outlet can generate resonance enhancement in the predetermined frequency band, thereby improving the sound pressure level and radiation efficiency of the speech broadcast and making the sound output direction more concentrated in the area where the sound outlet is located.

[0084] Based on the above analysis, it can be seen that the design of the hollow structure elastic vibration damping component 130, together with the sound-generating component 120 and the head shell 10, forms an acoustic cavity 170. This allows the acoustic cavity 170 to form a Helmholtz acoustic structure with the sound outlet. This structure achieves the synergistic effect of vibration isolation, acoustic cavity tuning and directional radiation without increasing the complexity of the sound guiding channel. It can adapt to the installation conditions with limited internal space of the head and improve the stability of voice output, overall sealing and structural integration of the humanoid robot in close-range interaction environment.

[0085] In one possible implementation, adhesive is applied between the sound-generating component 120 and the elastic damping component 130, and between the elastic damping component 130 and the inner side of the head shell 10.

[0086] Adhesives are bonding media placed between two adjacent contact interfaces to establish a stable connection between the sound-generating component 120, the elastic damping component 130, and the inner side of the head shell 10, while also providing sealing reinforcement and vibration isolation. Their function is to improve the positioning reliability of the assembled components, reduce loosening, abnormal noise, and air leakage caused by micro-gaps, local warping, or assembly tolerances, and weaken the transmission of vibration to the head shell 10 through the viscoelastic energy dissipation characteristics of the adhesive layer.

[0087] For example, adhesives are applied between the bottom surface of the sound-generating component 120 and the upper surface of the elastic damping component 130, and between the outer surface of the elastic damping component 130 and the inner wall of the head housing 10, forming a layered adhesive structure. The adhesive layer can also extend continuously along the contact edge to form a circumferential sealing boundary, thereby enhancing the sealing performance of the acoustic cavity 170. The adhesive can be in the form of dots, strips, or surface adhesive, or, depending on the assembly process, a continuous film, local dots, or rings can be used.

[0088] For example, the adhesive can be selected from silicone, acrylic, epoxy resin, or polyurethane adhesives, or one or more of two-component curing adhesives, hot melt adhesives, or pressure-sensitive adhesives, so that the cured adhesive layer has appropriate elastic modulus and adhesion strength, so as to retain the necessary vibration damping capacity while ensuring the fixing effect. In practical applications, the excitation source 140 drives the sound-generating component 120 to generate vibration along the normal direction of the plate surface. The vibration energy of the sound-generating component 120 is transmitted to the elastic vibration damping component 130 through the adhesive layer bonded to its bottom surface. At the same time, the adhesive layer on the other side firmly constrains the elastic vibration damping component 130 to the inside of the head shell 10, so that the components maintain the predetermined relative position in the assembled state. Since the adhesive has a certain viscoelasticity after curing, some energy will be dissipated when the vibration is transmitted at the interface, thereby reducing the diffusion of high-frequency stray vibrations to the head shell 10 and suppressing frictional noise caused by structural micro-movements. At the same time, the adhesive layer can also fill the small gaps at the interface, reduce air leakage and improve the sound pressure build-up conditions, so that the sound waves output by the sound-generating component 120 can be coupled to the external space more stably.

[0089] Based on the above analysis, it can be seen that applying adhesive between the sound-generating component 120 and the elastic vibration damping component 130, and between the elastic vibration damping component 130 and the inner side of the head shell 10, can improve the connection reliability, enhance the sealing performance and improve the vibration isolation effect while maintaining the compact installation of the sound-generating module. This is beneficial to improving the stability of the humanoid robot's head sound generation and the overall assembly adaptability.

[0090] This application embodiment also provides a head-mounted sound-emitting structure, including at least one sound-emitting module and a head shell 10, such as... Figure 2 As shown.

[0091] The sound-generating module is an acoustic actuator located inside the head's sound-generating structure, used to convert electrical signals into sound signals and output them outwards. It performs functions such as voice broadcasting, prompt output, and interactive feedback within the overall structure, and acts as a conversion interface between electrical signals and airborne sound waves, working in conjunction with the head shell 10. The head shell 10 refers to the shell structure that forms the outer contour of the robot's head and provides support, protection, and enclosure for the sound-generating module. It forms the overall shape of the humanoid robot's head and provides a fixed mounting interface and internal space for the sound-generating module. The head shell 10 constitutes the main load-bearing structure of the robot's head, forming a fixed assembly relationship with the entire robot head. When the robot's operating posture changes, the head shell 10, together with the internal sound-generating module, maintains a fixed position relative to the robot head and moves synchronously. Its interior can form a closed mounting space to accommodate the sound-generating module and related supporting devices.

[0092] For example, the external dimensions of the head shell 10 can be set according to the appearance of the humanoid robot head, the layout requirements of internal components, and the overall assembly precision. Its internal cavity width and depth must at least meet the accommodation requirements for the installation, wiring, and vibration avoidance of the sound module, ensuring that there is no structural interference after the sound module is assembled.

[0093] For example, the head shell 10 can be injection molded from engineering plastics. Engineering plastics may include, for example, ABS (Acrylonitrile Butadiene Styrene). ABS has the characteristics of high strength, good toughness, good injection moldability, impact resistance, and moderate cost, making it suitable for the injection molded structure of the robot head shell 10.

[0094] The robot head sound-generating structure provided in this application has a head shell 10 fixedly mounted on the head area of ​​a humanoid robot, providing a stable mounting space for the sound-generating module inside. After receiving electrical signals, the sound-generating module converts the electrical signals into sound signals and outputs them outward. Since the sound-generating module is arranged inside the robot head shell 10 or near the inner surface, the sound-generating position can form a compact integrated layout with the surface area of ​​the robot head, reducing the occupation of the limited internal space of the robot head by traditional independent sound-generating devices. At the same time, the head shell 10 can provide structural protection, circuit coverage, and appearance integration for the sound-generating module, maintaining the integrity and aesthetics of the outer surface of the robot head shell. When the robot turns its head, pitches, or changes its overall posture, the head shell 10 and the sound-generating module move synchronously, and the position of the sound source changes synchronously with the posture of the robot head in real time, so that the directionality of the output sound wave relative to the front of the robot remains stable and consistent, thereby realizing an integrated head sound-generating structure that adapts to the narrow head space of the robot and provides high-precision directional sound generation.

[0095] Optionally, the head housing 10 is provided with at least one sound outlet.

[0096] The sound-generating module inside the head generates mechanical vibrations corresponding to the speech signal under the action of the drive circuit 200. The sound waves propagate along the inner space of the head shell 10 and gradually converge to the sound outlet located on the surface of the head shell 10, and then radiate to the outside through the sound outlet. The array of multiple sound outlets can form a relatively uniform radiation distribution when the sound waves pass through, so that the speech output maintains good coherence and consistency at different angles. Therefore, setting at least one sound outlet can establish an effective acoustic output channel without significantly increasing the volume of the head shell 10, reduce the occupation of internal space by the traditional sound guiding structure, and help maintain the overall structural integrity and appearance continuity of the head shell 10, thereby improving the humanoid robot's speech broadcasting adaptation capability and environmental reliability in the confined head space.

[0097] In one possible implementation, the sound outlet is used to correspond to the mouth or cheek position of the human body when the head-emitting structure is worn on the human head.

[0098] The head shell 10 has sound holes corresponding to the robot's mouth or cheek area. The exciter is arranged closely with the sound-emitting metal plate to form a surface sound source structure. The sound waves are output in the area near the robot's mouth, which can form a continuous and evenly distributed sound radiation interface. This makes the sound source position highly consistent with the sound emission shape of the robot's mouth, simulating the natural speech logic of humans and realizing the directional sound radiation effect of the robot's mouth. This greatly improves the visual and auditory consistency of human-computer interaction.

[0099] In one possible implementation, multiple sound holes are arranged in an array.

[0100] By using an array of multiple points to emit sound synchronously, the range of sound wave radiation is effectively expanded, solving the problems of concentrated sound field and uneven sound distribution that exist in single-hole and scattered opening sound emission. It can form an external sound field with wider coverage and better uniformity, greatly improving the sound field stability and spatial layering of robot voice emission, and adapting to the acoustic needs of human-computer interaction in multiple scenarios.

[0101] In one possible implementation, the shape of the sound hole includes at least one of a circle, a slit, and a mesh.

[0102] Different shapes of sound holes can be used to optimize sound wave diffusion efficiency and external sound quality, while taking into account the overall appearance and structural regularity of the device, further optimizing the continuity of the sound field near the face, and improving the anthropomorphic effect and appearance of the robot's voice.

[0103] In the above embodiments, based on the design of the sound hole position, sound hole array, and sound hole shape, while maintaining the overall integrity of the head shell 10, the effective organization of the sound wave emission path is achieved. This reduces the space occupied by traditional sound-emitting modules and complex sound-guiding channels, and minimizes the impact of openings in the head shell 10 on structural continuity and environmental adaptability. Since the sound is output from near the natural vocalization area of ​​the human face, the user's perception of the sound direction during interaction is closer to that of a real dialogue scenario. This helps improve the consistency of humanoid expression and the stability of sound field presentation in close-range communication, multi-user gaze, and complex environments.

[0104] Optionally, the head-mounted sound-generating structure also includes a drive circuit 200, which is connected to the excitation source 140 of each sound-generating module and is used to apply an excitation voltage to the excitation source 140.

[0105] External voice control commands or audio to be played are first sent to the drive circuit 200. After performing necessary power amplification, impedance matching, and voltage shaping on the audio signal, the drive circuit 200 outputs excitation voltage to the excitation source 140 corresponding to each sound-emitting module. After each excitation source 140 is driven, the plate structure of the sound-emitting module deforms in the thickness direction and vibrates along the normal direction as the electrical signal changes, converting electrical energy into mechanical vibration energy, and then radiating sound outward through the sound outlet provided on the head shell 10. Since the drive circuit 200 can implement synchronous driving or differentiated driving according to the arrangement position of multiple sound-emitting modules, it can keep the vibration response of each module coordinated in time and amplitude, thereby making the sound radiation on the head surface more stable and the coverage more continuous. At the same time, the drive circuit 200 and the excitation source 140 adopt a compact electrical connection method, which helps to reduce the length of the wire harness and the number of connectors, reduce wiring complexity, and improve the integration of the overall structure.

[0106] Thus, even with limited internal space in the head, stable power supply and effective excitation of the sound module can still be achieved, thereby improving the consistency and adaptability of voice output and providing support for the integrity, layout flexibility and acoustic output stability of the head shell 10.

[0107] In one possible implementation, the driving circuit 200 includes: an audio processor and a power amplifier; the output terminal of the audio processor is electrically connected to the input terminal of the power amplifier, and the output terminal of the power amplifier is electrically connected to the excitation source 140; the audio processor is used to receive an audio input signal and process the audio signal, and output the processed audio signal to the power amplifier; the power amplifier is used to amplify the power of the received audio signal and output an excitation voltage to the excitation source 140.

[0108] For example, the audio processor, as the front-end control core of the drive circuit 200, can be located near the robot's main control board, or it can be arranged together with the power amplifier on an independent drive board inside the head. One end of the processor receives audio input signals through a digital audio interface, an analog audio input terminal, or a communication bus, and the other end outputs processed audio signals to the power amplifier.

[0109] As a power amplifier unit, the power amplifier outputs a corresponding excitation voltage according to the amplitude, frequency band and load status of the input audio signal. The excitation voltage is transmitted to the electrodes of the excitation source 140 through the electrical connection line to drive the excitation source 140 to generate mechanical vibration.

[0110] According to the above structure, the drive circuit 200 can complete the division of labor and cooperation between audio signal processing and power output within a small installation space, enabling the excitation source 140 to obtain stable, continuous, and load-adaptive driving conditions. In practical applications, the voice data output by the robot's main control unit or the externally received audio signal first enters the audio processor. The audio processor samples, analyzes, and preprocesses the signal, and performs filtering, equalization, delay, or phase correction according to the frequency response characteristics of the sound-generating module, making the output signal more suitable for subsequent driving in terms of waveform, spectrum, and timing. Subsequently, the processed audio signal is sent to the power amplifier, which amplifies the signal voltage and current according to the load impedance and target sound pressure, forming an excitation voltage that meets the operating requirements of the excitation source 140. This excitation voltage is transmitted to the excitation source 140 via the output of the power amplifier. The excitation source 140 then converts electrical energy into mechanical excitation, and through cooperation with the sound-generating module, causes the sound-generating module to generate predetermined vibrations, thereby achieving stable sound production.

[0111] Since the audio processor is responsible for pre-amplifier signal shaping and the power amplifier is responsible for energy boosting, the division of labor between the two is clear. Therefore, while ensuring output sound quality and sound pressure level stability, it can reduce distortion, voltage drop and signal attenuation caused by direct drive.

[0112] In one possible implementation, the drive circuit 200 is connected to the electrodes of the excitation source 140 via a flexible printed circuit board cable 150.

[0113] The connection between the power amplifier and the excitation source 140 is transitioned by a flexible printed circuit board cable 150, which allows the excitation source 140 to be fixed on the surface of the sound-generating module or on the mounting surface close to the inside of the head shell 10. The electrode terminals are detachable or fixedly connected through the pads, crimp terminals or gold finger interfaces of the flexible printed circuit board cable 150.

[0114] For example, the flexible printed circuit board cable 150 may be composed of a polyimide substrate, a copper foil conductor, and a cover film.

[0115] When the electrodes of the excitation source 140 are connected using the flexible printed circuit board cable 150, the flexible printed circuit board cable 150 can be bent and laid out along the inner wall of the head shell 10, avoiding the vision module, sensor or other functional components. This makes the electrical connection path shorter and fits better to the curved surface of the head shell 10, thereby reducing installation interference and improving assembly reliability. The introduction of the flexible printed circuit board cable 150 makes the connection between the drive circuit 200 and the excitation source 140 more suitable for the limited space and bending path of the head, improving the overall layout flexibility and long-term operational reliability, thus providing support for the stable voice output of the sound module in complex environments.

[0116] Figure 3 The control method for the head-emitting structure provided in the embodiments of this application, such as Figure 3 As shown in the embodiment of this application, a control method for a head-generating structure is provided for controlling the aforementioned head-generating structure. The method includes:

[0117] S101: Based on the spatial positional differences of each sound-emitting module relative to the target sound-emitting direction, determine the compensation audio signal of at least one sound-emitting module.

[0118] For example, the head-mounted voice-generating structure includes multiple voice-generating modules, each distributed at different spatial positions within the head. The robot's main control unit is electrically connected to the drive links of each voice-generating module. The robot's main control unit acquires the robot's head orientation information, visual positioning information, or spatial positioning information to determine the location of the target user and distributes the voice to be broadcast to the corresponding drive channels of the multiple voice-generating modules. Each voice-generating module has a different installation position structurally, and its spatial position relative to the center of the robot's head and the target user's position differs.

[0119] Therefore, this application compensates the input signal of at least one sound-generating module to superimpose the sound signals output by multiple sound-generating modules in the target area, forming a directional sound beam. The target sound emission direction is the spatial direction in which the desired sound waves are concentrated and radiated, serving as the reference direction for compensation calculation. Spatial position difference characteristics are used to characterize the difference between the installation position of each sound-generating module and the target sound emission direction. Based on pre-stored installation coordinates of each sound-generating module, head posture parameters, and the target sound emission direction, the robot's main control unit determines that at least one sound-generating module needs compensation processing. The compensated audio signal is the audio signal used to drive the sound-generating modules after compensation processing. Its function is to compensate for the propagation differences caused by the spatial position differences between different sound-generating modules and the target sound emission direction, so that the sound signals output by each module arrive at the target area synchronously and are superimposed. Accordingly, the input audio of at least one sound-generating module can be compensated based on the spatial position differences to obtain the corresponding compensated audio signal.

[0120] For example, the main body executing this method is the robot's main control unit.

[0121] For example, since each sound-emitting module corresponds to a different sound-emitting position, the robot's main control unit pre-calibrates these distributed sound-emitting points as fixed coordinates in the head coordinate system. The robot's main control unit collects the spatial orientation information of the target user in real time through its onboard visual sensors, microphone array, or human body sensors. It converts the detected user orientation into a target direction vector in the robot's head coordinate system, and then matches this direction vector to one of the four preset standard edge directions (front, back, left, right) on the robot's panel. This direction vector is then quantified using an angle θ to determine the desired sound radiation direction. When the robot faces the user, the target sound direction can be taken as the direction vector pointing towards the target user in the head coordinate system. The robot's main control unit determines the acoustic compensation relationship between each sound-emitting module based on the spatial positional relationship of each module relative to this target direction vector. Since each sound-emitting module is independent and constitutes its own independent sound path, the compensation calculation must use the actual sound-emitting position of each module as a reference. This ensures that subsequent phase and delay compensation and drive control are based on the actual structural distribution, guaranteeing the accuracy of directional sound emission and the directivity of the sound field.

[0122] S102: The corresponding sound-generating module is driven to emit sound based on the compensated audio signal; the sound signals output by each sound-generating module are superimposed in phase in space to form a directional sound beam pointing towards the target sound direction, thereby realizing directional sound generation.

[0123] A directional sound beam is a beam of sound signals formed by the in-phase superposition of the output signals from each sound-generating module in space. Its function is to concentrate radiation in the target sound-generating direction and suppress diffusion in other directions. In this process, the robot's main control unit outputs each compensated audio signal to its corresponding audio drive channel. The audio drive channel drives the corresponding sound-generating module, and the sound signals output by each module radiate into the external space. Since each sound-generating module has already undergone compensation at its input, the arrival state of sound waves from different modules remains consistent in the target sound-generating direction, thus creating enhanced superposition in that direction. At locations deviating from the target sound-generating direction, the spatial superposition result of different sound-generating modules weakens, thereby completing directional sound generation.

[0124] Each compensated audio signal output from the robot's main control unit enters its corresponding sound-emitting module, which then emits sound according to that signal. When multiple sound-emitting modules output synchronously, the sound output positions at different locations are equivalent to a distributed array of sound sources. The robot's main control unit inputs different compensated audio signals to each array unit, causing the array's main lobe to face the target sound direction. Here, the array's main lobe refers to the main radiation beam region with the largest sound pressure amplitude and concentrated sound energy. Therefore, directional sound emission does not rely on the fixed sound output position of a single loudspeaker, but rather on the distributed arrangement of multiple sound-emitting modules on the head and the coordinated execution of the compensated drive.

[0125] The head-emitting structure control method provided in this application generates corresponding compensated audio signals based on the spatial positional differences of each sound-emitting module relative to the target sound-emitting direction. Each sound-emitting module then emits sound according to the compensated signals, enabling multiple distributed sound-emitting points to superimpose in phase along the target sound-emitting direction. In this way, multiple sound-emitting modules in the head can be used as a directional array, concentrating sound energy in the direction of the target user.

[0126] In one possible implementation, based on the spatial positional differences of each sound-emitting module relative to the target sound-emitting direction, a compensation audio signal for at least one sound-emitting module is determined, including:

[0127] Based on the spatial positional differences of each sound-generating module relative to the target sound-generating direction, determine the signal compensation parameters of at least one sound-generating module.

[0128] Based on the signal compensation parameters, the audio input signal is preprocessed by time reversal to obtain the compensated audio signal corresponding to each sound module.

[0129] Multiple sound-generating modules are evenly distributed in an M-row × N-column array on the sound-generating panel. Each sound-generating module has different spatial position characteristics relative to the target sound-generating direction. Based on these spatial position differences, the robot's main control unit determines the signal compensation parameters corresponding to each sound-generating module. These compensation parameters are used to match the differences in sound wave propagation paths between different sound-generating modules.

[0130] Time reversal preprocessing refers to applying a time advance to the original audio signal for sound-emitting modules at different locations, based on their propagation distance to the target edge. This allows modules with longer propagation distances and longer durations to emit sound first, ultimately ensuring that all curved waves arrive at the target location simultaneously and are superimposed and focused in phase.

[0131] For example, all array sound-emitting modules can participate in coordinated sound generation, and the corresponding compensation parameters can be configured only according to the spatial position differences of each sound-emitting module. Then, the original audio input signal is preprocessed by time reversal to generate independent compensation audio signals corresponding to each sound-emitting module, so that the driving signals of each sound-emitting module can adapt to their own spatial arrangement position and match the propagation law of the bending wave inside the panel.

[0132] After signal preprocessing, the main control unit converts the time-reversed compensated audio signals into analog voltage signals through independent drive channels, power amplifiers, and digital-to-analog converters, and applies them to each sound-generating module accordingly. Under alternating voltage excitation, each sound-generating module generates mechanical vibrations through the inverse piezoelectric effect or electromagnetic induction, and the vibrations are stably transmitted to the sound-generating panel through the pressure-sensitive adhesive layer, exciting bending waves inside the panel. Because the compensated audio signals carried by each sound-generating module match their spatial position differences, the differences in the propagation of bending waves from sound-generating modules at different positions can be effectively balanced, enabling the multiple bending waves generated within the panel to propagate in an orderly manner and be precisely superimposed, ultimately forming a bending traveling wave that propagates stably along the target sound direction.

[0133] Ultimately, the multiple curved waves propagate in an orderly manner along the target direction and superimpose in phase, significantly increasing the vibration amplitude of the particles in the target sound-emitting area. This allows the sound wave energy to be highly concentrated in the target sound-emitting direction, forming an array of main lobes with concentrated sound energy, and significantly enhancing the sound radiation intensity in the target direction.

[0134] By determining signal compensation parameters based on the spatial differences of each sound-generating module, the problem of inconsistent sound wave propagation paths and timing between sound-generating modules in different locations can be effectively solved. Furthermore, by performing time-reversal preprocessing on the audio signal, the sound characteristics of each sound-generating module are precisely adapted, achieving orderly superposition of multiple curved waves and energy concentration, which significantly improves the directivity and sound pressure gain of directional sound generation and effectively suppresses sound leakage from non-target directions.

[0135] In one possible implementation, the signal compensation parameters include a timing advance. Based on the spatial positional differences of each sound-emitting module relative to the target sound emission direction, signal compensation parameters for at least one sound-emitting module are determined, including:

[0136] Based on the target sound direction, determine the target sound-emitting module to be time-controlled;

[0137] For each target sound-emitting module, the corresponding time advance is calculated based on the straight-line distance between the target sound-emitting module and the area corresponding to the target sound-emitting direction, as well as the sound wave propagation speed, so that the sound signals output by each sound-emitting module arrive at the target sound-emitting direction synchronously and are superimposed in phase.

[0138] Based on the target sound direction, target sound modules requiring timing adjustment are selected. For each selected target sound module, the straight-line distance L_i from the module's geometric center to the target sound edge region is collected. Combined with the fixed propagation speed v_b of the curved wave inside the panel, the time advance of each module is calculated using the formula τ_i=L_i / v_b. Subsequently, the original audio signal is preprocessed with time reversal based on this time advance to obtain the preprocessed driving signal s_i(t)=s(t+τ_i). By configuring a larger time advance for modules with longer propagation distances and longer sound wave transmission times, the distant modules start vibrating and emitting sound earlier, compensating for the inherent time difference caused by spatial propagation. Ultimately, the curved waves excited by all target sound modules arrive at the target sound region synchronously, achieving wavefront in-phase superposition.

[0139] In this embodiment, time advance is configured based on the actual spatial location of the modules to accurately compensate for the difference in the propagation path of the curved waves from different sound-emitting modules, effectively improving the consistency of the sound field superposition. Furthermore, time reversal preprocessing enables synchronous focusing of multiple curved waves, resulting in a high degree of convergence of sound energy in the target sound direction, significantly improving the sound pressure gain and directivity of directional sound emission, and greatly suppressing sound leakage from non-target directions.

[0140] In one possible implementation, the method further includes:

[0141] The reference drive delay time of adjacent sound-generating modules is calculated based on the fixed spacing between adjacent sound-generating modules and the sound wave propagation speed.

[0142] Using the reference drive delay time as the array timing reference, the timing advance of each target sound-emitting module is calibrated and corrected.

[0143] Based on the fixed spacing *d* between adjacent sound-generating modules in the array and the propagation velocity *v_b* of the bending wave on the panel, the inherent reference drive delay time of the array is calculated using the formula Δt=d / v_b. This parameter is a fixed attribute of the array, characterizing the basic sound wave propagation delay between array units. Using this reference drive delay time as a unified timing scale, the time advance calculated individually for each module is calibrated and corrected as a whole, eliminating individual timing deviations caused by single distance-velocity calculations. This ensures that the time advance of each module not only adapts to its own independent propagation path characteristics but also conforms to the coordinated vibration timing law of the array, guaranteeing a high degree of consistency in the overall timing of the array.

[0144] In one possible implementation, the method further includes:

[0145] When the target sound direction changes, the signal compensation parameters of each sound module are recalculated and smoothly switched to achieve dynamic tracking of the directional sound beam.

[0146] The system monitors the dynamic changes in the target's sound emission angle θ in real time. When a shift in the target's sound emission direction or a change in the user's position is detected, a parameter update mechanism is immediately triggered. This mechanism re-matches the sound emission module to be controlled corresponding to the current target direction, and iteratively calculates new signal compensation parameters such as the time advance for each module by combining the latest spatial distance parameters and array reference delay parameters. Simultaneously, the time reversal preprocessing rules are updated. A smooth parameter switching mechanism is also employed to avoid vibration and noise abnormalities and sound field jumps caused by sudden parameter changes, achieving continuous and stable adjustment of the sound beam direction and real-time dynamic tracking of the directional sound beam to follow the target position.

[0147] Based on this, it can adapt to user movement and changes in scene posture, get rid of the limitations of traditional fixed-direction sound emission, greatly improve the intelligence and scene adaptability of robot sound emission, and effectively avoid vibration noise and sound field jitter caused by parameter mutation, ensuring continuous and stable sound emission process and improving user auditory experience.

[0148] It should be noted that the compensated drive signals for each channel, after time reversal preprocessing, timing calibration, and smoothing updates, are independently sent to the corresponding exciters. Each exciter is equipped with an independent drive channel and is electrically connected to a power amplifier. The DSP (Digital Signal Processor) sends the processed digital audio data stream to the digital-to-analog converters of each channel, converting the digital signals into analog voltage signals. After being amplified by the power amplifier, these signals are stably applied to both ends of each exciter, achieving independent and precise output of multiple signals.

[0149] Each exciter responds to the alternating drive voltage, generating corresponding mechanical displacement and micro-vibration through the inverse piezoelectric effect or electromagnetic induction. This mechanical vibration is efficiently and stably transmitted to the sound-generating panel body through the pressure-sensitive adhesive layer, thereby exciting and propagating bending waves inside the panel. Since the drive signals of each exciter are equipped with preset and precisely calibrated time advance and timing difference values, the multiple bending waves generated inside the panel propagate in an orderly manner according to the preset timing sequence, superimposing and coupling with each other, ultimately forming a stable bending traveling wave that propagates directionally along the target sound emission direction.

[0150] The curved traveling wave propagating in the specified direction continues to propagate towards the target sound-emitting edge. Relying on the timing compensation effect of the time reversal preprocessing, the wavefronts of each curved wave can arrive at the target sound-emitting edge region synchronously and superimpose completely in phase in this region. This significantly increases the vibration amplitude of the target edge particles, making the vibration energy and sound wave energy highly concentrated in the target sound-emitting direction, significantly enhancing the sound radiation intensity in the target direction, forming a directional sound beam with excellent directivity, effectively suppressing sound wave leakage in non-target directions, and achieving a precise directional sound emission effect.

[0151] This application also provides a robot, including the head-emitting structure described above;

[0152] And / or, a control unit, which is used to perform the methods provided above.

[0153] For example, the robot is a humanoid robot, but it can also include other forms of robots, such as wheeled service robots, cabinet-type welcoming robots, and pet-like robots.

[0154] By incorporating the aforementioned head-mounted sound-generating structure, this robot allows the excitation source to directly act on the surface of the sound-generating component within the confined space of the head. Voice output is achieved through normal vibration of the plate surface, thereby reducing the space occupied by traditional speaker modules, acoustic chambers, and sound guide channels within the head. When the control unit executes this method, it can coordinate the main control and audio drive links to control the sound generation process, making the sound generation more concentrated on the head surface. This reduces the dependence on the outer shell openings and sound guide structure, thus improving the head's structural integrity, its adaptability to cleaning, dust and moisture, and its overall integration capabilities. Therefore, it is better suited for scenarios involving close-range interaction with multiple users, operation in complex environments, and highly integrated head designs.

[0155] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0156] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0157] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0158] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0159] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0160] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0162] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0163] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0164] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A sound-generating module, characterized in that, include: The sound-generating component is located on the inside of the head shell; An excitation source is attached to the surface of the sound-generating component; wherein, under the action of an excitation voltage, the excitation source deforms along the thickness direction of the excitation source, causing the sound-generating component to vibrate in a direction perpendicular to the plate surface of the sound-generating component, so as to emit sound waves; An elastic damping component is fitted between the inner side of the head shell and the sound-generating component to absorb vibrations transmitted from the sound-generating component to the head shell.

2. The sound-generating module according to claim 1, characterized in that, The sound-generating component includes a planar metal sheet; And / or, the excitation source includes a thin-film loudspeaker.

3. The sound-generating module according to claim 1, characterized in that, The elastic vibration damping component has a hollow structure. The sound-generating component and the head shell respectively abut against the two ends of the elastic vibration damping component. The sound-generating component, the elastic vibration damping component, and the head shell together form an acoustic cavity. The head shell has a sound outlet, and the acoustic cavity is closed except for the sound outlet. The acoustic cavity and the sound outlet together form a Helmholtz acoustic structure.

4. The sound-generating module according to claim 3, characterized in that, Adhesive is applied between the sound-generating component and the elastic damping component, and between the elastic damping component and the inner side of the head shell.

5. A head-mounted sound-generating structure, characterized in that, It includes at least one sound-generating module as described in any one of claims 1-4 and a head shell.

6. The head-emitting structure according to claim 5, characterized in that, The head shell is provided with at least one sound outlet.

7. The head-emitting structure according to claim 6, characterized in that, The sound outlet is correspondingly located in the mouth area or cheek area of ​​the robot head; the sound outlet is used to correspond to the mouth or cheek position of the human body when the head sound-emitting structure is worn on the human head. And / or, multiple sound outlets are arranged in an array; And / or, the shape of the sound outlet includes at least one of circular, slit, and mesh shapes.

8. The head-emitting structure according to any one of claims 5-7, characterized in that, Also includes: A driving circuit, connected to the excitation source of each of the sound-generating modules, is used to apply an excitation voltage to the excitation source.

9. The head-emitting structure according to claim 8, characterized in that, The driving circuit includes: an audio processor and a power amplifier; The output terminal of the audio processor is electrically connected to the input terminal of the power amplifier, and the output terminal of the power amplifier is electrically connected to the excitation source. The audio processor is used to receive audio input signals, process the audio signals, and output the processed audio signals to the power amplifier. The power amplifier is used to amplify the power of the received audio signal and output an excitation voltage to the excitation source; And / or, the driving circuit is connected to the electrodes of the excitation source via a flexible printed circuit board cable.

10. A method for controlling a head-generating vocal structure, characterized in that, The method for a head-generating structure according to any one of claims 5-9 comprises: Based on the spatial positional differences of each sound-generating module relative to the target sound-generating direction, a compensation audio signal for at least one of the sound-generating modules is determined. The sound-generating modules are driven to emit sound based on the compensated audio signal; the sound signals output by each sound-generating module are superimposed in phase in space to form a directional sound beam pointing towards the target sound direction, thereby achieving directional sound emission.

11. The method according to claim 10, characterized in that, The step of determining the compensation audio signal for at least one of the sound-generating modules based on the spatial positional differences of each sound-generating module relative to the target sound-generating direction includes: Based on the spatial positional differences of each sound-generating module relative to the target sound-generating direction, at least one of the sound-generating modules is determined as a signal compensation parameter. Based on the signal compensation parameters, the audio input signal is preprocessed by time reversal to obtain the compensated audio signal corresponding to each of the sound-generating modules.

12. The method according to claim 11, characterized in that, The signal compensation parameters include a time advance. Determining the signal compensation parameters for at least one of the sound-generating modules based on the spatial positional differences of each module relative to the target sound emission direction includes: Based on the target sound direction, determine the target sound module to be time-controlled; For each target sound-emitting module, the corresponding time advance is calculated based on the straight-line distance between the target sound-emitting module and the region corresponding to the target sound-emitting direction, as well as the sound wave propagation speed, so that the sound signals output by each sound-emitting module arrive at the target sound-emitting direction synchronously and are superimposed in phase.

13. The method according to claim 12, characterized in that, The method further includes: The reference driving delay time of the adjacent sound-generating modules is calculated based on the fixed spacing between them and the speed of sound wave propagation. Using the reference drive delay time as the array timing reference, the timing advance of each target sound-emitting module is calibrated and corrected. And / or, the method further includes: When the target sound direction changes, the signal compensation parameters of each sound module are recalculated and smoothly switched to achieve dynamic tracking of the directional sound beam.

14. A robot, characterized in that, Includes the head-emitting sound structure as described in any one of claims 5-9; And / or, a control unit, said control unit being used to perform the method of any one of claims 10-13.

Images