Safety monitoring and early warning system for smart walking stick

Abstract

The invention relates to the technical field of intelligent health monitoring and auxiliary equipment, in particular to a safety monitoring and early warning system for an intelligent walking stick, which comprises a positioning module, an electronic fence module, a heart rate monitoring module, a fall recognition module, a comprehensive analysis module and an execution module, according to the intelligent walking stick, the GPS technology and the LBS base station positioning technology are combined, accurate positioning and positioning correction of the intelligent walking stick are achieved, the electronic fence module is arranged, whether a user crosses the border or not is monitored in real time, and the safety of old people or other users in need in outdoor activities is effectively guaranteed; the heart rate monitoring module monitors the heart rate condition of a user in real time, and when abnormal heart rate fluctuation is detected, a health alarm is given out in time to help prevent health risks; the posture of a user and the motion state of the walking stick are monitored in real time through the inertial measurement unit in combination with acceleration data, the falling behavior can be accurately recognized, and a certain safety guarantee is provided for old people living alone.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent health monitoring and auxiliary equipment, and in particular to a safety monitoring and early warning system for a smart walking stick. Background Art

[0002] Health management and safety protection for the elderly have become social issues that need to be addressed urgently. Many elderly people face the risk of falling, getting lost, and health emergencies in their daily lives due to the decline of their physical functions, especially in outdoor activities. If there is no timely monitoring and intervention, serious consequences may occur. Therefore, it is particularly important to develop smart devices that can perform real-time health monitoring and safety management for the elderly.

[0003] There are many smart devices for the safety and health management of the elderly on the market, such as wearable heart rate monitoring bracelets, GPS trackers, emergency call buttons, etc. However, most of these devices have the problems of single function, poor real-time performance, and insufficient comprehensiveness. Heart rate monitoring bracelets usually only have a single heart rate monitoring function and cannot conduct a comprehensive analysis of the user's posture, location information, and health status; although GPS trackers can provide location information, they do not have the ability to perceive the user's health status and cannot effectively ensure the user's overall safety; emergency call buttons rely on users to actively trigger, and cannot automatically alarm when the user falls or has an abnormal heart rate, and cannot provide effective help in a timely manner.

[0004] In view of the above problems, it is necessary to propose a safety monitoring and early warning system for a smart cane. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the background technology and to provide a safety monitoring and early warning system for a smart walking stick.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A safety monitoring and early warning system for a smart walking stick comprises a positioning module, an electronic fence module, a heart rate monitoring module, a fall recognition module, a comprehensive analysis module and an execution module.

[0008] The positioning module combines GPS technology and LBS base station positioning technology to perform preliminary positioning and positioning correction at preset time intervals t to accurately position the smart cane. Specifically:

[0009] Initial positioning: directly obtain the longitude Lo, latitude La and altitude h of the location of the smart cane through GPS satellite positioning, generate GPS positioning coordinates (Lo, La, h), and record them as initial positioning coordinates;

[0010] Positioning correction: Get the identification ID of all LBS base stations connected to the smart cane, and get the longitude Lo'_ID, latitude La'_ID and altitude h'_ID of each LBS base station. Perform positioning correction calculation based on GPS positioning coordinates (Lo, La, h): Through the formula Calculate the physical distance d(ID) between the preliminary positioning coordinates and each LBS base station. Extract the identification IDs corresponding to the three LBS base stations with the smallest physical distances and record them as the first base station, the second base station, and the third base station respectively. Their coordinates are recorded as (Lo_1, La_1, h_1), (Lo_2, La_2, h_2), and (Lo_3, La_3, h_3).

[0011] As a preferred embodiment of the present invention, the strengths RSSI1, RSSI2 and RSSI3 of the signals sent from the first base station, the second base station and the third base station measured by the smart walking stick are obtained.

[0012] By formula Calculate the distances r1, r2 and r3 between the first, second and third base stations and the smart walking stick. τ1 and τ2 are preset signal attenuation factors and both τ1 and τ2 are natural numbers greater than 0; RSSI01, RSSI02 and RSSI01 are the signal output strengths of the first, second and third base stations, respectively.

[0013] Solve the positioning correction equations: Get the corrected positioning coordinates (x, y, z).

[0014] The corrected positioning coordinates (x, y, z) are sent to the electronic fence module.

[0015] The electronic fence module obtains the electronic fence limit area parameters input by the user, including the center point coordinates (x_fence, y_fence, z_fence) and the limit radius L of the electronic fence limit area.

[0016] When the conditions are met When the value of the first out-of-bounds parameter beyond_1 is set to 1; otherwise, the value of the first out-of-bounds parameter beyond_1 is set to 0;

[0017] When the conditions are met When the value of the second out-of-bounds parameter beyond_2 is set to 1; otherwise, the value of the second out-of-bounds parameter beyond_2 is set to 0;

[0018] When the conditions are met When the value of the third out-of-bounds parameter beyond_3 is set to 1; otherwise, the value of the third out-of-bounds parameter beyond_3 is set to 0;

[0019] When the values ​​of the first, second and third out-of-bounds parameters are all 0, it is determined that the smart cane has not crossed the boundary; otherwise, it is determined that the smart cane has not crossed the boundary, and the formula Calculate the out-of-bounds distance d_beyond.

[0020] Output the corrected positioning coordinates (x, y, z) and the out-of-bounds distance d_beyond.

[0021] The heart rate monitoring module obtains the user's heart rate data through the smart cane. Specifically, the time interval RR(i) between two consecutive heartbeats of the user is recorded in real time through the photoplethysmography on the handle of the smart cane, in seconds, where i is the number of recorded heartbeats, i=1, 2, 3, ..., n.

[0022] As a preferred embodiment of the present invention, feature extraction and outlier analysis are performed on the time interval RR(t) between two consecutive heartbeats.

[0023] By formula Calculate the user's real-time heart rate HR(t) at each heartbeat i.

[0024] Get the maximum amplitude HRMax and the minimum amplitude HRMin of the real-time heart rate HR(i);

[0025] By formula A first heart rate abnormality parameter is calculated.

[0026] By formula The root mean square of the continuous differences of the continuous heart rates is calculated and recorded as the second heart rate abnormality parameter E2.

[0027] The first abnormal heart rate parameter E1 and the second abnormal heart rate parameter E2 are sent to the comprehensive analysis module.

[0028] The fall recognition module detects user falls through the inertial measurement unit in the grip part of the smart cane.

[0029] The inertial measurement unit captures data through an accelerometer, and measures the acceleration component a of the cane handle in the three directions of longitude, latitude and altitude at preset time intervals t. x 、a y and a z .

[0030] By formula Calculate the roll angle θ1 and the tip angle θ2.

[0031] As a preferred embodiment of the present invention, after each preset detection period T, a roll angle-time graph and a tilt angle-time graph are drawn with the roll angle θ1 and the tilt angle θ2 as the horizontal axis and time as the vertical axis, and the roll angle-time graph and the tilt angle-time graph are input into a preset PID analysis program for feature extraction.

[0032] The PID analysis procedure is specifically as follows:

[0033] The expressions θ1=f1(t) and θ2=f2(t) of the roll angle-time diagram and the tip angle-time diagram are obtained respectively.

[0034] By formula Calculate the first PID characteristic value η1 of the rolling angle-time diagram and the second PID characteristic value η2 of the tilting angle-time diagram. 1,2 is the proportional eigenvalue, μ2 1,2 is the differential eigenvalue, μ3 1,2 is the integral eigenvalue; where f 1，2 (t)Max is the maximum amplitude of the expressions θ1 = f1(t) and θ2 = f2(t); where f 1，2 (t)Min is the minimum amplitude of the expression θ1=f1(t) and θ2=f2(t); where is the maximum value of the first-order derivative of the expressions θ1 = f1(t) and θ2 = f2(t); where It is the minimum value of the first-order derivative of the expressions θ1=f1(t) and θ2=f2(t); where K1, K2 and K3 are preset weight factors.

[0035] The first PID characteristic value η1 and the second PID characteristic value η2 are sent to the comprehensive analysis module.

[0036] The comprehensive analysis module records the corrected positioning coordinates (x, y, z), the out-of-bounds distance d_beyond, the first heart rate abnormality parameter E1, the second heart rate abnormality parameter E2, the first PID characteristic value η1 and the second PID characteristic value η2 and inputs them into the comprehensive analysis program to carry out logical judgment;

[0037] The comprehensive analysis procedure is specifically as follows:

[0038] Position and out-of-bounds analysis: The out-of-bounds degree is analyzed through the out-of-bounds distance d_beyond. If d_beyond is greater than the set threshold dMIN, it is determined that the user has crossed the boundary for a long distance and the activity range seriously deviates from the electronic fence limit area, and a first-level out-of-bounds signal is generated; otherwise, a second-level out-of-bounds signal is generated;

[0039] Abnormal heart rate analysis: The heart rate fluctuation amplitude is analyzed through the first abnormal heart rate parameter E1. If E1 exceeds the preset maximum threshold E1_threshold_1 or is lower than the minimum threshold E1_threshold_2, the user's heart rate is judged to be abnormal and a first-level abnormal heart rate signal is generated;

[0040] Perform heart rate fluctuation frequency analysis through the second heart rate abnormality parameter E1. If E2 exceeds the preset maximum threshold E1_threshold, it is determined that the user's heart rate fluctuation is large and there may be potential health risks, and a secondary heart rate abnormality signal is generated;

[0041] Posture stability analysis: Posture stability is judged by the first and second PID characteristic values. If the first PID characteristic value exceeds the set threshold, it means that the tilt angle of the cane has changed abnormally during the previous detection cycle, which may indicate that the user is in an unstable state and generate a first-level instability signal;

[0042] If the second PID characteristic value exceeds the threshold, it indicates that the rolling angle of the cane has changed abnormally, indicating that the user may be at risk of falling and needs to take measures to maintain balance, generating a secondary instability signal.

[0043] After the comprehensive analysis module completes the numerical analysis, it sends the results to the execution module to take corresponding specific actions according to different analysis results.

[0044] The execution module executes the signal response according to the signal sent by the comprehensive analysis module, specifically:

[0045] After receiving the first-level out-of-bounds signal, the out-of-bounds alarm program is triggered, and an out-of-bounds notification is sent to the user's guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen;

[0046] After receiving the second-level out-of-bounds signal, a warning sound will be emitted on the smart cane to remind the user to return to the safe area;

[0047] After receiving the first-level abnormal heart rate signal, the health alarm program is started, the heart rate alarm information is sent to the guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen.

[0048] After receiving the level 2 abnormal heart rate signal, the health warning program is activated, and a vibration reminder is emitted on the smart cane, prompting the user to rest or seek medical attention;

[0049] Upon receiving a single level 1 or 2 instability signal, indicating that the user may be at risk of falling, the execution module will immediately sound an alarm and activate the emergency call button on the cane;

[0050] After receiving the first and second level instability signals at the same time, it is determined that the user has fallen, the fall alarm program is started, the fall alarm information is sent to the guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] (1) The present invention combines GPS technology with LBS base station positioning technology to achieve accurate positioning and positioning correction of the smart walking stick, and is equipped with an electronic fence module to monitor in real time whether the user has crossed the boundary; when the user exceeds the set area, the system can trigger an alarm to notify his family or guardian; this effectively ensures the safety of the elderly or other users in need during outdoor activities, and achieves accurate positioning of the smart walking stick and cross-border warning;

[0053] (2) The heart rate monitoring module of the present invention monitors the user's heart rate in real time and analyzes the user's health status in combination with abnormal heart rate parameters; when abnormal heart rate fluctuations are detected, the system will promptly issue a health alert to prompt the user or notify his or her family to take necessary measures to help prevent health risks;

[0054] (3) The present invention uses an inertial measurement unit combined with acceleration data to monitor the user's posture and the movement state of the cane in real time, and can accurately identify falling behavior; once the user falls, the system can quickly send a warning message to the guardian and activate the emergency call function to provide timely assistance to the user, thereby providing a certain degree of safety protection for elderly people living alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings:

[0056] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0057] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] See also Figure 1 As shown, a safety monitoring and early warning system for a smart cane includes a positioning module, an electronic fence module, a heart rate monitoring module, a fall recognition module, a comprehensive analysis module and an execution module.

[0059] The positioning module combines GPS technology and LBS base station positioning technology to perform preliminary positioning and positioning correction at preset time intervals t to accurately position the smart cane. Specifically:

[0060] Initial positioning: directly obtain the longitude Lo, latitude La and altitude h of the location of the smart cane through GPS satellite positioning, generate GPS positioning coordinates (Lo, La, h), and record them as initial positioning coordinates;

[0061] Positioning correction: Get the identification ID of all LBS base stations connected to the smart cane, and get the longitude Lo'_ID, latitude La'_ID and altitude h'_ID of each LBS base station. Perform positioning correction calculation based on GPS positioning coordinates (Lo, La, h): Through the formula Calculate the physical distance d(ID) between the preliminary positioning coordinates and each LBS base station. Extract the identification IDs corresponding to the three LBS base stations with the smallest physical distances and record them as the first base station, the second base station, and the third base station respectively. Their coordinates are recorded as (Lo_1, La_1, h_1), (Lo_2, La_2, h_2), and (Lo_3, La_3, h_3).

[0062] Furthermore, the strengths RSSI1, RSSI2 and RSSI3 of the signals sent by the first base station, the second base station and the third base station measured by the smart walking stick are obtained.

[0063] By formula Calculate the distances r1, r2 and r3 between the first, second and third base stations and the smart walking stick. τ1 and τ2 are preset signal attenuation factors and both τ1 and τ2 are natural numbers greater than 0; RSSI01, RSSI02 and RSSI01 are the signal output strengths of the first, second and third base stations, respectively.

[0064] Solve the positioning correction equations: Get the corrected positioning coordinates (x, y, z).

[0065] The corrected positioning coordinates (x, y, z) are sent to the electronic fence module.

[0066] The electronic fence module obtains the electronic fence limit area parameters input by the user, including the center point coordinates (x_fence, y_fence, z_fence) and the limit radius L of the electronic fence limit area.

[0067] When the conditions are met When the value of the first out-of-bounds parameter beyond_1 is set to 1; otherwise, the value of the first out-of-bounds parameter beyond_1 is set to 0;

[0068] When the conditions are met When the value of the second out-of-bounds parameter beyond_2 is set to 1; otherwise, the value of the second out-of-bounds parameter beyond_2 is set to 0;

[0069] When the conditions are met When the value of the third out-of-bounds parameter beyond_3 is set to 1; otherwise, the value of the third out-of-bounds parameter beyond_3 is set to 0;

[0070] When the values ​​of the first, second and third out-of-bounds parameters are all 0, it is determined that the smart cane has not crossed the boundary; otherwise, it is determined that the smart cane has not crossed the boundary, and the formula Calculate the out-of-bounds distance d_beyond.

[0071] Output the corrected positioning coordinates (x, y, z) and the out-of-bounds distance d_beyond.

[0072] The heart rate monitoring module obtains the user's heart rate data through the smart cane. Specifically, the time interval RR(i) between two consecutive heartbeats of the user is recorded in real time through the photoplethysmography on the handle of the smart cane, in seconds, where i is the number of recorded heartbeats, i=1, 2, 3, ..., n.

[0073] Furthermore, feature extraction and outlier analysis are performed on the time interval RR(t) between two consecutive heartbeats.

[0074] By formula Calculate the user's real-time heart rate HR(t) at each heartbeat i.

[0075] Get the maximum amplitude HRMax and the minimum amplitude HRMin of the real-time heart rate HR(i);

[0076] By formula A first heart rate abnormality parameter is calculated.

[0077] By formula The root mean square of the continuous differences of the continuous heart rates is calculated and recorded as the second heart rate abnormality parameter E2.

[0078] The first abnormal heart rate parameter E1 and the second abnormal heart rate parameter E2 are sent to the comprehensive analysis module.

[0079] The fall recognition module detects user falls through the inertial measurement unit in the grip part of the smart cane.

[0080] The inertial measurement unit captures data through an accelerometer, and measures the acceleration component a of the cane handle in the three directions of longitude, latitude and altitude at preset time intervals t. x 、a y and a z .

[0081] By formula Calculate the roll angle θ1 and the tip angle θ2.

[0082] Furthermore, after each preset detection cycle T, a roll angle-time graph and a tilt angle-time graph are drawn with the roll angle θ1 and the tilt angle θ2 as the horizontal axis and time as the vertical axis, and the roll angle-time graph and the tilt angle-time graph are input into a preset PID analysis program for feature extraction.

[0083] The PID analysis procedure is specifically as follows:

[0084] The expressions θ1=f1(t) and θ2=f2(t) of the roll angle-time diagram and the tip angle-time diagram are obtained respectively.

[0085] By formula Calculate the first PID characteristic value η1 of the rolling angle-time diagram and the second PID characteristic value η2 of the tilting angle-time diagram. 1,2 is the proportional eigenvalue, μ2 1,2 is the differential eigenvalue, μ3 1,2 is the integral eigenvalue; where f 1，2 (t)Max is the maximum amplitude of the expressions θ1 = f1(t) and θ2 = f2(t); where f 1，2 (t)Min is the minimum amplitude of the expression θ1=f1(t) and θ2=f2(t); where is the maximum value of the first-order derivative of the expressions θ1 = f1(t) and θ2 = f2(t); where It is the minimum value of the first-order derivative of the expressions θ1=f1(t) and θ2=f2(t); where K1, K2 and K3 are preset weight factors.

[0086] It should be noted that if the first PID characteristic value exceeds a certain threshold, it means that the cane has experienced an abnormal tilt angle in amplitude, rotation path length and instantaneous speed in the previous detection period T; if the second PID characteristic value exceeds a certain threshold, it means that the cane has experienced an abnormal rolling angle in amplitude, rotation path length and instantaneous speed in the previous detection period T;

[0087] The first PID characteristic value η1 and the second PID characteristic value η2 are sent to the comprehensive analysis module.

[0088] The comprehensive analysis module records the corrected positioning coordinates (x, y, z), the out-of-bounds distance d_beyond, the first heart rate abnormality parameter E1, the second heart rate abnormality parameter E2, the first PID characteristic value η1 and the second PID characteristic value η2 and inputs them into the comprehensive analysis program to carry out logical judgment;

[0089] The comprehensive analysis procedure is specifically as follows:

[0090] Position and out-of-bounds analysis: The out-of-bounds degree is analyzed through the out-of-bounds distance d_beyond. If d_beyond is greater than the set threshold dMIN, it is determined that the user has crossed the boundary for a long distance and the activity range seriously deviates from the electronic fence limit area, and a first-level out-of-bounds signal is generated; otherwise, a second-level out-of-bounds signal is generated;

[0091] Abnormal heart rate analysis: The heart rate fluctuation amplitude is analyzed through the first abnormal heart rate parameter E1. If E1 exceeds the preset maximum threshold E1_threshold_1 or is lower than the minimum threshold E1_threshold_2, the user's heart rate is judged to be abnormal and a first-level abnormal heart rate signal is generated;

[0092] Perform heart rate fluctuation frequency analysis through the second heart rate abnormality parameter E1. If E2 exceeds the preset maximum threshold E1_threshold, it is determined that the user's heart rate fluctuation is large and there may be potential health risks, and a secondary heart rate abnormality signal is generated;

[0093] Posture stability analysis: Posture stability is judged by the first and second PID characteristic values. If the first PID characteristic value exceeds the set threshold, it means that the tilt angle of the cane has changed abnormally during the previous detection cycle, which may indicate that the user is in an unstable state and generate a first-level instability signal;

[0094] If the second PID characteristic value exceeds the threshold, it indicates that the rolling angle of the cane has changed abnormally, indicating that the user may be at risk of falling and needs to take measures to maintain balance, generating a secondary instability signal.

[0095] After the comprehensive analysis module completes the numerical analysis, it sends the results to the execution module to take corresponding specific actions according to different analysis results.

[0096] The execution module executes the signal response according to the signal sent by the comprehensive analysis module, specifically:

[0097] After receiving the first-level out-of-bounds signal, the out-of-bounds alarm program is triggered, and an out-of-bounds notification is sent to the user's guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen;

[0098] After receiving the second-level out-of-bounds signal, a warning sound will be emitted on the smart cane to remind the user to return to the safe area;

[0099] After receiving the first-level abnormal heart rate signal, the health alarm program is started, the heart rate alarm information is sent to the guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen.

[0100] After receiving the level 2 abnormal heart rate signal, the health warning program is activated, and a vibration reminder is emitted on the smart cane, prompting the user to rest or seek medical attention;

[0101] Upon receiving a single level 1 or 2 instability signal, indicating that the user may be at risk of falling, the execution module will immediately sound an alarm and activate the emergency call button on the cane;

[0102] After receiving the first and second level instability signals at the same time, it is determined that the user has fallen, the fall alarm program is started, the fall alarm information is sent to the guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen.

[0103] It should be understood that the terms “include” and “comprising” used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0104] It should also be understood that the terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. As used in this disclosure and the claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in this disclosure and the claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations;

[0105] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A safety monitoring and early warning system for a smart walking stick, characterized in that: Including positioning module, electronic fence module, heart rate monitoring module and fall recognition module; The positioning module combines GPS technology and LBS base station positioning technology to perform preliminary positioning and positioning correction; Preliminary positioning: directly obtain the longitude, latitude and altitude of the location of the smart cane through GPS satellite positioning, generate GPS positioning coordinates and record them as preliminary positioning coordinates; Positioning correction: Obtain the identification IDs of all LBS base stations connected to the smart cane, obtain the longitude, latitude and altitude of each LBS base station, carry out positioning correction calculation based on the GPS positioning coordinates, calculate the physical distance between the preliminary positioning coordinates and each LBS base station through the formula, extract the identification IDs corresponding to the three LBS base stations with the smallest physical distance, record them as the first base station, the second base station and the third base station respectively, and obtain the corrected positioning coordinates through signal strength calculation and positioning correction equation group; The electronic fence module obtains the electronic fence limit area parameters input by the user, including the center point coordinates and limit radius of the electronic fence limit area, performs numerical calculations to detect whether the smart walking stick exceeds the limit area, and outputs the cross-border status parameters and cross-border distance; The heart rate monitoring module obtains the user's heart rate data through the smart cane, including the user's continuous heartbeat time interval; Perform feature extraction and outlier analysis on the continuous heartbeat time intervals, and calculate the real-time heart rate, the first heart rate abnormality parameter, and the second heart rate abnormality parameter; The fall recognition module detects the user's fall through the inertial measurement unit in the smart cane, measures the acceleration components of the cane in the longitude, latitude and altitude directions, calculates the rolling angle and the tilting angle, and extracts features through the PID analysis program to generate the first eigenvalue and the second eigenvalue.

2. A safety monitoring and early warning system for a smart walking stick according to claim 1, characterized in that: It also includes a comprehensive analysis module and an execution module; The comprehensive analysis module records the corrected positioning coordinates (x, y, z), the out-of-bounds distance d_beyond, the first heart rate abnormality parameter E1, the second heart rate abnormality parameter E2, the first PID characteristic value η1 and the second PID characteristic value η2 and inputs them into the comprehensive analysis program, carries out logical judgment and outputs the corresponding signal according to the judgment result; after completing the numerical analysis, the result is sent to the execution module to take corresponding specific operations according to different analysis results; The execution module executes the signal response according to the signal sent by the comprehensive analysis module.

3. The safety monitoring and early warning system for a smart walking stick according to claim 1, characterized in that: The specific process of positioning correction is as follows: Obtain the identification IDs of all LBS base stations connected to the smart cane, and obtain the longitude Lo'_ID, latitude La'_ID and altitude h'_ID of each LBS base station; perform positioning correction calculation based on the GPS positioning coordinates (Lo, La, h): Calculate the physical distance d(ID) between the preliminary positioning coordinates and each LBS base station; extract the identification IDs corresponding to the three LBS base stations with the smallest physical distances, and record them as the first base station, the second base station, and the third base station respectively; record their coordinates as (Lo_1, La_1, h_1), (Lo_2, La_2, h_2), and (Lo_3, La_3, h_3), respectively; analyze based on the base station coordinates and signal strength, and calculate the corrected positioning coordinates.

4. A safety monitoring and early warning system for a smart walking stick according to claim 3, characterized in that: The specific process of analysis based on base station coordinates and signal strength is as follows: Obtain the signal strengths RSSI1, RSSI2 and RSSI3 of the first base station, the second base station and the third base station measured by the smart walking stick; By formula Calculate the distances r1, r2 and r3 between the first, second and third base stations and the smart walking stick; wherein τ1 and τ2 are preset signal attenuation factors and both τ1 and τ2 are natural numbers greater than 0; wherein RSSI01, RSSI02 and RSSI01 are signal output strengths of the first, second and third base stations respectively; Solve the positioning correction equations: Get the corrected positioning coordinates (x, y, z); The corrected positioning coordinates (x, y, z) are sent to the electronic fence module.

5. The safety monitoring and early warning system for a smart walking stick according to claim 1, characterized in that: The specific process of numerical calculation to detect whether the smart cane exceeds the limited area is as follows: Obtain the electronic fence area parameters input by the user, including the center point coordinates (x_fence, y_fence, z_fence) of the electronic fence area and the limited radius L; When the conditions are met When the value of the first out-of-bounds parameter beyond_1 is set to 1; otherwise, the value of the first out-of-bounds parameter beyond_1 is set to 0; When the conditions are met When the value of the second out-of-bounds parameter beyond_2 is set to 1; otherwise, the value of the second out-of-bounds parameter beyond_2 is set to 0; When the conditions are met When the value of the third out-of-bounds parameter beyond_3 is set to 1; otherwise, the value of the third out-of-bounds parameter beyond_3 is set to 0; When it is identified that the values ​​of the first, second and third out-of-bounds parameters are all 0, it is determined that the smart walking stick has not crossed the boundary; Otherwise, the Wisdom Cane is determined to be within the bounds, and the formula Calculate the out-of-bounds distance d_beyond; Output the corrected positioning coordinates (x, y, z) and the out-of-bounds distance d_beyond.

6. The safety monitoring and early warning system for a smart walking stick according to claim 1, characterized in that: The specific process of feature extraction and outlier analysis of continuous heartbeat time intervals is as follows: The time interval RR(i) between two consecutive heartbeats of the user is recorded in real time by the photoplethysmography device on the handle of the smart cane, in seconds, where i is the number of heartbeats recorded, i=1, 2, 3, ..., n; Perform feature extraction and outlier analysis on the time interval RR(t) between two consecutive heartbeats; By formula Calculate the user's real-time heart rate HR(t) at each heartbeat i; Get the maximum amplitude HRMax and the minimum amplitude HRMin of the real-time heart rate HR(i); By formula calculating a first heart rate abnormality parameter; By formula The root mean square of the continuous differences of the continuous heart rates is calculated and recorded as the second heart rate abnormality parameter E2.

7. The safety monitoring and early warning system for a smart walking stick according to claim 1, characterized in that: The specific process of calculating the rolling angle θ1 and the tipping angle θ2 is: At every preset time interval t, the acceleration components ax, ay and az of the cane grip in the three directions of longitude, latitude and altitude are measured; By formula Calculate the rolling angle θ1 and the tipping angle θ2; after each preset detection period T, draw a rolling angle-time diagram and a tipping angle-time diagram with the rolling angle θ1 and the tipping angle θ2 as the horizontal axis and the time as the vertical axis, and input the rolling angle-time diagram and the tipping angle-time diagram into a preset PID analysis program for feature extraction.

8. The safety monitoring and early warning system for a smart walking stick according to claim 7, characterized in that: The PID analysis procedure is specifically as follows: Obtain the expressions of the rolling angle-time diagram and the tipping angle-time diagram θ1=f1(t) and θ2=f2(t) respectively; By formula Calculate the first PID characteristic value of the roll angle-time diagram η 1 and the second PID characteristic value of the dump angle-time diagram η 2; Where μ11,2 is the proportional eigenvalue, μ21,2 is the differential eigenvalue, and μ31,2 is the integral eigenvalue; where f1,2(t)Max is the maximum amplitude of the expression θ1=f1(t) and θ2=f2(t); where f 1，2 (t)Min is the minimum amplitude of the expression θ1=f1(t) and θ2=f2(t); where is the maximum value of the first derivative of the expressions θ1 = f1(t) and θ2 = f2(t); where It is the minimum value of the first-order derivative of the expressions θ1=f1(t) and θ2=f2(t); where K1, K2 and K3 are preset weight factors.

9. The safety monitoring and early warning system for a smart walking stick according to claim 2, characterized in that: The specific process of launching logical judgment and outputting corresponding signals according to the judgment results is as follows: Position and out-of-bounds analysis: The out-of-bounds degree is analyzed through the out-of-bounds distance d_beyond. If d_beyond is greater than the set threshold dMIN, it is determined that the user has crossed the boundary for a long distance and the activity range seriously deviates from the electronic fence limit area, and a first-level out-of-bounds signal is generated; otherwise, a second-level out-of-bounds signal is generated; Abnormal heart rate analysis: The heart rate fluctuation amplitude is analyzed through the first abnormal heart rate parameter E1. If E1 exceeds the preset maximum threshold E1_threshold_1 or is lower than the minimum threshold E1_threshold_2, the user's heart rate is judged to be abnormal and a first-level abnormal heart rate signal is generated; Perform heart rate fluctuation frequency analysis through the second heart rate abnormality parameter E1. If E2 exceeds the preset maximum threshold E1_threshold, it is determined that the user's heart rate fluctuation is large and there may be potential health risks, and a secondary heart rate abnormality signal is generated; Attitude stability analysis: Attitude stability is determined by the first and second PID characteristic values; If the first PID characteristic value exceeds the set threshold, it means that the tilt angle of the cane has changed abnormally during the previous detection cycle, which may indicate that the user is in an unstable state and generate a first-level instability signal; If the second PID characteristic value exceeds the threshold, it indicates that the rolling angle of the cane has changed abnormally, indicating that the user may be at risk of falling and needs to take measures to maintain balance, generating a secondary instability signal.

10. The safety monitoring and early warning system for a smart walking stick according to claim 2, characterized in that: The specific process of executing signal response is: After receiving the first-level out-of-bounds signal, the out-of-bounds alarm program is triggered, and an out-of-bounds notification is sent to the user's guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen; After receiving the second-level out-of-bounds signal, a warning sound will be emitted on the smart cane to remind the user to return to the safe area; After receiving the first-level abnormal heart rate signal, the health alarm program is started, the heart rate alarm information is sent to the guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen. After receiving the level 2 abnormal heart rate signal, the health warning program is activated, and a vibration reminder is emitted on the smart cane, prompting the user to rest or seek medical attention; Upon receiving a single level 1 or 2 instability signal, indicating that the user may be at risk of falling, the execution module will immediately sound an alarm and activate the emergency call button on the cane; After receiving the first and second level instability signals at the same time, it is determined that the user has fallen, the fall alarm program is started, the fall alarm information is sent to the guardian and the management center, and the corrected positioning coordinates (x, y, z) are displayed on the display screen.

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