The invention discloses a hospital guide robot autonomous navigation system and method based on Bluetooth positioning. The system comprises a server, a hospital guide robot and a Bluetooth signal transmitting device. The hospital guide robot further comprises an inquiry module, a route setting module, a walking mechanism, an infrared obstacle avoidance module, and a Bluetooth positioning module. The route setting module sets a walking route according to the consultation room information determined by the inquiry module. The walking mechanism guides a patient to the corresponding position of the consultation room information according to the walking route. The infrared obstacle avoidance module determines obstacles in the walking route. The Bluetooth positioning module automatically searches and receives a Bluetooth signal of the Bluetooth signal transmitting device. The hospital guide robot acquires the position information of the corresponding Bluetooth signal transmitting device from the server according to the Bluetooth signal and calculates the real-time position information of the hospital guide robot. Compared with a traditional indoor navigation method, the method is not only more accurate in positioning, but also reduces the hardware costs and improves work efficiency.