Self-balancing mobile platform and self-balancing mobile method

Abstract

The present invention provides a self-balancing mobile platform, including a vehicle body, a spatial scanning device, a suspension bracket, a wheel body, a lifting assembly and a controller; the spatial scanning device is arranged on the vehicle body and can scan the road conditions on the pre-travel path of the vehicle body; one end of the suspension bracket is rotatably connected to the vehicle body, and the other end of the suspension bracket is rotatably connected to the wheel body; one end of the lifting assembly is rotatably connected to the vehicle body, and the other end of the lifting assembly is rotatably connected to the suspension bracket; the lifting assembly can be extended and retracted under the control of the controller, and the height of the wheel body can be adjusted by adjusting the swing position of the suspension bracket. The present invention also provides a self-balancing mobile method. The self-balancing mobile platform provided by the present invention can maintain the balance of the vehicle body under the action of the controller by arranging the spatial scanning device and the lifting assembly; the self-balancing mobile method provided by the present invention obtains the road condition information of the pre-travel path through the spatial scanning device, and has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile platforms, and in particular to a self-balancing mobile platform and a self-balancing mobile method. Background Art

[0002] Important large equipment such as tanks, missile launchers, and rocket carriers have extremely strict requirements for flatness during operation or transportation. However, there are still many large equipment that cannot achieve self-balancing. Taking tanks as an example, currently only mission equipment such as turrets have self-balancing functions, while the tank chassis only has basic shock absorption functions and cannot help the turret share the balancing task. Taking the rocket launch platform as an example, the mobile platform of the space shuttle can be driven by tracks, while small rockets have extremely high requirements for flatness and can only use tracks, resulting in poor compatibility.

[0003] In addition, many small devices in the civil or commercial fields, such as unmanned express delivery vehicles, unmanned trucks, and exterior wall cleaning equipment, also reduce their stability and compatibility due to the lack of self-balancing ability. Summary of the invention

[0004] In view of this, a self-balancing mobile platform and a self-balancing mobile method are provided. The self-balancing mobile platform is used to achieve automatic balance, and the self-balancing mobile method is used to solve the problem that the existing mobile equipment cannot maintain balance according to the actual road conditions when driving.

[0005] The present invention provides a self-balancing mobile platform, comprising a vehicle body, a space scanning device, a suspension bracket, a wheel body, a lifting assembly and a controller; the space scanning device is arranged on the vehicle body and can scan the road conditions on the pre-travel path of the vehicle body; one end of the suspension bracket is rotatably connected to the vehicle body, and the other end of the suspension bracket is rotatably connected to the wheel body; one end of the lifting assembly is rotatably connected to the vehicle body, and the other end of the lifting assembly is rotatably connected to the suspension bracket; the lifting assembly can be extended and retracted under the control of the controller, and the height of the wheel body can be adjusted by adjusting the swing position of the suspension bracket.

[0006] Furthermore, the lifting assembly includes a telescopic arm and a shock absorber base; the telescopic arm includes a fixed end and a telescopic end that can slide relative to the fixed end, the fixed end is rotatably connected to the vehicle body, the telescopic end is connected to the shock absorber base, and the shock absorber base is rotatably connected to the suspension bracket.

[0007] Further, the lifting assembly further comprises a shock absorbing spring, the shock absorbing spring is sleeved on the telescopic arm, one end of the shock absorbing spring abuts against the telescopic arm, and the other end abuts against the shock absorber base; or,

[0008] The telescopic arm is at least one of a hydraulic cylinder, a pneumatic cylinder or a linear motor.

[0009] Furthermore, the space scanning device is a millimeter wave radar.

[0010] Further, the self-balancing mobile platform includes a first detection device, the first detection device is used to detect the load of each wheel body and generate load information, and the first detection device can transmit the load information to the controller; and / or,

[0011] The self-balancing mobile platform includes a second detection device, which is used to detect the posture of the vehicle body and generate posture information. The second detection device can transmit the posture information to the controller.

[0012] Furthermore, the wheel body is a driven wheel.

[0013] Furthermore, the wheel body is a driving wheel, and the self-balancing mobile platform includes a driving motor, and the driving motor is connected to the driving wheel and can drive the driving wheel to rotate.

[0014] The self-balancing mobile platform provided by the present invention can maintain the balance of the vehicle body under the action of a controller by arranging a space scanning device and a lifting component; the self-balancing mobile platform is highly compatible with road conditions and has broad application prospects and practical value.

[0015] The present invention further provides a self-balancing mobile method, which is applied to any one of the self-balancing mobile platforms described above, and the self-balancing mobile method comprises:

[0016] Acquiring the road condition information of the planned driving path through the space scanning device;

[0017] The controller receives the road condition information and adjusts the height of the corresponding wheel body by adjusting the telescopic amount of the telescopic arm.

[0018] Furthermore, the self-balancing mobile platform includes a second detection device, and the self-balancing mobile method further includes:

[0019] The posture of the vehicle body is detected by the second detection device and transmitted to the controller; the controller adjusts the telescopic amount of the telescopic arm according to the posture of the vehicle body, and adjusts the height of the corresponding wheel body accordingly.

[0020] Furthermore, the self-balancing mobile platform includes a first detection device, and the self-balancing mobile method further includes:

[0021] The load of each wheel body is detected by the first detection device and transmitted to the controller; the controller calculates the average value of the load and adjusts the height of the wheel body accordingly according to the difference between the current load of the wheel body and the average value.

[0022] The self-balancing mobile method provided by the present invention obtains the road condition information of the pre-driving path through a space scanning device, and uses a controller to control the height of the corresponding wheel body, which makes the self-balancing mobile platform extremely compatible with road conditions. The self-balancing mobile platform can maintain self-balance in different road conditions and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the three-dimensional structure of a self-balancing mobile platform in one embodiment of the present invention;

[0024] Figure 2 for Figure 1 A three-dimensional disassembled schematic diagram of the self-balancing mobile platform shown;

[0025] Figure 3 for Figure 1 The structural schematic diagram of the suspension bracket and the lifting assembly shown;

[0026] Figure 4 for Figure 3 A disassembled schematic diagram of the suspension bracket and lifting assembly shown;

[0027] Figure 5 The present invention is a flow chart of the self-balancing movement method provided by the present invention.

[0028] Main component symbols

[0029]

[0030]

[0031] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly mounted on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0035] Please also read Figure 1 to Figure 2 , Figure 1 This is a schematic diagram of the three-dimensional structure of a self-balancing mobile platform 100 in one embodiment of the present invention. Figure 2 for Figure 1 The self-balancing mobile platform 100 is shown in a three-dimensional disassembled schematic diagram.

[0036] The self-balancing mobile platform 100 is used to achieve autonomous movement. It can autonomously maintain balance while traveling along a preset path. The self-balancing mobile platform 100 can maintain balance according to actual road conditions and has better stability and road compatibility.

[0037] It can be understood that the self-balancing mobile platform 100 provided by the present invention can not only be a self-moving device used for military purposes such as tanks, missile launchers, and rocket carrier platforms, but also can be a self-moving device for civilian and commercial purposes such as unmanned express vehicles, unmanned trucks, and exterior wall cleaning equipment.

[0038] The self-balancing mobile platform 100 includes a vehicle body 10, a spatial scanning device 20, a suspension bracket 30, a wheel body 40, a lifting assembly 50, and a controller (not shown). The spatial scanning device 20 is arranged on the vehicle body 10, one end of the suspension bracket 30 is rotatably connected to the vehicle body 10, and the other end is rotatably connected to the wheel body 40; the wheel body 40 is arranged on the suspension bracket 30 and can rotate relative to the suspension bracket 30; one end of the lifting assembly 50 is rotatably connected to the vehicle body 10, and the other end is rotatably connected to the suspension bracket 30; the controller is coupled to the spatial scanning device and can control the lifting assembly 50 to move up and down.

[0039] The vehicle body 10 is used to carry the space scanning device 20, the suspension bracket 30, the wheel body 40, the lifting assembly 50 and the controller; the space scanning device 20 is used to scan and obtain road surface information; the suspension bracket 30 is used to suspend the wheel body 40 between the ground and the vehicle body 10; the wheel body 40 is used to guide the movement of the vehicle body 10; the lifting assembly 50 is used to adjust the arrangement angle of the suspension bracket 30 by its own extension and retraction; the controller is used to receive the road surface information obtained by the space scanning device 20, and actively adjust the extension and retraction amount of the lifting assembly 50 accordingly.

[0040] The spatial scanning device 20 scans the road condition and generates road surface information, and the spatial scanning device 20 transmits the road surface information to the controller; the controller determines the height to which the wheel body 40 needs to be adjusted according to the road surface information, and adjusts the extension and retraction amount of the lifting assembly 50; the lifting assembly 50 extends and retracts and drives the suspension bracket 30 to swing, thereby adjusting the height of the wheel body 40 set on the suspension bracket 30.

[0041] Since the wheel body 40 also has a displacement in the direction of travel of the vehicle body 10 when the height is adjusted, the dual-factor adjustment of the wheel body 40 in height and travel distance can better fit the road conditions, and the shock absorption and buffering effect is better than the beneficial effect of only the single-factor adjustment of height.

[0042] Specifically, the vehicle body 10 is used as the overall motion platform of the self-balancing mobile platform 100, and can correspond to the chassis of a manned vehicle or the main body of equipment such as a tank, depending on the actual use of the self-balancing mobile platform 100. The actual use of the vehicle body 10 can be selected according to actual needs.

[0043] The space scanning device 20 has a three-dimensional scanning function. It is installed at one end of the front of the vehicle body 10 and can generate three-dimensional model data according to the road condition information on the driving path.

[0044] In addition, the spatial scanning device 20 can also detect whether there are obstacles on the driving path when scanning the road conditions, so as to prevent the vehicle body 10 from colliding with obstacles while driving, thereby enabling the platform to have the function of autonomous obstacle avoidance, and improving the safety and stability of the entire vehicle.

[0045] It should be noted that the spatial scanning device 20 scans the road conditions on the pre-travel path of the self-balancing mobile platform 100, that is, it scans the road condition information of the road at a preset distance in front of the vehicle body 10, rather than the road condition information at the current position of the vehicle body 10. The length of the preset distance can be adjusted according to the response and computing power of the controller.

[0046] As for the structure of the space scanning device 20 itself, a conventional structure can be selected. In this embodiment, the space scanning device 20 is a millimeter wave radar device. It can be understood that in other embodiments, the space scanning device 20 can also be a scanning device with a three-dimensional scanning function, such as a three-dimensional scanner or a three-dimensional camera.

[0047] In this embodiment, the vehicle body 10 is provided with a mounting plate 11 protruding from the front end thereof, and the space scanning device 20 is mounted on the mounting plate 11 by means of threaded fasteners (not shown).

[0048] It is understandable that the spatial scanning device 20 can also be fixed on the vehicle body 10 by other means such as gluing, riveting, etc.; the present invention does not limit the specific installation method of the spatial scanning device 20, as long as the spatial scanning device 20 can be stably fixed on the vehicle body 10.

[0049] Please also read Figure 3 and Figure 4 , Figure 3 for Figure 1 The structural diagram of the suspension bracket 30 and the lifting assembly 50 is shown in FIG. Figure 4 for Figure 3 The schematic diagram of the disassembly of the suspension bracket 30 and the lifting assembly 50 is shown.

[0050] The vehicle body 10 is provided with a mounting block 12 protruding from the side thereof, and the interior of the mounting block 12 is hollow, so that one end of the suspension bracket 30 away from the wheel body 40 can be inserted therein. One end of the suspension bracket 30 extends outwards to form a first rotating shaft 31, which can extend into the interior of the mounting block 12, and the first rotating shaft 31 can rotate relative to the vehicle body 10 by rotating itself relative to the mounting block 12; the other end of the suspension bracket 30 also extends outwards to form a second rotating shaft 32, which can be inserted into the interior of the wheel body 40 and rotate relative to the wheel body 40.

[0051] When the suspension bracket 30 swings driven by the lifting assembly 50, the suspension bracket 30 performs a circular rotation motion around the mounting block 12, thereby adjusting the height of the wheel body 40 at one end of the suspension bracket 30 relatively far from the vehicle body 10 and the displacement in the traveling direction.

[0052] The wheel body 40 is sleeved on the second rotating shaft 32 and can rotate relative to the second rotating shaft 32 .

[0053] Furthermore, the wheel body 40 includes a hub 41 and a tire 42, wherein the tire 42 is mounted on the hub 41, and the hub 41 can rotate under the drive of the driving motor (when the wheel body 40 serves as a driving wheel), and drive the tire 42 to roll back and forth on the ground, thereby driving the vehicle body 10 to move forward.

[0054] In this embodiment, the wheel body 40 is a driven wheel, which can guide the movement of the vehicle body 10 under the drive of other driving wheels.

[0055] It is understandable that in other embodiments, the wheel body 40 can also be a driving wheel. At this time, the wheel body 40 used as a driving wheel is also equipped with a driving motor (not shown), which is electrically connected to the controller and can drive the wheel body 40 to rotate under the control of the controller.

[0056] It is understood that the specific number of the wheel bodies 40 can be configured according to the actual needs of the vehicle body 10, and the ratio of the driving wheel to the driven wheel can also be set according to the specific road conditions. At this time, the number of the suspension brackets 30 matched with the wheel bodies 40, the number of the mounting blocks 12 protruding from the vehicle body 10, and the number of the lifting components 50 also need to be configured synchronously.

[0057] The vehicle body 10 is also provided with a mounting shaft 13 at a position corresponding to each lifting assembly 50, and each suspension bracket 30 is provided with a pin block 33 at a position corresponding to the lifting assembly 50. One end of the lifting assembly 50 is rotatably connected to the mounting shaft 13, and the other end is rotatably connected to the pin block 33. When the lifting assembly 50 is extended or retracted under the control of the controller, the extension or retraction of the lifting assembly 50 itself drives the suspension bracket 30 to swing, thereby adjusting the height of the wheel body 40.

[0058] Furthermore, the lifting assembly 50 includes a telescopic arm 51, a shock absorbing spring 52 and a shock absorber base 53. The telescopic arm 51 includes a fixed end (not numbered) and a telescopic end (not numbered), and the telescopic end of the telescopic arm 51 can slide back and forth relative to the fixed end, thereby changing its own length. The fixed end of the telescopic arm 51 is sleeved with the mounting shaft 13, so as to maintain a stable connection between the telescopic arm 51 and the mounting shaft 13 on the basis of realizing a rotational connection between the telescopic arm 51 and the mounting shaft 13.

[0059] In this embodiment, the telescopic arm 51 is a hydraulic cylinder. It is understood that in other embodiments, the telescopic arm 51 can also be a cylinder, a linear motor or other components other than a hydraulic cylinder that can achieve free telescopic movement.

[0060] The shock absorbing spring 52 is sleeved on the telescopic end of the telescopic arm 51, and the shock absorber base 53 is fixedly connected to the telescopic end of the telescopic arm 51. The outer surface of the telescopic end extends outward to form a positioning boss (not numbered), one end of the shock absorbing spring 52 abuts against the positioning boss on the telescopic end, and the other end abuts against the shock absorber base 53.

[0061] When the wheel body 40 is moving, the shock absorbing spring 52 can reduce the vibration impact of the wheel body 40 on the vehicle body 10 , thereby improving the movement stability and reliability of the vehicle body 10 .

[0062] The shock absorber base 53 is sleeved with the pin block 33 and can rotate relative to the pin block 33, so as to realize the rotation connection of the lifting component 50 relative to the suspension bracket 30.

[0063] The controller is used to control the extension amount of the telescopic arm 51. After the space scanning device 20 scans the road condition on the pre-travel path and sends the road condition information to the controller, the controller determines the extension amount of the telescopic arm 51 according to the road condition information and adjusts the height of the wheel body 40 accordingly.

[0064] It can be understood that the number of controllers can be set to multiple or one; the height of each wheel body 40 can be centrally controlled by one controller or independently controlled by each controller; the specific control strategy can be selected according to the actual working conditions.

[0065] The following briefly introduces the self-balancing principle of the self-balancing mobile platform 100:

[0066] During the driving process of the vehicle body 10, the controller will control the extension and retraction amount of the telescopic arm 51 in real time according to the road condition information scanned by the space scanning device 20, as well as the current position of the vehicle body 10 and / or the rotation speed of the wheel body 40 (which can be measured in real time by the sensor), thereby driving the corresponding suspension bracket 20 to rotate relative to the vehicle body 10 and drive the wheel body 40 to rise and fall, so that the vehicle body 10 always remains horizontal at the same height when driving along the pre-driving path.

[0067] In addition, when the telescopic arm 51 reaches its telescopic limit and the vehicle body 10 cannot remain horizontal at the same height, that is, when the control limit of the telescopic arm 51 is exceeded, the controller can allow the vehicle body 10 to change in height in order to maintain the balance of the vehicle body.

[0068] In one embodiment of the present invention, the self-balancing mobile platform 100 is also provided with a plurality of first detection devices (not shown), each of which corresponds to detecting the load weight of one or more wheels 40 (that is, the contact pressure between the wheel 40 and the ground), and each of the first detection devices is electrically connected to the controller so that the first detection device transmits the detection result to the controller.

[0069] Considering the cost and performance, the first detection device is preferably a pressure sensor. It can be understood that in other embodiments, the first detection device can also use other detection elements besides the pressure sensor.

[0070] When the wheel body 40 is running on a road surface with insufficient hardness, it will squeeze the road surface and cause the road surface to sag. At this time, the first detection device detects the load weight of each wheel body 40 (that is, the contact pressure between the wheel body 40 and the ground), and transmits the load weight to the controller in the form of an electrical signal. The controller receives the signal and adjusts the extension amount of each telescopic arm 51 accordingly, thereby ensuring that the self-balancing mobile platform 100 can still remain level under this condition.

[0071] For example, when the load weight of the front wheel 40 is less than the average load weight of all the wheels 40, the controller will determine that the wheel 40 at that location has a tendency to hang in the air, and thus adjust the extension amount of the telescopic arm 51 to ensure the balance of the self-balancing mobile platform 100. Of course, in other ways, the controller can also adjust the extension amount of the telescopic arm 51 according to other strategies.

[0072] In one embodiment of the present invention, after the first detection device transmits the load weight of each wheel body 40 to the controller, the controller can calculate the load condition and the center of gravity position of the self-balancing mobile platform 100 according to the detection result.

[0073] When the controller determines that the self-balancing mobile platform 100 is in an empty or low-load operating state, the controller can correspondingly control the wheel body 40 located in the middle of the vehicle body 10 to lift up, thereby reducing the additional friction resistance brought by the multiple wheels 40, reducing the operating resistance of the vehicle body 10, and saving energy.

[0074] In one embodiment of the present invention, the self-balancing mobile platform 100 is further provided with a second detection device (not shown), which is used to detect the operating posture of the self-balancing mobile platform 100; the second detection device is electrically connected to the controller and can transmit the detection result to the controller.

[0075] The optional detection elements of the second detection device include a gyroscope, an accelerometer, etc. The second detection device detects the posture of the vehicle body 10 and feeds back to the controller, and the controller adjusts the telescopic amount of the telescopic arm 51 accordingly according to the detection result of the second detection device, thereby further improving the self-balancing adjustment performance of the self-balancing mobile platform 100.

[0076] The cooperation between the first detection device and the second detection device can enable the self-balancing mobile platform 100 to achieve a balanced state in various mission scenarios.

[0077] The self-balancing mobile platform 100 provided by the present invention can maintain the balance of the vehicle body 10 under the action of the controller by providing the space scanning device 20 and the lifting assembly 50; the self-balancing mobile platform 100 is highly compatible with road conditions and has broad application prospects and practical value.

[0078] Please also read Figure 5 , Figure 5 The flowchart of the self-balancing mobile method provided by the present invention is shown in FIG. The self-balancing mobile method provided by the present invention is applied to the self-balancing mobile platform 100 described above. The self-balancing mobile method provided by the present invention includes:

[0079] S51: Acquire the road condition information of the planned driving path through the spatial scanning device. Specifically, the spatial scanning device may be a millimeter wave radar device, or a scanning device with a three-dimensional scanning function such as a three-dimensional scanner or a three-dimensional camera.

[0080] S52: The controller receives the road condition information and adjusts the height of the corresponding wheel body by adjusting the telescopic amount of the telescopic arm. Specifically, the telescopic arm can be a hydraulic cylinder, or a cylinder, a linear motor or other components other than a hydraulic cylinder that can achieve free telescopic movement.

[0081] In one embodiment of the present invention, the self-balancing movement method further includes step S53.

[0082] Step S53: The posture of the vehicle body is detected by the second detection device and transmitted to the controller; the controller adjusts the telescopic amount of the telescopic arm according to the posture of the vehicle body, and adjusts the height of the corresponding wheel body accordingly.

[0083] Specifically, the optional detection elements of the second detection device include a gyroscope, an accelerometer, etc. The second detection device detects the posture of the vehicle body and feeds back to the controller, and the controller adjusts the telescopic amount of the telescopic arm according to the detection result of the second detection device, thereby further improving the self-balancing adjustment performance of the self-balancing mobile platform.

[0084] In one embodiment of the present invention, the self-balancing movement method further includes step S54.

[0085] S54: The load of each wheel body is detected by the first detection device and transmitted to the controller; the controller calculates the average value of the load and adjusts the height of the wheel body accordingly according to the difference between the current load of the wheel body and the average value.

[0086] Specifically, when the wheels are running on a road surface with insufficient hardness, the road surface will be squeezed and dented. At this time, the first detection device detects the load of each wheel (i.e., the contact pressure between the wheel and the ground), and transmits the load to the controller in the form of an electrical signal. The controller receives the signal and adjusts the extension amount of each telescopic arm accordingly, thereby ensuring that the self-balancing mobile platform can still remain level under this condition.

[0087] For example, when the load weight of the front wheel is less than the average load weight of all wheels, the controller will determine that the wheel at that location has a tendency to hang in the air, and thus adjust the extension amount of the telescopic arm to ensure the balance of the self-balancing mobile platform. Of course, in other ways, the controller can also adjust the extension amount of the telescopic arm according to other strategies.

[0088] At this time, the balancing performance of the self-balancing mobile platform is further improved, and the cooperation between the first detection device and the second detection device can enable the self-balancing mobile platform to reach a balanced state in various mission scenarios.

[0089] The self-balancing mobile method provided by the present invention obtains the road condition information of the pre-driving path through a space scanning device, and uses a controller to control the height of the corresponding wheel body, which makes the self-balancing mobile platform extremely compatible with road conditions. The self-balancing mobile platform can maintain self-balance in different road conditions and has broad application prospects.

[0090] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection claimed by the present invention.

Claims

1. A self-balancing mobile platform, characterized in that: The invention comprises a vehicle body, a space scanning device, a suspension bracket, a wheel body, a lifting assembly and a controller; the space scanning device is arranged on the vehicle body and can scan the road conditions on the pre-travel path of the vehicle body; one end of the suspension bracket is rotatably connected to the vehicle body, and the other end of the suspension bracket is rotatably connected to the wheel body; one end of the lifting assembly is rotatably connected to the vehicle body, and the other end of the lifting assembly is rotatably connected to the suspension bracket; the lifting assembly can be extended and retracted under the control of the controller, and the height of the wheel body can be adjusted by adjusting the swing position of the suspension bracket; The lifting assembly includes a telescopic arm and a shock absorber base; the telescopic arm includes a fixed end and a telescopic end that can slide relative to the fixed end, the fixed end is rotatably connected to the vehicle body, the telescopic end is connected to the shock absorber base, and the shock absorber base is rotatably connected to the suspension bracket; The lifting assembly further includes a shock absorbing spring, the shock absorbing spring is sleeved on the telescopic arm, one end of the shock absorbing spring abuts against the telescopic arm, and the other end abuts against the shock absorber base, and the telescopic arm is at least one of a hydraulic cylinder, a pneumatic cylinder or a linear motor; The self-balancing mobile platform includes a first detection device, which is used to detect the load of each wheel body and generate load information, and the first detection device can transmit the load information to the controller; and / or, the self-balancing mobile platform includes a second detection device, which is used to detect the posture of the vehicle body and generate posture information, and the second detection device can transmit the posture information to the controller.

2. The self-balancing mobile platform according to claim 1, characterized in that: The space scanning device is a millimeter wave radar.

3. The self-balancing mobile platform according to claim 1, characterized in that: The wheel body is a driven wheel.

4. The self-balancing mobile platform according to claim 1, characterized in that: The wheel body is a driving wheel, and the self-balancing mobile platform includes a driving motor. The driving motor is connected to the driving wheel and can drive the driving wheel to rotate.

5. A self-balancing mobile method, applied to the self-balancing mobile platform as claimed in any one of claims 1 to 4, characterized in that: The self-balancing movement method comprises: Acquiring the road condition information of the planned driving path through the space scanning device; The controller receives the road condition information and adjusts the height of the corresponding wheel body by adjusting the telescopic amount of the telescopic arm.

6. The self-balancing movement method according to claim 5, characterized in that: The self-balancing mobile platform includes a second detection device, and the self-balancing mobile method further includes: The posture of the vehicle body is detected by the second detection device and transmitted to the controller; the controller adjusts the telescopic amount of the telescopic arm according to the posture of the vehicle body, and adjusts the height of the corresponding wheel body accordingly.

7. The self-balancing movement method according to claim 5, characterized in that: The self-balancing mobile platform includes a first detection device, and the self-balancing mobile method further includes: The load of each wheel body is detected by the first detection device and transmitted to the controller; the controller calculates the average value of the load and adjusts the height of the wheel body accordingly according to the difference between the current load of the wheel body and the average value.

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