Aiming at the problem of obstacleavoidance of the threewheel omnidirectional mobile robot, a vision obstacleavoidance control system based on STM32F1 processor was proposed. The hardware control system of the obstacleavoidance robot was designed by analyzing the motion model of the threewheel omnidirectional mobile robot.The OpenMV OV7725 image module was used to identify obstacles and obtain the location information of obstacles. According to the position information, the fuzzy control algorithm was used to control the robot’ s moving direction, and the function of autonomous obstacleavoidance was realized. The results show that by using the system, the threewheel omnidirectional mobile robot can recognize and avoid obstacles in its paths.