阅读说明：本技术 一种静电式辅助行走装置及其控制方法 (Electrostatic auxiliary walking device and control method thereof ) 是由 刘立武 原颖泽 管彭元 郭江龙 刘彦菊 冷劲松 于 2021-09-03 设计创作，主要内容包括：本发明涉及增强人体行走和静电吸附的技术领域,并提供了一种静电式辅助行走装置及其控制方法,所述辅助行走装置包括穿戴件、电源装置、第一电开关以及设置于所述穿戴件上的压力检测结构和吸附装置,所述压力检测结构用于检测穿戴者对所述穿戴件的压力,所述电源装置适于通过所述第一电开关与所述吸附装置电连接,所述第一电开关适于根据所述压力检测结构的第一压力检测值闭合或关断；本发明通过第一电开关的通断,以控制吸附装置的吸附力的产生和消失,以实现行走或停止动作,不仅适用于地球上各种地面的主动防滑和辅助稳定行走,而且也可以适用于外太空更加稳定的辅助直立行走,适用范围更广。(The invention relates to the technical field of enhancing human body walking and electrostatic adsorption, and provides an electrostatic auxiliary walking device and a control method thereof, wherein the auxiliary walking device comprises a wearing piece, a power supply device, a first electric switch, a pressure detection structure and an adsorption device, wherein the pressure detection structure and the adsorption device are arranged on the wearing piece; according to the invention, the generation and disappearance of the adsorption force of the adsorption device are controlled through the on-off of the first electric switch, so that the walking or stopping action is realized, the device is not only suitable for active anti-skidding and auxiliary stable walking on various grounds on the earth, but also suitable for more stable auxiliary vertical walking of outer space, and the application range is wider.)

1. The electrostatic walking assisting device is characterized by comprising a wearing piece (1), a power supply device (2), a first electric switch (3), and a pressure detection structure (4) and an adsorption device (5) which are arranged on the wearing piece (1), wherein the pressure detection structure (4) is used for detecting the pressure of a wearer on the wearing piece (1), the power supply device (2) is suitable for being electrically connected with the adsorption device (5) through the first electric switch (3) so that the adsorption device (5) generates adsorption force, and the first electric switch (3) is suitable for being closed or switched off according to a first pressure detection value of the pressure detection structure (4) so as to be suitable for active anti-skidding on various grounds and outer space vertical walking.

2. The electrostatic walking aid of claim 1, wherein the power supply device (2) comprises a first electrical energy storage device (21) and a high voltage generating device (22), the output of the first electrical energy storage device (21) is adapted to be electrically connected with the high voltage generating device (22) through the first electrical switch (3) to convert the low voltage of the first electrical energy storage device (21) into a high voltage, and the high voltage generating device (22) is electrically connected with the adsorption device (5) to make the adsorption device (5) generate electrostatic adsorption force for adsorbing the ground.

3. The electrostatic walking aid of claim 2, further comprising a smart wearable device (6) and a first switch receiver (7) disposed on the wearable member (1), wherein the smart wearable device (6) comprises a first switch transmitter (61), the first switch transmitter (61) is remotely connected with the first switch receiver (7), the first switch receiver (7) is disposed on a power supply circuit between the first power storage device (21) and the high voltage generating device (22), and the first switch receiver (7) is adapted to be turned on or off according to an output signal of the first switch transmitter (61) to realize intelligent remote control of the first switch receiver (7).

4. The electrostatic walking aid of claim 2, further comprising a second electric switch (8) and a power detection device (9) disposed on the wearing member (1), wherein the power supply device (2) further comprises a second electric energy storage device (25), the second electric energy storage device (25) is adapted to be electrically connected with the first electric energy storage device (21) through the second electric switch (8), the power detection device (9) is electrically connected with the first electric energy storage device (21) to detect the power of the first electric energy storage device (21), and the second electric switch (8) is adapted to be turned on or off according to the power detection value of the power detection device (9) to realize intelligent charging of the first electric energy storage device (21).

5. The electrostatic walking aid of claim 4, wherein the power supply device (2) further comprises an energy generating device (23) and a rectifying device (24) arranged on the wearing member (1), the energy generating device (23) is electrically connected with the second electrical energy storage device (25) through the rectifying device (24), and the rectifying device (24) is used for converting energy generated by the movement of the wearer into electrical energy by the energy generating device (23) to be rectified and stored in the second electrical energy storage device (25) so as to realize self-power supply.

6. The electrostatic walking aid of claim 3, further comprising a second switch receiver (10) disposed on the wearing member (1), wherein the smart wearing device (6) further comprises a second switch transmitter (62), wherein the second switch receiver (10) is electrically connected to the power output of the first power storage device (21), and wherein the second switch transmitter (62) is remotely connected to the second switch receiver (10).

7. The electrostatic walking aid of claim 1, wherein the suction device (5) comprises a suction electrode disposed on the wearing member (1), and the power supply device (2) is adapted to be electrically connected to the suction electrode through the first electric switch (3) to achieve the electrostatic walking aid.

8. The electrostatic walking aid of any one of claims 1 to 7, further comprising a control device (11), wherein the pressure detection structure (4) and the first electric switch (3) are electrically connected to the control device (11), respectively, and when the pressure detection structure (4) detects a foot lifting action, the first electric switch (3) is opened, and when the pressure detection structure (4) detects a foot falling action, the first electric switch (3) is closed.

9. The electrostatic walking aid of claim 3, further comprising a smart sensor disposed on the wearing member (1), wherein the smart sensor is electrically connected to the smart wearing device (6) for transmitting a signal of detecting the motion of the human foot to the smart wearing device (6).

10. The electrostatic walking aid of claim 9, wherein the smart wearable device (6) comprises any one of a smart bracelet, a micro remote controller, a bracelet, and a necklace, thereby realizing portable intellectualization.

11. The electrostatic walking assist apparatus of claim 7, wherein the adsorption electrode is any one of a comb-tooth type electrode, a rotating disk electrode and a spiral electrode.

12. An electrostatic walking assist control method based on the electrostatic walking assist apparatus according to any one of claims 1 to 11, comprising the steps of:

the first switch receiver (7) and the second switch receiver (10) are closed, when the feet of the wearer fall to the ground, the first electric switch (3) is closed, so that the adsorption device (5) generates adsorption force for adsorbing the ground by the two feet of the wearer;

the wearer lifts one foot to obtain a first pressure detection value acting on the wearing piece (1);

comparing the first pressure detection value with a preset walking threshold value, controlling whether the adsorption device (5) loses adsorption force according to the comparison result, and determining walking or stopping action; the walking threshold value is the maximum pressure value of the wearer to the wearing piece (1) after the wearer lifts one foot.

13. The electrostatic walking-assisted method according to claim 12, wherein the comparing the first pressure detection value with a preset walking threshold value, and controlling the adsorption device (5) to lose adsorption force according to the comparison result, wherein the determining the walking or stopping operation comprises:

if the first pressure detection value is smaller than or equal to the walking threshold value, judging that the sole of one foot is lifted, controlling a first electric switch (3) of one foot to be switched off, enabling the adsorption device (5) to lose adsorption force, and taking one step to realize walking action;

the sole of one foot of the wearer falls to the ground, and a second pressure detection value acting on the wearing piece (1) is obtained;

comparing the second pressure detection value with a preset stop threshold value, judging that the sole of one foot falls to the ground when the second pressure detection value is larger than or equal to the preset stop threshold value, and controlling the first electric switch (3) of one foot to be closed to enable the adsorption device (5) to generate adsorption force; wherein the stopping threshold value is the minimum pressure value of the wearer to the wearing piece (1) just after the sole of the wearer touches the ground;

the wearer lifts the other foot, and the first pressure detection value acting on the wearing piece (1) is obtained;

if the first pressure detection value is smaller than or equal to the walking threshold value, the sole of the other foot is judged to be lifted, the first electric switch (3) of the other foot is controlled to be switched off, the adsorption device (5) is controlled to lose adsorption force, and the other foot takes one step;

the sole of the other foot of the wearer falls to the ground, and a second pressure detection value acting on the wearing piece 1 is obtained;

comparing the second pressure detection value with a preset stop threshold value, judging that the sole of the other foot falls to the ground when the second pressure detection value is larger than or equal to the preset stop threshold value, and controlling the first electric switch (3) of the other foot to be closed to enable the adsorption device (5) to generate adsorption force;

and judging whether to continue walking or not, and if not, disconnecting the first switch receiver (7) and the second switch receiver (10).

Technical Field

The invention relates to the technical field of enhancing human body walking and electrostatic adsorption, in particular to an electrostatic auxiliary walking device and a control method thereof.

Background

At present, China enters an aging society and is in a stage of continuously deepening aging. Under the influence of sex, physiology, psychology, environment, medicine, disease and adverse symptoms, the elderly are easy to fall down in daily life, thereby causing various problems such as fracture and cerebral hemorrhage. The world health organization reports that about 30 million people die from falls each year worldwide, half of which are older than 60 years. In China, more than two hundred million old people aged over 60 have the problem that 4000 million old people fall down at least once every year, and the fall becomes the leading cause of death of the old people aged over 65. Tumble prevention has been a subject of research efforts by researchers. Falls can be divided into slips, trips and falls, and in the event of a fall, the probability of a slip is far greater than that of a trip and a fall. Therefore, the study of slip prevention is very necessary.

Currently, anti-slip measures include: setting safety slogans, taking anti-skid measures (such as laying anti-skid pads, anti-skid bricks and the like) on the road surface, increasing the anti-skid property of the shoes and the like. The anti-skid measures of the safety slogan and the road surface are limited due to different moving occasions, so that the increase of the anti-skid property of the shoes is a main research direction of people for anti-skid research.

The anti-skid property is one of important functions that the shoe should have, and is also an important index for checking the performance of the shoe. The anti-skid property of the sole directly affects the comfort and safety of the shoe when worn. Good antiskid is more favorable to walking stably to reduce the injury. People use the anti-skidding shoe covers and other anti-skidding devices and the like through designing different sole patterns and sole structures, so that the friction force of the soles is greatly increased, people can walk on smooth ground (such as ceramic tile surfaces, ice surfaces and the like), and the risk of falling of people is greatly reduced. Increasing the friction of the sole and enhancing the anti-skid function of the shoe are the targets of various researchers.

At present, anti-skidding measures taken by people aiming at shoes mainly comprise: (1) the sole material with large friction is selected. Common sole materials include rubber, plastic, rubber, PU, PVC, EVA, TPR, artificial sole leather, natural leather and the like, and the sole anti-skid properties of different materials are different. (2) Designing a sole pattern structure. Common regular patterns include dotted patterns, wavy patterns, rhombic patterns and the like; irregular patterns usually follow some textures in nature, such as bark, gravel, etc.; some special patterns are customized according to the specific efficacy of the shoe and have special functions. (3) In special occasions, such as wet and slippery ground, ice and snow road surface, and the like, the anti-skid device such as an anti-skid shoe cover is worn. The current antiskid devices such as antiskid shoe covers and the like are that special steel spikes and antiskid thorns are arranged on soles so as to achieve the purpose of increasing friction force.

However, the current anti-slip measures have a common disadvantage that the friction is increased only by increasing the roughness of the surface of the shoe, which can play a role in anti-slip on ordinary road surfaces and snow, but the anti-slip effect is not obvious on water-containing tile surfaces or ice surfaces. Therefore, there is a need for a device that can firmly attach the feet to the ground, even on very smooth ground, to ensure that the feet are not slipped off the ground. The adsorption force disappears when the foot is lifted, and the adsorption force appears when the foot is fallen, so that the walking can be freely carried on most smooth surfaces.

In addition, upright walking is the prerequisite that people carried out normal life and stable work, not only can liberate both hands, improves work efficiency, can also make the brain upwards in order to alleviate cervical vertebra and bear a burden, avoids taking place danger. More importantly, the brain pressure can be reduced to the maximum extent by vertically walking, and the rapid and efficient operation of the brain is ensured to a certain extent. In the outer space zero gravity environment (such as a space station), the human body can float in the air. When the gravitational acceleration is different from the earth on the surface of a planet, such as the lunar surface survey and the Mars surface survey, the gravitational acceleration and the air density are different from the earth, so that people can feel unstable to walk due to the change of the self gravity and the air resistance in the conventional walking mode, and at the moment, people can only ensure safe walking by slowing down the walking speed. Under the two conditions, a device capable of firmly adsorbing the feet on the ground is also needed to assist people to walk upright, so that the human body is not floated in a zero-gravity environment, and the human body is not unstable in walking on the surfaces of other celestial bodies due to different gravity.

The patent provides an electrostatic auxiliary walking device and a control method thereof, aiming at the problems of insufficient antiskid function and inconvenient outer space walking in the traditional antiskid measures.

Disclosure of Invention

The invention solves the problem of how to design an auxiliary walking device which can be suitable for different environments to realize stable walking and a control method thereof.

In order to solve the above problems, the present invention provides an electrostatic walking aid device, including a wearing part, a power supply device, a first electric switch, and a pressure detecting structure and an adsorbing device disposed on the wearing part, wherein the pressure detecting structure is used for detecting a pressure of a wearer on the wearing part, the power supply device is adapted to be electrically connected to the adsorbing device through the first electric switch, so that the adsorbing device generates an adsorbing force, and the first electric switch is adapted to be turned on or off according to a first pressure detection value of the pressure detecting structure, so as to be suitable for active anti-skid on various grounds and upright walking in outer space.

Optionally, the power supply apparatus includes a first electrical energy storage device and a high voltage generating device, an output end of the first electrical energy storage device is adapted to be electrically connected with the high voltage generating device through the first electrical switch to convert a low voltage of the first electrical energy storage device into a high voltage, and the high voltage generating device is electrically connected with the adsorption apparatus to enable the adsorption apparatus to generate electrostatic adsorption force for adsorbing the ground.

Optionally, the auxiliary walking device further comprises an intelligent wearing device and a first switch receiver arranged on the wearing piece, the intelligent wearing device comprises a first switch transmitter, the first switch transmitter is connected with the first switch receiver in a remote control mode, the first switch receiver is arranged on a power supply loop between the first electric energy storage device and the high-voltage generating device, and the first switch receiver is suitable for being turned on or turned off according to an output signal of the first switch transmitter so as to realize intelligent remote control of the first switch receiver.

Optionally, the walking assisting device further comprises a second electric switch and an electric quantity detecting device, the second electric switch and the electric quantity detecting device are arranged on the wearing piece, the power supply device further comprises a second electric energy storage device, the second electric energy storage device is suitable for being electrically connected with the first electric energy storage device through the second electric switch, the electric quantity detecting device is electrically connected with the first electric energy storage device so as to detect the electric quantity of the first electric energy storage device, and the second electric switch is suitable for being turned on or off according to the electric quantity detecting value of the electric quantity detecting device so as to realize intelligent charging of the first electric energy storage device.

Optionally, the power supply device further comprises an energy power generation device and a rectification device, the energy power generation device is arranged on the wearing part and is electrically connected with the second electrical energy storage device through the rectification device, and the rectification device is used for converting energy generated by the movement of the wearer into electrical energy by the energy power generation device to be rectified and stored in the second electrical energy storage device, so that self-power supply is achieved.

Optionally, the auxiliary walking device further comprises a second switch receiver disposed on the wearing piece, the intelligent wearing device further comprises a second switch transmitter, the second switch receiver is electrically connected with the power output end of the first electric energy storage device, and the second switch transmitter is remotely connected with the second switch receiver.

Optionally, the adsorption device includes an adsorption electrode disposed on the wearing piece, and the power supply device is adapted to be electrically connected to the adsorption electrode through the first electric switch.

Optionally, the auxiliary walking device further comprises a control device, the pressure detection structure and the first electric switch are electrically connected to the control device respectively, when the pressure detection structure detects a foot lifting action, the first electric switch is turned off, and when the pressure detection structure detects a foot falling action, the first electric switch is turned on.

Optionally, the wearing piece is any one of a shoe, a shoe cover and an insole.

Optionally, the shoe is made using conventional processes or additive manufacturing techniques.

Optionally, the area of the adsorption electrode is larger than, equal to or smaller than the area of the wearing piece.

Optionally, the energy generating device comprises any one of a piezo ceramic generator, a friction generator, an electromagnetic induction generator and a vibration generator.

Optionally, the first and second electrical energy storage devices each employ any one of a battery, a capacitor and a super capacitor.

Optionally, the pressure detection structure comprises a pressure sensor or a piezoelectric sensor.

Optionally, the electrostatic auxiliary walking device further comprises an intelligent sensing device disposed on the wearable device, and the intelligent sensing device is electrically connected to the intelligent wearable device and is used for transmitting a motion signal of the detected foot of the human body to the intelligent wearable device.

Optionally, the smart sensor device comprises an acceleration sensor or a displacement sensor.

Optionally, the device is dressed to intelligence includes any one of intelligent bracelet, miniature remote controller, hand lace and necklace to realize portable intellectuality.

Optionally, the adsorption electrode is any one of a comb-tooth-type electrode, a rotating disk electrode and a spiral electrode.

Compared with the prior art, the pressure detection structure is arranged on the wearing piece, when the user walks forwards, one foot is lifted, a first pressure detection value of the pressure detection structure on the wearing piece, which acts on the wearing piece by the user, is smaller than a walking threshold value, the first electric switch is turned off, a circuit between the power supply device and the adsorption device is disconnected, the adsorption device loses adsorption force on the ground due to the loss of power supply provided by the power supply device, the user can lift the foot and step one step, and walking action is realized; after the foot falls, pressure detection structure can sense the pressure signal that the foot of wearer fell to the ground, make first electric switch closed, so that the circuit between power supply unit and the adsorption equipment switches on, utilize power supply unit to supply power with the adsorption equipment that produces once more to ground for adsorption equipment, with this circulation, thereby supplementary walking function has been realized through the adsorption capacity mode, not only be applicable to the initiative antiskid and supplementary stable walking on various ground on the earth, but also can be applicable to the more stable supplementary walking of standing upright of outer space, application scope is wider.

The invention also provides an electrostatic auxiliary walking control method based on the electrostatic auxiliary walking device, which comprises the following steps:

the first switch receiver and the second switch receiver are closed, when the feet of the wearer fall to the ground, the first electric switch is closed, so that the adsorption device generates adsorption force for adsorbing the ground by the two feet of the wearer;

the method comprises the following steps that a wearer lifts one foot to obtain a first pressure detection value acting on a wearing piece;

comparing the first pressure detection value with a preset walking threshold value, controlling whether the adsorption device loses adsorption force according to the comparison result, and determining walking or stopping action; wherein the walking threshold is the maximum pressure value of the wearer to the wearing piece after the wearer lifts one foot.

Therefore, since an electrostatic walking assist control method is based on the above electrostatic walking assist device, the electrostatic walking assist control method at least has the beneficial effects of the electrostatic walking assist device, and is not described herein again.

Optionally, the comparing, according to the first pressure detection value, with a preset walking threshold value, and controlling whether the adsorption device loses adsorption force according to a comparison result, determining walking or stopping includes:

if the first pressure detection value is smaller than or equal to the walking threshold value, judging that the sole of one foot is lifted, controlling a first electric switch of one foot to be switched off, enabling the adsorption device to lose adsorption force, and stepping one step to realize walking action;

the sole of one foot of the wearer falls to the ground, and a second pressure detection value acting on the wearing piece is obtained;

comparing the second pressure detection value with a preset stop threshold value, judging that the sole of one foot falls to the ground when the second pressure detection value is larger than or equal to the preset stop threshold value, and controlling a first electric switch of one foot to be closed to enable an adsorption device to generate adsorption force; wherein the stop threshold is a minimum pressure value of the wearer to the wearing part 1 immediately after the sole of the wearer touches the ground;

the wearer lifts the other foot, and the first pressure detection value acting on the wearing piece is obtained;

if the first pressure detection value is smaller than or equal to the walking threshold value, judging that the sole of the other foot is lifted, controlling the first electric switch of the other foot to be switched off, controlling the adsorption device to lose adsorption force, and taking one step by the other foot;

the sole of the other foot of the wearer falls to the ground, and a second pressure detection value acting on the wearing piece is obtained;

comparing the second pressure detection value with a preset stop threshold value, judging that the sole of the other foot falls to the ground when the second pressure detection value is larger than or equal to the preset stop threshold value, and controlling the first electric switch of the other foot to be closed to enable the adsorption device to generate adsorption force;

and judging whether to continue walking, if not, disconnecting the first switch receiver and the second switch receiver.

Drawings

FIG. 1 is a schematic circuit diagram of an auxiliary walking device according to an embodiment of the present invention;

FIG. 2 is a second schematic circuit diagram of the walking aid according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an auxiliary walking device according to an embodiment of the present invention;

FIG. 4 is a second schematic structural view of the walking assisting device in accordance with the embodiment of the present invention;

FIG. 5 is a schematic view of an arrangement of adsorption devices according to an embodiment of the present invention;

FIG. 6 is a second schematic view of an arrangement structure of an adsorption apparatus according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating an anti-skid application scenario of the walking aid in an embodiment of the present invention;

FIG. 8 is a view of an application scenario of the walking assisting device in walking in outer space according to an embodiment of the present invention;

FIG. 9 is a flowchart illustrating a method for assisting walking control according to an embodiment of the present invention;

fig. 10 is a second flowchart of the walking-assisting control method according to the embodiment of the present invention.

Description of reference numerals:

1-a wearing piece; 2-a power supply device; 21-a first electrical energy storage device; 22-high voltage generating device; 23-an energy power generating device; 24-a rectifying device; 25-a second electrical energy storage device; 3-a first electrical switch; 4-a pressure detection structure; 5-an adsorption device; 6-intelligent wearable device; 61-a first switch transmitter; 62-a second switch transmitter; 7-a first switched receiver; 8-a second electrical switch; 9-electric quantity detection means; 10-a second switched receiver; 11-control means.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the terms "an embodiment," "one embodiment," and "one implementation," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or example implementation of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

In order to solve the technical problems of the background art, referring to fig. 1 to 4, an embodiment of the present invention provides an electrostatic auxiliary walking device, including a wearing part 1, a power supply device 2, a first electric switch 3, and a pressure detecting structure 4 and an adsorbing device 5 disposed on the wearing part 1, where the pressure detecting structure 4 is used for detecting a pressure of a wearer on the wearing part 1, the power supply device 2 is adapted to be electrically connected to the adsorbing device 5 through the first electric switch 3, so that the adsorbing device 5 generates an adsorbing force, and the first electric switch 3 is adapted to be turned on or off according to a first pressure detecting value of the pressure detecting structure 4, so as to be suitable for active anti-skid on various grounds and upright walking in outer space.

The wearing member 1 is used for wearing on the foot of the wearer, and may be various shoes, shoe covers, shoe insoles, etc., and is not particularly limited herein. Pressure detection structure 4 and adsorption equipment 5 can all be installed on wearing piece 1, for example pressure detection structure 4 can be installed in the interior bottom of the shoes as wearing piece 1, the inside bottom plate of shoes etc., pressure detection structure 4 can also be installed in the intermediate layer of the shoe cover as wearing piece 1 or the interior bottom of the shoe cover, pressure detection structure 4 can also be installed in the intermediate layer of the shoe-pad as wearing piece 1, the interior bottom of shoe-pad or the department between shoe-pad and the shoes, pressure detection structure 4 is used for detecting the contact pressure value size of the foot of the wearer to wearing piece 1, so the specific set up position of pressure detection structure 4 does not specifically limit here. The adsorption device 5 may be installed at an inner bottom of a shoe, a bottom plate interlayer of the shoe, or an outer bottom of the shoe, etc. as the wearing article 1, and the adsorption device 5 is used to generate an adsorption force with respect to the ground when being powered on to adsorb the ground, and a specific installation position thereof is not particularly limited herein. The power supply device 2 is used for providing working power supply for the adsorption device 5, so that the adsorption device 5 generates adsorption force in a power-on state and loses the adsorption force in a power-off state. Because the power supply device 2 is suitable for being electrically connected with the adsorption device 5 through the first electric switch 3, and the pressure detection structure 4 is arranged on the wearing piece 1, when the pressure detection structure 4 detects that a first pressure detection value of the wearing piece 1 is smaller than a walking threshold value when the foot of a wearer is lifted, the sole is judged to be lifted, the first electric switch 3 is disconnected, at the moment, the adsorption device 5 loses adsorption force on the ground due to the loss of the power supply provided by the power supply device 2, and at the moment, the wearer can take one step; after pressure detection structure 4 detects out the person of wearing and falls the foot signal, judge this moment that the sole has fallen to the ground, first electric switch 3 is closed, and adsorption equipment 5 produces the adsorption affinity in order to adsorb ground because of obtaining the power that power supply unit 2 provided once more, realizes steady walking of standing vertically. The first electric switch 3 is an electric switch that can be controlled to be opened or closed by other devices, such as a diode switch, a triode switch, a relay switch, etc., by way of non-exhaustive example.

In the embodiment, the wearing piece 1 is worn on the foot of a wearer, two feet step on the ground, the pressure detection structure 4 is arranged on the wearing piece 1, when the wearer walks forwards, one foot is lifted, the first pressure detection value of the pressure detection structure 4 on the wearing piece 1 acted by the wearer is smaller than the walking threshold value, the first electric switch 3 is turned off, so that a circuit between the power supply device 2 and the adsorption device 5 is disconnected, the adsorption device 5 loses the adsorption force on the ground due to the loss of the power supply provided by the power supply device 2, the foot can be lifted to step one step, and the walking action is realized; after the foot falls, pressure detection structure 4 can sense the pressure signal that the foot of wearer fell to the ground, make first electric switch 3 closed, so that the circuit between power supply unit 2 and adsorption equipment 5 switches on, utilize power supply unit 2 to supply power for adsorption equipment 5 with the adsorption affinity to ground of regeneration once more, with this circulation, not only realized intelligent perception, but also realized supplementary walking function through the adsorption affinity mode, not only be applicable to the initiative antiskid and the supplementary walking of stabilizing on various ground on the earth, and also can be applicable to the supplementary walking of standing upright of outer space more stable, and application scope is wider. For example, if wear ordinary shoes, the condition that easily tumbles will appear on relatively smooth road surface, see the left side attached drawing of fig. 7, if wear the supplementary running gear of electrostatic including wearing piece 1 that can realize electrostatic absorption, just can adsorb ground steadily, see the right side attached drawing in fig. 7, and then be applicable to the initiative antiskid on earth and supplementary steady walking. And at the space station of outer space, if the person of wearing wears ordinary shoes, then easily float, can't walk upright, see the left side attached drawing in figure 8, if the person of wearing wears wearing piece 1 that the static electrification adsorbs, just can steadily adsorb to be applicable to in outer space, can assist mankind to stand upright walking in the space, realize the steady walking action on the planet, see the right side attached drawing in figure 8.

In one embodiment of the present invention, as shown in fig. 2, the power supply apparatus 2 includes a first electrical energy storage device 21 and a high voltage generating device 22, an output terminal of the first electrical energy storage device 21 is adapted to be electrically connected to the high voltage generating device 22 through the first electrical switch 3 to convert a low voltage of the first electrical energy storage device 21 into a high voltage, and the high voltage generating device 22 is electrically connected to the attraction 5 to make the attraction 5 generate an electrostatic attraction force for attracting the ground.

It should be noted that the output end of the first electrical energy storage device 21 is electrically connected with the high voltage generation device 22 through the first electrical switch 3, so that the high voltage generation device 22 converts the low voltage output by the first electrical energy storage device 21 into the high voltage and acts on the adsorption device 5, and the adsorption device 5 can generate the adsorption force to the ground after acquiring the high voltage, so that the wearing part 1 is stably adsorbed on the ground, and can play an anti-skid role on some smooth grounds, and can realize vertical walking in an outer space region. When the walking is needed, the first electric switch is switched off, the first electric energy storage device 21 does not supply power to the high-voltage generation device 22 any more, and at the moment, the adsorption device 5 loses adsorption force due to power failure, so that the walking action is realized.

In an embodiment of the present invention, as shown in fig. 2 to 4, the electrostatic walking aid further includes a smart wearable device 6 and a first switch receiver 7 disposed on the wearable device 1, the smart wearable device 6 includes a first switch transmitter 61, the first switch transmitter 61 is remotely connected to the first switch receiver 7, the first switch receiver 7 is disposed on a power supply circuit between the first power storage device 21 and the high voltage generating device 22, and the first switch receiver 7 is adapted to be turned on or off according to an output signal of the first switch transmitter 61 to realize intelligent remote control of the first switch receiver 7.

It should be noted that, by remotely connecting the first switch transmitter 61 in the intelligent wearing apparatus 6 with the first switch receiver 7 disposed on the wearing member 1, and disposing the first switch receiver 7 on the power supply circuit between the first electrical energy storage device 21 and the high voltage generating device 22, the wearing person can manually control the adsorption force of the adsorption device 5 by operating the first switch transmitter 61 on the intelligent wearing apparatus 6 to remotely control the on/off of the first switch receiver 7, that is, by operating the first switch transmitter 61 to turn off the first switch receiver 7, the adsorption device 5 in the power supply circuit loses the power provided by the first electrical energy storage device 21 and loses the adsorption force, and if the first switch transmitter 61 is operated to turn on the first switch receiver 7, the adsorption device 5 in the power supply circuit obtains the power provided by the first electrical energy storage device 21 and generates the adsorption force, thereby realizing the wireless intelligent remote control function.

In an embodiment of the present invention, as shown in fig. 2 to 4, the electrostatic auxiliary walking device further includes a second electric switch 8 and a power detection device 9 disposed on the wearing part 1, the power supply device 2 further includes a second electrical energy storage device 25, the second electrical energy storage device 25 is adapted to be electrically connected to the first electrical energy storage device 21 through the second electric switch 8, the power detection device 9 is electrically connected to the first electrical energy storage device 21 to detect the power of the first electrical energy storage device 21, and the second electric switch 8 is adapted to be turned on or off according to the power detection value of the power detection device 9 to achieve intelligent charging of the first electrical energy storage device 21.

It should be noted that, the electric quantity detection device 9 is electrically connected to the first electric energy storage device 21, so that the electric quantity of the first electric energy storage device 21 can be detected in real time by the electric quantity detection device 9, the second electric energy storage device 25 is suitable for being electrically connected to the first electric energy storage device 21 through the second electric switch 8, so that when the first electric energy storage device 21 is in a low electric quantity state, the second electric switch 8 is closed, at this time, the second electric energy storage device 25 can be used for charging the first electric energy storage device 21, so as to prolong the service time of the first electric energy storage device 21, and accordingly, the first electric energy storage device 21 is used for correspondingly prolonging the time for supplying power to the adsorption device 5 to realize the walking action; when the charge detection device 9 detects that the first electrical energy storage device 21 is sufficient, the second electrical switch 8 is turned off, and the second electrical energy storage device 25 is used as a backup power source without charging the first electrical energy storage device 21.

The power detection device 9 is used for detecting the power of the first electrical energy storage device 21, and the power detection device 9 is not particularly limited herein as long as it can detect the power of the storage battery as the electrical energy storage device in real time. Since the second electrical energy storage device 25 can provide electrical energy to the first electrical energy storage device 21, the second electrical energy storage device 25 can be a storage battery, a capacitor, a super capacitor, or the like, and is not particularly limited herein.

The electrostatic auxiliary walking device further comprises a control device 11, the electric quantity detection device 9 and the second electric switch 8 are respectively electrically connected with the control device 11, so that the residual electric quantity data of the first electric energy storage device 21 are transmitted to the control device 11 in real time through the electric quantity detection device 9, the control device 11 compares the residual electric quantity data with an internal preset electric quantity threshold value to judge whether the first electric energy storage device 21 is in a low electric quantity state or not, if the first electric energy storage device 21 is in the low electric quantity state, the control device 11 controls the second electric switch 8 to be switched on and off to realize intelligent charging of the first electric energy storage device 21 by the second electric energy storage device 25, if the first electric energy storage device 21 is not in the low electric quantity state, the control device 11 controls the second electric switch 8 to be switched off, and at the moment, the first electric energy storage device 21 does not need to be charged. The second electric switch 8 may be a diode switch, a triode switch, a relay switch, etc., and electric switches that can only be controlled to be turned on or off by the control device 11 are all suitable for the present technical solution, and are not described herein again.

In an embodiment of the present invention, as shown in fig. 2 to 4, the power supply device 2 further includes an energy generating device 23 and a rectifying device 24 disposed on the wearing member 1, the energy generating device 23 is electrically connected to the second electrical energy storage device 25 through the rectifying device 24, and the rectifying device 24 is configured to convert energy generated by the movement of the wearer into electrical energy by the energy generating device 23 for rectification and storage in the second electrical energy storage device 25, so as to achieve self-power supply.

It should be noted that, by arranging the energy power generation device 23 on the wearing piece 1, the energy power generation device 23 can be used to generate power from the energy generated by the wearer during walking exercise, and the energy power generation device 23 is electrically connected to the second electrical energy storage device 25 through the rectifying device 24, so that the rectifying device is convenient to rectify the unstable electrical energy generated by the energy power generation device 23 and then output stable electrical energy to be stored in the second electrical energy storage device 25, thereby providing backup electrical energy for the first electrical energy storage device 21, and thus realizing self-powering of the second electrical energy storage device 25.

The rectifying device 24 is configured to rectify the unstable electric energy generated by the energy generating device 23 to output the stable electric energy, and the rectifying device 24 may be a bridge rectifier module, so that the rectifying device 24 that can rectify the unstable electric energy generated by the energy generating device to output the stable electric energy is suitable for the present technical solution, and is not limited herein.

In an embodiment of the present invention, as shown in fig. 2 to 4, the electrostatic walking aid further includes a second switch receiver 10 disposed on the wearing part 1, the smart wearing apparatus 6 further includes a second switch transmitter 62, the second switch receiver 10 is electrically connected to the power output end of the first power storage device 21, and the second switch transmitter 62 is remotely connected to the second switch receiver 10.

It should be noted that, as shown in fig. 2, the electrostatic walking aid includes a plurality of different electric devices, and power is required for the various electrical devices, such as the pressure detecting structure 4, the high voltage generating device 22, the first switch receiver 7, the control device 11, etc., to operate normally, the first electrical energy storage device 21 not only provides electrical energy for the high voltage generating device 22 to enable the absorbing device 5 to generate absorbing force, but also provides electrical energy for the pressure detecting structure 4, the high voltage generating device 22 and the first switch receiver 7, by remotely connecting the second switch transmitter 62 in the smart wearable device 6 with the second switch receiver 10, and the second switch receiver 10 is electrically connected to the power supply output of the first electrical energy storage device 21, so that the second switch emitter 62 of the intelligent wearable device 6 is used for controlling the on-off of the whole circuit of the auxiliary walking device.

The second switch transmitter 62 can send an on/off command to the second switch receiver 10, and the on/off command is received and executed by the second switch receiver 10, so as to achieve the purpose of turning on/off the whole circuit of the electrostatic auxiliary walking device. Wireless signal transmission can be performed between the second switch transmitter 62 and the second switch receiver 10 through wifi, bluetooth, and infrared, wherein it is a relatively well-known prior art to control the switch receiver to be turned on or off by using the switch transmitter, and the detailed description thereof is omitted.

In one embodiment of the present invention, as shown in fig. 1, the absorption device 5 includes an absorption electrode disposed on the wearing member 1, and the power supply device 2 is adapted to be electrically connected to the absorption electrode through the first electric switch 3.

It should be noted that, the power supply device 2 is electrically connected with the adsorption electrode through the first electric switch 3, so that the power supply device 2 can provide a working power supply for the adsorption electrode, the adsorption electrode can generate an adsorption force in a power-on state to adsorb the ground, active skid resistance in a relatively smooth ground environment or upright walking in an outer space zero gravity environment can be realized, and the adsorption force is lost when the power is cut off, so that a wearer can step to realize walking.

In an embodiment of the present invention, as shown in fig. 2, the walking assisting device further includes a control device 11, the pressure detecting structure 4 and the first electric switch 3 are electrically connected to the control device 11, respectively, when the pressure detecting structure 4 detects a foot lifting motion, the first electric switch 3 is opened, and when the pressure detecting structure 4 detects a foot falling motion, the first electric switch 3 is closed.

It should be noted that the pressure detecting structure 4 can be disposed at the heel of the wearing part 1, and is electrically connected to the control device 11 through the pressure detecting structure 4, and a walking threshold and a stop threshold are preset in the control device 11, when a walking action is required, the wearer lifts one heel first, at this time, the pressure detecting structure 4 transmits a first pressure detection value of the wearing part 1 when the wearer lifts the foot to the control device 11, the control device 11 compares the first pressure detection value with the walking threshold, if the first pressure detection value is smaller than the walking threshold, it is determined that the heel of the wearer has been successfully lifted off, at this time, the control device 11 can control the first electric switch 3 to be turned off, so that the adsorption device 5 loses the adsorption force due to losing the power of the power device 2, the wearer can step forward to realize the walking action, if the first pressure detection value is greater than or equal to the walking threshold, then judge that the heel of wearing person has not successfully liftoff, at this moment because power supply unit 2 produces the adsorption affinity and can't realize the walking for adsorption equipment 5 power supply always, lifts up the heel once more by the wearing person, and the first pressure detection value that detects up to pressure detection structure 4 is less than the walking threshold value, just can realize the walking action, and then realizes the automatic control of walking action.

Wherein, set up the electrostatic shield layer in the top of adsorption electrode, the electrostatic shield layer is in department between adsorption electrode and the wearer's foot promptly to avoid adsorption electrode probably to the polarization risk of wearer's foot effectively.

In one embodiment of the invention, the item of clothing 1 is any one of a shoe, a cover and an insole.

It should be noted that the wearing member 1 can be worn on the foot of the wearer, so the wearing member 1 can be a shoe, a shoe cover or an insole, which is not limited herein. The shoe cover as the wearing member 1 may be a conventional flexible shoe cover, a self-designed local rigid shoe cover, a conventional cloth shoe cover, a CPE shoe cover, a plastic shoe cover, or the like, and is not particularly limited herein. The bottom of the local rigid shoe cover serving as the wearing piece 1 can be changed into a rigid insulating material embedded adsorption electrode, the size of the rigid insulating material can be the same as that of the sole, and the rigid insulating material can also be slightly larger than the sole to increase the area of the adsorption electrode so as to increase the adsorption force on the ground.

In one embodiment of the invention, the shoe is made using conventional processes or additive manufacturing techniques.

It should be noted that the shoes can be made by the traditional process, for example, the shoes as the wearing piece 1 can be leather shoes, cloth shoes, rubber shoes, plastic shoes, etc.; the shoes can also be made by additive manufacturing technology, such as various shoes made by 3D and 4D printing technology, which is not limited herein.

In one embodiment of the present invention, the area of the adsorption electrode is larger than, equal to, or smaller than the area of the wearing article 1.

It should be noted that, if the wearing part 1 is a shoe, the area of the adsorption electrode of the adsorption device arranged at the bottom of the shoe is larger than or equal to the area of the wearing part 1, so that the adsorption force can be increased to improve the stability of adsorbing the ground; if the adsorption device is disposed inside the shoe as the wearing member 1, the area of the adsorption electrode is smaller than that of the wearing member 1, so that the adsorption electrode can be smoothly mounted in the shoe. If the wearing member 1 is an insole, the adsorption electrode of the adsorption device may be larger than, equal to, or smaller than the area of the insole as the wearing member 1. Therefore, the area of the adsorption electrode can be flexibly selected according to the type of the wearing member 1 and the installation position of the adsorption electrode, and is not particularly limited herein.

In one embodiment of the present invention, the energy power generating device 23 includes any one of a piezoelectric ceramic generator, a friction generator, an electromagnetic induction generator, and a vibration generator.

It should be noted that the energy power generation device 23 may be a piezoelectric ceramic generator, the piezoelectric ceramic generator includes a plurality of piezoelectric ceramics, the plurality of piezoelectric ceramics may be connected in series or in parallel, and here, the plurality of piezoelectric ceramics in the piezoelectric ceramic generator as the energy power generation device 23 may be disposed at the root of the shoe as the wearing part 1, so that when the wearer walks, the pressure of the foot of the wearer landing on the ground presses the piezoelectric ceramics to generate mechanical deformation to generate electric energy. For example, the energy power generation device 23 may also be a friction generator, an electromagnetic induction generator, a vibration generator, etc., and the generator is not limited in particular as long as it can convert mechanical energy, friction energy, etc. generated by the wearer during the movement process into electrical energy.

In one embodiment of the present invention, the first electrical energy storage device 21 and the second electrical energy storage device 25 each employ any one of a battery, a capacitor, and a super capacitor.

It should be noted that the first electrical energy storage device 21 and the second electrical energy storage device 25 are not particularly limited herein, since they are defined as any one of a storage battery, a capacitor and a super capacitor, so as to store dc electrical energy.

In one embodiment of the invention, the pressure detection structure 4 comprises a pressure sensor or a piezoelectric sensor.

It should be noted that, the pressure detection structure 4 may be a piezoelectric sensor, a pressure sensor, etc., and as long as the pressure detection device capable of detecting the pressure value of the foot of the wearer to the wearing part 1 is applicable to this technical solution, it is not described herein again.

In an embodiment of the present invention, the electrostatic walking aid further includes a smart sensor disposed on the wearing part 1, and the smart sensor is electrically connected to the smart wearing device 6 and is configured to transmit a motion signal of the detected foot of the human body to the smart wearing device 6.

It should be noted that intelligent wearing device 6 can be including little display screen, through wearing intelligent sensing device and intelligent 6 electricity connections of wearing device to be convenient for intelligent sensing device will detect the motion signal transmission of human foot to intelligent wearing device 6, so that the person of wearing can show the motion signal of human foot through the little display screen display of intelligent wearing device 6, realize intelligent perception function.

In one embodiment of the invention, the smart sensor device comprises an acceleration sensor or a displacement sensor.

It should be noted that, the wearing piece 1 is provided with the acceleration sensor or the displacement sensor as the intelligent sensing device, so that the wearer can display the motion signal of the foot of the human body through the intelligent wearing device. For example, if the smart sensor is an acceleration sensor, an acceleration signal of the human foot can be detected, and if the smart sensor is a displacement sensor, a displacement of the human foot, that is, a walking distance signal, can be detected.

In an embodiment of the present invention, the smart wearable device 6 includes any one of a smart band, a micro remote controller, a bracelet, and a necklace, thereby implementing portable intellectualization.

It should be noted that device 6 can be worn for intelligent bracelet to intelligence, utilizes intelligent bracelet as the carrier of first switch transmitter 61 and second switch transmitter 62 promptly, and device 6 can still be worn for portable intelligence such as miniature remote controller, hand lace, intelligent necklace to intelligence is worn to realization portable intellectuality.

In one embodiment of the present invention, the adsorption electrode is any one of a comb-tooth type electrode, a rotating disk electrode, and a spiral electrode.

In this embodiment, the number of the attraction electrodes may be one or two, and the high voltage generator 22 in the power supply device 2 is used to energize the attraction electrodes. When the number of the adsorption electrodes is one group, that is, the number of the adsorption electrodes is at least one, the high voltage generator 22 is an electrostatic generator, at least one adsorption electrode is electrically connected with the high voltage generator 22 in the power supply device 2 through a lead, the electrostatic generator serving as the high voltage generator 22 generates high voltage electrostatic charges which are transmitted to the adsorption electrodes through the lead, at the moment, the ground which is close to or in contact with the wearing part 1 is induced and polarized through an electrostatic field, a large amount of bound charges with opposite polarities are generated, and therefore the wearing part 1 on the foot of a wearer is stably adsorbed on the ground through coulomb force, and therefore anti-skid or upright walking is achieved.

When the number of the adsorption electrodes is two groups, that is, the number of each group of adsorption electrodes is at least one, and two or two adjacent groups of adsorption electrodes are arranged at intervals, the high voltage generator 22 can be a positive and negative polarity direct current high voltage generator, the two or two adjacent groups of adsorption electrodes are respectively and electrically connected with the positive end and the negative end of the positive and negative polarity direct current high voltage generator serving as the high voltage generator 22 through leads, high-voltage positive charges and high-voltage negative charges are respectively introduced into the two adjacent adsorption electrodes by using the positive and negative polarity direct current high voltage generator serving as the high voltage generator 22, and a high-voltage strong electric field is generated between the adsorption electrodes, so that the wearing piece 1 on the foot of a wearer is stably adsorbed on the ground through the high-voltage strong electric field, and therefore, the anti-skid or upright walking is realized.

When the number of the adsorption electrodes is two, the adsorption electrodes adopt any one of comb-tooth-shaped electrodes, rotating disk electrodes and spiral electrodes, for example, the two groups of adsorption electrodes can be arranged in comb-tooth shapes with different shapes, as shown in fig. 5 and 6; of course, the adsorption electrodes may also be arranged in the shape of a rotating disk, a spiral, etc., and the arrangement mode that satisfies the condition that a certain distance is kept between two sets of adsorption electrodes or insulation is kept between two sets of adsorption electrodes is applicable to the present technical solution, which is not described herein again. And the electrode material of the adsorption electrode can be made of graphene, carbon nano tubes, conductive carbon grease and other stretchable conductive materials.

Another embodiment of the present invention provides an electrostatic walking assist control method, based on the electrostatic walking assist apparatus according to the above embodiments, including the steps of:

s1, closing the first switch receiver 7 and the second switch receiver 10, and closing the first electric switch 3 when the feet of the wearer fall to the ground, so that the adsorption device 5 generates adsorption force for adsorbing the ground by the two feet of the wearer;

s2, the wearer lifts one foot to obtain a first pressure detection value acting on the wearing piece 1;

s3, comparing the first pressure detection value with a preset walking threshold value, controlling whether the adsorption device 5 loses adsorption force according to the comparison result, and determining walking or stopping action; wherein the walking threshold is the maximum pressure value of the wearer to the wearing part 1 after the wearer lifts one foot.

It should be noted that, as shown in fig. 9 and fig. 10, after the wearing part 1 is worn by the wearer, the first switch transmitter 61 and the second switch transmitter 62 can control to close the first switch receiver 7 and the second switch receiver 10, respectively, then when the foot of the wearer falls to the ground, the pressure detection structure 4 detects that the foot of the wearer has fallen to the ground, and transmits a signal to the control device, at this time, the power supply device 2 first controls the first electric switch 3 to close, so as to energize the adsorption device 5 through the first electric switch 3, so as to generate an adsorption force to adsorb the ground, and the second electric energy storage device 25 can charge the first electric energy storage device 21 through the second electric switch 8.

After a wearer lifts one foot, a first pressure detection value of the wearer on the wearing piece 1 on the foot is obtained, the first pressure detection value is compared with a walking threshold value in the control device 11, and whether the adsorption device 5 loses adsorption force or not is judged according to a comparison result, so that automatic control of walking action is realized. Wherein, when the wearing person need walk, a foot of the wearing person just lifts a part, pressure detection structure 4 can be less than the pressure value when wearing person's both feet to wearing piece 1's first pressure measurement value this moment, first pressure measurement value can be walking threshold value this moment, and when wearing person's foot lifted up completely, first pressure measurement value that pressure detection structure 4 detected this moment can tend to zero and be less than walking threshold value this moment, can accurately judge that wearing person's foot has successfully liftoff this moment, possess the walking condition, first electric switch 3 disconnection this moment, adsorption equipment 5 loses the adsorption affinity because of losing power supply unit 2's electric energy, can move one step forward or backward this moment.

In the above embodiment, S3, the comparing the first pressure detection value with a preset walking threshold value, and controlling whether the adsorption device 5 loses adsorption force according to the comparison result, wherein the determining the walking or stopping includes:

s31, if the first pressure detection value is smaller than or equal to the walking threshold value, judging that the sole of one foot is lifted, controlling the first electric switch 3 of one foot to be switched off, enabling the adsorption device 5 to lose adsorption force, and taking one step to realize walking action;

s32, the sole of one foot of the wearer falls to the ground, and a second pressure detection value acting on the wearing piece 1 is obtained;

s33, comparing the second pressure detection value with a preset stop threshold value, and when the second pressure detection value is larger than or equal to the preset stop threshold value, judging that the sole of one foot falls to the ground, and controlling the first electric switch 3 of one foot to be closed to enable the adsorption device 5 to generate adsorption force; wherein the stop threshold is a minimum pressure value of the wearer to the wearing part 1 immediately after the sole of the wearer touches the ground;

s34, the wearer lifts the other foot to obtain the first pressure detection value acting on the wearing piece 1;

s35, if the first pressure detection value is smaller than or equal to the walking threshold value, judging that the sole of the other foot is lifted, controlling the first electric switch 3 of the other foot to be switched off, controlling the adsorption device 5 to lose adsorption force, and taking one step by the other foot;

s36, the sole of the other foot of the wearer falls to the ground, and a second pressure detection value acting on the wearing piece 1 is obtained;

s37, comparing the second pressure detection value with a preset stop threshold value, and when the second pressure detection value is larger than or equal to the preset stop threshold value, judging that the sole of the other foot falls to the ground, and controlling the first electric switch 3 of the other foot to be closed to enable the adsorption device 5 to generate adsorption force;

and S38, judging whether to continue walking or not, and if not, disconnecting the first switch receiver 7 and the second switch receiver 10.

It should be noted that, in step S31, when a straight foot of the wearer is lifted, the pressure detection structure 4 detects a pressure detection value of the wearer on the wearing part 1 as a first pressure detection value, and if the first pressure detection value is smaller than or equal to the walking threshold, it is determined that the heel of the straight foot of the wearer is lifted, and at this time, the first pressure detection value detected by the pressure detection structure 4 tends to zero and is smaller than the walking threshold, and at this time, it can be accurately determined that the foot of the wearer has successfully lifted off the ground, and a walking condition is provided, and at this time, the first electric switch 3 is turned off, and the adsorption device 5 loses adsorption force due to loss of electric power of the power supply device 2, and at this time, it can move forward or backward by one step. When the foot of the wearer is just lifted, if the first pressure detection value is greater than the walking threshold value, it is determined that the foot of the wearer is not completely lifted and the walking condition is not satisfied, and at this time, since the power supply device 2 always supplies power to the adsorption device 5 and the adsorption device 5 always generates adsorption force, the wearer needs to lift the heel again in order to walk.

In step S32, after the foot of one of the feet that the wearer has taken is landed, a second pressure detection value of the wearer on the wearing part 1 on the foot is acquired; in step S33, the second pressure detection value is compared with the stop threshold value in the control device 11, and whether or not the adsorption device 5 generates the adsorption force is determined based on the comparison result, thereby realizing automatic control of the stop operation after the walking. When a wearer walks, one foot taken before by the wearer is just landed, the second pressure detection value of the pressure detection structure 4 on the wearing piece 1 by the wearer is smaller than the stop threshold value, the foot of the wearer can be accurately judged to be not landed stably, and then the heel of the wearer continues to move downwards until the foot is landed, so that the adsorption force suddenly generated by the adsorption device 5 when the foot of the wearer is not landed stably is prevented from dragging the wearer, and the safety effect is achieved; and when the second pressure detection value that pressure detection structure 4 detected is greater than and stops the threshold value, the second pressure detection value at this moment basically tends to the weight of wearer and is greater than stop the threshold value, can accurately judge that the foot of wearer has steadily landed completely this moment, possess and stop the walking condition, first electric switch 3 is closed this moment, adsorption equipment 5 produces the adsorption affinity because of the electric energy that obtains power supply unit 2 at this moment, can play antiskid and prevent falling down effect if being in relatively smooth ground environment this moment, can steadily walk upright or stop the effect if being in outer space environment.

In step S34, the wearer lifts the other foot and acquires the first pressure detection value acting on the wearing article 1; in step S35, if the first pressure detection value is less than or equal to the walking threshold, it is determined that the other foot has been lifted, at this time, the first electric switch on the other foot may be controlled to be turned off, the adsorption device 5 loses adsorption force due to the loss of power supply of the first electric energy storage device 21 in the power supply device 2, and at this time, the other foot of the wearer may smoothly step forward or backward; if the first pressure detection value is larger than the walking threshold value, the other foot is judged not to be lifted, and the other foot of the wearer is lifted continuously until the first pressure detection value detected by the pressure detection structure 4 is smaller than or equal to the walking threshold value.

In step S36, a second pressure detection value acting on the wearing article 1 is acquired when the other foot of the wearer lands on the ground. In step S37, if the pressure detection structure 4 detects that the second pressure detection value is greater than or equal to the preset stop threshold, it may be determined that the other foot has completely landed, and at this time, the first electric switch 3 of the other foot may be controlled to be closed, so that the adsorption device 5 corresponding to the other foot generates an adsorption force, which is convenient for stably adsorbing the ground; if the pressure detection structure 4 detects that the second pressure detection value is smaller than the preset stop threshold value, it can be judged that the other foot is not completely landed, and at the moment, the first electric switch 3 of the other foot is still in a disconnected state, so that the other heel of the wearer continues to descend until the second pressure detection value is larger than or equal to the preset stop threshold value.

In step S38, the wearer determines whether to continue walking, and if so, returns to step S2 to continue execution; if not, the first switch receiver 7 and the second switch receiver 10 are turned off, wherein the first switch receiver 7 may be turned off by the first switch transmitter 61 to power off the adsorption device 5 to stop adsorption, and then the second switch receiver 10 may be turned off by the second switch transmitter 62 to power off the devices behind the output end of the first electrical energy storage device 21, so that the walking motion is finished.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.