CN-116544653-B - Flexible super-surface integrated antenna for robot energy-carrying communication

CN116544653BCN 116544653 BCN116544653 BCN 116544653BCN-116544653-B

Abstract

The invention discloses a flexible super-surface integrated antenna for robot energy carrying communication, which has wireless energy collection and communication functions, is of a double-layer flexible substrate structure, and is provided with two input ports, wherein one port is used for wireless energy collection, and the other port is used for side-emission and end-emission wireless communication of different frequency bands. The wireless energy collection uses a super-surface antenna, a super-surface unit, a top layer adopts a joint structure of an open ring groove and an I-shaped groove, a middle layer is a floor embedded into the complementary open ring groove, a bottom layer is a feed network with feed and combining functions, the wireless communication antenna end emission adopts a Vivaldi structure, is positioned in the middle layer, and is characterized in that two semicircular folding open rings which are excited by Vivaldi near field coupling and are positioned on the top layer and face to face are positioned above a central shaft of two Vivaldi radiation arms. The flexible super-surface integrated antenna is covered on the surfaces of mechanical parts such as a robot hand, a foot arm, a waist and the like and is used for energy supply and communication control of each driver.

Inventors

GUO LI
ZHANG LU
LI JUNFENG
Xiao Yisan

Assignees

湘潭大学

Dates

Publication Date: 20260512
Application Date: 20230524

Claims (8)

1. A flexible super surface integrated antenna for robot takes can communication, its characterized in that: The super-surface integrated antenna adopts a super-surface structure formed by super-surface units to collect electromagnetic energy, adopts a laminated radiation structure, and adopts different layers of radiation structures to respectively generate side-emission radiation and end-emission radiation for communication and works in different frequency bands; The ultra-surface units are combined and laminated to form a complementary split ring groove structure and an I-shaped groove structure, and each ultra-surface unit is excited through electromagnetic coupling at the feed network terminal; the laminated complementary open ring grooves are formed by upper and lower complementary open ring grooves, and the upper and lower complementary open ring grooves are opposite in opening direction and aligned in center; The I-shaped groove is positioned in the upper open ring groove, and the centers of the I-shaped groove and the upper open ring groove are aligned; the end shot uses a Vivaldi radiation structure, and the side shot is based on a large and small folding semicircular opening ring structure; The two parallel strips of the large and small folding semicircular opening rings are aligned with the central lines of the two radiation grooves of the Vivaldi structure and are close to the circular grooves of the Vivaldi structure; the flexible super-surface integrated antenna covers the surface of the robot part, and wireless energy collection and communication are respectively carried out through two input ports of the antenna.
2. The flexible super surface integrated antenna for robot-carried communication as recited in claim 1, wherein the stacked complementary pockets of the super surface unit have an upper pocket in the top layer and a lower pocket in the middle floor, the lower pocket having a width greater than the upper pocket width.
3. The flexible super-surface integrated antenna for robot energy-carrying communication according to claim 2, wherein the feed network of the super-surface structure adopts a stepped combiner and a strip-shaped microstrip feed line structure, and the strip-shaped feed line extends to the opening of the upper open ring groove.
4. A flexible ultra-surface integrated antenna for robotic energy-carrying communication as in claim 3, wherein the two probe bottom feed ports employ SMA interfaces with inner conductors connected to the bottom feed lines and outer conductors connected to the middle metal structure through the flexible substrate.
5. The flexible subsurface integrated antenna for robotic energy carrying communication as recited in claim 4, wherein the two large and small semi-circular folded split ring resonators of the side-fire radiating structure are placed face-to-face on top of the layer.
6. The flexible super-surface integrated antenna for robot energy-carrying communication according to claim 5, wherein the side-emitting and end-emitting radiation structures of the wireless communication function share a feeding structure positioned on the bottom surface, and the feeding structure adopts a probe bottom-feeding combined microstrip line to divide the feeding structure into two branches, wherein one branch excites Vivaldi and the other branch is in an open circuit state.
7. The flexible subsurface integrated antenna for robotic energy carrying communication as recited in claim 6, wherein the flexible substrate is comprised of a Polyimide material.
8. The flexible subsurface integrated antenna for robot-carried communication as recited in claim 7, wherein the flexible subsurface integrated antenna is applied to a mechanical surface of the robot, wherein the mechanical surface of the robot can be an arm, a foot, a leg arm, a waist, and each driver is powered and in wireless communication with respect to one of the plurality of drivers.

Description

Flexible super-surface integrated antenna for robot energy-carrying communication Technical Field The invention belongs to the technical field of communication facilities, and particularly relates to a flexible super-surface integrated antenna for robot energy-carrying communication. Background The current requirements of green and intelligent communication and the deep penetration of wireless information technology require the cooperative work of multiple agents and are applied to various fields of robots and the like. In recent years, attention is paid to Atlas running videos of the Boston bipedal robot, and a new design method of the robot is researched. However, robots are typically limited by the capacity of their own battery, typically for a duration of 1 to 2 hours, and complex movements require a combination of mechanical structures, which requires power supply and multiple drives to work cooperatively. Among them, the technology of portable communication (swit) attracts attention of researchers, and the concept thereof was first proposed in 2008, and mainly, the portable communication antenna is used for simultaneous spatial electromagnetic energy collection and wireless communication, including various design types. With antenna energy transfer, there is a conflict between antenna surface area and energy transfer power. In this case, it is an option to design a flexible super-surface antenna wrapped around the mechanical surface of the robot. In terms of energy transfer, the wireless energy transfer device is mainly divided into induction type and magnetic coupling resonance type wireless energy transfer devices, and the wireless energy transfer device is applied to the field of wireless charging of consumer electronic products and automobiles, wherein microwave energy transfer is difficult to realize medium-distance and long-distance energy transfer, and energy transfer efficiency is high. To achieve efficient and practical wireless energy transfer and communication, it is desirable to explore the coexistence of antennas and application environments, and to compromise system efficiency, complexity, cost, etc., and it is generally desirable that the used SWIPT antennas be wide angle receiving, polarization free/insensitive. Disclosure of Invention The embodiment of the invention aims to provide a flexible super-surface integrated antenna for robot energy carrying communication, which aims to solve the technical problems in the background technology. In order to achieve the purpose, the invention designs the flexible super-surface integrated antenna for robot energy carrying communication by integrating the super-surface and the patch antenna structure. The embodiment of the invention is realized in such a way that the flexible super-surface integrated antenna for carrying energy communication of the robot adopts two probe bottom feed ports and corresponding feed networks, one port corresponds to electromagnetic energy collection and adopts a super-surface structure, the other port corresponds to side-emission and end-emission communication and works in different frequency bands, the super-surface units are combined and laminated to complement an annular slot structure and an I-shaped slot structure, the end-emission communication adopts a Vivaldi radiation structure, the side-emission is based on a large-small folding semicircular annular ring structure, the flexible super-surface integrated antenna is covered on the surface of a mechanical part of the robot, and wireless energy collection and communication are respectively carried out through two input ports of the antenna. Further, the upper open ring groove of the laminated complementary open ring groove of the super surface unit is positioned on the top layer, the lower open ring groove is positioned on the middle floor, the I-shaped groove is positioned in the upper open ring groove, the centers of the complementary open ring grooves are aligned, the centers of the I-shaped groove and the upper open ring groove are aligned, and the width of the lower open ring groove is larger than that of the upper open ring groove. Furthermore, the feed network of the super-surface structure adopts a stepped combiner and a strip-shaped microstrip feeder structure, and the strip-shaped feeder extends to the opening of the upper opening ring; Furthermore, the two probe feed ports adopt SMA interfaces, the inner conductors of the two probe feed ports are connected with the bottom feeder line, and the outer conductors penetrate through the flexible substrate to be connected with the middle layer metal structure. Further, the large semicircular folded split ring resonators and the small semicircular folded split ring resonators of the side-emitting radiation structure of the wireless communication function are placed face to face on the top layer, and two parallel straight strips of the large semicircular folded split ring resonators and the small semicircular f