Marine environment monitoring can realize the monitoring of marine water quality. It is of great significance to timely discovery and early treatment of marine environmental damage. At present, marine environment monitoring methods include on-site sampling, specialized monitoring ship or on-site monitoring buoy. The disadvantages of these methods are large labor, low efficiency and high cost. Real-time environment monitoring system based on underwater robot has important application value for marine environment protection and monitoring application. Underwater vehicles can carry underwater cameras, PH values, dissolved oxygen and water quality monitoring sensors, temperature monitoring sensors and chlorophyll concentration sensors, etc. to quickly detect the overall hydrological environment and the state of the seabed surface.