LinkGuard · Disaster Search and Rescue System

平時守護山林，
災時搶救生命。

Guarding the forest in normal times,
saving lives when disaster strikes.

以 MRT UNO X 為核心的災害救援通訊系統。當災害摧毀行動網路，以長距離無線電、穿戴式生理感測與本地端 AI，把受困者的生命徵象與環境資料送回指揮中心 —— 重新接起搜救人員與受困者之間的連結。一張網路，兩種模式。

A disaster rescue communication system built with MRT UNO X as the core. When a disaster destroys mobile networks, long-range wireless, body sensors and on-device AI carry victims’ vital signs and environment data back to the command center — connecting rescuers and victims again. One network, two modes.

觀看介紹影片Watch the video 系統如何運作How it works

MRT UNO X 為核心主控at the core 2 種感測節點sensor node types 3 台搜索載具search vehicles 0 網際網路需求internet required

No.: —
Project: LinkGuard — 災害搜救系統LinkGuard — Disaster Search and Rescue System
Team Name: LinkGuard
Members: 葉柔昀、朱晢瑞、潘彥熏、朱映潼 YEH, JOU-YUN · CHU, JE-JUI · PAN, YAN-SYUN · CHU, YING-TONG

01 — 概要Summary

一張網路，兩種模式。

One network, two modes.

LinkGuard 是一套以 MRT UNO X 為核心的災害救援通訊系統。 生存信標節點與環境感測節點協同運作，搭配一台地面機器人與兩架無人機（定翼與四旋翼）。當災害摧毀行動網路，本系統以長距離無線電、穿戴式生理感測與 AI，將受困者的生命徵象與環境資料回傳指揮中心 —— 重新接起搜救人員與受困者。一張網路，兩種模式：平時守護山林，災時搶救生命。

LinkGuard is a disaster rescue communication system built with MRT UNO X as the core. The Survival Beacon Node and the Sensor Node work together with one ground robot and two drones (fixed-wing and four-rotor). When a disaster destroys mobile networks, our system uses long-range wireless, body sensors, and AI to send victims’ vital signs and environment data back to the command center — connecting rescuers and victims again. One network, two modes: guarding the forest in normal times, and saving lives when disaster strikes.

02 — 背景Background

行動網路一旦中斷，
搜救就先斷了線。

When the mobile network goes down,
the rescue loses its line first.

台灣地震、颱風與山難頻繁。行動網路一旦中斷，搜救人員無法與受困者聯繫 —— 彼此之間也失去聯繫。

Taiwan has many earthquakes, typhoons, and mountain accidents. When mobile networks go down, rescuers cannot talk to victims — or to each other.

在黃金 72 小時裡，失聯與資訊整合是最大的兩個問題。

Losing communication and putting information together are the biggest problems in the golden 72 hours.

新竹縣消防員訪談Interview · Hsinchu County firefighters

因此我們以 MRT 平台設計一套無需網際網路即可運作、同時蒐集受困者與環境資料的系統，讓搜救更快、更穩定。

So we used the MRT platform to design a system that works with no internet, collects both victim and environment data, and makes search and rescue faster and more stable.

災後黃金搜救時間 —— 失聯與資訊整合是最大瓶頸 The golden window after a disaster — lost comms and scattered information are the bottleneck

系統組成模組 —— 兩種節點、兩類載具、兩個指揮端 Modules in the system — two node types, two vehicle classes, two command-side apps

運作模式 —— 平時守護山林 · 災時搶救生命 Modes — guarding the forest in normal times, saving lives in disaster

網際網路需求 —— AI 於本地端運算，離線即可決策 Internet required — the AI runs on-device, so decisions work offline

03 — 系統組成Composition & Structure

兩種節點、三台載具，
共用同一套無線系統。

Two node types, three vehicles,
one shared wireless system.

節點本體以 MRT 零件構成，MRT UNO X 為主控 —— 讀取感測器、封裝資料並排程發送。點擊任一單元展開完整規格。

Body built with MRT parts; MRT UNO X is the main controller — it reads sensors, packs the data, and schedules transmission. Click any unit to expand its full spec.

以 MRT 零件構成本體，MRT UNO X 為主控 —— 讀取感測器、封裝資料並排程發送。心率／血氧感測器即時回傳受困者的生命徵象；外掛的小型 LoRa 無線模組提供長距離、低功耗的資料鏈路。

Body built with MRT parts; MRT UNO X is the main controller — it reads sensors, packs the data, and schedules transmission. Heart rate / SpO₂ sensors send victims’ vital signs in real time, and a small add-on LoRa module gives long-range, low-power data links.

主控ControllerMRT UNO X

生理感測Vital signs心率 / 血氧Heart rate / SpO₂

無線WirelessLoRa 外掛模組LoRa add-on module

本體BodyMRT 零件MRT parts

電池續航Battery life約 120 小時（一般回報）~120 h (normal duty)

生存信標節點 Survival Beacon Node — 節點讀到 78 bpm，與手腕上的心率手環讀值一致 The node reads 78 bpm — matching the wrist band on the same arm

同樣以 MRT 零件構成本體、MRT UNO X 為主控。土壤含水量／坡度／水位感測器全天候監看二次災害的徵兆，並與生存信標共用同一套無線系統 —— 這是「平時守護山林」的那一半。

Also built with MRT parts and controlled by MRT UNO X. Soil moisture / slope / water level sensors watch for second disasters day and night, and it shares the same wireless system as the Survival Beacon — this is the “guarding the forest” half of the system.

主控ControllerMRT UNO X

環境感測Environment土壤含水 / 坡度 / 水位Soil / slope / water level

無線Wireless與信標同一套Same as the beacon

監看Monitoring全天候 · 二次災害24/7 · second disasters

回報週期Report interval每 5 分鐘（異常即報）Every 5 min (alert on threshold)

環境感測節點 Sensor Node — 環境感測節點 · 野地部署 Sensor Node · deployed in the field

資訊與決策的大腦，AI 於本地端運算、無需網際網路。ICS 五級角色權限、地圖點線面標記、離線同步；即時儀表板顯示上線裝置、受困者統計與 SOS 警報。

The brain for information and decisions; the AI runs locally, no internet needed. ICS five-role permission levels, map marking (points, lines, areas) and offline sync. A live dashboard shows online devices, victim statistics, and SOS alerts.

平台Platform平板 / 筆電Tablet / laptop

AI本地端 · 離線On-device · offline

權限RolesICS 五級角色ICS five levels

地圖Map點 / 線 / 面標記Points / lines / areas

同步Sync離線佇列Offline queue

指揮中心 Command Center — 指揮中心 · 雙螢幕戰情台與地圖 Command Center · dual-screen situation display

接收指揮中心下達的受困者生命徵象與任務指令；以信標訊號強度估算概略距離，搜救員在地圖上標記受困者位置。

Receives victims’ vital signs and mission orders from the command center. It estimates rough distance by beacon signal strength, and rescuers mark victim positions on the map.

平台Platform手機 AppPhone app

測距Ranging信標訊號強度Beacon signal strength

地圖Map受困者標記Victim marking

指令Orders任務下達 / 回報Dispatch / report

搜救員手持端 Rescue Radar — 手機 App 與手持無線終端 Phone app paired with the handheld radio terminal

率先進入危險區域，自主行進並回傳影像與感測資料。由機器人先行探查不穩定結構，讓搜救人員承擔更少風險。

Goes into dangerous areas first; drives itself and sends back video / sensor data. The robot checks unstable structures first, so rescuers take less risk.

任務層級Search layer地面確認Ground confirm

行進Navigation自主導航Self-driving

回傳Downlink影像 / 感測Video / sensor

續航 / 越野能力Endurance / terrain約 40 分鐘 · 平坦／輕度碎石~40 min · flat / light rubble

地面機器人 Ground Robot — 地面機器人 · MRT UNO X 主控與麥克納姆輪 Ground Robot · MRT UNO X controller, mecanum wheels

兩架無人機是一組互補的搭配，不是兩件各自為政的裝備。 定翼無人機滯空時間長、涵蓋範圍廣，負責快速掃描大範圍災區，一旦發現目標就標記座標；四旋翼無人機接著飛抵該座標懸停近拍，補足地面視野的死角。兩者加上地面機器人，構成「廣域 → 近距 → 地面」的三層搜索。

The two drones are a complementary pair, not two separate pieces of kit. The fixed-wing drone has long flight time and wide coverage, so it scans large disaster areas fast and marks the position whenever it finds something; the four-rotor drone then flies to that position, hovers, and films up close, covering blind spots on the ground. Together with the ground robot they form the “wide → close → ground” three-layer search.

定翼 · 任務Fixed-wing · role廣域掃描 · 標記座標Wide scan · mark position

四旋翼 · 任務Four-rotor · role近距查證 · 懸停近拍Close check · hover & film

協同Teaming空地一體 · 三層搜索Air + ground · 3 layers

作業距離 / 飛行時間Operating distance / flight time定翼 ~8 km / 40 分；四旋翼 ~1.5 km / 15 分Fixed-wing ~8 km / 40 min; quad ~1.5 km / 15 min

四旋翼無人機 Four-Rotor Drone — 四旋翼無人機 · 起飛前實拍 Four-Rotor Drone · before take-off

系統通訊架構總覽

System Communication Architecture

從受困者訊號到指揮端，LinkGuard 依任務層級切分頻段，讓搜索、隊伍協作與 HQ 指揮鏈互不混淆。

From the victim signal to command, LinkGuard separates search, team coordination and HQ traffic by mission layer.

Victim 受困者節點Victim node

910.x / 911.x MHz

Rescue Mesh 搜救自組網Rescue mesh

913 MHz

Team Leader 隊長節點Leader node

433 MHz

HQ 指揮鏈節點Command-chain node

BLE

Command App 指揮應用程式Command application

BLE Rescue／HQ 節點可與鄰近 App 雙向同步狀態與指令。 Rescue and HQ nodes can synchronise status and commands with a nearby app.

910.x／911.x MHz · 搜索通訊Search 913 MHz · 隊伍命令Team commands 433 MHz · HQ 指揮鏈HQ command chain BLE · App 與節點App and node

04 — 功能說明Functionality

感測、搜索、決策 ——
三步接起斷掉的那條線。

Sense, search, decide —
three steps to reconnect the line.

滑鼠移到（或點擊）下方任一步驟，上方流程圖會高亮對應的資料路徑。

Hover or click any step below and the diagram above highlights the matching data path.

05 — 數據與效能Data & Performance

把「可以用」變成
可以量的數字。

Turning “it works”
into numbers you can check.

四次通訊實驗測得 LoRa 最大通訊距離為 1.96 公里。

Four communication tests measured a maximum LoRa range of 1.96 km.

LoRa 可通訊距離LoRa link distance

BY TEST · 單位：公尺 (m)unit: meters (m)

系統規格一覽System specs

關鍵數字，一次看完。

The key numbers, in one place.

LoRa 距離為四次通訊實驗的實測結果；其餘為依目前排程、封包大小與耗電條件計算的設計估算。

LoRa ranges are measured results from four communication tests. Other figures are design estimates calculated from current scheduling, packet-size and power assumptions.

項目Item	規格／實測Spec / measured
LoRa 通訊距離LoRa link distance	四次實測：1.59／1.73／1.85／1.96 km；最大 1.96 kmFour tests: 1.59 / 1.73 / 1.85 / 1.96 km; maximum 1.96 km
生存信標節點電池續航Beacon battery life	設計估算：一般約 120 h／低頻 240 h／高頻 48 hDesign estimate: normal ~120 h / low-rate 240 h / high-rate 48 h
環境感測節點回報週期Env. report interval	設計值：每 5 分鐘；超過閾值立即回報Design value: every 5 min; immediate on threshold
指揮中心同時追蹤節點數Nodes tracked at once	容量估算：穩定 40 · 尖峰 55Capacity estimate: stable 40 · peak 55
地面車續航與越野UGV endurance / terrain	設計估算：約 40 分鐘 · 平坦／輕度碎石Design estimate: ~40 min · flat / light rubble
無人機作業距離與飛行時間UAV operating distance / flight time	設計估算：定翼約 8 km／40 分；四旋翼約 1.5 km／15 分Design estimate: fixed-wing ~8 km / 40 min; quad ~1.5 km / 15 min
封包傳送頻率、大小及遺失率Packet rate, size, loss	封包設計約 30–150 bytes；遺失率估算：開闊地 < 5%、邊緣 < 15%Packet design ~30–150 bytes; estimated loss: open < 5%, edge < 15%
SBN 單一節點物料成本（BOM）BOM per SBN node	設計估算：約 NT$2,000，無月租；其他模組成本見下表Design estimate: ~NT$2,000, no subscription; see the table below for other modules

成本與電力Cost & Power

模組成本與續航。

Module cost and endurance.

單套成本與續航時間均為依目前硬體配置整理的估算值。

Per-unit costs and endurance figures are estimates based on the current hardware configuration.

模組Module	單套成本（估）Est. unit cost	續航時間Endurance
SBN 生存信標節點SBN survival beacon node	US$62	一般 120 h／低頻 240 h／高頻 SOS 48 hNormal 120 h / low-rate 240 h / high-rate SOS 48 h
SEN 環境感測節點SEN environmental sensor node	US$83	約 50 天（2×18650、每 5 分鐘回報）；含 2 W 太陽能可長期駐點~50 days (2×18650, reporting every 5 min); 2 W solar supports long-term deployment
CMD 指揮中心CMD command centre	HQ LoRa 節點 US$59＋平板／筆電沿用現有裝備（新購約 US$370）HQ LoRa node US$59 + existing tablet/laptop (about US$370 if purchased new)	HQ 節點 60–90 h（持續接收）；平板 8–10 hHQ node 60–90 h (continuous receive); tablet 8–10 h
RR 搜救員手持端RR rescuer handheld	手持終端 US$60＋手機沿用個人裝備Handheld terminal US$60 + rescuer's existing phone	終端約 70 h（每 3 秒回報）；手機 App 10–14 hTerminal ~70 h (3-second reporting); phone app 10–14 h
UGV 地面機器人UGV ground robot	US$185	40 分鐘（平坦／輕度碎石，2S 3,000 mAh，平均 4.5 A）40 min (flat/light rubble, 2S 3,000 mAh, 4.5 A average)
UAV 空中載具UAV aerial vehicles	四旋翼 US$400／定翼 US$555Quadcopter US$400 / fixed-wing US$555	四旋翼 15 分鐘・1.5 km；定翼 40 分鐘・8 kmQuadcopter 15 min · 1.5 km; fixed-wing 40 min · 8 km

效能情境Performance Scenarios

壓力、斷線與成本。

Load, link loss and cost.

以下依現有系統參數估算不同負載下的預期行為與規模差異。

The following estimates use the current system parameters to compare expected behaviour under different loads.

評估項目Evaluation	條件Condition	預估結果Estimated result
10 節點負載10-node load	一般回報＋隨機 1 個 SOSNormal reports + one random SOS	封包抵達率 98.6% · P95 延遲 1.2 s98.6% delivery · 1.2 s P95 latency
25 節點負載25-node load	一般回報＋同時 2 個 SOSNormal reports + two concurrent SOS	封包抵達率 96.8% · P95 延遲 1.8 s96.8% delivery · 1.8 s P95 latency
40 節點負載40-node load	一般回報＋同時 4 個 SOSNormal reports + four concurrent SOS	封包抵達率 93.5% · P95 延遲 2.7 s93.5% delivery · 2.7 s P95 latency
BLE 斷線BLE link loss	手機離開範圍 30 s 後返回Phone leaves range for 30 s and returns	LoRa 持續運作 · 預估 5–15 s 重新連線並同步狀態LoRa remains active · estimated 5–15 s reconnect and state sync
節點遺失Node loss	單一中繼節點停止回報One relay node stops reporting	30 s 標記逾時 · 其他節點繼續通訊Marked timed-out after 30 s · other nodes continue
HQ App 斷線HQ App link loss	BLE 暫停 60 sBLE unavailable for 60 s	HQ LoRa 鏈維持接收 · App 重連後同步最新狀態HQ LoRa continues receiving · latest state syncs after reconnection

估算基準：L4 Profile、30–150 byte 封包、既有角色回報週期與 18 個搜尋頻道；各負載情境以 10 分鐘任務窗口計算。 Estimate baseline: L4 profile, 30–150 byte packets, current role-report intervals and 18 search channels, calculated over a 10-minute mission window for each load case.

06 — 開發故事Development Story

從一個問題，
做到一套系統。

From one problem
to a whole system.

迭代過程、走過的彎路，以及為什麼最後長成現在這樣。

How the project actually evolved — the detours, the dead ends, and why we ended up here.

源自尖石鄉與泰雅文化的啟發INSPIRED BY JIANSHI & ATAYAL CULTURE

起點

Origin

團隊中有兩位成員在新竹縣尖石鄉長大，並在當地就讀小學。從小生活在陡峭山勢、深邃溪谷與豐富的泰雅文化之中，讓他們與這片土地建立了深厚的連結。然而，這片美麗的山林同時也容易受到地震、颱風、土石流與通訊中斷的威脅。受到家鄉及當地真實防災需求的啟發，我們以尖石鄉為原型設計搜救情境模型，期盼 LinkGuard 能守護這裡的人們，以及他們所珍愛的山林。

Two of our team members grew up in Jianshi Township, Hsinchu County, and attended elementary school there. Surrounded by steep mountains, deep valleys, and the rich Atayal culture, they developed a deep connection with the local environment from an early age. However, this beautiful landscape is also vulnerable to earthquakes, typhoons, landslides, and communication disruptions. Inspired by their hometown and its real disaster challenges, we designed our rescue scenario model based on Jianshi Township, hoping that LinkGuard can help protect both the people and the mountains they cherish.

場域輪廓Landscape

527.6 km² 的山林鄉鎮

A 527.6 km² mountain township

尖石位於新竹縣東南方，海拔約 200–3,000 公尺。山勢、溪谷與分散聚落，使災時通訊與抵達現場都更困難。

Jianshi lies in southeastern Hsinchu County, rising from roughly 200 to 3,000 metres. Mountains, valleys and dispersed settlements make disaster communication and access difficult.

前山／後山Two regions

兩個流域，兩種救援條件

Two watersheds, two rescue contexts

前山屬頭前溪流域，交通與人口較集中；後山屬大漢溪流域，山勢更高、森林更密，包含司馬庫斯、鎮西堡等部落。

The front mountains follow the Touqian River and have better access; the remote Dahan River side is higher and more forested, including Smangus and Cinsbu.

文化核心Cultural heart

泰雅族與山林共生

Atayal life with the mountains

織布、狩獵、農耕、河川漁撈與祖靈信仰延續至今；司馬庫斯、鎮西堡、那羅與馬里光各自保存並發展部落文化。

Weaving, hunting, farming, river fishing and ancestral traditions continue today across communities including Smangus, Cinsbu, Naluo and Mrqwang.

災害風險Hazards

豪雨會放大地形阻隔

Heavy rain amplifies isolation

尖石是頭前溪與大漢溪部分水系的源區。颱風豪雨可能引發坍方、土石流與通訊中斷，正是 LinkGuard 要處理的情境。

Headwaters of the Touqian and Dahan systems cross Jianshi. Typhoons can trigger landslides, debris flows and network outages—the conditions LinkGuard is designed for.

代表場景Landmarks

從溪谷到高山巨木

From river valleys to giant trees

司馬庫斯、鎮西堡神木群、秀巒溫泉與青蛙石天空步道，呈現尖石從前山溪谷到後山高海拔森林的多樣地貌。

Smangus, the Cinsbu giant-tree forest, Xiuluan hot springs and Frog Rock show the terrain’s range from front-country valleys to remote high forests.

設計回應Design response

不依賴網路的在地韌性

Resilience without the internet

LinkGuard 以 LoRa、自組節點與本地端 AI，在基地台失效時維持生命徵象、環境資料與搜救指令的流動。

LinkGuard combines LoRa, self-forming nodes and on-device AI to keep vital signs, environmental data and rescue commands moving when cellular service fails.

為什麼最後選 LoRaWHY LORA

選型

Trade-off

災區的共同前提是「沒有基礎建設可用」。這一條就先排除了依賴基地台的行動網路，以及需要架設 AP 的 Wi-Fi。剩下的候選裡，LoRa 的取捨最符合需求：傳輸距離長、功耗低、免執照頻段、單顆模組成本低 —— 代價是頻寬極小，只能傳結構化的短封包，不能傳影像。這也決定了整套系統的分工：影像交給載具，生命徵象交給 LoRa。

A disaster area shares one premise: no infrastructure to rely on. That alone rules out mobile networks, which need base stations, and Wi-Fi, which needs an access point. Among what is left, LoRa’s trade-offs fit best: long range, low power, licence-free band, low per-module cost — at the price of very little bandwidth, enough only for short structured packets, never video. That decided the division of labour for the whole system: video goes to the vehicles, vital signs go over LoRa.

方案	評估結果
衛星通訊器如 Garmin inReach 類產品	裝置約 NT$12,000 起，另需約 NT$450–2,000 月租費；而且需要開闊的天空視野，在尖石鄉的山谷與林蔭下訊號可能不穩定。
Wi-Fi／藍牙 Mesh	實測或規格上的有效距離僅約 120 公尺，不足以覆蓋約 4 公里範圍的山區搜救任務。
星狀拓撲單一中心節點	只要指揮中心節點故障，整個網路就會癱瘓，形成單一故障點，缺乏任務所需的容錯能力。
LinkGuard 自組 LoRa Mesh	沒有單一故障點；四次實驗測得最大通訊距離為 1.96 公里；不需月租費，也不依賴開闊的天空視野。

Option	Evaluation
Satellite messenger e.g. Garmin inReach-type products	Devices start at approximately NT$12,000, plus a monthly fee of about NT$450–2,000. They also need a clear view of the sky, so reception may be unreliable in Jianshi Township’s valleys and beneath dense tree cover.
Wi-Fi / Bluetooth mesh	Its tested or specified effective range is only about 120 metres, too short for a mountain rescue operation spanning roughly 4 kilometres.
Star topology single central node	If the command-centre node fails, the entire network goes down. This single point of failure does not provide the fault tolerance required for rescue operations.
LinkGuard self-built LoRa mesh	No single point of failure; a maximum communication distance of 1.96 kilometres measured across four tests; no subscription fee; and no need for a clear view of the sky.

核心元件如何選定CHOOSING THE CORE COMPONENTS

選型理由

Component choices

無線核心採用 MRT UNO X＋LoRa 模組。MRT UNO X 負責讀取感測資料、封裝短封包、更新 OLED 與處理本機控制；LoRa 模組則提供低功耗、長距離的災區通訊。模組化設計方便快速組裝、替換與維修，也讓團隊能把時間集中在多角色流程、封包設計與現場操作可靠度。

We chose MRT UNO X + a LoRa module. MRT UNO X reads sensor data, packages short packets, updates the OLED and handles local controls, while the LoRa module provides low-power, long-range disaster-area communication. The modular design is quick to assemble, replace and repair, allowing the team to focus on role-based workflows, packet design and operational reliability.

心率資料優先採用支援標準 BLE Heart Rate Service 的穿戴裝置，而不是把自製感測器當成唯一來源。這能減少額外接線與配戴負擔；若 Garmin 裝置未連線，Victim 韌體仍會切換至測試心率模式，使通訊、介面與警示流程可以持續運作及展示。

Heart-rate input prioritises wearables that support the standard BLE Heart Rate Service instead of depending on a custom sensor as the only source. This reduces wiring and wearing complexity. If the Garmin device is unavailable, Victim firmware falls back to a test heart-rate mode so communication, UI and alert workflows remain operational.

第一線回饋改變了設計FIELD FEEDBACK CHANGED THE DESIGN

從訪談到重構

From interview to redesign

消防人員訪談讓團隊重新檢視「功能越多越好」的原始想法。災害現場同時面臨通訊不穩、高壓決策、人員疲勞與戴手套操作，因此介面改以大按鈕、單手操作、緊急功能固定位置 為原則，並依任務角色拆分 HQ 與 Field App，避免所有資訊擠在同一個畫面。

Firefighter interviews made us reconsider the original assumption that more features always make a better tool. Disaster scenes combine unstable communications, high-pressure decisions, fatigue and gloved operation. We therefore centred the interface on large controls, one-handed use and fixed emergency actions, while separating HQ and Field App views by operational role.

這份回饋也強化了 Offline First 與分層通訊的方向：即使網際網路或手機鏈路中斷， LoRa 節點仍能持續收發短封包，OLED、蜂鳴器與震動馬達則保留最直接的現場提醒。

The same feedback reinforced an offline-first, layered communication design. Even when internet or phone links fail, LoRa nodes continue exchanging short packets, while the OLED, buzzer and vibration motor preserve immediate on-device alerts.

遇到的技術瓶頸與解法WHAT BROKE, AND HOW WE FIXED IT

卡關

Bottleneck

多節點共用頻道時容易發生封包碰撞，因此我們導入 LoRa 頻道活動偵測、 Binary Exponential Backoff 與 18 個搜尋頻道分流；封包 ID 去重則避免相同訊息被重複套用。在省電方面，系統以非阻塞排程、無線電休眠及 RSSI 動態功率調整兼顧回報速度與續航。

Multiple nodes sharing one channel caused packet collisions, so we implemented LoRa channel activity detection, binary exponential backoff and traffic distribution across 18 search channels. Packet-ID deduplication prevents repeated processing, while non-blocking scheduling, radio sleep and RSSI-based power control balance responsiveness and endurance.

目前的狀態WHERE THE SYSTEM STANDS NOW

現在

Today

LinkGuard 系統已完成整合與實機驗證。Victim、Rescue 與 HQ 三種節點韌體、 LoRa 多頻通訊、BLE Gateway、SOS／MAYDAY、隊伍命令、OLED 介面、封包去重、頻道退避及省電模式皆已完成，並整合為可操作的災害搜救通訊系統。

LinkGuard is fully integrated and verified on hardware. The Victim, Rescue and HQ firmware roles, multi-frequency LoRa communication, BLE gateway, SOS / MAYDAY, team commands, OLED interface, packet deduplication, channel backoff and power modes are complete as one operational disaster-rescue communication system.

07 — 方案比較Comparison

和既有方案
差在哪裡。

How this differs from
what already exists.

從覆蓋範圍、基礎建設需求、容錯能力與成本比較各類方案。

A comparison across coverage, infrastructure requirements, fault tolerance and cost.

比較項目Criterion	LinkGuard	衛星通訊器Satellite messenger	一般 LoRa Mesh 救災系統Generic LoRa mesh system
覆蓋範圍Coverage	節點對指揮中心的長距鏈路，加上空中／地面載具擴大搜索面；四次實驗測得最大通訊距離為 1.96 公里。 Long-range node-to-centre links, extended by air and ground vehicles; four tests measured a maximum range of 1.96 km.	近乎全球，但需要開闊天空視野，樹冠層與室內／廢墟下容易失效 Near-global, but needs open sky; unreliable under tree canopy, indoors or under rubble	依節點密度而定，需要佈夠多中繼點才能連成面 Depends on node density; needs enough relays to form continuous coverage
離線能力Offline	● 完全離線；AI 於指揮中心本地端運算，全程不需網際網路 Fully offline; the AI runs on the command center device, no internet at any point	○ 需訂閱服務與衛星鏈路，多數機種仰賴雲端轉送訊息 Needs a subscription and a satellite link; most devices relay messages through the cloud	● 通常可離線，但決策與資料整合多半仍需另接後端 Usually offline-capable, but decision-making and data fusion often still need a backend
資料型態Data	生命徵象（心率／血氧）＋環境資料（含水／坡度／水位）＋載具影像，結構化進同一個儀表板 Vital signs (HR / SpO₂) + environment data (soil / slope / water) + vehicle video, all structured into one dashboard	以簡訊、座標與 SOS 為主，無生理與環境感測 Mostly text, coordinates and SOS; no physiological or environmental sensing	多半只傳位置與文字訊息 Usually position and text messages only
部署難度Deployment	節點以 MRT 零件組成，可快速複製與維修；載具需操作人員 Nodes are built from MRT parts, quick to replicate and repair; the vehicles need operators	開箱即用，個人裝置門檻最低 Works out of the box; the lowest barrier as a personal device	需事先規劃節點佈點與中繼拓撲 Requires planning node placement and relay topology in advance
成本Cost	SBN 單一節點物料成本約 NT$2,000，無月租費；其他模組依配置計價 SBN bill of materials ~NT$2,000 per node, no subscription; other modules vary by configuration	裝置費約 NT$12,000 ＋月租約 NT$450–2,000 Device ~NT$12,000 plus ~NT$450–2,000 / month	硬體成本低，但整體佈建成本隨節點數線性上升 Cheap hardware, but total build-out cost scales linearly with node count
主要限制Limitation	頻寬小，只能傳結構化短封包；影像須靠載具鏈路 Very little bandwidth — short structured packets only; video depends on the vehicle link	無法感測受困者狀態，也無法整合現場資訊 Cannot sense a victim’s condition, and cannot integrate on-scene information	缺乏統一的指揮與決策層 Lacks a unified command and decision layer

註：本表中他方案的描述為通則性比較，未逐一對應特定商品型號。填入實際型號與報價後可信度更高。

Note: the other two columns describe categories in general terms, not specific products. Naming actual models and quoting real prices would make this table stronger.

08 — 現場紀錄From the Field

從討論、製作，
到每一次完成。

From discussion and making
to every milestone.

記錄 LinkGuard 從情境模型、硬體組裝到系統整合的開發歷程；點擊照片可放大查看。

A visual record of LinkGuard, from scenario modelling and hardware assembly to system integration. Select any photo to enlarge it.

01–04 / 22

系統介紹影片Introductory video

1 分 10 秒 · 含中英字幕 · 在 YouTube 開啟 1 min 10 sec · Chinese & English subtitles · Open on YouTube

09 — 技術細節Technical Deep Dive

想看細節的，
從這裡往下。

For readers who want
to go deeper.

韌體架構與封包格式收在摺疊區，不打斷一般訪客的閱讀節奏。

Firmware architecture and packet format — folded away so they don’t interrupt the main reading flow.

系統以 MRT UNO X＋LoRa 無線模組為核心，預設 L4 Profile： SF9、125 kHz、Coding Rate 4/6。MRT UNO X 負責感測、資料封裝、顯示與任務排程，LoRa 模組負責長距離短封包通訊；三種程式角色分別對應受困者節點、搜救節點與 HQ 指揮鏈。

The system is built around MRT UNO X + a LoRa radio module. Its default L4 profile uses SF9, 125 kHz bandwidth and coding rate 4/6. MRT UNO X handles sensing, packet construction, display and task scheduling, while LoRa carries long-range short packets. Three program roles cover victim, rescue and HQ command-chain nodes.

韌體	用途	工作頻率
victim.ino	受困者心跳、心率與 SOS	910.1 MHz
rescue.ino	搜救節點、BLE Gateway 與隊員命令	910.x／911.x、913 MHz
hq.ino	HQ 指揮鏈節點	433 MHz

Firmware	Role	Frequency
victim.ino	Victim heartbeat, heart rate and SOS	910.1 MHz
rescue.ino	Rescue node, BLE gateway and team commands	910.x / 911.x, 913 MHz
hq.ino	HQ command-chain node	433 MHz

三種韌體各自處理 LoRa、BLE 與本機警示，讓指揮命令、受困者狀態及緊急求救能在不同角色間傳遞。

Three firmware roles coordinate LoRa, BLE and local alerts to carry commands, victim status and emergency calls.

HQ 指揮中心端

hq.ino

初始化 OLED、電池、LoRa 與 BLE，等待 Mac／iPad HQ App 連線。
將 App 的指揮命令轉為 CMD 封包，透過 433 MHz 廣播。
收到其他節點的 CMD 後解析內容，透過 BLE Notify 回傳 App。
定期回報電量、LoRa 檔位、命令數量與節點狀態。

搜救／隊長端

rescue.ino

由 iPhone Field App 設定人員、配對碼、頻率、模式與功率。
長按 PRG 3 秒切換本機 SOS；啟動後每 10 秒廣播 MAYDAY。
接收 ACK／SOS 後更新電量、心率、RSSI、SNR 與估算距離。
收到 SOS 或 CMD 時啟動 OLED、蜂鳴器與震動提醒，並同步至 App。

受困者端

victim.ino

透過 BLE 與手機同步 SOS、心率、電量、模式及配對狀態。
可連接 Garmin 心率裝置；未連線時使用測試心率模式。
短按 PRG 切換 SOS，長按 2 秒切換心率模式。
一般狀態定期送出 ACK；SOS 時切換頻率並提高發送頻率。

HQ node

hq.ino

Initializes OLED, battery, LoRa and BLE, then awaits the Mac/iPad HQ App.
Converts app commands into CMD packets and broadcasts them over 433 MHz.
Relays received CMD packets and periodic node status to the app via BLE Notify.

Rescue / leader node

rescue.ino

The iPhone Field App configures identity, pairing, frequency, mode and power.
A three-second PRG hold toggles local SOS and sends MAYDAY every 10 seconds.
ACK, SOS and CMD packets update status, activate alerts and sync to the app.

Victim node

victim.ino

BLE synchronizes SOS, heart rate, battery, mode and pairing with a phone.
Uses Garmin heart rate when available, otherwise a test heart-rate mode.
Sends regular ACK packets, or faster SOS packets after SOS is activated.

指揮命令 HQ App→ BLE→ 433 MHz CMD→ 搜救節點→ 聲音／震動→ iPhone App

受困者 SOS Victim→ SOS LoRa→ 搜救節點→ OLED 資訊→ 聲音／震動→ iPhone App

搜救員求救長按 PRG 3 秒→ 本機 SOS→ 每 10 秒 MAYDAY→ 其他節點

Command HQ App→ BLE→ 433 MHz CMD→ Rescue node→ Alert→ iPhone App

Victim SOS Victim→ SOS LoRa→ Rescue node→ OLED / alert→ iPhone App

MAYDAY Hold PRG 3 sec→ Local SOS→ MAYDAY / 10 sec→ Other nodes

主迴圈採高速輪詢，以 millis() 獨立排程各項任務。Victim 一般模式每 15 秒回報， SOS 時縮短為 3 秒；Rescue 一般模式每 3 秒回報，並提供 Mountain、Power Save、 Ultra Save、Quake 與 Silent 模式；HQ 每 5 秒發送 HQPING。

The high-speed polling loop schedules independent tasks with millis(). Victim reports every 15 seconds, or every 3 seconds in SOS mode. Rescue reports every 3 seconds in Normal mode and also provides Mountain, Power Save, Ultra Save, Quake and Silent modes. HQ sends HQPING every 5 seconds.

Victim 會在 30 秒無互動後關閉 OLED，完成發送後讓無線電進入休眠，並依 RSSI 在 14／18／22 dBm 間動態調整功率；發送前再自動喚醒。

Victim turns off its OLED after 30 seconds of inactivity, sleeps the radio after transmission, wakes it before the next send, and adjusts output power among 14, 18 and 22 dBm according to RSSI.

發送前先執行 LoRa 頻道活動偵測，並搭配 Binary Exponential Backoff： BE 2–4、5 ms Slot、最多 3 次嘗試。系統使用 18 個搜尋頻道分流，另以 433 MHz 承載 HQ 指揮鏈、913 MHz 承載隊伍命令。

Before transmission, LoRa channel activity detection is combined with binary exponential backoff: BE 2–4, 5 ms slots and up to three attempts. Eighteen search channels distribute traffic, while 433 MHz carries the HQ chain and 913 MHz carries team commands.

Rescue 保存最近 10 個封包 ID、HQ 保存最近 20 個，避免重複套用；SOS 與 MAYDAY 採週期重播，緊急封包同時使用搜尋頻率與 913 MHz 雙頻送出，提升抵達率。

Rescue retains the latest 10 packet IDs and HQ retains 20 for deduplication. SOS and MAYDAY use periodic rebroadcasting, while emergency packets are sent on both the search frequency and 913 MHz to improve delivery.

線路資料使用 UTF-8 字串，以 | 分隔；共用 Header 依序為 pktId、pairCode、senderID、type、payload。接收端以 pktId 去重， pairCode 則用於區分不同隊伍。

On-air data uses UTF-8 strings separated by |. The shared header is pktId, pairCode, senderID, type and payload. Receivers deduplicate by pktId, while pairCode separates teams.

// Victim SOS · 典型 27–32 bytes
pktId|pair|sender|SOS|B{bat}|BPM{hr}

// Rescue Team · 典型 30–40 bytes
pktId|pair|sender|TEAM|B{bat}|V{count}|D{dept}

// Mayday · 約 80–150 bytes（含 GPS）
pktId|pair|sender|MAYDAY|B{bat}|N{name}|T{title}|LAT{lat}|LON{lon}|ACC{accuracy}

預設 L4 Profile 下，30-byte 封包空中時間約 0.25 秒、100-byte 約 0.65 秒、 200-byte 約 1.19 秒；系統依 255-byte payload 上限管理可變長度內容。

Under the default L4 profile, estimated time-on-air is approximately 0.25 seconds for 30 bytes, 0.65 seconds for 100 bytes and 1.19 seconds for 200 bytes. Variable-length content is managed within the 255-byte payload limit.

封包大小Packet size約 30–150 bytes（依類型；Mayday 含 GPS）~30–150 bytes (by type; Mayday w/ GPS)

傳送／看門狗TX / watchdog環境 5 分鐘；Watchdog 30 秒Env 5 min; watchdog 30 s

遺失率目標Loss target開闊地 < 5%；邊緣 < 15%Open < 5%; edge < 15%

安全與部署Safety & Deployment

不只要傳得到，
也要能在現場撐得住。

Built not only to connect,
but to endure the field.

從裝置保護、斷線容錯到命令權限，系統以災區持續運作與可控部署為設計前提。

From enclosure protection and link-loss tolerance to command authority, the system is designed for controlled, continuous disaster-field operation.

環境防護FIELD PROTECTION 故障容錯FAULT TOLERANCE 權限控管ACCESS CONTROL

外殼採封閉式結構、接縫防潑水處理與連接埠防護蓋，降低雨水與粉塵進入風險；四角緩衝與內部固定結構可吸收跌落及運輸震動。操作按鍵保留戴手套時的辨識度，方便救援現場快速使用。

The enclosure uses a closed structure, splash-resistant seams and protected ports to reduce water and dust ingress. Corner buffers and internal mounting absorb drops and transport vibration, while controls remain identifiable when wearing gloves.

電源模組具備過充、過放、過流與短路保護。節點持續回報電量，低於警戒值時會在 OLED 與 App 顯示警報；電量進一步下降後，自動降低非必要更新頻率，優先保留 SOS、定位與基本通訊能力。

The power module protects against overcharge, over-discharge, overcurrent and short circuits. Nodes continuously report battery level; OLED and app warnings appear below the alert threshold, followed by reduced non-essential updates to preserve SOS, location and basic communications.

通訊中斷不會停止節點本地工作：感測、SOS 按鍵與警報判斷仍持續運作。系統會重試可用頻道並保留最新狀態；指揮端在逾時後標示節點離線，重新連線時再更新狀態，避免舊資料被誤認為即時資訊。

A lost link does not stop local sensing, the SOS button or alert decisions. The node retries available channels and retains its latest status. Command interfaces mark timed-out nodes offline and refresh their state after reconnection so stale data is not mistaken for live information.

系統不依賴單一中心節點維持前線通訊；個別節點失聯時，其餘節點仍可繼續交換資料。指揮端依心跳逾時標示失聯節點與最後狀態，替換節點則可透過相同隊伍配對流程重新加入，不需要重建整套網路。

Front-line communications do not depend on one central node. Other nodes continue exchanging data when an individual unit is lost. The command interface shows its last state and heartbeat timeout, while a replacement can rejoin through the same team-pairing process.

節點僅接受相同隊伍配對碼的資料，避免不同搜救隊伍互相套用命令。一般隊員、隊長與 HQ 依角色分級：狀態回報可由前線節點送出，隊伍命令由隊長發布，跨隊或 HQ 級指令則限指揮端操作。

Nodes accept data only from the matching team code, preventing commands from one rescue team being applied by another. Authority is role-based: field nodes report status, team leaders issue team commands, and cross-team or HQ-level instructions are restricted to command operators.

配對碼負責隊伍隔離與基本存取控制，不等同端對端加密；正式部署可依任務風險加入金鑰與訊息驗證機制。Pair codes provide team isolation and basic access control; they are not equivalent to end-to-end encryption. Deployment profiles can add keys and message authentication according to mission risk.

SOS、MAYDAY、ALERT 與高優先級 CMD 會優先於一般心跳與狀態回報。緊急訊息採較短重播週期，並透過搜索頻率與 913 MHz 雙頻送出；接收端以封包 ID 去重，降低重播造成的重複警報。

SOS, MAYDAY, ALERT and high-priority CMD traffic takes precedence over routine heartbeats and status reports. Emergency messages use shorter rebroadcast intervals and transmit on both the search frequency and 913 MHz; packet-ID deduplication prevents repeated alerts at the receiver.

網站所列頻率與 14／18／22 dBm 功率為系統測試 Profile。正式部署時，會依使用地區的頻譜規範、允許頻段、等效輻射功率、占空比與設備認證條件選用設定，並使用符合當地要求的無線模組、天線及電源配置。

The listed frequencies and 14 / 18 / 22 dBm levels are system test profiles. Operational deployment selects settings according to local spectrum rules, permitted bands, effective radiated power, duty-cycle limits and equipment certification, using compliant radio modules, antennas and power configurations.

測試 Profile 不代表在所有地區均可直接使用；每次跨地區或正式部署前，均須重新完成法規與設備條件檢核。A test profile is not automatically authorised in every region. Regulatory and equipment conditions must be checked again before operational deployment or use in another jurisdiction.

10 — 部署方案Deployment Plan

從單隊到鄉鎮規模。

From one team to township scale.

以下均為設計情境與成本試算，用於比較不同部署規模，不代表已完成相同規模的正式演練或採購。

These design scenarios and cost estimates compare deployment scales; they do not claim a completed drill or purchase at the same scale.

單隊演練情境

Single-team scenario

→4 名搜救員、10 個節點、1 個 HQ 指揮端
→規劃範圍 1 km²，任務時間 90 分鐘
→同時處理 1 個 Victim SOS 與 1 個搜救員 MAYDAY

→4 rescuers, 10 nodes and 1 HQ command endpoint
→1 km² planned area and a 90-minute mission
→One Victim SOS and one rescuer MAYDAY handled concurrently

規模化與成本

Scaling & cost

→10 節點：約 NT$20,000
→40 節點：約 NT$80,000
→100 節點：約 NT$200,000；均以 SBN 基準 NT$2,000／節點估算，不含人力、載具、SEN 價差與備品

→10 nodes: approximately NT$20,000
→40 nodes: approximately NT$80,000
→100 nodes: approximately NT$200,000; calculated from the SBN baseline of NT$2,000 per node, excluding labour, vehicles, SEN cost differences and spares

鄉鎮級情境

Township-scale scenario

→4 支搜救隊、40 個節點、2 個 HQ 端點
→規劃範圍 4 km²，節點平均間距約 300–500 m
→40 節點高負載預估抵達率 93.5%，P95 延遲 2.7 s
→保留 10% 備援節點，即另備 4 個節點

→4 rescue teams, 40 nodes and 2 HQ endpoints
→4 km² planned area with 300–500 m average node spacing
→40-node high-load estimate: 93.5% delivery and 2.7 s P95 latency
→10% node reserve, equivalent to 4 spare nodes

11 — 團隊Team

LinkGuard

點擊成員展開分工與自述。

Click a member to expand their role and introduction.

負責系統測試、電路設計、實驗設計，並統籌文件紀錄與軟體除錯。

Responsible for system testing, circuit design and experiment design; also coordinates documentation and software debugging.

「身為隊長，我想確保每個環節都真的禁得起考驗，而不只是看起來完成。」

“As team leader, I want to make sure every part can truly withstand scrutiny, rather than merely look complete.”

負責無人機、地面車輛與 LoRa 通訊模組之開發整合。

Develops and integrates the drones, the ground vehicle, and the LoRa communication module.

「看著家鄉的山，我想做出真正能在颱風、地震時幫上忙的無人機。」

“Looking at the mountains of my hometown, I wanted to build a drone that could truly help during typhoons and earthquakes.”

負責指揮中心與手持終端 App 之開發與製作。

Builds the command center and the handheld terminal apps.

「我想寫出救難人員在慌亂中，也能一眼看懂的操作介面。」

“I want to build an interface that rescue workers can understand at a glance, even amid the confusion of an emergency.”

負責山體地形模型、機器外型與團隊 Logo 之設計製作。

Designs and builds the terrain model, the enclosures of the machines, and the team logo.

「尖石的泰雅文化養育了我，我想把這份感情，做進機器的每一個外型裡。」

“Jianshi’s Atayal culture shaped who I am, and I want that connection to live in every form I design for our machines.”

指導老師Advising Teachers

李采珊　·　王勝毓　·　張詠竣