Under the background that underwater vehicles are widely used, the application of underwater autonomous navigation robot system has great value. In order to break the bottleneck that the robot needs human’s operation, and better use the flexibility of mini under robot, design and produce an underwater autonomous navigation robot system. The system mechanical structure uses Pro/E as 3 dimension software, quickly design and produce main body of underwater navigation robot, the hardware uses camera head to collect data. Use infrared distance measurement module and electronic compass module to realize orientation function. Embedded software layer collect sensor data, and carry out corresponding image recognizing and processing. At last, the system identifies obstacle and carries out corresponding movement. At the same time, data and video stream are sent to upper PC by wireless module, the upper PC receives and displays the video streams in order to debug as well as monitor the underwater environment. The system finally completes a full function of obstacle avoidance, underwater surveying and returning to start point, thus indicating a degree of practical significance and contributing to the underwater activities.