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Sun et al. Intell Robot 2022;2(4):355­70 Intelligence & Robotics
DOI: 10.20517/ir.2022.23

Research Article Open Access

Development and experimental verification of search

and rescue ROV

1
1
1
Bing Sun , Wen Pang , Mingzhi Chen , Daqi Zhu 2
1 Shanghai Engineering Technology Research Center of Intelligent Maritime Search & Rescue and Underwater Vehicles, Shanghai
Maritime University, Shanghai 201306, China.
2 School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.
Correspondence to: Prof. Bing Sun, Shanghai Engineering Technology Research Center of Intelligent Maritime Search & Rescue
and Underwater Vehicles, Shanghai Maritime University,No.1550 Haigang Avenue, Pudong New Area, Shanghai 201306, China.
E-mail: hmsunbing@163.com; ORCID: 0000-0002-1432-6349

How to cite this article: Sun B, Pang W, Chen M, Zhu D. Development and experimental verification of search and rescue ROV.
Intell Robot 2022;2(4):355-70. http://dx.doi.org/10.20517/ir.2022.23.
Received: 30 Jul 2022 First Decision: 24 Aug 2022 Revised: 29 Aug 2022 Accepted: 5 Sep 2022 Published: 12 Oct 2022

Academic Editor: Simon X. Yang Copy Editor: Jia-Xin Zhang Production Editor: Jia-Xin Zhang

Abstract

This paper presents the design of a new type of search and rescue remotely operated vehicle (ROV) system. The goal
is to achieve the underwater target search and detection and small target capture and rescue operation requirements.
First, the overall design of the whole underwater surface system and the layout design of the propulsion system
are given. On this basis, the ROV frame structure, electronic cabin, and power cabin are designed and analyzed.
To accomplish the grasping task, a grasping hand is designed based on a multifunctional manipulator to achieve
underwater grasping. To make the ROV more intelligent, different kinds of underwater object detection and tracking
methods are adopted and analyzed. Finally, it was tested in a pool and the sea to verify the reliability and stability of
the designed search and rescue ROV.

Keywords: Remotely operated vehicle, search and rescue, underwater object detection and tracking, underwater
grasping

1. INTRODUCTION
Underwater search and rescue is one of the important tasks of intelligent maritime search and rescue [1,2] . It is
an important application field for underwater vehicles, artificial intelligent information processing, and under-

© The Author(s) 2022. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, shar­
ing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you
give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate
if changes were made.

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