Emergency rescue communication method and system applied to fire scene

Abstract

The present invention provides an emergency rescue communication method and system applied to fire scenes. First, a set of environmental information including spatial structure, obstacle distribution and signal attenuation characteristics of the fire scene is obtained, and a relay module deployment planning scheme including a deployment position set, deployment sequence rules and deployment density parameters is generated based on the information. Then, a mobile vehicle is controlled to perform dynamic deployment operations according to the scheme, including adjusting the deployment position based on real-time environmental feedback and deploying relay modules according to target coverage requirements. Then, self-organizing networking processing is performed on the deployed relay modules to generate a self-organizing network topology structure, completing the establishment of communication links between modules, topology structure generation and multi-hop communication path determination. Finally, the topology structure is used to provide rescue terminal equipment with communication services such as voice, image and sensor data transmission, as well as positioning support such as terminal equipment position coordinate calculation and position information update, effectively improving the communication quality and positioning accuracy of fire scene rescue.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency rescue communication, and in particular to an emergency rescue communication method and system applied to a fire scene. Background Art

[0002] In fire rescue scenarios, effective communication and accurate positioning are crucial for the smooth implementation of rescue operations. However, the fire scene environment is extremely complex and dynamically changing, and many factors seriously affect the quality of communication and positioning.

[0003] Traditional fire scene communication methods rely on fixed communication base stations. However, buildings may collapse and obstacles may be scattered, hindering signal transmission and creating communication blind spots. Furthermore, signal attenuation within a fire scene is complex and variable, making it difficult for traditional communication methods to adapt to the real-time environment and ensure stable and reliable communication between rescuers.

[0004] Existing positioning technologies are often limited by the unique environment of a fire scene, making it difficult to accurately obtain the location of rescue terminal devices. Smoke, high temperatures, and other factors in a fire scene can interfere with positioning signals, significantly reducing positioning accuracy. Rescuers are unable to accurately determine the location of trapped personnel and themselves, increasing the difficulty and risk of rescue efforts. Therefore, an emergency rescue communication method is urgently needed that can adapt to the complex and dynamic environment of a fire scene and effectively address communication and positioning issues. Summary of the Invention

[0005] In view of the above-mentioned problems, in combination with the first aspect of the present invention, an embodiment of the present invention provides an emergency rescue communication method applied to a fire scene, the method comprising:

[0006] Obtaining a set of environmental information about the fire scene, the set of environmental information including spatial structure characteristics, obstacle distribution characteristics, and signal attenuation characteristics collected by sensing equipment carried by a mobile vehicle;

[0007] Generate a delivery planning scheme for the relay module based on the environmental information set, wherein the delivery planning scheme includes a delivery location set, a delivery sequence rule, and a delivery density parameter;

[0008] Controlling the mobile vehicle to perform dynamic deployment of the relay module according to the deployment planning scheme, wherein the dynamic deployment operation includes a deployment position adjustment step based on real-time environmental feedback and a relay module deployment step based on target coverage requirements;

[0009] Performing self-organizing networking processing on the deployed relay modules to generate a self-organizing network topology structure, wherein the self-organizing networking processing includes the steps of establishing communication links between modules, generating a self-organizing network topology structure, and determining a multi-hop communication path;

[0010] The self-organizing network topology structure is used to provide communication services and positioning support for rescue terminal equipment. The communication service includes a voice data transmission step, an image data transmission step and a sensor data transmission step. The positioning support includes a terminal equipment position coordinate calculation step and a position information update step.

[0011] On the other hand, an embodiment of the present invention also provides an emergency rescue communication system for use in fire scenes, comprising a processor and a machine-readable storage medium, wherein the machine-readable storage medium is connected to the processor, the machine-readable storage medium is used to store programs, instructions or codes, and the processor is used to execute the programs, instructions or codes in the machine-readable storage medium to implement the above method.

[0012] Based on the above aspects, the embodiments of the present invention can comprehensively and accurately grasp the fire scene environment by acquiring a set of environmental information at the fire scene, including spatial structural characteristics, obstacle distribution characteristics, and signal attenuation characteristics. The relay module deployment planning scheme generated based on this information comprehensively considers the complexity and dynamic nature of the fire scene environment. The deployment location set, deployment sequence rules, and deployment density parameters are rationally set to ensure the scientific and effective deployment of relay modules.

[0013] Dynamic deployment operations are controlled by mobile vehicles based on the deployment plan. Deployment positions are adjusted based on real-time environmental feedback, and relay module placement is tailored to target coverage requirements. This allows relay modules to flexibly adapt to changes in the fire scene and achieve broader signal coverage. Self-organizing networking is performed on deployed relay modules, resulting in a highly adaptive and robust self-organizing network topology. Inter-module communication link establishment, self-organizing network topology generation, and multi-hop communication path determination ensure the stability and reliability of the communication network.

[0014] This self-organizing network topology is used to provide communication services and positioning support for rescue terminal equipment. The stable transmission of voice, image and sensor data meets the diverse information interaction needs at the rescue site. The terminal equipment position coordinate calculation and position information update provide rescue personnel with accurate positioning services, effectively improving the efficiency and safety of fire rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the execution flow of the emergency rescue communication method applied to a fire scene provided by an embodiment of the present invention.

[0016] Figure 2 FIG. 4 is a schematic diagram of exemplary hardware and software components of an emergency rescue communication system applied to a fire scene provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be described in detail below with reference to the accompanying drawings. Figure 1 The figure is a flow chart of an emergency rescue communication method applied to a fire scene provided by an embodiment of the present invention. The emergency rescue communication method applied to a fire scene is introduced in detail below.

[0018] Step S110: Acquire a set of environmental information of the fire scene, wherein the set of environmental information includes spatial structure characteristics, obstacle distribution characteristics, and signal attenuation characteristics collected by a sensing device carried by a mobile vehicle.

[0019] This example uses the scenario of a sudden fire in an underground parking lot as an example. The area was filled with thick smoke and the temperature rose sharply. Traditional communication methods such as cellular networks and conventional walkie-talkies experienced severe signal attenuation or even complete interruption, making communication between rescue workers and the command center extremely challenging. Rescue workers were unable to obtain accurate and timely information from the scene, making it difficult to efficiently coordinate rescue operations. To address this issue, this example requires obtaining comprehensive and accurate environmental information from the fire scene to build an effective emergency rescue communication system.

[0020] Specifically, a robot dog can be used as a mobile vehicle, equipped with a control module, a positioning module, and a delivery device. The control module coordinates all of the robot dog's actions, precisely controlling its movement path and motion according to pre-set programs and instructions from the ground command center. The positioning module uses high-precision positioning technology to accurately determine the robot dog's position within the underground parking lot in real time. The delivery device is used to deploy a micro-communication relay module at the appropriate location to establish an emergency communication network.

[0021] The robot dog is equipped with various sensory devices for collecting various types of environmental information. The LiDAR device emits laser beams and measures their reflection time to obtain distance information about surrounding objects. As the robot dog moves within the parking lot, it emits laser beams at different locations, collecting a large amount of distance data. Combining parameters such as the laser beam's emission angle and direction, data processing and conversion convert this distance information into coordinate points in three-dimensional space, creating a three-dimensional point cloud. This 3D point cloud data details the spatial structure of the underground parking lot, including the position and shape of objects such as walls, columns, and vehicles.

[0022] Vision sensors capture the scene within the parking lot, capturing visual features of objects such as color, texture, and shape, generating scene image data. This rich information is crucial for identifying the type and location of obstacles. Vision sensors can automatically adjust their capture parameters based on changes in ambient light to ensure image clarity and accuracy.

[0023] As the robot dog moves, the signal detection equipment detects wireless signals at different locations. It measures signal strength, analyzes energy loss after the signal penetrates obstacles, and records the number of reflections along the signal propagation path. This data, combined to form signal attenuation data, reflects the signal's propagation characteristics in a fire environment and helps understand signal coverage and quality.

[0024] Step S111: Control the mobile vehicle to enter the fire scene to perform an environmental scanning operation, wherein the environmental scanning operation includes the steps of collecting three-dimensional point cloud data through a laser radar device and collecting scene image data through a visual sensor.

[0025] The ground control center sends a command to the robot dog to enter the underground parking lot. Upon receiving the command, the robot dog slowly begins to drive along the pre-set route. The lidar device immediately activates, emitting laser beams at a fixed frequency. With each laser beam, a high-precision timing system within the device begins accurately counting the time until the laser beam hits an obstacle and reflects back to the device, at which point the timing stops. Based on the laser's air velocity and the measured reflection time, the distance between the obstacle and the device is calculated.

[0026] As the robot dog moves through the parking lot, the LiDAR device repeats the above operation at different locations, acquiring a series of distance information. To convert this distance information into 3D point cloud data, it is processed based on parameters such as the laser beam's emission angle and direction. By establishing a 3D coordinate system, each distance information is mapped to a coordinate point in 3D space. As the robot dog continues to move, new coordinate points are continuously generated, gradually converging into 3D point cloud data. This data presents the spatial structure of the underground parking lot in 3D form.

[0027] At the same time, the visual sensor operates synchronously, capturing the scene within the parking lot at a set frame rate, capturing visual information of various objects. During the capture process, the visual sensor automatically adjusts shooting parameters, such as exposure time and aperture size, based on changes in ambient light. If the light is dim, the exposure time is increased to make the image brighter and clearer; if the light is too strong, the aperture is narrowed to avoid overexposure. These automatic adjustments ensure that the captured scene image data accurately reflects the actual scene within the underground parking lot.

[0028] Step S112: performing spatial feature extraction processing on the three-dimensional point cloud data to generate spatial structural features representing the on-site spatial layout, wherein the spatial structural features include channel connectivity parameters, regional openness parameters, and vertical height layering information.

[0029] After acquiring the 3D point cloud data, it is necessary to extract spatial structural features that can represent the spatial layout of the scene. First, to determine the channel connectivity parameters, it is necessary to analyze the distribution of each point in the 3D point cloud data. Channels are typically characterized by relatively empty areas with a low point density. By analyzing and processing the data, these empty areas are identified and the connectivity between them is determined. For example, it is determined whether the channels are directly connected or whether they can be indirectly connected through other channels. This analysis can produce channel connectivity parameters, which reflect the ease of passage for rescue personnel and equipment within the underground parking lot.

[0030] The regional openness parameter is calculated based on the point density and spatial size within a given area. In 3D point cloud data, the number of points within a region is counted and, combined with the spatial extent of that region, the point density is calculated. If a region has a sparse distribution of points and a large spatial area, it has a high degree of openness; conversely, if the points are densely distributed and the spatial area is small, it has a low degree of openness. The regional openness parameter is important for assessing the ease of signal propagation and the coverage effectiveness of relay modules.

[0031] Vertical height stratification information is obtained by analyzing the height information of each point in the 3D point cloud data. Underground parking lots may have different floors or height zones. By classifying and analyzing this height information, the distribution of different height layers can be determined. This is important for understanding the three-dimensional structure of the rescue site and planning the placement of relay modules. For example, relay modules can be rationally distributed at different height layers to ensure comprehensive communication coverage.

[0032] Step S113: performing obstacle recognition processing on the scene image data to generate obstacle distribution features representing the obstacle distribution state, wherein the obstacle distribution features include obstacle type classification results, obstacle position coordinate sets, and obstacle occlusion range parameters.

[0033] Obstacle recognition is performed on scene image data collected by the visual sensor to determine the distribution of obstacles. First, advanced image processing and recognition algorithms are used to classify objects in the image. Based on features such as color, texture, and shape, objects are identified as different types of obstacles, such as vehicles, collapsed shelves, and piled up debris. This results in an obstacle classification result.

[0034] To determine the location of obstacles, the robot dog's positioning information is combined with the positions of objects in the image for analysis. By performing coordinate conversion and matching on the image, the object positions in the image are mapped to the actual underground parking lot space. The specific coordinates of each obstacle are determined, forming a set of obstacle position coordinates. This set of obstacle position coordinates accurately records the location of each obstacle in the parking lot.

[0035] Furthermore, the obstacle's obstruction range parameter must be calculated. By analyzing the obstacle's projection in the image and its relationship to the surrounding environment, combined with the spatial information in the 3D point cloud data, and using geometric calculations and spatial analysis methods, the extent to which the obstacle blocks signal propagation and personnel passage can be determined. This parameter reflects the extent of the obstacle's impact on rescue operations and communication signals, helping to avoid obstruction areas when planning relay module deployment.

[0036] Step S114: Signal attenuation data at different locations is collected by a signal detection device carried by a mobile vehicle. The signal attenuation data includes wireless signal strength value, energy loss after the signal penetrates obstacles, and the number of reflections along the signal propagation path.

[0037] As the robot dog moves through the underground parking lot, its onboard signal detection equipment continuously detects wireless signals at different locations. First, it measures the strength of the wireless signal to obtain a wireless signal strength value. This value reflects the strength of the received signal at the current location and is an important indicator for evaluating signal coverage.

[0038] At the same time, the signal detection equipment analyzes the energy changes before and after the signal penetrates the obstacle. By comparing the initial energy of the signal before penetrating the obstacle with the remaining energy after penetration, the signal energy loss after penetration is calculated. Factors such as the material, thickness, and shape of the obstacle affect the signal energy loss. The greater the energy loss, the more severe the signal obstruction.

[0039] In addition, signal detection equipment also records the number of reflections during signal propagation. In the complex environment of an underground parking lot, signals can encounter obstacles such as walls and pillars and reflect. Increased reflections complicate the signal propagation path, potentially causing interference and attenuation. Recording the number of reflections along the signal propagation path helps analyze signal propagation characteristics and optimize the layout of relay modules.

[0040] Step S115: generating a signal attenuation feature representing a signal propagation characteristic based on the signal attenuation data, wherein the signal attenuation feature includes a signal effective coverage radius descriptor, a signal multipath interference degree parameter, and a signal fading mode classification result.

[0041] Based on the collected signal attenuation data, a signal attenuation signature representing the signal propagation characteristics is generated. The determination of the signal's effective coverage radius descriptor requires comprehensive consideration of factors such as wireless signal strength and the amount of energy lost after the signal penetrates obstacles. By analyzing and comparing signal strength at different locations, the maximum range within which signal strength meets communication requirements—the effective coverage radius—is determined.

[0042] The signal multipath interference degree parameter is derived by analyzing the number of signal reflections along the propagation path and the interference experienced by the signal along these different reflection paths. Multipath interference occurs when a signal travels through multiple paths to the receiving end. Due to the different propagation times and phases of these paths, the signals can interfere with each other. The signal multipath interference degree parameter is derived by analyzing and calculating factors such as the number of signal reflections, the length of the reflection paths, and the phase. This parameter reflects the degree to which the signal is affected by multipath effects during propagation.

[0043] Signal fading pattern classification results are based on the characteristics and patterns of signal attenuation. During signal propagation, signals are affected by various factors, causing variations in signal strength and fading. Signal fading patterns are categorized into different types, such as fast fading and slow fading, based on characteristics such as the speed and amplitude of signal fading. This classification of signal fading patterns helps us understand the propagation characteristics of signals in different environments.

[0044] Step S120: generating a delivery planning scheme for the relay module based on the environmental information set, wherein the delivery planning scheme includes a delivery position set, a delivery sequence rule, and a delivery density parameter.

[0045] Step S121: extracting channel connectivity parameters and regional openness parameters from the spatial structure features to determine the key passage paths and key coverage areas at the fire scene.

[0046] After acquiring a set of environmental information, including spatial structure characteristics, obstacle distribution characteristics, and signal attenuation characteristics, the relay module deployment plan was generated. First, channel connectivity parameters and regional openness parameters were extracted from the spatial structure characteristics. The channel connectivity parameter reflects the connectivity and accessibility between channels within the underground parking lot, while the regional openness parameter reflects the spatial openness of different areas.

[0047] Based on channel connectivity parameters, the main pathways for rescue personnel and equipment to enter and exit the fire scene are identified. These pathways constitute critical access paths. Critical access paths are important routes for rescue operations, and good communication coverage must be ensured along these paths so that rescue personnel can communicate and coordinate their actions in a timely manner.

[0048] At the same time, key coverage areas are determined based on regional openness parameters and actual rescue needs. These typically include rescue sites, areas where trapped people may be, and areas where important equipment is located. These areas require a focus on ensuring stable and reliable communication signals to support the smooth progress of rescue operations.

[0049] Step S122: combining the obstacle position coordinate set and the occlusion range parameters in the obstacle distribution characteristics, screening candidate placement locations on the key pass path.

[0050] After determining the critical path, the obstacle coordinates and occlusion parameters from the obstacle distribution feature are combined to screen locations along the critical path to identify candidate placement locations. First, the specific locations of obstacles along the critical path are determined based on the obstacle coordinates. During the screening process, locations where obstacles are present are avoided to ensure that candidate placement locations are not directly blocked by obstacles.

[0051] Also, consider the obstruction range parameter of obstacles. Obstacles may block signal propagation, and even if the relay module is not directly above the obstacle, it may still be affected by its obstruction range. Therefore, when screening candidate placement locations, ensure that the candidate location is not within the effective obstruction range of obstacles to ensure that the relay module can transmit and receive signals normally.

[0052] Through the above screening process, a series of suitable candidate placement locations are selected on the critical access path. These locations meet the requirements of communication signal propagation and will not be interfered by obstacles.

[0053] Step S123: Analyze the signal effective coverage radius descriptor and the multipath interference degree parameter in the signal attenuation characteristics, and calculate the maximum allowable spacing distance between adjacent candidate placement positions.

[0054] The signal attenuation signature, along with the multipath interference level parameter, is analyzed to calculate the maximum allowable separation distance between adjacent candidate deployment locations. The signal effective coverage radius descriptor reflects the effective coverage range of the relay module under the current environment. This effective coverage radius is factored into the maximum allowable separation distance calculation to ensure that signals between adjacent relay modules can overlap and form a continuous communication link.

[0055] The multipath interference parameter reflects the degree to which multipath effects affect signal propagation. Multipath interference can cause signal fading and distortion, affecting communication quality. When calculating the maximum allowable separation distance, consider the impact of multipath interference and appropriately reduce the separation distance to minimize its impact on communications.

[0056] By comprehensively considering the signal coverage radius descriptor and multipath interference parameters, and using complex calculation and analysis methods, the maximum allowable separation distance between adjacent candidate deployment locations is calculated. This distance must ensure effective signal coverage between relay modules while also considering the impact of factors such as multipath interference on communication quality, thereby ensuring the stability and reliability of the entire communication network.

[0057] Step S124: performing spacing adjustment processing on the candidate placement positions based on the maximum allowable spacing distance to generate a placement position set that meets the coverage continuity requirement.

[0058] After obtaining the maximum allowable spacing between adjacent candidate placement locations, the candidate placement locations are adjusted to generate a set of placement locations that meet the coverage continuity requirement. First, the candidate placement locations are sorted and arranged in the order of their location on the critical path.

[0059] Next, the spacing between adjacent candidate placements is checked against the maximum allowable spacing. If the spacing between two adjacent candidate placements exceeds the maximum allowable spacing, a new placement is inserted between them to ensure continuous signal coverage. These new placements should be chosen as close to the maximum allowable spacing as possible, taking into account surrounding environmental factors such as obstacle distribution and signal propagation conditions.

[0060] If the distance between two adjacent candidate placement locations is less than the maximum allowable spacing distance and the distance does not affect the effective coverage and communication quality of the signal, the two locations can be retained.

[0061] Through the above-mentioned spacing adjustment process, the candidate placement locations are optimized and screened, and finally a placement location set that meets the coverage continuity requirements is generated. The placement locations in this placement location set can ensure continuous signal coverage between relay modules and adapt to the complex environment of underground parking lots.

[0062] Step S125: Generate a delivery sequence rule that gradually advances from the entrance area to the depth area based on the priority of the key coverage area and the pass order of the key pass path.

[0063] After determining the set of deployment locations, a deployment sequence rule needs to be established to ensure that relay modules can be deployed in a reasonable order. Based on the priority of key coverage areas and the access sequence of key access paths, a deployment sequence rule should be established that gradually advances from the entry area to the depth area.

[0064] First, prioritize key coverage areas. Rank and prioritize key coverage areas based on the actual needs and importance of the rescue effort. For example, areas near the rescue site and where trapped people may be are prioritized for communication coverage.

[0065] Then, based on the order of critical traffic paths, the relay module deployment sequence was determined, starting from the entrance area of ​​the underground parking lot and proceeding in a sequential manner from the entrance to the depths. Relay modules were deployed first in the entrance area to establish a communication connection with the outside world. As the rescue operation progressed, relay modules were gradually deployed in the depths to expand communication coverage and ensure stable and reliable communication signals throughout the rescue operation.

[0066] The above-mentioned deployment sequence rules can ensure that the deployment of relay modules is carried out in an orderly manner, give priority to covering important areas, and improve the efficiency of rescue work and communication guarantee capabilities.

[0067] Step S126: In combination with the regional openness parameter and the signal fading pattern classification result, a first density placement density parameter is set in the open area, and a second density placement density parameter is set in the closed area or semi-closed area, wherein the first density is smaller than the second density.

[0068] The deployment density parameters for different regions are set based on the regional openness parameter and the signal fading pattern classification results. The regional openness parameter reflects the spatial openness of different regions. Open regions have wide spaces and relatively good signal propagation conditions. Closed or semi-closed regions have narrow spaces and are easily blocked and interfered with by obstacles.

[0069] The signal fading pattern classification results reflect the characteristics and patterns of signal fading in different areas. Different signal fading patterns have different impacts on communication signals, and the deployment density of relay modules needs to be adjusted accordingly.

[0070] In open areas, where signal propagation conditions are good and signal fading is relatively mild, a lower first density can be set. Fewer relay modules can meet the communication coverage requirements of this area, saving resources while avoiding signal interference and resource waste caused by over-deployment.

[0071] In enclosed or semi-enclosed areas, signal propagation is easily blocked by obstacles and multipath interference, resulting in severe signal fading. To ensure coverage quality in these areas, a higher secondary density parameter should be set. Increasing the number of relay modules increases signal strength and stability, ensuring good communication in these areas.

[0072] Through the above-mentioned deployment density setting, the number of relay modules deployed can be reasonably arranged according to the characteristics and needs of different regions, thereby improving the overall performance and resource utilization efficiency of the communication network.

[0073] Step S130: controlling the mobile vehicle to perform a dynamic deployment operation of the relay module according to the deployment planning scheme, wherein the dynamic deployment operation includes a deployment position adjustment step based on real-time environmental feedback and a relay module deployment step based on target coverage requirements.

[0074] Step S131: Control the mobile vehicle to move toward the target delivery position according to the delivery sequence rule, and collect environmental feedback information of the current position in real time during the movement. The environmental feedback information includes obstacle dynamic change data and real-time signal strength data.

[0075] The robot dog is controlled to move toward the target placement location according to the placement sequence. During movement, it continuously collects environmental feedback about its current location. Onboard sensors monitor the dynamic changes of obstacles in real time, capturing data on these changes. In underground parking lots, fires can cause objects to collapse and move, potentially changing the position and state of obstacles. Keeping track of these dynamic changes helps adjust the relay module's placement to avoid being blocked by newly appearing obstacles.

[0076] At the same time, the signal detection device monitors the wireless signal strength at the current location in real time, generating real-time signal strength data. This data reflects the signal coverage at the current location and is crucial for evaluating the rationality of deployment locations and adjusting deployment strategies. If the real-time signal strength is too low, it indicates poor signal propagation conditions at that location, and the deployment location may need to be adjusted or the relay module density may need to be increased.

[0077] Step S132: When it is detected that the current target delivery position is blocked by a newly added obstacle, a suboptimal delivery position is selected from adjacent candidate delivery positions based on the maximum allowable interval distance as the adjusted delivery position.

[0078] As the robot dog moves toward its target placement, real-time monitoring of dynamic obstacle changes plays a key role. Once the target placement location is detected to be blocked by a new obstacle, immediate adjustments are required. Adjacent candidate placement locations are screened based on the previously calculated maximum allowable separation distance.

[0079] For each adjacent candidate deployment location, multiple factors must be comprehensively evaluated. First, signal propagation conditions must be considered. The spatial structure and obstacle distribution surrounding the location must be considered to determine whether the signal can effectively propagate there without excessive obstruction and interference. Second, connectivity with other deployment locations must be considered. Ensure that the location can establish a good communication link with other deployed or planned relay modules, forming a coherent communication network.

[0080] During the evaluation process, various factors of each adjacent candidate placement are quantitatively analyzed. For example, signal propagation conditions can be analyzed by simulating the signal propagation path at that location to calculate signal attenuation and multipath interference. Connectivity with other placements can be analyzed by calculating indicators such as signal strength and communication delay between that location and other placements.

[0081] Based on a comprehensive evaluation of various indicators, the most suitable suboptimal placement location is selected as the adjusted placement location. This suboptimal placement location must meet the maximum allowable separation distance requirements and have good signal propagation conditions and connectivity to ensure the normal operation of the relay module.

[0082] Step S133: When it is detected that the real-time signal strength of the current target placement position is lower than the preset reference value, a supplementary placement position is inserted into the placement position set in combination with the placement density parameter. The distance between the supplementary placement position and the original target placement position is less than the maximum allowable spacing distance, and the number of supplementary placements meets the preset placement density requirements of the corresponding area.

[0083] Real-time signal strength data is an important basis for determining the suitability of a target placement location. If the real-time signal strength at the current target placement location falls below a preset baseline, it indicates that the signal coverage at the current location is suboptimal and cannot meet emergency rescue communication requirements. To ensure communication quality, additional placement locations may be added to the placement set based on the placement density parameter.

[0084] When selecting a supplementary placement location, you first need to ensure that the distance between it and the original target placement location is less than the maximum allowable spacing distance. This is to ensure that the supplementary relay module can cooperate with the relay module at the original target location to form an effective signal coverage area and avoid signal blind spots.

[0085] When selecting potential additional deployment locations from the deployment location set, multiple factors must be considered. First, the spatial structure and obstacle distribution of the location must be considered. Select a location with good signal propagation conditions to minimize obstruction and interference from obstacles. Second, connectivity with other surrounding deployment locations must be considered to ensure that the additional relay modules can seamlessly connect to the existing communication network. Furthermore, the number of additional deployments must meet the aforementioned deployment density requirements for the corresponding area.

[0086] A detailed evaluation is conducted on the selected potential supplementary deployment locations. Signal propagation at each location can be simulated to predict its impact on the overall communication network. Furthermore, a comprehensive score is assigned to each potential supplementary deployment location, combining real-time signal strength data and dynamic obstacle data. The location with the highest score is selected as the final supplementary deployment location and inserted into the set of deployment locations to optimize the coverage and signal quality of the emergency rescue communication system.

[0087] Step S134: After arriving at the adjusted delivery position or the original target delivery position, the delivery device carried by the mobile vehicle is started to perform the module placement operation, which includes the steps of placing the relay module on the ground, inserting the relay module into the wall gap, and hanging the relay module on the bracket structure.

[0088] When the robot dog reaches the adjusted placement location or the original target placement location, it immediately activates the onboard placement device to perform the module deployment operation. When choosing the specific deployment method, it needs to be determined according to the actual environmental conditions on site.

[0089] If the ground is flat, solid, and free of obstructions, it's suitable for placing the relay module on the ground. During placement, ensure the relay module is stable and prevents it from tipping over or moving due to ground vibration or other factors. You can use some fixing measures, such as using suction cups or adhesive materials, to secure the relay module to the ground to ensure its stability.

[0090] If there is a wall gap near the deployment location, and the gap is of suitable size and depth for the relay module, you can snap the relay module into the gap. Be careful when inserting it to avoid damaging the relay module. Also, ensure that the relay module fits snugly into the gap to ensure stable signal transmission. You can fill the gap between the relay module and the wall with soft material, such as sponge or rubber pads, to reduce signal reflection and interference.

[0091] If the deployment location has a suitable support structure, such as a metal or wooden support, the relay module can also be mounted on it. When mounting, use appropriate mounting tools and connectors to ensure the relay module is securely attached to the support and prevents it from falling. Also, adjust the relay module's angle and height to optimize signal propagation direction and coverage.

[0092] When deploying modules, strictly follow the operating specifications to ensure the quality and stability of the relay module installation. Also, record the deployment method and specific location of each relay module for subsequent maintenance and management.

[0093] Step S135: After completing a single deployment operation, the actual deployment time and relay module identification information of the deployment location are recorded to generate deployment record data including the location coordinates, deployment time and module identification.

[0094] Each time a relay module is deployed, detailed records must be kept. First, record the actual deployment time at the specific location, accurate to the exact moment. The actual deployment time reflects the order in which the relay modules were put into use.

[0095] At the same time, the relay module's identification information is recorded. Each relay module has a unique identification that can be used to distinguish different relay modules, facilitating their management and monitoring. By recording the relay module's identification information, you can accurately understand the status and working status of each relay module.

[0096] The coordinates of the placement location are determined by combining the location information provided by the robot dog's positioning module. The location coordinates accurately record the specific location of the relay module in the underground parking lot.

[0097] The location coordinates, deployment time, and module identification information are integrated to generate deployment record data. This data can be stored in the robot's storage device or transmitted in real time to the ground command center. Based on this deployment record data, the ground command center can comprehensively manage and monitor the entire emergency rescue communication network, promptly identify and resolve potential problems, and ensure stable operation of the communication network.

[0098] Step S140: performing self-organizing networking processing on the deployed relay modules to generate a self-organizing network topology structure. The self-organizing networking processing includes the steps of establishing communication links between modules, generating a self-organizing network topology structure, and determining a multi-hop communication path.

[0099] Step S141: activating the communication units of the deployed relay modules, and each relay module sends a networking request signal including its own identification and location coordinates to other relay modules within a preset range.

[0100] After all relay modules are deployed, each relay module's communication unit is activated. The communication unit is the core component that enables the relay module's communication function, capable of both signal transmission and reception. Each relay module, following a pre-set procedure, sends a network request signal to other relay modules within a specified range.

[0101] The network request signal contains important information about the relay module, including its unique identifier and location coordinates, which accurately indicate its location within the underground parking garage. By sending the network request signal, the relay module indicates its presence to surrounding modules and provides necessary information.

[0102] Setting the preset range requires comprehensive consideration of multiple factors. For one thing, the relay module's signal transmission power and propagation characteristics must be considered to ensure effective signal transmission within the preset range. Furthermore, the underground parking lot's spatial structure and obstacle distribution must be considered to prevent excessive obstruction of the signal, preventing it from reaching other relay modules. In practice, the preset range can be adjusted and optimized based on pre-collected environmental information.

[0103] Step S142: After receiving the networking request signal sent by other relay modules, calculate the signal transmission quality parameters between the current module and the sending module. The signal transmission quality parameters include signal strength value, transmission delay time and bit error rate index.

[0104] When a relay module receives a networking request signal from another relay module, it can immediately assess the signal transmission quality between itself and the sending module. First, it measures the signal strength. This value reflects the strength of the signal received from the sending module at the current location and is an important indicator for evaluating signal coverage and communication quality. By measuring the signal strength, we can determine the distance between the sending module and this module, as well as the attenuation during signal propagation.

[0105] At the same time, the time it takes for the signal to travel from the sending module to this module is recorded to obtain the transmission delay. Transmission delay is an important indicator of signal transmission efficiency and is affected by factors such as signal propagation distance, obstacles in the signal propagation path, and the processing capabilities of the relay module. In emergency rescue communications, excessive transmission delay can result in delayed information delivery, affecting the efficiency of rescue operations.

[0106] In addition, the error rate (BER) is calculated by counting the percentage of errors that occur during signal transmission. The BER reflects the reliability of signal transmission and is affected by factors such as signal interference, noise, and signal encoding methods. In complex underground parking environments, signals are susceptible to various interferences, leading to increased BER. By calculating the BER, the stability of signal transmission can be assessed.

[0107] To ensure the accuracy of signal transmission quality parameters, multiple measurements and statistics are required. The data from each measurement is recorded and analyzed, outliers are removed, and the average is taken as the final signal transmission quality parameter. These signal transmission quality parameters are used to subsequently screen neighboring nodes and establish communication links.

[0108] Step S143: Based on the signal transmission quality parameter, relay modules with transmission quality better than a preset threshold are selected as neighbor nodes, a two-way communication link is established with each neighbor node, and link connection information including a neighbor node list is generated.

[0109] Based on the calculated signal transmission quality parameters, all relay modules that receive networking request signals are screened. The preset threshold is set based on the actual needs of emergency rescue communications and the performance requirements of the communication network. It serves as a standard for determining whether the communication quality between relay modules meets the requirements.

[0110] For each relay module that receives a networking request signal, its signal transmission quality parameters are compared with preset thresholds. If the signal strength value is higher than the preset signal strength threshold, the transmission delay time is lower than the preset delay time threshold, and the bit error rate indicator is lower than the preset bit error rate threshold, the relay module's transmission quality is considered to be better than the preset threshold and is selected as a neighbor node of this module.

[0111] After identifying neighboring nodes, the relay module establishes a bidirectional communication link with each neighbor. A bidirectional communication link allows signals to be transmitted between the two relay modules, enabling two-way data exchange. During this process, the relay module performs a series of handshakes and negotiation operations with the neighboring nodes to ensure consistent communication protocols and stable data transmission.

[0112] After establishing a bidirectional communication link, the relay module generates link connection information, which includes a list of neighbor nodes. This information records the neighbor nodes with which the module has established communication links, as well as relevant information about each neighbor node, such as its identifier and location coordinates. Link connection information is an important foundation for building the topology of an ad hoc network, reflecting the connection relationships between relay modules.

[0113] Step S144: collecting link connection information of all relay modules and constructing a graph data structure representing the connection relationship between modules, wherein the nodes of the graph data structure are relay modules and the edges are communication links.

[0114] Collect the link connection information generated by all relay modules. This information contains the connection relationship between each relay module and its neighboring nodes. This information is integrated and processed to construct a graph data structure to represent the connection relationship between modules.

[0115] In a graph data structure, each relay module is abstracted as a node, which represents the relay module's location and identity in the network. Communication links between relay modules are represented as edges. An edge connects two nodes, indicating a communication connection between the two relay modules.

[0116] In the process of constructing a graph data structure, link connection information must be accurately mapped and associated. This ensures that each node and edge accurately reflects the actual connection relationship between relay modules. Furthermore, to facilitate subsequent topology analysis and path search, the graph data structure must be stored and managed. This graph data structure can be stored in a database or other suitable data storage methods to facilitate rapid query and update. This graph data structure intuitively displays the connection relationship between relay modules.

[0117] Step S145: Perform topological analysis on the graph data structure to generate a self-organizing network topology structure including a central node, leaf nodes, and connection nodes. The central node is a relay module connected to multiple neighbor nodes, and the leaf node is a relay module connected to only one neighbor node.

[0118] After the graph data structure is constructed, it is subjected to topological analysis to generate the self-organizing network topology. The topological analysis mainly classifies and identifies nodes based on the connection relationship between relay modules.

[0119] First, identify the central node. A central node is a relay module that connects multiple neighboring nodes and plays a critical role in connecting and forwarding data in an ad hoc network. By analyzing the connectivity of each node in the graph data structure (i.e., the number of edges connected to the node), nodes with high connectivity are identified and designated as central nodes. Central nodes are typically located at the core of the network, connecting relay modules in different regions to achieve efficient data transmission and sharing.

[0120] Next, leaf nodes are identified. Leaf nodes are relay modules connected to only one neighboring node and are typically located at the edge of the network. Leaf nodes are identified by finding nodes with a connectivity degree of one in the graph data structure. Leaf nodes are primarily used to extend network coverage and transmit signals to the network's edge areas.

[0121] In addition to the central node and leaf nodes, the remaining nodes are connection nodes. Connection nodes play the role of connecting different parts in the network, connecting the central node and leaf nodes together to form a complete self-organizing network topology.

[0122] By topologically analyzing and processing the graph-like data structure, the generated self-organizing network topology clearly displays the hierarchical relationships and connections between relay modules. This self-organizing network topology helps optimize the layout and management of communication networks, improving their reliability and stability.

[0123] Step S146 : performing a multi-hop communication path search operation based on the self-organizing network topology structure, wherein the multi-hop communication path search operation includes a shortest path search step from the source module to the target module and a redundant path search step from the source module to the target module.

[0124] After generating the self-organizing network topology, a multi-hop communication path search operation is required to ensure the reliability and efficiency of emergency rescue communications. The multi-hop communication path search operation mainly includes two aspects: finding the shortest path from the source module to the target module and finding redundant paths.

[0125] To find the shortest path, we need to find a path from the source module to the target module that traverses the fewest nodes and links within the self-organizing network topology. Classic graph search algorithms, such as Dijkstra's algorithm or the A* algorithm, can be used. These algorithms traverse and evaluate graph data structures to calculate the shortest path from the source module to the target module.

[0126] When calculating the shortest path, multiple factors need to be considered. For example, parameters such as signal transmission quality between nodes, such as signal strength, transmission delay, and bit error rate, can be used as weights for path selection, prioritizing paths with better signal transmission quality. Path length and complexity are also considered, with paths that pass through fewer nodes and links being chosen to minimize interference and delays during signal transmission.

[0127] In addition to the shortest path, redundant paths from the source module to the destination module must be found. Redundant paths are designed to improve the reliability of the communication network. When the shortest path fails or is disrupted, the redundant path can serve as a backup path for continued communication. Redundant paths can be found by re-searching a different path based on the shortest path by modifying certain nodes or links.

[0128] When searching for redundant paths, the signal transmission quality and path reliability must also be considered. Constraints can be set, such as ensuring that the similarity between the redundant path and the shortest path cannot be too high, to ensure that the redundant path can truly function if the shortest path fails.

[0129] The shortest path and redundant paths are recorded to form a multi-hop communication path set, which provides multiple options for subsequent communication data transmission and improves the reliability and stability of the emergency rescue communication network.

[0130] Step S150: Utilize the self-organizing network topology structure to provide communication services and positioning support for the rescue terminal equipment, the communication service includes a voice data transmission step, an image data transmission step, and a sensor data transmission step, and the positioning support includes a terminal equipment position coordinate calculation step and a position information update step.

[0131] Step S151: After the rescue terminal device is started, it is controlled to scan the signals of the surrounding relay modules and select the relay module with the highest signal strength as the access node.

[0132] Once the rescue terminal device is powered on, it immediately begins scanning for signals from surrounding relay modules. The rescue terminal is equipped with a signal detection module that can detect the signal strength of surrounding relay modules in real time. By comparing the signal strengths of different relay modules, the relay module with the highest signal strength is selected as the access node.

[0133] Selecting a relay module with the highest signal strength as an access node is crucial. High signal strength ensures good communication quality between the rescue terminal and the relay module, ensuring stable data transmission. In complex underground parking environments, signals are easily obstructed and interfered with by obstacles. Selecting an access node with the highest signal strength minimizes signal attenuation and interference, improving communication reliability.

[0134] During the scanning process, the rescue terminal device comprehensively detects relay modules within a set range. This range is determined based on the relay module's signal transmission power and propagation characteristics to ensure that as many relay module signals as possible are detected. To improve scanning accuracy and efficiency, optimization algorithms, such as adaptive scanning algorithms, can be employed to dynamically adjust the scanning range and frequency based on changes in signal strength.

[0135] Once the access node is determined, the rescue terminal device will establish a communication connection with the access node to prepare for subsequent data transmission and positioning support.

[0136] Step S152: Encapsulate the voice data, image data and sensor data to be transmitted into data packets, enter the self-organizing network topology through the access node, and control the access node to forward the data packets through the intermediate nodes in the self-organizing network topology according to the multi-hop communication path. After finally reaching the root node module connected to the command center, control the root node module to transmit the received data packets to the ground command center via wired or wireless means, and complete the uplink data transmission from the rescue terminal device to the command center.

[0137] The rescue terminal device encapsulates and processes the voice data, image data, and sensor data to be transmitted into a data packet. Voice data may include conversations between rescuers, image data may be real-time images of the rescue scene, and sensor data may come from various sensors, such as temperature sensors and smoke sensors, to monitor environmental parameters on site.

[0138] The process of encapsulating data packets must adhere to established communication protocols and data formats. Different types of data are combined and encoded according to the protocol's prescribed format to ensure proper transmission and parsing within the ad hoc network. Essential information, such as the destination address, source address, and packet sequence number, is also added to the data packet to facilitate proper routing and processing during transmission.

[0139] The encapsulated data packet enters the self-organizing network topology through the access node selected by the rescue terminal device. After receiving the data packet, the access node can start forwarding the data packet based on the destination address information carried in the data packet and the previously determined multi-hop communication path.

[0140] In an ad hoc network topology, data packets are forwarded sequentially through intermediate nodes along a multi-hop communication path. Upon receiving a data packet, each intermediate node can inspect and process it. First, it verifies the packet's integrity to ensure it has not been damaged or lost during transmission. Then, based on the packet's destination address, it searches its own routing table to determine the next hop. The routing table is a table maintained by each relay module based on the ad hoc network topology and multi-hop communication path information. It records the optimal route from this node to other nodes.

[0141] After determining the next-hop node, the intermediate node can forward the data packet to it. During the forwarding process, multiple factors must be considered to ensure reliable data packet transmission. For example, based on inter-node signal transmission quality parameters such as signal strength, transmission delay, and bit error rate, the link with good signal transmission quality should be selected for forwarding. Link load should also be considered to avoid selecting overly busy links to reduce data packet transmission delay.

[0142] After being relayed through multiple intermediate nodes, the data packet eventually reaches the root node module connected to the command center. After receiving the data packet, the root node module can perform final verification and processing. This verifies the integrity of the data packet and the correctness of the destination address to ensure that the data packet is destined for the command center. The root node module then transmits the received data packet to the ground command center via wired or wireless means. If wired transmission is used, it is necessary to ensure the stability of the line connection and the accuracy of data transmission. If wireless transmission is used, the appropriate wireless communication protocol and frequency band must be selected to ensure reliable signal transmission. This process completes the uplink data transmission from the rescue terminal device to the command center, enabling the command center to promptly obtain voice, image, and sensor information from the rescue site.

[0143] Step S153: Control the command center to reversely inject the generated control instruction data packet into the self-organizing network topology through the root node module, and transmit it to the target rescue terminal device according to the multi-hop communication path to complete the downlink data transmission from the command center to the rescue terminal device.

[0144] After receiving the information uploaded by the rescue terminal devices, the command center can analyze and make decisions based on this information, generating appropriate control instructions. These control instructions may include instructions for rescue personnel's actions and operating commands for equipment. These control instructions are then encapsulated into data packets. During the encapsulation process, the established communication protocol and data format must be followed, and necessary information such as the destination address, source address, and packet sequence number must be added.

[0145] The generated control command data packet is injected back into the self-organizing network topology through the root node module. After receiving the control command data packet, the root node module searches for the corresponding multi-hop communication path based on the destination address information contained in the data packet. It then forwards the data packet to the next-hop node along the multi-hop communication path.

[0146] In an ad hoc network topology, data packets are forwarded sequentially through intermediate nodes along a multi-hop communication path. Upon receiving a data packet, each intermediate node performs similar processing operations as for uplink data transmission. It verifies the packet's integrity, searches the routing table based on the destination address to determine the next hop, and then forwards the packet. During the forwarding process, factors such as signal quality and link load must also be considered to ensure reliable and efficient data transmission.

[0147] After being forwarded through multiple intermediate nodes, the data packet finally reaches the target rescue terminal device. Upon receiving the data packet, the target rescue terminal device parses it and extracts the control command information contained therein. It then performs corresponding operations based on the control command information, such as adjusting the rescue action plan or operating the rescue equipment. This process completes downlink data transmission from the command center to the rescue terminal device, enabling the command center to conduct real-time command and control of the rescue scene.

[0148] Step S154: After accessing the self-organizing network topology structure, the rescue terminal device is controlled to send a positioning request signal to at least three adjacent relay modules, where the positioning request signal includes a terminal device identifier and a request timestamp.

[0149] After successfully connecting to the self-organizing network topology, the rescue terminal device can send a positioning request signal to at least three adjacent relay modules to determine its own position. This is because when performing triangulation positioning, at least three reference points with known positions are required to accurately calculate the target's position.

[0150] The positioning request signal contains a terminal device identifier and a request timestamp. The terminal device identifier uniquely identifies the rescue terminal device, allowing the relay module that receives the positioning request signal to accurately identify the source of the request. The request timestamp records the time the positioning request signal was sent.

[0151] When sending a positioning request signal, the rescue terminal device can select adjacent relay modules with good signal strength and stable communication quality as its target. To ensure accurate positioning, it is recommended to select adjacent relay modules located in different directions. Before sending the signal, the rescue terminal device will check and adjust its communication module to ensure that the signal transmission power and frequency meet the requirements, ensuring that the positioning request signal can be reliably transmitted to the adjacent relay module.

[0152] Step S155: Control the relay module that receives the positioning request signal to record the receiving timestamp, calculate the signal transmission time difference between the terminal device and the relay module, and calculate the distance parameters between the terminal device and each relay module based on the transmission time difference and the signal propagation speed.

[0153] Upon receiving a positioning request signal from a rescue terminal, an adjacent relay module can immediately record the reception timestamp. This timestamp records the time the positioning request signal reached the relay module. By comparing the reception timestamp with the request timestamp carried in the positioning request signal, the time it took for the signal to travel from the rescue terminal to the relay module is calculated, i.e., the signal transmission time difference.

[0154] When calculating the signal transmission time difference, it's important to consider the clock synchronization between the relay module and the rescue terminal device. Since clocks on different devices may vary, this can affect the accuracy of the signal transmission time difference calculation. Therefore, in an ad hoc network topology, clock synchronization algorithms can be used to ensure that the clocks of each device remain consistent.

[0155] After determining the signal transmission time difference, the distance parameters between the rescue terminal device and each relay module can be calculated based on the signal propagation speed in air. Signal propagation speed is a known physical constant and is relatively stable under certain environmental conditions. By multiplying the signal transmission time difference by the signal propagation speed, the distance the signal traveled during this period can be calculated, which is the distance between the rescue terminal device and the relay module.

[0156] Each adjacent relay module will independently complete the above calculation process to obtain the distance parameters between each of them and the rescue terminal equipment. The distance parameters are an important basis for subsequent triangulation positioning calculations.

[0157] Step S156: Calculate the initial position coordinates of the terminal device by triangulating the distance parameters and the position coordinates of each relay module.

[0158] After obtaining the distance parameters between the rescue terminal device and at least three adjacent relay modules and the position coordinates of each relay module, the initial position coordinates of the terminal device can be calculated by triangulation positioning.

[0159] The basic principle of triangulation positioning is based on geometric relationships. Given the position coordinates of three reference points (i.e., adjacent relay modules) and the distances from the target point (i.e., the rescue terminal device) to these three reference points, the position of the target point is determined by solving geometric equations.

[0160] First, the location coordinates of three adjacent relay modules are obtained. These coordinates were determined and recorded during the relay module deployment and networking process. Then, the location coordinates of each relay module and its corresponding distance to the rescue terminal are substituted into the positioning calculation logic.

[0161] The solution requires a mathematical model to describe the relationship between these parameters. Based on the principles of spatial geometry, three circles can be drawn with the location of each relay module as the center and the corresponding distance parameter as the radius. The location of the rescue terminal device is the intersection of these three circles. By solving the equations for the intersection of these three circles, the location coordinates of the rescue terminal device can be obtained.

[0162] However, in actual calculations, due to factors such as measurement errors and signal propagation uncertainties, the three circles may not intersect at a precise point, but instead form a small area. In such cases, an optimization algorithm is needed to determine the most likely location as the initial position coordinates for the rescue terminal device. For example, methods such as the least squares method can be used to fit and optimize multiple possible intersection points to obtain the location coordinates that best match the actual situation.

[0163] Furthermore, the solution can be simplified by incorporating height restrictions at the fire scene. In scenarios like underground parking lots, the height of rescue terminal equipment is typically within a set range. This height restriction can be used to simplify the three-dimensional positioning problem into a two-dimensional one, prioritizing the position coordinates of the rescue terminal equipment on that plane. This reduces computational complexity and improves efficiency.

[0164] Step S157: During the movement of the terminal device, a positioning request signal is continuously sent to the adjacent relay module, and the distance parameter calculation and position coordinate calculation steps are repeated to generate a position coordinate sequence including a timestamp as a position information update result.

[0165] As the rescue terminal moves, continuous positioning is required to track its position changes in real time. The rescue terminal sends positioning request signals to adjacent relay modules at set intervals. The interval should be determined based on the rescue terminal's movement speed and positioning accuracy requirements. For faster movement, the interval can be shorter to ensure timely capture of position changes; for slower movement, the interval can be extended to reduce communication overhead.

[0166] After each location request signal is sent, adjacent relay modules record the reception timestamp according to the previous process, calculate the signal transmission time difference between the terminal device and each relay module, and then calculate the distance parameters between the terminal device and each relay module based on the transmission time difference and signal propagation speed. Then, using these distance parameters and the position coordinates of each relay module, the terminal device's position coordinates are calculated again through triangulation.

[0167] Each calculated location coordinate is associated with the corresponding timestamp to form a timestamp-containing location coordinate sequence. This location coordinate sequence records the location information of the rescue terminal device at different time points, serving as the location information update result. By analyzing this location coordinate sequence, the movement trajectory and speed of the rescue terminal device can be understood.

[0168] To ensure the accuracy and reliability of updated location information, real-time data monitoring and processing are required during the calculation process. If a calculated location coordinate differs significantly from a previous one, this may be due to signal interference or measurement error, and data correction or recalculation is necessary. Filtering algorithms, such as the Kalman filter, can be used to filter the location coordinate sequence, removing noise and outliers and improving the accuracy of the location information.

[0169] Step S210: The method further includes a dynamic maintenance process for the self-organizing network topology structure, wherein the dynamic maintenance process includes a module status monitoring step, a topology structure adjustment step, and a communication path optimization step.

[0170] Step S211: The module status monitoring step includes periodically sending a status query instruction to each relay module, and receiving status feedback information returned by the module including the remaining power, signal transmission quality parameters and a neighbor node list.

[0171] To ensure the stable operation of the self-organizing network topology, the status of the relay modules must be monitored in real time. Status query commands are periodically sent to each relay module, containing the query content and request identifier. After receiving the status query command, the relay module can collect and organize its own status information.

[0172] The remaining battery level is a key status indicator for the relay module, reflecting its endurance. The relay module monitors its battery level in real time through a power detection circuit and includes this information in status feedback.

[0173] Signal transmission quality parameters, such as signal strength, transmission delay, and bit error rate, reflect the communication quality between the relay module and other nodes. The relay module monitors and collects statistics on signal transmission between itself and neighboring nodes in real time, using these parameters as part of its status feedback.

[0174] The neighbor node list records the relevant information of the neighbor nodes that have established communication links with the relay module, such as node identification, location coordinates, etc. The relay module will regularly update the neighbor node list and include it in the status feedback information.

[0175] The relay module encapsulates the collected status information, such as remaining battery life, signal quality parameters, and neighbor node lists, into status feedback information and sends it back to the node that sent the status query command. By regularly receiving status feedback information from each relay module, a comprehensive understanding of the operating status of each node in the self-organizing network topology can be achieved.

[0176] Step S212: The topology structure adjustment step includes marking the relay module as a node to be replaced when it is detected that the remaining power of any relay module is lower than a preset threshold or the signal transmission quality parameter is lower than a preset threshold, and selecting a backup placement position closest to the position of the node to be replaced in the placement position set to perform a supplementary placement operation.

[0177] After receiving status feedback from the relay modules, the status of each relay module can be analyzed and determined. If the remaining battery power of any relay module is detected to be below a preset threshold, it indicates that the relay module is about to run out of power and may not be able to continue to operate normally. Alternatively, if the signal transmission quality parameters of the relay module, such as the signal strength value is below the preset signal strength threshold, the transmission delay time is above the preset delay time threshold, or the bit error rate index is above the preset bit error rate threshold, it indicates that the communication quality of the relay module is poor, which may affect the performance of the entire self-organizing network.

[0178] When this happens, the relay module is marked as a node to be replaced. Then, the backup placement location closest to the node to be replaced is searched within the previously generated placement location set. Backup placement locations are reserved during relay module deployment planning to be used as replacement locations in the event of node failure or performance degradation.

[0179] After determining the backup drop location, a mobile vehicle (such as a robot dog) is controlled to proceed to that location to perform a supplemental drop operation. The mobile vehicle follows a pre-set path to the backup drop location and uses a drop device to drop a new relay module. Once dropped, the new relay module automatically joins the self-organizing network topology, establishes communication links with surrounding nodes, and updates the self-organizing network topology. This topology adjustment process allows relay modules with poor performance or low battery to be promptly replaced, ensuring the stability and reliability of the self-organizing network.

[0180] Step S213: The communication path optimization step includes collecting status feedback information of all modules, recalculating the link weight values ​​in the self-organizing network topology structure, re-searching the multi-hop communication path based on the new link weight values, and generating an updated path set with better transmission quality. The link weight value is positively correlated with the signal transmission quality parameter and negatively correlated with the transmission delay time.

[0181] Step S2131: Construct a weighted graph data structure including all module nodes and link weight values.

[0182] After collecting status feedback from all relay modules, the link weights in the self-organizing network topology are recalculated based on this information. Link weight is a metric used to measure the quality of communication links between relay modules. It is positively correlated with signal transmission quality parameters and negatively correlated with transmission delay. In other words, links with better signal transmission quality and shorter transmission delays receive higher link weights.

[0183] Based on the recalculated link weights, a weighted graph data structure is constructed. In this weighted graph data structure, nodes are still relay modules, while edges represent communication links between relay modules. Each edge is assigned a link weight that reflects the communication quality and transmission efficiency of that link.

[0184] The process of constructing a weighted graph data structure requires traversing and processing all nodes and links in the self-organizing network topology. Link weights are calculated based on information such as signal transmission quality parameters and transmission delay time from each relay module's status feedback, assigning an appropriate link weight to each link. These nodes and weighted edges are then combined to form a complete weighted graph data structure.

[0185] Step S2132: Select the root node module as the starting point, use the shortest path first algorithm to traverse the weighted graph data structure, and calculate the shortest path from the root node to each leaf node. The shortest path is the path with the smallest sum of link weight values.

[0186] After constructing the weighted graph data structure, the root node module connected to the command center is selected as the starting point. The shortest path first algorithm is used to traverse the weighted graph data structure. The shortest path first algorithm is a classic graph search algorithm that aims to find the shortest path from the starting point to the end point. The shortest path here refers to the path with the smallest sum of link weights.

[0187] At the beginning of the algorithm, the distance value of the root node is initialized to zero, and the distance values ​​of other nodes are initialized to infinity. Then, starting from the root node, the algorithm visits its neighboring nodes in sequence and updates the distance values ​​of the neighboring nodes. For each neighboring node, if the sum of the link weights of the current node to reach the neighboring node is less than the current distance value of the neighboring node, the distance value of the neighboring node is updated, and the previous node to reach the neighboring node is recorded.

[0188] Repeat the above process until the distance values ​​of all nodes are no longer updated. At this point, the shortest path from the root node to each leaf node has been determined. These shortest paths are calculated based on link weights and represent the optimal communication path from the root node to each leaf node in the current ad hoc network topology, with good transmission quality and low transmission latency.

[0189] Step S2133: performing a redundancy check on the calculated shortest paths. If any shortest path only contains a single link, searching for a suboptimal path as a redundant path.

[0190] After calculating the shortest paths from the root node to each leaf node, these shortest paths need to be checked for redundancy. Redundant paths are set up to improve the reliability of the communication network. When the shortest path fails or is disturbed, the redundant path can serve as a backup path to continue communication.

[0191] Each shortest path is checked. If a shortest path contains only a single link—that is, a path that passes through only one link between one relay module and another—then the reliability of that path is low. If this link fails, communication will be interrupted. In this case, a suboptimal path is needed as a redundant path.

[0192] A suboptimal path can be found by re-searching a different path based on the shortest path by changing certain nodes or links. Link weights should also be considered when searching for a suboptimal path, with paths with the smallest sum of link weights being prioritized to ensure communication quality and transmission efficiency on redundant paths.

[0193] Step S2134: Merge the shortest path and the redundant path to generate an updated path set including a primary path and a backup path; assign a priority identifier to each updated path in the updated path set so that the primary path with the highest priority is used first during data transmission, and when the primary path is abnormal, switch to the backup path with the next priority, and the priority identifier is negatively correlated with the sum of the link weight values.

[0194] The calculated shortest path and the found redundant paths are combined to form an updated path set consisting of a primary path and a backup path. The primary path is the communication path that is prioritized under normal circumstances, offering high communication quality and low transmission latency. The backup path is the backup path used in the event of a failure or interference on the primary path.

[0195] Each update path in the update path set is assigned a priority identifier. The priority identifier is negatively correlated with the sum of the link weights. That is, the path with the smaller the sum of the link weights, the higher its priority. This priority setting is intended to prioritize the path with the best communication quality during data transmission.

[0196] During data transmission, the system first selects the highest-priority primary path for data transmission. This path is typically the shortest path calculated based on link weights, offering excellent signal quality and low latency. If the primary path experiences a failure, such as a link outage or severe signal interference, the system automatically detects the communication anomaly and immediately switches to the next-highest-priority backup path for data transmission. This switching process must be fast and stable to ensure communication continuity.

[0197] To implement path switching, each relay module must monitor the communication status between itself and adjacent nodes in real time. If a link failure is detected on the primary path, the relay module automatically selects a backup path based on a pre-recorded set of updated paths and forwards data to the next-hop node on the backup path. During the switchover process, data packets must be processed to ensure they are correctly transmitted on the backup path.

[0198] At the same time, path usage can be monitored and counted in real time. Information such as the usage time, data volume transmitted, and number of failures for each path can be recorded. By analyzing this information, path sets can be further optimized and updated, path priorities adjusted, and the overall performance and reliability of the communication network can be improved.

[0199] Figure 2 A schematic diagram illustrates exemplary hardware and software components of a fire scene emergency rescue communication system 100 that can implement the concepts of the present application, as provided in some embodiments of the present application. For example, a processor 120 can be used in the fire scene emergency rescue communication system 100 and perform the functions described in the present application.

[0200] The fire scene emergency rescue communication system 100 can be a general-purpose server or a special-purpose server, both of which can be used to implement the fire scene emergency rescue communication method of this application. Although only one server is shown in this application, for convenience, the functions described in this application can be implemented in a distributed manner on multiple similar platforms to balance the processing load.

[0201] For example, the emergency rescue communication system 100 applied to a fire scene may include a network port 110 connected to a network, one or more processors 120 for executing program instructions, a communication bus 130, and storage media 140 in different forms, such as a disk, ROM, or RAM, or any combination thereof. Exemplarily, the emergency rescue communication system 100 applied to a fire scene may also include program instructions stored in ROM, RAM, or other types of non-transitory storage media, or any combination thereof. The method of the present application can be implemented according to these program instructions. The emergency rescue communication system 100 applied to a fire scene also includes an I / O interface 150 between the computer and other input and output devices.

[0202] For ease of explanation, only one processor is described in the emergency rescue communication system 100 applied to a fire scene. However, it should be noted that the emergency rescue communication system 100 applied to a fire scene in the present application may also include multiple processors, so the steps performed by one processor described in the present application may also be performed jointly or individually by multiple processors. For example, if the processor of the emergency rescue communication system 100 applied to a fire scene executes step A and step B, it should be understood that step A and step B may also be performed jointly by two different processors or individually in one processor. For example, the first processor executes step A, the second processor executes step B, or the first processor and the second processor execute steps A and B together.

[0203] In addition, an embodiment of the present invention further provides a readable storage medium, in which computer-executable instructions are preset. When a processor executes the computer-executable instructions, the emergency rescue communication method applied to a fire scene as described above is implemented.

[0204] It should be noted that in order to simplify the description of the present invention and thus help understand one or more embodiments of the invention, in the foregoing description of the embodiments of the present invention, multiple features are sometimes combined into one embodiment, figure or description thereof.

Claims

1. A fire scene emergency rescue communication method, characterized in that: The method comprises: Obtaining a set of environmental information about the fire scene, the set of environmental information including spatial structure characteristics, obstacle distribution characteristics, and signal attenuation characteristics collected by sensing equipment carried by a mobile vehicle; Generate a delivery planning scheme for the relay module based on the environmental information set, wherein the delivery planning scheme includes a delivery location set, a delivery sequence rule, and a delivery density parameter; Controlling the mobile vehicle to perform dynamic deployment of the relay module according to the deployment planning scheme, wherein the dynamic deployment operation includes a deployment position adjustment step based on real-time environmental feedback and a relay module deployment step based on target coverage requirements; Performing self-organizing networking processing on the deployed relay modules to generate a self-organizing network topology structure, wherein the self-organizing networking processing includes the steps of establishing communication links between modules, generating a self-organizing network topology structure, and determining a multi-hop communication path; The self-organizing network topology structure is used to provide communication services and positioning support for the rescue terminal equipment, wherein the communication service includes a voice data transmission step, an image data transmission step, and a sensor data transmission step, and the positioning support includes a terminal equipment position coordinate calculation step and a position information update step; in, The generating of the relay module deployment planning scheme based on the environmental information set includes: The channel connectivity parameters and regional openness parameters from the spatial structure characteristics are extracted to determine the key passage paths and key coverage areas at the fire scene. The channel connectivity parameters reflect the connection and accessibility between the various channels in the underground parking lot, while the regional openness parameters reflect the spatial openness of different areas. Based on the obstacle location coordinate set and the occlusion range parameter in the obstacle distribution characteristics, candidate placement locations are screened on the key passage; Analyze the signal effective coverage radius descriptor and the multipath interference degree parameter in the signal attenuation characteristics to calculate the maximum allowable spacing distance between adjacent candidate placement positions; Performing spacing adjustment processing on candidate placement locations based on the maximum allowable spacing distance to generate a placement location set that meets coverage continuity requirements; Based on the priority of key coverage areas and the order of key traffic paths, a deployment sequence rule is generated that gradually advances from the entrance area to the depth area. In combination with the regional openness parameter and the signal fading pattern classification result, a first density placement density parameter is set in the open area, and a second density placement density parameter is set in the closed area or semi-closed area, wherein the first density is less than the second density.

2. The method for emergency rescue communication applied to a fire scene according to claim 1, characterized in that: The acquisition of the environmental information set of the fire scene includes: Controlling a mobile vehicle to enter a fire scene and perform an environmental scanning operation, wherein the environmental scanning operation includes the steps of collecting three-dimensional point cloud data through a laser radar device and collecting scene image data through a visual sensor; Performing spatial feature extraction processing on the three-dimensional point cloud data to generate spatial structural features representing the on-site spatial layout, the spatial structural features including channel connectivity parameters, regional openness parameters, and vertical height layering information; performing obstacle recognition processing on the scene image data to generate obstacle distribution features representing obstacle distribution status, wherein the obstacle distribution features include obstacle type classification results, obstacle position coordinate sets, and obstacle occlusion range parameters; The signal attenuation data at different locations is collected by the signal detection equipment on the mobile vehicle. The signal attenuation data includes the wireless signal strength value, the energy loss after the signal penetrates the obstacle, and the number of reflections on the signal propagation path; A signal attenuation feature representing a signal propagation characteristic is generated based on the signal attenuation data. The signal attenuation feature includes a signal effective coverage radius descriptor, a signal multipath interference degree parameter, and a signal fading mode classification result.

3. The emergency rescue communication method applied to a fire scene according to claim 1, characterized in that: The step of controlling the mobile vehicle to execute the dynamic delivery operation of the relay module according to the delivery planning scheme includes: Control the mobile vehicle to move to the target delivery location according to the delivery sequence rules, and collect environmental feedback information of the current location in real time during the movement, wherein the environmental feedback information includes obstacle dynamic change data and real-time signal strength data; When it is detected that the current target placement position is blocked by a newly added obstacle, a suboptimal placement position is selected from adjacent candidate placement positions based on the maximum allowable separation distance as the adjusted placement position; When it is detected that the real-time signal strength of the current target placement location is lower than a preset reference value, a supplementary placement location is inserted into the placement location set in combination with the placement density parameter, the distance between the supplementary placement location and the original target placement location is less than the maximum allowable spacing distance, and the number of supplementary placements meets the placement density requirement preset in the corresponding area; After arriving at the adjusted placement location or the original target placement location, the placement device carried by the mobile vehicle is activated to perform the module placement operation, wherein the module placement operation includes the steps of placing the relay module on the ground, inserting the relay module into the wall gap, and hanging the relay module on the support structure; After completing a single deployment operation, the actual deployment time and relay module identification information of the deployment location are recorded to generate deployment record data including location coordinates, deployment time and module identification.

4. The method for emergency rescue communication applied to a fire scene according to claim 1, characterized in that: The self-organizing network processing is performed on the deployed relay modules to generate a self-organizing network topology structure, including: Activate the communication units of the deployed relay modules. Each relay module sends a networking request signal containing its own identification and location coordinates to other relay modules within a preset range. After receiving the networking request signal sent by other relay modules, the module calculates the signal transmission quality parameters between the module and the sending module. The signal transmission quality parameters include signal strength value, transmission delay time and bit error rate index; Based on the signal transmission quality parameter, a relay module having a transmission quality better than a preset threshold is selected as a neighbor node, a two-way communication link is established with each neighbor node, and link connection information including a list of neighbor nodes is generated; Collecting link connection information of all relay modules and constructing a graph data structure representing the connection relationship between modules, where the nodes of the graph data structure are relay modules and the edges are communication links; Performing topological analysis on the graph data structure to generate a self-organizing network topology structure including a central node, leaf nodes, and connection nodes, wherein the central node is a relay module connected to multiple neighboring nodes, and the leaf node is a relay module connected to only one neighboring node; A multi-hop communication path search operation is performed based on the self-organizing network topology structure. The multi-hop communication path search operation includes a shortest path search step from a source module to a target module and a redundant path search step from the source module to the target module.

5. The method for emergency rescue communication applied to a fire scene according to claim 1, characterized in that: The self-organizing network topology structure is used to provide communication services and positioning support for rescue terminal equipment, wherein the communication service includes a voice data transmission step, an image data transmission step, and a sensor data transmission step, and the positioning support includes a terminal equipment position coordinate calculation step and a position information update step, including: After the rescue terminal device is started, it scans the signals of the surrounding relay modules and selects the relay module with the highest signal strength as the access node; The voice data, image data, and sensor data to be transmitted are encapsulated into data packets, which enter the self-organizing network topology through the access node, so as to control the access node to forward the data packets in the self-organizing network topology in sequence through intermediate nodes along a multi-hop communication path. After the data packets finally reach the root node module connected to the command center, the root node module is controlled to transmit the received data packets to the ground command center via wired or wireless means, thereby completing the uplink data transmission from the rescue terminal device to the command center; Control the command center to reversely inject the generated control instruction data packet into the self-organizing network topology through the root node module, and transmit it to the target rescue terminal device according to the multi-hop communication path, thereby completing the downlink data transmission from the command center to the rescue terminal device; Controlling the rescue terminal device to send a positioning request signal to at least three adjacent relay modules after accessing the self-organizing network topology structure, wherein the positioning request signal includes a terminal device identifier and a request timestamp; Control the relay module that receives the positioning request signal to record the receiving timestamp, calculate the signal transmission time difference between the terminal device and the relay module, and calculate the distance parameters between the terminal device and each relay module based on the transmission time difference and the signal propagation speed; Calculate the initial position coordinates of the terminal device by triangulating the distance parameters and the position coordinates of each relay module; During the movement of the terminal device, it continuously sends positioning request signals to adjacent relay modules, repeats the distance parameter calculation and position coordinate calculation steps, and generates a position coordinate sequence containing a timestamp as the position information update result.

6. The method for emergency rescue communication applied to a fire scene according to claim 5, characterized in that: The controlling the access node to forward the data packet in the self-organizing network topology structure through the intermediate nodes in sequence along the multi-hop communication path, and finally reaching the root node module connected to the command center, includes: According to the target address information and current forwarding node information carried by the data packet, query the current forwarding node for the shortest path to the root node module according to the network topology structure; Extracting the next hop node on the shortest path as the forwarding target node, and updating the current forwarding node information in the data packet as the next hop node information; Checking whether the communication link between the current node and the next hop node is normal, and if the communication link is normal, sending the data packet through the communication link; If the communication link is abnormal, a suboptimal redundant path is searched and the data packet is forwarded through the next hop node of the redundant path, so that after the next hop node receives the data packet, the steps of searching for the shortest path, updating node information, and checking the link are repeated until the data packet reaches the root node module; The root node module is controlled to verify the integrity of the data packet and the correctness of the target address. If the verification is passed, the data packet is unpacked and transmitted to the ground command center.

7. The method for emergency rescue communication applied to a fire scene according to claim 5, characterized in that: The method of calculating the initial position coordinates of the terminal device by triangulation using the distance parameter and the position coordinates of each relay module includes: Obtain the location coordinate information of three adjacent relay modules and the distance parameters between the terminal device and each module; Based on the principle of three-point positioning in space, the position coordinates and corresponding distance parameters of three adjacent relay modules are substituted into the positioning calculation logic. The position coordinates of the terminal device are solved through geometric relationships. During the solution process, the height restriction conditions at the fire scene are combined to simplify the calculation dimension, prioritize the plane position coordinates, and obtain the solution result. The error of the solution result is verified. If the error is within the allowable range, it is determined as the initial position coordinate. If the error exceeds the range, the number of relay modules participating in positioning is increased and the calculation steps are repeated.

8. The method for emergency rescue communication applied to a fire scene according to claim 1, characterized in that: The method further includes a dynamic maintenance process for the self-organizing network topology structure, wherein the dynamic maintenance process includes a module status monitoring step, a topology structure adjustment step, and a communication path optimization step; The module status monitoring step includes: regularly sending a status query instruction to each relay module, and receiving status feedback information returned by the module including the remaining power, signal transmission quality parameters and a list of neighboring nodes; The topology structure adjustment step includes: when it is detected that the remaining power of any relay module is lower than a preset threshold or the signal transmission quality parameter is lower than a preset threshold, marking the relay module as a node to be replaced, and selecting a backup placement location closest to the location of the node to be replaced from the placement location set to perform a supplementary placement operation; The communication path optimization step includes: collecting status feedback information of all modules, recalculating link weight values ​​in the self-organizing network topology, re-searching multi-hop communication paths based on the new link weight values, and generating an updated path set with better transmission quality, wherein the link weight values ​​are positively correlated with the signal transmission quality parameter and negatively correlated with the transmission delay time; The re-searching of multi-hop communication paths based on the new link weight values ​​to generate an updated path set with better transmission quality includes: Construct a weighted graph data structure containing all module nodes and link weight values; Select the root node module as the starting point, use the shortest path first algorithm to traverse the weighted graph data structure, and calculate the shortest path from the root node to each leaf node. The shortest path is the path with the smallest sum of link weight values; Perform redundancy check on the calculated shortest paths. If any shortest path contains only a single link, find a suboptimal path as a redundant path. Merge the shortest path with the redundant path to generate an updated path set including the primary path and the backup path; A priority identifier is assigned to each update path in the update path set so that the main path with the highest priority is used first during data transmission, and when the main path is abnormal, it is switched to the backup path with the next priority, and the priority identifier is negatively correlated with the sum of the link weight values.

9. An emergency rescue communication system used in fire scenes, characterized in that: It includes a processor and a memory, the memory is connected to the processor, the memory is used to store programs, instructions or codes, and the processor is used to execute the programs, instructions or codes in the memory to implement the emergency rescue communication method applied to the fire scene as described in any one of claims 1 to 8.

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