Mobile robot autonomous movement control system based on visual navigation

The invention discloses a mobile robot autonomous movement control system based on visual navigation, which relates to the technical field of mobile robot intelligent control and comprises a walking module, a positioning module, a visual perception module, a visual analysis module, an autonomous decision module and a central control module. A visual perception module is arranged to capture surrounding pictures of a mobile robot in real time, and targets in the pictures are recognized through a trained CNN neural network model pre-installed by a visual analysis module; an autonomous decision-making module is further arranged, and different decision-making schemes are adopted according to different front targets recognized by the visual analysis module; when the autonomous decision-making module makes a decision, the obstacle conditions on the left and right sides are also considered; according to the situation that no view exists in turning, the central control module is arranged to monitor the position of eac