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In the daily operation or overhauling period of nuclear power station, the underwater operations have the prevalence that detection is not intuitive, unintentional foreign falls and other issues. These affect the core circuit and the fuel assembly, cause overhaul cycle shorter, time becomes longer, severe resource consumption. To solve these problems, this paper presents an design method based on μC/OS-II embedded operating system nuclear foreign-salvage robot in underwater. In hardware each node of function uses modular design, the communication method based on RS485 bus. It facilitates system expansion and maintenance. In software μC/OS-II embedded operating system is migrated into the microprocessor. This method realizes the system's real-time, enhances the system's robustness and redundancy. The field tests in underwater show that the salvage robot has strong reliability, but also verify the feasibility and effectiveness of the design method.