Emergency rescue disaster reduction system and method based on acoustic sensor array

Abstract

The invention provides an emergency rescue disaster reduction system of an acoustic sensor array, and belongs to the technical field of rescue positioning. Comprising a disaster reduction intelligent terminal, an information aggregation module and a positioning module. The disaster reduction intelligent terminal monitors and recognizes a human voice signal in real time, records a human voice appearing message in real time when recognizing the human voice signal, and marks the disaster reduction intelligent terminal as a disaster reduction intelligent terminal to be found and immediately reports the human voice appearing message to the information gathering module if recognizing the human voice signal within a set time period before a disaster occurs; after a disaster occurs, a human voice warning message is continuously sent out; the information aggregation module receives a human voice appearing message reported by the disaster reduction intelligent terminal to be found; and the positioning module positions the positions of the to-be-found disaster reduction intelligent terminal and the trapped person according to the human voice appearing message and the human voice warning message. According to the invention, rescue workers can be helped to efficiently locate trapped people at the first time when a disaster occurs, and the life of the trapped people is saved.

Description

Technical Field

[0001] This invention relates to the field of rescue positioning technology, specifically to an emergency rescue and disaster reduction system and method based on an acoustic sensor array. Background Technology

[0002] Currently, when people are trapped in severe disasters such as earthquakes, building collapses, and fires, there are two main methods for searching and rescuing trapped individuals at the disaster site: one is purely manual search and rescue, and the other is search and rescue assisted by modern life detection equipment. Manual search and rescue is inefficient and can lead to missing the critical 72-hour window for rescue, resulting in injuries or fatalities due to the lack of timely assistance. Search and rescue assisted by modern life detection equipment mainly utilizes infrared life detectors, vibration life detectors, and other similar instruments. Infrared life detectors determine the presence of life in the disaster area by detecting the difference between the infrared radiation characteristics of the human body and the surrounding environment. Vibration life detectors determine the presence of life by detecting vibrations from underground movements or knocking. However, regardless of whether infrared life detectors, vibration life detectors, or other life detectors are used, they all involve exhaustive, carpet-like searches after the disaster, resulting in low search efficiency. Furthermore, due to the presence of rubble, the instruments may become ineffective due to very weak signals.

[0003] Patent publication number CN109887502A discloses a method for determining rescue information. This method involves acquiring the voice information of a target object; recognizing the voice information to obtain a predetermined voice signal; uploading the distress signal to a control platform; and having the control platform analyze and process the distress signal to obtain corresponding rescue information. This rescue information is then disseminated to search and rescue terminals. While this method can address the problem in existing technologies of effectively determining whether people are trapped in buildings after an earthquake, it is problematic because trapped individuals may lose their speech due to unconsciousness or other reasons during a disaster. In such cases, the voice recognition terminal cannot function, the control platform cannot acquire rescue information, and consequently, the location of the trapped individuals cannot be determined. Summary of the Invention

[0004] The technical problem to be solved by this invention is how to determine the location of trapped personnel at the first moment of a disaster, thereby improving search and rescue efficiency.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an emergency rescue and disaster reduction system based on an acoustic sensor array, comprising:

[0006] The disaster reduction intelligent terminal is installed in various locations within the building. It includes a sound pickup unit for real-time sound signal pickup and a human voice recognition unit for recognizing the sound signal picked up by the sound pickup unit and determining whether it has human voice characteristics. If human voice characteristics are present, the disaster reduction intelligent terminal records a message indicating the presence of human voice.

[0007] If the disaster reduction smart terminal recognizes a human voice signal within a set time period before the disaster occurs, it will mark it as a disaster reduction smart terminal to be found and report the occurrence of human voice message. It will also continue to issue human voice warning messages after the disaster occurs.

[0008] The information aggregation module is used to receive voice presence reports from the disaster mitigation smart terminals to be located;

[0009] The positioning module includes a preliminary positioning unit, used to perform preliminary positioning of the disaster reduction smart terminal to be located based on the human voice appearance message provided by the information aggregation module; and a repositioning unit, used to analyze the human voice warning message issued by the disaster reduction smart terminal to be located and perform repositioning of the disaster reduction smart terminal to be located.

[0010] Preferably, the disaster reduction intelligent terminal, the information aggregation module, and the positioning module are communicatively connected.

[0011] Preferably, the sound pickup unit contains several MEMS sensors, forming a sensor array.

[0012] Preferably, the disaster reduction intelligent terminal includes a sound source localization unit, which is used to obtain the location information of the sound source relative to the disaster reduction intelligent terminal when the human voice recognition unit determines that the sound signal has human voice characteristics.

[0013] Preferably, the human voice appearance message includes the terminal device serial number of the disaster reduction intelligent terminal, the installation location information, and the directional information of the sound source relative to the disaster reduction intelligent terminal.

[0014] Preferably, the positioning module includes a receiving unit for receiving the location information of the sound source relative to the disaster reduction smart terminal to be located.

[0015] The present invention also provides an emergency rescue and disaster reduction method applying the above-mentioned emergency rescue and disaster reduction system based on an acoustic sensor array, comprising the following steps:

[0016] S1: Install the disaster reduction intelligent terminal in various locations within the building, and use the disaster reduction intelligent terminal to monitor the sound signals in each location in real time and determine whether there are human voice characteristics. If human voice characteristics are present, record the human voice occurrence message.

[0017] If the disaster reduction smart terminal identifies a human voice signal within a set time period before the disaster occurs, it will mark it as a disaster reduction smart terminal to be found and report the human voice occurrence message to the information aggregation module. It will also continue to issue human voice warning messages after the disaster occurs.

[0018] S2: The information aggregation module sends the voice presence message reported by the disaster mitigation smart terminal to the positioning module;

[0019] S3: Search and rescue personnel use handheld radios with positioning modules to locate the disaster reduction smart terminal to be located and further locate the sound source.

[0020] Preferably, the specific process of step S1 is as follows:

[0021] S101: The sound pickup unit in the disaster reduction intelligent terminal picks up sound signals from various locations inside the building in real time;

[0022] S102: The voice recognition unit recognizes the sound signal picked up by the sound pickup unit and identifies whether there are human voice characteristics;

[0023] S103: If human voice characteristics are present, the sound source localization unit calculates and obtains the location information of the sound source relative to the disaster reduction intelligent terminal.

[0024] S104: The disaster reduction intelligent terminal continuously monitors and records a message containing the serial number of the disaster reduction intelligent terminal device, installation location information, and the directional information of the sound source relative to the disaster reduction intelligent terminal.

[0025] S105: Mark the disaster reduction smart terminal that identifies human voice signals within a set time period before the disaster occurs as a disaster reduction smart terminal to be found. When the disaster occurs, the disaster reduction smart terminal to be found immediately reports the occurrence of human voice to the information aggregation module.

[0026] S106: The disaster mitigation intelligent terminal to be searched continuously sends out human voice warning messages after a disaster occurs.

[0027] Preferably, the specific process of step S3 is as follows:

[0028] S301: Rescue personnel first locate the disaster reduction smart terminal to be located based on the installation location information provided by the information aggregation module.

[0029] S302: After reaching the initial location of the disaster reduction and mitigation smart terminal to be located, the positioning module analyzes the human voice warning message issued by the disaster reduction and mitigation smart terminal to be located and performs relocation of the disaster reduction and mitigation smart terminal to be located, and the rescue personnel determine the location of the disaster reduction and mitigation smart terminal to be located.

[0030] S303: Locate the position of the trapped personnel based on the location information of the sound source relative to the disaster reduction smart terminal received by the positioning module receiving unit.

[0031] Preferably, the specific process of step S302 is as follows: the repositioning unit in the positioning module receives the human voice warning message sent by the disaster reduction intelligent terminal to be located, parses a set of positioning audio frequency values ​​contained therein, and generates a reference positioning sound. The rescuer holds a handheld radio and monitors the positioning sound signal within a certain range centered on the initial positioning location of the disaster reduction intelligent terminal to be located in real time, and compares it with the reference positioning sound. If the positioning sound signal and the reference positioning audio spectrum structure are exactly the same, it is determined that the disaster reduction intelligent terminal to be located exists at the location being detected.

[0032] Compared with the prior art, the advantages of the present invention are:

[0033] (1) Based on the real-time monitoring and identification of human voice signals by the disaster reduction intelligent terminal, and the calculation of the location information of the sound source relative to the disaster reduction intelligent terminal, the installation location information of the disaster reduction intelligent terminal and the location information of the sound source relative to the disaster reduction intelligent terminal are uploaded to the information platform to filter out the intelligent terminals that have had human voice information in the surrounding area within a set time period before the disaster occurs; at this time, since the installation location information of the disaster reduction intelligent terminal to be searched is known, the rescuers can quickly locate the area to be searched without conducting a carpet search. Furthermore, since the disaster reduction intelligent terminal to be searched continuously sends human voice warning messages after the disaster occurs, the rescuers can use handheld radios that can analyze human voice warning messages to detect the area of ​​the disaster reduction intelligent terminal to be searched and accurately locate the location of the disaster reduction intelligent terminal to be searched.

[0034] (2) Since the location information of the sound source relative to the disaster reduction smart terminal to be found is known, rescuers can further confirm the location of the trapped person after determining the disaster reduction smart terminal to be found, providing direction for the search and greatly reducing the search and rescue time.

[0035] (3) This invention collects the human voice situation around the disaster reduction smart terminal before the disaster occurs, records and uploads terminal information and sound source information in real time, and avoids the problem that the human voice information cannot be collected when the disaster victim loses the ability to speak at the moment of the disaster, and thus cannot locate the location of the trapped person; when the disaster victim is trapped and can call for help, this invention can use the sound source positioning unit of the disaster reduction smart terminal to obtain more accurate location information of the trapped person, and help rescuers to accurately locate the location of the trapped person. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the deployment and networking of the system of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1

[0039] Combination Figure 1 This embodiment provides an emergency rescue and disaster reduction system based on an acoustic sensor array, including a disaster reduction smart terminal installed in various locations within a building, as well as an information aggregation module and a positioning module.

[0040] The disaster reduction intelligent terminal includes a power supply unit, a sound pickup unit, a voice recognition unit, a sound source localization unit, and a network communication unit.

[0041] The sound pickup unit is used to monitor and pick up sound signals near the terminal in real time. It includes multiple MEMS sensors that form a sensor array. In this embodiment, it is a cross-shaped sensor array in the horizontal and vertical directions.

[0042] The voice recognition unit is responsible for recognizing the sound signals picked up by the sound pickup unit and determining whether there are human voice characteristics, including but not limited to human speech, coughing, breathing, etc.

[0043] When the voice recognition unit determines that there is a human voice signal near the terminal, the sound source localization unit uses the GCC time delay estimation algorithm to obtain the location information of the sound source relative to the disaster reduction intelligent terminal. The GCC time delay estimation algorithm is as follows:

[0044] (1) Establish an ideal environment model

[0045] In an ideal acoustic environment, ignoring signal attenuation during propagation, the signals received by the two acoustic sensors are expressed as: x1(n) = s(n) + b1(n), x2(n) = s(n-τ) + b2(n), where b1(n) and b2(n) are background noise, and τ is the relative time delay between the signals received by the two acoustic sensors;

[0046] (2) Obtaining delay estimates

[0047] The sound source localization problem can be described as follows: given the topology of the acoustic sensor array, the location of the sound source is determined by using the TDOA information between different acoustic sensor pairs and the position information of the acoustic sensor array.

[0048] The cross-spectral function of the signals received by the two acoustic sensors is Where X1(f) represents the Fourier transform of the signal x1(n). Represent the conjugate of signal x2(n) after Fourier transform; obtain the generalized cross-correlation function. Where φ(f) is the weighting function. It is a generalized cross-spectral function, i.e.

[0049] Obtaining latency estimates Depend on It can be known that X i (f) can be represented as X i (f)=α i e -j2πfτ S(f), i = 1, 2;

[0050] Then there is Ψ cc The value of (f) depends on the sound source signal, and thus according to Obtain a time delay estimate.

[0051] Commonly used generalized cross-correlation weighting functions are shown in the table below:

[0052]

[0053] In the above table, and Let x1(n) and x2(n) represent the autopower spectra of the received signals, respectively. and Let S represent the autopower spectra of noises n1(n) and n2(n), respectively. SS (f) represents the self-power spectrum of the source signal, |γ(f)| 2 Let be the squared modulus coherence function of the signals received by the two sensors, which is defined as follows:

[0054] Using the GCC time delay estimation algorithm described above, the horizontal angle d of the cross-shaped sensor array in this embodiment can be obtained. h and pitch angle d e This allows us to obtain the location information of the sound source relative to the disaster reduction smart terminal.

[0055] When determining the location of a sound source, the speed of sound in air, v, is required. To improve the positioning accuracy in practical use, this embodiment adds a temperature sensor to the disaster mitigation intelligent terminal device to measure the on-site temperature in real time, and then uses the sound speed formula to obtain the real-time sound propagation speed: Where T represents the temperature in Celsius.

[0056] The disaster reduction intelligent terminal continuously monitors and identifies human voice signals. When a human voice signal is identified, a human voice occurrence message is recorded. The human voice occurrence message includes the device serial number of the disaster reduction intelligent terminal, the installation location information, the location information of the sound source relative to the disaster reduction intelligent terminal, the human voice occurrence indication, and the type of human voice.

[0057] Within a set time period before a disaster occurs, such as 10 seconds, a disaster reduction smart terminal that detects a human voice signal will be marked as a disaster reduction smart terminal to be located. The network communication unit will immediately report the human voice detection message of the disaster reduction smart terminal to the information aggregation module, and the disaster reduction smart terminal to be located will continue to issue human voice warning messages after the disaster occurs.

[0058] The information aggregation module is used to receive human voice presence reports from the disaster mitigation smart terminal to be located.

[0059] The positioning module includes a preliminary positioning unit, a repositioning unit, and a receiving unit. The preliminary positioning unit is used to perform preliminary positioning of the intelligent disaster reduction terminal to be located based on the installation location information of the intelligent disaster reduction terminal to be located provided by the information aggregation module. The repositioning unit is used to parse the human voice warning message emitted by the intelligent disaster reduction terminal to be located and perform repositioning of the intelligent disaster reduction terminal. The receiving unit is used to receive the directional information of the sound source relative to the intelligent disaster reduction terminal to be located.

[0060] Example 2

[0061] This embodiment describes in detail the emergency rescue and disaster reduction method applying the above-mentioned emergency rescue and disaster reduction system based on an acoustic sensor array, including the following steps:

[0062] S1: The disaster mitigation intelligent terminal automatically identifies human voices and locates the sound source. The specific process is as follows:

[0063] S101: Install the disaster reduction smart terminal on the ceiling or wall of each room, stairwell, and fire exit in the building, and maintain data connection with the information platform through 4G / 5G. The information aggregation module operates in the monitoring room of the government emergency disaster management department.

[0064] S102: Under normal circumstances, the disaster reduction intelligent terminal uses the sound pickup unit to pick up sound signals from various locations in real time;

[0065] S103: Use the voice recognition unit to identify the sound signal picked up by the sound pickup unit and determine whether there are human voice characteristics, including human voices, coughs, breathing sounds, etc.

[0066] S104: When the voice recognition unit determines that there are human voice features, the disaster reduction intelligent terminal obtains the location information of the sound source relative to the disaster reduction intelligent terminal through the sound source localization unit according to the GCC time delay estimation algorithm. The disaster reduction intelligent terminal records a voice occurrence message including the device serial number and installation location information of the disaster reduction intelligent terminal, as well as the location information of the sound source relative to the disaster reduction intelligent terminal, the voice occurrence indication, the voice type, etc.

[0067] S105: If the accelerometer in the disaster mitigation intelligent terminal detects severe shaking, movement, or vibration, activate the disaster communication mode.

[0068] S106: Mark the disaster reduction smart terminal that identifies human voice signals within a set time period before the disaster occurs as a disaster reduction smart terminal to be searched. The disaster reduction smart terminal to be searched immediately reports a human voice occurrence message to the information aggregation module through the network communication unit, including the serial number of the disaster reduction smart terminal, installation location information, and the location information of the sound source relative to the disaster reduction smart terminal.

[0069] The disaster mitigation intelligent terminal continuously issues a voice warning message after a disaster occurs. This voice warning message includes a location audio frequency {f} consisting of several digits. i} and generate reference positioning tone. Where F is the sampling rate, t is the sampling time, N is the number of location audio frequencies, and A is the signal amplitude parameter.

[0070] S2: The information aggregation module receives the human voice presence report from the disaster mitigation smart terminal to be located and sends it to the positioning module;

[0071] S3: Search and rescue personnel use handheld radios with positioning modules to locate the disaster reduction smart terminal to be located and further locate the sound source. The specific process is as follows:

[0072] S301: Rescue personnel first locate the disaster reduction smart terminal to be located based on the installation location information provided by the information aggregation module.

[0073] S302: After the rescuers arrive at the initial location of the disaster reduction smart terminal to be located, they will continuously detect the surrounding positioning sound signals with the initial location as the center. When a signal with the same spectrum structure as the reference positioning sound signal appears, the rescuers will determine that the disaster reduction smart terminal to be located exists at the location being detected.

[0074] S303: Rescuers determine the reference location of the sound source, i.e. the reference location of the trapped person, based on the location information of the sound source relative to the disaster reduction smart terminal received by the positioning module receiving unit.

[0075] This invention utilizes a disaster mitigation smart terminal to monitor and identify human voice signals in real time. Simultaneously, it calculates the location information of the sound source relative to the smart terminal and uploads this information, along with the terminal's installation location information, to an information platform. Furthermore, based on whether human voice signals are detected within a pre-defined time period before a disaster, the smart terminal under test is marked. During a disaster, rescue personnel can directly locate the reference location of the smart terminal and trapped individuals using the information provided by the information platform, eliminating the need for a comprehensive search and significantly improving rescue efficiency. Because this invention uses pre-recorded and located human voice signals, it avoids the problem of disaster victims being unable to send distress signals, thus preventing rescuers from locating their positions.

[0076] Example 3

[0077] This embodiment also provides an emergency rescue and disaster reduction method using an emergency rescue and disaster reduction system based on an acoustic sensor array, the only difference from Embodiment 2 being:

[0078] When disaster victims are able to send out distress signals, once the intelligent disaster relief terminal detects the human voice signal after the disaster occurs, the sound source localization unit in the intelligent disaster relief terminal can use the GCC time delay estimation algorithm to calculate the sound source, that is, the location coordinates of the trapped person relative to the intelligent disaster relief terminal. The human voice occurrence message reported by the intelligent disaster relief terminal to the information aggregation module includes the device serial number of the disaster relief terminal, the installation location information, the directional information of the sound source relative to the disaster relief terminal, and the location coordinates of the sound source relative to the intelligent disaster relief terminal.

[0079] Rescuers, holding handheld radios equipped with positioning modules, first use the installation location information of the smart disaster reduction terminal to be located, provided by the information aggregation module, to perform preliminary positioning of the terminal. After reaching the preliminary location, they continuously probe the surrounding positioning sound signals, using this location as the center. When a signal with the same spectral structure as the reference positioning sound signal is detected, the rescuers confirm the presence of the smart disaster reduction terminal at the location being probed. Based on the azimuth information of the sound source relative to the smart disaster reduction terminal received by the positioning module's receiving unit, the rescuers determine the reference azimuth of the sound source, i.e., the reference azimuth of the trapped person. Then, based on the position coordinates of the sound source relative to the smart disaster reduction terminal, they determine the specific location of the trapped person relative to the smart disaster reduction terminal.

[0080] This means that, based on the location information of the trapped person relative to the intelligent disaster reduction terminal, the accuracy of locating the trapped person is greatly improved by using the location coordinates of the sound source relative to the intelligent terminal. This helps rescuers to determine the location of the trapped person more quickly and accurately and rescue them.

[0081] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An emergency rescue and disaster reduction system based on an acoustic sensor array, characterized in that: include: The intelligent terminal for disaster reduction is installed at various locations in the building, and includes a sound pickup unit for picking up sound signals in real time, and a human voice recognition unit for recognizing the sound signal picked up by the sound pickup unit and judging whether it has human voice features. If so, the intelligent terminal for disaster reduction records a message indicating the presence of human voice. If the disaster reduction intelligent terminal recognizes a human voice signal within a set time period before a disaster occurs, it will be marked as a disaster reduction intelligent terminal to be found and report a human voice occurrence message, and continue to send human voice warning messages after the disaster occurs; An information aggregation module is used to receive a message about the presence of human voice reported by the intelligent terminal for disaster reduction to be found; The positioning module includes a preliminary positioning unit: used to perform preliminary positioning of the disaster reduction intelligent terminal to be found according to the human voice appearance message provided by the information convergence module; and also includes a repositioning unit: used to parse the human voice warning message sent by the disaster reduction intelligent terminal to be found, and reposition the disaster reduction intelligent terminal to be found.

2. The emergency rescue and disaster reduction system based on acoustic sensor array according to claim 1, characterized in that: The disaster reduction intelligent terminal, the information aggregation module and the positioning module are communicatively connected.

3. The emergency rescue and disaster reduction system based on acoustic sensor array according to claim 1, characterized in that: The sound pickup unit includes a plurality of MEMS sensors, forming a sensor array.

4. The emergency rescue and disaster reduction system based on acoustic sensor array according to claim 1, characterized in that: The disaster reduction intelligent terminal includes a sound source localization unit, which is used to obtain the position information of the sound source relative to the disaster reduction intelligent terminal when the human voice recognition unit determines that the sound signal has human voice features.

5. The emergency rescue and disaster reduction system based on acoustic sensor array according to claim 4, characterized in that: The human voice occurrence message includes the terminal device serial number of the disaster reduction intelligent terminal, installation location information, and the position information of the sound source relative to the disaster reduction intelligent terminal.

6. The emergency rescue and disaster reduction system based on acoustic sensor array according to claim 5, characterized in that: The positioning module comprises a receiving unit for receiving the position information of the sound source relative to the disaster reduction intelligent terminal to be found.

7. An emergency rescue and disaster reduction method using the emergency rescue and disaster reduction system based on an acoustic sensor array according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1: Install the disaster reduction intelligent terminal at various locations in the building, use the disaster reduction intelligent terminal to monitor the sound signals at various locations in real time and determine whether there are human voice features. If there are human voice features, record the human voice occurrence message; If the disaster reduction intelligent terminal recognizes a human voice signal within a set time period before the disaster occurs, it will be marked as a disaster reduction intelligent terminal to be found and report the human voice appearance message to the information aggregation module, and continue to send human voice warning messages after the disaster occurs; S2: The information aggregation module sends the voice appearance message reported by the disaster reduction intelligent terminal to be found to the positioning module; S3: The search and rescue personnel hold a handheld radio with a positioning module to locate the location of the disaster reduction intelligent terminal to be found and further locate the location of the sound source.

8. The method for emergency rescue and disaster reduction based on an acoustic sensor array according to claim 7, characterized in that: The specific process of step S1 is: S101: The sound pickup unit in the disaster reduction intelligent terminal picks up the sound signals at various locations in the building in real time; S102: The human voice recognition unit recognizes the sound signal picked up by the sound pickup unit and identifies whether there is a human voice feature; S103: If there is a human voice feature, the sound source localization unit calculates and obtains the position information of the sound source relative to the disaster reduction intelligent terminal; S104: the disaster reduction intelligent terminal continuously monitors and records a human voice occurrence message including a disaster reduction intelligent terminal device serial number, installation location information, and position information of a sound source relative to the disaster reduction intelligent terminal; S105: marking the disaster reduction intelligent terminal that recognized the human voice signal within a set time period before the disaster occurs as the disaster reduction intelligent terminal to be found. When the disaster occurs, the disaster reduction intelligent terminal to be found immediately reports the human voice occurrence message to the information aggregation module; S106: The disaster reduction intelligent terminal to be found continues to send out voice warning messages after the disaster occurs.

9. The method for emergency rescue and disaster reduction based on an acoustic sensor array according to claim 8, characterized in that: The specific process of step S3 is: S301: The rescue personnel first perform a preliminary positioning of the disaster reduction intelligent terminal to be found according to the installation location information of the disaster reduction intelligent terminal to be found provided by the information aggregation module; S302: After arriving at the preliminary positioning position of the disaster reduction intelligent terminal to be found, the positioning module analyzes the human voice warning message sent by the disaster reduction intelligent terminal to be found and repositions the disaster reduction intelligent terminal to be found, and the rescue personnel determine the position of the disaster reduction intelligent terminal to be found; S303: Locate the position of the trapped person according to the position information of the sound source received by the positioning module receiving unit relative to the disaster reduction intelligent terminal to be found.

10. The method for emergency rescue and disaster reduction based on acoustic sensor array according to claim 9, characterized in that: The specific process of step S302 is as follows: the re-positioning unit in the positioning module receives the human voice warning message sent by the disaster reduction intelligent terminal to be found, parses a set of positioning audio frequency values ​​contained therein, and generates a reference positioning sound. The rescue personnel hold a handheld radio to monitor in real time the positioning sound signal within a certain range centered on the preliminary positioning position of the disaster reduction intelligent terminal to be found, and compares it with the reference positioning sound. If the positioning sound signal and the reference positioning sound have exactly the same spectral structure, it is determined that the disaster reduction intelligent terminal to be found exists at the location being detected.

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