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Aiming at the two-wheeled self-balancing robot in the learning process encountered less-initiative and reinforcement learning to step low learning efficiency in the past, inspired by the intrinsic motivation theory from the psychology, this paper proposes a reinforcement learning algorithm based on intrinsic motivation. This algorithm uses the intrinsic motivation signal as the internal reward,then simulats human psychological mechanism, and applies to the whole learning process with the external signal. That can improve the learning ability. At the same time, by using self-organizing neural network for training, which ensures the rapidity of the system. The undisturbed and disturbed simulation experiment results prove that the reinforcement learning algorithm based on intrinsic motivation can solve the problem of autonomous learning of two-wheeled robot balance control in an unknown environment, and reflects the effectiveness and robustness of the system. 