Indoor rescue system based on wireless indoor positioning and multi-mode sensing

Abstract

The invention discloses an indoor rescue system based on wireless indoor positioning and multi-mode sensing, and mainly solves the problems of low positioning precision, insufficient multi-source data fusion and imperfect safety guarantee mechanism in a complex rescue environment in the prior art. According to the scheme, the system comprises a wireless positioning node, a wireless terminal and a real-time supervision platform, and the wireless positioning node and the wireless terminal cooperate to carry out data acquisition so as to obtain real-time position measurement data, personnel vital sign data and environment monitoring data of rescue personnel; the real-time supervision platform is divided into a network end platform and a local end platform according to different access modes, and is used for monitoring and managing personnel; the wireless terminals are divided into rescuing and rescued person monitoring terminals, all data are processed by the rescuing person monitoring terminals and forwarded to the summarizing node in the wireless positioning nodes, and the node is used for summarizing all the data and forwarding the data to the platform. The rescue efficiency can be remarkably improved, and reliable safety guarantee is provided for rescue workers and rescued persons.

Description

Technical Field

[0001] This invention belongs to the field of real-time monitoring technology, and further relates to indoor positioning technology. Specifically, it is an indoor rescue system based on wireless indoor positioning and multimodal perception, which can be used for disaster relief, emergency response, and personnel positioning and vital sign monitoring in complex environments. Background Technology

[0002] Currently, in emergency response scenarios such as earthquakes, fires, mine accidents, and building collapses (where no original map is available), ensuring the safety of trapped personnel and providing rapid and accurate rescue are the core objectives. Existing rescue methods mainly rely on rescuers carrying basic equipment such as flashlights and walkie-talkies to directly enter the disaster site for manual search, or supplemented by single-mode wireless positioning technology and fixed-point video surveillance. However, in complex environments such as dense smoke, obstruction by building components, and signal attenuation underground, single wireless positioning technology has significant positioning errors in non-line-of-sight environments, and video surveillance becomes completely ineffective due to insufficient light or smoke obstruction. Consequently, the positioning accuracy, real-time information acquisition, and accuracy are insufficient to meet the actual needs of efficient rescue (e.g., inability to quickly locate trapped personnel or monitor the status of rescuers in real time). At the same time, the safety of rescuers in complex disaster environments is also difficult to fully guarantee: traditional rescue systems can only obtain basic heart rate data for monitoring the vital signs of rescuers and cannot link environmental parameters for risk warnings; moreover, they lack automatic identification, real-time feedback, and dynamic adjustment mechanisms for abnormal situations such as node failures and link interruptions, which can easily lead to rescuers losing contact.

[0003] In existing technologies, numerous studies have attempted to apply indoor positioning or vital sign monitoring to disaster relief scenarios. Patent publication CN120010013A proposes a detection method and system for earthquake search and rescue. This scheme utilizes aerial and ground detection modules working in tandem to search for trapped personnel, but it primarily relies on drone equipment, which may struggle to maintain stable operation in complex indoor non-line-of-sight environments. Patent application CN118565468A proposes a fire rescue positioning method that uses sensors and wireless signals to assist in locating firefighters, but it fails to integrate vital sign data with environmental monitoring data. Patent publication CN119564165A provides a personnel body monitoring method based on smart wearable devices, capable of acquiring parameters such as heart rate, but its application is mainly limited to emergency training and may not be able to cope with the complex environmental factors in real disasters. Furthermore, patent publication CN120499603A proposes a fire indoor rescue positioning scheme based on national cryptographic trusted communication, enhancing communication security, but it still relies primarily on single-mode positioning and lacks multimodal fusion.

[0004] Therefore, although existing technologies have made some progress in personnel positioning, vital sign monitoring, and communication security, they still suffer from insufficient accuracy, limited perception dimensions, and lack of dynamic deployment and intelligent early warning in complex disaster scenarios. This makes it difficult to meet the actual needs of rapid and efficient rescue. There is an urgent need to study a reliable rescue system that can achieve highly robust real-time positioning, multi-dimensional monitoring, and dual safety protection in disaster scenarios. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an indoor rescue system based on wireless indoor positioning and multimodal perception. This system solves problems such as low positioning accuracy in complex rescue environments, insufficient multi-source data fusion capabilities, lack of real-time information transmission, and an inadequate dual safety protection mechanism for both rescuers and those being rescued. This invention integrates multimodal perception technology, possesses dynamic node deployment capabilities, and intelligent anomaly handling functions. It enables real-time fusion of multi-dimensional information on "personnel-equipment-environment" in special scenarios, dynamic network expansion, and intelligent handling of abnormal situations, significantly improving rescue efficiency and providing safety guarantees for both rescuers and those being rescued.

[0006] To achieve the above objectives, the technical solution of the present invention includes the following:

[0007] An indoor rescue system based on wireless indoor positioning and multimodal perception includes: wireless positioning nodes, wireless terminals, and a real-time monitoring platform. The wireless positioning nodes and wireless terminals work together to collect data to obtain real-time location measurement data of rescue personnel, vital sign data of personnel, and environmental monitoring data. The real-time monitoring platform is divided into a network platform and a local platform according to different access methods, and is used to receive, parse, and record various types of data.

[0008] The wireless positioning node includes multiple random access nodes and one aggregation node. The random access nodes are used to receive data collected by the monitoring terminal of the rescue personnel and transmit it to the aggregation node. The aggregation node transmits the collected data to the real-time monitoring platform. The data includes personnel location measurement data, vital sign data, and environmental monitoring data.

[0009] The wireless terminal is divided into a rescuer monitoring terminal and a rescued person monitoring terminal. The rescuer monitoring terminal is used to collect the vital signs data and environmental monitoring data of the rescuers, and at the same time, it works with the wireless positioning node to collect the real-time location measurement data of the rescuers. The rescued person monitoring terminal is used to collect the vital signs data of the rescued persons and transmit it to the rescuer monitoring terminal in real time. All data collected by the wireless terminal is processed at the rescuer monitoring terminal and then sent to the aggregation node.

[0010] The aforementioned random access nodes further include a power management unit, a central control unit, and wireless communication modules and environmental sensing modules independently connected to the central control unit; the aggregation node includes a power management unit, a central control unit, and wireless communication modules, a high-speed data interface, and a 4G / 5G module independently connected to the central control unit. The rescue personnel monitoring terminal includes a power management unit, a central control unit, and wireless communication modules, vital sign monitoring modules, an inertial navigation unit, an environmental sensing module, a voice prompt module, a data storage unit, and a data processing unit independently connected to the central control unit; the rescued personnel monitoring terminal includes a power management unit, a central control unit, and wireless communication modules and vital sign monitoring units independently connected to the central control unit. The power management unit is used to supply power to its respective node or terminal, and the central control unit is used to control the various modules and units independently connected to it to perform their respective functions.

[0011] Furthermore, the aforementioned real-time monitoring platform is divided into a network-side platform and a local-side platform based on different access methods. The network-side platform uses a full-network compatible module, supporting multiple frequency bands and network standards including China Mobile, China Unicom, and China Telecom, and connects the aggregation nodes to the platform wirelessly through the operator's network. The local-side platform uses a short-range high-speed wireless or wired connection to connect the aggregation nodes to the platform. This platform refers to the on-site rescue management terminal deployed on a computer outside the rescue site.

[0012] Furthermore, a deployment method for the aforementioned system in actual rescue scenarios is proposed, including the following steps:

[0013] (1) Enable the summary node Complete initialization, select the access method to connect to the real-time monitoring platform, and set the wireless communication module to enter the listening state;

[0014] (2) Activate the monitoring terminal for rescue personnel and connect it with the aggregation node. Establish data transmission relationships;

[0015] (3) Monitoring terminals and aggregation nodes for rescue personnel Collaboration, periodic collection of measurement data; and passing the measurements through a summary node. Send to the real-time monitoring platform;

[0016] (4) The real-time monitoring platform analyzes, calculates and stores the measurement data, and selectively sends it to the monitoring terminal of the rescue personnel for storage;

[0017] (5) The real-time monitoring platform judges the status by combining the received signal strength. When a specific condition is met, it calls the voice prompt module to prompt the rescue personnel to deploy a new random access node. ;

[0018] (6) Node Join the network, aggregate nodes to update information and maintain communication links;

[0019] (7) During the search, the rescuers repeat steps (3)-(6), that is, the rescuers' monitoring terminal continuously interacts with the new node. When the received signal strength between the new node and the rescuers' monitoring terminal is lower than the threshold, the next new node is deployed to achieve dynamic expansion of the network while maintaining the positioning and detection functions. During the entire normal deployment of nodes, the system performs a round of overall data transmission and interaction at a set frequency to verify whether the link can work normally.

[0020] Furthermore, the system has voice guidance and node management functions in abnormal situations. It guides rescuers to their routes by combining the voice prompt module of the rescuer monitoring terminal with node interaction measurement information, and prompts external emergency personnel to replace or redeploy nodes when necessary, so as to ensure the continuity of rescue missions.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] First, because the present invention achieves multimodal fusion perception of personnel location information, vital sign data and environmental parameters through the coordinated work of wireless positioning nodes, vital sign acquisition modules and environmental monitoring modules, it improves the integrity and reliability of data acquisition in complex environments.

[0023] Secondly, the present invention adopts a combination of random access nodes and aggregation nodes, which supports the gradual deployment and switching of nodes, ensuring that a stable communication link and high positioning accuracy can still be maintained in places with many obstacles or harsh environments.

[0024] Third, because this invention simultaneously monitors both rescuers and those being rescued, it immediately triggers alerts when environmental parameters are abnormal and guides rescuers to evacuate through a voice prompt module, thereby effectively improving the safety of the rescue mission.

[0025] Fourth, when a node fails or a link is interrupted, the system of this invention will cause the overall data transmission and interaction to be interrupted, thereby automatically enabling voice prompts and reporting the specific abnormal location to the outside (rescue command personnel), so as to facilitate the rapid replacement or redeployment of nodes, ensuring the continuity of rescue missions and the safety of rescue personnel.

[0026] Fifth, because the aggregation node of this invention is equipped with a 4G / 5G module and a high-speed data interface, its real-time monitoring platform can access the rescue management center through the operator network, or access the on-site rescue management terminal through local wired or short-range wireless connections, thus having good adaptability and scalability. Attached Figure Description

[0027] Figure 1 This is a block diagram of the overall structure of the system of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the random access node in the system of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the aggregation node in the system of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the monitoring terminal for rescue personnel in the system of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the monitoring terminal for rescued personnel in the system of the present invention;

[0032] Figure 6 This is a flowchart illustrating the implementation process of the system of the present invention. Detailed Implementation

[0033] The technical solution of the present invention will now be described in a clear and complete manner with reference to the accompanying drawings.

[0034] Example 1: Refer to Figure 1 This invention proposes an indoor rescue system based on wireless indoor positioning and multimodal perception, comprising: wireless positioning nodes, wireless terminals, and a real-time monitoring platform. The wireless positioning nodes and wireless terminals collaborate to collect data, acquiring real-time location measurement data of rescue personnel, vital sign data of personnel, and environmental monitoring data. The real-time monitoring platform is divided into a network-side platform and a local-side platform based on different access methods, used to receive, parse, and record various types of data. In this embodiment, the real-time monitoring platform is specifically used to parse and process the received data, and store the recorded data according to a preset format to achieve monitoring and management of rescue personnel and rescued individuals.

[0035] The wireless positioning node includes multiple random access nodes and one aggregation node. The random access nodes are used to receive data collected by the monitoring terminal of the rescue personnel and transmit it to the aggregation node. The aggregation node transmits the collected data to the real-time monitoring platform. The data includes personnel location measurement data, vital sign data, and environmental monitoring data.

[0036] The wireless terminal is divided into a rescuer monitoring terminal and a rescued person monitoring terminal. The rescuer monitoring terminal is used to collect the vital signs data and environmental monitoring data of the rescuers, and at the same time, it works with the wireless positioning node to collect the real-time location measurement data of the rescuers. The rescued person monitoring terminal is used to collect the vital signs data of the rescued persons and transmit it to the rescuer monitoring terminal in real time. All data collected by the wireless terminal is processed at the rescuer monitoring terminal and then sent to the aggregation node.

[0037] The aforementioned random access nodes further include a power management unit, a central control unit, and wireless communication modules and environmental sensing modules independently connected to the central control unit; the aggregation node includes a power management unit, a central control unit, and wireless communication modules, a high-speed data interface, and a 4G / 5G module independently connected to the central control unit. The rescue personnel monitoring terminal includes a power management unit, a central control unit, and wireless communication modules, vital sign monitoring modules, an inertial navigation unit, an environmental sensing module, a voice prompt module, a data storage unit, and a data processing unit independently connected to the central control unit; the rescued personnel monitoring terminal includes a power management unit, a central control unit, and wireless communication modules and vital sign monitoring units independently connected to the central control unit. The power management unit is used to supply power to its respective node or terminal, and the central control unit is used to control the various modules and units independently connected to it to perform their respective functions.

[0038] Furthermore, the aforementioned real-time monitoring platform is divided into a network-side platform and a local-side platform based on different access methods. The network-side platform uses a full-network compatible module, supporting multiple frequency bands and network standards from China Mobile, China Unicom, and China Telecom, and connects the aggregation nodes to the platform wirelessly via the operator's network. The local-side platform uses short-range high-speed wireless or wired connections to connect the aggregation nodes to the platform; this platform refers to the on-site rescue management terminal deployed on a computer outside the rescue site. In practical applications, the network-side access method is first used to send test data to the network-side software platform. If the return signal is unstable, resulting in incomplete test data transmission, the local-side access method is selected. If the return signal is stable and the test data can be transmitted completely, both access methods can be used in parallel. On the one hand, the data received by the real-time monitoring software platform through the local-side access method can be directly calculated and subsequently used; on the other hand, the data received by the real-time monitoring software platform through the network-side access method can be transmitted over the network to a remote location for more complex calculations and analyses.

[0039] Example 2: The overall system structure proposed in this example is the same as in Example 1. The deployment method of the above system in a real-world rescue scenario is given below. The specific implementation steps include the following:

[0040] Step 1) Enable the summary node Complete initialization, select the access method to connect to the real-time monitoring platform, and set the wireless communication module to enter the listening state;

[0041] Step 2) Activate the rescue personnel monitoring terminal and connect it with the aggregation node. Establish data transmission relationships;

[0042] Step 3) Rescue personnel monitoring terminals and aggregation nodes Collaboration, periodic collection of measurement data; and passing the measurements through a summary node. Send to the real-time monitoring platform;

[0043] Step 4) The real-time monitoring platform analyzes, calculates, and stores the measurement data, and selectively sends it to the monitoring terminals of rescue personnel for storage;

[0044] Step 5) The real-time monitoring platform determines the status based on the received signal strength. When specific conditions are met, it invokes the voice prompt module to notify rescue personnel to deploy new random access nodes. The specific conditions mentioned in this step refer to the monitoring terminals and aggregation nodes used by rescue personnel during their advance. If the received signal strength index between the two values ​​is continuously lower than a set threshold in multiple consecutive measurement cycles, this embodiment preferably uses being lower than the threshold for 5 consecutive measurement cycles as a specific condition.

[0045] Step 6) Node Join the network, aggregate nodes to update information and maintain communication links;

[0046] Step 7) During the search, rescuers repeat steps 3)-6), that is, the rescuers' monitoring terminal continuously interacts with new nodes. When the received signal strength between the new node and the rescuers' monitoring terminal is lower than the threshold, the next new node is deployed to achieve dynamic network expansion while maintaining positioning and detection functions. During the entire normal node deployment process, the system performs a round of overall data transmission and interaction at a set frequency to verify whether the link can work properly.

[0047] Example 3: The overall system structure proposed in this example is the same as in Example 1. The functional extension of the above system under abnormal conditions is now given:

[0048] This invention's system features voice guidance and node management functions in abnormal situations. It guides rescue personnel through a voice prompt module on the monitoring terminal, combined with node interaction measurement information, and prompts external emergency personnel to replace or redeploy nodes when necessary, ensuring the continuity of the rescue mission. The abnormal situations described in this embodiment include the following three categories: first, all nodes carried by the rescue personnel have been deployed but the rescued person has not been found; second, the rescue personnel have located the rescued person and led them to evacuate the scene; third, during the advance, a randomly deployed node fails or a problem at the node causes the link to be broken.

[0049] Example 4: The overall structure of the scene rescue system based on wireless indoor positioning and multimodal perception proposed in this example is the same as that in Example 1. Refer to the following... Figure 2 and Figure 3 The wireless positioning node in the system of the present invention will be described in further detail below:

[0050] Figure 2 and Figure 3 These are schematic diagrams of the random access nodes and the aggregation node in the system of this invention. These two types of nodes together constitute the wireless positioning node network. The wireless positioning nodes in the system include several random access nodes and one aggregation node, which can interact with the monitoring terminal of rescue personnel to collect real-time location measurement data of rescue personnel.

[0051] Specifically, the random access node is used to collect and transmit measurement data related to rescuers and those being rescued; it includes a wireless communication module, an environmental sensing module, a central control unit, and a power management unit. The wireless communication module is used, on the one hand, to achieve wireless communication with wireless terminal devices for locating rescuers, and on the other hand, for data transmission and wireless communication with other nodes; the environmental sensing module is used to measure the temperature, humidity, and concentration of toxic and harmful gases around the node; the central control unit is used to call and control other units.

[0052] Considering that in some harsh rescue environments, the locations of nodes initially deployed by rescue personnel may experience fires or the spread of toxic gases, even if the nodes themselves function normally and do not affect the overall system operation, they can severely hinder the rescue personnel's return journey and may even gradually spread to the rescue personnel's location, threatening their lives. Therefore, randomly accessed nodes are equipped with environmental sensing modules. When the temperature, humidity, or concentration of toxic and harmful gases at a certain node exceeds the set threshold range, the real-time monitoring software platform will display this abnormal information to external personnel and simultaneously activate the voice prompt module to alert rescue personnel that the node's status is abnormal and that they should return immediately for safety.

[0053] In practical deployment scenarios, prioritizing personal safety, deployed random access nodes will only be retrieved after the rescue operation is completed, provided the rescue site is deemed sufficiently safe. Furthermore, the system's application scenarios are unique, often involving non-line-of-sight operations with limited available space. Rescue operations typically require rapid execution, allowing professional rescue personnel to complete a comprehensive search within a short timeframe. Therefore, considering space, time, and cost factors, the hardware components of the random access nodes should ideally be small, low-power, and low-cost.

[0054] Considering the reduced obstruction and superior line-of-sight at higher elevations within the site, random access nodes can be deployed on walls or fixed with adjustable height using tripods. Given the complexity of rescue scenarios, tripod mounting is the preferred and ideal installation method: firstly, complex wall conditions make it difficult to find suitable mounting methods for random access nodes, and unstable mounting can easily lead to node falls, increasing the probability of node failure and link disconnection; secondly, the measurement angle range of random access nodes is typically omnidirectional with no blind spots. If deployed on a wall, the measurement range would be reduced to half or even less, further increasing the difficulty of high-precision positioning in complex rescue environments with multiple obstructions. Therefore, considering the above factors, tripod mounting is chosen for the random access nodes: adjusting the three legs enhances the stability of the node deployment, reduces unnecessary node wear, and ensures the node operates normally as much as possible during deployment; while the omnidirectional measurement range and manually adjustable height facilitate better network signal coverage for the anchor node, improving the breadth and accuracy of positioning.

[0055] Specifically, the aggregation node is used to collect and transmit measurement data related to rescue personnel; it includes a wireless communication module, a high-speed data interface, a 4G / 5G module, a central control unit, and a power management unit. The wireless communication module is used for two purposes: firstly, to enable wireless communication with wireless terminal devices for locating rescue personnel; and secondly, to transmit and communicate with other nodes. Both the high-speed data interface and the 4G / 5G module are used to connect the aggregation node to the real-time monitoring software platform. The difference is that the 4G / 5G module connects the aggregation node to the real-time monitoring software platform network wirelessly via the operator's network, while the high-speed data interface connects the aggregation node to the local end of the real-time monitoring software platform via short-range high-speed wireless or wired connections. The central control unit is used to call and control other units.

[0056] Aggregation nodes are typically deployed at the entrance of the rescue site. Therefore, unlike random access nodes, aggregation nodes do not need to be configured with environmental sensing modules, but they should have a sufficiently fast data transmission speed to ensure that all data is transmitted to the real-time monitoring software platform within the measurement cycle.

[0057] It should be noted that, considering the complexity of the communication link and the computational difficulty, the random access node can only interact with one rescuer's monitoring terminal and the random access nodes deployed by that rescuer. That is, each group of random nodes deployed by the same rescuer serves only one rescuer's monitoring terminal and will not interact with random access nodes or monitoring terminals deployed by other rescuers. All nodes deployed by each rescuer form a chain structure. The aggregation node, on the other hand, can receive data from all rescuers, meaning the entire rescue network has a tree-like node structure.

[0058] Example 5: The overall structure of the indoor rescue system proposed in this example is the same as that in Example 1, and will now be referred to... Figure 4 and Figure 5 The wireless terminal device in the system of the present invention will be described in further detail below:

[0059] Figure 4 and Figure 5 These are schematic diagrams of the monitoring terminal for rescuers and the monitoring terminal for rescued persons in the system of this invention.

[0060] Specifically, the rescuer monitoring terminal is used to collect and transmit data related to rescuers. It includes a wireless communication module, a vital signs monitoring module, an inertial navigation unit, an environmental sensing module, a voice prompt module, a data storage unit, a data processing unit, a central control unit, and a power management unit to power these units. The wireless communication module enables wireless communication and data transmission with nodes and the rescued personnel monitoring terminal; the vital signs monitoring module measures data such as the rescuer's heart rate, blood oxygen, pulse, and blood pressure; the inertial navigation module measures the rescuer's acceleration, angular velocity, and angle during their movement; the environmental sensing module measures the temperature, humidity, and concentration of toxic and harmful gases around the rescuer; the voice prompt module broadcasts action prompts to the rescuer; the data storage unit stores data related to the rescuer's location; the data processing unit preprocesses the collected vital signs data of the rescuer and the rescued personnel and compares the location measurement data with the data in the data storage unit when the rescuer returns; and the central control unit calls and controls the other units.

[0061] The voice prompt module has two activation modes: active and passive. The voice package required for passive activation is pre-stored in the data storage unit. When rescuers are evacuating, they actively activate the voice module of the rescuer monitoring terminal; when an unknown potential danger is detected, the system passively activates the voice module of the rescuer monitoring terminal.

[0062] The rescuer monitoring terminal is attached to the helmet worn by the rescuer. The wireless communication module, inertial navigation unit, and environmental sensing module are deployed on the top of the head outside the helmet to facilitate data measurement. The vital signs monitoring module is deployed under the chin strap of the helmet, close to the common carotid artery of the rescuer, to ensure accurate measurement of data such as the rescuer's heart rate, blood oxygen, pulse, and blood pressure. The voice prompt module can be deployed on both sides of the helmet edge near the ears, or worn directly in the ears of the rescuer as an earphone.

[0063] Environmental sensing modules are crucial in special rescue scenarios. In harsh environments, rescuers may struggle to perceive their own discomfort, and some toxic or harmful gases may not immediately affect detectable vital signs. Therefore, by monitoring data in real time through environmental sensing modules, if rescuers are found to be in extremely harsh environments, the real-time monitoring software platform can immediately display this information to external emergency personnel for timely rescue. Simultaneously, a voice prompt module can be activated to remind rescuers to evacuate immediately, maximizing their safety.

[0064] When the rescue site is within line of sight, the measurement data between the rescuer's monitoring terminal and the aggregation node enables accurate estimation of the rescuer's location. During the rescuer's movement, the distance and angle changes measured between the wireless communication module of the rescuer's monitoring terminal and the wireless communication module of the wireless positioning node can suppress the cumulative measurement error of the inertial navigation unit of the rescuer's monitoring terminal. These functions are achieved through a dedicated algorithm.

[0065] Specifically, the rescued person monitoring terminal is used to collect the vital signs data of the rescued person, and it includes a wireless communication module, a vital signs monitoring unit, a central control unit, and a power management unit. The wireless communication module is used to send the data from the rescued person monitoring terminal to the rescuer monitoring terminal bound to it; the vital signs monitoring unit is used to measure the rescued person's heart rate, blood oxygen, pulse, blood pressure, and other data; the central control unit is used to call and control the other units.

[0066] The monitoring terminal for rescued individuals can be designed in the form of a wristband, with a simple structure and function, and a small size, designed for quick wear in emergency situations.

[0067] It should be noted that once the rescued person monitoring terminal is activated, it will automatically establish a binding connection with the rescuer monitoring terminal. The vital sign data measured by the rescued person monitoring terminal will be sent to the rescuer monitoring terminal. After preprocessing by the rescuer monitoring terminal, it will be transmitted along with relevant data from the rescuers to the aggregation node, and then sent from the aggregation node to the real-time monitoring software platform.

[0068] Example 6: Refer to Figure 6This invention proposes a method for rescue monitoring based on the system described in Embodiment 1. The application of this system in actual rescue scenarios can be divided into two scenarios: normal deployment and abnormal handling. Normal deployment mainly corresponds to rescue personnel advancing deeper into the disaster site, while abnormal handling mainly corresponds to the return of rescue personnel under abnormal circumstances. During normal deployment, unexpected abnormal situations may arise, requiring rescue personnel to return; in some abnormal handling scenarios, certain aspects of normal deployment are also necessary.

[0069] Furthermore, the normal deployment steps are as follows:

[0070] Step 1. Summarize Nodes Enable, power on and complete initialization, then select an access method to connect to the real-time monitoring software platform. (Summarize Node) The wireless communication module on the device enters a listening state, waiting to interact with other devices.

[0071] Step 2. The rescue personnel's monitoring terminal equipment is activated, powered on and initialized, broadcasting signals to the outside world, and communicating with the aggregation node. Interact and establish a stable data transmission relationship.

[0072] Step 3. The rescue personnel's monitoring terminal performs a round of data measurements at a certain frequency. The specific measurements include:

[0073] First, vital signs data are measured, and the data processing unit determines the physical condition of rescuers and provides timely voice reminders to them.

[0074] Second, with the summary node The system measures wireless link-related parameters such as received signal strength and uses specific algorithms to determine whether the rescue personnel are in a line-of-sight or non-line-of-sight environment.

[0075] Thirdly, with the summary node Perform location data measurement.

[0076] Measurement data is sent to the real-time monitoring software platform via the aggregation node according to the set format.

[0077] Step 4. The real-time monitoring software platform parses and calculates the location measurement data to obtain the real-time location coordinates of the rescue personnel, and saves them to the real-time monitoring platform according to the specified format.

[0078] Using wireless positioning nodes as relays, the real-time location coordinates of rescuers are selectively sent to the rescuer monitoring terminal and stored in the terminal's storage module.

[0079] Step 5. During the advance of the rescue personnel, the rescue personnel monitor the terminals and aggregate the data. When the received signal strength index between the two points remains below the set threshold for five consecutive measurement cycles, the voice prompt module of the rescue personnel monitoring terminal is passively invoked to remind the rescue personnel to deploy a new random access node.

[0080] Step 6. Newly deployed random access nodes Enable, power on and complete initialization, broadcast outwards and to the aggregation node. Send network access request, aggregate nodes After replying with an ACK message, the node Perform network access operation. (Summarize node) New node The MAC address or ID number is sent to the rescuer's monitoring terminal, which then connects to the new node.

[0081] node The initial position is determined by the summary node. Upon receiving its initial network access request, the monitoring terminal and aggregation node of the rescue personnel were reached. The average value of ranging and positioning data during the disconnection period is determined. The real-time monitoring network platform calculates the node's value after obtaining the relevant data. The location coordinates are obtained, and these coordinates are stored and marked.

[0082] During the execution of the above steps in this process, the summary node... Simultaneously maintain communication with rescue personnel's monitoring terminals and nodes. Communication, nodes With summary node Rescue personnel monitoring terminals and nodes After the connection was confirmed, the rescue personnel's monitoring terminal sent a data to the aggregation node. After sending a disconnection request and receiving confirmation, rescue personnel monitor the terminal and the aggregation node. After the connection was broken, the monitoring data from the rescue personnel's monitoring terminal was transferred to the node. It is transmitted as a relay to the aggregation node. .

[0083] Rescue personnel's monitoring terminals connect to new nodes at a certain frequency. Perform interactive measurements, and send location measurement data to the aggregation node according to the set format. Send to the real-time monitoring software platform.

[0084] Step 7. Repeat steps 3-6 above to enable dynamic expansion of the network during the search by rescue personnel, while maintaining positioning and monitoring functions.

[0085] It should be noted that during the entire normal deployment process, the system performs a comprehensive data transmission and interaction at a certain frequency, specifically as follows:

[0086] Randomly deployed nodes Towards Sending node The system collects environmental data from both the currently measured data and the received data from backend nodes, and then sends the aggregated data to the real-time monitoring software platform, providing information on all randomly deployed nodes. This process allows external personnel to quickly be informed and take appropriate measures in case of node failure. Alternatively, in special scenarios such as fires, where a node may function normally but the environment at that node is unfavorable for rescue personnel to safely carry out their missions, external personnel can invoke the voice prompt module to alert rescue personnel.

[0087] Randomly deployed nodes The wireless communication module and the previous node The wireless communication modules of the nodes interact, with the aggregation node sending interaction data between each pair of nodes to the real-time monitoring software platform. The real-time monitoring software platform can continuously calculate the location of each randomly deployed node using this data. In this process, the location coordinates of the randomly accessed nodes are continuously corrected and updated through interactive measurements, dynamically maintaining the system's accuracy. Furthermore, the location coordinates calculated by the real-time monitoring software platform can reflect potential hazards within the rescue site to a certain extent. Whether it's a small fluctuation in the location of the randomly accessed node due to a support collapse caused by changes in the surrounding environment, or a large change, drift, or inability to calculate the location due to problems with the wireless communication module of the wireless positioning node, it allows rescue personnel and external emergency personnel to immediately understand and take appropriate measures.

[0088] Furthermore, abnormal situations can be summarized into the following three categories: First, all nodes carried by rescue personnel have been deployed but the rescued person has not been found; second, rescue personnel have located the rescued person and led them to evacuate the scene; third, during the advance, a randomly deployed node fails, causing the link to break, or an anomaly occurs at the node. Specific handling steps are as follows:

[0089] Step a. Activate the voice prompt module of the rescue personnel monitoring terminal. The positioning node closest to the rescue personnel interacts with the monitoring terminal. The monitoring terminal compares and calculates the data measured by the interaction with the real-time location information of the personnel stored during normal deployment. It guides the rescue personnel to evacuate through concise voice commands such as "forward", "backward", "left", and "right".

[0090] Step b. During the rescuers' return journey, the rescuers' monitoring terminal and wireless positioning node... When the received signal strength index between the monitoring terminal and the previous node is lower than the set threshold, the monitoring terminal will... Establish a connection with the node Disconnect, by node To interact with the monitoring terminal;

[0091] Step c. Repeat steps a and b above, guiding rescue personnel to return via the original route.

[0092] It should be noted that in the first two situations, rescuers need to actively activate voice guidance; in the third situation, the system will automatically activate voice guidance and first prompt the rescuers that "the situation is dangerous and you need to evacuate immediately."

[0093] In addition, in the second type of situation, rescuers need to first put a rescuer monitoring terminal on the rescued person and bind it to their own rescuer monitoring terminal to ensure the stable transmission of the rescued person's vital signs data.

[0094] Furthermore, in the third scenario, upon detecting an anomaly, the system will immediately activate voice guidance, prompting rescue personnel to return to the failed node. Simultaneously, it will report the anomaly to emergency personnel outside the rescue site. External emergency personnel will then bring the rescuer's backup node into the rescue site to locate the failed node. If the environment at the failed node remains within sight, only the rescuer or external emergency personnel need to replace the node. If the environment at the failed node becomes non-line-of-sight due to collapse or other factors, one or more nodes must be redeployed to restore connectivity.

[0095] Example 7: Based on the aforementioned system workflow, this example further provides the transmission and storage formats for various types of data in rescue missions.

[0096] Specifically, during normal deployment, the rescuer monitoring terminal periodically sends data packets to the aggregation node. These data packets include: the node number it interacts with, wireless communication module measurement data, inertial navigation measurement data, rescuer physical status, environmental monitoring data, test data, and the physical status of the rescued person. Wireless communication module measurement data includes signal angle of arrival, signal flight time, and received signal strength. Inertial navigation measurement data includes acceleration, angular velocity, and angle. The rescuer physical status data is obtained by processing the vital signs data measured by the rescuer monitoring terminal, including indicators such as heart rate, blood oxygen, blood pressure, and pulse. This data is a further processing of the vital signs data measured by the rescuer monitoring terminal and can reflect the rescuer's condition to a certain extent. Environmental monitoring data includes environmental data measured by the rescuer monitoring terminal, such as temperature, humidity, and concentration of toxic and harmful gases. Test data refers to the overall data transmitted and interacted with at regular intervals during normal node deployment. When a rescuer's monitoring terminal is linked to one or more rescued persons, their physical status data is also collected, packaged, and transmitted.

[0097] The aggregation node is responsible for data aggregation and forwarding, transmitting data from each node to the real-time monitoring software platform.

[0098] The real-time monitoring software platform receives data and calculates the real-time three-dimensional spatial coordinates of the rescue personnel based on the signal arrival angle, signal flight time, and acceleration, angular velocity, and angle measured by the inertial navigation unit. It can also calculate the line-of-sight status between the node and the rescue personnel's monitoring terminal based on the received signal strength index. Furthermore, the platform analyzes the physical condition data of the rescue personnel and the rescued individuals, as well as the environmental data measured by the rescue personnel's monitoring terminal. If a preset threshold is exceeded, the platform triggers an early warning mechanism, prompting personnel outside the site to take emergency measures. By analyzing the environmental data at random nodes and the interactive measurement data between random access nodes in the test data, the platform can continuously monitor the stability of the links between random access nodes within the site and the environmental security at those nodes. If a random access node fails, causing a link disconnection, or if the environment at a random access node deteriorates, this can be immediately detected, allowing external emergency personnel to take appropriate measures.

[0099] In terms of data storage, the real-time monitoring software platform uniformly stores and parses the received multi-source data. Taking rescuer #1 as an example, assuming an ideal line-of-sight environment, before deploying new random access nodes, each random access node can conduct five rounds of data measurements with the rescuer's monitoring terminal. The stored data packet format includes node number, wireless communication module measurement data, inertial navigation unit measurement data, personnel position coordinates, rescuer #1's physical condition data, environmental monitoring data, test data, and the rescued person's physical condition. After storage, the real-time monitoring software platform extracts the first, third, and fifth rounds of data from each node's five rounds of data packets and sends them to the rescuer's monitoring terminal. The rescuer's monitoring terminal saves the data locally, including the node number it interacted with, wireless communication module measurement data, inertial navigation unit measurement data, and the calculated personnel position coordinates. This data provides a reference path for the rescuer's return journey and can also be used as local redundant information for comparison and backtracking in the event of link interruption or platform communication anomalies.

[0100] Example 8: The overall implementation steps of the rescue monitoring proposed in this example are the same as in Example 6. A specific example is given below to further describe the implementation process of the method of this invention:

[0101] In the data processing unit of the rescue personnel monitoring terminal, the fluctuation range of each data is preset, including personnel vital signs data, environmental monitoring data, and the minimum threshold of the received signal strength index when interacting with the positioning node; in the real-time monitoring software platform, the fluctuation range of environmental monitoring data and node location coordinates is also preset.

[0102] The aggregation node is typically deployed at the entrance of the rescue site and connected to a real-time monitoring software platform.

[0103] After the aggregation node and the rescuer's monitoring terminal are activated and a stable data transmission relationship is established, the rescuer carries several randomly accessed nodes and the rescued person's monitoring terminal into the rescue site. On the 3D map of the real-time monitoring software platform, the origin (0,0,0) represents the location of the aggregation node.

[0104] As rescue personnel advance, their monitoring terminals conduct data measurements at a set frequency. The specific measurements include:

[0105] First, vital sign data of rescue personnel are measured. The data processing unit processes the vital sign data and, based on preset data thresholds, classifies and represents the personnel's physical condition using "0," "1," "2," and "3," where "0" represents an initial normal physical condition and "3" represents an extremely poor physical condition with weak vital signs. Based on the physical condition, timely voice reminders are given to the rescue personnel: when the rescue personnel's physical condition is "2," activities must be suspended and the rescue site immediately evacuated; when the physical condition is "3," it is necessary to determine, based on the actual situation on site, whether to dispatch emergency rescue personnel from outside the site to enter the site and carry out rescue operations on the rescue personnel.

[0106] Second, it works in conjunction with the aggregation node to measure the received signal strength, determining whether the rescuers are in a line-of-sight or non-line-of-sight environment. If the aggregation node determines five consecutive times that the returned measurement and positioning information is from a non-line-of-sight environment, it will passively activate the voice prompt module of the rescuers' monitoring terminal, forcibly reminding the rescuers to deploy a new random access node. The measurement data is sent to the real-time monitoring software platform via the aggregation node according to the format set in Example Six.

[0107] Third, it works in conjunction with the aggregation node to measure location data, including angle of arrival and flight time; the real-time monitoring platform can calculate the location coordinates of rescue personnel based on the above data.

[0108] The measurement data is sent to the real-time monitoring software platform via the aggregation node according to the format set in Example 7.

[0109] The real-time monitoring software platform analyzes and calculates the location measurement data to obtain the real-time location coordinates of the rescuers, and saves them in a pre-defined format. Using wireless positioning nodes as relays, the platform selectively sends the real-time location coordinates of the rescuers to their monitoring terminals, where they are stored in the terminals' storage modules for navigation assistance during the rescuers' return journey.

[0110] During the rescue team's advance, the rescue team monitored the terminals and aggregated the data. When the received signal strength index falls below a set threshold, the voice prompt module of the rescue personnel's monitoring terminal is passively activated to remind rescue personnel to deploy a new random access node. The newly deployed random access node is then activated. It has completed network access and established a stable data transmission relationship with the monitoring terminals of rescue personnel. Node The initial position is determined by the summary node. Upon receiving its initial network access request, the monitoring terminal and aggregation node of the rescue personnel were reached. The average value of ranging and positioning data during the disconnection period is determined. The real-time monitoring network platform calculates the node's value after obtaining the relevant data. Location coordinates, and store and mark these coordinates. Node to be executed. With summary node Rescue personnel monitoring terminals and nodes After the connection was confirmed, the rescue personnel's monitoring terminal sent a data to the aggregation node. After sending a disconnection request and receiving confirmation, rescue personnel monitor the terminal and the aggregation node. The connection between them was broken, and the monitoring data from the rescue personnel's monitoring terminal was transferred to the node. It is transmitted as a relay to the aggregation node. The rescue personnel's monitoring terminal contacts new nodes at a certain frequency. Interactive measurements are performed, and the location measurement data is transmitted via the aggregation node according to the format set in Example 7. Send to the real-time monitoring software platform.

[0111] Repeat the above steps to enable dynamic expansion of the network during the search by rescue personnel, while maintaining positioning and detection capabilities.

[0112] It should be noted that during the entire normal deployment process, the system performs a comprehensive data transmission and interaction at a certain frequency, specifically as follows:

[0113] Randomly deployed nodes send their currently measured environmental data, as well as the environmental data received from the back-end nodes, to the aggregation node; the aggregation node then sends the environmental data of all randomly deployed nodes to the real-time monitoring software platform. This process allows external personnel to quickly grasp the situation and take countermeasures when a node fails, or in special scenarios such as fires, when a node is not damaged but is not conducive to the safe execution of rescue missions by rescue personnel, external personnel can call the voice prompt module to remind the rescue personnel.

[0114] The wireless communication modules of randomly deployed nodes interact with the wireless communication modules of the previous node. The aggregation node sends the interaction data between each pair of nodes to the real-time monitoring software platform, which can then continuously calculate the position of each randomly deployed node using this data. In this process, the position coordinates of randomly accessed nodes are continuously corrected and updated through interactive measurements, dynamically maintaining the system's accuracy. Furthermore, the position coordinates calculated by the real-time monitoring software platform can reflect potential hazards within the rescue site to a certain extent. Whether it's a small fluctuation in the position of a randomly accessed node due to a support collapse caused by changes in the surrounding environment, or a large change, drift, or inability to calculate the position due to problems with the wireless communication modules of the wireless positioning nodes, it allows rescue personnel and external emergency personnel to immediately understand and take appropriate measures.

[0115] Furthermore, abnormal situations can be summarized into the following three types: all nodes carried by the rescuers have been deployed but the rescued person has not been found; the rescuers have found the rescued person and led them away from the location; during the advance, a randomly deployed node fails, causing the link to break or an anomaly may occur at the node.

[0116] If all the nodes carried by the rescue team have been deployed but the rescued person has not been found, the specific procedures are as follows:

[0117] Step A1. Rescuers actively activate the voice prompt module of the rescuer monitoring terminal, which is the node closest to the rescuers. It interacts with its monitoring terminal, which compares and calculates the data measured by the interaction with the real-time location information of personnel stored during normal deployment, and guides rescue personnel to leave through simple voice commands such as "forward, backward, left, and right".

[0118] Step A2. Rescue personnel arrive at the node At the set measurement range threshold, the monitoring terminal and the previous node Establish a connection with the node Disconnect, by node To interact with the monitoring terminal;

[0119] Step A3. Repeat steps A1-A2 above to guide rescue personnel back along the original route.

[0120] When rescuers locate and remove the person from the scene, the specific procedures are as follows:

[0121] Step B1. Rescuers put a rescuer monitoring terminal on the rescued person and bind it to their own rescuer monitoring terminal to ensure the stable transmission of the rescued person's vital signs data.

[0122] Step B2. Rescuers actively activate the voice prompt module of the rescuer monitoring terminal, targeting the node closest to them. It interacts with its monitoring terminal, which compares and calculates the data measured by the interaction with the real-time location information of personnel stored during normal deployment, and guides rescue personnel to leave through simple voice commands such as "forward, backward, left, and right".

[0123] Step B3. Rescue personnel arrive at the node At the set measurement range threshold, the monitoring terminal and the previous node Establish a connection with the node Disconnect, by node To interact with the monitoring terminal;

[0124] Step B4. Repeat steps B2-B3 above to guide rescue personnel back along the original route.

[0125] When a deployed random access node fails during the advance of rescue personnel, causing a link disconnection, or when the environment at the random access node is unfavorable for the rescue personnel to safely carry out the rescue mission, the specific handling steps are as follows:

[0126] Step C1. When the monitoring software platform analyzes the abnormal data in the received data packet, including but not limited to: the environment at a certain random access node is harsh (temperature too high or too low, concentration of toxic and harmful gases exceeding the threshold, etc.), a certain random access node cannot communicate with other nodes, or the location of a certain random access node changes from line-of-sight to non-line-of-sight, the system immediately and passively activates the voice prompt module of the rescue personnel monitoring terminal, prompting the rescue personnel that "the situation is dangerous and immediate evacuation is required." At the same time, emergency personnel from outside the site are dispatched to enter the site with communication equipment and several random access nodes. The emergency personnel from outside the site and the rescue personnel go to the abnormal node at the same time.

[0127] Step C2. After hearing the voice prompt, rescue personnel stop node deployment, and the rescue personnel monitoring terminal connects to the node closest to the rescue personnel. The monitoring terminal will compare and calculate the data measured during the interaction with the real-time location information of personnel stored during normal deployment, and guide rescue personnel to leave through simple voice commands such as "forward", "backward", "left" and "right".

[0128] Step C3. Rescue personnel arrive at the node At the set measurement range threshold, the monitoring terminal and the previous node Establish a connection with the node Disconnect, by node To interact with the monitoring terminal;

[0129] Step C4. Repeat steps C2-C3 above to guide rescue personnel back to the abnormal node via the original route.

[0130] Step C5. If the random access node It was undamaged, but its location is in an extremely harsh environment. External emergency personnel will lead rescuers to replan their route and quickly leave the site.

[0131] If the random access node Damaged, but still within sight of the site; rescue personnel or external emergency responders only need to use a new random access node. Enabled in its original location, powered on and initialized, broadcasting externally and sending to the aggregation node. Send network access request, aggregate nodes After replying with the ACK message, the new random access node Perform network access operation. (Summarize node) New random access node The MAC address or ID number is sent to the rescuer's monitoring terminal, which then connects to the new random access node. After completing the operation, the rescuer's monitoring terminal continues to interact with the random access node, repeating steps (2) and (3) until the rescuer leaves the rescue site. The wireless communication between the monitoring terminal and the aggregation node then disconnects, and the node sequence number within the site is automatically refreshed. Replace the original Become the new .

[0132] If the random node is damaged Furthermore, the location is outside the line of sight, requiring rescue personnel or external emergency personnel to first locate the random access node. or ,by For example, in and Close to each other Deploy new random access nodes in unobstructed locations around the site. And complete the network access operation; if the link still cannot be connected, then... and Close to each other Deploy new random access nodes in unobstructed locations around the site. The rescuer's monitoring terminal continues to interact with the random access node, repeating steps C2-C3 until the rescuer leaves the rescue site. At this point, the wireless communication between the monitoring terminal and the aggregation node will disconnect, and the node sequence number within the site will be automatically refreshed. Replace the original Become the new , Replace the original Become the new , Replace the original Become the new , Replace the original Become the new And so on.

[0133] The parts of this invention not described in detail are common knowledge to those skilled in the art.

[0134] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Obviously, those skilled in the art, after understanding the content and principle of the present invention, may make various modifications and changes in form and detail without departing from the principle and structure of the present invention. However, these modifications and changes based on the concept of the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. An indoor rescue system based on wireless indoor positioning and multimodal sensing, characterized in that, include: The system consists of wireless positioning nodes, wireless terminals, and a real-time monitoring platform. The wireless positioning nodes and wireless terminals work together to collect data, including real-time location measurement data of rescue personnel, vital sign data of personnel, and environmental monitoring data. The real-time monitoring platform is divided into a network platform and a local platform, depending on the access method, and is used to receive, parse, and record various types of data. The wireless positioning node includes multiple random access nodes and one aggregation node. The random access nodes are used to receive data collected by the monitoring terminal of the rescue personnel and transmit it to the aggregation node. The aggregation node transmits the collected data to the real-time monitoring platform. The data includes personnel location measurement data, vital sign data, and environmental monitoring data. The wireless terminal is divided into a rescuer monitoring terminal and a rescued person monitoring terminal. The rescuer monitoring terminal is used to collect vital sign data and environmental monitoring data of rescuers, and at the same time, it works with the wireless positioning node to collect real-time location measurement data of rescuers. The rescued person monitoring terminal is used to collect vital sign data of rescued persons and transmit it to the rescuer monitoring terminal in real time. All data collected by the wireless terminal is processed at the rescuer monitoring terminal and then sent to the aggregation node.

2. The system according to claim 1, characterized in that: The random access node includes a power management unit, a central control unit, and a wireless communication module and an environmental sensing module that are independently connected to the central control unit; the aggregation node includes a power management unit, a central control unit, and a wireless communication module, a high-speed data interface, and a 4G / 5G module that are independently connected to the central control unit.

3. The system according to claim 1, characterized in that: The rescue personnel monitoring terminal includes a power management unit, a central control unit, and wireless communication modules, vital sign monitoring modules, inertial navigation units, environmental sensing modules, voice prompt modules, data storage units, and data processing units, each independently connected to the central control unit.

4. The system according to claim 1, characterized in that: The monitoring terminal for rescued personnel includes a power management unit, a central control unit, and a wireless communication module and a vital signs monitoring unit that are independently connected to the central control unit.

5. The system according to claims 2-4, characterized in that: The power management unit is used to supply power to the node or terminal it is located in, and the central control unit is used to control the various modules and units that are independently connected to it to achieve the corresponding functions.

6. The system according to claim 1, characterized in that: The real-time monitoring platform is divided into a network platform and a local platform based on different access methods. The network platform uses a full-network compatible module, which supports multiple frequency bands and network standards including China Mobile, China Unicom, and China Telecom. It connects the aggregation nodes to the platform wirelessly through the operator's network. The local platform connects the aggregation nodes to the platform via short-range high-speed wireless or wired connection. This platform refers to the on-site rescue management terminal deployed on a computer outside the rescue site.

7. A method for deploying the system of claim 1 in a real-world rescue scenario, characterized in that, The implementation steps include the following: (1) Enable the summary node Complete initialization, select the access method to connect to the real-time monitoring platform, and set the wireless communication module to enter the listening state; (2) Activate the monitoring terminal for rescue personnel and connect it with the aggregation node. Establish data transmission relationships; (3) Monitoring terminals and aggregation nodes for rescue personnel Collaboration, periodic collection of measurement data; and passing the measurements through a summary node. Send to the real-time monitoring platform; (4) The real-time monitoring platform analyzes, calculates and stores the measurement data, and selectively sends it to the monitoring terminal of the rescue personnel for storage; (5) The real-time monitoring platform judges the status by combining the received signal strength. When a specific condition is met, it calls the voice prompt module to prompt the rescue personnel to deploy a new random access node. ; (6) Node Join the network, aggregate nodes to update information and maintain communication links; (7) During the search, the rescuers repeat steps (3)-(6), that is, the rescuers' monitoring terminal continuously interacts with the new node. When the received signal strength between the new node and the rescuers' monitoring terminal is lower than the threshold, the next new node is deployed to achieve dynamic expansion of the network while maintaining the positioning and detection functions. During the entire normal deployment of nodes, the system performs a round of overall data transmission and interaction at a set frequency to verify whether the link can work normally.

8. The deployment method according to claim 7, characterized in that: The specific condition mentioned in step (5) refers to the monitoring terminal and aggregation node of the rescue personnel during the advance of the rescue personnel. The received signal strength index between the two values ​​remained below the set threshold for five consecutive measurement cycles.

9. The system according to claim 1, characterized in that: The system has voice guidance and node management functions in abnormal situations. It guides rescuers to their routes by combining the voice prompt module of the rescuer monitoring terminal with node interaction measurement information, and prompts external emergency personnel to replace or redeploy nodes when necessary, so as to ensure the continuous progress of rescue missions.

10. The system according to claim 9, characterized in that: The system abnormalities include the following three categories: First, all nodes carried by the rescuers have been deployed but the rescued person has not been found; second, the rescuers have found the rescued person and led them to evacuate the scene. Third, during the forward movement, a randomly deployed node may fail or a problem may occur at the node, causing the link to break.

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