Through　the　simulation　and　design　of　the　robot＇s　mechanical　structure　and　control　system,　this　paper　presents　a　home　service　robot　that　can　perform　sweeping,　scrubbing,　and　fetching　functions　in　an　indoor　environment.　we　first　introduce　the　development　of　home　service　robots　and　similar　products,　and　then　designs　and　demonstrates　the　mechanical　structure　of　the　robot　through　simulation　software.　Next,　the　control　system　of　the　robot　is　described,　which　is　mainly　divided　into　positioning,　vision,　gripping　structure,　and　multi-task　drive　control.　Moreover,　this　paper　also　experimentally　verifies　the　positioning　recognition　and　stereo　matching　of　the　vision　control　part.　The　experiments　prove　that　such　a　general　computer　vision　system　can　be　applied　to　the　designed　robots.　Possible　directions　for　the　development　of　this　home　service　robot　are　also　proposed.　©　2021　ACM.