Aiming at online efficient cleaning for condensers used in units whose power capacities are above 120MW , a underwater intelligent cleaning robot was proposed. Based on the working environment of the condensers, the robot system structure was designed, which consisted of traveling mechanism, the pipe for water supply and wire, and drive mechanism for robotic arm. Then the physical prototype was developed. Visual serving arithmetic was adopted to achieve the automotive localization condenser tube control. The experimental results demonstrate that the robot can approximately satisfy the basic requirements of automatically cleaning condenser. It can also be widely applied in many fields such as power industry, chemical plant, pharmacy, etc. Besides, it has great effect on promoting large-scale and safe production, energy saving as well as consumption reduction.