Aiming at the disadvantages of traditional underwater pipeline inspection robot design, an underwater inspection robot is designed. Combined with the advanced technology and the development trend of underwater intelligent robot, the binocular camera is loaded to realize the precise positioning of the target in a small area of the underwater pipeline, and the removal and recovery of foreign bodies on the surface of the pipeline are completed with the remote control of the manipulator. The results show that the structure of the robot is reasonable, the function is perfect, and the stability and control performance are good.