Massage device

Abstract

One embodiment of this utility model discloses a massage device, comprising: a massage part that supports a user's body and massages at least a portion of the user's body; and a control part that controls the massage part; the control part can control the massage part based on the user's wishes, so that the state of the massage part is a state corresponding to the user's wishes.

Description

Technical Field

[0001] This utility model relates to a massage device that moves according to the user's wishes. Background Technology

[0002] Massage refers to a medical adjunct therapy that involves applying various forms of mechanical stimulation to specific parts of the body, such as kneading, pressing, stretching, patting, or inducing physical activity, to adjust changes in the body, promote blood circulation, and relieve fatigue.

[0003] Due to economic and time constraints, there is an increasing demand for massage devices or equipment that provide manual massage functions. Specifically, as the need to relieve stiff muscles and eliminate fatigue or stress through massage increases, various massage devices that offer good time and cost-effectiveness have been introduced.

[0004] Recently, people have been paying more attention to health, and massage devices have evolved from simply providing massage functions to electronic devices that offer a variety of additional functions and / or medical functions.

[0005] Therefore, various types of comfortable chairs based on ergonomics have been developed and put into practical use. Utility Model Content

[0006] The problem to be solved

[0007] The technical problem to be solved by this utility model is to provide a massage device that can move according to the user's wishes and a method for controlling the massage device.

[0008] means for solving problems

[0009] An apparatus according to an embodiment of the present invention for solving the aforementioned technical problem may include: a massage unit that supports a user's body and massages at least a portion of the user's body; and a control unit that controls the massage unit; the control unit may control the massage unit based on the user's wishes, so that the state of the massage unit is a state corresponding to the user's wishes.

[0010] In the device, the control unit can control the massage unit based on whether the state of the massage unit corresponds to the user's wishes. When the state of the massage unit corresponds to the user's wishes, the control unit controls the massage unit to maintain the state of the massage unit. When the state of the massage unit does not correspond to the user's wishes, the control unit controls the massage unit to change the state of the massage unit to correspond to the user's wishes.

[0011] In the device, the control unit can determine any one of the multiple preset states as the state corresponding to the user's wish based on a plurality of preset states and any wish that matches each preset state, and determine whether the state of the massage device is the state corresponding to the user's wish based on the determination result.

[0012] In the device, the massage unit may include a first support for supporting the user's upper body and a second support for supporting the user's lower body. The state of the massage unit may be determined based on at least one of a first angle of the first support and a second angle of the second support. The control unit may control the massage unit based on whether the state of the massage unit corresponds to the user's wishes, so as to change or maintain at least one of the first and second angles.

[0013] In the device, the control unit can determine any one of the multiple preset settings as the state corresponding to the user's wish based on a plurality of preset settings and any intention matching each preset state, and the control unit can determine whether the state of the massage unit is the state corresponding to the user's wish based on any angle matching any preset state.

[0014] In the device, when the state of the massage unit is not in a state corresponding to the user's wishes, the control unit changes the first angle and the second angle based on any angle that matches any set state, so that the state of the massage unit changes to a state corresponding to the user's wishes.

[0015] In the device, when the user's intention is to rest on the massage device or to operate at least one of the massage device and any other device, and the state of the massage unit is not a state corresponding to the user's intention, the control unit can control the change of the state of the massage unit to a first upright state.

[0016] In the device, when the user's intention is to ride the massage device, and the state of the massage unit is not a state corresponding to the user's intention, the control unit can control the state of the massage unit to change to a second upright state.

[0017] In the device, when the user's intention is to rest, and the state of the massage unit is not a state corresponding to the user's intention, the control unit can control the massage unit to change the state of the massage unit to one of the following states corresponding to the intention: a first upright state, a second upright state, a third upright state, a tilted state, and a normal state.

[0018] In the device, the control unit can control the massage unit to change its state to one of the following states corresponding to the user's wishes: a first upright state, a second upright state, a third upright state, a tilted state, and a normal state, based on the user's input setting value.

[0019] In the device, when the user's intention is to leave the massage device, and the state of the massage unit is not a state corresponding to the user's intention, the control unit can control the change of the state of the massage unit to a third upright state corresponding to the user's intention.

[0020] In the device, when no further user intent is detected, the control unit can control the state of the massage unit to be changed to a normal angle state.

[0021] In the device, the control unit can obtain the user's intention based on at least one of the sensing values ​​detected by the sensors of the massage device and the user's input transmitted from the input unit of the massage device.

[0022] In the device, the sensor of the massage device may be at least one of the following: a voice sensor for detecting the user's voice, an object detection sensor for detecting the user or whether the user is close to the massage device, a lidar sensor for detecting the distance between the user and the massage device, a touch sensor for detecting the user's touch, an IR sensor for detecting changes in infrared radiation caused by the user's proximity, a seating sensor disposed on the second support and for detecting the user's seating position, and an input section of the remote control of the massage device.

[0023] In the device, the control unit can control the state of the massage unit to a state corresponding to the user's wishes based on at least one of the sensor values ​​of the massage device and the user's input. The state corresponding to the user's wishes may include at least one of the following states: a first state, corresponding to the user's first wish to leave the massage device; a second state, corresponding to the user's second wish to ride the massage device; a third state, corresponding to the user's third wish to rest on the massage device or to operate any device; and a fourth state, corresponding to the user's fourth wish to receive a massage from the massage device.

[0024] Utility Model Effect

[0025] According to this utility model, the massage device can change its state to correspond to the user's wishes based on the user's knowledge.

[0026] In addition, the massage device according to this utility model can perform actions according to the user's wishes, thereby increasing the convenience of using the massage device. Attached Figure Description

[0027] Figure 1 This is a diagram illustrating a massage device according to one embodiment.

[0028] Figure 2 It is shown in the form of a block diagram. Figure 1 A diagram of an example of a module in the massage device.

[0029] Figure 3 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment.

[0030] Figures 4 to 11 This diagram illustrates the standing assistance function of the massage device.

[0031] Figure 12 This is a block diagram illustrating an example of the massage device of this utility model.

[0032] Figure 13 It is used for illustrative purposes. Figure 12 A diagram showing the various upright positions of the massage section and the relative positions of the sub-modules within the massage section.

[0033] Figure 14 It is a diagram used to illustrate comparisons between various upright positions.

[0034] Figures 15 to 20 This diagram illustrates an embodiment of the massage device of the present invention, which takes into account the user's wishes and the state of the massage device, and changes the massage state to a state corresponding to the user's wishes.

[0035] Explanation of reference numerals in the attached figures

[0036] 1000: Massage device

[0037] 1400: Control Department

[0038] 1410: Sensor Department

[0039] 1420: Ministry of Communications

[0040] 1430: Memory

[0041] 1440: Output Department

[0042] 1450: Input Section Detailed Implementation

[0043] This utility model can be modified in various ways and can have various embodiments. Specific embodiments are shown in the accompanying drawings and described in detail in the accompanying description. Figure 1 The effects, features, and methods of implementing the present invention will become clear from the following detailed description of the embodiments. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms.

[0044] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, the same or corresponding constituent elements will be given the same reference numerals and repeated descriptions will be omitted.

[0045] In the following embodiments, the terms "first," "second," etc., are not intended to be limiting, but rather to distinguish one constituent element from another.

[0046] In the following embodiments, unless the context explicitly states otherwise, singular expressions include plural expressions.

[0047] In the following embodiments, terms such as include or have mean the presence of a feature or constituent element described in the specification, and do not preclude the possibility of additional features or constituent elements.

[0048] Where a particular embodiment can be implemented in different ways, a specific process sequence may also be performed in a different order than described. For example, two processes described consecutively may be performed substantially simultaneously, or they may be performed in the reverse order of described processes.

[0049] Figure 1 This is a diagram illustrating a massage device according to one embodiment.

[0050] Reference Figure 1 The massage device 1000 may include a massage section that forms an area for accommodating at least a portion of the user's body, supporting the user's body (e.g., torso), and massaging a portion of the user's body.

[0051] like Figure 1 The shape and structure of the massage device 1000 shown are merely examples. Various forms of massage devices 1000 should also fall within the scope of this utility model without departing from the scope defined by the claims.

[0052] Figure 1In this context, the user terminal 2000 refers to the terminal used by the user of the massage device 1000. The user can visually confirm the massage types and detailed options available from the massage device 1000 through the screen displayed on the user terminal 2000. The user terminal 2000 connects to the massage device 1000 via wired or wireless means. After receiving user input, it transmits the signal corresponding to the user's input to a processor that controls the actions of the massage device 1000, thereby enabling the massage device 1000 to operate according to the user's desired actions. The user terminal 2000 can be at least one of a remote controller, a cellular phone, and a personal digital assistant (PDA), but is not limited to these, and may include various electronic devices that can connect to the massage device 1000 via wired or wireless communication.

[0053] Figure 2 It is shown in the form of a block diagram. Figure 1 A diagram of an example of a module in the massage device.

[0054] Reference Figure 2 The massage device 1000 may include a control unit 1400, a sensor unit 1410, a communication unit 1420, a memory 1430, an output unit 1440, and an input unit (or interface unit) 1450.

[0055] The control unit 1400 can control the overall operation of the massage device 1000. For example, the control unit 1400 can control the operation of the communication unit 1420, memory 1430, output unit 1440 and input unit 1450 in the massage device 1000 by executing various programs stored in the memory 1430.

[0056] Furthermore, the control unit 1400 can physically change the appearance, shape, and position of multiple devices that form the appearance of the massage device 1000, and will perform this change accordingly. Figure 5a and Figure 5b As will be described later. For example, 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 move various devices that form the appearance of the massage device 1000 by controlling the operation of the plurality of actuators.

[0057] As one embodiment, the control unit 1400 acquires the current state and target state of the massage unit in the massage device 1000, and can change the current state of the massage unit to a state corresponding to the target state based on the current state and the target state. The control unit 1400 can be implemented using application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, and electronic units for performing other functions.

[0058] The massage device 1000 may include a sensor unit 1410. The sensor unit 1410 can acquire various types of information by using at least one sensor. The sensor unit 1410 may include, but is not limited to, a pressure sensor, an infrared sensor, an LED sensor, a contact sensor, an electrode sensor, an air pressure measuring sensor, etc.

[0059] As an example, 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 (ECG) information, body composition information, etc., but is not limited to these, and may include multiple types of biometric information. The massage device 1000 can provide a customized massage to the user based on the information acquired by the various sensors in the sensor unit 1410. The massage device 1000 detects the contact area and / or contact position with the user through the sensors in the sensor unit 1410, and transmits the detection results to the control unit 1400, thereby guiding the control unit 1400 to operate the massage device 1000 appropriately.

[0060] In another embodiment, the sensor unit 1410 may include a safety sensor. When a specific part of the massage device 1000 is pressed by the user's body or other object, the safety sensor may control the operation of the massage device 1000 or issue a warning to the user. In addition, the sensor unit 1410 may include a camera. The camera may capture images of the user using the massage device 1000 and transmit the generated images to the control unit 1400 or the memory 1430.

[0061] The communication unit 1420 can receive signals transmitted from external devices or transmit signals about the massage device 1000 to external devices.

[0062] For example, the control unit 1400 obtains a result signal by processing the signal received via the communication unit 1420, and can transmit the result signal to the communication unit 1420. The communication unit 1420 can transmit (or output) the result signal to an external device.

[0063] The communication unit 1420 can communicate with modules inside the massage device 1000, external massage devices, and / or user terminal 2000 via any type of network. The communication unit 1420 includes wired / wireless connection modules for connecting to the network. For example, the communication unit 1420 can communicate with internal / external devices of the massage device 1000 using, but is not limited to, wireless LAN (WLAN) (Wi-Fi), wireless broadband (Wibro), World Interoperability for Microwave Access (WiMAX), High Speed ​​Downlink Packet Access (HSDPA), Power Line Communication (PLC), Bluetooth, Radio Frequency Identification (RFID), infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, etc.

[0064] The memory 1430 is hardware that stores various data processed in the massage device 1000, and can store programs used to process and control the control unit 1400. Additionally, the memory 1430 can store information related to the user of the massage device 1000. This user-related information may include personal authentication information, user biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.), and is not limited to these.

[0065] The memory 1430 may include random access memory (RAM) such as dynamic random access memory (DRAM) and static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, Blu-ray or other optical disc storage, hard disk drive (HDD), solid state drive (SSD), or flash memory.

[0066] The output unit 1440 may include various output modules that output various information processed by the control unit 1400. For example, the output unit 1440 may include a display that outputs still images / videos and a speaker that outputs sound / audio. In particular, the display in the output unit 1440 not only outputs a user interface (UI) for controlling the massage device 1000, but when implemented as a touchscreen panel, it can not only perform the functions of the output unit 1440 that outputs the user interface, but also the functions of the input unit 1450 that receives user touch input and transmits it to the control unit 1400.

[0067] When the output unit 1440 is implemented by a touch screen panel, the output unit 1450 can be configured in at least a portion of the massage device 1000. For example, considering the user's ease of operation, the output unit 1450 can be configured adjacent to the arm massage unit that massages the user's arm.

[0068] The input unit 1450 can receive user input and transmit it to the control unit 1400. For example, the user can change the massage mode of the massage device 1000 by applying a predetermined input to the input unit 1450. As another example, the user can change the massage area of ​​the massage device 1000 by applying a predetermined input to the input unit 1450. The input unit 1450 may include a touch screen panel-based display that simultaneously performs the functions of the output unit 1440, and buttons / keyboards that detect the physical pressure applied by the user. As one embodiment, the input unit 1450 may include a microphone (MIC), according to which the massage device 1000 can change its operation based on the recognition of the user's voice.

[0069] Figure 3 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment.

[0070] Reference Figure 3 The massage device 1000 can communicate with the external device 3000 via the communication unit 1420 via wired and / or wireless means to send and receive various data.

[0071] For example, external device 3000 may include portable electronic device 3100, such as an AI speaker, tablet, or smartphone. Portable electronic device 3100 may be a dedicated or general-purpose portable electronic device for massage chair 1000. Additionally, external device 3000 may include wearable devices 3200 such as smartwatches and / or smart bracelets. Furthermore, external device 3000 may include other massage devices 3300 besides the massage device 1000 currently used by the user. Additionally, external device 3000 may include a hospital server 3400. Additionally, external device 3000 may include a personal health record (PHR) server. Additionally, external device 3000 may include a cloud server 3500. Furthermore, external device 3000 may include medical measurement devices such as electronic scales, blood glucose meters, or blood pressure monitors.

[0072] Although some examples of external devices 3000 have been described in this disclosure, it should be understood that any device that is wired or wirelessly connected to the massage device 1000 and can send and receive information with it can be considered an external device.

[0073] Figures 4 to 11 This diagram illustrates the standing assistance function of the massage device.

[0074] Reference Figures 4 to 11 The massage device 1000 may include a support structure, a standing aid, and a rotating unit.

[0075] The supporting structure is a component Figure 14The structures of the first support portion 5200a and the second support portion 5200b, which will be described later, can be formed into various structures such as at least one of a frame and a plate.

[0076] The support structure can support the user's body while also supporting various components of the massage device 1000. These components may include at least one of the following: a massage module, an airbag, an actuator disposed in at least one of the massage module, an air supply device that inflates or contracts the airbag by supplying or expelling air, a tilt angle adjustment device, a standing aid device, and a control unit.

[0077] To comfortably support the user's body parts, the support structure is covered by internal materials such as injection-molded products, polyurethane foam, sponge, or expanded polystyrene (styrol) with a shape corresponding to the body, while the internal materials are covered by an outer cover made of polyester fiber tricot, synthetic leather, or natural leather.

[0078] The supporting structure will be described in detail below.

[0079] According to one embodiment of the present disclosure, the support structure may include a main frame 1, a base frame 10, a rotating frame 20, a rotating shaft 21, and a rack 90.

[0080] like Figure 4 , Figure 5a and Figure 5b As shown, the main frame 1 can support at least a portion of the user's body. For example, the main frame 1 may include a seat frame 30 and a backrest frame 40. The seat frame 30 can support at least a portion of the user's lower body. The backrest frame 40 can support at least a portion of the user's upper body.

[0081] The base frame 10 can be placed on the ground to support the entire massage device 1000. For example, the base frame 10 can be configured at the lower part of the main frame 1 to support the main frame 1.

[0082] The base frame 10 may include multiple horizontal base frames 11, multiple vertical base frames 12, and reinforcing frames 13.

[0083] Multiple horizontal base frames 11 can be extended in the front-back and left-right directions and placed on the ground.

[0084] Multiple vertical base frames 12 may be arranged extending in a first direction in front of and behind the horizontal base frame 11 on both sides. In this case, the first direction may be the upper direction of the base frame 10 (or the upper direction of the horizontal base frame 11). For example, the multiple vertical base frames 12 may be arranged vertically relative to the multiple horizontal base frames 11.

[0085] The plurality of vertical base frames 12 may include: a front vertical base frame 12a, disposed on both sides in front of the horizontal base frame 11; and a rear vertical base frame 12b, disposed on both sides in rear of the horizontal base frame 11. The front vertical base frame 12a and the rear vertical base frame 12b may be arranged vertically relative to the plurality of horizontal base frames 11.

[0086] The reinforcing frame 13 can connect the front vertical base frame 12a and the rear vertical base frame 12b to each other. For example, the reinforcing frame 13 can connect the upper part of the front vertical base frame 12a and the upper part of the rear vertical base frame 12b to each other. The reinforcing frame 13 can connect at least a portion of the area between the upper and lower parts of the front vertical base frame 12a to the upper part of the rear vertical base frame 12b. In this case, at least a portion of the area between the upper and lower parts of the front vertical base frame 12a can be the middle (or intermediate) part of the front vertical base frame 12a.

[0087] The rotating frame 20 can be configured between the main frame 1 and the base frame 10 to support the main frame 1. For example, the rotating frame 20 can be connected to a rotating shaft 21, which is located in front of the base frame 10 and extends laterally. In this case, the rotating shaft 21 can be configured (or set) on the upper front side of the base frame 10 (e.g., the front side is perpendicular to the upper end of the base frame 12a) and extends laterally.

[0088] The rotating frame 20 is configured such that its front part can rotate in the vertical direction about the rotation axis 21, thereby tilting (or rotating) relative to the base frame 10 by means of the standing auxiliary rotating unit.

[0089] For example, the rotating frame 20 is formed into a roughly rectangular frame, which can support the seat frame 30 and the backrest frame 40 so that they can rotate on the base frame 10. The lower ends of the front portions on both sides of the rotating frame 20 are connected to the rotating shaft 21, so that the lower ends of the front portions can rotate in the vertical direction around the rotating shaft 21, while performing the standing auxiliary angle adjustment function of the seat frame 30 and the backrest frame 40.

[0090] Reference Figure 5a and Figure 5b The rotating frame 20 may include a horizontal rotating frame 22, multiple vertical rotating frames 23a and 23b, and reinforced rotating frames 24a, 24b and 24c.

[0091] The horizontal rotating frame 22 can be configured to extend in the front-back and left-right directions between the two vertical base frames 12 and the reinforcing frame 13 to achieve (or form) a box shape. In this case, the rear end of the horizontal rotating frame 22 can be connected to a rotating actuator 60, which serves as a standing auxiliary rotating unit, to receive external forces.

[0092] Multiple vertical rotating frames 23a and 23b can be arranged along a second direction on both sides of the horizontal rotating frame 22, in front of and behind it. This second direction can be the lower direction of the rotating frame 20 (or the upper direction of the horizontal rotating frame 22). For example, the multiple vertical rotating frames 23a and 23b can be arranged vertically relative to the horizontal rotating frame 22. Furthermore, the front vertical rotating frame 23a and the rear vertical rotating frame 23b can be overlapped and arranged inside the front vertical base frame 12a and the rear vertical base frame 12b in the lateral direction (left-right direction), respectively.

[0093] In the plurality of vertical rotating frames 23a and 23b, at least a portion of the area between the upper and lower parts of the front vertical rotating frame 23a can be disposed at the upper end of the front vertical base frame 12a in a manner that allows it to rotate via the rotating axis 21. In this case, at least a portion of the area between the upper and lower parts of the front vertical rotating frame 23a can be the middle (or intermediate) part of the front vertical rotating frame 23a.

[0094] The strength of the rotating frame 20 can be enhanced by connecting the front vertical rotating frame 23a and the rear vertical rotating frame 23b.

[0095] For example, the reinforcing rotating frames 24a, 24b, 24c may include: a front vertical reinforcing rotating frame 24a disposed on (or combined with) the outer side of the front vertical rotating frame 23a; a rear vertical reinforcing rotating frame 24b disposed on the outer side of the rear vertical rotating frame 23b; and a horizontal reinforcing rotating frame 24c connecting the front and rear vertical reinforcing rotating frames 24a, 24b.

[0096] The front vertical reinforcing rotating frame 24a and the rear vertical reinforcing rotating frame 24b can be arranged on the same line as the front vertical base frame 12a and the rear vertical base frame 12b, respectively. The lower end of the rear vertical reinforcing rotating frame 24b is mounted on and supported by the upper end of the rear vertical base frame 12b, which serves a braking function while increasing the supporting force. At this time, the length of the front vertical reinforcing rotating frame 24a is made shorter than the length of the rear vertical reinforcing rotating frame 24b, and the length of the front vertical base frame 12a is made longer than the length of the rear vertical base frame 12b, so that the position of the rotating shaft 21 is higher than the upper end of the rear vertical base frame 12b. This has the advantage of obtaining a large rotational force even if the driving force of the rotating actuator 60 is reduced.

[0097] When the lower end of the rear vertical reinforcing rotating frame 24b is connected to the upper end of the rear vertical base frame 12b and installed, a buffer material (not shown) made of elastic material such as rubber or silicone plastic can be provided between the lower end of the rear vertical reinforcing rotating frame 24b and the upper end of the rear vertical base frame 12b to absorb impact.

[0098] The horizontally reinforcing rotating frame 24c may include an upper horizontally reinforcing rotating frame and a lower horizontally reinforcing rotating frame. The upper horizontally reinforcing rotating frame can connect the upper parts of the front vertically reinforcing rotating frame 24a and the rear vertically reinforcing rotating frame 24b. The lower horizontally reinforcing rotating frame can connect at least a portion of the area between the upper and lower parts of the front vertically reinforcing rotating frame 24a and the rear vertically reinforcing rotating frame 24b. For example, one end of the lower horizontally reinforcing rotating frame can be connected to the lower part of the front vertically reinforcing rotating frame 24a, and the other end can be connected to the middle part of the rear vertically reinforcing rotating frame 24b.

[0099] Multiple tilting rollers 73 can be rotatably arranged on the inner side of the upper horizontally reinforced rotating frame 24c, and the multiple tilting rollers 73 are guided by tilting guide rails 72 arranged on both sides of the seat frame 30.

[0100] The rotating frame 20 constructed with this structure offers the following advantages: it can provide standing assistance and tilting functions without increasing the overall size of the massage device, especially its left and right width.

[0101] In addition, it has the following advantages: by using the structure of the rotating frame 20 as described above, the position of the rotating shaft 21 can be moved upward, so that a large rotational force can be obtained even with a small driving force.

[0102] The rotating frame 20 can rotate vertically about the rotation axis 21 by means of a standing auxiliary rotating unit disposed at the lower part of the rotating frame 20. For example, the standing auxiliary rotating unit can be disposed between the base frame 10 and the rotating frame 20, thereby rotating the rotating frame 20 about the rotation axis 21. One end of the standing auxiliary rotating unit can be connected to the front of the base frame 10 (e.g., the front horizontal base frame of a plurality of horizontal base frames 11), and the other end can be connected to the rear of the rotating frame 20 (e.g., the rear end of the horizontal rotating frame 22).

[0103] The standing auxiliary rotation unit can rotate the rotating frame 20 around the rotation axis 21 by adjusting the length between one end and the other end of the standing auxiliary rotation unit. In this case, the standing auxiliary rotation unit can be a rotation actuator 60.

[0104] The seat frame 30 is rotatably mounted on the upper part of the rotating frame 20, thereby supporting (or holding) the user's buttocks.

[0105] The backrest frame 40 is disposed at the rear end of the seat frame 30 and can be shaped (or configured) to extend upward, thereby supporting the user's back. The seat frame 30 and the backrest frame 40 form a support structure inside the first support portion 5200a and the second support portion 5200b of the massage device 1000.

[0106] The seat frame 30 may be part of the frame that forms the second support portion 5200b, and the backrest frame 40 may be part of the frame that forms the first support portion 5200a. The seat frame 30 and the backrest frame 40 may be integrally connected to each other.

[0107] As described above, in order for the seat frame 30 and the backrest frame 40 to rotate together, the seat frame 30 and the backrest frame 40 are integrally formed with each other, but are not limited thereto. For example, the seat frame 30 and the backrest frame 40 can be connected to each other in a way that allows them to be physically distinguished.

[0108] The rack 90 is a component that meshes with a pinion disposed on the massage module 100 to generate a driving force for the massage module 100 to move up and down. It can be disposed on the seat frame 30 and the backrest frame 40. In the seat frame 30 and the backrest frame 40, guide rails for guiding the up and down movement of the massage module 100 can be disposed side-by-side directly above the rack 90. ​​The rack 90 can be made of metal or plastic. For example, the rack 90 can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited to these. Furthermore, when the seat frame 30 and the backrest frame 40 can be rotatably connected relative to each other, the rack 90 can be made of a flexible material, allowing it to deform flexibly with changes in the angle between the seat frame 30 and the backrest frame 40.

[0109] According to one embodiment of the present invention, the rack 90 can be arranged in a relatively opposite configuration on two sides of the seat frame 30 and the backrest frame 40, and the massage module 100 can move along the rack 90. Figure 4 As shown, the rack 90 is formed in the vertical direction, but is not limited thereto. The rack 90 may include racks in the front-back direction and racks in the vertical direction. In this utility model, the front-back direction refers to the direction from the massage module 100 toward the user or from the user toward the massage module 100, which can also be called the Z-axis direction.

[0110] The massage module 100 may include gears meshing with a rack 90. ​​More specifically, the massage module 100 may include multiple gears meshing with a rack in the forward-backward direction and a rack in the up-down direction, respectively. An actuator disposed on the massage module 100 rotates the gears, thereby allowing the massage module 100 to tilt (or rotate) in at least one of the forward and rearward directions, and to move in at least one of the upward and downward directions. As the massage module 100 moves in the forward direction, the massage intensity can increase. Conversely, as the massage module 100 moves in the rearward direction, the massage intensity can decrease.

[0111] like Figure 6 As shown, the normal state of the massage device 1000 can be a state in which the seat frame 30 and the backrest frame 40 are tilted backward at a certain angle. For example, the normal state can be a state in which the seat frame 30 is raised about 14° to 15° upward relative to the horizontal axis of the ground. In this way, the user can receive a massage in a comfortable sitting posture on the massage device 1000.

[0112] However, because the seat frame 30 and the backrest frame 40 are tilted at a certain angle, the user needs to use more force to stand up from the massage device 1000 after using it.

[0113] To solve the above problems, the massage device 1000 implements a standing assistance mode (or standing assistance function) through a standing assistance device, thereby achieving the desired effect. Figure 6 As shown in the left-hand diagram, the massage device 1000 can be changed from a normal state or a zero-gravity state to a standing-assisted state. Therefore, when a user wants to stand up from the massage device 1000 after use, the massage device 1000 can assist the user in standing, allowing the user to stand with less force.

[0114] The following is a detailed description of the standing aid device.

[0115] According to one embodiment of the present disclosure, the standing assistance device may include at least one of a standing assistance rotation unit and a standing assistance unit.

[0116] Based on Control Unit 1400 (reference) Figure 2 The standing auxiliary rotation unit can be configured at the lower part of the support structure and rotate the support structure in at least one of the forward (or upward) and backward (or downward) directions, with reference to the rotation axis 21 configured at the front part of the support structure.

[0117] For example, the standing auxiliary rotation unit may include a rotary actuator 60. The front end of the rotary actuator 60 may be hinged to the front of the base frame 10, while its rear end may be hinged to the lower rear end of the rotating frame 20. The rotary actuator 60 may be an electric actuator equipped with a working rod 61. Power is obtained from a motor, thereby performing extension and retraction while in linear reciprocating motion; the motor is operated by a power supply applied by the control device of the massage device 1000.

[0118] As described above, the rotary actuator 60 is an electric actuator operated by a motor, but is not limited thereto. For example, the rotary actuator 60 may be a hydraulic actuator with a working rod that can be extended by the pressure of a fluid (e.g., air) supplied by a pneumatic supply device (not shown).

[0119] As an example, when the control unit 1400 is in standing assistance mode, such as Figure 6 The attached diagram on the left and Figure 8 As shown, the massage device 1000 can be switched from its normal state (see reference) by driving the standing auxiliary rotation unit. Figure 6 The middle attached diagram and Figure 7The state shown is changed to a standing assistance state to assist the user in standing up. The standing assistance state can be such that the seat frame 30 is lowered by about 10° relative to the horizontal axis of the ground, and the backrest frame 40 is rotated forward, thereby approaching the vertical axis.

[0120] For example, after using the massage device 1000, the user can activate the standing assistance mode of the massage device 1000 via the instruction input device of the massage device 1000 or a dedicated application on a smartphone. When the standing assistance mode is activated, the control unit 1400 extends the working rod 61 by operating the motor of the rotary actuator 60, thereby causing the rotating frame 20 to rotate forward (or upward; counterclockwise in the figure) about the rotation axis 21. In other words, as shown... Figure 6 and Figure 8 As shown, the control unit 1400 can switch the massage device 1000 from its normal state ( Figure 6 The middle attached diagram and Figure 7 The state shown is changed to a standing assistance state.

[0121] Thus, the control unit 1400 can provide the user with a standing assistance force to push the user's body forward by changing the angle of the rotating frame 20, thereby putting the user in a slightly forward standing posture, so that the user can easily stand on the massage device 1000 with less force.

[0122] As another example, the control unit 1400 can change the state of the massage device 1000 from [previous state] by driving the standing auxiliary rotation unit. Figure 8 The standing assistance state shown has changed to Figure 7 The normal state shown in the image helps the user to sit down.

[0123] For example, the control unit 1400 retracts the working rod 61 by operating the motor of the rotary actuator 60, thereby rotating the rotating frame 20 about the rotation axis 21 in the rearward direction (or downward direction; clockwise in the figure). In other words, the control unit 1400 can assist the user in sitting by rotating the rotating frame 20 rearward to return it to its initial position (or normal state) before rotation. That is, the standing assistance rotation unit can assist the user in standing by rotating the support structure in the forward direction of the support structure, and can assist the user in sitting by rotating the support structure in the rearward direction of the support structure.

[0124] As described above, the massage device 1000 can assist the user in standing by changing its state through the standing assist rotation unit, but is not limited to this. For example, the massage device 1000 can assist the user in standing not only through the standing assist rotation unit, but also through a standing aid unit. For example, the control unit 1400 can directly provide a force to the user's body in the forward direction of the support structure through the standing aid unit, so that the user can stand up more easily in the standing assist mode. In other words, the standing aid unit can make it easier for the user to stand up by applying a force that pushes the user's body, especially the user's buttocks (e.g., the hip position), towards the upper front of the massage device 1000 in the standing assist mode.

[0125] According to one embodiment of the present disclosure, the standing assistance unit may include at least one of a seat plate 31, a seat lifting unit, and a massage module 100.

[0126] As an example, the standing assistance unit consists of a seat plate 31 and a seat lifting unit, which can provide the user with additional standing assistance to increase the standing assistance force.

[0127] The seat plate 31 can be configured on the upper side of the seat frame 30 to support the user's lower body (or buttocks).

[0128] For example, the seat plate 31 may be a structure with a three-dimensional shape corresponding to the user's buttocks so as to position and support the user's buttocks (e.g., the hip and thigh portions) when the user sits on the second support portion 5200b of the massage device 1000. The seat plate 31 may include a seat hinge axis 32 disposed at the front of the seat frame 30 and formed in a shape extending in the lateral direction. Figure 9 As shown, the front of the seat panel 31 can rotate up and down (in the front-to-back direction of the massage device) around the seat hinge axis 32 via the seat lifting unit. For example, the seat panel 31 can rotate and rise in the upward direction (front) of the seat panel 31 around the seat hinge axis 32. In the raised state, the seat panel 31 can rotate and descend in the downward direction (rear) of the seat panel 31 around the seat hinge axis 32.

[0129] The seat lifting unit can be configured between the lower surfaces of the seat frame 30 and the seat plate 31. The seat lifting unit can tilt (or rotate) the seat plate 31 in at least one of the upper and lower directions.

[0130] For example, the seat lifting unit can raise the seat plate 31 in the upward direction by rotating the seat plate 31 towards the upper side. The seat lifting unit can lower the seat plate 31 in the downward direction by rotating the raised seat plate 31 towards the lower side.

[0131] The seat lifting unit can be composed of a lifting airbag (or lifting air bag) 33. For example, the lifting airbag 33 inflates by the pressure of air supplied from outside the lifting airbag 33, simultaneously pressurizing the seat plate 31 in the upward direction, thereby raising the seat plate 31. The inflated lifting airbag 33 can lower the seat plate 31 in the downward direction by discharging the air from the inflated lifting airbag 33 and contracting.

[0132] According to one embodiment of the present invention, when in standing assistance mode, the rotating frame 20 rotates upwards via the operation of the rotating actuator 60, causing the user's body (upper body) to move forward. Simultaneously, the massage device 1000 inflates as air is supplied to the rising airbag 33, allowing the seat plate 31 to rotate upwards about the seat hinge axis 32 (or allowing the seat plate 31 to rise upwards about the seat hinge axis 32). In this situation, the user's buttocks are pushed forward and upward, further increasing the standing assistance force, thus enabling the user to stand easily with less force.

[0133] As described above, the seat lifting unit can be a lifting airbag 33, but is not limited to it. For example, the seat lifting unit can be implemented by various devices such as a motor that provides rotational force, an actuator that extends or retracts via the motor, etc. When the seat lifting unit is implemented by a motor, the seat lifting unit is disposed on the seat hinge shaft 32, and the seat plate 31 can be raised or lowered by the rotational force of the motor.

[0134] Thus, in the standing assistance mode, the massage device 1000 provides the user with additional standing assistance force that doubles the standing assistance force through the standing assistance unit, so that the user can stand up easily with less force compared to when the user stands up with the standing assistance force.

[0135] As another example, such as Figure 10 and Figure 11 As shown, unlike the standing assistance unit described above, the standing assistance unit consists of a massage module 100, which can provide the user with additional standing assistance to increase the standing support force. For example, as... Figure 4 As shown, the massage module 100 may include a massage head 110 and a moving part 120.

[0136] Similar to the massage module in the massage device 1000, the massage module 100 may be provided with multiple massage heads 110, which are mounted on a motor (not shown) to vibrate and / or rotate in the front-back and left-right directions to massage the user's back, buttocks, and thighs. A movable part 120 enables the massage module 100 to move along a rack 90. ​​The massage module 100 may be positioned in front of the movable part 120.

[0137] When the massage mode is activated, the massage module 100 can move along the support structure and provide massage to at least a part of the user's body via the massage head 110. The massage mode can be a mode that massages the user's body according to the user's input instructions.

[0138] When the standing support mode is activated, the massage module 100 can move to the area corresponding to the user's lower body within the entire area of ​​the support structure (or the entire area of ​​the rack 90), and can rotate in the forward direction of the massage module 100. Thus, the massage module 100 can provide the user with a force that pushes the user's body forward from the user's hips (the user's lower body).

[0139] For example, the control unit 1400 can move the massage module 100 to the area corresponding to the user's lower body. The control unit 1400 can keep the massage module 100 in a standby position, and when the rotating frame 20 rotates in the forward (or upward) direction, the massage module 100 can be rotated in the forward direction by controlling the rotary actuator 60. At this time, the control unit 1400 can rotate (or move) the upper massage head 110 in the massage module 100 in the forward direction. Thus, the massage module 100 can provide the user with additional standing assistance force, which is the force increased by the rotational movement relative to the supporting structure.

[0140] In other words, the massage module 100 can perform the function of moving along the rack 90 and massaging the user's body, and can also perform the function of assisting the user to stand in standing assistance mode.

[0141] As another example, the standing assistance unit can be composed of a massage module 100, a seat plate 31, and a seat lifting unit. When the standing assistance unit is composed of a massage module 100, a seat plate 31, and a seat lifting unit, since the above contents are all applicable, detailed descriptions are omitted.

[0142] That is, the standing assistance unit can push the user's body through the massage module 100 and / or push the seat plate through the seat lifting unit, thereby providing the user with additional standing assistance to help the user stand up.

[0143] The rotating unit will now be described in detail.

[0144] According to one embodiment of the present invention, the seat frame 30 and the backrest frame 40 can be mounted on the rotating frame 20 in a manner that allows their angles to be changed in the vertical direction via a tilting unit, thereby performing a tilting function. In this case, the rotating unit can be positioned at the lower part of the support structure to tilt the support structure. The tilting unit can change the angle of the seat frame 30 and the backrest frame 40 relative to the ground by rotating (or tilting) them relative to the rotating frame 20.

[0145] According to one embodiment of the present invention, the rotating unit may include an inclined guide rail 72, a plurality of inclined rollers 73, and an inclined actuator 70.

[0146] The inclined guide rail 72 can be formed into a curved shape that bends up and down, and is provided on both sides of the seat frame 30 and / or backrest frame 40.

[0147] Multiple tilting rollers 73 can be positioned in front of and behind the upper end of the rotating frame 20 to be inserted into and guided by the tilting guide rail 72.

[0148] The tilt actuator 70 may include a working rod. One end of the working rod is hinged to the rear end of the rotating frame 20, and the other end is hinged to the front end of the seat frame 30. The working rod can be moved linearly and extended / retracted by a motor.

[0149] like Figures 4 to 8 As shown, the tilt actuator 70 can be an electric actuator in which the working rod moves via a motor, or a hydraulic actuator in which the working rod extends or retracts via the pressure of fluid supplied by a pneumatic supply device (not shown).

[0150] When the massage device 1000 is in its normal (or initial) state (or initial posture; see Figure 5), and the working rod extends due to the operation of the motor of the tilt actuator 70, the tilt guide rail 72 can move forward under the guidance of the tilt roller 73 of the rotating frame 20, while the seat frame 30 rises and conversely, the backrest frame 40 descends. Therefore, as... Figure 6 As shown in the attached diagram on the right, the massage device 1000 can be switched to a zero-gravity state (or a tilted state), allowing the user to lie down.

[0151] When the massage device 1000 is in a zero-gravity state, and the motor of the tilt actuator 70 operates in the opposite direction to retract the working rod, the tilt guide rail 72 can move backward under the guidance of the tilt roller 73 of the rotating frame 20, while the seat frame 30 lowers and the backrest frame 40 rises. Therefore, the massage device 1000 changes (or returns to) its normal state, allowing the user to sit down.

[0152] Reference Figure 7 and Figure 8 ,constitute Figure 14 The leg frame 50 of the support structure of the leg massage unit 5200d can be rotatably connected to the front end of the seat frame 30. The leg frame 50 is configured to support the user's lower leg and foot via a leg drive unit, and its upper end can be configured to rotate about a hinge axis 51 located at the front end of the seat frame 30.

[0153] The leg drive unit allows the leg frame 50 to rotate about the hinge axis 51. The rear end of the leg drive unit can be hinged to the rear end of the seat frame 30, while its front end can be hinged to the leg frame 50. The leg drive unit may include a leg actuator 80, which has a working rod capable of linear reciprocating motion and extension via a motor.

[0154] Since the leg frame 50 is connected to the front end of the seat frame 30 and extends downward, when the rotary actuator 60 operates in the folded state to rotate the front end of the seat frame 30 downward, there is a problem that the lower end of the leg frame 50 may be damaged by collision with the ground or the base frame 10 and / or the structure set on the base frame 10, or vibrate and make noise due to impact.

[0155] To prevent the problems mentioned above, the hinge bracket 52 with hinge shaft 51 at the front end of the seat frame 30 is configured to rotate up and down around the bracket shaft 53. Thus, when the rotating frame 20 rotates upward around the rotating shaft 21 and the lower end of the leg frame 50 contacts the ground and / or the base frame 10, the hinge bracket 52 can prevent impact by rotating upward around the bracket shaft 53 at a certain angle.

[0156] Figure 12 This is a block diagram illustrating an example of the massage device of this utility model.

[0157] More specifically, the above Figure 2 This diagram exemplarily illustrates the control unit 1400 of the massage device 1000 and the sub-modules that exchange information with the control unit 1400 via wired or wireless communication. Figure 12This diagram illustrates, by way of example, a massage unit 5200 in a massage device 1000 that provides physical massage directly to a user, and a sub-massage module disposed in the massage unit 5200. Figure 12 The massage section 5200 can include the concepts of the aforementioned body massage section, arm massage section, leg massage section, etc.

[0158] Reference Figure 12 The massage device 1000 according to this utility model may include a control unit 1400 and a massage unit 5200. The massage unit 5200 may include a first support unit 5200a, a second support unit 5200b, an arm massage unit 5200c, and a leg massage unit 5200d.

[0159] The control unit 1400 can control the movement of the massage unit 5200 and the first support unit 5200a, the second support unit 5200b, the arm massage unit 5200c, and the leg massage unit 5200d in the massage unit 5200.

[0160] The massage unit 5200 can support the user's body and massage at least a part of the user's body.

[0161] The first support unit 5200a can support the user's upper body and massage the user's upper body based on the instructions received from the control unit 1400. The massaged area by the first support unit 5200a can be at least one of the user's neck, the user's back, and the user's waist.

[0162] The second support unit 5200b can support the user's lower body and massage the user's lower body based on the instructions received from the control unit 1400. The massaged area by the second support unit 5200b can be at least one of the user's upper buttocks, lower buttocks, perineum, and thighs.

[0163] The arm massage unit 5200c includes an internal space into which at least a portion of a user's arm can be inserted, and can massage at least a portion of the user's arm in the internal space based on instructions received from the control unit 1400.

[0164] The leg massage unit 5200d includes an internal space into which at least a portion of a user's leg can be inserted, and can massage at least a portion of the user's leg in the internal space based on instructions received from the control unit 1400.

[0165] The massage unit 5200, the first support unit 5200a, the second support unit 5200b, the arm massage unit 5200c, and the leg massage unit 5200d each include a massage module for massaging the user's body in various ways. The massage module can receive a massage start signal from the control unit 1400 and move at a frequency matching a preset massage mode, thereby providing the user with various types of massage such as kneading, tapping, and acupressure.

[0166] In addition, the massage unit 5200, the first support unit 5200a, the second support unit 5200b, the arm massage unit 5200c, and the leg massage unit 5200d each include an air cell for fixing the user's massaged area and performing massage. When the air cell receives a pressure injection signal from the control unit 1400, the user's massaged area is firmly fixed by the expanding air pressure, thereby maximizing the massage effect of the massage module.

[0167] The following describes various embodiments of the massage device 1000 according to the present invention. Figures 13 to 19 The “user’s wishes” and “states corresponding to the user’s wishes” in the following embodiments will be described to conform to each embodiment.

[0168] As one embodiment, the massage device 1000 includes: a massage unit 5200 that supports the user's body and massages at least a part of the user's body, and a control unit 1400 that controls the massage unit 5200. The control unit 1400 acquires the user's wishes and / or the state of the massage unit 5200, and can control the massage unit 5200 based on the user's wishes and / or the state of the massage unit 5200, so that the state of the massage unit 5200 corresponds to the user's wishes.

[0169] As one embodiment, the control unit 1400 of the massage device 1000 can control the massage unit 5200 based on whether the state of the massage unit 5200 corresponds to the user's wishes. When the state of the massage unit 5200 corresponds to the user's wishes, it can control the massage unit 5200 to maintain its state. When the state of the massage unit 5200 does not correspond to the user's wishes, it can control the massage unit 5200 to change its state to correspond to the user's wishes.

[0170] As one embodiment, the control unit 1400 of the massage device 1000 determines any one of the multiple setting states as the state corresponding to the user's wish based on a plurality of preset setting states and any wish matching each setting state, and can determine whether the state of the massage device 1000 is the state corresponding to the user's wish based on the determination result.

[0171] As an embodiment, the massage unit 5200 of the massage device 1000 may include a first support unit 5200a supporting the user's upper body and a second support unit 5200b supporting the user's lower body. The state of the massage unit 5200 may be determined based on at least one of the first angle of the first support unit 5200a and the second angle of the second support unit 5200b. The control unit 1400 may control the massage unit 5200 based on whether the state of the massage unit 5200 corresponds to the user's wishes, so as to change or maintain at least one of the first angle and the second angle.

[0172] As one embodiment, the control unit 1400 of the massage device 1000 determines any one of the multiple preset states as the state corresponding to the user's wish based on a plurality of preset states and any intention matching each preset state, and can determine whether the state of the massage unit 5200 is the state corresponding to the user's wish based on any angle matching any preset state.

[0173] As an example, when the state of the massage unit 5200 is not a state corresponding to the user's wishes, the control unit 1400 of the massage device 1000 changes the first angle and the second angle based on any angle that matches any set state, thereby controlling the state of the massage unit 5200 to be changed to a state corresponding to the user's wishes.

[0174] As an example, when the user's intention is to rest in the massage device 1000 or to operate at least one of the massage device and any other device, and the state of the massage unit 5200 is not a state corresponding to the user's intention, the control unit 1400 of the massage device 1000 can control the state of the massage unit 5200 to change to a first upright state.

[0175] As an example, when the user's intention is to ride the massage device 1000, and the state of the massage unit 5200 is not a state corresponding to the user's intention, the control unit 1400 of the massage device 1000 can control the state of the massage unit 5200 to change to a second upright state.

[0176] As an example, when the user's intention is to rest, and the state of the massage unit 5200 is not a state corresponding to the user's intention, the control unit 1400 of the massage device 1000 can control the massage unit 5200 to change the state of the massage unit 5200 to one of the following states corresponding to the user's intention: first upright, second upright, third upright, tilted, and normal.

[0177] As one embodiment, the control unit 1400 of the massage device 1000 can control the massage unit 5200 to change its state to one of the following states corresponding to the user's wishes: a first upright state, a second upright state, a third upright state, a tilted state, and a normal state, based on the user's input setting value.

[0178] As an example, when the user's intention is to leave the massage device 1000, and the state of the massage unit 5200 is not a state corresponding to the user's intention, the control unit 1400 of the massage device 1000 can control the state of the massage unit 5200 to change to a third upright state corresponding to the user's intention.

[0179] As an example, when no further user intent is detected, the control unit 1400 of the massage device 1000 can control the state of the massage unit 5200 to change to a normal angle state.

[0180] As one embodiment, the control unit 1400 of the massage device 1000 can obtain the user's intention based on at least one of the sensing values ​​detected by the sensors of the massage device 1000 and the user's input transmitted from the input unit of the massage device. As one embodiment, the sensors of the massage device 1000 can be at least one of the following sensors: a voice sensor that detects the user's voice, an object detection sensor that detects the user or whether the user is close to the massage device, a LiDAR sensor that detects the distance between the user and the massage device, a touch sensor that detects the user's touch, an IR sensor (infrared sensor) that detects changes in infrared radiation caused by the user's proximity, a seating sensor provided on the second support 5200b and detecting the user's seating, and the input unit of the remote control of the massage device 1000.

[0181] As one embodiment, the control unit of the massage device 1000 can control the state of the massage unit to a state corresponding to the user's wishes based on at least one of the sensor values ​​of the massage device and the user's input. At this time, the state corresponding to the user's wishes may include at least one of the following states: a first state, corresponding to the user's first wish to leave the massage device; a second state, corresponding to the user's second wish to sit on the massage device; a third state, corresponding to the user's third wish to rest on the massage device or operate any device; and a fourth state, corresponding to the user's fourth wish to receive a massage on the massage device.

[0182] Figure 13 It is used for illustrative purposes. Figure 12 A diagram showing the various upright positions of the massage section and the relative positions of the sub-modules within the massage section.

[0183] Figure 13The left side view and left side block diagram of the massage device 1000 of this utility model are shown respectively.

[0184] First, refer to Figure 13 The left side view of the massage device 1000 shows that, according to this utility model, the massage device 1000 can be divided into different angles (or the angle of the massage part 5200). The angle of the massage device 1000 (or the angle of the massage part 5200) is the angle between the supporting surface (or setting surface, ground, etc.) on which the massage device 1000 is configured and the massage device 1000 (or the massage part 5200). For example, as... Figure 13 As shown, the massage device 1000 can be configured into various states based on the angle formed by a point on the ground directly in front of the massage device 1000 and the highest point of the massage device 1000, including a normal angle 5000°a, a first upright angle 5000°b, a second upright angle 5000°c, and a third upright angle 5000°d. For the first upright angle 5000°b, the second upright angle 5000°c, and the third upright angle 5000°d, [further details will be provided]. Figure 14 This will be discussed later.

[0185] Next, Figure 13 The left-side block diagram of the massage device 1000 is a schematic diagram that visually illustrates the result of viewing the massage device 1000 from the left side through the combination of blocks. Figure 13 In the left block diagram of the massage unit 5200, the first support unit 5200a is configured to support the user's upper body, particularly the user's back or waist, and the second support unit 5200b is configured to support the user's lower body, including the user's buttocks, while in contact with the first support unit 5200a. Furthermore, the arm massage unit 5200c is positioned higher than the second support unit 5200b, thereby supporting at least a portion of the user's arms, and the leg massage unit 5200d is connected to the second support unit 5200b to support at least a portion of the user's legs.

[0186] Figure 13The massage device 1000 includes a first support portion 5200a, a second support portion 5200b, an arm massage portion 5200c, and a leg massage portion 5200d, each of which may include an actuator. The actuator can rotate the arm massage portion 5200c and the leg massage portion 5200d by receiving control signals from the control unit 1400. For example, the first support portion 5200a may include a back angle actuator for adjusting the angle of the portion of the user's back in contact with the first support portion 5200a, and the second support portion 5200b may include a hip angle actuator for adjusting the angle of the portion of the user's buttocks in contact with the second support portion 5200b. As another example, the arm massage portion 5200c may include an arm massage portion actuator for changing the position or angle of the arm massage portion 5200c, and the leg massage portion 5200d may include a leg massage portion actuator for changing the position or angle of the leg massage portion 5200d.

[0187] The arm massage actuator and leg massage actuator receive control signals generated by the control unit 1400 and adjust the position or angle of the arm massage unit 5200c and leg massage unit 5200d according to the control commands defined in the control signals. This guides the user to comfortably sit on the massage device 1000, or to comfortably leave the massage device 1000, or enhances the massage effect provided by the massage device 1000. The changes in the position or angle of the first support unit 5200a, the second support unit 5200b, the arm massage unit 5200c, and the leg massage unit 5200d via the actuators will be described in detail later. Figures 6 to 17 The following will be discussed in detail.

[0188] The arm massage unit 5200c may include: a first arm massage unit for massaging one side of the user's arm; and a second arm massage unit for massaging the other side of the user's arm.

[0189] The first arm massage unit and the second arm massage unit can be linked and / or quasi-linked in a manner that is relative to, separate from, and independent of each other. For example, the first arm massage unit and the second arm massage unit can be linked and / or quasi-linked in a manner that is relative to, separate from, and independent of each other, thereby adjusting the length and / or angle of the first arm massage unit and the second arm massage unit. In this case, the length of each arm massage unit refers to the length from one end of each arm massage unit to the other end; in other words, it can refer to the length from the front end to the rear end of each arm massage unit. The angle of each arm massage unit can refer to the angle between each arm massage unit and at least one of the support surface (or setting surface, ground, etc.) of the first support unit and the second support unit 5200b and the massage device 1000.

[0190] As described above, the length of each arm massage unit can be adjusted by moving it back and forth along its length direction, and the angle of each arm massage unit can be adjusted by rotating it up and down.

[0191] For example, the massage device 1000 may include an arm length adjustment part that moves at least one of the first arm massage part and the second arm massage part back and forth along the length direction of at least one arm massage part, and may include an arm angle adjustment part that rotates (or rotates) at least one of the first arm massage part and the second arm massage part in the vertical direction.

[0192] Specifically, the arm length adjustment unit may include: a first arm length adjustment unit, which adjusts the length of the first arm massage unit by moving it back and forth; and a second arm length adjustment unit, which adjusts the length of the second arm massage unit by moving it back and forth, but is not limited thereto. For example, the arm length adjustment unit may be configured as a single adjustment unit, such that the first arm massage unit and the second arm massage unit move independently, separately, and relative to each other, or move in conjunction and / or quasi-in conjunction, thereby adjusting the length of each arm massage unit. In this case, the arm length adjustment unit may operate based on the control of the control unit of the massage device.

[0193] The arm angle adjustment unit may include: a first arm angle adjustment unit, which adjusts the angle of the first arm massage unit by rotating it up and down; and a second arm angle adjustment unit, which adjusts the angle of the second arm massage unit by rotating it up and down, but is not limited thereto. For example, the arm angle adjustment unit may be formed as a single adjustment unit, such that the first arm massage unit and the second arm massage unit can move independently and separately or rotate relative to each other and in conjunction, thereby adjusting the angle of each arm massage unit. In this case, the arm angle adjustment unit may operate based on the control of the control unit of the massage device.

[0194] The leg massage unit 5200d may include: a first leg massage unit for massaging one side of the user's leg; and a second leg massage unit for massaging the other side of the user's leg.

[0195] The first leg massage unit and the second leg massage unit can operate relative to each other, independently, in conjunction with each other, and / or quasi-in conjunction with each other. For example, the first leg massage unit and the second leg massage unit can operate in conjunction with each other and / or quasi-in conjunction with each other in a relative, independent, or in-contact manner, thereby adjusting the length and / or angle of the first leg massage unit and the second leg massage unit. In this case, the length of each leg massage unit refers to the length from one end of each leg massage unit to the other end; in other words, it can refer to the length from the uppermost end to the lowermost end of each leg massage unit. The angle of each leg massage unit can refer to the angle between at least one of the support surfaces of the first support unit and the second support unit 5200b and the massage device 1000 and each leg massage unit.

[0196] As described above, the length of each leg massager can be adjusted by moving it up and down along its length direction, and the angle of each leg massager can be adjusted by rotating it in the front-back direction.

[0197] For example, the massage device 1000 may include a leg length adjustment part that moves up and down along the length direction of at least one leg massage part, namely a first leg massage part and a second leg massage part, and may include a leg angle adjustment part that rotates (or rotates) at least one leg massage part in the front-back direction of the first leg massage part and the second leg massage part.

[0198] Specifically, the leg length adjustment unit may include: a first leg length adjustment unit, which adjusts the length of the first leg massage unit by moving it up and down; and a second leg length adjustment unit, which adjusts the length of the second leg massage unit by moving it up and down, but is not limited thereto. For example, the leg length adjustment unit may be configured as a single adjustment unit, such that the first and second leg massage units move independently, separately, or in a relative manner, or move in conjunction and / or quasi-in conjunction, thereby adjusting the length of each leg massage unit. In this case, the leg length adjustment unit may operate based on the control of the control unit of the massage device.

[0199] The leg angle adjustment unit may include: a first leg angle adjustment unit, which adjusts the angle of the first leg massage unit by rotating it back and forth; and a second leg angle adjustment unit, which adjusts the angle of the second leg massage unit by moving it up and down, but is not limited thereto. For example, the leg angle adjustment unit may be configured as a single adjustment unit, such that the first and second leg massage units can move independently and separately or rotate relative to each other and in conjunction, thereby adjusting the angle of each leg massage unit. In this case, the leg angle adjustment unit may operate under the control of the control unit of the massage device.

[0200] Figure 14 It is a diagram used to compare and illustrate various upright positions.

[0201] exist Figure 14 In the first upright 5000b state, the angle of the massage device 1000, that is, the angle formed by the highest point of the massage device 1000 and the massage device 1000, can be the first reference angle θ1. Furthermore, in Figure 14 In the second upright 5000c state, the angle of the massage device 1000, that is, the angle formed by the highest point of the massage device 1000 and the massage device 1000, can be the second reference angle θ2. Additionally, in Figure 14 In the third upright 5000d state, the angle of the massage device 1000, that is, the angle formed by the highest point of the massage device 1000 and the massage device 1000, can be the third reference angle θ3. Figure 14 In this context, the first reference angle θ1 can be the smallest angle smaller than the second reference angle θ2 and the third reference angle θ3. The second reference angle θ2 can be the angle between the first reference angle θ1 and the third reference angle θ3, and the third reference angle θ3 can be the largest angle larger than the first reference angle θ1 and the second reference angle θ2. A normal angle is an angle smaller than the first to third reference angles. The angle of the massage device in a zero-gravity state, i.e., the zero-gravity angle, can be an angle smaller than the normal angle.

[0202] exist Figure 14 For clarity, the first reference angle to the third reference angle is used. However, when the positions or angles of the first support part 5200a, the second support part 5200b, the arm massage part 5200c, and the leg massage part 5200d change after receiving a signal from the control unit 1400, the appearance of the massage device 1000 can be changed not only to the first upright 5000b, the second upright 5000c, and the third upright 5000d, but also to... Figure 13 The aforementioned normal angle 5000a state.

[0203] The following describes, by way of example, a modification of the massage device 1000 according to the present invention. Figure 14 The conditions for one of the various upright states are referred to... Figure 13 The descriptions will be given in the following order: ordinary angle 5000a, second upright angle 5000c, first upright angle 5000a, and third upright angle 5000d.

[0204] The "normal angle 5000a state" can refer to the state of the massage device 1000 when it is not in use, which is the default value, and / or the state of the massage device 1000 when the user is sitting (or seated) on the massage device 1000, leaning against the first support 5200a and the second support 5200b, and easily receiving a massage. In this case, the state of the massage device 1000 can refer to various states of the massage device 1000, such as its posture, angle, on / off state, operation state, whether a massage action is performed, and the state of each structure within the massage device 1000.

[0205] For example, the state at a normal angle of 5000a and Figure 6 The normal state is the same. The normal angle 5000a state is the most stable form in terms of both internal structure and design, and can refer to the state that the massage device 1000 can maintain while waiting for the user's sitting signal. The normal angle 5000a state can refer to the state in which the user receives a massage while sitting in a reclining chair tilted backward at a certain angle, rather than in a zero-gravity state like lying on a bed.

[0206] In other words, the normal angle 5000a state is at least one of the states in which the massage device 1000 is in standby state before the user uses the massage device 1000 and / or the user is sitting on the massage device 1000 and easily receiving a massage. It can refer to the state of the massage device 1000 corresponding to at least one of the massage device initial state, massage device standby state, massage providing state, and massage action state.

[0207] The "normal angle 5000a" state refers to the normal angle of the massage device 1000. This state allows the massage device 1000 to be adjusted to its normal angle. In this state, the normal angle is designed to allow the user to sit comfortably on the massage device 1000 and receive the massage more easily, similar to sitting in a recliner in daily life. This familiar and comfortable posture allows for easy massage reception and provides high user satisfaction. Compared to a regular chair, a recliner can have its seat front raised and backrest tilted backward.

[0208] A normal angle of 5000a can be a smaller angle than the first to third reference angles, and can also be a larger angle than the angle in zero gravity.

[0209] For example, the common angle may include at least one of the common angles of the first support portion 5200a and the second support portion 5200b. In this case, the angle of each support portion may be the angle between the mounting surface of the massage device 1000 and each support portion.

[0210] When the first support portion 5200a and the second support portion 5200b are in a zero-gravity state (or tilted state), the first support portion 5200a can tilt to the rear, and the second support portion 5200b can tilt by lowering it obliquely from the front end to the rear end. The zero-gravity angle of each support portion in the zero-gravity state refers to an angle smaller than the normal angle and the first to third reference angles, which can be the minimum angle.

[0211] When the first support portion 5200a is at a normal angle of 5000a, it can be tilted backward, but the degree of backward tilt is smaller compared to the zero gravity state.

[0212] When the second support part 5200b is in the normal angle 5000a state, it can be that the second support part 5200a is lowered and tilted from the front end to the rear end. However, compared with the zero gravity state, the degree of tilt (or angle) between the front end and the rear end of the second support part 5200b is smaller, that is, the degree of lowering and tilting is smaller.

[0213] In other words, such as Figure 13 As shown, the normal angle of each support can be smaller than the first to third reference angles of each support and larger than the zero gravity angle.

[0214] That is, the massage device 1000 can be adjusted to a normal angle state, which is the initial state in which the massage device 1000 is easy to maintain in standby mode and / or the state in which the user is easy to accept massage.

[0215] Therefore, in order to sit on the massage device 1000, get off the massage device 1000, use the electronic devices after sitting down, rest on the massage device 1000, or receive a massage from the massage device 1000, the user can quickly and easily change the state of the massage device 1000. The center of gravity of the user sitting (or sitting) on ​​the massage device 1000 is tilted significantly backward, making close contact with and mounting (or supporting) each support part. Thus, the massage module is in closer contact with the user than in the first to third upright states, and in less close contact with the user than in the zero-gravity state. Therefore, the user can receive a massage from the massage device 1000 more comfortably.

[0216] The second upright 5000c state can be a state in which the massage device 1000 recognizes the user's seating position relative to the massage device 1000 and adjusts to a second reference angle. Here, the massage device 1000 recognizing the user's seating position means that it determines the user's intention to use the massage device 1000 through various sensors installed in the massage device 1000 and / or various sensors that can communicate with the massage device 1000. For example, when the user approaches the massage device 1000 to within a certain distance or when the user actively applies a predetermined input to the remote control of the massage device 1000, the massage device 1000 can determine the user's seating intention and change to the second upright 5000c state, but is not limited to this.

[0217] For example, the massage device 1000 can adjust its angle to a second reference angle based on the detection of a user approaching the massage device 1000 via the various sensors mentioned above, or the detection of a user's intention to switch the massage device 1000 to a second upright state, or by inputting information such as a user approaching the massage device 1000, a user sitting on the massage device 1000, and / or an input to switch the massage device 1000 to a second upright state via various sensors, electronic devices, and / or the input unit (or remote control) of the massage device 1000. In other words, when an input signal corresponding to the user's intention to sit on the massage device 1000 and / or the user's intention to switch (or change) the massage device 1000 to a second upright state is received, or when the user's intention is detected by each sensor, the massage device 1000 can adjust its state to the second upright state.

[0218] As an example, when the sensor of the massage device 1000 detects that a user is approaching the massage device 1000, or when a sensor capable of communicating with the massage device 1000 detects that a user is approaching the massage device 1000 and transmits a sensing signal notifying the user of the approach to the massage device 1000, the massage device 1000 can act to control (or maintain, change) the angle of the massage device 1000 to a second reference angle, so that the state of the massage device 1000 is in a second upright state.

[0219] As another example, when a user transmits and / or inputs a command to maintain and / or change the massage device 1000 to a second upright 5000c state through the input section of the massage device 1000 and / or the user's electronic device (or the control device that controls the massage device), the massage device 1000 can operate to control (or maintain, change) the angle of the massage device 1000 to a second reference angle, so that the state of the massage device 1000 is in the second upright 5000c state.

[0220] The second upright 5000c state is the state in which the user is easily seated (or riding) on ​​the second support part 5200b of the massage device 1000. It can refer to the state of the massage device 1000 that corresponds to at least one of the following states: sitting assistance state, sitting guidance state, sitting convenience state, and chair state.

[0221] The angle of the massage device 1000 in the second upright 5000c state is the second reference angle. As mentioned above, the second upright 5000c state can refer to the state in which the angle of the massage device 1000 is adjusted to the second reference angle. At this time, the second reference angle is the angle that achieves a familiar and comfortable posture, just like a user trying to sit in an ordinary chair used in daily life, so that the user can sit very comfortably in the massage device 1000, and it can be an angle that provides the user with high satisfaction.

[0222] The second reference angle can be an angle that is larger than the zero gravity angle, the ordinary angle 5000 Å, and the first reference angle, but smaller than the third reference angle.

[0223] For example, the second reference angle may include at least one of the second reference angles of the first support portion 5200a and the second reference angle of the second support portion 5200b.

[0224] When the first support portion 5200a is in the second upright 5000c state, the first support portion 5200a tilts backward, but it can be a state in which the degree of backward tilt is smaller compared to the zero gravity state, the normal angle 5000a state and the first upright 5000b state, and a state in which the degree of backward tilt is larger compared to the third upright 5000d state.

[0225] When the second support 5200b is in the second upright 5000c state, the second support 5200b is in a parallel state where the front and rear ends of the second support 5200b are not tilted. It can be a state where there is no or almost no height difference between the front and rear ends, but it is not limited to this.

[0226] As an example, the second support 5200b may be inclined and lowered from the front end to the rear end, but the degree of inclination and lowering is smaller than that in the zero gravity state, the normal angle 5000a state and the first upright 5000b state, and the degree of inclination and lowering is larger than that in the third upright 5000d state.

[0227] As another example, the second support 5200b may be inclined upwards from the front end to the rear end, but the degree of inclination is smaller compared to the third upright 5000d.

[0228] In other words, such as Figure 13 As shown, the second reference angle of each support can be an angle that is larger than the zero gravity angle, the normal angle 5000°, and the first reference angle of each support, but smaller than the third reference angle.

[0229] That is, the massage device 1000 can be adjusted to a second upright state, which is a state in which the user can easily sit on the massage device 1000 and / or the user sitting on the massage device 1000 can easily adjust their body position.

[0230] Therefore, the force required for a user to sit in the massage device 1000 at the second reference angle, and the force required to adjust the user's body position to the user's preferred optimal position (or preferred position) in the massage device after sitting, are less than those required for massage devices 1000 at zero gravity angle, normal angle, first reference angle, and third reference angle. Thus, it is easier to sit in the massage device 1000 and easily change posture after sitting. By recognizing the user's intention and / or input to sit in the second support 5200b of the massage device 1000 in the second upright 5000c state, or the user's intention and / or input to use the massage device 1000, the massage device 1000 can be operated (or controlled, changed) from the second upright 5000c state to various states such as the normal angle 5000a state, the first upright 5000b state, the third upright 5000d state, and the zero gravity state. At this time, the massage device 1000 can accurately identify whether the user of the massage device 1000 has sat and / or taken a seat by means of a seating sensor disposed adjacent to the second support 5200b and / or a sensor that can communicate with the massage device 1000.

[0231] The first upright 5000b state can be a state in which, after the massage device 1000 recognizes the user's seated state through the seating sensor set in the second support 5200b, it further recognizes the user's intention to use the massage device 1000, and thus adjusts to the first reference angle.

[0232] For example, the massage device 1000 can adjust its angle to a first reference angle based on the user's intention to sit in the massage device 1000 or switch the massage device 1000 to a first upright state, as detected by the various sensors mentioned above, or by input from various sensors, electronic devices, and / or the massage device 1000's input unit (or remote control) to complete the sitting and / or switch the massage device 1000 to the first upright state. In other words, when an input signal corresponding to the user's intention to sit in the massage device 1000 and / or switch (or change) the massage device 1000 to the first upright state is received, or when the user's intention is detected by each sensor, the massage device 1000 can adjust its state to the first upright state.

[0233] The first upright 5000b state can be the state of the massage device 1000 in which the user sits on the massage device 1000 and easily uses (or operates) electronic devices (e.g., the input section of the massage device 1000, user devices (mobile devices, etc.), books, home appliances, etc.), and easily rests on the massage device 1000. It can refer to the state of the massage device 1000 corresponding to at least one of the states of rest assistance state, rest guidance state, electronic device ease of use state, and reclining chair state.

[0234] The angle of the massage device 1000 in the first upright 5000b state can be a first reference angle. As mentioned above, the first upright 5000b state can refer to the state where the angle of the massage device 1000 is adjusted to the first reference angle. At this time, the first reference angle is an angle that allows the user to easily use electronic devices and relax while sitting on the massage device 1000, achieving a familiar and comfortable posture similar to that of a chair between a regular chair and a recliner used in daily life, and / or providing a good posture for watching TV or operating a smartphone in a comfortable state similar to that of leaning back in a chair. It can be an angle that provides high user satisfaction.

[0235] The first reference angle can be larger than the zero gravity angle and the ordinary angle 5000 Å, but smaller than the second and third reference angles.

[0236] For example, the first reference angle may include at least one of the first reference angles of the first support portion 5200a and the second support portion 5200b.

[0237] When the first support 5200a is in the first upright 5000b state, the first support 5200a tilts backward, but the degree of backward tilt is smaller compared to the zero gravity state and the normal angle 5000a state, and larger compared to the second and third upright 5000d states.

[0238] When the second support 5200b is in the first upright 5000b state, the second support 5200b is lowered and tilted from the front end to the rear end. However, the degree of lowering and tilting is smaller compared to the zero gravity state and the normal angle 5000a state, and larger compared to the second and third upright 5000d states.

[0239] In other words, such as Figure 13 As shown, the first reference angle of each support can be larger than the zero-gravity angle and the normal angle 5000a of each support, but smaller than the second and third reference angles.

[0240] That is, the massage device 1000 can be adjusted to a first upright state, which is a state in which the user can easily use electronic devices such as smartphones, remote controls (or input units) of the massage device 1000, easily watch TV, and easily read books, and / or a state in which the user can easily rest in the massage device 1000.

[0241] Therefore, the force required for a user to watch TV, use electronic devices, or rest in the massage device 1000 at the first reference angle is less than that required in the massage devices 1000 at the zero gravity angle, normal angle, second and third reference angles. As a result, the ease of operation of electronic devices such as the remote control of the massage device 1000 and the ease of watching books and / or TV are increased in the massage device 1000 at the first upright angle 5000b, so that the user can easily rest on the massage device 1000.

[0242] In the first upright 5000b state, the user adjusts the massage device 1000 to a zero-gravity angle through a predetermined input, thus similar to... Figure 6 In a zero-gravity state, one can receive a massage while lying down, and the massage device 1000 can be adjusted to a normal angle for a more comfortable experience. Figure 13 Receive a massage at a normal angle.

[0243] The massage device 1000 can identify the user's body shape and measure the leg length before providing a massage, and then optimize the massage unit 5200 to fit the user's body size before providing a massage.

[0244] The third upright state 5000d can be a state where the massage device 1000 has already provided massage to the user or the user stops the operation of the massage device 1000 by any input. Then, the user's intention to leave the massage device 1000 is additionally recognized, and the state is adjusted to the third reference angle.

[0245] For example, the massage device 1000 can adjust its angle to a third reference angle based on the user's intention to leave the massage device 1000, or the user's intention to switch the massage device 1000 to a third upright state, detected by the various sensors mentioned above, or the input to complete the massage and / or the input to switch the massage device 1000 to the third upright state, etc., via various sensors, electronic devices, and / or the input unit (or remote control) of the massage device 1000. In other words, when an input signal corresponding to the user's intention to leave the massage device 1000 and / or the user's intention to switch (or change) the massage device 1000 to the third upright state is received, or when the user's intention is detected by each sensor, the massage device 1000 can adjust its state to the third upright state.

[0246] The third upright 5000d state is the state of the massage device 1000 in which a user sitting on the massage device 1000 can easily leave (or exit) the massage device 1000. It can refer to the state of the massage device 1000 corresponding to at least one of the following states: leaving assist state (or standing assist state), leaving guide state (or standing guide state), leaving convenience state (or standing convenience state), and upright chair state.

[0247] The angle of the massage device 1000 in the third upright 5000d state is the third reference angle. As described above, the third upright 5000d state can refer to the state in which the angle of the massage device 1000 is adjusted to the third reference angle. At this time, the third reference angle is the angle at which a user can easily get off (or stand) a regular chair when switching from a posture of sitting in a regular chair to sitting in an upright chair where the front end of the regular chair is positioned higher than the rear end. This allows the user to get off the massage device 1000 very easily and can be an angle that provides high user satisfaction.

[0248] The third reference angle can be a larger angle than the zero gravity angle, the ordinary angle of 5000°, and the first and second reference angles.

[0249] For example, the third reference angle may include at least one of the third reference angles of the first support portion 5200a and the second support portion 5200b.

[0250] When the first support portion 5200a is in the third upright 5000d state, the first support portion 5200a tilts forward or backward, but it can be a state where the degree of backward tilt is smaller compared to the zero-gravity state, the normal angle 5000a state, and the first and second upright states, but it is not limited to this. For example, when the first support portion 5200a is in the third upright 5000d state, the first support portion 5200a is in a state where it is not tilted forward or backward, which can be a state where a straight line passing from the upper end to the lower end of the first support portion 5200a is perpendicular to the support surface of the massage device 1000.

[0251] When the second support part 5200b is in the third upright 5000d state, the second support part 5200b can be in a state of rising obliquely from the front end to the rear end and tilting.

[0252] In other words, such as Figure 13 As shown, the third reference angle of each support can be an angle larger than the zero gravity angle, the normal angle 5000°, and the first and second reference angles of each support.

[0253] That is, the massage device 1000 can be adjusted to a third upright state, which is a state in which the user can easily leave the massage device 1000.

[0254] Therefore, the force required for the user to leave the massage device 1000 at the third reference angle is less than that required at the zero-gravity angle, the normal angle, and the first and second reference angles, thus allowing the user to easily leave the massage device 1000.

[0255] In other words, since the reference angle in the third upright state 5000d is the largest compared to other reference angles, the user can more easily leave the massage device 1000 in the third upright state 5000d compared to other upright states. When the user moves sufficiently away from the massage device 1000 in the third upright state 5000d, the massage device 1000 can return to the aforementioned normal angle 5000a state. The third reference angle can be an angle that allows the user to leave the massage device 1000 quickly and easily due to the forward-biased center of gravity of the massage device 1000, but it is not limited to this. For example, when the user sets the third upright state as an angle for comfortable sitting, the third reference angle can be an angle at which the user can comfortably sit on the massage device 1000 and easily leave the massage device 1000.

[0256] Figures 15 to 20 This diagram illustrates an embodiment of the massage device of the present invention, which takes into account the user's wishes and the state of the massage device, and changes the massage state to a state corresponding to the user's wishes.

[0257] The following is for reference Figure 12 Please provide an explanation.

[0258] exist Figure 15 In the massage device 1000, the control unit 1400 can control (or adjust, change, switch, etc.) the state of the massage device 1000 (or the state of the massage part) to at least one of the following states: zero gravity state, normal angle state, and first to third upright state.

[0259] For example, the control unit 1400 can control the state of the massage device 1000 (or the state of the massage unit) to a state corresponding to the user's wishes based on at least one of the sensing values ​​of the sensors of the massage device 1000 and the user's input. At this time, the state corresponding to the user's wishes may include at least one of the following states: a first state (or a third upright state), corresponding to the user's first wish to leave the massage device 1000; a second state (a second upright state), corresponding to the user's second wish to sit on the massage device 1000; a third state (or a first upright state), corresponding to the user's third wish to rest on the massage device 1000 or operate at least one of the massage device 1000 and any other device; and a fourth state (or a normal angle state, a zero gravity state), corresponding to the user's fourth wish to receive a massage from the massage device 1000.

[0260] Specifically, as described above, the control unit 1400 can control the state of the massage device 1000 based on at least one of the user's input signal (or control signal for the massage device 1000) transmitted from at least one of the input unit (or remote control) of the massage device 1000 and the control device (or external device, external electronic device, etc.) that controls the massage device, and at least one of the sensing signals transmitted from various sensors. At this time, the control unit 1400 acquires (or identifies, grasps, judges, determines) the user's wishes based on the sensing signals and / or input signals, compares the current state of the massage device 1000 with the state corresponding to the user's wishes, and when they are the same, maintains the state of the massage device 1000; and when they are different, controls the state of the massage device 1000 to correspond to the user's wishes.

[0261] After obtaining the user's wishes and the state of the massage unit 5200 (S1510), the control unit 1400 can, based on the user's wishes (whether they want to ride the massage device 1000 or want to use it) and the fact that the state of the massage unit 5200 is not the second upright 5000c state corresponding to the user's wishes (S1530), control the state of the massage unit 5200 to the second upright 5000c state corresponding to the user's wishes (or riding wishes) (S1550). If the massage unit 5200 is initially in the second upright 5200c state, the control unit 1400 can control it to continue maintaining the current state of the massage unit 5200.

[0262] As an example, the control unit 1400 can control the state of the massage device 1000 to a second upright state based on the sensing signal transmitted from the sensor indicating whether the user is near or not.

[0263] For example, sensors such as voice sensors, object detection sensors, distance sensors (or lidar sensors), touch sensors, light sensors (or IR sensors), and time-of-flight (TOF) sensors can identify when a user approaches the massage device 1000 within a preset threshold distance. When a user's approach to the massage device 1000 is detected, the sensor can generate a sensing signal indicating the user's approach and transmit the generated sensing signal to the control unit 1400. The control unit 1400 can receive the sensing signal transmitted from the sensor and control the state of the massage device 1000 to a second upright state based on the sensing signal. At this time, when receiving the sensing signal indicating the user's approach to the massage device 1000, the control unit 1400 can determine (or confirm) that the user's intention is to ride the massage device 1000.

[0264] As another example, the control unit 1400 can control the state of the massage device 1000 to a second upright state based on the input signal transmitted from the input unit (or remote control) of the massage device 1000.

[0265] For example, the input unit (or massage device control unit) receives input from a user who adjusts the state of the massage device 1000 to the second upright state and / or input from a user who wants to sit on the massage device 1000 (or input from a user who wants to use the massage device 1000), generates an input signal about the user's input, and transmits it to the control unit 1400. The control unit 1400 can receive the input signal transmitted from the input unit and control the state of the massage device 1000 to the second upright state based on the input signal. At this time, when receiving input signals from a user who adjusts the state of the massage device 1000 to the second upright state and / or input from a user who wants to sit on the massage device 1000, the control unit 1400 can determine (or confirm) that the user's intention is to sit on the massage device 1000.

[0266] As described above, after determining whether the state of the massage device 1000 corresponds to the user's intention to sit on the massage device, when the user's intention corresponds to the state of the massage device 1000, the control unit 1400 can maintain the state of the massage device 1000; when they do not correspond, the control unit 1400 can change the state of the massage device 1000 to a second upright state.

[0267] exist Figure 16 In this process, after obtaining the user's wishes and the state of the massage unit 5200 (S1610), the control unit 1400 of the massage device 1000 can control the state of the massage unit 5200 to the first upright 5000b state corresponding to the user's wishes (or rest wishes, device operation wishes) after obtaining the user's wishes and the state of the massage unit 5200 (S1630).

[0268] As an example, the control unit 1400 can control the state of the massage device 1000 to the first upright state based on the sensing signal transmitted from the sensor indicating whether the user has completed sitting.

[0269] For example, various sensors, such as voice sensors, object detection sensors (e.g., pressure sensors and light sensors installed on the second support), and touch sensors, can identify that a user has ridden and / or sat on the second support. Specifically, the pressure sensor can detect the weight of a user sitting on the second support, and when it exceeds a preset threshold, it can be identified that the user is riding on the massage device 1000. When a user is riding on the massage device 1000, the light sensor can identify the user's body (or lower body) approaching the second support, thereby identifying that the user is riding on the massage device 1000. The voice sensor can recognize the voice of a user who has finished riding. When riding on the massage device 1000, the touch sensor can detect physical contact between at least one of the first and second support units and the user.

[0270] When the sensor detects that the user has finished sitting in the massage device 1000, it generates a sensing signal indicating that the user has finished sitting in the massage device 1000 and transmits the generated sensing signal to the control unit 1400. The control unit 1400 receives the sensing signal transmitted from the sensor and controls the state of the massage device 1000 to a first upright state based on the sensing signal. At this time, when the control unit 1400 receives the sensing signal indicating that the user has finished sitting in the massage device 1000, it can identify whether the user's intention is to rest in the massage device 1000 and / or to use electronic devices.

[0271] As another example, the control unit 1400 can control the state of the massage device 1000 to a first upright state based on the input signal transmitted from the input unit (or remote control) of the massage device 1000.

[0272] For example, the input unit (or massage device control unit) receives input from a user who adjusts the massage device 1000 to the first upright state, input from a user who has finished sitting in the massage device 1000, input from a user who wants to rest in the massage device 1000 (or input from a user who wants to operate electronic devices in the massage device 1000), generates an input signal about the user's input, and transmits it to the control unit 1400. The control unit 1400 can receive the input signal transmitted from the input unit and control the state of the massage device 1000 to the first upright state based on the input signal. At this time, when receiving input signals from a user who adjusts the state of the massage device 1000 to the first upright state, input from a user who has finished sitting in the massage device 1000, or input from a user who wants to rest in the massage device 1000, the control unit 1400 can determine (or determine) that the user's intention is a desire to rest in the massage device 1000 and / or a desire to operate electronic devices. As described above, after determining whether the state of the massage device 1000 corresponds to the user's desire to rest (or the user's desire to operate the electronic device), when the user's desire corresponds to the state of the massage device 1000, the control unit 1400 can maintain the state of the massage device 1000; when they do not correspond, the control unit 1400 can change the state of the massage device 1000 to the first upright state.

[0273] exist Figure 17 In this process, the control unit 1400 of the massage device 1000, after acquiring the user's wishes and the state of the massage unit 5200 (S1710), can control the state of the massage unit 5200 to be the state corresponding to the user's wishes, namely, the zero-gravity 5000e state and / or the normal angle 5000a state (S1730), based on the user's wishes (which is the state corresponding to the user's wishes, or the lying state). At this time, the zero-gravity 5000e state can be any angle optimized for each massage mode, where the angle of the first support and / or the second support is a preset zero-gravity angle (e.g., at least one angle between approximately 160 degrees and approximately 180 degrees) and / or an angle matching the executed massage mode.

[0274] As an example, the control unit 1400 can control the state of the massage device 1000 to a zero-gravity state and / or a normal angle state based on the input signal transmitted from the input unit (or remote control) of the massage device 1000.

[0275] For example, the input unit (or massage device control unit) receives input from a user who adjusts the state of the massage device 1000 to a zero-gravity state and / or a normal angle state, and / or input from a user who executes a massage mode in the massage device 1000, generates an input signal about the user's input, and transmits it to the control unit 1400. The control unit 1400 can receive the input signal transmitted from the input unit and control the state of the massage device 1000 to a zero-gravity state and / or a normal angle state based on the input signal. At this time, when receiving input signals from a user who adjusts the state of the massage device 1000 to a zero-gravity state and / or a normal angle state, and / or input from a user who executes a massage mode, the control unit 1400 can determine (or ascertain) that the user's intention is to execute a massage mode that allows them to receive massage in the massage device 1000.

[0276] As another example, the control unit 1400 can control the state of the massage device 1000 to a zero-gravity state and / or a normal angle state based on preset setting conditions.

[0277] When a user sits on the massage device 1000 for a preset period of time, the control unit 1400 can automatically control the massage device 1000 to a zero-gravity state and / or a normal angle state, and can execute a preset specific massage mode. The specific time and specific massage mode can be preset by a specific entity (user, seller, manufacturer, etc.) and stored in the memory of the massage device 1000 to automatically control the zero-gravity state, automatically control the normal angle state, and / or automatically execute the massage mode. At this time, when the user sits on the massage device 1000 for a preset period of time, the control unit 1400 can determine (or ascertain) that the user's intention is to receive a massage in the desired massage mode on the massage device 1000.

[0278] As described above, after determining whether the state of the massage device 1000 corresponds to the user's intention to perform a massage mode, when the user's intention corresponds to the state of the massage device 1000, the control unit 1400 can maintain the state of the massage device 1000; when they do not correspond, the control unit 1400 can change the state of the massage device 1000 to a second upright state.

[0279] exist Figure 18In the process, after the control unit 1400 of the massage device 1000 obtains the user's wishes and the state of the massage unit 5200 (S1810), based on the user's wishes to leave (or exit) the massage device 1000, and the state of the massage unit 5200 is not the third upright 5000d state corresponding to the user's wishes (S1830), it can control the change of the state of the massage unit 5200 to the third upright 5000d state corresponding to the user's wishes (S1850).

[0280] As an example, the control unit 1400 can control the state of the massage device 1000 to a third upright state based on a sensing signal transmitted from the sensor indicating whether the user has left.

[0281] For example, sensors can identify whether a user has left the second support unit using voice sensors, object detection sensors (e.g., pressure sensors, light sensors, etc., located on the second support unit), touch sensors, etc. Specifically, the pressure sensor can detect the weight of a user sitting on the second support unit, and if it is below a preset threshold, it can be identified as leaving the massage device 1000. When a user is sitting on the massage device 1000, the light sensor identifies the user's body (or lower body) leaving the second support unit, thus identifying that the user has left the massage device 1000. The voice sensor can identify the voice of the user leaving. When leaving the massage device 1000, the touch sensor can detect that the physical contact between at least one of the first and second support units and the user has been released.

[0282] When the sensor detects that a user has left the massage device 1000, it generates a sensing signal indicating that the user has left the massage device 1000 and transmits the generated sensing signal to the control unit 1400. The control unit 1400 receives the sensing signal transmitted from the sensor and controls the state of the massage device 1000 to a third upright state based on the sensing signal. At this time, when the control unit 1400 receives the sensing signal indicating that the user has left the massage device 1000, it can recognize that the user's intention is to leave the massage device 1000.

[0283] As another example, the control unit 1400 can control the state of the massage device 1000 to a third upright state based on input signals transmitted from the input unit (or remote control) of the massage device 1000. For example, the input unit (or massage device control device) receives input from a user who wants to adjust the state of the massage device 1000 to the third upright state and / or input from a user who wants to leave the massage device 1000, generates an input signal about the user's input, and transmits it to the control unit 1400. The control unit 1400 can receive the input signal transmitted from the input unit and control the state of the massage device 1000 to the third upright state based on the input signal. At this time, when receiving input signals from a user who wants to adjust the state of the massage device 1000 to the third upright state and / or input from a user who wants to leave the massage device 1000, the control unit 1400 can determine (or ascertain) that the user's intention is to leave the massage device 1000.

[0284] As another example, the control unit 1400 can control the massage device 1000 to a third upright state based on preset conditions. When a preset specific time has elapsed in the state where the massage mode has ended and / or when the user is sitting on the massage device 1000, the control unit 1400 can automatically control the massage device 1000 to the third upright state and can end the massage mode if it is being performed. At this time, the specific time can be preset by a specific entity (user, seller, manufacturer, etc.) and stored in the memory of the massage device 1000 to automatically control the third upright state and automatically end the massage mode. At this time, when the preset specific time has elapsed in the state where the massage mode has ended and / or when the user is sitting on the massage device 1000, the control unit 1400 can determine (or ascertain) that the user's intention is to leave the massage device 1000.

[0285] The first specific time of the above-mentioned automatic control of zero gravity state (or automatic control of normal angle state) and the second specific time of the automatic control of the third upright state can be different or the same.

[0286] As described above, after determining whether the state of the massage device 1000 corresponds to the user's intention to leave the massage device, when the user's intention corresponds to the state of the massage device 1000, the control unit 1400 can maintain the state of the massage device 1000; when they do not correspond, the control unit 1400 can change the state of the massage device 1000 to the third upright state.

[0287] exist Figure 19In the process, after the control unit 1400 of the massage device 1000 obtains the user's intention and the state of the massage unit 5200 (S1910), when no further intention of the user (unintentional) is obtained and the user exits, the state of the massage unit 5200 can be changed to the normal angle 5000a state (S1930) based on the fact that the state of the massage unit 5200 is not the normal angle 5000a state corresponding to the user's intention (unintentional) state (S1930).

[0288] For example, when the user leaves the massage device 1000 and / or when no signal is received from the sensor and / or input unit for a certain period of time, the control unit 1400 can identify that the user's intention is not intentional and control the state of the massage device 1000 to a normal angle state as the initial state (or standby state).

[0289] As described above, after determining whether the state of the massage device 1000 corresponds to the user's unintentional state, when the user's intention corresponds to the state of the massage device 1000, the control unit 1400 can maintain the state of the massage device 1000; when they do not correspond, the control unit 1400 can change the state of the massage device 1000 to a normal state.

[0290] As described above, when the user's intention is to rest (or operate the electronic device), the control unit 1400 can control the massage device 1000 to a first upright state, but is not limited to this. For example, in Figure 20 In this process, the control unit 1400 of the massage device 1000 can obtain the user's wishes and the state of the massage unit 5200 (S2010). When the user's wish is to rest, and the state of the massage unit 5200 does not correspond to the user's wishes (S2030), it can control the change of the state of the massage unit 5200 to one of the following states corresponding to the user's wishes: first upright, second upright, third upright, tilted, and normal (S2050). In step S2050, the control unit 1400 can control the change of the state of the massage unit 5200 to one of the following states corresponding to the user's wishes: first upright, second upright, third upright, tilted, and normal, based on the user-input setting value.

[0291] In this invention, the control unit 1400 can determine the user's wishes based on the sensing values ​​detected by various sensors installed in the massage device 1000. For example, the sensors of the massage device 1000 may be at least one of the following: a voice sensor that detects the user's voice; an object detection sensor that detects the user or whether the user is close to the massage device; a lidar sensor that detects the distance between the user and the massage device; a touch sensor that detects the user's touch; an IR sensor that detects changes in infrared radiation caused by the user's proximity; a seating sensor installed in the second support 5200b that detects the user's seating position; and an input unit of the remote control of the massage device 1000.

[0292] The embodiments of the present invention described above can be implemented in the form of a computer program and executed by various components of a computer. Such a computer program can be recorded on a computer-readable medium. In this case, the medium includes magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floppy disks; and hardware devices configured to store and execute program commands, such as ROMs, RAMs, and flash memory.

[0293] On the other hand, the computer program may be a program specifically designed and configured for this invention, or it may be a program known and available to those skilled in the art of computer software. Examples of computer programs include not only machine language code generated by an encoder, but also high-level language code that can be executed by a computer using a decoder or similar means.

[0294] The specific embodiments described in this utility model are merely one example and are not intended to limit the scope of this utility model in any way. For the sake of brevity, descriptions of conventional electronic components, control systems, software, and other functional aspects of said system may be omitted. Furthermore, the connections of lines or connecting parts between the components shown in the drawings are exemplary illustrations of functional connections and / or physical or electrical connections, and in actual devices, various functional connections, physical connections, or electrical connections may be substituted or added. Additionally, unless specifically mentioned as "essential," "important," etc., these may not be essential components for applying this utility model.

[0295] In the description of this utility model (particularly in the claims), the term "the" and similar denotative terms may be used in both singular and plural forms. Additionally, when a range is referred to in this utility model, it includes the utility model applicable to individual values ​​falling within the range (unless otherwise stated), identical to each value constituting the range in the detailed description of the utility model. Finally, unless explicitly stated or contradicted, the steps of the method constituting this utility model may be performed in any suitable order. This utility model is not necessarily limited to the stated order of the steps. All example or exemplary terms used in this utility model (e.g., etc.) are for the purpose of describing the utility model only, and the scope of this utility model is not limited by the example or exemplary terms unless limited by the scope of the claims. Furthermore, those skilled in the art will understand that various modifications, combinations, and alterations can be made within the scope of the claims or their equivalents, depending on design conditions and factors.

Claims

1. A massaging device, characterized by include: A massage unit that supports the user's body and massages at least a portion of the user's body. The control unit controls the massage unit; The control unit controls the massage unit based on the user's wishes, so that the state of the massage unit corresponds to the user's wishes.

2. The massage device according to claim 1, characterized in that, The control unit controls the massage unit based on whether the state of the massage unit corresponds to the user's wishes. When the massage unit is in a state corresponding to the user's intention, the control unit controls the massage unit to maintain that state. When the state of the massage unit is not in a state that corresponds to the user's wishes, the control unit controls the state of the massage unit to be changed to a state that corresponds to the user's wishes.

3. The massage device according to claim 2, characterized in that, The control unit determines any one of the multiple preset states as the state corresponding to the user's wish based on a set of preset states and any desired intention matching each preset state, and determines whether the state of the massage device corresponds to the user's wish based on the determination result.

4. The massage device according to claim 1, characterized in that, The massage unit includes a first support part for supporting the user's upper body and a second support part for supporting the user's lower body. The state of the massage part is determined based on at least one of the first angle of the first support part and the second angle of the second support part. The control unit controls the massage unit based on whether the state of the massage unit corresponds to the user's wishes, so as to change or maintain at least one of the first angle and the second angle.

5. The massage device according to claim 4, characterized in that, The control unit determines any one of the multiple preset states as the state corresponding to the user's wish based on a set of preset states and any desired state that matches each preset state. The control unit also determines whether the state of the massage unit corresponds to the user's wish based on any angle that matches any preset state.

6. The massage device according to claim 4, characterized in that, When the state of the massage unit is not in a state that corresponds to the user's wishes, the control unit changes the first angle and the second angle based on any angle that matches any set state, so that the state of the massage unit changes to a state that corresponds to the user's wishes.

7. The massage device according to claim 4, characterized in that, When the user's intention is to rest on the massage device or to operate at least one of the massage device and any other device, and the state of the massage unit is not a state corresponding to the user's intention, the control unit controls the change of the state of the massage unit to a first upright state.

8. The massage device according to claim 4, characterized in that, When the user's intention is to ride the massage device, and the state of the massage unit is not in accordance with the user's intention, the control unit controls the state of the massage unit to be changed to a second upright state.

9. The massage device according to claim 4, characterized in that, When the user's intention is to rest, and the state of the massage unit is not a state corresponding to the user's intention, the control unit controls the massage unit to change the state of the massage unit to one of the following states corresponding to the user's intention: a first upright state, a second upright state, a third upright state, a tilted state, and a normal state.

10. The massage device according to claim 9, characterized in that, Based on the user-input settings, the control unit controls the massage unit to change its state to one of the following states corresponding to the user's wishes: a first upright state, a second upright state, a third upright state, a tilted state, and a normal state.

11. The massage device according to claim 4, characterized in that, When the user's intention is to leave the massage device, and the state of the massage unit is not a state corresponding to the user's intention, the control unit controls the change of the state of the massage unit to a third upright state corresponding to the user's intention.

12. The massage device according to claim 1, characterized in that, When no further intent from the user is detected, the control unit controls the state of the massage unit to be changed to a normal angle state.

13. The massage device according to claim 1, characterized in that, The control unit obtains the user's intention based on at least one of the sensing values ​​detected by the sensors of the massage device and the user's input transmitted from the input unit of the massage device.

14. The massage device according to claim 4, characterized in that, The sensors of the massage device are at least one of the following: a voice sensor for detecting the user's voice, an object detection sensor for detecting the user or whether the user is close to the massage device, a lidar sensor for detecting the distance between the user and the massage device, a touch sensor for detecting the user's touch, an IR sensor for detecting changes in infrared radiation caused by the user's proximity, a seating sensor disposed on the second support and for detecting the user's seating position, and an input section of the remote control for the massage device.

15. The massage device according to claim 1, characterized in that, The control unit controls the state of the massage unit to correspond to the user's wishes based on at least one of the sensor readings of the massage device and the user's input. The state corresponding to the user's intention includes at least one of the following states: a first state, corresponding to the user's first intention to leave the massage device; a second state, corresponding to the user's second intention to ride the massage device; and a third state, corresponding to the user's third intention to rest on the massage device or to operate any device. And the fourth state corresponds to the user's fourth intention to receive a massage from the massage device.

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