Robot moving platform and moving control method

Abstract

The invention belongs to the technical field of robot moving platforms, and particularly relates to a robot moving platform and a moving control method.The robot moving platform comprises a frame and a suspension assembled on the frame, the top end of the frame is provided with a fixed platform through bolts, and the top end of the fixed platform is connected with a fixed flange; the suspension is composed of an upper fork arm, a lower fork arm, a suspension support and a shock absorber, a direct-current brushless motor is installed in the frame, a coupler is assembled on an output shaft of the direct-current brushless motor, a two-stage speed reducer is assembled at one end of the coupler, and a universal joint is assembled at the output end of the two-stage speed reducer. The Mecanum wheels are driven to rotate through cooperative work of the four direct-current brushless motors, the couplings, the two-stage speed reducers and the universal joints, and high-precision control over movement of the mobile platform is achieved. And the robot can accurately follow the preset path regardless of linear advancing or turning, so that the operation precision of the robot in a complex task is remarkably improved.

Description

Technical Field

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

[0002] Existing robot mobile platforms have shown wide application value in many fields such as industrial production, logistics and transportation, and service robots. These robot mobile platforms usually rely on motors to drive four mobile wheels to rotate synchronously to achieve linear movement. However, this design faces a significant problem in practical applications: when a U-turn or steering operation is required, if the four mobile wheels still keep rotating synchronously, the steering angle of the mobile platform is often too large, which not only limits its flexibility, but also may affect the efficiency and effect of use in specific application scenarios.

[0003] Specifically, the four synchronously rotating mobile wheels can provide stable and efficient propulsion when moving in a straight line, but when turning, the platform often has difficulty in achieving precise turning movements because it cannot independently control the rotation speed and direction of each wheel. This may not only cause the moving path to deviate from the intended target, but also increase the risk of collision with the surrounding environment, especially when operating in narrow or complex environments. This problem is particularly prominent. Summary of the invention

[0004] The object of the present invention is to provide a robot mobile platform, aiming to solve the problem in the prior art that when a U-turn or steering operation is required, if the four mobile wheels still keep rotating synchronously, the steering angle of the mobile platform will often be too large, which not only limits its flexibility but also may affect the efficiency and effect of use in specific application scenarios.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot mobile platform, comprising a frame and a suspension mounted on the frame, wherein a fixed platform is mounted on the top of the frame by bolts, and a fixed flange is connected to the top of the fixed platform, and the suspension is composed of an upper fork arm, a lower fork arm, a suspension bracket and a shock absorber, and a DC brushless motor is mounted inside the frame, and an output shaft of the DC brushless motor is equipped with a coupling, one end of the coupling is equipped with a secondary reducer, and the output end of the secondary reducer is equipped with a universal joint, and the end of the universal joint is fixedly connected to a Mecanum wheel by bolts.

[0006] As a preferred robot mobile platform of the present invention, four DC brushless motors are installed inside the frame, and the four DC brushless motors are respectively connected to four Mecanum wheels through couplings, secondary reducers and universal joints.

[0007] As a preferred robot mobile platform of the present invention, the Mecanum wheel is rotationally connected to the frame through a DC brushless motor, a coupling, a secondary reducer and a universal joint.

[0008] As a preferred robot mobile platform of the present invention, a fixed plate is installed at the rear end, the cross-section of the fixed plate is "L" shaped, a threaded screw is installed inside the fixed plate, a baffle is welded on the surface of the threaded screw, a bearing is installed at one end of the threaded screw, and a servo motor is installed on the side wall of the fixed plate.

[0009] As a preferred embodiment of a robot mobile platform of the present invention, an arc groove is formed on the top of one end of the baffle away from the threaded screw, and the baffle is rotatably connected to the fixed plate through the threaded screw and the bearing.

[0010] As a preferred robot mobile platform of the present invention, the output shaft of the servo motor is connected to one end of the threaded screw, the rotation angle of the baffle is 90°, and the rotation angle is 90°. The end of the baffle is lower than the bottom end of the Mecanum wheel.

[0011] As a preferred robot mobile platform of the present invention, heat dissipation plates are detachably installed on both sides of the frame, and fixed blocks are installed on both side walls of the frame. A groove is opened inside the fixed block, and a spring is installed inside the groove. A "T"-shaped connecting rod is installed at the end of the spring, and a limit block is installed at the end of the connecting rod.

[0012] As a preferred embodiment of a robot mobile platform of the present invention, the back end of the limit block is in contact with the front end of the heat sink, and the connecting rod is elastically telescopically connected to the fixing block via a spring.

[0013] As a preferred robot mobile platform of the present invention, the inner wall of the heat sink is connected to a cooling fan, the four corners of the cooling fan are connected to screws, and the cooling fan is detachably fixedly connected to the heat sink via the screws.

[0014] A method for controlling movement of a robot mobile platform comprises the following steps: S1, power transmission start-up phase: a control system precisely controls the start-up of a brushless DC motor, so that the output shaft of the brushless DC motor starts to rotate; the rotation of the output shaft drives the coupling connected thereto to rotate synchronously, and then the coupling drives the secondary reducer to rotate; the secondary reducer converts the high speed of the motor into a suitable low speed and increases the torque, and then drives the universal joint to rotate, and finally the universal joint drives the Mecanum wheel to start moving, so that the entire mobile platform can be started and moved; S2, linear movement control phase: when the mobile platform needs to move in a linear direction, the control system precisely adjusts the speed of four brushless DC motors to make the four Mecanum wheels rotate in a coordinated manner, thereby ensuring that the mobile platform can move smoothly in a linear direction along a predetermined path; in this process, the control system The control system will monitor the motion state of the mobile platform in real time, and dynamically adjust the speed of the four DC brushless motors according to the preset path and speed requirements to ensure the accuracy and stability of the movement; S3, turning movement control stage: when the mobile platform needs to turn, the control system will accurately adjust the speed difference between the four DC brushless motors according to the preset turning radius and target turning angle, so as to achieve smooth turning; specifically, when the mobile platform needs to turn left, the control system will appropriately reduce the speed of the two DC brushless motors on the left, and increase the speed of the two DC brushless motors on the right; by precisely controlling the speed difference in this way, the curvature of the turn can be effectively controlled, so that the mobile platform can turn accurately according to the predetermined turning path; conversely, when it is necessary to turn right, the speed of the two DC brushless motors on the right is reduced, and the speed of the two DC brushless motors on the left is increased.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention drives the Mecanum wheel to rotate through the coordinated work of four DC brushless motors, couplings, secondary reducers and universal joints, thereby achieving high-precision control of the movement of the mobile platform. Whether it is moving in a straight line or turning, it can accurately follow the predetermined path, significantly improving the robot's operating accuracy in complex tasks. In addition, when the robot's mobile platform moves forward, the servo motor drives the threaded screw to rotate, so that the baffle rotates 90° and then blocks the front end of the Mecanum wheel, effectively preventing small debris that is not detected by the radar from getting stuck in the wheel, ensuring the stable operation of the Mecanum wheel. At the same time, the heat sink is easy to disassemble and assemble with the help of the limit block, connecting rod, fixed block and spring, which provides convenience for the maintenance of the electrical appliances on the top of the frame. The cooling fan is fixed to the inside of the heat sink by screws, effectively handling the heat generated by the electrical appliances in the space between the frame and the fixed platform when working, and achieving efficient heat dissipation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a bottom view structural diagram of the main body of the present invention; Figure 3 It is a schematic diagram of the frame structure of the present invention; Figure 4 It is a schematic diagram of the right side cross-sectional structure of the main body of the present invention when viewed from the front; Figure 5 This is a schematic diagram of the baffle installation structure of the present invention; Figure 6 It is a schematic diagram of the connection structure of the limit block, the connecting rod, the fixing block and the spring of the present invention; Figure 7 It is a schematic diagram of the structure of the heat sink of the present invention; Figure 8 It is a schematic diagram of the flow structure of the mobile control method of the present invention.

[0017] In the figure: 1. DC brushless motor; 2. Coupling; 3. Secondary reducer; 4. Mecanum wheel; 5. Frame; 6. Universal joint; 7. Suspension; 71. Upper fork arm; 72. Lower fork arm; 73. Suspension bracket; 74. Shock absorber; 8. Fixed platform; 9. Fixed flange; 10. Fixed plate; 11. Servo motor; 12. Threaded screw; 13. Bearing; 14. Baffle; 15. Heat sink; 16. Fixed block; 17. Limit block; 18. Spring; 19. Connecting rod; 20. Groove; 21. Cooling fan; 22. Screw. DETAILED DESCRIPTION

[0018] 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.

[0019] Embodiment 1 See also Figure 1-Figure 7The present invention provides the following technical solutions: a robot mobile platform, including a frame 5 and a suspension 7 mounted on the frame 5, a fixed platform 8 is installed on the top of the frame 5 by bolts, a fixed flange 9 is connected to the top of the fixed platform 8, and the fixed flange 9 can be used to connect a single-chip microcomputer, a mechanical arm, etc. The suspension 7 is composed of an upper fork arm 71, a lower fork arm 72, a suspension bracket 73 and a shock absorber 74, a DC brushless motor 1 is installed inside the frame 5, an output shaft of the DC brushless motor 1 is equipped with a coupling 2, one end of the coupling 2 is equipped with a secondary reducer 3, and the output end of the secondary reducer 3 is equipped with a universal joint 6, and the end of the universal joint 6 is fixedly connected with a Mecanum wheel 4 by bolts, and each roller axis of the Mecanum wheel 4 is at an angle of 45° with the axis of the wheel. This special design enables the Mecanum wheel 4 to achieve omnidirectional movement. Therefore, the Mecanum wheel 4 does not need a steering mechanism, and only needs to control the forward and reverse rotation and speed of the wheel to achieve omnidirectional movement.

[0020] In the preferred embodiment, four brushless DC motors 1 are installed inside the vehicle frame 5 , and the four brushless DC motors 1 are connected to four Mecanum wheels 4 respectively through a coupling 2 , a secondary reducer 3 and a universal joint 6 .

[0021] In the preferred embodiment, the Mecanum wheel 4 is rotationally connected to the frame 5 via a brushless DC motor 1, a coupling 2, a secondary reducer 3 and a universal joint 6.

[0022] In the embodiment, when the robot mobile platform is in use, the control system accurately controls the start-up of the brushless DC motor 1, so that the output shaft of the brushless DC motor 1 starts to rotate; the rotation of the output shaft drives the coupling 2 connected thereto to rotate synchronously, and then the coupling 2 drives the secondary reducer 3 to rotate; the secondary reducer 3 converts the high speed of the motor into a suitable low speed and increases the torque, and then drives the universal joint 6 to rotate, and finally the universal joint 6 drives the Mecanum wheel 4 to start moving, so that the entire mobile platform can be started and moved.

[0023] It is worth noting that the suspension bracket 73, as a connecting component between the entire suspension system and the mobile platform chassis 5, provides a stable installation foundation. One end of the upper fork arm 71 and the lower fork arm 72 are respectively hinged to the suspension bracket 73, and the other end is connected to the hub of the Mecanum wheel 4. This structure forms a stable triangular support system. During the driving process of the mobile platform, the upper fork arm 71 and the lower fork arm 72 can limit the displacement of the wheel in the vertical direction, horizontal direction and lateral direction, ensuring that the Mecanum wheel 4 always maintains the correct motion trajectory, providing reliable support and guidance functions for the mobile platform.

[0024] When the mobile platform travels on an uneven road surface, the bumps of the road surface will cause the Mecanum wheel 4 to be subjected to an upward or downward impact force. At this time, the shock absorber 74 plays a key role. One end of the shock absorber 74 is connected to the suspension bracket 73, and the other end is connected to the upper fork arm 71 and the lower fork arm 72 near the wheel. When the wheel moves upward due to the bumps on the road surface, the upper fork arm 71 and the lower fork arm 72 will rotate around the hinge point with the suspension bracket 73, driving the shock absorber 74 to be compressed. The piston inside the shock absorber 74 moves in the cylinder, and generates a damping force through the flow of a damping medium such as oil, converting the kinetic energy transmitted by the wheel into heat energy and dissipating it, thereby slowing down the speed of the wheel moving upward and playing a buffering role. Conversely, when the wheel moves downward due to a depression in the road surface, the shock absorber 74 is stretched, and resistance is also generated through the internal damping mechanism to control the speed of the wheel moving downward and prevent the wheel from sinking excessively.

[0025] The independent suspension design enables each Mecanum wheel 4 to independently respond to road conditions. Even if some wheels encounter large bumps, the other wheels can still maintain good contact with the ground, ensuring the overall stability of the mobile platform. Through the coordinated work of the upper fork arm 71, the lower fork arm 72 and the shock absorber 74, the shaking and vibration of the vehicle body caused by uneven road surface can be effectively reduced, making the mobile platform more stable during driving, improving the reliability and safety of the platform operation, and providing a stable working environment for the equipment and goods mounted on the platform.

[0026] Embodiment 2 See also Figure 1-Figure 7 A fixing plate 10 is installed at the front and rear ends of the frame 5. The cross section of the fixing plate 10 is in an "L" shape. A threaded screw 12 is installed inside the fixing plate 10. A baffle 14 is welded on the surface of the threaded screw 12. A bearing 13 is installed at one end of the threaded screw 12. A servo motor 11 is installed on the side wall of the fixing plate 10.

[0027] In the preferred embodiment, an arc groove is formed on the top of one end of the baffle plate 14 away from the threaded screw 12 , and the baffle plate 14 is rotatably connected to the fixed plate 10 through the threaded screw 12 and the bearing 13 .

[0028] In the preferred embodiment, the output shaft of the servo motor 11 is connected to one end of the threaded screw 12 , the rotation angle of the baffle 14 is 90°, and the end of the baffle 14 is lower than the bottom end of the Mecanum wheel 4 at a rotation angle of 90°.

[0029] In the embodiment, when the robot mobile platform is used, its control system controls the servo motor 11 to start working, and the output shaft of the motor drives the threaded screw 12 to rotate in the inner ring of the bearing 13. Then, the threaded screw 12 causes the baffle 14 to rotate 90° until the baffle 14 blocks the front end of the Mecanum wheel 4. At this time, the baffle 14 is in a longitudinal state and its end position is lower than the bottom of the Mecanum wheel 4. This design is intended to effectively prevent small debris that is not detected by the radar from entering the wheel during the forward movement of the robot mobile platform, thereby ensuring the stable operation of the Mecanum wheel 4.

[0030] It should be noted that the baffle 14 is used on the premise that the robot mobile platform needs to maintain a stable bottom to move, avoiding shaking during the movement, so as to prevent unnecessary mutual interference between the baffle 14 and the suspension 7.

[0031] Embodiment 3 See also Figure 1-Figure 7 A heat sink 15 is detachably mounted on both sides of the frame 5, and a fixing block 16 is mounted on both side walls of the frame 5. A groove 20 is formed inside the fixing block 16, and a spring 18 is assembled inside the groove 20. A T-shaped connecting rod 19 is mounted on the end of the spring 18, and a limit block 17 is mounted on the end of the connecting rod 19.

[0032] In the preferred embodiment, the back end of the limiting block 17 is in contact with the front end of the heat sink 15 , and the connecting rod 19 is elastically connected to the fixing block 16 via the spring 18 .

[0033] In the preferred embodiment: the inner wall of the heat sink 15 is connected with a cooling fan 21 , the four corners of the cooling fan 21 are connected with screws 22 , and the cooling fan 21 is detachably fixedly connected to the heat sink 15 via the screws 22 .

[0034] In the embodiment, when the robot mobile platform is used, the control system will start the cooling fan 21, and the cooling fan 21 effectively copes with the heat generated by the electrical appliances between the frame 5 and the fixed platform 8 when they are working, thereby achieving efficient heat dissipation.

[0035] It is worth noting that the cooling fan 21 and the heat sink 15 form a connection structure that can be easily disassembled and assembled through screws 22, so that the fan can be quickly replaced when it is damaged.

[0036] When the robot mobile platform needs to be maintained, the operator pushes the limit block 17 toward the side wall of the fixed block 16, and this action drives the connecting rod 19 to squeeze the spring 18 to make it shrink and enter the groove 20. Then, the limit block 17 is separated from the heat sink 15, allowing the heat sink 15 to be pulled outward, thereby exposing the space between the frame 5 and the fixed platform 8 without directly removing the bolts. This design simplifies the maintenance process, greatly facilitates the maintenance of the electrical appliances on the top of the frame 5, and realizes convenient disassembly and assembly operations.

[0037] See also Figure 1-8 : A mobile control method for a robot mobile platform, comprising the following steps: S1, power transmission startup stage: the control system accurately controls the start-up of the DC brushless motor 1, so that the output shaft of the DC brushless motor 1 starts to rotate; the rotation of the output shaft drives the coupling 2 connected thereto to rotate synchronously, and then the coupling 2 drives the secondary reducer 3 to rotate; the secondary reducer 3 converts the high speed of the motor into a suitable low speed and increases the torque, and then drives the universal joint 6 to rotate, and finally the universal joint 6 drives the Mecanum wheel 4 to start moving, so that the entire mobile platform can be started and moved; S2, linear movement control stage: when the mobile platform needs to move in a linear direction, the control system accurately adjusts the speed of the four DC brushless motors 1 to make the four Mecanum wheels 4 rotate in a coordinated manner, thereby ensuring that the mobile platform can move smoothly in a linear direction along a predetermined path; in this process In the process, the control system will monitor the motion state of the mobile platform in real time, and dynamically adjust the rotation speed of the four brushless DC motors 1 according to the preset path and speed requirements to ensure the accuracy and stability of the movement; S3, turning movement control stage: when the mobile platform needs to turn, the control system accurately adjusts the rotation speed difference between the four brushless DC motors 1 according to the preset turning radius and target turning angle, so as to achieve smooth turning; specifically, when the mobile platform needs to turn left, the control system will appropriately reduce the rotation speed of the two brushless DC motors 1 on the left, and increase the rotation speed of the two brushless DC motors 1 on the right; by accurately controlling the speed difference in this way, the curvature of the turn can be effectively controlled, so that the mobile platform can turn accurately according to the predetermined turning path; conversely, when it is necessary to turn right, the rotation speed of the two brushless DC motors 1 on the right is reduced, and the rotation speed of the two brushless DC motors 1 on the left is increased.

[0038] In summary, the present invention drives the Mecanum wheel 4 to rotate and accurately controls the movement of the mobile platform through the cooperation of four DC brushless motors 1, coupling 2, secondary reducer 3 and universal joint 6. Whether it is moving in a straight line or turning, it can strictly follow the predetermined path, greatly improving the operation accuracy of the robot in complex tasks.

[0039] When the robot mobile platform moves forward, the servo motor 11 drives the threaded screw 12 to rotate, causing the baffle 14 to rotate 90°, blocking the front end of the Mecanum wheel 4, blocking small debris that is not detected by the radar, and ensuring the stable operation of the wheel.

[0040] In terms of maintenance convenience and heat dissipation, the heat sink 15 on both sides of the frame 5 is easy to disassemble and assemble by means of the limit block 17, the connecting rod 19, the fixing block 16 and the spring 18, which provides convenience for the maintenance of the electrical appliances on the top of the frame. The cooling fan 21 fixed by the screw 22 on the inner side of the heat sink 15 can effectively dissipate the heat generated by the electrical appliances between the frame 5 and the fixed platform 8, realize efficient heat dissipation, and fully guarantee the stable and reliable operation of the mobile platform.

[0041] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot mobile platform, comprising a frame (5) and a suspension (7) mounted on the frame (5), wherein a fixed platform (8) is mounted on the top of the frame (5) by bolts, and a fixed flange (9) is connected to the top of the fixed platform (8), characterized in that: The suspension (7) is composed of an upper fork arm (71), a lower fork arm (72), a suspension bracket (73) and a shock absorber (74); A brushless DC motor (1) is installed inside the vehicle frame (5); an output shaft of the brushless DC motor (1) is equipped with a coupling (2); one end of the coupling (2) is equipped with a secondary reducer (3); an output end of the secondary reducer (3) is equipped with a universal joint (6); and an end of the universal joint (6) is fixedly connected to a Mecanum wheel (4) via bolts.

2. A robot mobile platform according to claim 1, characterized in that: Four brushless DC motors (1) are installed inside the vehicle frame (5), and the four brushless DC motors (1) are respectively connected to four Mecanum wheels (4) via a coupling (2), a secondary reducer (3) and a universal joint (6).

3. A robot mobile platform according to claim 1, characterized in that: The Mecanum wheel (4) is rotationally connected to the vehicle frame (5) via a brushless DC motor (1), a coupling (2), a secondary reducer (3) and a universal joint (6).

4. A robot mobile platform according to claim 1, characterized in that: The front and rear ends of the vehicle frame (5) are mounted with fixing plates (10), the cross section of the fixing plates (10) being in an "L" shape, a threaded screw (12) being mounted inside the fixing plates (10), a baffle (14) being welded to the surface of the threaded screw (12), a bearing (13) being mounted at one end of the threaded screw (12), and a servo motor (11) being mounted on the side wall of the fixing plates (10).

5. A robot mobile platform according to claim 4, characterized in that: An arc-shaped groove is formed at the top of one end of the baffle plate (14) away from the threaded screw rod (12), and the baffle plate (14) is rotatably connected to the fixed plate (10) via the threaded screw rod (12) and the bearing (13).

6. A robot mobile platform according to claim 4, characterized in that: The output shaft of the servo motor (11) is connected to one end of the threaded screw (12), and the baffle (14) has a rotation angle of 90°. When the rotation angle is 90°, the end of the baffle (14) is lower than the bottom end of the Mecanum wheel (4).

7. The robot mobile platform according to claim 1, characterized in that: Heat dissipation plates (15) are detachably mounted on both sides of the frame (5), and fixing blocks (16) are mounted on both side walls of the frame (5). A groove (20) is formed inside the fixing block (16), and a spring (18) is mounted inside the groove (20). A T-shaped connecting rod (19) is mounted at the end of the spring (18), and a limit block (17) is mounted at the end of the connecting rod (19).

8. A robot mobile platform according to claim 7, characterized in that: The back end of the limiting block (17) is in contact with the front end of the heat dissipation plate (15), and the connecting rod (19) is elastically and telescopically connected to the fixing block (16) via the spring (18).

9. The robot mobile platform according to claim 7, characterized in that: The inner wall of the heat sink (15) is connected to a cooling fan (21), and screws (22) are connected to the four corners of the cooling fan (21). The cooling fan (21) is detachably fixedly connected to the heat sink (15) via the screws (22).

10. A method for controlling movement of a robot mobile platform, characterized in that: The following steps are involved: S1, power transmission start-up stage: the control system accurately controls the start-up of the brushless DC motor (1), so that the output shaft of the brushless DC motor (1) starts to rotate; the rotation of the output shaft drives the coupling (2) connected thereto to rotate synchronously, and then the coupling (2) drives the secondary reducer (3) to rotate; the secondary reducer (3) converts the high speed of the motor into a suitable low speed and increases the torque, and then drives the universal joint (6) to rotate, and finally the universal joint (6) drives the Mecanum wheel (4) to start moving, so that the entire mobile platform can be started and moved; S2, linear motion control stage: when the mobile platform needs to move linearly, the control system precisely adjusts the rotation speed of the four brushless DC motors (1) so that the four Mecanum wheels (4) rotate in a coordinated manner, thereby ensuring that the mobile platform can move linearly smoothly along a predetermined path. During this process, the control system monitors the motion state of the mobile platform in real time, and dynamically adjusts the rotation speed of the four brushless DC motors (1) according to the preset path and speed requirements to ensure the accuracy and stability of the movement. S3, turning movement control stage: when the mobile platform needs to turn, the control system accurately adjusts the speed difference between the four DC brushless motors (1) according to the preset turning radius and the target turning angle, so as to achieve smooth turning; specifically, when the mobile platform needs to turn left, the control system appropriately reduces the speed of the two DC brushless motors (1) on the left side, while increasing the speed of the two DC brushless motors (1) on the right side; by precisely controlling the speed difference in this way, the curvature of the turn can be effectively controlled, so that the mobile platform can accurately turn according to the predetermined turning path; Conversely, when it is necessary to turn right, the rotation speeds of the two brushless DC motors (1) on the right side are reduced, and the rotation speeds of the two brushless DC motors (1) on the left side are increased.

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