Automatically controlled mobile robot

Abstract

An automatically controlled mobile robot, comprising a robot body (1) and a top cover (2) which is mounted at the top, wherein a longitudinal wheel (4) and a transverse wheel (3) are separately mounted around the robot body (1), and a driving device (5) is provided in the robot body (1); the longitudinal wheel (4) and the transverse wheel (3) are both omnidirectional wheels; the driving device (5) comprises an electric motor I (51) and an electric motor II (52); a steering assembly (6) is mounted between the longitudinal wheel (4) and the transverse wheel (3) and at the periphery of the robot body (1); an air intake channel (8) is provided outside the robot body (1); and a sensing mechanism (7) is mounted at the bottom of the top cover (2) and in the robot body (1). When a moving obstacle appears, the outside of the robot body (1) firstly comes into contact with the moving obstacle by means of the steering assembly (6) between the longitudinal wheel (4) and the transverse wheel (3), and the longitudinal wheel (4) or the transverse wheel (3) is then separately controlled to move, so as to drive the robot body (1) to rotate and steer; and when the robot body (1) encounters multiple obstacles, the robot body (1) temporarily stops, and the longitudinal wheel (4) or the transverse wheel (3) is then controlled to move reversely by means of the sensing mechanism (7) in the air intake channel (8), such that automatic control can be performed for the moving obstacle and the multiple obstacles, thereby achieving the purpose of steering in a timely manner.

Description

An automatically controlled mobile robot Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an automatically controlled mobile robot. Background Art

[0002] Currently, robots are able to detect and avoid obstacles while moving to ensure safe navigation. During the obstacle avoidance process, robots are usually equipped with a variety of sensors, such as lidar, infrared sensors, ultrasonic sensors, etc. These sensors can help robots detect the surrounding environment and obtain the location and distance information of obstacles.

[0003] The robot in the prior art 202110422681.0 includes a chassis body; several groups of mobile actuators for controlling the movement and movement direction of the chassis body; and an obstacle avoidance monitoring mechanism for detecting obstacles on the moving path of the chassis body and feeding back to the mobile actuator so that the mobile actuator can make a turning action; the mobile actuator and the obstacle avoidance monitoring mechanism are both installed on the chassis body, and the obstacle avoidance monitoring mechanism includes at least a wind output module, a wind direction monitoring unit and a feedback unit.

[0004] The above structure triggers the feedback unit through airflow monitoring to control the mobile actuator to turn the chassis body to avoid obstacles. However, when the robot encounters sudden moving obstacles during movement, the airflow cannot be monitored. When encountering multiple obstacles or moving obstacles, it is impossible to respond and turn in time. The corresponding handling measures are slow and can easily cause damage to the robot. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an automatically controlled mobile robot to solve the problem of being unable to respond and turn in time when encountering multiple obstacles or moving obstacles.

[0006] Based on the above purpose, the present invention provides an automatically controlled mobile robot, comprising a body and a top cover mounted on the top, wherein longitudinal wheels and transverse wheels are mounted on the four sides of the body, and a driving device is provided inside the body;

[0007] The longitudinal wheels and transverse wheels are both omnidirectional wheels, and the driving device includes a first motor and a second motor for driving the longitudinal wheels or the transverse wheels to move;

[0008] A steering assembly is installed between the longitudinal wheels and the transverse wheels and on the periphery of the body, and the steering assembly is used to control the movement of the longitudinal wheels or the transverse wheels respectively when the body contacts an obstacle;

[0009] An air inlet channel is opened on the outside of the body, and a sensing mechanism is installed in the body at the bottom of the top cover. The sensing mechanism includes a limit switch 1 and a limit switch 2 electrically connected to motor 1 and motor 2 respectively, and is used to control the reverse movement of the longitudinal wheel and the transverse wheel.

[0010] Preferably, the steering assembly includes multiple sets of housings installed on the outside of the machine body, and the interiors of the housings are respectively provided with a switch 1 and a switch 2 electrically connected to the motor 1 and the motor 2, and the bottom of the switch 1 is installed with an electric telescopic rod 1, and the bottom of the switch 2 is installed with an electric telescopic rod 2;

[0011] An arc-shaped rod is provided on one side of the switch 1 and the switch 2, and a collision bar is installed on one side of the housing at the end of the arc-shaped rod, and a buffer spring is sleeved on the outside of the arc-shaped rod.

[0012] Preferably, the shell and the collision bar are distributed in a ring shape along the body between the longitudinal wheel and the transverse wheel, and the collision bar is arranged in an arc-shaped structure.

[0013] Preferably, when the first motor is powered on, the first electric telescopic rod is in a retracted state, and when the second motor is powered on, the second electric telescopic rod is in a retracted state.

[0014] Preferably, the sensing mechanism further comprises a rotating rod rotatably mounted at the center of the interior of the body, a fan blade cover is mounted on the exterior of the rotating rod, a metal rod is fixedly mounted on the fan blade cover, and a magnet is provided above the metal rod at the bottom of the top cover;

[0015] An electromagnet is provided inside the top cover, and the metal rod and the electromagnet are electrically connected. A push rod is slidably installed on the inner side of the top cover and on the opposite side of the electromagnet. The push rod is parallel to the limit switch 1 and the limit switch 2, and a shift block is movably installed on the top of the push rod.

[0016] Preferably, a magnetic block with an opposite pole to the electromagnet is provided inside the push rod, a spring is installed at the end of the push rod, the other end of the spring abuts against the inner wall of the top cover, and a groove is provided inside the push rod for accommodating a shift block, which is a fan-shaped block.

[0017] Preferably, the driving device further comprises a first rotating shaft and a second rotating shaft, the second rotating shaft being installed between adjacent transverse wheels, the first rotating shaft being installed on one side of the longitudinal wheel, a synchronous wheel set being installed between the first rotating shaft and the first motor, and between the second rotating shaft and the second motor, and a synchronous belt being connected to the outside of the synchronous wheel set;

[0018] A coupling rod parallel to the first rotating shaft is installed at the inner center of the body, and a gear set is meshed between the two ends of the coupling rod and one end of the first rotating shaft.

[0019] Preferably, the first rotating shaft is arranged in a quasi-mirror symmetrical manner with the center of the second rotating shaft, and the first rotating shaft and the second rotating shaft are vertically corresponding to each other.

[0020] The beneficial effects of the present invention are as follows: the longitudinal wheels and transverse wheels in the machine body are driven respectively by the motor 1 and the motor 2 in the driving device. When the machine body maintains a straight line movement by the longitudinal wheels or the transverse wheels, when a moving obstacle appears, the steering assembly between the longitudinal wheels and the transverse wheels is used on the outside of the machine body to first contact the moving obstacle, and then the longitudinal wheels or the transverse wheels are controlled to move respectively, driving the machine body to rotate to achieve the purpose of steering;

[0021] When the machine body encounters multiple obstacles, it stops temporarily and contacts the limit switch 1 and limit switch 2 electrically connected to motor 1 and motor 2 through the sensing mechanism in the air inlet channel, thereby controlling the longitudinal wheel or the transverse wheel to move in the opposite direction. It can automatically control moving obstacles and multiple obstacles and can turn in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] FIG1 is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] FIG2 is a schematic diagram of the three-dimensional structure of the body of the present invention;

[0025] FIG3 is a schematic diagram of the overall top view of the present invention;

[0026] FIG4 is a schematic cross-sectional view of the structure at AA in FIG3 of the present invention;

[0027] FIG5 is an enlarged structural diagram of point B in FIG4 of the present invention;

[0028] FIG6 is a schematic side view of the overall structure of the present invention;

[0029] FIG7 is a schematic cross-sectional structural diagram of CC in FIG6 of the present invention.

[0030] The markings in the figure are: 1. Body; 2. Top cover; 3. Horizontal wheel; 4. Longitudinal wheel; 5. Driving device; 51. Motor 1; 52. Motor 2; 53. Rotating shaft 1; 54. Rotating shaft 2; 55. Synchronous wheel set; 56. Synchronous belt; 57. Coupling rod; 58. Gear set; 6. Steering assembly; 61. Housing; 62. Electric telescopic rod 1; 63. Electric telescopic rod 2; 64. Switch 1; 65. Switch 2; 66. Arc rod; 67. Collision bar; 68. Buffer spring; 7. Induction mechanism; 71. Travel switch 1; 72. Travel switch 2; 73. Rotating rod; 74. Fan blade cover; 75. Metal rod; 76. Magnet; 77. Electromagnet; 78. Push rod; 79. Dial block. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0032] As shown in Figures 1, 2, 3, 4, 5, 6 and 7, an automatically controlled mobile robot includes a body 1 and a top cover 2 mounted on the top, longitudinal wheels 4 and transverse wheels 3 are mounted on the four sides of the body 1, and a driving device 5 is provided inside the body 1;

[0033] The longitudinal wheel 4 and the transverse wheel 3 are both omnidirectional wheels, and the driving device 5 includes a motor 1 51 and a motor 2 52 for driving the longitudinal wheel 4 and the transverse wheel 3 to move;

[0034] A steering assembly 6 is installed between the longitudinal wheels 4 and the transverse wheels 3 and on the periphery of the body 1. The steering assembly 6 is used to control the movement of the longitudinal wheels 4 or the transverse wheels 3 when the body 1 contacts an obstacle.

[0035] An air inlet channel 8 is opened on the outside of the body 1, and a sensing mechanism 7 is installed at the bottom of the top cover 2 in the body 1. The sensing mechanism 7 includes a limit switch 1 71 and a limit switch 2 72 electrically connected to the motor 1 51 and the motor 2 52 respectively, and is used to control the reverse movement of the longitudinal wheel 4 or the transverse wheel 3.

[0036] In this embodiment, the longitudinal wheels 4 and transverse wheels 3 in the body 1 are driven by the motor 1 51 and the motor 2 52 in the drive device 5, respectively. When the body 1 is moving in a straight line by the longitudinal wheels 4 or the transverse wheels 3, when a moving obstacle appears, the exterior of the body 1 first contacts the moving obstacle using the steering assembly 6 between the longitudinal wheels 4 and the transverse wheels 3.

[0037] When the longitudinal wheel 4 moves in a straight line, the transverse wheel 3 is controlled to rotate, so that the longitudinal wheel 4 and the transverse wheel 3 rotate at the same time, driving the body 1 to rotate to achieve the purpose of turning;

[0038] When the transverse wheel 3 moves in a straight line, the longitudinal wheel 4 is controlled to rotate, so that the transverse wheel 3 and the longitudinal wheel 4 rotate at the same time, driving the body 1 to rotate to achieve the purpose of turning;

[0039] When the machine body 1 encounters multiple obstacles, the machine body 1 temporarily stops and contacts the limit switch 1 71 and the limit switch 2 72 electrically connected to the motor 1 51 and the motor 2 52 through the sensing mechanism 7 in the air inlet channel 8, thereby controlling the longitudinal wheel 4 or the transverse wheel 3 to move in the opposite direction.

[0040] As an embodiment, as shown in Figures 1, 2, 3, 6, and 7, the steering assembly 6 includes multiple sets of housings 61 installed on the outside of the body 1. The interiors of the housings 61 are respectively provided with a switch 1 64 and a switch 2 65 electrically connected to the motor 1 51 and the motor 2 52. The bottom of the switch 1 64 is installed with an electric telescopic rod 1 62, and the bottom of the switch 2 65 is installed with an electric telescopic rod 2 63.

[0041] An arc-shaped rod 66 is provided on one side of the switch 1 64 and the switch 2 65 . The end of the arc-shaped rod 66 passes through one side of the housing 61 and is provided with a collision bar 67 . A buffer spring 68 is provided on the outside of the arc-shaped rod 66 .

[0042] The outer shell 61 and the collision bar 67 are distributed in a ring shape along the body 1 between the longitudinal wheel 4 and the transverse wheel 3 , and the collision bar 67 is arranged in an arc-shaped structure.

[0043] Among them, when the motor 1 51 is powered on, the electric telescopic rod 1 62 is in a retracted state, and when the motor 2 52 is powered on, the electric telescopic rod 2 63 is in a retracted state.

[0044] In this embodiment, when the longitudinal wheels 4 are driven to move linearly by the motor 1 51, when a moving obstacle appears, the collision bar 67 is collided with and drives the arc rod 66 to move within the housing 61. At this time, when the motor 1 51 is powered on, the electric telescopic rod 1 62 is in a retracted state, and the arc rod 66 contacts the switch 2 65 of the electric telescopic rod 2 63, energizing the motor 2 52 to drive the transverse wheels 3 to rotate, causing the longitudinal wheels 4 and the transverse wheels 3 to rotate simultaneously, driving the body 1 to rotate and turn.

[0045] When the transverse wheel 3 is driven to move linearly by the second motor 52, when a moving obstacle appears, the collision bar 67 is collided with and drives the arc rod 66 to move in the housing 61. At this time, when the second motor 52 is powered on, the second electric telescopic rod 63 is in a retracted state, and the arc rod 66 contacts the switch 1 64 of the first electric telescopic rod 62, so that the second motor 52 is powered on to drive the longitudinal wheel 4 to rotate, so that the longitudinal wheel 4 and the transverse wheel 3 rotate at the same time, driving the body 1 to rotate and turn.

[0046] As an embodiment, as shown in Figures 1, 2, 4, and 5, the sensing mechanism 7 further includes a rotating rod 73 rotatably mounted at the center of the body 1, a fan cover 74 is mounted on the outside of the rotating rod 73, a metal rod 75 is fixedly mounted on the fan cover 74, and a magnet 76 is provided above the metal rod 75 at the bottom of the top cover 2;

[0047] An electromagnet 77 is provided inside the top cover 2, and the metal rod 75 is electrically connected to the electromagnet 77. A push rod 78 is slidably installed on the inner side of the top cover 2 and on the opposite side of the electromagnet 77. The push rod 78 is parallel to the limit switch 1 71 and the limit switch 2 72 in the upper and lower directions, and a shift block 79 is movably installed on the top of the push rod 78.

[0048] Among them, the interior of the push rod 78 is provided with a magnetic block with an opposite pole to the electromagnet 77, and a spring is installed at the end of the push rod 78, and the other end of the spring abuts the inner wall of the top cover 2, and a groove is opened inside the push rod 78, which is used to accommodate a shift block 79. The shift block 79 is a fan-shaped block, and a return spring is connected between the shift block 79 and the push rod 78. When the push rod 78 moves toward the travel switch 1 71 and the travel switch 2 72, the shift block 79 is received in the groove of the push rod 78 after contact. When the push rod 78 moves in the opposite direction by using the spring to recover, the shift block 79 is extended from the groove by the action of the return spring, and the shift block 79 can squeeze the travel switch 1 71 and the travel switch 2 72 in turn.

[0049] In this embodiment, when the longitudinal wheel 4 and the transverse wheel 3 in the body 1 are driven to move by the motor 1 51 and the motor 2 52 in the driving device 5 respectively, the airflow enters the air inlet channel 8 in the body 1 during the movement, driving the fan blade cover 74 outside the rotating rod 73 to rotate, and the fan blade cover 74 drives the metal rod 75 to rotate in the magnet 76 to cut the magnetic flux lines. By utilizing the wire connection between the metal rod 75 and the electromagnet 77, the current generated is passed into the electromagnet 77 through the wire. The magnetic field poles generated by the electromagnet 77 push the push rod 78 to move. When the push rod 78 moves, the dial block 79 contacts the limit switch 2 72 and retracts into the groove, making it unable to act on the limit switch 1 71 and the limit switch 2 72.

[0050] When the machine body 1 stops after encountering multiple obstacles during its travel, the airflow stops entering, the current of the electromagnet 77 disappears, and when the push rod 78 recovers, the top shift block 79 first contacts the travel switch 1 71, causing the motor 1 51 to change the rotation direction first and drive the longitudinal wheel 4 to rotate. If the machine body 1 drives out of the multiple obstacles, the airflow during the movement re-enters the air inlet channel 8 in the machine body 1, causing the push rod 78 to move back to the end. If the machine body 1 does not drive out of the multiple obstacles, the push rod 78 continues to the travel switch 2 72, causing the motor 2 52 to change the rotation direction again, driving the transverse wheel 3 to rotate and turn.

[0051] As an embodiment, as shown in Figures 1, 2, 6, and 7, the driving device 5 further includes a first rotating shaft 53 and a second rotating shaft 54. The second rotating shaft 54 ​​is installed between adjacent transverse wheels 3, and the first rotating shaft 53 is installed on one side of the longitudinal wheel 4. A synchronous wheel set 55 is installed between the first rotating shaft 53 and the first motor 51, and between the second rotating shaft 54 ​​and the second motor 52. The outside of the synchronous wheel set 55 is connected to a synchronous belt 56.

[0052] A coupling rod 57 parallel to the rotating shaft 1 53 is installed at the inner center of the body 1, and a gear set 58 is meshed between the two ends of the coupling rod 57 and one end of the rotating shaft 1 53.

[0053] The first rotating shaft 53 is arranged in a quasi-mirror symmetrical manner with respect to the center of the second rotating shaft 54 ​​, and the first rotating shaft 53 and the second rotating shaft 54 ​​are vertically corresponding to each other.

[0054] In this embodiment, when the longitudinal wheel 4 needs to move linearly, the motor 1 51 drives the synchronous wheel set 55 to rotate, and the synchronous belt 56 is used to make the motor 1 51 drive the rotating shaft 1 53 to rotate. The rotating shaft 1 53 and the coupling rod 57 are meshed and rotated by the gear set 58, thereby driving the longitudinal wheel 4 to rotate.

[0055] When the transverse wheel 3 needs to move linearly, the synchronous wheel set 55 is driven to rotate by the second motor 52, and the synchronous belt 56 is used to make the second motor 52 drive the second shaft 54 ​​to rotate, and the second shaft 54 ​​drives the transverse wheels 3 at both ends to rotate and move.

[0056] Working principle: When the longitudinal wheel 4 of the machine body 1 needs to move linearly, the synchronous wheel set 55 is rotated by the motor 1 51, and the synchronous belt 56 is used to make the motor 1 51 drive the rotating shaft 1 53 to rotate. The rotating shaft 1 53 and the coupling rod 57 are meshed and rotated by the gear set 58, thereby driving the longitudinal wheel 4 to rotate and move; when the transverse wheel 3 needs to move linearly, the synchronous wheel set 55 is rotated by the motor 2 52, and the synchronous belt 56 is used to make the motor 2 52 drive the rotating shaft 2 54 to rotate. The rotating shaft 2 54 drives the transverse wheels 3 at both ends to rotate and move;

[0057] When a moving obstacle appears, the steering assembly 6 between the longitudinal wheel 4 and the transverse wheel 3 on the outside of the body 1 first contacts the moving obstacle, and the longitudinal wheel 4 is driven to move linearly by the motor 1 51. When a moving obstacle appears, the collision bar 67 is hit and drives the arc rod 66 to move in the housing 61. At this time, when the motor 1 51 is powered, the electric telescopic rod 1 62 is in a retracted state, and the arc rod 66 contacts the switch 2 65 of the electric telescopic rod 2 63, so that the motor 2 52 is powered and drives the transverse wheel 3 to rotate, so that the longitudinal wheel 4 and the transverse wheel 3 rotate simultaneously, driving the body 1 to rotate and turn;

[0058] When the transverse wheel 3 is driven to move linearly by the second motor 52, when a moving obstacle appears, the collision bar 67 is collided with and drives the arc rod 66 to move in the housing 61. At this time, when the second motor 52 is powered on, the second electric telescopic rod 63 is in a retracted state, and the arc rod 66 contacts the switch 1 64 of the first electric telescopic rod 62, so that the second motor 52 is powered on to drive the longitudinal wheel 4 to rotate, so that the longitudinal wheel 4 and the transverse wheel 3 rotate simultaneously, driving the body 1 to rotate and turn.

[0059] When the mobile robot moves, the moving airflow enters the air inlet channel 8 in the body 1, driving the fan blade cover 74 outside the rotating rod 73 to rotate. The fan blade cover 74 drives the metal rod 75 to rotate in the magnet 76 to cut the magnetic flux lines. The generated current flows into the electromagnet 77. The magnetic field poles generated by the electromagnet 77 push the push rod 78 to move. When the push rod 78 moves, the shift block 79 contacts the limit switch 2 72 and retracts into the groove, making it unable to act on the limit switch 1 71 and the limit switch 2 72.

[0060] When the machine body 1 stops after encountering multiple obstacles during its travel, the airflow stops entering, the current of the electromagnet 77 disappears, and when the push rod 78 recovers, the top shift block 79 first contacts the travel switch 1 71, causing the motor 1 51 to change the rotation direction first and drive the longitudinal wheel 4 to rotate. If the machine body 1 drives out of the multiple obstacles, the airflow during the movement re-enters the air inlet channel 8 in the machine body 1, causing the push rod 78 to move back to the end. If the machine body 1 does not drive out of the multiple obstacles, the push rod 78 continues to the travel switch 2 72, causing the motor 2 52 to change the rotation direction again, driving the transverse wheel 3 to rotate and turn.

[0061] It should be understood by those skilled in the art that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0062] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatically controlled mobile robot, comprising a body (1) and a top cover (2) mounted on the top, wherein longitudinal wheels (4) and transverse wheels (3) are mounted on the four sides of the body (1), and a driving device (5) is arranged inside the body (1), characterized in that: The longitudinal wheel (4) and the transverse wheel (3) are both omnidirectional wheels, and the driving device (5) comprises a motor 1 (51) and a motor 2 (52), which are used to drive the longitudinal wheel (4) and the transverse wheel (3) to move; A steering assembly (6) is installed between the longitudinal wheel (4) and the transverse wheel (3) and on the periphery of the machine body (1), and the steering assembly (6) is used to control the movement of the longitudinal wheel (4) or the transverse wheel (3) when the machine body (1) contacts an obstacle; An air inlet passage (8) is provided on the outside of the machine body (1), and a sensing mechanism (7) is installed at the bottom of the top cover (2) in the machine body (1). The sensing mechanism (7) comprises a travel switch 1 (71) and a travel switch 2 (72) which are electrically connected to the motor 1 (51) and the motor 2 (52) respectively, and are used to control the reverse movement of the longitudinal wheel (4) or the transverse wheel (3).

2. The automatically controlled mobile robot according to claim 1, characterized in that: The steering assembly (6) comprises a plurality of housings (61) mounted on the outside of the machine body (1), wherein a switch 1 (64) and a switch 2 (65) electrically connected to the motor 1 (51) and the motor 2 (52) are respectively arranged inside the housings (61), an electric telescopic rod 1 (62) is mounted at the bottom of the switch 1 (64), and an electric telescopic rod 2 (63) is mounted at the bottom of the switch 2 (65); An arc-shaped rod (66) is provided on one side of the switch 1 (64) and the switch 2 (65), a collision strip (67) is installed at the end of the arc-shaped rod (66) passing through one side of the housing (61), and a buffer spring (68) is sleeved on the outside of the arc-shaped rod (66).

3. The automatically controlled mobile robot according to claim 2, characterized in that: The shell (61) and the collision strip (67) are distributed in a ring shape along the body (1) between the longitudinal wheel (4) and the transverse wheel (3); the collision strip (67) is arranged in an arc-shaped structure.

4. The automatically controlled mobile robot according to claim 2, characterized in that: When the motor 1 (51) is powered on, the electric telescopic rod 1 (62) is in a retracted state, and when the motor 2 (52) is powered on, the electric telescopic rod 2 (63) is in a retracted state.

5. The automatically controlled mobile robot according to claim 1, characterized in that: The sensing mechanism (7) further comprises a rotating rod (73) rotatably mounted at the center of the body (1), a blade cover (74) being mounted on the outside of the rotating rod (73), a metal rod (75) being fixedly mounted on the blade cover (74), and a magnet (76) being arranged above the metal rod (75) at the bottom of the top cover (2); An electromagnet (77) is arranged inside the top cover (2), the metal rod (75) and the electromagnet (77) are electrically connected, a push rod (78) is slidably mounted on the inner side of the top cover (2) and on the opposite side of the electromagnet (77), the push rod (78) is vertically parallel to the first travel switch (71) and the second travel switch (72), and a shift block (79) is movably mounted on the top end of the push rod (78).

6. The automatically controlled mobile robot according to claim 5, characterized in that: A magnetic block having a magnetic pole opposite to that of the electromagnet (77) is arranged inside the push rod (78), a spring is installed at the end of the push rod (78), the other end of the spring abuts against the inner wall of the top cover (2), and a groove is provided inside the push rod (78), the groove is used to accommodate a shifting block (79), and the shifting block (79) is a fan-shaped block.

7. The automatically controlled mobile robot according to claim 1, characterized in that: The driving device (5) further comprises a first rotating shaft (53) and a second rotating shaft (54), wherein the second rotating shaft (54) is installed between adjacent transverse wheels (3), the first rotating shaft (53) is installed on one side of the longitudinal wheel (4), a synchronous wheel set (55) is installed between the first rotating shaft (53) and the first motor (51), and between the second rotating shaft (54) and the second motor (52), and the outside of the synchronous wheel set (55) is connected to a synchronous belt (56); A coupling rod (57) parallel to the rotating shaft (53) is installed at the inner center of the machine body (1), and a gear set (58) is meshed between the two ends of the coupling rod (57) and one end of the rotating shaft (53).

8. The automatically controlled mobile robot according to claim 7, characterized in that: The first rotating shaft (53) is arranged in a quasi-mirror symmetric manner with the center of the second rotating shaft (54), and the first rotating shaft (53) and the second rotating shaft (54) are vertically corresponding.

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