Multi-band common antenna for robot cluster wireless communication and robot device

Abstract

The utility model provides a multi-band common antenna applied to robot cluster wireless communication, which comprises a dielectric substrate, and an antenna ground plane area, a first clearance area and a second clearance area are arranged on the dielectric substrate. The first clearance area is provided with a first radiation branch knot, and the first radiation branch knot is connected with the antenna ground plane area through a first feed assembly. The second clearance area is provided with a second radiation branch knot, and the second radiation branch knot is connected with the antenna ground plane area through a second feed assembly. The utility model is helpful for solving the technical problems of multiple types of wireless communication systems supported by a robot cluster system, high antenna cost, complex antenna layout design and the like.

Description

Technical Field

[0001] This utility model relates to the field of artificial intelligence communication technology, and in particular to a multi-band shared antenna for wireless communication of robot swarms. Background Technology

[0002] With the rapid development of artificial intelligence technology, the current robot market is expanding rapidly. The future trend is for multiple robots to form swarm systems and collaborate to accomplish complex tasks. In robot swarm systems, reliable wireless communication between robots and controllers, or between robots themselves, is crucial for the stability and reliability of the entire system. Therefore, robot swarm systems can simultaneously use multiple wireless communication standards to ensure communication reliability. However, the more types of wireless communication standards a robot swarm system supports, the more different types of antenna devices are required, leading to higher costs and more complex designs.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0005] The multi-band shared antenna and robot device for wireless communication of robot swarms provided in this disclosure help solve technical problems such as the large number of wireless communication standards supported by robot swarm systems, high antenna costs, and complex antenna deployment design.

[0006] To address the aforementioned problems, a first aspect of this utility model provides a multi-band shared antenna for wireless communication in robot swarms, comprising a dielectric substrate. The dielectric substrate has an antenna ground plane region, a first clearance region, and a second clearance region. A first radiating stub is disposed in the first clearance region and connected to the antenna ground plane region via a first feeding assembly. A second radiating stub is disposed in the second clearance region and connected to the antenna ground plane region via a second feeding assembly.

[0007] Preferably, the first radiating branch has a forked structure, including a first forked branch, a second forked branch, a third forked branch, a fourth forked branch, and a fifth forked branch. The second radiating branch has a U-shaped structure, including a first U-shaped branch, a second U-shaped branch, a U-shaped appendage, and a U-shaped connection, wherein the U-shaped connection is used to connect the first U-shaped branch and the second U-shaped branch.

[0008] Preferably, the first radiating stub is connected to the antenna ground plane region via a first feed assembly, including the vertical portions of the second, third, and fourth forked stubs being connected to one end of the first feed assembly, and the other end of the first feed assembly enclosing the antenna ground plane region. The second radiating stub is connected to the antenna ground plane region via a second feed assembly, including the U-shaped attachment being connected to one end of the second feed assembly, and the other end of the second feed assembly enclosing the antenna ground plane region.

[0009] Preferably, the first power supply component and the second power supply component each include their own power supply wire, inductor and input terminal.

[0010] Preferably, the dielectric substrate includes a surface layer and a ground layer, and both the surface layer and the ground layer in the first clearance area and the second clearance area are completely clear. Copper foil is laid on the surface layer and the ground layer in the antenna ground plane area.

[0011] Preferably, the combination of the first power supply component and the first radiating stub achieves coverage of the high-frequency band of 2402–2482 MHz and the low-frequency band of 433–930 MHz. The combination of the second power supply component and the second radiating stub achieves coverage of 700–24000 MHz and 2500–2700 MHz.

[0012] A second aspect of this utility model also provides a robot device, the robot device including a multi-band shared antenna for wireless communication of robot swarms as described in any one of the first aspects.

[0013] Preferably, the multi-band shared antenna used for wireless communication in robot swarms is located at the head, a higher position, or the highest position of the robot device.

[0014] This disclosure provides a multi-band shared antenna and robot device for wireless communication in robot swarms. By employing techniques such as rationally designing stub dimensions on a single dielectric substrate, it achieves coverage of multiple wireless communication standard frequency bands, reducing antenna hardware costs. In the overall robot design, this shared antenna is easier to deploy in appropriate locations, less likely to conflict with the robot's overall structure, and less susceptible to obstruction and interference. This helps enhance high-quality communication and further ensures the robot swarm system efficiently completes its predetermined tasks.

[0015] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0017] Figure 1 This is a schematic diagram of a multi-band shared antenna for wireless communication of robot swarms provided in an embodiment of this disclosure. Detailed Implementation

[0018] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0019] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0020] Unless otherwise stated, the term "multiple" means two or more.

[0021] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0022] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0023] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0024] The terms "fixed" and "connected" indicate that there is a path between objects such as units, components, modules, devices, or devices. This path can be a direct connection or an indirect connection. For example, "device A and device B are connected" should not be limited to a direct connection between device A and device B; device A may also be indirectly connected to device B through other intermediate objects.

[0025] In this embodiment of the disclosure, a robot refers to an electronic device or apparatus formed by integrating technologies such as microprocessors, sensor technology, image processing, network communication, and electromechanical technology, and has features such as wireless connection, intelligent control, intelligent perception, and intelligent application.

[0026] Wireless communication antennas need to be matched with dedicated operating frequency bands to function. The mainstream wireless standards used in robot swarm systems include ZigBee, Fourth Generation (4G), Fifth Generation (5G), Wireless Fidelity (WiFi), Bluetooth Low Energy (BLE), and Long Range (LoRA). The 4G / 5G frequency bands are allocated according to the 3rd Generation Partnership Project (3GPP) protocol, including Frequency Division Duplex (FDD) standards B1, B3, B5, and B8, and Time Division Duplex (TDD) standards B34, B38, B39, B40, and B41. Local area networks (BLE) and WiFi both operate in the 2.4 GHz band. ZigBee can operate in three bands: 2.4 GHz, 868 MHz, and 915 MHz. LoRA can operate in the 433–930 MHz band. These wireless standards cover a frequency range of 433–960 MHz (low frequency) and 1700–2690 MHz (high frequency).

[0027] Existing robot swarms involve various wireless communication standards, each requiring its own antenna system. The more wireless communication standards a robot needs to support, the more antennas are needed, leading to higher hardware costs. Furthermore, during robot structural design, multiple antennas are difficult to deploy rationally on the robot, and may even conflict with the overall structure. Antennas are also susceptible to obstruction and interference, resulting in poor communication quality and hindering efficient task completion. To address these issues, this invention proposes a multi-band shared antenna for robot swarm wireless communication. By rationally designing the antenna grounding point, feed point, and stub dimensions on a single circuit board, it achieves coverage across multiple frequency bands, enabling a shared antenna for various wireless communication standards and reducing antenna hardware costs. Moreover, during robot overall design, a shared antenna facilitates rational deployment in appropriate locations, avoids conflicts with the robot's overall structure, and is less prone to obstruction and interference, thus enhancing high-quality communication and further ensuring the efficient completion of tasks by the robot swarm system.

[0028] Figure 1 This is a schematic diagram of a multi-band shared antenna for wireless communication in a robot swarm, provided in an embodiment of this disclosure. Figure 1 As shown, the multi-band shared antenna includes a dielectric substrate 50, on which an antenna ground plane region 10, a first clearance region 20, and a second clearance region 30 are disposed. A first radiating stub 21 is disposed on the first clearance region 20, and the first radiating stub 21 is connected to the antenna ground plane region 10 via a first feed assembly 41. A second radiating stub 31 is disposed on the second clearance region 30, and the second radiating stub 31 is connected to the antenna ground plane region 10 via a second feed assembly 42.

[0029] The multi-band shared antenna can be a PCB printed antenna, including a PCB circuit board and its components, with the antenna components printed on the PCB circuit board. A PCB printed antenna refers to an antenna structure directly designed on a printed circuit board (PCB), utilizing the copper layer of the PCB to etch antenna traces of a specific shape to achieve wireless signal radiation and reception. In this case, the dielectric substrate 50 is the PCB circuit board. The dielectric substrate 50 includes a surface layer and a ground layer, and the surface layer and ground layer of the first clearance area 20 and the second clearance area 30 are completely clear. Copper foil is laid on the surface layer and ground layer of the antenna ground plane area 10 as the antenna's radiation reference ground, which is part of the antenna radiator other than the antenna body. The PCB circuit board has dimensions of 40*50mm, meeting the minimum length and width requirements for bandwidth. The size of the first clearance area 20 is 8.7*40mm, the size of the second clearance area 30 is 40*40mm, and the remaining portion can be covered with copper foil as the antenna's ground plane.

[0030] It is worth noting that the substrate can be a PCB circuit board or a substrate of other materials. Here, we take a PCB circuit board as an example, but this is not intended to limit it.

[0031] The first radial branch 21 has a forked structure, including a first forked branch 211, a second forked branch 212, a third forked branch 213, a fourth forked branch 214, and a fifth forked branch 215. The second radial branch 31 has a U-shaped structure, including a first U-shaped branch 311, a second U-shaped branch 312, a U-shaped appendage 314, and a U-shaped connector 313, wherein the U-shaped connector 313 is used to connect the first U-shaped branch 311 and the second U-shaped branch 312.

[0032] Five forked antenna stubs, namely the first radiating stubs 21, are disposed on the first clearance area 20. Each forked antenna stub measures 3.5*1.2mm; that is, the dimensions of the first forked stub 211, the second forked stub 212, the third forked stub 213, the fourth forked stub 214, and the fifth forked stub 215 are all 3.5*1.2mm. In the first radiating stubs 21, these five forked stubs are placed parallel to each other. The spacing between the three middle forked stubs is 1.5mm. The distance between the first forked stub 211 and the second forked stub 212 is 9.1mm, and the distance between the first forked stub 211 and the edge of the dielectric substrate 50 is 8.6mm. The fifth forked branch 215 is 3.9 mm away from the fourth forked branch 214, and the fifth forked branch 215 is 9.5 mm away from the edge of the dielectric substrate 50.

[0033] Two U-shaped antenna stubs, namely the second radiating stubs 31, are provided on the second clearance area 30. Both the first U-shaped stub 311 and the second U-shaped stub 312 have dimensions of 38*7mm. The U-shaped connector 313, with dimensions of 3*2mm, is used to connect the first U-shaped stub 311 and the second U-shaped stub 312 together. The U-shaped attachment 314 has dimensions of 24*9mm. In the second radiating stub 31, the first U-shaped stub 311 and the second U-shaped stub 312 are structurally parallel, with the vertical section located on one side. The U-shaped attachment 314 is connected to the first U-shaped stub 311 through a through-hole.

[0034] The first radiating stub 21 is connected to the antenna ground plane region 10 through the first feeding assembly 41. The vertical parts of the second forked stub 212, the third forked stub 213 and the fourth forked stub 214 are respectively connected to one end of the first feeding assembly 41, and the other end of the first feeding assembly 41 is wrapped within the antenna ground plane region 10.

[0035] The second radiating branch 31 is connected to the antenna ground plane region 10 through the second feed assembly 42, including the U-shaped attachment 314 being connected to one end of the second feed assembly 42, and the other end of the second feed assembly 42 being wrapped within the antenna ground plane region 10.

[0036] The first power supply component 41 and the second power supply component 42 each include their own power supply wire, inductor and input terminal.

[0037] The first power supply assembly 41 includes a power supply line 1, an inductor 1, and an input terminal 1. For example... Figure 1 As shown, the first power supply assembly 41 consists of the devices enclosed within the black dashed box. Specifically, the power supply line 1 comprises all the red power supply line devices enclosed within the black dashed box; this power supply line 1 is a 50Ω microstrip line. The inductor 1 comprises all the black spring-shaped devices enclosed within the black dashed box. The input terminal 1 comprises the yellow square-shaped devices enclosed within the black dashed box.

[0038] The second power supply assembly 42 includes a power supply line 2, an inductor 2, and an input terminal 2. For example... Figure 1 As shown, the second power supply assembly 42 consists of the devices enclosed in the green dashed box. Specifically, the feed line 2 consists of all the red feed line devices enclosed in the green dashed box; this feed line 2 is a 50Ω microstrip line. The inductor 2 consists of all the black spring-shaped devices enclosed in the green dashed box. The input terminal 2 consists of the yellow square-shaped devices enclosed in the green dashed box.

[0039] The first power supply component 41 and the first radiating stub 21 together achieve coverage of the high-frequency band of 2402–2482 MHz and the low-frequency band of 433–930 MHz. The second power supply component 42 and the second radiating stub 31 together achieve coverage of 700–24000 MHz and 2500–2700 MHz.

[0040] It is worth noting that, Figure 1The vertical relationship between the first clearance area 20 and the corresponding first radiating branches 21 and other devices disposed thereon, and the second clearance area 30 and the corresponding second radiating branches 31 and other devices disposed thereon, shown is merely a preferred deployment example and does not limit the placement location. The vertical positions of these two areas can be interchanged, or they can be designed on the same side. For example, the first clearance area 20 (including the devices disposed thereon) can be placed to the left or right of the second clearance area 30 (including the devices disposed thereon). This example does not limit the specific placement location in actual applications.

[0041] This disclosure also provides a robotic device, the robotic device comprising the above-described embodiments. Figure 1 The multi-band shared antenna described in part is used for wireless communication in robot swarms. The multi-band shared antenna is mounted on the robot device, and can be preferentially deployed at the robot's head, a higher position, or the highest point. The location of the multi-band shared antenna can be specifically designed and arranged according to the robot's shape, placing it at a higher position as much as possible can enhance the antenna's signal receiving and transmitting performance and efficiency. Preferably, it can be placed at the highest point of the robot device's head.

[0042] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For apparatuses disclosed in the embodiments, if they correspond to the antenna portion disclosed in the embodiments, then the relevant parts can be referred to the description of the antenna portion.

[0043] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-band shared antenna for wireless communication in robot swarms, characterized in that, Includes a dielectric substrate, on which an antenna ground plane region, a first clearance region, and a second clearance region are disposed; A first radiating branch is provided on the first clearance area, and the first radiating branch is connected to the antenna ground plane area through a first feeding component; A second radiating branch is provided on the second clearance area, and the second radiating branch is connected to the antenna ground plane area through a second feeding component.

2. The multi-band shared antenna for wireless communication in robot swarms according to claim 1, characterized in that, The first radiating branch has a forked structure, including a first forked branch, a second forked branch, a third forked branch, a fourth forked branch, and a fifth forked branch; The second radial branch has a U-shaped structure, including a first U-shaped branch, a second U-shaped branch, a U-shaped attachment, and a U-shaped connection. The U-shaped connection is used to connect the first U-shaped branch and the second U-shaped branch.

3. The multi-band shared antenna for wireless communication in robot swarms according to claim 2, characterized in that, The first radiating stub is connected to the antenna ground plane region through the first feeding assembly. The vertical parts of the second forked stub, the third forked stub, and the fourth forked stub are respectively connected to one end of the first feeding assembly, and the other end of the first feeding assembly is wrapped around the antenna ground plane region. The second radiating stub is connected to the antenna ground plane region via a second feed assembly, including the U-shaped attachment connected to one end of the second feed assembly, and the other end of the second feed assembly wrapped around the antenna ground plane region.

4. The multi-band shared antenna for wireless communication in robot swarms according to claim 3, characterized in that, The first power supply component and the second power supply component each include their own power supply wire, inductor and input terminal.

5. The multi-band shared antenna for wireless communication in robot swarms according to any one of claims 1 to 4, characterized in that, The dielectric substrate includes a surface layer and a ground layer, and the surface layer and the ground layer in the first clearance area and the second clearance area are completely clear; copper foil is laid on the surface layer and the ground layer in the antenna ground plane area.

6. The multi-band shared antenna for wireless communication in robot swarms according to claim 5, characterized in that, The first power supply component and the first radiating stub combination achieve coverage of the high-frequency band of 2402-2482MHz and the low-frequency band of 433-930MHz; the second power supply component and the second radiating stub combination achieve coverage of 700-24000MHz and 2500-2700MHz.

7. A robotic device, characterized in that: The robot device includes a multi-band shared antenna for wireless communication of robot swarms, as described in any one of claims 1-6.

8. The robot device according to claim 7, characterized in that: The multi-band shared antenna used for wireless communication in robot swarms is positioned at the head, a higher position, or the highest position of the robot device.

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