A robotic emergency braking system and method

Abstract

The application provides a robot emergency braking system and method, and belongs to the technical field of robots.The system comprises a diaphragm pressure sensor, which is installed at the bottom of the robot and around the wheels of the robot; a control circuit, which is in communication connection with the diaphragm pressure sensor and is used for generating a control instruction according to the measured pressure of the diaphragm pressure sensor, wherein the measured pressure is the pressure generated after an obstacle contacts the diaphragm pressure sensor; and a driving assembly, which is in communication connection with the control circuit and is used for performing emergency braking under the condition of receiving the control instruction.The application does not affect the climbing ability of the robot over obstacles and is not affected by light, and the safety performance of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot emergency braking system and method. Background Technology

[0002] The robotics industry has developed rapidly in recent years, and safety is one of the core issues for robots, as robots can crush a living robot's feet during operation. Current robot anti-foot-crushing designs can be implemented by installing infrared ranging sensors on the robot to detect foreign objects near the wheels and initiate emergency braking. Alternatively, safety contact edges can be installed on the robot's bottom shell and moved downwards to detect a living robot's feet.

[0003] When a robot operates in an area with strong sunlight, the infrared ranging sensor is prone to false triggering, causing the robot's emergency braking to fail. The safety edge will bulge out, and its downward movement will affect the robot's ability to cross obstacles. Currently, there is a lack of effective measures to address this issue in robot emergency braking solutions. Summary of the Invention

[0004] The purpose of this application is to provide a robot emergency braking system and method to solve problems encountered during robot emergency braking. The specific technical solution is as follows:

[0005] In a first aspect, a robot emergency braking system is provided, the system comprising:

[0006] A thin-film pressure sensor is mounted on the bottom of the robot and around the robot's wheels;

[0007] A control circuit, communicatively connected to the thin-film pressure sensor, is used to generate control commands based on the measured pressure of the thin-film pressure sensor, wherein the measured pressure is the pressure generated after the obstacle comes into contact with the thin-film pressure sensor;

[0008] The drive component, which is communicatively connected to the control circuit, is used to perform emergency braking upon receiving the control command.

[0009] Optionally, the system further includes: a ranging device, mounted on the surface of the robot and communicatively connected to the control circuit, for sending obstacle avoidance information to the control circuit when an obstacle is detected within the monitoring range;

[0010] The control circuit is also used to control the drive component to decelerate and avoid obstacles upon receiving the obstacle avoidance information.

[0011] Optionally, the control circuit includes:

[0012] A signal comparison circuit, one end of which is connected to the thin-film pressure sensor, is used to output a control signal when the measured pressure collected by the thin-film pressure sensor reaches a pressure threshold.

[0013] An NMOS transistor, wherein the gate of the NMOS transistor is connected to the other end of the signal comparison circuit, and the source of the NMOS transistor is grounded, for use in entering the cutoff state when the gate of the NMOS transistor receives the control signal;

[0014] A PMOS transistor, the gate of which is connected to the drain of an NMOS transistor, and the drain of which is connected to the driving component, is used to output the control command to the driving component when the NMOS transistor enters the off state, thereby controlling the driving component to perform emergency braking.

[0015] Optionally, the signal comparison circuit includes:

[0016] A comparator, wherein the first input terminal of the comparator is used to receive a reference voltage, and the second input terminal of the comparator is connected to the thin-film pressure sensor to receive the measurement voltage corresponding to the measurement pressure collected by the thin-film pressure sensor;

[0017] A processor, which is connected to the output of the comparator and the driving component respectively, is used to receive control signals input from the output of the comparator;

[0018] An AND gate circuit is provided, wherein the first input terminal of the AND gate circuit is connected to the output terminal of the comparator, and the second input terminal of the AND gate circuit is connected to the processor. The AND gate circuit is used to output a control signal through its output terminal when it receives a control signal input from the output terminal of the comparator and an enable signal from the processor.

[0019] Optionally, one end of the pressure film sensor is grounded, and the other end of the pressure film sensor is connected to the second input terminal of the comparator and one end of the first resistor, respectively. The other end of the first resistor is connected to the pull-up power supply.

[0020] The pressure film sensor is used to adjust the resistance when a measured pressure is detected between the sensor and the obstacle.

[0021] The comparator is used to determine that the reference voltage at the first input terminal is greater than the measured voltage at the second input terminal when the resistance of the pressure film sensor is adjusted, and outputs a control signal through the output terminal of the comparator.

[0022] Optionally, the gate of the PMOS transistor is connected to the drain of the NMOS transistor via a second resistor, and is also connected to the power supply and the source of the PMOS transistor via a third resistor.

[0023] The PMOS transistor is used to determine that the voltage between the gate and source of the PMOS transistor does not meet the conduction condition when the NMOS transistor enters the off state, and outputs the control command to the driving component to control the driving component to perform emergency braking.

[0024] Optionally, the voltage calculation formula for the second input terminal is:

[0025] V1 = V2 * R1 / (R1 + R2),

[0026] Wherein, V1 is the voltage value of the second input terminal, V2 is the voltage value of the pull-up power supply, R1 is the resistance value of the pressure film sensor, and R2 is the resistance value of the first resistor.

[0027] Optionally, the formula for calculating the gate voltage of the PMOS transistor is:

[0028] V3 = V4 * R3 / (R3 + R4),

[0029] Wherein, V3 is the gate voltage of the PMOS transistor, V4 is the voltage of the power supply, R3 is the resistance of the second resistor, and R4 is the resistance of the third resistor.

[0030] Optionally, the formula for calculating the voltage between the gate and source of the PMOS transistor is:

[0031] VGS = -R4*V4 / (R3+R4), where VGS is the voltage between the gate and source of the PMOS transistor, V4 is the voltage of the power supply, R3 is the resistance of the second resistor, and R4 is the resistance of the third resistor.

[0032] Secondly, a robot emergency braking method is provided, the method comprising:

[0033] Receives a measured pressure sent by a thin-film pressure sensor, wherein the measured pressure is the pressure generated after an obstacle comes into contact with the thin-film pressure sensor;

[0034] Control commands are generated based on the measured pressure from the thin-film pressure sensor;

[0035] The control command is sent to the drive component to cause the drive component to perform emergency braking.

[0036] Beneficial effects of the embodiments in this application:

[0037] In this application, when a triggering event between the thin-film pressure sensor and an obstacle is detected, the drive component can be controlled by the control circuit to brake urgently. Since the thin-film pressure sensor is thin, it will not affect the robot's ability to climb slopes and overcome obstacles. The thin-film pressure sensor is also not affected by light, thus improving the robot's safety performance.

[0038] Of course, implementing any product or method of this application does not necessarily require achieving all of the above advantages at the same time. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This refers to robots with enclosed corners, which are currently the most common type of robot technology.

[0041] Figure 2-1 A schematic diagram of a robot equipped with a mechanical triggering device in the prior art;

[0042] Figure 2-2 This is a schematic diagram showing the change in output of a mechanical triggering device after triggering in the prior art.

[0043] Figure 2-3 A schematic diagram of another robot with a mechanical triggering device installed in the prior art;

[0044] Figure 2-4 This is a schematic diagram of a mechanical triggering device in the prior art;

[0045] Figure 3-1 This is a diagram of the internal structure of a robot in the existing technology;

[0046] Figure 3-2 This is a diagram showing the array module layout of a ranging sensor in the prior art;

[0047] Figure 3-3 This is a schematic diagram of a ranging sensor detection method in the prior art;

[0048] Figure 4-1 This is a side view diagram of a robot equipped with an infrared ranging sensor in the prior art;

[0049] Figure 4-2 A frontal view of a robot equipped with an infrared ranging sensor in the prior art;

[0050] Figure 5 A schematic diagram of a robot equipped with safety contact edges in the prior art;

[0051] Figure 6 This is a schematic diagram of the structure of the robot emergency braking system provided in the embodiments of this application;

[0052] Figure 7 A schematic diagram illustrating the monitoring range of the ultrasonic sensor provided in this application embodiment;

[0053] Figure 8 This is a schematic diagram of a robot provided in an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustration and has no specific meaning in itself. Therefore, "module" and "part" may be used interchangeably.

[0056] Figure 1 This refers to robots with enclosed corners in existing technologies. For example... Figure 1 As shown, corner protectors are installed at the four omnidirectional wheels of the robot. When the user touches the corner protector, the robot will brake suddenly to prevent it from hitting the user's feet. However, the corner protectors will affect the robot's ability to pass through obstacles or climb slopes.

[0057] Figure 2-1 This is a schematic diagram of a robot equipped with a mechanical triggering device in the prior art. Figure 2-2 This is a schematic diagram showing the change in output of a mechanical triggering device after triggering in the prior art. Figure 2-3 A schematic diagram of another robot with a mechanical triggering device installed in the prior art; Figure 2-4 This is a schematic diagram of a mechanical triggering device in the prior art.

[0058] like Figure 2-1 As shown, a mechanical trigger device is installed next to the wheel. When the user's foot touches the mechanical trigger device, it will cause displacement and trigger the robot to brake suddenly. However, installing a mechanical trigger device at the wheel will affect the robot's ability to pass through obstacles or climb slopes.

[0059] Figure 3-1 This is a diagram of the internal structure of a robot in the existing technology; Figure 3-2 This is a diagram showing the array module layout of the ranging sensor; Figure 3-3 This is a schematic diagram of a ranging sensor detection method; for example... Figure 3-3 As shown, the ranging sensor detects the distance between itself and the ground at an angle downwards. When the distance changes, it can be inferred that a user's foot has entered the robot's operating area, causing the robot to brake suddenly. The safe zone of the ranging sensor is a detection blind spot. If a user's foot suddenly enters the safe zone, the ranging sensor cannot detect it, lacking a safe reaction distance and posing a risk of foot being crushed.

[0060] Figure 4-1 This is a side view diagram of a robot equipped with an infrared ranging sensor in the prior art; Figure 4-2 This is a frontal view of a robot equipped with an infrared ranging sensor in the prior art. The infrared ranging sensor is mounted at the center height of the robot's wheels, and an ultrasonic sensor is mounted on the robot's body. When the infrared ranging sensor detects a foreign object, the robot infers that a user's foot is near the wheel. When the robot operates in an area with strong sunlight, the infrared ranging sensor may be falsely triggered, causing the robot's anti-foot-pressing function to fail.

[0061] Figure 5 This is a schematic diagram of a robot equipped with a safety edge in the prior art. The safety edge is high off the ground and is in the shape of a long arc. If the safety edge needs to detect the user's foot, it needs to be lowered. The safety edge is installed on the robot's shell. If the safety edge is lowered, the robot's shell also needs to be lowered. If the robot's shell is too low, it will affect the robot's ability to cross obstacles.

[0062] The following will describe in detail, with reference to specific embodiments, a robot emergency braking system provided in this application, such as... Figure 6 As shown, the system includes a thin-film pressure sensor, a control circuit, and a drive assembly. The control circuit is communicatively connected to both the thin-film pressure sensor and the drive assembly. The drive assembly includes a motor driver and a power motor that are interconnected.

[0063] A thin-film pressure sensor is mounted on the bottom of the robot, around its wheels. Specifically, the thin sensor is designed to be attached to the robot's bottom without affecting its ability to climb slopes or overcome obstacles. Upon detecting a trigger event with an obstacle, the sensor generates a measured pressure and outputs it to the control circuit. The control circuit then generates control commands based on the measured pressure and outputs these commands to the drive assembly. Upon receiving the control commands, the drive assembly applies emergency braking. The motor driver drives the power motor to rotate, enabling the robot to move forward, backward, and turn.

[0064] In this application, when a triggering event between the thin-film pressure sensor and an obstacle is detected, the drive component can be controlled by the control circuit to brake urgently. Since the thin-film pressure sensor is thin, it will not affect the robot's ability to climb slopes and overcome obstacles. The thin-film pressure sensor is also not affected by light, thus improving the robot's safety performance.

[0065] As an optional implementation, the system also includes a ranging device, which is mounted on the surface of the robot and communicates with the control circuit. When the ranging device detects an obstacle within its monitoring range, it can send obstacle avoidance information to the control circuit. Upon receiving the obstacle avoidance information, the control circuit controls the drive components to decelerate and avoid the obstacle.

[0066] The ranging device can detect the presence of obstacles within a safe zone of x centimeters centered on the robot. If no obstacle is detected, the robot maintains its current movement. If an obstacle is detected, the robot will avoid it and decelerate. Obstacle avoidance prevents collisions. If an obstacle suddenly approaches the robot's wheels, a thin-film pressure sensor can control emergency braking. The pre-deceleration by the ranging device allows for faster emergency braking, preventing damage to the obstacle.

[0067] The ranging device is installed on the robot's surface, with a height monitoring range of 30 to 50 centimeters from the ground. Therefore, the ranging device has difficulty detecting obstacles at lower heights. The thin-film pressure sensor can detect obstacles at a height of 3-5 centimeters. This application combines the ranging device and the thin-film pressure sensor, which can simultaneously monitor obstacles of different heights, providing a wider monitoring range and avoiding pressing on lower obstacles, such as the user's feet.

[0068] The ranging device can be an ultrasonic sensor. For example, such as... Figure 7 As shown, the ultrasonic sensor can detect the presence of obstacles within a 30-centimeter safe zone centered on the robot. This safe zone can be circular, square, etc., and this application does not impose specific restrictions on the shape of the safe zone or its value.

[0069] like Figure 8As shown, ultrasonic sensors 8-1 are installed on the top of the robot's perimeter for obstacle detection, safety contact edges 8-2 are installed near the bottom of the robot's shell for collision detection, and thin-film pressure sensors 8-3 are installed around the robot's wheels, specifically at the bottom of the robot's shell and the front and rear ends of the wheels. The ultrasonic sensors are installed at a higher height than the thin-film pressure sensors. It can be seen that the installation height of the thin-film pressure sensors is lower than the original installation height of the safety contact edges, allowing them to detect areas at lower positions. The thin-film pressure sensors are attached to the robot and will not affect the robot's ability to climb slopes and overcome obstacles.

[0070] Compared to mechanical triggering devices, casters, and safety edges, this application does not affect the robot's ability to cross obstacles and climb slopes. Compared to infrared ranging sensors, it is not affected by lighting conditions. Compared to sensors that detect at an angle downwards, it has no blind spots. This application retains the safety and reliability advantages of mechanical triggering, but compared to mechanical triggering, it has a simpler structure, is easier to implement, and does not affect obstacle-crossing ability. Compared to infrared ranging, it is not affected by ambient light.

[0071] As an optional implementation, the control circuit includes: a signal comparison circuit, an NMOS transistor and a PMOS transistor, one end of the signal comparison circuit is connected to a thin-film pressure sensor, the other end of the signal comparison circuit is connected to the gate of the NMOS transistor, the drain of the NMOS transistor is connected to the gate of the PMOS transistor, the source of the NMOS transistor is grounded, and the drain of the PMOS transistor is connected to a driving component.

[0072] When a thin-film pressure sensor detects a trigger event with an obstacle, it generates a measured pressure. A signal comparison circuit acquires this measured pressure and, upon determining that the pressure has reached a pressure threshold, outputs a control signal to an NMOS transistor. Because the source of the NMOS transistor is grounded, when the gate of the NMOS transistor receives the control signal from the signal comparison circuit, the voltage between the source and gate does not meet the conduction condition. The conduction condition can be that the voltage between the source and gate is greater than zero. In this case, the NMOS transistor enters the cutoff state, equivalent to the current being interrupted.

[0073] The gate of the PMOS transistor is connected to the drain of the NMOS transistor, the source of the PMOS transistor is connected to the power supply, and is also connected to the gate of the PMOS transistor through a resistor. The drain of the PMOS transistor is connected to the drive component. When the NMOS transistor enters the off state, the voltage between the gate and source of the PMOS transistor is the same, which does not meet the conduction condition. The conduction condition can be that the voltage between the source and gate is greater than zero, the drive component is de-energized, and the robot performs emergency braking.

[0074] As an optional implementation, the signal comparison circuit includes: a comparator, a processor, and an AND gate circuit. The first input terminal of the comparator is used to receive a reference voltage, the second input terminal of the comparator is connected to a thin-film pressure sensor, the output terminal of the comparator is connected to the first input terminal of the AND gate circuit, the second input terminal of the AND gate circuit is connected to the processor, and the output terminal of the AND gate circuit is connected to the gate of an NMOS transistor.

[0075] When the thin-film pressure sensor acquires the measured pressure, it outputs a measured voltage to the comparator. The comparator outputs a control signal to the first input of the AND gate circuit based on the relationship between the reference voltage at the first input terminal and the measured voltage at the second input terminal. The processor also outputs an enable signal to the second input of the AND gate circuit. When the AND gate circuit receives the control signal input from the output terminal of the comparator and the enable signal from the processor, it outputs a control signal to the gate of the NMOS transistor.

[0076] As an optional implementation, one end of the pressure film sensor is grounded, and the other end of the pressure film sensor is connected to the second input terminal of the comparator and one end of the first resistor, respectively. The other end of the first resistor is connected to a pull-up power supply. When the pressure film sensor detects the measured pressure between itself and an obstacle, it adjusts the resistance, thereby adjusting the measured voltage input to the second input terminal of the comparator. Specifically, when the pressure film sensor detects the measured pressure between itself and an obstacle, it reduces the resistance, thereby reducing the measured voltage input to the second input terminal of the comparator. When the comparator determines that the reference voltage at the first input terminal is greater than the measured voltage at the second input terminal, it outputs a control signal to the first input terminal of the AND gate.

[0077] As an optional implementation, the gate of the PMOS transistor is connected to the drain of the NMOS transistor through a second resistor, and is also connected to the power supply and the source of the PMOS transistor through a third resistor. When the NMOS transistor enters the off state, the voltage between the gate and the source of the PMOS transistor is the same, which does not meet the conduction condition. The drain of the PMOS transistor outputs a control command to the drive component to control the drive component to perform emergency braking.

[0078] As an optional implementation, the voltage calculation formula for the second input terminal is:

[0079] V1 = V2 * R1 / (R1 + R2),

[0080] Wherein, V1 is the voltage value of the second input terminal, V2 is the voltage value of the pull-up power supply, R1 is the resistance value of the pressure film sensor, and R2 is the resistance value of the first resistor.

[0081] As an optional implementation, the formula for calculating the gate voltage of a PMOS transistor is:

[0082] V3 = V4 * R3 / (R3 + R4),

[0083] Where V3 is the gate voltage of the PMOS transistor, V4 is the voltage of the power supply, R3 is the resistance of the second resistor, and R4 is the resistance of the third resistor.

[0084] As an optional implementation, the formula for calculating the voltage between the gate and source of a PMOS transistor is:

[0085] VGS = -R4*V4 / (R3+R4), where VGS is the voltage between the gate and source of the PMOS transistor, V4 is the voltage of the power supply, R3 is the resistance of the second resistor, and R4 is the resistance of the third resistor.

[0086] like Figure 1 As shown, ultrasonic sensor 1 is connected to processor 2. One end of pressure diaphragm sensor R1 is grounded, and the other end of pressure diaphragm sensor R1 is connected to the second input terminal IN+ of comparator 3 and one end of first resistor R2. The other end of first resistor R2 is connected to pull-up power supply 4. The first input terminal IN- of comparator 3 receives reference voltage. The output terminal of comparator 3 is connected to the first input terminal of AND gate 5 and processor 2. Processor 2 is connected to the second input terminal of AND gate 5 and motor driver 6. The output terminal of AND gate 5 is connected to the gate of NMOS transistor 7. The source of NMOS transistor 7 is grounded. The drain of NMOS transistor 7 is connected to one end of third resistor R4 and the gate of PMOS transistor 8 through second resistor R3. The other end of third resistor R4 is connected to power supply 9 and the source of PMOS transistor 8. The drain of PMOS transistor 8 is connected to motor driver 6. Motor driver 6 is connected to power motor 10.

[0087] When the robot is operating normally, the thin-film pressure sensor does not encounter any obstacles, its resistance remains constant, and it outputs V1 to the first input terminal IN+ of the comparator. At this time, V1 = V2*R1 / (R1+R2), V1 > the reference level V2, the comparator output V5 is high, the processor output V6 is high, the AND gate output V7 is high, the voltage between the gate and source of the NMOS transistor is greater than 0, and the NMOS is in the on state. The gate input voltage of the PMOS transistor is V3 = V4*R3 / (R3+R4), V4 > V3. At this time, the voltage between the source and gate of the PMOS transistor is VGS = -R4*V4 / (R3+R4), which meets the conduction condition of the PMOS, the PMOS is normally turned on, and the motor driver works normally.

[0088] When the robot encounters an obstacle, it will trigger the thin-film pressure sensor. At this time, the resistance value R1 of the thin-film pressure sensor decreases, V1 < V2, the comparator outputs a low level. At the same time, the processor detects that V5 is at a low level, the processor outputs V6 at a low level, the AND gate outputs V7 at a low level, the voltage between the gate and the source of the NMOS transistor is less than 0, and the NMOS is in the cut-off state. At this time, V3 = V4, and the PMOS does not meet the conduction state, the motor driver is powered off, and the robot performs an emergency brake.

[0089] The user manually releases the risk of the pressure foot, moves the obstacle away from the robot, the thin-film pressure sensor restores the original resistance value, the comparator outputs V5 at a high level, the processor outputs V8 at a high level, the NMOS and PMOS are turned on, the motor driver resumes power supply, and the robot travels normally.

[0090] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but this implementation should not be considered to exceed the scope of this application.

[0091] The above are only specific implementation manners of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A robot emergency braking system, characterized in that, The system includes: A thin-film pressure sensor is mounted on the bottom of the robot and around the robot's wheels; A control circuit, communicatively connected to the thin-film pressure sensor, is used to generate control commands based on the measured pressure of the thin-film pressure sensor, wherein the measured pressure is the pressure generated after the obstacle comes into contact with the thin-film pressure sensor; A drive component, communicatively connected to the control circuit, is used to perform emergency braking upon receiving the control command; A safety contact edge is installed on the robot's outer shell near the bottom for collision detection; The installation height of the thin-film pressure sensor is lower than the installation height of the safety contact.

2. The system according to claim 1, characterized in that, The system also includes: a ranging device, which is installed on the surface of the robot and is communicatively connected to the control circuit, for sending obstacle avoidance information to the control circuit when an obstacle is detected within the monitoring range; The control circuit is also used to control the drive component to decelerate and avoid obstacles upon receiving the obstacle avoidance information.

3. The system according to claim 1, characterized in that, The control circuit includes: A signal comparison circuit, one end of which is connected to the thin-film pressure sensor, is used to output a control signal when the measured pressure collected by the thin-film pressure sensor reaches a pressure threshold. An NMOS transistor, wherein the gate of the NMOS transistor is connected to the other end of the signal comparison circuit, and the source of the NMOS transistor is grounded, for use in entering a cutoff state when the gate of the NMOS transistor receives the control signal; A PMOS transistor, the gate of which is connected to the drain of an NMOS transistor, and the drain of which is connected to the driving component, is used to output the control command to the driving component when the NMOS transistor enters the off state, thereby controlling the driving component to perform emergency braking.

4. The system according to claim 3, characterized in that, The signal comparison circuit includes: A comparator, wherein the first input terminal of the comparator is used to receive a reference voltage, and the second input terminal of the comparator is connected to the thin-film pressure sensor to receive the measurement voltage corresponding to the measurement pressure collected by the thin-film pressure sensor; A processor, which is connected to the output of the comparator and the driving component respectively, is used to receive control signals input from the output of the comparator; An AND gate circuit is provided, wherein the first input terminal of the AND gate circuit is connected to the output terminal of the comparator, and the second input terminal of the AND gate circuit is connected to the processor. The AND gate circuit is used to output a control signal through its output terminal when it receives a control signal input from the output terminal of the comparator and an enable signal from the processor.

5. The system according to claim 4, characterized in that, One end of the thin-film pressure sensor is grounded, and the other end of the thin-film pressure sensor is connected to the second input terminal of the comparator and one end of the first resistor, respectively. The other end of the first resistor is connected to the pull-up power supply. The thin-film pressure sensor is used to adjust the resistance when a measured pressure is detected between the sensor and an obstacle. The comparator is used to determine that the reference voltage at the first input terminal is greater than the measured voltage at the second input terminal when the resistance of the thin-film pressure sensor is adjusted, and outputs a control signal through the output terminal of the comparator.

6. The system according to claim 3 or 4, characterized in that, The gate of the PMOS transistor is connected to the drain of the NMOS transistor via a second resistor, and is also connected to the power supply and the source of the PMOS transistor via a third resistor. The PMOS transistor is used to determine that the voltage between the gate and source of the PMOS transistor does not meet the conduction condition when the NMOS transistor enters the off state, and outputs the control command to the driving component to control the driving component to perform emergency braking.

7. The system according to claim 5, characterized in that, The formula for calculating the voltage at the second input terminal is: V1 = V2 * R1 / (R1 + R2), Wherein, V1 is the voltage value of the second input terminal, V2 is the voltage value of the pull-up power supply, R1 is the resistance value of the thin-film pressure sensor, and R2 is the resistance value of the first resistor.

8. The system according to claim 6, characterized in that, The formula for calculating the gate voltage of the PMOS transistor is as follows: V3 = V4 * R3 / (R3 + R4), Wherein, V3 is the gate voltage of the PMOS transistor, V4 is the voltage of the power supply, R3 is the resistance of the second resistor, and R4 is the resistance of the third resistor.

9. The system according to claim 6, characterized in that, The formula for calculating the voltage between the gate and source of the PMOS transistor is as follows: VGS = -R4*V4 / (R3+R4), where VGS is the voltage between the gate and source of the PMOS transistor, V4 is the voltage of the power supply, R3 is the resistance of the second resistor, and R4 is the resistance of the third resistor.

10. A method for emergency braking of a robot, characterized in that, The method includes: The robot receives a measured pressure from a thin-film pressure sensor, wherein the measured pressure is the pressure generated after an obstacle comes into contact with the thin-film pressure sensor; the thin-film pressure sensor is installed on the bottom of the robot and around the robot's wheels; the installation height of the thin-film pressure sensor is lower than the installation height of the safety contact edge, which is installed on the robot's outer shell near the bottom for collision detection. Control commands are generated based on the measured pressure from the thin-film pressure sensor; The control command is sent to the drive component to cause the drive component to perform emergency braking.

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