Massage device including multiple massage modules and control method of massage device

Abstract

The present application provides a kind of massage device including multiple massage modules and the control method of massage device, the massage device of an embodiment of the present application can include: body massage part, for massaging at least a part of user body;First massage module, movably arranged in the body massage part;Second massage module, movably arranged in the body massage part, and the second massage module moves in the upper portion or lower portion of the first massage module, or the second massage module moves in the front or rear of the first massage module;First information part, generates as the first position information of the position information of the first massage module;Second information part, generates as the second position information of the position information of the second massage module;And control unit, using the first position information and the second position information, control the movement of one or more of the first massage module and the second massage module.

Description

Technical Field

[0001] This invention relates to a massage device, and more specifically, to a massage device and a control method for the massage device that can improve the operational efficiency of multiple massage modules. Background Technology

[0002] Massage is a medical adjunctive therapy that uses various forms of mechanical stimulation, such as kneading, pressing, stretching, tapping, or guided movement, to apply or guide the user's body, thereby regulating the user's biological rhythms, improving blood circulation, and relieving fatigue.

[0003] As dietary habits, lifestyles, activity areas, and lifestyles change, and as people pay increasing attention to health and work-life balance, the demand for massage devices or equipment (hereinafter collectively referred to as "massage devices") that provide muscle relaxation, tension relief, fatigue recovery, and stress elimination is constantly increasing.

[0004] Recently, massage devices have gone beyond simply providing massage to the user's body; they have also come to function as electronic devices that offer various additional functions, convenience features, and medical assistance.

[0005] However, these functions added to massage devices are only for improving user convenience (such as interface interaction) or assisting users in performing other activities besides massage. They are not really related to functions that provide direct stimulation or effects to the user's body, such as exercise or stretching.

[0006] Several massage devices have been disclosed, which include massage modules that move along a physical structure such as a main frame and massage parts of the user's body. These massage modules are configured to be movable and provide massage actions such as tapping, thus offering the advantage of being able to massage various body parts.

[0007] However, in existing massage devices, the massage modules are only set to a single number, so it is not possible to provide massage to multiple different body parts at the same time.

[0008] Furthermore, in existing massage devices, because a single massage module needs to cover a relatively large area, it takes time to move from the current massage location to another location where a massage will be provided. This results in time intervals between massage movements applied to different body parts, making it difficult to ensure the continuity of the massage. Summary of the Invention

[0009] The problem the invention aims to solve The present invention was made in view of the above background, and its object is to provide a massage device, etc., which can provide massage to multiple body parts using multiple massage modules, and improve the continuity between massage actions by shortening the movement time of the massage modules.

[0010] Another object and advantage of the present invention will become apparent from the following description and will become even clearer through embodiments of the invention. Furthermore, the object and advantages of the present invention can be realized through the configurations and combinations thereof set forth in the appended claims.

[0011] The technical problems to be solved by the present invention are not limited to those described above. Other problems not mentioned can be clearly understood by those skilled in the art from the following description of the invention.

[0012] means for solving problems To achieve the above objectives, a massage device according to an embodiment of the present invention may include: a body massage unit for massaging at least a portion of a user's body; a first massage module movably disposed on the body massage unit; a second massage module movably disposed on the body massage unit, wherein the second massage module moves above or below the first massage module, or moves in front of or behind the first massage module; a first information unit for generating first position information as position information of the first massage module; a second information unit for generating second position information as position information of the second massage module; and a control unit for controlling the movement of one or more of the first massage module and the second massage module using the first position information and the second position information.

[0013] Here, the first range of motion, which is the range of motion of the first massage module, can be configured to have a common range with the second range of motion, which is the range of motion of the second massage module.

[0014] In this case, the control unit of the present invention can be configured to: when the distance between the first position information and the second position information is within a reference distance, control the first module, which is one of the first massage module and the second massage module, to move in a direction that increases the distance between the first massage module and the second massage module.

[0015] According to an embodiment, the control unit of the present invention can be configured to: control the second module, which is a massage module that is not the first module among the first massage module and the second massage module, to stop moving; and after the movement of the second module stops for a first time, control the second module to continue moving in accordance with the massage action.

[0016] The massage device of one embodiment of the present invention may further include: a first detection sensor disposed at the end of a first movement range which is the movement range of the first massage module; and a second detection sensor disposed at the end of a second movement range which is the movement range of the second massage module.

[0017] In this case, the control unit of the present invention can be configured to: control the first position information to be reset when the first detection sensor detects the first massage module, and control the second position information to be reset when the second detection sensor detects the second massage module.

[0018] According to an embodiment, the control unit of the present invention can be configured to control the first module to move toward a position where the first detection sensor or the second detection sensor is disposed.

[0019] The massage device according to one embodiment of the present invention may further include: a collision detection sensor for detecting collisions between the first massage module and the second massage module. In this case, the control unit of the present invention may be configured to control the movement of one or more of the first massage module and the second massage module using the collision detection signal from the collision detection sensor.

[0020] According to an embodiment, the control unit of the present invention can be configured to: when the first detection sensor detects the first massage module, control the first position information to be reset; when the second detection sensor detects the second massage module, control the second position information to be reset; and when a collision detection signal is input from the collision detection sensor, control the first module, which is one of the first massage module and the second massage module, to move to the position where the first detection sensor or the second detection sensor is disposed.

[0021] Furthermore, the control unit of the present invention can be configured to control the second module, which is a massage module that is not the first module among the first massage module and the second massage module, to stop moving.

[0022] Furthermore, the control unit of the present invention can be configured to: control a second module that is a massage module that is not the first module among the first massage module and the second massage module, so that the second module moves a first distance in the direction opposite to the direction in which the second module moves at the time point when the collision detection signal is input, and after the second module moves the first distance, control the second module to continue to perform movement corresponding to the massage action.

[0023] Preferably, the control unit of the present invention can be configured to: when one or more of the first position information and the second position information is an error information, control the massage module corresponding to the error information in the first massage module and the second massage module to move to the position where the first detection sensor or the second detection sensor is configured.

[0024] According to an embodiment, the control unit of the present invention may include: a first control module, which uses the first position information and the second position information to control the movement of the first massage module, and the first control module is disposed on the first massage module; and a second control module, which uses the first position information and the second position information to control the movement of the second massage module, and the second control module is disposed on the second massage module.

[0025] Another aspect of the control method for the massage device of the present invention may include: a control step of using first position information and second position information to control the movement of one or more of the first massage module and the second massage module.

[0026] Invention Effects According to one embodiment of the present invention, multiple massage modules can be used to simultaneously provide massage to different body parts, thereby improving the effectiveness of the massage itself.

[0027] According to one embodiment of the present invention, since the movement area of ​​each massage module is relatively reduced, the time required for the massage module to move can be shortened, thereby minimizing the non-action interval or intermission between massage actions.

[0028] According to one embodiment of the present invention, by proactively and forward-lookingly controlling the execution of avoidance actions during the preparatory stage when there is a possibility of collision between massage modules, collisions between multiple massage modules can be effectively prevented.

[0029] According to one embodiment of the present invention, when a collision actually occurs between multiple massage modules, rapid follow-up measures can be taken, and the continuity of the massage action can be maintained to the maximum extent. Attached Figure Description

[0030] The accompanying drawings illustrate preferred embodiments of the invention and, together with the detailed description that follows, serve to more effectively understand the technical concept of the invention. Therefore, the invention should not be construed as being limited to the contents described in these drawings.

[0031] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0032] Figure 2 This is a diagram illustrating the main framework of an embodiment of the present invention.

[0033] Figure 3 This is a diagram illustrating the detailed configuration of a massage device according to an embodiment of the present invention.

[0034] Figure 4 This is a diagram illustrating an external device that can communicate with a massage device according to an embodiment of the present invention.

[0035] Figure 5 This is a diagram illustrating a plurality of massage modules according to an embodiment of the present invention.

[0036] Figure 6 and Figure 7 This is a block diagram illustrating the detailed configuration of a massage device according to an embodiment of the present invention.

[0037] Figure 8 This is a block diagram illustrating the configuration of a massage device according to another embodiment of the present invention.

[0038] Figure 9 This is a flowchart illustrating the overall processing procedure of the present invention.

[0039] Figure 10 This is a flowchart used to illustrate the collision avoidance process of the first module.

[0040] Figure 11 This is a flowchart used to illustrate the collision avoidance process of the second module.

[0041] Figure 12 This is a flowchart used to illustrate the collision response process of the first module.

[0042] Figure 13 This is a flowchart used to illustrate the collision response process of the second module.

[0043] Explanation of reference numerals in the attached figures 200: Massage device; 210: Body massage unit; 220A(B): First (second) massage module; 230A(B): First (second) information unit; 240A(B): First (second) detection sensor; 250: Collision detection sensor; 280: Main control unit; 290: Control unit; 290A(B): First (second) control module Detailed Implementation The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and the appended claims should not be construed as limited to their ordinary or dictionary meanings, but rather should be interpreted in accordance with the principle that the inventors may appropriately define terms and concepts to best illustrate their invention, and thus be interpreted as meanings and concepts consistent with the technical concept of the present invention.

[0044] Therefore, the embodiments and configurations shown in the accompanying drawings described in this specification are only the best embodiments of the present invention and do not represent all the technical ideas of the present invention. It should be understood that at the time of filing this application, there may be various equivalents and modifications that can replace these contents.

[0045] When it is mentioned that a constituent element is "connected to" or "linked to" another constituent element, it should be understood that it may be directly connected to or linked to that other constituent element, but there may also be other constituent elements in between.

[0046] Conversely, when it is mentioned that a constituent element is "directly connected" or "directly linked" to another constituent element, it should be understood that there are no other constituent elements in between. Other expressions used to describe the relationship between constituent elements should also be interpreted in this way.

[0047] The terminology used in this specification is for illustrative purposes only and is not intended to limit the invention. Unless the context clearly indicates otherwise, singular expressions include plural expressions.

[0048] In this specification, the terms "comprising" or "having," etc., mean the presence of the implemented features, figures, steps, actions, constituent elements, components, or combinations thereof. Therefore, it should be understood that these terms do not preclude the possibility of the presence or addition of one or more other features, figures, steps, actions, constituent elements, components, or combinations thereof.

[0049] Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms as defined in commonly used dictionaries shall be interpreted as having a meaning consistent with the relevant technical context and shall not be construed as having an idealized or overly formal meaning unless expressly defined herein.

[0050] In this specification, an actuator refers to a component capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a DC motor, an AC motor, a linear actuator, an electric actuator, etc.

[0051] The following will refer to Figures 1 to 4 First, the overall content of the massage device 1000 of the basic embodiment of the present invention will be described, while the detailed content of the massage device 200, which includes multiple massage modules, will be described later.

[0052] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0053] A massage device 1000 according to an embodiment of the present invention may include: a massage section forming an area for accommodating at least a portion of a user's body, for supporting the user's body (e.g., torso) and massaging a portion of the user's body.

[0054] The massage unit may include at least one of the following: a body massage unit 1100 that massages at least a part of the user's body, an arm massage unit 1200 that massages the user's arm, and a leg massage device 1300 that massages the user's leg.

[0055] The body massage unit 1100 can massage at least a part of the user's body. For example, the body massage unit 1100 can massage at least a part of at least one of the user's upper body and lower body.

[0056] Specifically, the body massage unit 1100 may include: a massage module 1110 for providing massage function to at least a part of the user's body; an audio output module 1120 for providing audio output to the user in any form; a main frame 1130 for forming the skeleton of the body massage unit 1100 and supporting the user's body; and a user input unit 1140 for receiving input in any form from the user.

[0057] The aforementioned configuration of the body massage unit 1100 is merely an exemplary embodiment. In addition to the above-described configuration, the body massage unit 1100 may also include various other configurations.

[0058] also, Figure 1 The shape and structure of the massage device 1000 shown are merely exemplary. Various forms of massage devices 1000 may also be included within the scope of this invention as long as they do not depart from the scope of the claims appended to this invention.

[0059] The body massage unit 1100 can be formed into any shape of space to accommodate the user. The body massage unit 1100 can have a space that corresponds to the shape of the user's body.

[0060] For example, such as Figure 1 As shown, the body massage unit 1100 can be implemented as a seat type that can accommodate the whole body or part of the user's body, thereby supporting at least a part of the user's body. For example, the body massage unit 1100 may include a backrest 1102 that supports at least a part of the user's upper body and a seat 1101 that supports at least a part of the user's lower body.

[0061] The part of the body massage unit 1100 that contacts the ground may include any material or component for increasing friction (e.g., an anti-slip mat), and may include wheels for enhancing the mobility of the massage device 1000.

[0062] At least a portion of the body massage unit 1100 can slide. For example, when the body massage unit 1100 starts massaging, or when the body massage unit 1100 is driven, at least a portion of the body massage unit 1100 can slide forward.

[0063] Furthermore, the body massage unit 1100 can be configured to tilt backward. According to an embodiment, the body massage unit 1100 can provide massage in a backward tilted state.

[0064] The massage device 1000 may include an actuator for tilting the massage device 1000 or the body massage unit 1100 rearward. The massage device 1000 can tilt or return the body massage unit 1100 to its original position by actuating the aforementioned actuator. In this case, the actuator may be configured on at least a portion of the massage device (e.g., the base frame).

[0065] According to an embodiment, the massage device 1000 may include at least one airbag (not shown). The airbag may be located on at least one of the following areas: the body massage portion 1100 (e.g., the entire area of ​​the body massage portion 1100, at least one area corresponding to the user's shoulder, the area corresponding to the pelvis, and the area corresponding to the waist), at least one of the arm massage portion 1200, and at least one of the leg massage portion 1300, but is not limited thereto, and may be configured in various parts of the massage device 1000.

[0066] The massage device 1000 may include an air supply unit that inflates the airbag by supplying air to it. The air supply unit may be disposed in various locations such as inside the body massage unit 1100, the leg massage device 1300, etc., and according to the embodiment, it may also be located outside the massage device 1000.

[0067] The massage module 1110 can be disposed inside the body massage unit 1100 to provide any form of mechanical stimulation to the user accommodated in the body massage unit 1100. For example... Figure 1 As shown, the massage module 1110 can move along the main frame 1130 disposed inside the body massage unit 1100, and massage at least a part of the user's body at the same time.

[0068] A rack can be provided in the main frame 1130 of the body massage unit 1100, and the massage module 1110 can move along the rack to provide mechanical stimulation to various parts of the user's body.

[0069] For example, the massage module 1110 can perform a massage by tapping or kneading at least one body part of the user's body, including the back, shoulders, waist, buttocks, and thighs. The massage module 1110 may include, but is not limited to, at least one massage unit selected from ball massage units and roller massage units.

[0070] The main frame 1130 forms the skeleton inside the body massage part 1100 and can be made of metal or plastic materials.

[0071] The audio output module 1120 can be set in various positions, such as an upper audio output unit configured on the upper part of the seat, a front audio output unit attached to the arm massage unit 1200 on the left and right sides of the seat, or a rear audio output unit attached to the rear end of the arm massage unit 1200.

[0072] The arm massage unit 1200 can be disposed on at least one side of the body massage unit 1100, either on one side or the other side. For example, the arm massage unit 1200 may include at least one of a first arm massage unit 1201 disposed on one side of the body massage unit 1100 to massage one side of the user's arm, and a second arm massage unit 1202 disposed on the other side of the body massage unit 1100 to massage the other side of the user's arm. The arm massage units 1201 and 1202 can be disposed on one side of at least one of the seat portion and the backrest portion of the body massage unit 1100.

[0073] The first arm massage unit 1201 and the second arm massage unit 1202 can be based on the control unit 1400 of the massage device 1000 (see...). Figure 3 They can act independently of each other under the control of each other.

[0074] The leg massage device 1300 may be disposed at the lower part of the body massage unit 1100 and / or at the lower front part of the massage device 1000. The leg massage device 1300 may include at least one of a first leg massage unit 1310 disposed on one side of the body massage unit 1100 to massage one leg of the user, and a second leg massage unit 1330 disposed on the other side of the body massage unit 1100 to massage the other leg of the user.

[0075] The leg massage device 1300 includes a receiving space for accommodating a user's leg and is capable of providing a leg massage to the user by massaging at least a portion of the user's leg. For example, the leg massage device 1300 may include a calf massage section for massaging the user's lower leg and / or a foot massage section for massaging the user's foot.

[0076] The leg massage device 1300 can adjust its length according to the user's body characteristics. For example, it can be configured such that the length of the leg massage device 1300 increases when a tall user uses the massage device 1000, and the length of the leg massage device 1300 decreases when a short user uses the massage device 1000.

[0077] According to one embodiment of the present invention, a user can control the massage device 1000 using a control device 2000 (hereinafter referred to as the "control device"). The control device 2000 can be connected to the massage device 1000 via wired and / or wireless communication.

[0078] The control device 2000 can be a remote controller, smartphone, mobile phone, or PDA, and can be any type of device that can communicate with the massage device 1000 via wired or wireless networks.

[0079] Figure 2 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0080] According to one embodiment of the present invention, the main frame 1130 may include an upper frame 1131 on which a massage module 1110 is provided and a base frame 1132 supporting the upper frame 1131.

[0081] A rack can be provided along the length of the upper frame 1131. The rack is a component used to guide the massage module 1110 to move up and down, and can be constructed by applying a known rack that includes multiple tooth valleys and multiple tooth peaks.

[0082] According to one embodiment of the present invention, the racks can be arranged on both sides of the upper frame 1131 facing each other, and the massage module 1110 can move along the racks.

[0083] Although the rack is formed in a vertical direction, it is not limited to this. The rack can include a rack in a front-back direction and a rack in a vertical direction. In this disclosure, the front-back direction can refer to the direction from the massage module 1110 toward the user or from the user toward the massage module 1110.

[0084] The massage module 1110 may include gears that mesh with a rack. More specifically, the massage module 1110 may include gears that mesh with a rack in the forward-backward direction and a rack in the up-down direction, respectively. By rotating the gears through an actuator provided in the massage module 1110, the massage module 1110 can move forward, backward, upward, or downward.

[0085] As the massage module 1110 moves forward, the massage intensity can be increased; as the massage module 1110 moves backward, the massage intensity can be decreased.

[0086] The upper frame 1131 can be implemented in various shapes. For example, the upper frame 1131 can be classified into S-shaped frame, L-shaped frame, S&L-shaped frame, and double S&L-shaped frame according to its shape, but it is not limited to these.

[0087] An S-shaped frame refers to a frame in which at least a portion of the upper frame 1131 includes a frame with an "S"-shaped bend. An L-shaped frame refers to a frame in which at least a portion of the upper frame 1131 includes a frame with an "L"-shaped bend. An S&L-shaped frame refers to a frame that includes both an "S"-shaped bend and an "L"-shaped bend. A double S&L-shaped frame refers to a frame that includes an "L"-shaped bend and two portions with "S"-shaped bends.

[0088] The base frame 1132 refers to the part that supports the upper frame 1131 and is in contact with the ground. The base frame 1132 may include the upper base frame 1132a and the lower base frame 1132b.

[0089] The upper frame 1132a of the base can support the upper frame 1131, and the lower frame 1132b of the base can contact the ground. In addition, the upper frame 1132a of the base can be positioned in contact with the lower frame 1132b of the base.

[0090] According to one embodiment of the present invention, the upper frame 1132a of the base can move along the lower frame 1132b of the base. For example, the upper frame 1132a of the base can slide forward or backward along the lower frame 1132b of the base. In this case, the upper frame 1131 is connected to the upper frame 1132a of the base and can move according to the movement of the upper frame 1132a of the base.

[0091] For example, when the upper frame 1132a of the base moves forward, the upper frame 1131 can also move forward together; when the upper frame 1132a of the base moves backward, the upper frame 1131 can also move backward together. This allows for the sliding movement of the body massage unit 1100.

[0092] To allow the upper frame 1132a of the base to move, a caster wheel may be provided at the lower part of the upper frame 1132a. Furthermore, a guide member may be provided at the upper part of the lower frame 1132b of the base to guide the caster wheel. By moving the caster wheel on the upper frame 1132a along the guide member on the lower frame 1132b of the base, the upper frame 1132a can be allowed to move forward or backward.

[0093] According to another embodiment of the present invention, the massage device 1000 may not provide a sliding function. In this case, the base frame 1132 may not be divided into an upper frame and a lower frame.

[0094] Figure 3This is a diagram illustrating the detailed configuration of a massage control device according to an embodiment of the present invention.

[0095] According to one embodiment of the present invention, the massage device 1000 may include at least one of a control unit 1400, a sensor unit 1410, a communication unit 1420, a memory 1430, an audio output unit 1440, and an interface unit 1450. The control unit 1400 may include at least one processor and a memory. The at least one processor can execute instructions stored in the memory.

[0096] The control unit 1400 can control the massage device 1000. For example, the control unit 1400 can control at least one of the body massage unit 1100, arm massage unit 1200, leg massage device 1300, sensor unit 1410, communication unit 1420, memory 1430, audio output unit 1440, interface unit 1450, and output unit.

[0097] The control unit 1400 may include one or more processors. When the control unit 1400 includes multiple processors, at least some of the multiple processors may be located at physically spaced-away locations.

[0098] According to one embodiment of the present invention, the control unit 1400 can control the operation of the massage device 1000. For example, the massage device 1000 may include a plurality of actuators, and the control unit 1400 can control the operation of the massage device 1000 by controlling the operation of the plurality of actuators.

[0099] For example, the massage device 1000 may include at least one of the following: a drive unit for moving the armrest frame support, at least one actuator included in the massage module 1110, a backrest angle actuator, a leg angle actuator, a foot massage actuator, a leg length actuator, and a sliding actuator.

[0100] The backrest angle actuator is an actuator that adjusts the angle of the part of the massage device 1000 that contacts the user's back. By moving the backrest angle actuator, the backrest angle of the massage device 1000 can be adjusted.

[0101] The leg angle actuator is an actuator that adjusts the angle of the leg massage device 1300 of the massage device 1000. By the action of the leg angle actuator, the angle between the leg massage device 1300 and the body massage unit 1100 can be adjusted.

[0102] A foot massage actuator is an actuator that causes the foot massage module included in the leg massage device 1300 to operate. For example, the control unit 1400 can use the foot massage actuator to provide a foot massage to the user. A leg length actuator is an actuator that adjusts the length of the leg massage device 1300. For example, the control unit 1400 can use the leg length actuator to adjust the length of the leg massage device 1300 to suit the user, so that the user can be provided with a massage that conforms to their body shape.

[0103] The massage module 1110 includes at least one actuator, which can be a variety of actuators such as a movement actuator, a forward and backward actuator, and a massage actuator.

[0104] The motion actuator enables the massage module 1110 to move up and down, allowing it to move along the main frame 1130 in at least one direction, either upward or downward, towards the massage device 1000. The motion actuator also allows the massage module 1110 to move along a rack. The retraction actuator allows the massage module 1110 to retract (or tilt) in at least one direction, either forward or backward.

[0105] The massage module 1110 can be tilted in at least one direction, either forward or backward, via a forward / backward actuator. The massage actuator can cause the massage module 1110 to perform various movements, thereby providing the user with various massage actions.

[0106] The control unit 1400 can provide various massage actions by activating at least one actuator included in the massage device 1000. For example, the control unit 1400 can provide tapping massage, kneading massage, etc. by activating at least one actuator included in the massage module 1110, but is not limited to this, and can provide various massage actions.

[0107] The memory 1430 can be operated by the control unit 1400 and can store various information related to the massage device 1000. It can be included inside the control unit 1400 or located outside the control unit 1400.

[0108] For example, the memory 1430 may store massage control information and / or information about the user. The information about the user may be various information related to the user, such as personal authentication information, the user's biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.).

[0109] The massage device 1000 may include a sensor unit 1410. The sensor unit 1410 can acquire various information using at least one sensor. The sensor unit 1410 may be configured as a sensor utilizing measurement units such as pressure, potential, and optics. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, an electrode sensor, a barometric pressure sensor, etc., but is not limited thereto.

[0110] The sensor unit 1410 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of the following: fingerprint information, facial information, voice information, iris information, weight information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram information, and body composition information, and is not limited thereto; it may include various types of biometric information. The massage device 1000 may provide customized massage based on the information acquired by the sensor.

[0111] The massage device 1000 can detect the contact area and / or contact position with the user via sensors. Furthermore, the massage device 1000 can provide customized massage based on information acquired through the sensors. The sensor unit 1410 may include a safety sensor module. The safety sensor module can control the operation of the leg massage device 1300 or issue a warning to the user when pressed by the user's body or by another object. A detailed description of the safety sensor module will follow.

[0112] The communication unit 1420 can receive signals transmitted from external devices or transmit signals about the massage device 1000 to external devices.

[0113] For example, the control unit 1400 can process the signals received through the communication unit 1420 to obtain a result signal, and then transmit the result signal to the communication unit 1420. The communication unit 1420 can transmit (or output) the result signal to an external device or server, etc.

[0114] The control unit 1400 can acquire information about various components included in the massage device 1000 (e.g., information about the massage module 1110, information about the arm massage unit 1200, etc.) and transmit it to the communication unit 1420. The communication unit 1420 can transmit information about the massage device 1000 to external devices or servers, etc.

[0115] The communication unit 1420 can communicate with modules inside the massage device 1000, external massage devices, and / or user terminals via any type of network. The communication unit may include a wired / wireless access module for network connectivity.

[0116] The interface portion 1450, which may be included in the massage device 1000, may be configured on at least a portion of the massage device 1000. For example, the interface portion 1450 may be configured on the outer side of the arm massage portion 1200.

[0117] The interface unit 1450 may include an input unit and / or an output unit. The input unit may receive user input from the user and transmit it to the control unit 1400. The output unit may display information about the massage device 1000. For example, the output unit may output various information, such as the processing results of the control unit 1400, the motion information of at least one of the body massage unit 1100, the arm massage unit 1200, and the leg massage device 1300, and information on the massage mode being performed, etc.

[0118] Specifically, the input unit can receive commands related to the motion control of the massage device 1000 from the user, and the input unit can be implemented in various forms. For example, the input unit can be provided in the body massage unit 1100 or the leg massage device 1300, but is not limited to these. Furthermore, the input unit may include... Figure 1 User input unit 1140, control device 2000 or will be Figure 4 The various external devices described herein.

[0119] The massage device 1000 can receive various commands from the user via the input unit. For example, the massage device 1000 can receive any command regarding the following operations: selection of massage module, selection of massage type, selection of massage intensity, selection of massage time, selection of massage area, selection of position and movement of body massage unit 1100, selection of power on / off of massage device 1000, selection of whether the heating function is activated, selection related to audio playback, etc., but not limited to these.

[0120] The massage device 1000 can provide an interface through the interface section 1450 that allows selection of massage modes. For example, the input and / or output sections may include a control device 2000. The control device 2000 can display a list of various modes related to body improvement.

[0121] The interface unit 1450 can be implemented through a touch screen, keypad, dome switch, touchpad (pressure-sensitive / capacitive), scroll wheel, or other means, but is not limited to these. Furthermore, the interface unit 1450 can be based on voice recognition technology to obtain commands through the user's voice or sound.

[0122] The output unit may include a display for showing the operating status of the massage device 1000 or the current status of the user.

[0123] The output section may include an audio output section 1440. Figure 3The audio output unit 1440 may include Figure 1 The audio output module 1120 can provide various forms of audio output to the user. For example, the audio output unit 1440 can provide brain stimulation to the user by outputting sound sources and / or binaural beats optimized for the massage mode provided by the massage device 1000.

[0124] The audio output unit 1440 can output audio signals received via a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit 1440 can output audio sources controlled by the user terminal via a network connection (e.g., Bluetooth connection). Furthermore, the audio output unit 1440 can output various audio signals generated in relation to the operation of the massage device 1000.

[0125] Obviously, the present invention can be implemented by combining with other program modules or by a combination of hardware and software. For example, the control method according to the present invention can be implemented by a readable medium (hereinafter referred to as "readable medium") such as a computer or an equivalent device.

[0126] Readable media include volatile and non-volatile media, temporary and non-temporary media, removable and non-removable media, implemented in any method or technology for storing computer-readable instructions, data structures, program modules or other data.

[0127] Figure 4 This is a diagram illustrating an external device that can communicate with the massage device 1 according to an embodiment of the present invention.

[0128] The massage device 1 can communicate with external devices via wired or wireless means to send and receive various data.

[0129] External devices may include portable electronic devices 61 such as AI speakers, tablets, or smartphones. Portable electronic devices 61 may be dedicated to the massage device 1 or be general-purpose portable electronic devices. Additionally, external devices may include wearable devices 62 such as smartwatches or smart bracelets. External devices may include massage devices other than the massage device 1 currently being used by the user 63. External devices may include a hospital server 64. External devices may include a Personal Health Record (PHR) server. Furthermore, external devices may include a cloud server 65. External devices may include medical measurement devices such as electronic scales, blood glucose meters, or blood pressure meters.

[0130] Although only a portion of examples of external devices are described in this invention, it should be understood that any electronic device capable of acquiring user biometric information can be included in an external device.

[0131] The following will refer to Figures 5 to 13 The following provides a detailed description of the specific configuration, operation, processing, and functions of a massage device 200 that includes multiple massage modules 220A and 220B (hereinafter referred to as the "Second Embodiment").

[0132] The massage device 200 described below may incorporate, in combination or selectively, one or more of the components included in the aforementioned massage device 1000.

[0133] The massage device 200 of the second embodiment described below, and some of the terms and / or reference numerals referring to its subordinate configuration, may differ from the terms and / or reference numerals of the massage device, etc., of the foregoing embodiments.

[0134] This is for the purpose of effectively illustrating the toolability of the embodiments, etc. Therefore, if the corresponding technical ideas can be implemented at the level of a person skilled in the art, it should be interpreted that one or more of the configurations of the embodiments described below can be the same as or equivalent to one or more of the aforementioned configurations.

[0135] For example, the massage device 200 described in the second embodiment below can correspond to the massage device 1000 described in the foregoing embodiment, and the body massage unit 210 and control unit 290 of the second embodiment can correspond to the body massage unit 1100 and control unit 1400 of the foregoing embodiment, respectively.

[0136] Furthermore, the constituent elements of each massage module 220A, 220B constituting the second embodiment can correspond to the constituent elements of the massage module 1110 described in the foregoing embodiments.

[0137] The terms "upper," "lower," "front," "rear," "vertical," and "horizontal" used in the following description are only used to provide a relative reference for illustrating the embodiments of the present invention. They are not intended to specify a particular direction or position with an absolute reference, and of course, they can vary relative to the position of the object, the position or direction of view, etc.

[0138] The following will be in the Z-axis direction (see Figure 2 The embodiments of the present invention are described using the vertical or top-bottom reference direction as the reference direction, the Y-axis direction as the reference direction for the front-back direction as the reference direction, and the X-axis direction as the reference direction for the left or right side as the reference direction. For example, the positive Z-axis direction corresponds to the upward direction, the upper side, the top, or a corresponding directionality, and the negative Z-axis direction corresponds to the downward direction, the lower side, the bottom, or a corresponding directionality.

[0139] Figure 5 This is a diagram illustrating a plurality of massage modules 220A and 220B according to an embodiment of the present invention.

[0140] As described above in the basic embodiment, the massage modules 220A and 220B of the present invention can be configured to move in the body massage unit 210 along a set direction (e.g., up and down, front and back, or diagonal, etc.) and provide massage to the seated user according to various modes.

[0141] The massage modules 220A and 220B provided in the body massage unit 210 can be configured to provide tapping, kneading, and other massages to the user's body in contact with the outside of the cover, located inside a cover that covers part or all of the body massage unit 210. As described above, the massage modules 220A and 220B of the present invention can be driven by the control unit 290 and the operation of the corresponding actuator or other drive unit.

[0142] As shown in the figure, a massage device 200 according to an embodiment of the present invention includes: a first massage module 220A, which moves in the vertical direction within a body massage unit 210; and a second massage module 220B, which moves in the vertical direction within the body massage unit 210 and moves above or below the first massage module 220A.

[0143] In embodiments where the body massage unit 210 has a shape extending in a horizontal direction or a similar direction, the first massage module 220A and the second massage module 220B can move horizontally, and one of them can be positioned in front of or behind the other.

[0144] Of course, the massage device 200 may include a different number of massage modules 220A, 220B than the example illustrated in the figure.

[0145] To improve the efficiency of explanation and understanding, in the following description, the massage module that is relatively arranged at the upper (front) position among the multiple massage modules 220A and 220B is referred to as the first massage module 220A, and the massage module that is arranged at a lower position (rear) than the first massage module 220A is referred to as the second massage module 220B.

[0146] The range of motion or area of ​​motion of each massage module 220A and 220B can be physically distinguished or independent.

[0147] For example, it can be configured such that, with the middle position of the body massage unit 210 as a reference, the first massage module 220A moves within a range from the upper position to the middle position of the body massage unit 210, and the second massage module 220B moves within a range from the middle position to the lower position.

[0148] When configured as described above, although there may be no collision or physical interference between the first massage module 220A and the second massage module 220B, the massage forms or types that can be combined and utilized may be limited because each massage module 220A and 220B can only move within a limited range.

[0149] In this invention, in order to provide a wider variety of massage forms (modes) based on the positional combination of the first massage module 220A and the second massage module 220B, the first massage module 220A and the second massage module 220B may have their own range of motion, and may be configured such that the range of motion of the first massage module 220A (hereinafter referred to as the "first range of motion") R1 and the range of motion of the second massage module 220B (hereinafter referred to as the "second range of motion") R2 have a common range CR.

[0150] For example, when the first massage module 220A is located at the upper end of the body massage unit 210, the second massage module 220B can be configured to move from the lower end of the body massage unit 210 to a position below the first massage module 220A.

[0151] Correspondingly, when the second massage module 220B is located at the lower end of the body massage unit 210, the first massage module 220A can be configured to move from the upper end of the body massage unit 210 to a position slightly higher than the position of the second massage module 220B.

[0152] That is, according to the present invention, the position or movement range R1, R2 of one of the first massage module 220A and the second massage module 220B can be configured to dynamically change by organically reflecting the position or movement range R2, R1 of the other. From this point of view, the common range CR can be changed according to the massage form, massage mode, massage type, etc. provided to the user.

[0153] Figure 6 and Figure 7 This is a block diagram illustrating the detailed configuration of a massage device 200 according to an embodiment of the present invention. Figure 9 This is a flowchart illustrating the overall processing procedure of the present invention.

[0154] like Figure 6 As shown, a massage device 200 according to an embodiment of the present invention may include one or more of a first massage module 220A, a second massage module 220B, a first information unit 230A, a second information unit 230B, a first detection sensor 240A, a second detection sensor 240B, a control unit 290, and a collision detection sensor 250.

[0155] like Figure 7 and Figure 8As shown, the control unit 290 of the present invention can be binary into a first control module 290A and a second control module 290B according to the hardware of the implementing device or constituent elements, the specifications and functions of the massage device 200, etc. In order to improve the immediacy of action and control, the first control module 290A can be provided in the first massage module 220A, and the second control module 290B can be provided in the second massage module 220B.

[0156] Of course, the first control module 290A and the second control module 290B can be hardware composed of electrical / electronic components, elements, chips, CPUs, etc., that perform functions such as data input / output, information storage, and computation processing.

[0157] Of course, as will be described later, the signals, data, information, etc. output by the first information unit 230A, the second information unit 230B, the first detection sensor 240A, the second detection sensor 240B, etc., can be configured to be input to the control unit 290 of the present invention.

[0158] According to the implementation method, the reception of signals, data, information, etc. can also be achieved by the control unit 290 monitoring and receiving signals transmitted by the first information unit 230A, the second information unit 230B, etc. to the main control unit 280 responsible for the main functions of the massage device 200 via broadcast communication methods such as RS-485 communication.

[0159] The main control unit 280 and the control unit 290 can be configured according to the circuit structure, system architecture, etc., and therefore can be integrated or implemented separately depending on the embodiment.

[0160] Figure 6 The block diagrams are provided to highlight the massage device 200 of the second embodiment of the present invention. Therefore, according to the embodiment, the massage device 200 of the present invention, in addition to... Figures 6 to 8 In addition to the configurations illustrated in the examples, other configurations described in the foregoing embodiments may also be included.

[0161] Figure 6 The components of the massage device 200 of an embodiment of the present invention shown in the figure may be physically distinct components, or they may be functionally or logically distinct components.

[0162] That is, the constituent elements shown in the figure are constituent elements used to effectively illustrate the technical concept of the present invention. Therefore, even if the constituent elements are integrated or separated, as long as they can achieve the function performed by the constituent elements of the present invention, they should be interpreted as falling within the scope of the present invention. Furthermore, as long as the constituent elements perform the same or similar functions, regardless of whether their names are the same, they should naturally be interpreted as falling within the scope of the present invention.

[0163] Furthermore, the control method of the massage device according to the present invention can be implemented as a whole by a collection or algorithm of related processing such as data processing, control, calculation, input and output. Therefore, it can of course be implemented as software mounted on and executed in a device, computer (or equivalent device), module or its subordinate components, or as software that can be executed in a server or system communicatively connected to the massage device.

[0164] The first information unit 230A of the present invention generates position information of the first massage module 220A (hereinafter referred to as "first position information"), and the second information unit 230B generates position information of the second massage module 220B (hereinafter referred to as "second position information").

[0165] The first information unit 230A can generate first position information of the first massage module 220A based on various methods, such as counting the rotational speed of the motor that moves the first massage module 220A, sensing the linear displacement of the actuator, utilizing the relative distance between a magnet disposed on the moving body and a Hall sensor, or utilizing optical signals. The second information unit 230B does the same.

[0166] When a start signal related to a massage action is input (step S100), the control unit 290 of the present invention uses the first position information output by the first information unit 230A and the second position information output by the second information unit 230B to control the movement of one or more of the first massage module 220A and the second massage module 220B (step S110).

[0167] The control unit 290 of the present invention continuously monitors the first position information and the second position information. When the interval or distance between the first position information and the second position information, i.e. the current position of the first massage module 220A and the current position of the second massage module 220B, is within the reference distance (safe distance) (step S120), the control unit executes the evasion action (step S130).

[0168] The evasion control (step S130) can employ various methods such as movement stop control, reverse movement control, and position information reset. Details regarding this will be discussed later.

[0169] If the collision or collision preparation state is resolved, the control unit 290 of the present invention can control the movement (action) of the first massage module 220A and / or the second massage module 220B corresponding to the specific mode to continue.

[0170] According to the embodiment, even if the collision or collision preparation state is resolved, the control unit 290 can control one of the first massage module 220A and the second massage module 220B to not perform any operation during the corresponding massage mode.

[0171] Figure 9 The process of one embodiment of the present invention illustrated can be configured to be applied cyclically until the corresponding massage mode terminates (step S140).

[0172] also, Figure 9 The processing of the illustrated embodiment of the present invention can of course be configured to be applied cyclically as long as a preset termination condition is not met, such as log off, stop signal (termination signal) input, system failure, main power off, emergency event occurrence, etc. (step S140).

[0173] The control unit 290 of the present invention can be configured to stop or end the ongoing action based on the input of a stop signal when an emergency event such as body getting stuck, physical contact or collision or interference with an external object (article, person, wall, animal, etc.) is detected by one or more sensors provided on the massage device 200, or a load exceeding a reference value is detected.

[0174] According to an embodiment, a massage device 200 of the present invention may include a first detection sensor 240A and a second detection sensor 240B.

[0175] The first detection sensor 240A can be configured at the end of the first movement range R1 of the first massage module 220A, and the second detection sensor 240B can be configured at the end of the second movement range R2.

[0176] When the first massage module 220A is a massage module disposed at the upper (front) and the second massage module 220B is a massage module disposed at the lower (rear), the first detection sensor 240A can be disposed at the upper end (front end) of the first movement range R1 and the second detection sensor 240B can be disposed at the lower end (rear end) of the second movement range R2.

[0177] The first detection sensor 240A is configured to detect physical proximity or contact with the first massage module 220A, and this can be achieved through a unit that operates physically like a switch, or a Hall sensor that utilizes changes in the detected magnetic field. The second detection sensor 240B is configured similarly.

[0178] The control unit 290 of the present invention is configured to: when the first massage module 220A is detected by the first detection sensor 240A, for example when the first massage module 220A is physically moved to the position where the first detection sensor 240A is located, control the first position information, i.e. the position information of the first massage module 220A, to be reset.

[0179] The control unit 290 is configured to reset the position information, i.e. the second position information, of the second massage module 220B when the second detection sensor 240B detects the second massage module 220B.

[0180] The positional information of the first detection sensor 240A and the second detection sensor 240B can be accurately identified and databaseed. Therefore, by utilizing this information, as described later, when errors or obstacles occur in the first and / or second positional information, the positional information of the first massage module 220A and / or the second massage module 220B can be reset to accurate information. Embodiments of the present invention utilizing the first detection sensor 240A and / or the second detection sensor 240B will be described later.

[0181] The first detection sensor 240A and the second detection sensor 240B can also be used to monitor and control the first massage module 220A and the second massage module 220B when they leave the set path range.

[0182] Figure 10 This is a flowchart illustrating the collision avoidance process of the first module. Figure 11 This is a flowchart used to illustrate the collision avoidance process of the second module.

[0183] Figure 10 and Figure 11 The processing of one embodiment of the present invention illustrated can be equivalent to a proactive processing measure taken to prevent a collision when a collision is considered to exist between the first massage module 220A and the second massage module 220B.

[0184] Figure 10 and Figure 11 The illustrated embodiments are described in different figures only to distinguish the controlled objects. The embodiments illustrated in each figure can be executed independently or in parallel.

[0185] The control unit 290 of the present invention is configured to control one or more of the first massage module 220A and the second massage module 220B to move or operate based on a movement route set by the massage mode or the like (steps S200 and S300).

[0186] According to the embodiment, when the control unit 290 and the main control unit 280 are configured as a dual unit, the control unit 290 of the present invention can be configured to receive massage map data from the main control unit 280, including a time table or schedule information of a specific massage mode (such as a massage mode selected by the user) and detailed scene information such as location movement, action, speed, etc., and control the movement of one or more of the first massage module 220A and the second massage module 220B based on the received massage map data.

[0187] Hereinafter, the detailed content of the present invention will be described based on an embodiment in which the control unit 290 controls the operation of both the first massage module 220A and the second massage module 220B. However, when the control unit 290 is divided into the first control module 290A and the second control module 290B, the operation control of the first massage module 220A can naturally be performed by the first control module 290A, and the operation control of the second massage module 220B can naturally be performed by the second control module 290B.

[0188] The control unit 290 of the present invention can, when the distance between the first position information and the second position information is within a reference distance (step S210), control the first module, which is one of the first massage module 220A and the second massage module 220B, to stop moving, and / or control the first module to move in a direction that increases the distance between the first massage module 220A and the second massage module 220B (opposite direction of the current moving direction, etc.) (step S230).

[0189] According to the implementation, when the distance between the first position information and the second position information is within the reference distance (step S210), the object whose movement is stopped and the object that moves in the direction of increasing mutual distance can both be the first massage module 220A and the second massage module 220B.

[0190] However, in this case, since the existing actions of both the first massage module 220A and the second massage module 220B may be temporarily or temporarily stopped, the continuity of their actions will decrease. Therefore, it is preferable to designate one of the first massage module 220A and the second massage module 220B as the main and the other as the sub. The massage module equivalent to the main massage module is controlled to maintain the existing actions within the possible range, and the evasion action is controlled to be performed with the massage module equivalent to the sub massage module as the center.

[0191] Hereinafter, the massage module that serves as the target of the avoidance action in the first massage module 220A and the second massage module 220B, which is equivalent to the auxiliary massage module, will be referred to as the "first module", and the other will be referred to as the "second module".

[0192] As an example of this, based on the embodiment illustrated in the accompanying drawings, it is assumed that the second massage module 220B located at the lower part is the first module, and the first massage module 220A located at the upper part is the second module.

[0193] The control unit 290 of the present invention can control the first module, namely the second massage module 220B, to move in the opposite direction (step S230) and control the second module, namely the first massage module 220A, to stop moving (step S320) when the distance between the first position information and the second position information is within the reference distance (step S210, step S310).

[0194] After the control unit 290 stops the first module (second massage module 220B) from moving (step S230), if it is not a case where the position information of the first massage module 220A and the second massage module 220B is not received normally from the first information unit 230A and the second information unit 230B, or the received position information includes an error (hereinafter referred to as an "error event") (step S240), then the first module is moved beyond the reference distance (step S250), and the operation for the first module can be processed as completed (step S260).

[0195] Thus, when the current state of the first module is not an error event, it can be considered a temporary malfunction or a non-fatal minor error caused by signal interference, etc. Therefore, the control unit 290 of the present invention can be configured to stop the operation of the first module only in the corresponding massage mode and report to the main control unit 280, etc., that the operation according to the set scene has been completed.

[0196] When the control unit 290 receives a new massage mode from the main control unit 280 or other subsequent units, it can control the first module to perform normal actions corresponding to the received massage mode.

[0197] If there is no possibility of collision during the massage mode action, that is, when the distance between the first position information and the second position information is not within the reference distance (steps S210 and S310), the massage mode action can be continued based on massage map data, etc., until the massage mode action is completed (steps S220 and S350).

[0198] As described above, when the distance between the first position information and the second position information is within the reference distance (step S210), it is equivalent to the first module of the auxiliary massage module being controlled in a collision avoidance manner, and according to the implementation method, it can be processed as the end of the action in the massage mode.

[0199] On the other hand, when the distance between the first position information and the second position information of the second module (the first massage module 220A), which is equivalent to the main massage module, is within the reference distance (step S310), its movement stops for a first time (step S320). After the first time has elapsed, the control unit 290 controls the movement corresponding to the massage mode or massage action to continue (step S340).

[0200] In contrast to the previous example, when an error event occurs, such as the first and / or second location information not being received normally, or the received location information including errors, or the location information being erroneous (steps S240 and S330), this may be a repeatable error or a non-minor error.

[0201] As described above, when an error event occurs (step S240), the control unit 290 of the present invention controls the movement of the first module (second massage module 220B) (step S245) until the first module reaches the position where the second detection sensor 240B is configured (step S246), and controls the position information of the first module to be reset (step S247).

[0202] From the corresponding perspective, in relation to the movement control of the first massage module 220A (second module), when an error event occurs (step S330), the control unit 290 of the present invention controls the movement of the first massage module 220A (step S335). When the first massage module 220A reaches the position where the first detection sensor 240A is configured (step S336), as described above, the position information of the first massage module 220A is controlled, that is, the first position information is reset (step S337).

[0203] According to the implementation, when the control unit 290 is binary divided into a first control module 290A and a second control module 290B, the first control module 290A can be configured to control the movement of the first massage module 220A using first position information and second position information, and the second control module 290B can be configured to control the movement of the second massage module 220B using first position information and second position information.

[0204] Figure 12 This is a flowchart illustrating the collision response process of the first module. Figure 13 This is a flowchart used to illustrate the collision response process of the second module.

[0205] Figure 12 and Figure 13 The processing of one embodiment of the present invention illustrated can be equivalent to guiding rapid follow-up measures when a collision actually occurs between the first massage module 220A and the second massage module 220B.

[0206] Figure 12 and Figure 13 The illustrated embodiments are described in different figures only to distinguish the controlled objects. The embodiments illustrated in each figure can be executed independently or in parallel.

[0207] A massage device 200 according to an embodiment of the present invention may include a collision detection sensor 250 for detecting collisions between a first massage module 220A and a second massage module 220B. The control unit 290 of the present invention may be configured to control the movement of one or more of the first massage module 220A and the second massage module 220B using a detection signal (collision detection signal) output by the collision detection sensor 250.

[0208] The collision detection sensor 250 can be implemented in various ways, such as by using capacitance, by using light signals, by using changes in the magnitude of a magnetic field, and by using whether a switch is pressed.

[0209] The shape of the track used to guide the movement of the first massage module 220A and the second massage module 220B may not be limited to a straight line shape (structure), but may also be a composite shape structure of straight line shape and arc shape, etc.

[0210] Therefore, in order to effectively detect collisions or docking between the first massage module 220A and the second massage module 220B, the collision detection sensor 250 can be set in the first massage module 220A at a location facing the second massage module 220B, such as the lower part of the first massage module 220A and / or installed in the second massage module 220B at a location facing the first massage module 220A, such as the upper part of the second massage module 220B.

[0211] In this way, when multiple collision detection sensors 250 are arranged in a direction facing each other, if one or more of these sensors detect a collision, the control unit 290 of the present invention can process it as a signal that a collision has occurred between the first massage module 220A and the second massage module 220B.

[0212] The control unit 290 of the present invention is configured to control one or more of the first massage module 220A and the second massage module 220B to move or operate based on a movement route set by a massage mode or the like (steps S400 and S500).

[0213] If no collision detection signal is received from the collision detection sensor 250 (steps S410 and S510), the control unit 290 of the present invention controls the movement of one or more of the first massage module 220A and the second massage module 220B until the action in the current massage mode is completed (steps S420 and S550).

[0214] If the control unit 290 receives a collision detection signal from the collision detection sensor 250 during the operation of one or more of the first massage module 220A and the second massage module 220B (step S410), it stops the first module, which is one of the first massage module 220A and the second massage module 220B, from moving (step S430) and controls the first module to move until the first module reaches the position where the first detection sensor 240A or the second detection sensor 240B is located (step S440).

[0215] As previously illustrated, when the first module is set as the second massage module 220B, if a detection signal (collision detection signal) is received from the collision detection sensor 250 (step S410), the control unit 290 controls the second massage module 220B to move to the position where the second detection sensor 240B is located (steps S440 and S450).

[0216] When the second massage module 220B, which is the first module, moves to the position where the second detection sensor 240B is configured, and the second detection sensor 240B outputs a detection signal for the second massage module 220B, as described above, the control unit 290 controls the position information of the second massage module 220B, that is, the second position information is reset (step S460).

[0217] A collision occurred between the first massage module 220A and the second massage module 220B. This can be regarded as an actual error or abnormality occurring in the generation of position information, data processing, motion algorithm calculation, etc. Therefore, in order to prevent the error or abnormality from happening again, it is preferable to control the position information of the first module to be reset.

[0218] After the location information is reset (step S460), according to the embodiment, the control unit 290 can be configured to: report the completion of the corresponding massage action to the main control unit 280 or the like at an appropriate time (step S470), and remain in standby mode until subsequent massage map data is received from the main control unit 280 or the like (step S490). When subsequent massage map data is received, control to perform the corresponding movement or action (step S400).

[0219] Figure 12The processing of the illustrated embodiment of the present invention can also be configured to be applied cyclically as long as the preset termination conditions are not met, such as log off, stop signal (termination signal) input, system failure, main power off, emergency event occurrence, etc. (step S480).

[0220] like Figure 13 As illustrated, when a collision occurs between the first massage module 220A and the second massage module 220B (step S510), the control unit 290 of the present invention can control the second module (first massage module 220A), which is equivalent to the main massage module, to stop moving (step S520).

[0221] Furthermore, according to the embodiment, the control unit 290 of the present invention can control the second module to move a first distance in the direction opposite to the direction in which the second module moves at the time point of inputting the collision detection signal (step S520).

[0222] If the second module is in a stopped state at the collision time point, the control unit 290 of the present invention can control the second module to move a first distance in a direction corresponding to the direction in which the first module moved at the collision time point.

[0223] When no error event occurs, the control unit 290 of the present invention can control the continued movement (action) of the second module corresponding to the massage mode or massage action (step S540) after the second module has moved a first distance or after the time for the first module to perform an avoidance action (step S440, etc.) has elapsed.

[0224] After a collision, when the aforementioned error event occurs, i.e., the position information of the first massage module 220A and / or the second massage module 220B is not received normally from the first information unit 230A and / or the second information unit 230B, or the received position information is erroneous (step S530), the control unit 290 of the present invention can control the massage module corresponding to the error event to move to the position where the first detection sensor 240A or the second detection sensor 240B is configured, thereby resetting the corresponding position information (steps S535, S536, and S537).

[0225] While the present invention has been described above with reference to specific embodiments and accompanying drawings, the present invention is not limited thereto. Of course, those skilled in the art can make various modifications and changes within the scope of the technical concept of the present invention and the equivalent scope of the appended claims.

[0226] In the above description of the present invention, the first and second modifiers are merely instrumental conceptual terms used to relatively distinguish each other's constituent elements, and therefore should not be interpreted as terms used to indicate a specific order, priority, etc.

[0227] The accompanying drawings, etc., which are used to illustrate the present invention and its embodiments, may be shown in a slightly exaggerated form to emphasize or highlight the technical content of the present invention. However, in conjunction with the foregoing content and the matters shown in the drawings, it should be understood that various modifications and application examples will be obvious to those skilled in the art.

[0228] The control method of the massage device of the present invention described above can be implemented in the form of computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROM, RAM, ROM, floppy disk, disk, hard disk, optical disk, etc.) storing computer-readable data, and also includes a server for wired / wireless internet transmission.

[0229] Furthermore, the composition and function of the massage device described in this manual can be extended to various (wearable) health care devices that can provide health care functions (e.g., massage / acupressure function, biosignal measurement function, etc.). Therefore, the term "massage device" in this manual can of course be replaced with "(wearable) health care device" for description.

Claims

1. A massage device, characterized in that, include: A body massage unit, used to massage at least a part of a user's body; The first massage module is movably disposed on the body massage section; The second massage module is movably disposed on the body massage part, and the second massage module moves above or below the first massage module, or moves in front of or behind the first massage module. The first information unit generates first location information, which serves as the location information of the first massage module. The second information unit generates second location information as the location information of the second massage module; as well as The control unit uses the first position information and the second position information to control the movement of one or more of the first massage module and the second massage module.

2. The massage device according to claim 1, characterized in that, The first movement range, which is the movement range of the first massage module, is configured as follows: It shares a common range with the second range of motion, which is the range of motion of the second massage module.

3. The massage device according to claim 1, characterized in that, The control unit is configured to: When the distance between the first location information and the second location information is within the reference distance, the first module, which is one of the first massage module and the second massage module, is controlled to move in the direction that the distance between the first massage module and the second massage module increases.

4. The massage device according to claim 3, characterized in that, The control unit is configured to: The second massage module, which is not the first massage module among the first and second massage modules, is controlled to stop moving.

5. The massage device according to claim 4, characterized in that, The control unit is configured to: After the second module stops moving for a first time, the second module is controlled to continue moving in accordance with the massage action.

6. The massage device according to claim 3, characterized in that, Also includes: A first detection sensor is disposed at the end of a first movement range that is the movement range of the first massage module, and The second detection sensor is disposed at the end of the second movement range, which is the movement range of the second massage module; The control unit is configured to: When the first detection sensor detects the first massage module, the control resets the first position information. When the second detection sensor detects the second massage module, the control to reset the second position information is activated.

7. The massage device according to claim 6, characterized in that, The control unit is configured to: Control the first module to move to the position where the first detection sensor or the second detection sensor is configured.

8. The massage device according to claim 1, characterized in that, Also includes: A collision detection sensor is used to detect collisions between the first massage module and the second massage module; The control unit is configured to: The collision detection signal from the collision detection sensor is used to control the movement of one or more of the first massage module and the second massage module.

9. The massage device according to claim 8, characterized in that, Also includes: A first detection sensor is disposed at the end of a first movement range that is the movement range of the first massage module, and The second detection sensor is disposed at the end of the second movement range, which is the movement range of the second massage module; The control unit is configured to: When the first detection sensor detects the first massage module, the first position information is reset; when the second detection sensor detects the second massage module, the second position information is reset. When a collision detection signal is input from the collision detection sensor, the first module, which is one of the first massage module and the second massage module, is controlled to move toward the position where the first detection sensor or the second detection sensor is located.

10. The massage device according to claim 9, characterized in that, The control unit is configured to: The second massage module, which is not the first massage module among the first and second massage modules, is controlled to stop moving.

11. The massage device according to claim 9, characterized in that, The control unit is configured to: Control the second module, which is a massage module that is not the first module among the first massage module and the second massage module, to move the second module a first distance in the direction opposite to the direction in which the second module moved at the time point when the collision detection signal was input.

12. The massage device according to claim 11, characterized in that, The control unit is configured to: After moving the second module a first distance, the second module is controlled to continue moving in accordance with the massage action.

13. The massage device according to claim 6 or 9, characterized in that, The control unit is configured to: When one or more of the first location information and the second location information are error information, the massage module corresponding to the error information in the first massage module and the second massage module is controlled to move to the position where the first detection sensor or the second detection sensor is configured.

14. The massage device according to claim 1, characterized in that, The control unit includes: A first control module uses the first position information and the second position information to control the movement of the first massage module, and the first control module is disposed on the first massage module; and The second control module uses the first position information and the second position information to control the movement of the second massage module, and the second control module is located on the second massage module.

15. A method for controlling a massage device, the method being used to control the massage device according to any one of claims 1 to 12, characterized in that, include: The control steps utilize first position information and second position information to control the movement of one or more of the first massage module and the second massage module.

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