Abstract: To solve the problems of complex environment,insufficient automation,high cost,and small application range faced by domestic and foreign agricultural robots in the application process. The ESP32 single-chip microcomputer is used as the main control unit,and based on inverted pendulum model and PID control model are used to design a highly applicable and economical and practical single-wheel self-balancing vehicle for agriculture. single-wheel self-balancing vehicle adopts the MPU6050 sensor,through its internal integration digital motion processor（ DMP） for data fusion and filtering,and transmits the angle,acceleration and other information measured by the gyroscope sensor to the single-chip microcomputer. And through multiple experiments to determine a set of optimal PID parameters,to improve the stability and anti-interference of the self-balancing vehicle. The calculation results obtained by the single-chip microcomputer through the PID algorithm are driven by the motor to the self-balancing vehicle,and use Bluetooth low energy（ BLE） for data transmission,motion control and mechanical center of gravity calculation. It uses a DC motor and a DC geared motor to drive it to provide power,so that the single-wheel self-balancing vehicle maintains balance and stability. The experimental verification shows that the single-wheel self-balancing vehicle is simple to operate,stable and reliable in work,and meets the requirements of controllable motion and stable balance.