Multi-hop transmission link can achieve long distance wireless communication by adding wireless relay nodes. On the basis of the existing literatures，a multi-hop building route protocol between the rescue robot and the operation console is studied in emphasis，and a transmission link is established by using the technique of frequency selection communication. In order to avoid the collisions among wireless packets, a transmission protocol based on the full-time alternate node transmission protocol is designed by adding the technique of frequency selection communication. According to the simulation test, a transmission link can be established based on the designed protocols and bidirectional data transmission can be realized without collisions.