This article proposes a design scheme for intelligent equipment for remote search and rescue in the event of a mine disaster. This design uses STM32 and ESP32 as the core for data processing and transmission. Multiple sensors are used to intelligently detect harmful gases, distinguish the presence of human voices, and automatically avoid obstacles. Remote control is achieved through Bluetooth technology, and MIME technology is used for real-time image transmission on site. By detecting signal strength, relative positioning is achieved using hyperbolic positioning method. The intelligent remote search and rescue vehicle based on STM32 can detect the harmful gas content and presence of vital signs at the rescue site while ensuring normal rescue, and collect real-time images of the scene.