The invention discloses a mobile robot based on a three-freedom-degree vision platform and a control method of the mobile robot. The mobile robot comprises the three-freedom-degree vision platform, a mobile robot body, laser radar, an Arduino plate, an industrial personal computer and an IMU. The three-freedom-degree vision platform is arranged on the robot body and comprises a telescopic platform, a rotation platform and a pitching platform, and the pitching platform is provided with an RGB-D camera; the laser radar is fixed to the front end of the robot body, and the Arduino plate, the industrial personal computer and the IMU are arranged on the robot body; and the RGB-D camera, the laser radar and the IMU conduct information transmission with the industrial personal computer. According to the mobile robot, through the three-freedom-degree vision platform, the three-dimensional space of the mobile robot can be observed, the special target is recognized, and meanwhile the body condition of the mobile robot can be regularly monitored.