USRV: hydrodynamic analysis and design of a novel anti-flow underwater search and rescue vehicle with circuit control and perception system

摘要

In response to the increasing prevalence of unmanned underwater vehicles, unmanned search and rescue technology has garnered significant attention in recent years. The intricate nature of water environments, with their high currents, poor visibility, and limited space, has made existing water rescue devices heavily reliant on extensive human input and, at times, even the cooperation of those being rescued to ensure efficient and dependable rescues. This paper introduces the design of a high-speed anti-flow Underwater Search & Rescue Vehicle (USRV) specifically tailored for water rescue missions. The proposed USRV design incorporates vector propulsion to effectively tackle the challenges posed by rapid turbulence disturbances during rescue operations. Drawing inspiration from the rotary body design methods used in Autonomous Underwater Vehicles, a low-flow drag profile is developed, enabling swift approaches to distressed individuals while maintaining a stable orientation. Hydrodynamic analysis confirms the effectiveness of this innovative anti-flow design. Additionally, an integrated acoustic/visual perception system enables the robot to dive beneath individuals and rapidly deploy airbags. Compared to other water rescue devices, this novel solution prioritises the protection of individuals in water, regardless of their level of awareness or mobility.