CN117961934B - Early warning system based on intelligent accompanying robot - Google Patents
Early warning system based on intelligent accompanying robot Download PDFInfo
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- CN117961934B CN117961934B CN202410362742.2A CN202410362742A CN117961934B CN 117961934 B CN117961934 B CN 117961934B CN 202410362742 A CN202410362742 A CN 202410362742A CN 117961934 B CN117961934 B CN 117961934B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 85
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- 230000008569 process Effects 0.000 claims abstract description 12
- 238000010276 construction Methods 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 18
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of intelligent robots, in particular to an early warning system based on an intelligent accompanying robot, which comprises the following components: the control terminal is a main control terminal of the system and is used for sending out an execution command; the setting module is used for setting the limit parameters of the accompanying target activity area; the monitoring module is used for monitoring real-time movement gesture and position information of the accompanying target; the evaluation module is used for receiving the real-time movement gesture and the position information of the accompanying target monitored in the monitoring module and evaluating whether the accompanying target is safe or not by applying the real-time movement gesture and the position information of the accompanying target; according to the invention, through the input of the space position coordinates, effective safety maintenance can be provided for the system user in the appointed area, and the system has better lost and falling early warning effects for the old user group, and the early warning judging process is more accurate, so that a more comprehensive safety early warning effect is provided for the old user of the system.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an early warning system based on an intelligent accompanying robot.
Background
The novel multifunctional service robot is developed by the robot research institute of Harbin industrial university in China and assists the life of the old. The system has four functions of service, safety monitoring, man-machine interaction and multimedia entertainment.
However, at present, aiming at the robot for the elderly, the robot for the elderly can only actively talk with the robot by the user of the elderly, so as to realize the function of accompanying, and the robot for the elderly does not have a better safety maintenance function for walking safety in daily life.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides an early warning system based on an intelligent accompanying robot, which solves the technical problems in the background art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
Early warning system based on intelligent accompanying robot includes:
the control terminal is a main control terminal of the system and is used for sending out an execution command;
the setting module is used for setting the limit parameters of the accompanying target activity area;
the monitoring module is used for monitoring real-time movement gesture and position information of the accompanying target;
the evaluation module is used for receiving the real-time movement gesture and the position information of the accompanying target monitored in the monitoring module and evaluating whether the accompanying target is safe or not by applying the real-time movement gesture and the position information of the accompanying target;
The acquisition module is used for acquiring the accompany target position information monitored in real time by the monitoring module in the unsafe state of the evaluation result in the evaluation module;
The feedback module is used for setting an alarm message, binding the mobile equipment, receiving the accompanying target position information acquired by the acquisition module, and feeding back the alarm message and the accompanying target position information to the mobile equipment.
Still further, the setting module is provided with a sub-module at a lower stage, including:
an input unit for inputting spatial position coordinates;
The construction unit is used for receiving the space position coordinates input by the input unit and constructing a accompany target active area model by applying the space position coordinates; the method is used for constructing a accompany target model;
The space position coordinates input in the input unit are manually input by a user at a system end, the space position coordinates input in the input unit are not less than four groups, the accompanying target model constructed in the construction unit is not less than one group, and the input unit and the construction unit operate and execute operations, namely set the accompanying target active area limiting parameters set in the module.
Still further, the building unit is provided with a sub-module at a lower stage, including:
the positioning module is used for acquiring the position information of the accompanying target in real time;
And in the operation stage of the construction unit, a accompany target model is constructed by taking the positioning module as a central position, the accompany target model is a cube model with any specification and size and any positive direction section which is rectangular, and the positioning module is carried about by the accompany target.
Further, in the operation stage of the monitoring module, real-time motion gesture monitoring operation is executed based on the accompanying target model constructed in the construction unit, any plane on the accompanying target model is selected as a monitoring plane in the process of monitoring the accompanying target model, and real-time motion gesture of the accompanying target is further monitored based on the monitoring plane;
The monitoring module monitors the operation of the real-time motion gesture of the accompanying target model, namely monitors the change of corresponding numerical values of x, y and z axes in corresponding position coordinates on the accompanying target model, and the position information of the accompanying target monitored in the monitoring module is fed back in real time by the positioning module.
Still further, the monitoring module is provided with a sub-module at a lower level, including:
an exclusive unit for setting an exclusive region in the accompanying target activity region model;
The system end user manually inputs the space position coordinates contained in the accompanying target active area model in the operation stage of the exclusive unit, the exclusive area model is further constructed based on the input space position coordinates, the constructed exclusive area model is placed in the accompanying target active area model, the monitoring module takes the corresponding area of the accompanying target active area model as a monitoring area when in operation, and the exclusive area model placed in the accompanying target active area model is not contained.
Furthermore, in the operation stage of the evaluation module, based on the real-time motion gesture and the position information of the accompanying target, whether the accompanying target is safe or not is evaluated by the following formula:
；
In the method, in the process of the invention, Is a security evaluation value; /(I)To monitor a set of stages; /(I)For/>Position coordinates on a monitoring surface on the stage accompanying target model; /(I)For/>Position coordinates on a monitoring surface on the stage accompanying target model; /(I)For/>Position coordinates on the monitoring surface on the phase-accompany object model are based on the/>Duration of position coordinates on the monitoring surface on the phase-accompany object model; /(I)Is the correction coefficient.
Still further, the method further comprises the steps of,Note be invited to be present at a banquet given in honour of a distinguished guest protect target security posture,/>The value is 0 or 1, and when the information of the position of the accompanying target is in the accompanying target active area model/>=1, Otherwise/>=0；
Wherein the saidWhen=0, the evaluation result of the evaluation module is unsafe,/>≥0，/>The smaller the value is, the worse the security of the accompanying target is, the system end user manually sets an evaluation threshold value, and the evaluation module judges whether the accompanying target is safe or not based on the calculation result of the formula and the evaluation threshold value.
Still further, the evaluation module is provided with a sub-module at a lower stage, including:
and the jump unit is used for acquiring the operation evaluation result of the evaluation module, and triggering the jump to the monitoring module for operation when the evaluation result is yes.
Furthermore, the alarm message set in the feedback module and the bound mobile devices are manually set by a system end user, and the mobile devices bound by the system are not less than two groups;
when the feedback module feeds back alarm messages and accompanying target position information to the mobile equipment in the operation stage, monitoring the network transmission rate of the bound mobile equipment, and taking the mobile equipment with the optimal network transmission rate as a first feedback target, wherein the network rate calculation formula is as follows:
；
Wherein: v is a network speed test period set; a data transmission distance; /(I) For/>The size of the periodic transmission packet P; /(I)Is the second week/>Transmission time of the transmission data packet P.
Furthermore, the control terminal is electrically connected with a setting module through a medium, the lower stage of the setting module is electrically connected with an input unit and a construction unit through the medium, the inside of the construction unit is electrically connected with a positioning module through the medium, the setting module is electrically connected with a monitoring module through the medium, the inside of the monitoring module is electrically connected with an exclusive unit through the medium, the exclusive unit is electrically connected with the construction unit through the medium, the monitoring module is electrically connected with a jumping unit and an acquisition module through the medium, and the acquisition module is electrically connected with a feedback module through the medium.
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
the invention provides an early warning system based on an intelligent accompanying robot, which can provide effective safety maintenance for system users in a specified area range through the input of space position coordinates, has better lost and falling early warning effects for old people user groups, has more accurate early warning judging process and brings more comprehensive safety early warning effects for the old people users of the system.
The system can accurately judge whether the safety risk exists for the system service user or not through comprehensive data acquisition, can not limit the acquisition of the system service user, has better use experience, and has stronger adaptability.
In the running process of the system, the running precision of the system can be further improved through the construction of the region model and the setting and placement of the exclusive region model, the output early warning result in the system is ensured to be more real and reliable, and the system has better instantaneity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic structural diagram of an early warning system based on an intelligent accompanying robot;
Reference numerals in the drawings represent respectively: 1. a control terminal; 2. setting a module; 21. an input unit; 22. a construction unit; 221. a positioning module; 3. a monitoring module; 31. an exclusive unit; 4. an evaluation module; 41. a jump unit; 5. an acquisition module; 6. and a feedback module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Example 1
The early warning system based on intelligent accompanying robot of this embodiment, as shown in fig. 1, includes:
The control terminal 1 is a main control end of the system and is used for sending out an execution command;
A setting module 2, configured to set a target activity area limiting parameter;
the monitoring module 3 is used for monitoring real-time movement gesture and position information of the accompanying target;
the evaluation module 4 is used for receiving the real-time movement gesture and the position information of the accompanying target monitored in the monitoring module 3 and evaluating whether the accompanying target is safe or not by applying the real-time movement gesture and the position information of the accompanying target;
The acquisition module 5 is used for acquiring the accompany target position information monitored by the monitoring module 3 in real time under the unsafe state of the evaluation result in the evaluation module 4;
The feedback module 6 is used for setting an alarm message, binding the mobile equipment, receiving the accompanying target position information acquired by the acquisition module 5, and feeding back the alarm message and the accompanying target position information to the mobile equipment;
The setting module 2 is provided with a sub-module at a lower stage, and includes:
an input unit 21 for inputting spatial position coordinates;
A construction unit 22 for receiving the spatial position coordinates input in the input unit 21 and constructing a caretaking target activity area model by applying the spatial position coordinates; the method is used for constructing a accompany target model;
the spatial position coordinates input in the input unit 21 are manually input by a user at the system end, the spatial position coordinates input in the input unit 21 are not less than four groups, the accompanying target model constructed in the construction unit 22 is not less than one group, and the input unit 21 and the construction unit 22 execute operations, namely, set the accompanying target activity area limiting parameters set in the module 2;
The building unit 22 is provided with sub-modules at a lower stage, including:
a positioning module 221, configured to acquire position information of a target for accompanying in real time;
The construction unit 22 is used for constructing a accompanying target model by taking the positioning module 221 as a central position, wherein the accompanying target model is a cube model with any specification and size and any positive direction section in a rectangular shape, and the positioning module 221 is carried about by the accompanying target;
the operation stage of the monitoring module 3 is to execute real-time motion gesture monitoring operation based on the accompanying target model constructed in the construction unit 22, and in the process of monitoring the accompanying target model, any plane on the accompanying target model is selected as a monitoring plane, and further real-time motion gesture of the accompanying target is monitored based on the monitoring plane;
The monitoring module 3 monitors the operation of the real-time motion gesture of the accompanying target model, namely, monitors the change of corresponding numerical values of x, y and z axes in the corresponding position coordinates on the accompanying target model, and the position information of the accompanying target monitored in the monitoring module 3 is fed back in real time by the positioning module 221;
The control terminal 1 is electrically connected with a setting module 2 through a medium, the lower level of the setting module 2 is electrically connected with an input unit 21 and a construction unit 22 through the medium, the inside of the construction unit 22 is connected with a positioning module 221 through the medium, the setting module 2 is electrically connected with a monitoring module 3 through the medium, the inside of the monitoring module 3 is electrically connected with an exclusive unit 31 through the medium, the exclusive unit 31 is electrically connected with the construction unit 22 through the medium, the monitoring module 3 is electrically connected with a jumping unit 41 and an acquisition module 5 through the medium, and the acquisition module 5 is electrically connected with a feedback module 6 through the medium.
In this embodiment, the control terminal 1 controls the setting module 2 to set the limiting parameters of the active area of the accompanying target, the monitoring module 3 monitors the real-time movement gesture and position information of the accompanying target in real time, the evaluation module 4 operates at the rear end to receive the real-time movement gesture and position information of the accompanying target monitored in the monitoring module 3, the real-time movement gesture and position information of the accompanying target are applied to evaluate whether the accompanying target is safe, the acquisition module 5 acquires the position information of the accompanying target monitored in real time by the monitoring module 3 in the unsafe state of the evaluation result in the evaluation module 4, finally, the feedback module 6 sets an alarm message, binds the mobile device, receives the position information of the accompanying target acquired in the acquisition module 5, and feeds back the alarm message and the position information of the accompanying target to the mobile device;
the sub-modules arranged at the lower level of the setting module 2 can provide necessary data support for the operation of the setting module 2;
And the operation of the above-described formula can effectively output the operation evaluation result of the evaluation module 4 in a digital form.
Example 2
On the aspect of implementation, on the basis of embodiment 1, this embodiment further specifically describes, with reference to fig. 1, an early warning system based on an intelligent accompanying robot in embodiment 1:
the operation stage of the monitoring module 3 is to execute real-time motion gesture monitoring operation based on the accompanying target model constructed in the construction unit 22, and in the process of monitoring the accompanying target model, any plane on the accompanying target model is selected as a monitoring plane, and further real-time motion gesture of the accompanying target is monitored based on the monitoring plane;
the monitoring module 3 monitors the operation of the real-time motion gesture of the accompanying target model, that is, monitors the change of corresponding values of x, y and z axes in the corresponding position coordinates on the accompanying target model, and the position information of the accompanying target monitored in the monitoring module 3 is fed back in real time by the positioning module 221.
By the arrangement, further operation logic is provided for the monitoring module 3, so that the operation of the monitoring module 3 is more stable.
As shown in fig. 1, the monitoring module 3 is provided with a sub-module at a lower stage, including:
an exclusive unit 31 for setting an exclusive region in the accompanying target activity region model;
Wherein, the operation stage of the exclusive unit 31 is that the system end user manually types in the space position coordinates contained in the accompanying target active area model, further builds an exclusive area model based on the typed space position coordinates, and places the built exclusive area model in the accompanying target active area model, and the monitoring module 3 uses the corresponding area of the accompanying target active area model as the monitoring area when operating, and does not contain the exclusive area model placed in the accompanying target active area model.
Through the arrangement, the system operation service area is further improved.
And in the operation stage of the evaluation module 4, based on the real-time motion gesture and position information of the accompanying target, whether the accompanying target is safe or not is evaluated by the following formula:
；
In the method, in the process of the invention, Is a security evaluation value; /(I)To monitor a set of stages; /(I)For/>Position coordinates on a monitoring surface on the stage accompanying target model; /(I)For/>Position coordinates on a monitoring surface on the stage accompanying target model; /(I)For/>Position coordinates on the monitoring surface on the phase-accompany object model are based on the/>Duration of position coordinates on the monitoring surface on the phase-accompany object model; /(I)Is the correction coefficient.
As shown in figure 1 of the drawings,Note be invited to be present at a banquet given in honour of a distinguished guest protect target security posture,/>The value is 0 or 1, and when the information of the position of the accompanying target is in the accompanying target active area model/>=1, Otherwise/>=0；
Wherein the saidWhen=0, the evaluation module 4 evaluates that the result is unsafe,/>≥0，/>The smaller the value is, the worse the security of the accompanying target is, the system end user manually sets an evaluation threshold, and the evaluation module 4 judges whether the accompanying target is safe or not based on the calculation result of the formula and the evaluation threshold.
Through the arrangement, a judgment condition is further provided for a result obtained by the accompanying target security evaluation formula.
Example 3
On the aspect of implementation, on the basis of embodiment 1, this embodiment further specifically describes, with reference to fig. 1, an early warning system based on an intelligent accompanying robot in embodiment 1:
the evaluation module 4 is provided with a sub-module at a lower stage, comprising:
And the jump unit 41 is used for acquiring the operation evaluation result of the evaluation module 4, and triggering the jump to the operation of the monitoring module 3 when the evaluation result is yes.
By the above-described setting of the jumping unit 41, a swing logic is provided for the operation of the system so that the system can continuously operate in real time to meet the accompanying needs.
As shown in fig. 1, the alarm message set in the feedback module 6 and the bound mobile devices are manually set by a user at the system end, and the number of the mobile devices bound by the system is not less than two;
When the feedback module 6 feeds back the alarm message and the accompanying target position information to the mobile device in the operation stage, the network transmission rate of the bound mobile device is monitored, the mobile device with the optimal network transmission rate is used as a first feedback target, and the network rate calculation formula is as follows:
；
Wherein: v is a network speed test period set; a data transmission distance; /(I) For/>The size of the periodic transmission packet P; /(I)Is the second week/>Transmission time of the transmission data packet P.
Through the arrangement, better safety accompanying effect is further brought to the accompanying target of the system.
In summary, the system in the above embodiment can provide effective safety maintenance for the system user in the specified area through the input of the spatial position coordinates, and has better lost and falling early warning effects for the old user group, and the early warning judging process is more accurate, so that a more comprehensive safety early warning effect is brought to the old user of the system; in addition, the system can accurately judge whether the safety risk exists for the system service user or not through comprehensive data acquisition, can not generate acquisition limitation for the system service user, has better use experience, and has stronger adaptability, and the system can be suitable for various scenes through coordinate input of a system service area, so that the robustness of the system is improved to a certain extent; in the running process of the system, the running precision of the system can be further improved through the construction of the region model and the setting and placement of the exclusive region model, the output early warning result in the system is ensured to be more real and reliable, and the system has better instantaneity.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. Early warning system based on intelligent accompanying robot, its characterized in that includes:
The control terminal (1) is a main control end of the system and is used for sending out an execution command;
A setting module (2) for setting a target activity area definition parameter;
the monitoring module (3) is used for monitoring real-time movement gesture and position information of the accompanying target;
The evaluation module (4) is used for receiving the real-time movement gesture and the position information of the accompanying target monitored in the monitoring module (3), and evaluating whether the accompanying target is safe or not by applying the real-time movement gesture and the position information of the accompanying target;
The acquisition module (5) is used for acquiring the accompany target position information monitored in real time by the monitoring module (3) under the unsafe state of the evaluation result in the evaluation module (4);
The feedback module (6) is used for setting an alarm message, binding the mobile equipment, receiving the accompanying target position information acquired by the acquisition module (5), and feeding back the alarm message and the accompanying target position information to the mobile equipment;
the setting module (2) is provided with a sub-module at the lower stage, and comprises:
an input unit (21) for inputting spatial position coordinates;
A construction unit (22) for receiving the spatial position coordinates input in the input unit (21), and constructing a caretaking target activity area model by applying the spatial position coordinates; the method is used for constructing a accompany target model;
The space position coordinates input in the input unit (21) are manually input by a system end user, the space position coordinates input in the input unit (21) are not less than four groups, the accompanying target model constructed in the construction unit (22) is not less than one group, and the input unit (21) and the construction unit (22) operate and execute operations, namely, set the accompanying target active area limiting parameters set in the module (2);
The construction unit (22) is provided with a sub-module at a lower stage, and comprises:
a positioning module (221) for acquiring the position information of the accompanying target in real time;
The construction unit (22) is used for constructing a accompany target model by taking the positioning module (221) as a central position, wherein the accompany target model is a cube model with any specification and size and any positive direction section in a rectangular shape, and the positioning module (221) is carried about by the accompany target;
The monitoring module (3) executes real-time motion gesture monitoring operation based on the accompanying target model constructed in the construction unit (22) in an operation stage, and selects any plane on the accompanying target model as a monitoring surface in the process of monitoring the accompanying target model, and further monitors the real-time motion gesture of the accompanying target based on the monitoring surface;
The monitoring module (3) monitors the operation of the real-time motion gesture of the accompanying target model, namely monitors the change of corresponding numerical values of x, y and z axes in the corresponding position coordinates on the accompanying target model, and the position information of the accompanying target monitored in the monitoring module (3) is fed back in real time by the positioning module (221);
the monitoring module (3) is provided with a sub-module at the lower level, and comprises:
An exclusive unit (31) for setting an exclusive region in the accompanying target activity region model;
Wherein, the operation stage of the exclusive unit (31) is that the system end user manually types in the space position coordinates contained in the accompanying target active region model, the exclusive region model is further constructed based on the typed space position coordinates, the constructed exclusive region model is placed in the accompanying target active region model, the monitoring module (3) takes the corresponding region of the accompanying target active region model as a monitoring region during operation, and the exclusive region model placed in the accompanying target active region model is not contained;
The evaluation module (4) is used for evaluating whether the accompanying target is safe or not based on the real-time motion gesture and the position information of the accompanying target, wherein the formula is as follows:
；
In the method, in the process of the invention, Is a security evaluation value; /(I)To monitor a set of stages; /(I)For/>Position coordinates on a monitoring surface on the stage accompanying target model; /(I)For/>Position coordinates on a monitoring surface on the stage accompanying target model; /(I)For/>Position coordinates on the monitoring surface on the phase-accompany object model are based on the/>Duration of position coordinates on the monitoring surface on the phase-accompany object model; /(I)Is a correction coefficient;
note be invited to be present at a banquet given in honour of a distinguished guest protect target security posture,/> The value is 0 or 1, and when the information of the position of the accompanying target is in the accompanying target active area model/>=1, Otherwise/>=0；
Wherein the saidWhen the value is=0, the evaluation result of the evaluation module (4) is unsafe,/>≥0，/>The smaller the value is, the worse the security of the accompanying target is, the system end user manually sets an evaluation threshold value, and the evaluation module (4) judges whether the accompanying target is safe or not based on the calculation result of the formula and the evaluation threshold value.
2. The early warning system based on intelligent accompanying robot according to claim 1, characterized in that the evaluation module (4) is provided with a sub-module at a lower level, comprising:
and the jump unit (41) is used for acquiring the operation evaluation result of the evaluation module (4), and triggering the jump to the operation of the monitoring module (3) when the evaluation result is yes.
3. The early warning system based on the intelligent accompanying robot according to claim 1, wherein the alarm message set in the feedback module (6) and the bound mobile devices are manually set by a system end user, and the mobile devices bound by the system are not less than two groups;
When the feedback module (6) feeds back alarm messages and accompanying target position information to the mobile equipment in the operation stage, monitoring the network transmission rate of the bound mobile equipment, and taking the mobile equipment with the optimal network transmission rate as a first feedback target, wherein the network rate calculation formula is as follows:
；
Wherein: v is a network speed test period set; a data transmission distance; /(I) For/>The size of the periodic transmission packet P; /(I)For/>The transmission time of the periodic transmission data packet P.
4. The early warning system based on the intelligent accompanying robot according to claim 1, wherein the control terminal (1) is electrically connected with a setting module (2) through a medium, the lower stage of the setting module (2) is electrically connected with an input unit (21) and a construction unit (22) through the medium, the inside of the construction unit (22) is electrically connected with a positioning module (221) through the medium, the setting module (2) is electrically connected with a monitoring module (3) through the medium, the inside of the monitoring module (3) is electrically connected with an exclusive unit (31) through the medium, the exclusive unit (31) is electrically connected with the construction unit (22) through the medium, the monitoring module (3) is electrically connected with a jumping unit (41) and an acquisition module (5), and the acquisition module (5) is electrically connected with a feedback module (6) through the medium.
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