The invention relates to a sensing, controlling and performing system for a greeting security service robot. The sensing, controlling and performing system comprises a master control module as well as a greeting security robot motion module, a greeting security robot navigation detecting module, a greeting security robot head-arm motion system, a greeting security robot obstacle-avoiding system, a greeting security robot alarm system, a greeting security robot advertisement video play system, a greeting security robot infrared night-version monitoring camera system, a greeting security robot voice conversation module, a greeting security robot body detecting module and a greeting security robot automatic charging system which are separately in communication control connection with the master control module. The sensing, controlling and performing system solves the problems such as severe task mode coupling, high multiplicity, low efficiency, slow response and poor stability, caused by various functional requirements of the greeting security robot, of the greeting security robot, and has the advantages of high intelligent degree, a simple design, low cost, rapid response and the like.