Aiming at the needs of marine rescuers in performing rescue missions, the work aims to explore the design method of underwater search and rescue robots that combine FAHP, FQFD, and TRIZ theories. The fuzzy hierarchical analysis method (FAHP) was applied to calculate the weight size of the user's needs, and the fuzzy quality function development theory (FQFD) was applied to calculate the numerical size of the product's technical needs and identify the types of conflicts, and then the separation principle and the contradiction matrix in the theory of invention and problem-solving (TRIZ) was applied to solve the contradictions identified in the quality house model, to obtain the innovative design process, and then derive innovative solutions for ideal underwater search and rescue robot according to the process. Practice shows that this theoretical approach solves the problems of low operational efficiency, insufficient dive time, and overall lightweight in the previous underwater SAR robot design, and at the same time, reduces the risk of accidental injuries and improves the rescue efficiency, which demonstrates the feasibility of the combination of FAHP, FQFD and TRIZ theories.