CN111803336A - Mobility aids and methods of use - Google Patents

Abstract

The walking aid device comprises at least one sucker, and the sucker can be adsorbed on the body surface of a human body or an absorption aid garment so as to connect the human body and the sucker together. The mechanical arm is connected to the sucker and can drive the sucker to move/rotate in space. Comprises a chassis, wherein a walking device is arranged on the chassis and can drive the walking aid device to move. The mechanical arm is connected to the chassis. The suction cup is preferably a negative pressure suction cup. When the multifunctional suction cup is used, the suction cup is adsorbed on a human body/the suction-aid clothes, and the mechanical arm drives the suction cup to move so as to drive the human body to move and change the posture/position of the human body. The suction cup can be detached from the human body to let go of the human body.

Description

Mobility aids and methods of use

technical field

The present invention relates to a walking aid device and method of use, in particular to a walking aid device and method for disabled persons.

Background technique

There are many walking aids that assist the disabled and the elderly to walk. For example, a commercially available Bangbang car can fix people on the car, change people from sitting to standing, and drive people to walk.

However, when using the Bangbang car, the user needs to be fastened to the car with a strap, and the user with upper limb disability cannot complete this step independently.

SUMMARY OF THE INVENTION

The present invention provides a walking aid device that can easily fix a human body on a device, and a method of using the device.

The walking aid device of the present invention includes at least one suction cup, which can be adsorbed on the surface of the human body or on the suction-aiding suit, so that the human body and the suction cup are connected together. It includes at least one mechanical arm, which is connected to the suction cup and can drive the suction cup to move/rotate in space. The utility model comprises a chassis on which a walking device is arranged, which can drive the walking device to move. The robotic arm can be attached to the chassis. The suction cup is preferably a negative pressure suction cup. The walking aid device includes a negative pressure device, and the negative pressure device can discharge air from the suction cup to generate negative pressure. The negative pressure device includes an exhaust pump. The walking aid includes a pressure measuring device capable of measuring the air pressure in the suction cup. Includes an air pressure regulator valve that adjusts the air pressure in the suction cup.

When in use, the suction cup is adsorbed on the human body/suction-assistance suit, and the mechanical arm drives the suction cup to move and then drives the human body to move, changing the posture/position of the human body. The suction cup is capable of disengaging from the human body and releasing the human body.

The control module of the walking aid can read the data of the air pressure sensor in real time to obtain the air pressure value in the suction cup. When the air pressure value in the suction cup is within the preset air pressure range, the control module can send an air pressure reaching standard signal to the robotic arm control module. The robotic arm control module includes at least one locking device capable of locking the position of the robotic arm. The locking device is in a normally locked state. After the robotic arm control module receives the air pressure reaching the standard signal, the locking device unlocks the robotic arm, and the robotic arm moves.

The walking aid device can include at least one absorbent garment comprising at least one structural sheet.

The walking aid device of the present invention overcomes the inconvenience of fixing the user through a strap in the prior device, and enables the disabled person of the upper limb to conveniently use the walking aid device.

Description of drawings

Figure 1 is a schematic diagram of a walking aid;

Figure 2 is a schematic diagram of the suction cup;

3 is a schematic diagram of a suction cup structure;

4 is a schematic diagram of a suction cup structure;

5 is a schematic diagram of a suction cup structure;

Fig. 6 is the figure of the walking aid device when the human body is standing;

Figure 7 is a diagram of a walking aid device when a human body is sitting;

Figure 8 is a schematic diagram of a suction-assisted garment structure sheet;

The same numbers in the drawings represent the same or similar components.

Detailed ways

In FIG. 1 , the walking aid includes at least one suction cup 2 . The suction cup 2 can adsorb the human body 1, so that the human body is fixed on the suction cup 2, and the position of the suction cup 2 remains unchanged. The suction cup 2 is connected with the robotic arm assembly 3 . The robotic arm assembly 3 is connected to the frame 5 . The robotic arm 3 can drive the suction cup 2 to move/rotate in space, so that the suction cup is close to/away from the human body. The frame 5 is connected with a traveling mechanism 6, and the traveling mechanism can drive the chassis to move/steer. When the suction cup 2 is adsorbed on the human body 1, the robotic arm 3 can lift/put down the human body, can drive the human body to stand/sit/pitch/rotate, change the posture of the human body, and the walking aid device can drive the human body to move and transport the human body to the designated Location. The walking aid device includes a power supply component, and the power supply component includes a power storage device, which can store electrical energy and drive other modules to work. The walking aid includes a motion control module capable of manipulating or automatically controlling the movement of the walking aid. The walking aid includes an environment perception module, and the environment perception module includes ultrasonic radar and/or lidar and/or electromagnetic wave radar, and can sense obstacles in the environment. The motion control module is able to avoid obstacles while moving. The motion control module can plan the movement path to the destination according to the obstacles in the motion area. The walking aid device includes a manual operation module, which can accept human operation commands through wired/wireless methods and control the operation of the walking aid device. The robotic arm can be driven by a servo motor, or hydraulically, pneumatically, or electromagnetically.

The suction cup in Figure 2 can absorb the human body by means of negative pressure. The negative pressure suction cup 2 includes at least one rigid shell 211 and at least one suction surface 210 arranged with a plurality of air holes. The suction cup 2 is connected to the negative pressure device 4 through a pipeline 403 . The negative pressure device 4 includes at least one exhaust pump 401 , which can extract the air in the suction cup 2 to generate a negative pressure lower than atmospheric pressure in the cavity of the suction cup 2 . The suction cup 2 can comprise a check valve 405 arranged in the exhaust line so that air can only flow out of the suction cup. The suction cup 2 can include an air pressure adjusting device, and the air pressure adjusting device can control the working air pressure range of the suction cup 2 . The air pressure regulating device includes an air pressure sensor 215 , an air valve 217 and a control module 219 . The air pressure sensor 215 can measure the air pressure in the suction cup 2 and transmit the measurement data to the control module 219 . The control module 219 can control the opening and closing states of the air valve 217 . The working pressure range of the negative pressure suction cup is preset, such as 0.99 to 0.5 atmospheres, preferably 0.95 to 0.8 atmospheres. During operation, the negative pressure device 4 draws air from the suction cup, and the air pressure in the cavity of the suction cup decreases. When the air pressure in the suction cup cavity is higher than the upper limit of the working air pressure, the control module 219 controls the air valve 217 to close. When the air pressure in the suction cup cavity is lower than the lower limit of the working air pressure, the air valve 217 is fully or partially opened, and air flows into the suction cup cavity through the air valve, so as to increase the air pressure in the suction cup cavity to the set range. The air pressure regulating device can be mechanical, analog electronic or digital electronic. During operation, the air pump 401 draws air from the suction cup 2 to reduce the air pressure in the suction cup cavity, and external air flows into the suction cup cavity from the air holes of the suction surface 210 . At least one flexible/semi-rigid seal can be arranged around the adsorption surface 210 . The adsorption surface is close to the surface of the object, and the seal is attached to the object to prevent the inflow of external air. The air between the adsorption surface and the surface of the object is drawn out. Under the action of atmospheric pressure, the adsorption surface is adsorbed and attached to the surface of the object, so that the object Can't get out of suction cup 2. The suction surface 210 can be flexible/semi-rigid/rigid. When the suction cup needs to be separated from the human body, the exhaust pump 401 is turned off, and the air valve 217 is opened, so that the air pressure in the suction cup cavity is balanced with the external atmospheric pressure, and the suction cup is separated from the human body. At least one positioning probe 220 is arranged on the suction cup. The suction surface 210 can be in the form of a plane or a curved surface, preferably a curved surface that conforms to the three-dimensional shape of the body surface of the body part to be adsorbed. In use, the control module 219 can read the data of the air pressure sensor 215 in real time to obtain the air pressure value in the suction cup. When the air pressure value in the suction cup is within the preset air pressure range, the control module 219 can send an air pressure reaching standard signal to the robotic arm control module. The robotic arm control module includes at least one locking device capable of locking the position of the robotic arm. After the mechanical arm control module receives the air pressure reaching the standard signal, the locking device unlocks the mechanical arm, and the mechanical arm can drive the suction cup to move. The locking device can be a circuit breaker arranged on the robot arm drive device, which can cut off the power supply of the robot arm drive device. The locking device can be a software program in the robotic arm control module, the program includes at least one flag variable, and the flag variable includes at least two states of locking and unlocking. When locked, the flag variable value is set to lock, and when unlocked, the flag variable value is set to unlock. A time threshold can be set. When the negative pressure device is activated, the air pressure in the suction cup has not reached the preset air pressure range after exceeding the time threshold. The control module can generate a sound/light alarm, and can send information or dial number.

The negative pressure suction cup 2 in FIG. 3 includes at least two sub suction cups 213 . Seals 212 are arranged between the sub-suction cups and between the sub-suction cups and the housing. The sub-suction cup includes a porous suction surface, which can be adsorbed on the surface of the object. The sub-suction cup includes a rigid housing, and the sub-suction cup is movable relative to the housing. The individual sub-suction cups can be offset/slid with respect to each other. During operation, when the suction cup 2 is close to the surface of the object, each sub-suction cup can move/move according to the curved surface shape of the object surface, so that each sub-suction cup can be firmly adsorbed on the surface of the object. Each sub-suction cup can include an air pressure sensor 215, an air valve 217 and a control module 219, which can independently adjust the air pressure in the cavity of the sub-suction cup. Each sub-suction cup can send the air pressure reaching standard signal to the robot arm control module respectively. The robotic arm control module can calculate the suction force generated by each sub-suction cup. When the sum of the suction force generated by the sub-suction cups whose air pressure reaches the standard is greater than the body weight or the preset suction force threshold, the locking device of the robotic arm is unlocked.

In FIG. 4, at least one groove is arranged on the suction surface of the suction cup 2, and the air hole 2101 is arranged in the groove recess. When the adsorption surface is close to the surface of the object, the air can flow in the groove and enter the air hole. Because the air in the groove is flowing, the air pressure is lower than the static air pressure, and a negative pressure is formed between the adsorption surface and the surface of the object, so that the object is adsorbed on the suction cup.

In FIG. 5 , the suction surface of the suction cup 2 includes a plurality of concave areas, and air holes 2101 are arranged at the bottom of the concave areas. At least one sealing ring 2103 is arranged on the edge of the recessed area. The sealing ring can be flexible. When the suction cup 2 is close to the surface of the object, the sealing ring contacts the surface of the object, the air in the recessed area is discharged from the air hole, and the sealing ring prevents the outside air from flowing into the recessed area, generating negative pressure. Each recessed area forms a sub-suction cup. The surface of the object where the recessed area is located is attracted to the suction cup.

The negative pressure suction cup can be directly adsorbed on human skin and can be adsorbed on human clothing. Because human clothing is usually breathable, the suction cups can be adsorbed on the human skin through the clothing. In order to make the suction of the negative pressure suction cup more firm, and to avoid possible damage caused by the loose and thinning of the skin of the elderly, a suction-assisted suit can be used to assist the human body to be adsorbed on the suction cup.

In FIG. 6 , a human body 1 is wearing a suit for assisting suction. The absorbent garment can include at least one structural panel, which can include at least one torso panel 71 , can include at least one thigh panel 73 , can include at least one calf panel 75 , can include at least one arm panel. The absorbent garment is made of flexible/semi-rigid/rigid material and can be worn on the corresponding part of the human body. The absorbent garment material is impermeable or partially breathable, such as textile fabrics coated with an impermeable/semi-breathable coating, or rubber/plastic/nylon sheets. The absorbent garment can withstand the weight of the human body. The torso piece 71 , the thigh piece 73 , the calf piece 75 and the arm piece can be cylindrical/conical when in use, the torso piece is worn on the person's torso, the thigh piece is worn on the thigh, and the calf is worn. The piece is worn on the lower leg and the arm piece is worn on the upper and/or lower arm. The structural sheet of the absorbent garment can include at least one opening, and a connecting piece is arranged at the opening, and the connecting piece can be a zipper/button/strap/buckle/nylon/velcro. The structural panels can be donned/removed through the opening. The torso panel openings can be placed on the chest/back/side of the torso. The openings of the thigh piece/calf piece/arm piece can be arranged in the front/back/side. The torso panel can include at least one shoulder strap, and can include at least one crotch strap. The walking aid includes at least one torso suction cup 23, can include at least one thigh suction cup 25, can include at least one lower leg suction cup 27, can include at least one arm suction cup. The torso suction cup, the thigh suction cup, the calf suction cup and the arm suction cup are respectively connected with the walking device through the mechanical arm assembly, and can move and rotate in space under the driving of the mechanical arm assembly respectively. Each suction cup can be connected with the negative pressure device, and can be in a suction state and a non-suction state, respectively.

When in use, put on each structural piece of the absorbent suit on the corresponding part of the human body. Wear the torso piece on the torso, the thigh piece on the thigh, and the calf piece on the calf. The structural pieces can be connected to each other by connecting pieces. The walking aid is close to the human body. Driven by the mechanical arm assembly, the torso suction cup is close to the human torso, and is adsorbed on the torso sheet of the suction-aiding suit. The thigh suction cup is moved to the thigh under the driving of the mechanical arm, and the spatial angle of the thigh suction cup is adjusted according to whether the thigh is standing or sitting, and it is adsorbed on the thigh piece. The calf suction cup is moved to the calf position under the driving of the mechanical arm, and is adsorbed on the calf sheet. The mechanical arm assembly connected with each suction cup rises, which drives the human body to rise and lifts the human body. The walking device drives the human body to move to the target position. The robotic arm drives the human body to descend, so that the human body sits on a chair or keeps standing. The negative pressure device connected to each suction cup can stop working and be separated from the corresponding part of the human body.

In FIG. 7 , the torso pads 23 are adsorbed on the torso sheet 71 , the thigh pads 25 are adsorbed on the thigh sheets 73 , and the calf pads 27 are adsorbed on the calf sheet 75 . The torso suction cups are in an upright position, the thigh suction cups are in a horizontal position and the height is lower than the torso suction cups, the positions of the torso and thighs of the human body are limited by the suction cups, and the human body is in a sitting position. The walking aid device can include at least one arm suction cup, the arm suction cup can absorb the arm piece of the suction aid suit, and the mechanical arm assembly can drive the arm suction cup to move, thereby driving the arm to move. The absorbent garment includes at least one structural panel connector 77 . The structural pieces of the absorbent garment can be combined by connecting pieces. Connectors include, but are not limited to, elastic/non-elastic straps, which can be unfastened. The connectors are capable of transmitting forces between the structural pieces. When the torso suction cup absorbs the torso piece and lifts the human torso, the torso will fall down due to gravity. The torso piece is connected with the thigh piece through the connecting member 77, and the torso piece can pull the thigh piece, lift the thigh, and slow down the falling tendency of the human body. Especially when the human body is in a sitting position, the thigh suction cup makes the thigh in a horizontal position, and the torso piece pulls the thigh piece to provide leg support.

Each suction cup of the walking device can be moved separately under the driving of the mechanical arm assembly, and the thigh suction cup can drive the thigh to change from an upright posture to a horizontal posture, or from a horizontal posture to an upright posture. The torso suction cup can drive the torso from an upright position to a lying position, or from a lying position to an upright position. The calf suction cup can drive the calf to switch between the upright posture and the horizontal posture. The walking aid device can change the posture of the human body by adjusting the spatial position/angle of each suction cup, so that the human body can be changed from a standing posture to a sitting posture, and can be changed from a sitting posture to a lying posture. It can also drive the human body from lying to sitting, and from sitting to standing. When the human body is in a standing or sitting position, the walking aid device can drive the human body to move.

Fig. 8 is a structural sheet of the absorbent garment, the structural sheet includes a surrounding body 70, and the surrounding body can be worn on the trunk/limbs to drive the trunk/limbs to move. The enclosure can support the weight of the torso/limbs. Preferred enclosures are made of semi-breathable/impermeable textile material. The structural sheet includes an opening through which the enclosing body can be unfolded, and the enclosing body can be worn/surrounded on the corresponding part of the human body. At least one connector 703 is arranged at the opening. The connector can be opened to facilitate wearing of the structural sheet. Structural panels can be worn close to the body or over clothing. The structural sheet can have elasticity. The circumference of the structural sheet is slightly larger than the size of the body part, preferably 5CM greater than the circumference of the body part.

At least one anchor point 701 can be arranged on the structural sheet. At least one positioning probe can be arranged on at least one suction cup of the walking aid, and the positioning probe can measure the spatial position of the positioning point. One positioning probe can measure the spatial position of multiple positioning points, and the spatial position of one positioning point can be measured by multiple positioning probes. The positioning probe can transmit the spatial position information of the positioning point to the control module of the robotic arm assembly. The control module can determine the relative distance, attitude angle and other position information between the suction cup and the structural sheet according to the spatial position relationship between the positioning probe and the positioning point. The control module controls the mechanical arm to drive the suction cup to move according to the above information, so that the suction cup is adsorbed on the mechanism sheet according to the position indicated by the positioning point. The positioning probe can be arranged on the robotic arm and can be arranged on the frame of the walking aid. The locating points can be optical locating points, including patterns/graphics, and the locating probes can be image/color sensing devices, such as cameras. The locating point can be a magnetic device, and the locating probe can be a magnetic sensing device. The positioning point can be a sound wave transmitting device, and the positioning probe can be a sound receiving positioning device.

When optical positioning is employed, the positioning points can be patterns/graphics of a different color than the structured sheet. The positioning points can be arranged on the outer surface of the structural sheet, and the positioning points are arranged according to preset rules, such as right-angled triangles, squares, and straight lines. The positioning probe can be a camera, and the camera can take structural slices and images of the human body. The picture is sent to the positioning module, and the positioning module can identify the positioning point from the picture, measure the relative spatial position between the camera and the positioning point, and transmit the spatial position information to the robotic arm control module. The robotic arm control module can plan the moving route of the suction cup according to the current position of the suction cup and the position of the positioning point, and control the robotic arm to drive the suction cup to move, so that the suction cup is close to the positioning point, and then close to the structural sheet and attached to the structural sheet. The negative pressure device is activated, and under the action of negative pressure, the suction cup adsorbs the structural sheet. The positioning probe includes at least one distance measurement module, which can measure the distance between the suction cup and the structural sheet, and transmit the distance information to the robotic arm control module. The robotic arm control module controls the moving distance and speed of the suction cup to prevent the suction cup from colliding with the human body. The distance measuring module can include an acoustic wave ranging module/optical ranging module/radar ranging module/mechanical probe ranging.

When sonication is employed, the locating point can include at least a sonic/ultrasonic emitting device. The positioning probe includes at least a sonic/ultrasonic receiving device. The positioning probe can determine the spatial position of the positioning point using the well-known sound direction finding method.

When using magnetic positioning, the positioning point includes at least one magnetic device, such as a magnetic sheet and a magnetic strip. The positioning probe includes at least one magnetic induction element, which can measure the spatial position of the magnetic device.

The anchor point can be an electromagnetic wave reflecting device, such as a metal sheet. The locating probe includes a radar assembly capable of transmitting radar waves, receiving reflected radar waves and locating the position of the metal sheet.

The suction cup of the walking device can use electromagnetic effect to absorb the suction aid. Part or all of the absorbent garment is arranged with ferromagnetic material. The suction cup can be an electromagnetic suction cup. The suction cup includes at least one electromagnet. When the electromagnet is energized, it can absorb the ferromagnetic material on the suction-assisted clothing, and then absorb the human body.

The suction cup of the walking device and the suction suit can be fitted with a hook and loop fastener. The suction cup includes at least one Velcro, and the suction-aiding suit includes at least one Velcro that can be interlocked. Velcro is arranged on the surface of the suction cup, and a Velcro is arranged on the surface of the suction-aiding suit, and the velcro on the suction cup can be connected with the Velcro on the suction-assisting suit, so that the suction cup and the suction-assisting suit are connected together.

At least one mechanical connector, such as a metal ring/plastic ring, can be arranged on the suction-aid garment. The suction cup can include at least one mechanical connection, such as a hook/carabiner. The connecting piece on the suction cup can fasten the connecting piece on the suction-aiding suit, thereby connecting the suction cup and the suction-aiding suit together.

The walking aid device includes at least one 3D environment perception device, and the 3D environment perception device can include lidar, 3D laser measurement device, ultrasonic radar, 3D structured light measurement device, TOF measurement device, binocular stereo vision measurement device, preferably lidar. The 3D environment perception device can measure the position of furniture, walls and obstacles in the space in real time. The walking aid includes at least one control module, in which a space environment model can be preset, and the space environment model includes but is not limited to three-dimensional spatial positions and three-dimensional models of rooms, furniture, obstacles, walls, passages, and ground. The walking aid device includes at least one spatial positioning device, including but not limited to GPS, ultrasonic positioning, three-dimensional laser positioning, radar positioning, and image positioning. The spatial positioning device can determine the position of the walking aid in real time, and determine the relative position between the walking aid and each object in the space according to the preset spatial environment model, and determine the moving route of the walking aid accordingly to avoid obstacles. or reach the destination. The control module of the walking aid device can measure the surrounding environment in real time according to the three-dimensional environment perception device and establish/determine the space environment model in real time. The target position can be preset in the space environment model, such as the position of the chair when eating, the position of the chair when resting, the position of the toilet, and the route when walking. The time when the person is at each preset target position can be preset, such as sitting on a chair for dinner at 12 o'clock. The control module of the walking aid device can drive the person to move to the preset target position at the preset time according to the above-mentioned position and time.

When the person is in a sitting position, such as sitting in a chair, the walking aid can be operated by the person or automatically approach the human body. The torso suction cup can move towards the torso under the driving of the mechanical arm. The positioning probe on the suction cup measures the position of the positioning point, and controls the suction cup to move to the positioning point according to the spatial position between the positioning probe and the positioning point. When the suction cup and the positioning point are within the preset distance range, if the distance is less than 5CM, the negative pressure device is activated, and negative pressure is generated in the suction cup, and the suction cup adsorbs the suction aid and the human body. The human body is attached to the suction cup. The thigh suction cup is rotated under the driving of the mechanical arm so that the suction surface is attached to the surface of the thigh. The thigh sucker absorbs the thigh. The torso suction cup drives the body to move up/forward. The thigh sucker moves up. The human body is lifted from the chair. The walking device moves, driving the human body to move. The thigh suction cup can drive the thigh to rotate from a horizontal state to a vertical state, and the human body is converted from a sitting posture to a standing posture. The robotic arm can drive a standing human body to move, standing on a walking device, or standing on the ground. The walking device can drive the human body to move. When a person is standing on the ground, the thigh suction cup can be driven by the mechanical arm to raise/lower the thigh according to the movement law of the leg when the person walks, assisting the movement of the human body.

When the human body needs to be placed on the chair, the robotic arm drives the thigh suction cup to move and adjust the thigh into a horizontal posture. The torso suction cup drives the torso to stand up, so that the human body is in a sitting position. The walking aid device drives the human body to move to the front of the chair and puts the human body on the chair. Each suction cup stops attracting the human body, and the walking aid is separated from the human body.

When the person is in a supine lying position, the walking aid can help the person to sit up. When a person is lying on the bed, the walking aid can approach the human body from the side, the torso suction cup can be rotated to a state where the suction face is downward, and the suction cup can be rotated to a state in which the direction is consistent with the human body. The torso suction cup absorbs the human torso from above. The thigh suction cup can be rotated to a state in line with the direction of the thigh, and the thigh can be sucked from the top or the side. The torso suction cup lifts up and rotates at the same time, making the human torso erect. The thigh suction cup drives the thigh to lift up and leave the bed surface. The torso suction cup and the thigh suction cup rotate to drive the human body to a state where the front of the human body faces the walking device, that is, the state where the human body faces the side of the bed. The walking aid device can put the human body on the bed to make the human body sit on the edge of the bed, and can also drive the human body to move to other positions.

Claims (10)

1. The utility model provides a help capable device, includes frame, chassis, walking module, power module, characterized by:

the vacuum suction cup comprises a shell and at least one suction surface;

the negative pressure sucking disc can be connected with the negative pressure device to generate negative pressure in the sucking disc so that the sucking disc can adsorb a human body/an auxiliary sucking clothes;

the vacuum sucker is characterized by comprising at least one mechanical arm, wherein the mechanical arm is connected with the vacuum sucker and can drive the vacuum sucker to move/rotate;

the mechanical arm is connected with the walking aid device.

2. A walker apparatus as claimed in claim 1 wherein:

the sucker comprises at least 2 sub suckers, and a sealing element is arranged between the sub suckers/between the sub suckers and the shell;

the sub-sucker comprises an adsorption surface, and the sub-sucker can be adsorbed on a human body/an auxiliary suction garment.

3. A walking aid device as claimed in claim 1 or claim 2 wherein:

the sucking disc includes at least one air pressure adjusting device, the working air pressure scope of sucking disc can be controlled to air pressure adjusting device.

4. The utility model provides a help capable device, includes frame, chassis, walking module, power module, characterized by:

comprises at least one sucker which can be connected with the auxiliary suction clothes;

the sucker-type vacuum cleaner comprises at least one mechanical arm, wherein the mechanical arm is connected with the sucker and can drive the sucker to move/rotate;

the mechanical arm is connected with the walking aid device.

5. A walker apparatus as claimed in claim 2 wherein:

the suction cup is an electromagnetic suction cup.

6. A walker apparatus as claimed in claim 2 wherein:

the sucker comprises at least one mechanical connecting piece which can be connected with the mechanical connecting piece on the suction-aid clothes.

7. A walker apparatus as claimed in claim 2 wherein:

the sucking disc includes at least one magic subsides, the magic subsides can link together with the magic subsides on helping the suction clothes.

8. A walking aid device as claimed in claim 1 or claim 2 wherein:

the sucker can be provided with at least one positioning probe which can measure the space position of a positioning point on the suction-aid garment.

9. A walker apparatus comprising:

the system comprises at least one control module, wherein a space environment model can be preset in the control module;

the walking aid comprises at least one space positioning device, and can determine the position of the walking aid in real time;

the control module can determine the relative positions of the walking aid device and each object in the space according to the preset space environment model and the position of the walking aid device.

10. A walker apparatus comprising:

the three-dimensional environment sensing device can measure the positions of furniture, walls and obstacles in space in real time;

the three-dimensional environment sensing device comprises at least one control module, wherein the control module can establish a space environment model according to the surrounding environment measured by the three-dimensional environment sensing device in real time.

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