A safety controller for emergency braking and overturning warning of a construction robot and its application

Abstract

This invention relates to the field of emergency braking technology for mobile robots, specifically a safety controller and application for emergency braking and overturning warning of a construction robot. It includes a pneumatic telescopic assembly integrated into the periphery of the top shell of the base, comprising several telescopic tube groups arranged diagonally downwards along the circumference of the base; an air supply system including a fan and several branch pipes connected to the fan's outlet, each branch pipe equipped with a normally closed solenoid valve; a sensor unit; and a controller. By employing a pneumatic method of using a fan to drive the extension of multiple telescopic rods section by section, the response speed is significantly improved. The controller selectively activates the full extension of multiple telescopic rods on the sides adjacent to the robot's overturning direction, forming additional ground-contact support points outside the base. Together with the moving wheel assembly, these form at least three points of support, significantly expanding the robot's effective support area and effectively addressing the overturning risk of construction robots with high centers of gravity and heavy loads.

Description

Technical Field

[0001] This invention relates to the field of emergency braking technology for mobile robots, specifically a safety controller and application for emergency braking and overturning warning of a construction robot. Background Technology

[0002] With the development of robotics technology, indoor construction robots, such as putty coating robots and floor grinding robots, are increasingly widely used in confined and complex construction environments. These robots typically use a square or cylindrical base with wheels for movement. To adapt to narrow indoor passageways, their compact design results in a high center of gravity and a small support surface.

[0003] In actual operation, the wheel set is very easy to be obstructed by scattered building materials, wires or ground height differences, resulting in sudden overturning.

[0004] CN213828994U discloses a stable, anti-tipping mobile robot, including a base body, a laser rangefinder, an adjustable electric telescopic rod, a central processing module, and a display screen. The laser rangefinder is fixed to the center of the bottom surface of the base body with screws. The adjustable electric telescopic rod and the central processing module are installed inside the support column. A fixing block is fixed to the output end of the adjustable electric telescopic rod with screws. This design incorporates a supporting electric telescopic rod. When the robot is detected as about to tip over, the supporting electric telescopic rod and a contact plate cooperate to support the robot, thus preventing it from tipping over.

[0005] The existing technical solution has the following technical problems: The solution uses an electric telescopic pole as a support component. The response time of the motor-driven lead screw or gear rack transmission is relatively long. There is a significant delay from the detection of the overturning signal to the telescopic pole being fully extended and touching the ground. In the event of a sudden overturning, it is difficult to provide effective support before the overturning occurs. The electric telescopic pole, its drive motor, and transmission mechanism are also large in size and usually require space inside the base, which is not conducive to the miniaturization and compact design of the construction robot. The plan does not disclose how to determine the overturning direction and selectively trigger the corresponding support rods, and it is unclear whether the support strategy is omnidirectional or directional deployment.

[0006] To address the shortcomings of the existing technologies, this invention provides a safety controller and application for emergency braking and overturning warning of a construction robot, aiming to solve the technical problem of how to proactively, quickly, and accurately predict the overturning direction before the robot overturns, and form effective auxiliary support at the moment of contact with the ground, without occupying valuable internal space of the robot. Summary of the Invention

[0007] In order to overcome the deficiencies in the prior art, the purpose of this invention is to provide a safety controller and application for emergency braking and overturning warning of construction robots, so as to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides a safety controller for emergency braking and overturning warning of a construction robot, including a base and a plurality of movable wheel sets arranged below the base; and further including: The pneumatic telescopic assembly is integrated on the periphery of the top housing of the base and includes several telescopic tube groups arranged obliquely downward along the circumference of the base; each telescopic tube group includes multiple sleeved telescopic tubes, and adjacent telescopic tubes are sealed together by a sealing element. The gas supply system includes a blower and several branch pipes connected to the blower outlet, each branch pipe is equipped with a normally closed solenoid valve; several telescopic pipe groups are connected to several branch pipes one by one. The sensor unit includes at least an inertial measurement unit (IMU) configured to acquire the robot's three-axis acceleration and three-axis angular velocity data in real time. The controller is communicatively connected to the sensor unit, each solenoid valve, and the brakes of each moving wheel assembly. The controller is configured as follows: Based on the data from the inertial measurement unit, the robot's current roll angle and roll velocity are calculated in real time. Determine whether the roll angle exceeds a first preset angle threshold and whether the roll angular velocity exceeds a preset angular velocity threshold; When both conditions are met simultaneously, it is determined that the robot is about to tip over to that side, and the tipping direction is determined. The fan is activated to selectively open the solenoid valves on at least two branch pipes adjacent to the overturning direction, causing the corresponding telescopic pipe group to be inflated, extend and touch the ground, thereby forming at least three points of support together with the moving wheel group; Upon detecting that the telescopic tube assembly has touched the ground, an emergency braking command is immediately sent to the brakes of all moving wheel sets.

[0009] As a further improvement to this technical solution, the controller is further configured to: periodically calculate the zero-torque point position ZMP of the robot based on the data of the inertial measurement unit; when the zero-torque point position moves outside the support polygon area composed of several moving wheel sets, even if the current roll angle has not exceeded the first preset angle threshold, it is still determined that the robot is about to overturn, and the overturning direction is determined according to the zero-torque point offset direction.

[0010] As a further improvement to this technical solution, the first preset angle threshold is between 15° and 25°, and the preset angular velocity threshold is between 30° / s and 45° / s.

[0011] As a further improvement to this technical solution, the number n of the telescopic tube groups and their angular positions θ on the periphery of the top shell of the base and offset from the front, back, left and right sides satisfy the following relationship: θ = 360° / 2n, where n takes one of 4, 6, or 8. The orientation of the telescopic tube assembly deviates from the positive orientation of the front, rear, left, and right sides of the base, thereby forming a stable three-point support with the robot wheel assembly through two adjacent telescopic tube assemblies.

[0012] As a further improvement to this technical solution, when the controller determines that the overturning direction is to the right, it selectively opens the solenoid valves corresponding to the two sets of telescopic pipe groups located on the right rear side and the right front side; when it determines that the overturning direction is to the left, it selectively opens the solenoid valves corresponding to the two sets of telescopic pipe groups located on the left rear side and the left front side.

[0013] As a further improvement to this technical solution, the telescopic tube is a tapered sleeve structure, and the sealing element is a sealing ring, which is tightly fitted onto the outside of the large diameter end of each telescopic tube.

[0014] As a further improvement to this technical solution, a pressure sleeve is provided at the outer end of the innermost telescopic tube. The pressure sleeve is made of rubber and has a pressure sensor embedded inside. The pressure sensor is communicatively connected to the controller. The controller is configured to determine that the telescopic tube group has touched the ground when it receives a pressure signal generated by the pressure sensor of the telescopic tube group in the extended state that exceeds a preset pressure threshold.

[0015] As a further improvement to this technical solution, the air outlet end of the fan is coaxially connected to a main pipe, the side wall of the main pipe is connected to several branch pipes, and the branch pipes and the outermost large-diameter end of the telescopic pipe of the telescopic pipe group are movably fitted with movable pipe sleeves.

[0016] As a further improvement to this technical solution, a reset button is also included, which is communicatively connected to the controller and embedded in the base housing; when the reset button is triggered, the controller opens the solenoid valve again and releases the brake on the moving wheel assembly, and each telescopic tube retracts back to its original position under the assistance of manual pushing force or elastic element.

[0017] On the other hand, the present invention provides an application of a safety controller for emergency braking and overturning warning of a construction robot. The safety controller for emergency braking and overturning warning of a construction robot described above is applied to indoor construction robots, including but not limited to putty coating robots and floor grinding robots.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The safety controller and application for emergency braking and overturning warning of the construction robot adopts a pneumatic method that uses a fan to drive the extension of multiple telescopic rods section by section. Compared with the existing technology of counterweight movement or gravity-fall support legs, the response speed is greatly improved. From the controller's determination of overturning to the telescopic rods being fully extended and touching the ground, the whole process can be completed instantly, realizing active intervention before overturning occurs, rather than passive remediation after the incident.

[0019] 2. The safety controller and application for emergency braking and overturning warning of the construction robot, by selectively activating the multi-section telescopic rods on both sides adjacent to the overturning direction of the robot to fully extend, form additional ground contact support points outside the base, and together with the moving wheel set, form at least three points of support, significantly expanding the effective support polygon of the robot, which can effectively cope with the overturning risk of construction robots with high center of gravity and heavy load.

[0020] 3. The safety controller and application for emergency braking and overturning warning of the construction robot are integrated into the outer periphery of the base shell through the pneumatic telescopic assembly. All telescopic tubes are retracted to the outer wall of the shell when not in operation, without occupying any space inside the robot, which is conducive to the miniaturization and compact design of the construction robot.

[0021] 4. The safety controller and application for emergency braking and overturning warning of the construction robot provides two modes: threshold criteria based on roll angle and roll angular velocity, and prediction criteria based on zero moment point position. These can be used alone or in combination. The threshold criteria have a fast and direct response, while the zero moment point criteria have predictive capabilities. The two complement each other and greatly reduce the probability of false triggering and missed triggering. Attached Figure Description

[0022] The accompanying drawings described herein are for illustrative purposes only. The shapes and proportions of the components in the drawings are merely schematic and intended to aid in understanding the invention. They are not intended to specifically limit the shapes and proportions of the components of the invention.

[0023] Figure 1 This is the overall assembly front view of the present invention; Figure 2 This is a front view of the internal assembly of the base of the present invention; Figure 3 For the present invention Figure 2 Isometric view; Figure 4 This is a schematic diagram of the assembly structure of the pneumatic telescopic assembly and air supply system of the present invention; Figure 5 This is a schematic diagram of the gas supply system assembly structure of the present invention; Figure 6 For the present invention Figure 4 Top view; Figure 7This is a block diagram of the control system principle of the present invention; Figure 8 This is a flowchart of the control method of the control system of the present invention; The meanings of the labels in the diagram are as follows: 100. Base; 110. Connecting sleeve; 200. Pneumatic telescopic assembly; 210. Telescopic tube assembly; 220. Contact sleeve; 300. Gas supply system; 310. Fan; 320. Main pipeline; 321. Solenoid valve; 330. Branch pipeline; 340. Movable pipe sleeve; 350. Fixed bracket. Detailed Implementation

[0024] The specific embodiments described herein are for illustrative purposes only. Under the guidance of this invention, any possible variations of the invention by those skilled in the art should be considered within its scope. The directional terms used herein are based on the orientations shown in the accompanying drawings and are for ease of description and simplification; therefore, they should not be construed as limitations on the invention. Furthermore, in the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0025] Please see Figures 1-8 As shown, this invention provides a safety controller for emergency braking and overturning warning of a construction robot, applicable to indoor construction robots, including but not limited to putty coating robots and floor grinding robots; it includes a base 100 and a plurality of moving wheel sets arranged below the base 100; it also includes: The pneumatic telescopic assembly 200 is integrated on the periphery of the top shell of the base 100, and includes several telescopic tube groups 210 arranged obliquely downward along the circumference of the base 100; each telescopic tube group 210 includes multiple sleeved telescopic tubes, and adjacent telescopic tubes are sealed together by a sealing element. The gas supply system 300 includes a blower 310 and several branch pipes 330 connected to the outlet of the blower 310. Each branch pipe 330 is equipped with a normally closed solenoid valve 321. Several telescopic pipe groups 210 are connected to several branch pipes 330 one by one. The air outlet of the blower 310 is coaxially connected to a main pipe 320. The side wall of the main pipe 320 is connected to several branch pipes 330. The branch pipes 330 and the outermost large-diameter end of the telescopic pipe of the telescopic pipe assembly 210 are movably fitted with movable pipe sleeves 340. A fixing bracket 350 is fixedly installed on the top of the main pipe 320. The fixing bracket 350 is mounted on the top step of the base 100 to stably support the air supply system 300.

[0026] Furthermore, the number n of several telescopic tube assemblies 210 and their angular positions θ on the outer periphery of the top shell of the base 100, offset from the front, back, left, and right sides, satisfy the following relationship: θ = 360° / 2n, where n takes one of 4, 6, or 8; for example Figure 6 As shown, n is preferably 8, and θ = 22.5°; the orientation of the telescopic tube assembly 210 deviates from the front, rear, left, and right sides of the base 100. Since the robot will mostly tip over in all directions, by deviating from the positive orientation of the telescopic tube assembly 210, a stable three-point support is formed by the adjacent two telescopic tube assemblies 210 and the robot wheel assembly. Several connecting sleeves 110 extend from the top sidewall of the base 100, and the several connecting sleeves 110 are tightly fitted with the telescopic tubes of the several telescopic tube assemblies 210; the angle between the central axis of the connecting sleeve 110 and the central axis of the base 100 is in the range of 60°-80°, which ensures the effective support angle of the telescopic tube assembly 210, shifts the center of gravity of the robot from tipping outward, and expands the support area, thus playing a role in stable support.

[0027] Furthermore, the telescopic tube has a tapered sleeve structure and a sealing ring as the sealing element, thereby forming a double sealing state after the telescopic tube is inflated and elongated; the sealing ring is tightly fitted onto the outside of the large diameter end of each telescopic tube.

[0028] In addition, the safety control architecture of the construction robot also includes: a sensor unit, including at least an inertial measurement unit (IMU), configured to acquire the robot's three-axis acceleration and three-axis angular velocity data in real time; the inertial measurement unit is preferably installed at the center geometric position of the robot base 100 to most directly reflect the robot's overall tilt state; The controller is communicatively connected to the sensor unit, each solenoid valve 321, and the brakes of each moving wheel assembly. The controller is configured as follows: Based on data from the inertial measurement unit, the robot's current roll angle and roll velocity are calculated in real time. Determine whether the roll angle exceeds a first preset angle threshold and whether the roll angular velocity exceeds a preset angular velocity threshold; When both conditions are met simultaneously, it is determined that the robot is about to tip over to that side, and the tipping direction is determined. The starter fan 310 selectively opens the solenoid valves 321 on at least two branch pipes 330 adjacent to the overturning direction, causing the corresponding telescopic pipe group 210 to be inflated and extend to touch the ground, thereby forming at least three points of support together with the moving wheel group; the solenoid valves 321 close after 1 second through the timing module to block the gas overflow in each telescopic pipe, maintaining the extended support state of each telescopic pipe. Upon detecting that the telescopic tube assembly 210 has touched the ground, an emergency braking command is immediately sent to the brakes of all moving wheel assemblies.

[0029] In addition, the controller is equipped with a ZMP algorithm module and a logic decision module. The controller is further configured to: periodically calculate the robot's zero torque point position ZMP based on the data from the inertial measurement unit; when the zero torque point position moves outside the support polygon area composed of several moving wheel sets, even if the current roll angle has not exceeded the first preset angle threshold, it is still determined that the robot is about to overturn, and the overturning direction is determined according to the zero torque point offset direction.

[0030] When the roll angle or angular velocity does not exceed the threshold, the controller further performs a zero-moment point position determination. The zero-moment point is an important stability criterion in robot dynamics, and its physical meaning is the point of application of the resultant force of the ground reaction force. Based on the acceleration and angular velocity data provided by the inertial measurement unit, combined with the known robot mass, center of mass height, and wheel support polygon geometric parameters, the controller periodically calculates the robot's zero-moment point coordinates.

[0031] When the calculated zero-torque point moves outside the support polygon enclosed by the grounding center point of the moving wheel set, the controller determines that the robot is at risk of tipping over, even if the current roll angle has not yet reached the first preset angle threshold. This is because the outward movement of the zero-torque point is a fundamental precursor to tipping over, and can predict the tipping trend earlier than the angle threshold.

[0032] The controller determines the direction in which the robot is about to tip over based on the vector direction of the zero-moment point offset. For example, if the zero-moment point offsets to the right, it is determined that the robot is about to tip over to the right.

[0033] Specifically, the first preset angle threshold is between 15° and 25°, corresponding to the critical posture where one side of the construction robot's chassis wheels is about to leave the ground but has not yet completely overturned; the preset angular velocity threshold is between 30° / s and 45° / s, used to distinguish whether the robot's high angular velocity is due to a sudden impact or a low angular velocity resulting from normal walking on a gentle slope. The controller determines that the robot is about to overturn to that side only when both the roll angle and the roll angular velocity exceed the angular velocity threshold. This dual-condition constraint effectively filters out situations where the robot is slowly moving on an incline, reducing the probability of false triggering.

[0034] The controller uses attitude calculation algorithms (such as complementary filtering algorithm and Kalman filtering algorithm) to fuse and calculate the collected acceleration and angular velocity data, and outputs the robot's Euler angle information in real time, including the roll angle around the longitudinal axis of the robot's travel direction, and the corresponding roll angular velocity.

[0035] Furthermore, a pressure sleeve 220 is provided at the outer end of the innermost telescopic tube. The pressure sleeve 220 is a sphere made of rubber material and has a pressure sensor embedded inside. The pressure sensor is connected to the controller. The controller is configured to: when the pressure signal received from the pressure sensor of the telescopic tube group 210 in the extended state exceeds the preset pressure threshold, determine that the telescopic tube group 210 has touched the ground, and promptly shut down the fan 310 to stop pumping air.

[0036] It is worth noting that a reset button is also included, which communicates with the controller and is embedded in the housing of the base 100. When the reset button is triggered, the controller opens the solenoid valve 321 again, allowing the gas in each telescopic tube to be released. The controller then releases the brake on the moving wheel assembly, and each telescopic tube retracts back to its original position with the assistance of a push or elastic element, such as an elastic band connecting the inner walls of each telescopic tube. The moving wheel assembly is also equipped with a wheel pressure sensor, which serves as an auxiliary judgment basis for detecting changes in the ground load of each wheel of the robot. Its core logic is: when the robot is about to tip over, its center of gravity will shift, causing a sudden drop in pressure on the wheel assembly on the side about to leave the ground, while the pressure on the side in contact with the ground will increase dramatically.

[0037] By comparing the pressure difference between the front, rear, left, and right wheel sets, the controller can more accurately calculate the direction of the center of gravity shift, thereby ensuring that only the telescopic tube group 210 in the direction of increased force is triggered to extend. After the telescopic tube group 210 extends and touches the ground, the wheel pressure sensor will detect that the weight of the chassis is distributed, and the wheel pressure that was originally too strong will decrease. This can serve as a feedback signal that the robot has been successfully supported.

[0038] When the safety controller for emergency braking and overturning warning of the construction robot of the present invention is in use, the controller acquires the three-axis acceleration and three-axis angular velocity data collected by the inertial measurement unit deployed on the robot in real time at a preset sampling frequency (e.g., 200Hz to 500Hz); based on the three-axis acceleration and three-axis angular velocity data, the current roll angle and roll angular velocity of the robot are calculated in real time.

[0039] Determine whether the first condition is met simultaneously: the roll angle exceeds the first preset angle threshold and the roll angular velocity exceeds the preset angular velocity threshold; if both conditions are met, determine that the robot is about to tip over to that side and determine the tipping direction.

[0040] Simultaneously, based on the three-axis acceleration and three-axis angular velocity data, the position of the robot's zero torque point is calculated periodically to determine whether the position of the zero torque point has moved outside the support polygon area formed by the moving wheel set; if so, it is determined that the robot is about to overturn, and the overturning direction is determined according to the direction of the zero torque point offset.

[0041] After the controller determines that the robot is about to tip over to that side, it starts the fan and selectively opens the solenoid valves 321 on the branch pipes 330 connected to at least two sets of telescopic pipe groups 210 adjacent to the tipping direction. This causes the corresponding telescopic pipe groups 210 to extend section by section and touch the ground under the push of the airflow, forming at least three points of support together with the moving wheel group. Thanks to the rapid response characteristics of pneumatic drive, from the time the controller determines the tipping to the time when each telescopic pipe is fully extended and touches the ground, the entire process is completed.

[0042] When the controller determines that the overturning direction is to the right, it selectively opens the solenoid valves 321 corresponding to the two sets of telescopic tube groups 210 located on the right rear and right front sides; when it determines that the overturning direction is to the left, it selectively opens the solenoid valves 321 corresponding to the two sets of telescopic tube groups 210 located on the left rear and left front sides, and so on for overturning in other directions.

[0043] Upon detecting that the end of the extended telescopic pipe assembly 210 has touched the ground, the controller immediately sends an emergency braking command to the brakes of all moving wheel assemblies. Simultaneously, the controller triggers the alarm module to issue an audible and visual warning signal to alert on-site operators. When the controller receives a pressure signal from the pressure sensor of the extended telescopic pipe assembly 210 that exceeds a preset pressure threshold, it determines that the telescopic pipe assembly 210 has touched the ground and promptly shuts down the fan 310.

[0044] It should be noted that the terms "fixed connection" and "fixed installation" in this invention should be interpreted broadly, and can be achieved using conventional fixing methods such as bolt connection, welding, bonding, or integral molding that are compatible with each other. The specific connection relationship between the components is based on the ability to achieve the function of this invention. The above are existing technologies and will not be elaborated further here. The above embodiments are only for illustrating the technical concept and features of this invention, and their purpose is to enable those skilled in the art to understand the content of this invention and implement it accordingly. They should not be used to limit the scope of protection of this invention. All equivalent changes or modifications made according to the spirit and essence of this invention should be covered within the scope of protection of this invention.

Claims

1. A safety controller for emergency braking and tipping warning of a construction robot, comprising a base and a plurality of movable wheel sets arranged below the base; characterized in that, Also includes: The pneumatic telescopic assembly is integrated on the periphery of the top housing of the base and includes several telescopic tube groups arranged obliquely downward along the circumference of the base; each telescopic tube group includes multiple sleeved telescopic tubes, and adjacent telescopic tubes are sealed together by a sealing element. The gas supply system includes a blower and several branch pipes connected to the blower outlet, each branch pipe is equipped with a normally closed solenoid valve; several telescopic pipe groups are connected to several branch pipes one by one. The sensor unit includes at least an inertial measurement unit (IMU) configured to acquire the robot's three-axis acceleration and three-axis angular velocity data in real time. The controller is communicatively connected to the sensor unit, each solenoid valve, and the brakes of each moving wheel assembly. The controller is configured as follows: Based on the data from the inertial measurement unit, the robot's current roll angle and roll velocity are calculated in real time. Determine whether the roll angle exceeds a first preset angle threshold and whether the roll angular velocity exceeds a preset angular velocity threshold; When both conditions are met simultaneously, it is determined that the robot is about to tip over to that side, and the tipping direction is determined. The fan is activated to selectively open the solenoid valves on at least two branch pipes adjacent to the overturning direction, causing the corresponding telescopic pipe group to be inflated, extend and touch the ground, thereby forming at least three points of support together with the moving wheel group; Upon detecting that the telescopic tube assembly has touched the ground, an emergency braking command is immediately sent to the brakes of all moving wheel sets.

2. The safety controller for emergency braking and overturning warning of a construction robot according to claim 1, characterized in that, The controller is further configured to: periodically calculate the robot's zero-moment point position ZMP based on the data from the inertial measurement unit; when the zero-moment point position moves outside the support polygon area composed of several moving wheel sets, even if the current roll angle has not exceeded the first preset angle threshold, it is still determined that the robot is about to overturn, and the overturning direction is determined according to the zero-moment point offset direction.

3. The safety controller for emergency braking and overturning warning of a construction robot according to claim 2, characterized in that, The first preset angle threshold is between 15° and 25°, and the preset angular velocity threshold is between 30° / s and 45° / s.

4. The safety controller for emergency braking and overturning warning of a construction robot according to claim 3, characterized in that, The number of telescopic tube groups n and their angular positions θ on the outer periphery of the top shell of the base and offset from the front, back and left and right sides satisfy the following relationship: θ=360° / 2n, where n takes one of 4, 6 and 8; The orientation of the telescopic tube assembly deviates from the positive orientation of the front, rear, left, and right sides of the base, thus forming a stable three-point support with the robot wheel assembly through two adjacent telescopic tube assemblies.

5. The safety controller for emergency braking and overturning warning of a construction robot according to claim 4, characterized in that, When the controller determines that the overturning direction is to the right, it selectively opens the solenoid valves corresponding to the two sets of telescopic pipe groups located on the right rear side and the right front side; when it determines that the overturning direction is to the left, it selectively opens the solenoid valves corresponding to the two sets of telescopic pipe groups located on the left rear side and the left front side.

6. The safety controller for emergency braking and overturning warning of a construction robot according to claim 5, characterized in that, The telescopic tube has a tapered sleeve structure, and the sealing element is a sealing ring, which is tightly fitted onto the outside of the large diameter end of each telescopic tube.

7. The safety controller for emergency braking and overturning warning of a construction robot according to claim 6, characterized in that, The outer end of the innermost telescopic tube is provided with a pressure sleeve. The pressure sleeve is made of rubber and has a pressure sensor embedded inside. The pressure sensor is communicatively connected to the controller. The controller is configured to determine that the telescopic tube group has touched the ground when it receives a pressure signal generated by the pressure sensor of the telescopic tube group in the extended state that exceeds a preset pressure threshold.

8. The safety controller for emergency braking and overturning warning of a construction robot according to claim 7, characterized in that, The air outlet of the fan is coaxially connected to a main pipe. The side wall of the main pipe is connected to several branch pipes. The branch pipes and the outermost large-diameter end of the telescopic pipe of the telescopic pipe group are movably fitted with movable pipe sleeves.

9. The safety controller for emergency braking and overturning warning of a construction robot according to claim 8, characterized in that, It also includes a reset button, which is communicatively connected to the controller and embedded in the base housing; when the reset button is triggered, the controller opens the solenoid valve again and releases the brake on the moving wheel assembly, and each telescopic tube retracts back to its original position with the assistance of manual pushing or elastic elements.

10. An application of a safety controller for emergency braking and overturning warning of a construction robot, as described in claim 9, characterized in that: Applications include indoor construction robots, including but not limited to putty coating robots and floor grinding robots.

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