Aiming at the shortcomings of long time and low efficiency of humanoid robot images using linear CCD as image acquisition module, a kind of humanoid robot based on OpenMv is designed. The design of the humanoid robot shooting system completes the hardware and software design firstly, then converts the acquired image into the HSV color model, uses the image segmentation technology to segment the target and the background, and then calculates the centroid coordinates. Finally, the corresponding signal is output through the expert control strategy. Adjust the movement of the robot. Experiments show that the system has high reliability and adaptability, and won the first prize in the robot competition of the five provinces (municipalities and autonomous regions) in North China, which verifies the applicability, reliability and effectiveness of the method.