JP2000334017A - Massage machine, relaxation apparatus and method for acquiring information - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a massage machine and a relaxation apparatus which can acquire information usable for controlling a massage machine and a relaxation apparatus. SOLUTION: Vibrations due to the vibrations caused by a massage ball 18 or a drive source 24 are detected by vibration sensors 86a, etc., arranged as shown in (a). Information usable for controlling sitting, standing-up, sitting attitude or a body form of a user can be estimated using the vibration data obtained by the sensors.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massage machine for applying a tactile stimulus to a human body for the purpose of recovering from fatigue and promoting health, and to provide a physical or mental stimulus for the purpose of relieving mental or physical tension. The present invention relates to a relaxation device.

[0002]

2. Description of the Related Art As conventional massage machines, there are chair-type and bed-type massage machines. Rolling, pressing, striking, fir (pinching, circular motion), and stretching the back are performed on both sides of the spine using a treatment element. What is configured to give a stimulus such as the like is known.

[0003] The treatment element may be moved up and down on the back surface of the user, substantially in a circular motion, etc.
A back-and-forth movement such as tapping and pressing substantially orthogonal to the surface is known, and an actuation technique capable of realizing such various treatment operations is known (for example, Japanese Patent No. 2681).
No. 036).

[0004]

However, in order to realize an optimal massage, a biosensing technology and an intelligent actuator control technology, which are highly sensitive and resistant to artifacts, like a professional masseur, are required like two wheels of a car. It is.

[0005] Regarding the living body sensing technique,
No. 75413 discloses a treatment element with a built-in muscle hardness meter, but practical technology is not involved in terms of measurement position positioning, measurement angle, contact pressure, etc., and this technology has not been established.

[0006] For this reason, in the current chair-type massage machine, the information necessary for controlling the actuator must be set and input by the user himself using operation switches and the like.

[0007] For example, if the user attempts to adjust the treatment site to be the optimal treatment stimulus, it is necessary to take a cumbersome procedure as described below, and there is a possibility that an inappropriate treatment stimulus is received during the adjustment. there were.

(Example of adjustment procedure up to optimal treatment stimulus) Sit down. Turn on the power and move the treatment child while holding it for the time being. Change your sitting or posture and adjust the treatment child's stimulation to suit you. If the stimulus of the treatment element does not suit the user, the treatment element is moved to the required treatment position by an operation switch such as a remote controller and adjusted. Adjust the selection of treatment method and treatment intensity until the optimal treatment stimulus is achieved.

In particular, in the case of treatment near the shoulder and the neck, the operation switch must be operated while the head is pressed against the backrest from the neck and the eyes are directed upward. The adjustment is performed in a posture in which the operation switch is lifted up to the line of sight, which is not only troublesome but also burdens the user.

[0010] Massage of the shoulder and neck positions is most susceptible to differences in body shape, and requires individual adjustments by operating a switch at hand, which is cumbersome. Since the position of the shoulder and neck is also affected by the way you sit,
Fine-tuning was also required depending on how you were sitting. The position of the shoulder and neck determined in this way is also used as a reference for positioning each part of the body of the user, and since the massage of each part of the body is performed according to the positioning of the shoulder and neck, the position of the shoulder and neck is adjusted. If they do not match, in the case of the whole body treatment mode, there is a possibility that the stimulation of the treatment element may be applied to an inappropriate part such as the back of the head.

A treatment stimulus having an intensity higher than the proper intensity causes massage fatigue and the like, which may cause an increase in fatigue. Therefore, it is necessary to adjust the treatment intensity. However, when trying to adjust the treatment intensity, the optimal treatment intensity varies depending on the treatment site. Therefore, the treatment intensity must be adjusted according to the user's body shape (including the amount of subcutaneous fat), and many operation switches must be operated. Was necessary and troublesome. In some cases, the user has to change his sitting style and posture in accordance with the massage machine. On the other hand, there is an example in which a pressure sensor, a muscular elasticity measurement sensor, and the like are added to a contact portion with a living body such as a massager of a treatment element to detect a proper treatment intensity, but a sensor for detection and durability is used. It is difficult to select a treatment element shape and material suitable for treatment based on structural restrictions, costs, and the like. Further, the appropriate value of the treatment intensity varies depending on the clothes of the user, but it is difficult to consider such conditions with a contact-type sensor.

Further, when the massage operation is started / finished by turning on / off the operation switch, the massage machine is actuated and then seated, so that an inappropriate position is stimulated in an inappropriate state. In some cases, the user may be sitting or sitting but not in a sitting position suitable for massage, or a child or infant may accidentally touch an operation switch. Furthermore, since the intensity of the treatment stimulus and the application site are not known when starting the operation of the treatment element, the user will face the movable position of the treatment element and the prepared posture in the vicinity of the contact portion. Therefore, it is troublesome, but conversely, if the operation of the treatment element is started without being prepared, there is a possibility that the treatment element may receive an unexpectedly strong stimulation.

As described above, the amount of information necessary for controlling the actuator for realizing the optimal massage is large, and when the user tries to input the information, the operation becomes complicated and the operation is automatically performed without depending on the user's input. There is also information that should be able to be detected. This applies not only to a massage machine but also to a case where an optimal relaxation is to be realized by a relaxation device.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the prior art, and an object of the present invention is to obtain information that can be used for controlling a massage machine and a relaxation device with a simple configuration. It is an object of the present invention to provide a massage machine and a relaxation device which can be used.

[0015]

First, the basic principle of the present invention will be described.

The vibration of the vibration source propagates through the components of the massage machine (relaxation device), the body of the user, or the installation surface on which the massage machine (relaxation device) is installed. Vibration sources or vibrations propagated from the vibration sources are detected by a vibration detecting means provided at a predetermined portion of a massage machine (relaxation device). When the massage machine (relaxation device) or the massage machine (relaxation device) and the user and / or the installation surface are regarded as a system, the massage machine (relaxation device), the state of the user and the installation surface or the massage machine (relaxation device) is used. The vibration condition of the target system changes depending on the relative relationship with the user and / or the installation surface. The present invention
Focusing on such a phenomenon, by estimating the vibration condition or the state of the system that realizes such a vibration condition from the vibration information detected by the vibration detection means, it is possible to obtain not only the information on the individual components of the system but also the respective components. It is intended to acquire information about a relative relationship or the whole like matching of elements.

As will be described below, the present invention can be applied to both a massage machine and a relaxation device in almost the same manner. Massage machines and relaxation devices are distinguished primarily in terms of purpose or effect. While a massage machine gives a touch stimulus to the human body for the purpose of recovering from fatigue and promoting health,
Relaxation devices can be defined as those that provide physical or mental stimulation to alleviate mental or physical tension. However, massage as a tactile stimulus, depending on how it is given, such as when a masseur gives a tactile stimulus slowly or weakly at the beginning or end of a series of massages,
It may be used to relieve mental or physical tension rather than to treat a disease or disorder. Thus, massage and relaxation are not always distinguishable. Therefore, there may be a device having both functions of a massage machine and a relaxation device, and the present invention is naturally applicable to such a device.

The present invention includes a vibration detecting means for detecting a vibration generated by a user's force applied to the massage machine, and the user and the massage machine based on a detection result obtained by the vibration detecting means. A massage machine comprising: an information acquisition unit that acquires information about a system.

When a force is applied to the massage machine, such as when the user is seated on the massage machine, the force causes the massage machine to vibrate. Such vibrations
Since it is caused by the interaction between the user and the massage machine, focusing on the system including the user and the massage machine,
From the detection result obtained by the vibration detecting means, it is possible to acquire information on the relative relationship between such a user and the massage machine that constitutes the vibration condition. Therefore, information that can be used for controlling the massage machine can be obtained with a simple configuration using the vibration detection unit.

[0020] The information acquisition means is an estimation means for estimating a contact or separation state between the user and the massage machine.

The interaction between the user and the massage machine in the system including the user and the massage machine includes a case where the user is in a certain contact state by sitting down or lying down to use the massage machine, In some cases, the use is terminated or interrupted and the massage machine is separated. When moving from a separated state to a contact state or from a contact state to a separated state, such as when sitting or leaving a massage machine, an impact force acts and vibration occurs. The transition between the contact and separation states can be estimated. If the state before the transition is obtained as information by any method, the state regarding the state after the transition can be estimated in combination with the information on the transition between the states. Vibration can also occur when a force is applied to change the contact state, such as when the user changes the posture with respect to the massage machine, so that by detecting such vibration, the user can perform massage. It is also possible to estimate what kind of contact state the machine has.

According to the present invention, there is provided a vibration source, vibration detecting means for detecting vibration from the vibration source, and acquiring information on a system including the massage machine based on a detection result obtained by the vibration detecting means. And an information acquisition unit.

If a vibration source is provided, a vibration which is generated in a specific portion of the massage machine by the vibration of the vibration source is detected by the vibration detection means, so that a system which constitutes a vibration condition in a system including the massage machine is provided. Can be estimated and information about the system can be obtained.
Therefore, information that can be used for controlling the massage machine can be obtained with a simple configuration using the vibration source and the vibration detection unit.

The system includes a massage machine and a user,
The information acquisition means acquires information about a system including a massage machine and a user.

The system includes a massage machine and an installation environment of the massage machine, and the information obtaining means obtains information on the system including the massage machine and the installation environment of the massage machine.

The system includes a massage machine, a user, and an installation environment of the massage machine, and the information acquiring means acquires information about the system including a massage machine, a user, and an installation environment of the massage machine. .

As described above, as the system including the massage machine, a system including at least one of the user and the installation environment of the massage machine and the massage machine can be set in addition to the system including only the massage machine. . Depending on the characteristics of the vibration of the vibration source, the type of vibration information that can be detected by the vibration detection means, or the positional relationship between the vibration source and the vibration detection means, there is a difference in the degree of contribution of the system components to the vibration conditions. Therefore, a system to be focused on may be set according to these conditions, or a system and the conditions may be set according to information to be acquired.

The information on the system consisting only of the massage machine includes the operating state of each part of the device.

[0029] The information obtaining means may be configured to detect a state of the user and / or a contact result or a separation state between the massage machine and the user based on a detection result obtained under vibration conditions of the system. It is an estimating means for estimating a state of the user and / or a state of contact or separation between the user and the massage machine.

[0030] The information acquisition means is obtained under vibration conditions of the system determined according to the state of the installation environment of the massage machine and / or the contact or separation state between the massage machine and the installation environment of the massage machine. Based on the detection results,
It is an estimating means for estimating a state of the installation environment of the massage machine and / or a contact or separation state between the massage machine and the installation environment of the massage machine.

Since the state of contact or separation is the relative relationship between the user or the installation environment and the massage machine, not only the state in which the user or the entire installation environment is in contact with or away from the massage machine, but also The partial contact or separation state of which part of the user or installation environment is in contact and which part is separated is also estimated based on the detection result by the vibration detection means as long as the vibration conditions of the system are configured. can do. Such a partial contact or separation state includes, for example, a posture and a body shape of the user with respect to the massage machine, and a method of installing the massage machine with respect to the installation surface.

When a user or an installation environment intervenes on the propagation path of the vibration from the vibration source to the vibration detecting means,
The condition of the user or the installation environment as a propagation medium of the vibration may constitute the vibration condition. Therefore, these states can be estimated based on the detection result by the vibration detecting means. Such user states include, for example, the amount of subcutaneous fat, the degree of muscle tone, and the degree of blood circulation. The state of the installation environment includes the strength of the installation surface.

[0033] The estimating means estimates the state of the user and / or the contact or separation state between the user and the massage machine based on the detection result of the vibration detecting means under different vibration conditions. It is characterized by being.

[0034] The estimating means may determine the state of the installation environment of the massage machine and / or the contact or separation between the massage machine and the installation environment of the massage machine based on the detection results of the vibration detection means under different vibration conditions. It is an estimating means for estimating a state.

When vibration conditions such as frequency, vibration level, vibration direction and the like can be changed in the vibration source, when a plurality of vibration sources vibrating under specific vibration conditions are provided, or the vibration conditions of the vibration that can be detected are limited. If a plurality of vibration detection means are provided, the results of detection under a single vibration condition are estimated by comparing and detecting the results of detection under different vibration conditions. Since the amount of information increases as compared with the case of performing the estimation, the accuracy of estimation can be improved.

[0036] The estimating means may be configured to determine a state of the user and / or contact between the user and the massage machine based on a change pattern formed by a result of detection by the vibration detecting means under vibration conditions that change in a time series. Alternatively, the state of separation is estimated.

[0037] The estimating means may include a state of an installation environment of the massage machine and / or the massage machine and the massage machine based on a change pattern formed by a detection result of the vibration detection means under a time-varying vibration condition. It is characterized by estimating the contact or separation state with the installation environment.

In the case where the vibration conditions such as the frequency, the vibration level and the vibration direction can be changed in time series in the vibration source, or when at least one of the vibration source and the vibration detecting means is provided so as to be movable, By estimating based on the change pattern formed by detecting these vibration conditions by changing them in time series, the amount of information is increased as compared with the case of estimating from the detection results under fixed vibration conditions. Therefore, the accuracy of estimation can be improved.

The vibration source is movably provided in the massage machine, and the estimating means is configured to detect the vibration based on a change in the detection result of the vibration detecting means due to a change in vibration conditions accompanying the movement of the vibration source. The state of the user and / or the state of contact or separation between the user and the massage machine is estimated.

The vibration source is movably provided on the massage machine, and the estimating means is configured to detect the vibration based on a change in the detection result of the vibration detecting means due to a change in vibration conditions accompanying the movement of the vibration source. The state of the installation environment of the massage machine and / or the state of contact or separation between the massage machine and the installation environment of the massage machine is estimated.

As described above, if the vibration source is provided movably in the massage machine, the vibration can be detected under different vibration conditions by changing the position of the vibration source.
Estimation can be performed by comparing the detection results at different vibration source positions, and the estimation accuracy can be improved. Also,
Vibration can be detected under time-varying vibration conditions by moving the vibration source over time, so estimation can be performed based on the change pattern formed by the detection result, and estimation accuracy is improved. be able to.

[0042] The vibration source is a vibration source that vibrates independently of the treatment operation.

With this configuration, the vibration conditions such as the frequency, the vibration level, and the vibration direction of the vibration source can be set without being restricted by the treatment operation, so that the desired information or the configuration of the system can be set. Vibration conditions can be set.

The vibration source has a single vibration mode.

The vibration source has a plurality of vibration modes, and includes vibration mode switching means for switching the vibration modes.

[0046] The vibration source is characterized in that it is a vibration source that vibrates in association with a treatment operation.

In this way, since it is not necessary to separately provide a vibration source, it is possible to reduce the number of parts, simplify the apparatus configuration, and acquire information while performing a treatment operation.

The vibration source is a treatment means for performing a tapping treatment.

As such a treatment means, a treatment element that comes into contact with the body can be used.

[0050] The treatment means is characterized in that a tapping operation is performed alternately on both sides of the spine of the user.

As described above, if the user alternately taps on both sides of the spine, the user's body also moves alternately on both sides of the spine. As a result, the vibration is easily detected.

[0052] The vibration source is a treatment means for performing fir treatment.

[0053] The vibration source is a vibration treatment means for performing vibration treatment.

The vibration source is at least one of a treatment unit and a drive source of the treatment unit.

[0055] The vibration source is at least one of a treatment means, a drive source of the treatment means, and a driving force transmitting means for transmitting a driving force from the drive source to the treatment means.

The vibration source has a single vibration mode.

The vibration source that vibrates in association with the treatment operation may have a single vibration mode.

The vibration source has a plurality of vibration modes, and is provided with vibration mode switching means for switching the vibration modes.

As described above, the vibration source that vibrates in association with the treatment operation also has a plurality of vibration modes, and may include vibration mode switching means for switching the vibration mode.

[0060] The plurality of vibration modes include at least one of a tapping treatment mode, a fir treatment mode, a rubbing treatment mode, and a vibration treatment mode.

The vibration mode includes at least one of a high-frequency vibration mode and a low-frequency vibration mode.

The vibration detecting means detects a vibration in a predetermined direction.

A plurality of the vibration detecting means are provided, and the information obtaining means obtains information on a system including the massage machine based on detection results obtained by the plurality of vibration detecting means.

[0064] The plurality of vibration detecting means detects vibrations in different directions.

By providing the vibration detecting means capable of detecting vibrations in different vibration directions, information can be obtained by comparing the detection results of the vibrations in different vibration directions, etc., so that the reliability of the information can be improved. improves.

The vibration detecting means includes one of an acceleration sensor, a pressure-sensitive sensor and a strain sensor.

It is characterized by being of a chair type.

The massage machine is of a chair type having a seat on which a user sits and a backrest on which the user rests. The backrest frame is configured so that one end side can be vibrated. The other end is supported, and a massage mechanism including a treatment means is movably provided on the backrest frame.

As described above, in the backrest frame, the other end is supported by the seat frame so that one end can be vibrated. Therefore, the backrest frame itself easily vibrates. Vibration at a large vibration level becomes possible on one end side, so that vibration detection becomes easy. Also, when the massage mechanism including the treatment means is provided movably on the backrest frame, the rigidity of the backrest frame can be set lower than in the case where the massage mechanism is fixed to the backrest frame, The backrest frame can be configured to be flexible, and can be more easily vibrated.

The massage machine is of a chair type having a seat on which a user sits and a backrest on which the user rests. The backrest frame is configured so that one end side can be vibrated. The other end is supported, and vibration detecting means is provided near the head-side end of the backrest frame.

In the backrest frame, the other end is supported by the seat frame so that one end can vibrate. Therefore, the backrest frame itself easily vibrates. That is, since vibration at a large vibration level becomes possible in the vicinity of the end on the head side, the vibration detection is facilitated by providing the vibration detecting means here.

The massage machine is a chair type having a seat on which a user sits and a backrest on which the user rests, and the backrest frame is configured so that one end side can be vibrated. The other end is supported, and the backrest frame is provided with a vibrating body capable of high-frequency vibration, and the vibrating body is provided with the vibration detecting means.

Since the backrest frame is a structure having a certain size and strength, the natural frequency is low. Therefore, by providing a vibrator capable of vibrating at a high frequency, the vibration of a vibration source that vibrates at a high frequency can also be used for information acquisition.

The massage machine is of a chair type having a seat on which a user sits and a backrest on which the user rests. The seat frame is provided with a vibrator capable of high-frequency vibration, and the vibrator detects the vibration. Means are provided.

Since the seat frame is also a structure having a certain strength, the natural frequency becomes low. Therefore, by providing a vibrator capable of vibrating at a high frequency, the vibration of a vibration source that vibrates at a high frequency can also be used for information acquisition. As such a vibrating body, an elastic means such as a spring provided on the seat frame for imparting elasticity can be used.

The massage machine is of a chair type having a seat on which a user sits and a backrest on which the user rests. The seat frame is provided with a seat frame supporting member so that one end can be vibrated. It is supported, and vibration detecting means is provided near the one end of the seat frame.

It is characterized by a bed type.

The massage machine is of a bed type having a bed on which a user lies, and the bed frame comprises:
At least one end is supported so as to be able to vibrate, and a massage mechanism including a treatment unit is provided on the bed frame.

As described above, at least one end of the bed frame is supported so as to be able to vibrate, and vibration at a large vibration level is possible at the one end.
Vibration detection becomes easy.

The massage machine is of a bed type having a bed on which a user lies, and the bed frame comprises:
At least one end is supported so as to be able to vibrate, and the vibration detecting means is provided near the one end.

As described above, at least one end of the bed frame is supported so as to be able to vibrate, and vibration at a large vibration level is possible at the one end.
By providing the vibration detecting means here, the vibration can be easily detected.

Further, according to the present invention, in the information acquiring method for acquiring information relating to a system including a massage machine, a vibration detecting means for detecting a vibration is provided in the massage machine, and the information is obtained based on a detection result by the vibration detecting means. This is a method of acquiring information of a massage machine for acquiring the information.

Further, the present invention provides a vibration detecting means for detecting a vibration caused by a force applied by a user to a relaxation device, and the user and the relaxation device based on a detection result obtained by the vibration detecting means. And information acquisition means for acquiring information on the system including the following.

When a force is applied to the relaxation device, such as when the user is seated on the relaxation device, this force causes vibrations in the relaxation device. Since such vibrations are caused by the interaction between the user and the relaxation device, focusing on a system including the user and the relaxation device, the vibration condition is formed from the detection result obtained by the vibration detection means. Information on the relative relationship between the user and the relaxation device can be obtained. Therefore, information that can be used for controlling the relaxation device can be obtained with a simple configuration using the vibration detecting means.

[0085] The information obtaining means is an estimating means for estimating a contact or separation state between the user and the relaxation device.

The relationship between the user and the relaxation device in the system including the user and the relaxation device includes a case where the user is seated or lying down to use the relaxation device in some contact state, In some cases, use has been terminated or interrupted and the device has been separated from the relaxation device. In the case of transition from the separated state to the contact state or the transition from the contact state to the separated state, such as when sitting down or leaving the relaxation device, an impact force acts to generate vibration. The transition between the contact and separation states can be estimated. If the state before the transition is obtained as information by any method, the state regarding the state after the transition can be estimated in combination with the information on the transition between the states. Vibration can also occur when a force is applied to change the contact state, such as when the user changes the posture with respect to the relaxation device, so that by detecting such vibration, the user can relax. It is also possible to estimate what kind of contact state the device has.

A vibration source, vibration detecting means for detecting vibration from the vibration source, and information obtaining means for obtaining information on a system including the relaxation device based on a detection result obtained by the vibration detecting means. It is characterized by having.

If a vibration source is provided, a vibration generated in a specific portion of the relaxation device by the vibration of the vibration source is detected by the vibration detecting means, so that a system constituting a vibration condition in the system including the relaxation device is detected. Can be estimated and information about the system can be obtained. Therefore, information that can be used for controlling the relaxation device can be obtained with a simple configuration using the vibration source and the vibration detection unit.

The system includes a relaxation device and a user, and the information obtaining means obtains information on the system including the relaxation device and the user.

The system includes a relaxation device and an installation environment of the relaxation device, and the information acquisition means acquires information about the system including the relaxation device and the installation environment of the relaxation device.

The system includes a relaxation device, a user, and an installation environment of the relaxation device, and the information acquisition means acquires information about the system including the relaxation device, the user, and the installation environment of the relaxation device. .

As described above, as the system including the relaxation device, in addition to the system including only the relaxation device, a system including at least one of the user and the installation environment of the relaxation device and the relaxation device can be set. . Depending on the characteristics of the vibration of the vibration source, the type of vibration information that can be detected by the vibration detection means, or the positional relationship between the vibration source and the vibration detection means, there is a difference in the degree of contribution of the system components to the vibration conditions. Therefore, a system to be focused on may be set according to these conditions, or a system and the conditions may be set according to information to be acquired.

Information on the system consisting only of the relaxation device includes the operating state of each part of the device.

[0094] The information obtaining means may be configured to detect a condition of the user and / or a detection result obtained under a vibration condition of the system determined according to a contact or separation state between the relaxation device and the user. The condition of the user and / or
Alternatively, it is an estimating means for estimating a state of contact or separation between the user and the relaxation device.

The information acquisition means is obtained under the vibration condition of the system determined according to the state of the installation environment of the relaxation device and / or the contact or separation state between the relaxation device and the installation environment of the relaxation device. An estimating means for estimating a state of the installation environment of the relaxation device and / or a contact or separation state between the relaxation device and the installation environment of the relaxation device based on the detection result.

Since the contact or separation state is a relative relationship between the user or the installation environment and the relaxation device,
Not only is the user or the installation environment entirely in contact with or away from the relaxation device, but also the part of the user or the installation environment that is in contact and which part is separated. The contact or separation state,
As long as the vibration condition of the system is configured, it can be estimated based on the detection result by the vibration detecting means. Such a partial contact or separation state includes, for example, a posture and a body shape of the user with respect to the relaxation device, and a method of installing the relaxation device with respect to the installation surface.

In the case where a user or an installation environment intervenes on the vibration propagation path from the vibration source to the vibration detecting means,
The condition of the user or the installation environment as a propagation medium of the vibration may constitute the vibration condition. Therefore, these states can be estimated based on the detection result by the vibration detecting means. Such user states include, for example, the amount of subcutaneous fat, the degree of muscle tone, and the degree of blood circulation. The state of the installation environment includes the strength of the installation surface.

The estimating means estimates the state of the user and / or the contact or separation state between the user and the relaxation device based on the detection result of the vibration detecting means under different vibration conditions. It is characterized by being.

[0099] The estimating means may determine the state of the installation environment of the relaxation device and / or the contact or separation between the relaxation device and the installation environment of the relaxation device based on the detection result of the vibration detecting means under different vibration conditions. It is an estimating means for estimating a state.

In the case where the vibration conditions such as the frequency, the vibration level, and the vibration direction can be changed in the vibration source, the case where a plurality of vibration sources that vibrate under specific vibration conditions are provided, or the vibration conditions of the vibration that can be detected are limited. If a plurality of vibration detection means are provided, the results of detection under a single vibration condition are estimated by comparing and detecting the results of detection under different vibration conditions. Since the amount of information increases as compared with the case of performing the estimation, the accuracy of estimation can be improved.

[0101] The estimating means may be configured to determine a state of the user and / or a contact between the user and the relaxation device based on a change pattern formed by a detection result of the vibration detecting means under vibration conditions that change in a time series. Alternatively, the state of separation is estimated.

[0102] The estimating means may include a state of an installation environment of the relaxation apparatus and / or the relaxation apparatus and the relaxation apparatus based on a change pattern formed by a detection result of the vibration detection means under a vibration condition which changes in a time series. It is characterized by estimating the contact or separation state with the installation environment.

In the case where the vibration conditions such as the frequency, the vibration level, the vibration direction and the like can be changed in time series in the vibration source, or when at least one of the vibration source and the vibration detecting means is movably provided, By estimating based on the change pattern formed by detecting these vibration conditions by changing them in time series, the amount of information is increased as compared with the case of estimating from the detection results under fixed vibration conditions. Therefore, the accuracy of estimation can be improved.

The vibration source is provided so as to be movable in the relaxation device, and the estimating means is configured to detect the vibration based on a change in a detection result of the vibration detecting means due to a change in vibration conditions accompanying the movement of the vibration source. User condition and / or
Alternatively, the state of contact or separation between the user and the relaxation device is estimated.

The vibration source is movably provided in the relaxation device, and the estimating means is configured to detect the vibration source based on a change in a detection result of the vibration detecting means due to a change in vibration conditions accompanying the movement of the vibration source. It is characterized by estimating the state of the installation environment of the relaxation device and / or the state of contact or separation between the relaxation device and the installation environment of the relaxation device.

As described above, if the vibration source is provided so as to be movable in the relaxation device, the vibration can be detected under different vibration conditions by changing the position of the vibration source. The estimation can be performed by comparing the detection results and the like, and the estimation accuracy can be improved. In addition, since the vibration can be detected under the vibration condition that changes in a time series by moving the vibration source over time, the estimation can be performed based on the change pattern formed by the detection result, and the estimation accuracy can be improved. Can be increased.

The vibration source is a vibration source that vibrates independently of the relaxation operation. With this configuration, the vibration conditions such as the vibration frequency, vibration level, and vibration direction of the vibration source can be set without being restricted by the relaxation operation. Therefore, the vibration conditions according to the desired information or the system configuration can be set. Can be set.

The vibration source has a single vibration mode. The vibration source has a single vibration mode.

The vibration source has a plurality of vibration modes, and is provided with vibration mode switching means for switching the vibration modes.

The vibration source is a vibration source that vibrates in relation to a relaxation operation.

In this way, since it is not necessary to provide a separate vibration source, it is possible to reduce the number of components and simplify the device configuration, and to acquire information while performing a relaxation operation.

The vibration source is at least one of a relaxation means for performing a relaxation operation and a drive source for the relaxation means.

The vibration source is at least one of relaxation means for performing a relaxation operation, a driving source for the relaxation means, and a driving force transmitting means for transmitting a driving force from the driving source to the relaxation means. And

The relaxation means is a fluid containing means containing a fluid therein, and the driving source is a vibration applying means for vibrating the fluid in the fluid containing means.

[0115] A temperature control means for controlling the temperature of the fluid in the fluid accommodating means is provided.

The vibration applying means includes a filling means for filling the fluid containing means with a fluid and a discharging means for discharging the fluid from the fluid containing means, and the fluid containing means is filled and discharged by the fluid contained in the fluid containing means. The means is vibrated.

A fluid storage means for storing a fluid is provided. The filling means fills the fluid from the fluid storage means into the fluid storage means, and the discharge means stores the fluid from the fluid storage means into the fluid storage means. The fluid may be discharged and the fluid may be circulated between the fluid storage means and the fluid accumulation means.

The vibration source has a single vibration mode.

The vibration source has a plurality of vibration modes, and includes vibration mode switching means for switching the vibration modes.

Thus, the vibration source that vibrates in relation to the relaxation operation also has a plurality of vibration modes, and may be provided with vibration mode switching means for switching the vibration mode.

The vibration mode includes at least one of a high-frequency vibration mode and a low-frequency vibration mode.

The vibration detecting means detects a vibration in a predetermined direction.

A plurality of the vibration detecting means are provided, and the estimating means obtains information on a system including the relaxation device based on detection results obtained by the plurality of vibration detecting means.

[0124] The plurality of vibration detecting means detects vibrations in different directions.

By providing the vibration detecting means capable of detecting vibrations in different vibration directions, information can be obtained by comparing the detection results of the vibrations in different vibration directions, etc., so that the reliability of the information can be improved. improves.

The vibration detecting means is characterized by including one of an acceleration sensor, a pressure-sensitive sensor and a strain sensor.

It is characterized by being of a chair type.

The relaxation device is a chair type having a seat on which a user sits and a backrest on which the user rests, and the backrest frame is configured so that one end side can be vibrated. The other end is supported.

As described above, in the backrest frame, the other end is supported by the seat frame so that one end can be vibrated. Therefore, the backrest frame itself easily vibrates. Vibration at a large vibration level becomes possible on one end side, so that vibration detection becomes easy. The relaxation device structure including the treatment means may be provided movably on the backrest frame, and in this case, the rigidity of the backrest frame is set to be lower than in the case where the relaxation device structure is fixed to the backrest frame. Therefore, the backrest frame can be configured to be easily bent, and can be more easily vibrated.

The relaxation device is of a chair type having a seat on which a user sits and a backrest on which the user rests, and the backrest frame is configured so that one end side can be vibrated. The other end is supported, and vibration detecting means is provided near the head-side end of the backrest frame.

Since the backrest frame has the other end supported by the seat frame so that one end can vibrate, the backrest frame itself easily vibrates. That is, since vibration at a large vibration level becomes possible in the vicinity of the end on the head side, the vibration detection is facilitated by providing the vibration detecting means here.

The relaxation device is a chair type having a seat on which a user sits and a backrest on which the user rests, and the backrest frame is configured so that one end side can be vibrated. The other end is supported, and the backrest frame is provided with a vibrating body capable of high-frequency vibration, and the vibrating body is provided with the vibration detecting means.

Since the backrest frame is a structure having a certain size and strength, the natural frequency is low. Therefore, by providing a vibrator capable of vibrating at a high frequency, the vibration of a vibration source that vibrates at a high frequency can also be used for information acquisition.

The relaxation device is of a chair type having a seat on which a user sits and a backrest on which the user rests. The seat frame is provided with a vibrating body capable of high-frequency vibration, and the vibrating body is provided with the vibration detecting device. Means are provided.

Since the seat frame is also a structure having a certain degree of strength, the natural frequency is reduced. Therefore, by providing a vibrator capable of vibrating at a high frequency, the vibration of a vibration source that vibrates at a high frequency can also be used for information acquisition. As such a vibrating body, an elastic means such as a spring provided on the seat frame for imparting elasticity can be used.

The relaxation device is of a chair type having a seat on which a user sits and a backrest on which the user rests. The seat frame is configured so that one end can be vibrated by a seat frame support member. It is supported, and vibration detecting means is provided near the one end of the seat frame.

It is characterized by a bed type.

[0138] The relaxation device is a bed type having a bed on which a user lies. The bed frame has at least one end supported so as to be able to vibrate, and the bed frame includes a relaxation mechanism including relaxation means. Is provided.

As described above, at least one end of the bed frame is supported so as to be able to vibrate, and vibration at a large vibration level is possible at the one end.
Vibration detection becomes easy.

The relaxation device is of a bed type having a bed on which a user lays. The bed frame has at least one end supported so as to be capable of vibrating, and the vibration detecting device is provided near the one end. Means are provided.

Further, the present invention relates to an information acquisition method for acquiring information on a system including a relaxation device,
An information acquisition method for a relaxation apparatus, comprising: providing a vibration detection means for detecting vibration in the relaxation apparatus; and acquiring the information based on a detection result obtained by the vibration detection means.

[0142]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the illustrated embodiments.

(First Embodiment) FIG. 1A is a perspective view showing a schematic configuration of the interior of a chair-type massage machine 1 according to a first embodiment of the present invention, and FIG. FIG. 2 is a side view of a state in which a user is seated on the massage machine 1 when a part of a backrest 2 is removed and viewed from a side.

The massage machine 1 comprises a seat 3 on which the user sits, a backrest 2 on which the user rests, and a leg 4 on which the legs rest.
It is roughly divided into three parts.

The seat portion 3 mainly includes two grounding portions 5 grounded to the floor, two supporting legs 6 extending vertically from each grounding portion 5, and substantially parallel to the floor on the supporting legs 6. And a cushion layer 8 placed and fixed on the upper surface of the seat frame 7. A spring 9 is provided on the seat frame 7 to provide elasticity when the user sits down.

The leg 4 mainly includes a substantially rectangular leg frame 10 and a cushion layer 11 fixed to the surface of the leg frame 10. One end of the leg frame 10 is swingably supported at one end of the seat frame 7 via a hinge 12 so that the leg frame 10 can be fixed to the seat frame 7 at an appropriate angle by a fixing mechanism (not shown). It has become.

The backrest 2 mainly includes a substantially rectangular backrest frame 13, a massage mechanism 14 movably supported by the backrest frame 13, and a back frame 15 fixed to the surface of the backrest frame 13.
Cushion layer (not shown) covering the outer surface of backrest 13
And an exterior portion 16 having a built-in portion. The backrest frame 13 is pivotally supported at one end to the end of the seat frame 7 via a hinge 17 so that the backrest frame 13 can be fixed at an appropriate angle to the seat frame 7 by a fixing mechanism (not shown). Has become. The massage mechanism 14 includes a main mechanism 19 having a treatment element 18 and the like as treatment means and a movement mechanism 20 for moving along the backrest frame 13. In the present embodiment, the main mechanism 19 mainly includes a drive source 24, pulleys 21 and 22 for transmitting the driving force of the drive source 24, a belt 23, and a mechanism main body 25 provided with the treatment elements 18 and 18. The mechanism main body 25 houses another drive transmission mechanism that drives the treatment elements 18 with the driving force transmitted from the drive source 24 via the belt 23 and the like. Further, the moving mechanism section 20 includes a mechanism main body section 25.
Lifting shaft 26, fir shaft 27, and pinions 28, 2 attached to the ends thereof.
8, 29, 29, which are engaged with a rack 30 provided on the backrest frame 13 to move. The back frame 15 is a plate-like member that is curved so as to support the user's back along its shape, and has a rectangular shape whose center is hollowed out in the longitudinal direction. The back frame 15 can be formed of, for example, plastic, sheet metal, or the like, and is fixedly supported on the outer peripheral side with respect to the backrest frame 13. The treatment element 18 protrudes toward the surface of the backrest 2 through the hole 15a of the back frame 15 and the slit of the exterior part 16 (not shown), so that the treatment element 18 can directly contact the user, but is provided on the outermost layer of the exterior part 16. The user may be indirectly contacted via the deformable sheet member.

Hereinafter, the configuration of the massage mechanism for performing each treatment will be described.

(Stretching and Slipping Operation) FIG. 2 is a side view showing a change in the position of the main mechanism section 19 by removing a part of the exterior section 16 of the backrest section 2 and the backrest frame 13 of the massage machine 1.

As shown in FIG. 2, as the main mechanism 19 moves up and down along the backrest frame 13, the treatment elements 18, 18 protruding to the back of the user are moved along the back (arrow A). , B direction), it is possible to perform a straightening or rubbing operation.

(Striking Operation) FIG. 3 (a) is a side view showing a portion related to the tapping operation of the main mechanism portion 19 of the massage mechanism 14, and FIG. 3 (b) shows a state in which a part of the backrest portion 2 is removed. It is a side view explaining operation | movement with respect to the user of 18a. Although only one treatment element 18 is shown in FIG. 3A, a similar mechanism is provided in the mechanism main body 25 on the opposite side with respect to the center line in the direction of the spine.

A treatment element arm 31 having a treatment element 18 supported at one end is slidably inserted into a housing 32 through a bent portion, and the other end is swingably connected to one end of a link member 33. The other end of the link member 33 is slidably connected to an end of a rod extending from a bearing portion 35 that is slidably supported by the treatment element strength adjusting shaft 34. The housing 32 is connected to the fir shaft 27 by a clutch (not shown).
And a bush 37 so as to be swingable.
One end of a ball-shaped rod 39 is swingably connected to a spherical socket provided on the arm 38 of the housing 32, and the other end of the rod 39 is swingably connected to a beating shaft 40. It is swingably connected to the supported bearing 41.

Since the tapping shaft 40 is eccentrically connected to the base shaft 51 driven to rotate (FIG. 5).
(See (a)), the shaft 40 for tapping when the base shaft rotates.
Rotates on the circumference around the axis of the base shaft, and the housing 32 connected via a rod 39 to a bearing portion 41 supported by the beating shaft 40 swings with respect to the fir shaft 27. . The end of the treatment element arm 31 is a link member 3
3 and the link member 33 swings around the connecting portion 33b on the treatment element strength adjusting shaft 34 side. A stopper 41 is fixed to the outer peripheral surface of the treatment element arm 31, and a spring 42 is interposed between the stopper 41 and the end surface of the housing 32. When the housing 32 rotates toward the back of the backrest 3 as shown by the two-dot chain line with the rotation of the beating shaft 40, the treatment element arm 31 retreats to the back of the backrest (in the direction of arrow C). When the beating shaft 40 further rotates and the housing 32 rotates toward the front side of the backrest 3 as shown by a solid line, the treatment element 18 projects toward the front side (the direction of arrow D) and strikes the back of the user. And a tapping operation is realized.

As shown in FIG. 5A, the right and left tapping shafts 40 are eccentric with different phases with respect to the base shaft 51 (180 degrees in the present embodiment). In the case of a single penetrating shaft or independent left and right shafts driven to rotate in phase,
The treatment elements 18 and 18 alternately perform a tapping operation on the left and right. The base shafts 51, 51 are constituted by left and right independent shafts, and a mechanism for adjusting the relative rotation angle shift between the base shafts 51, 51 so that the tapping shafts are eccentric in phase with respect to the left and right base shafts 51, 51. Is provided, the left and right treatment elements 18 and 18 can simultaneously perform a tapping operation.

(Treatment Element Strength Adjustment Mechanism) FIG. 4A is a side view showing a treatment element intensity adjustment mechanism related portion of the main mechanism section 19 of the massage mechanism, and FIG. 4B is a part of the backrest 2. FIG. 9 is a side view for explaining a change in the position of the treatment element 18 with respect to the user by removing the treatment element 18.

The treatment element strength adjusting shaft 34 has a base shaft 45.
When the base shaft 45 is rotated, the treatment element strength adjusting shaft 34 rotates on a circumference centered on the axis of the base shaft, and the treatment element strength adjustment shaft 34 is rotated.
Similarly, the bearing portion 34 which is supported by the shaft moves on the circumference around the axis of the base shaft 45. Rod 36 of bearing part 35
Is connected to the treatment element arm 31 via the link member 33, the treatment element arm 31 also slides with respect to the housing 32 with the movement of the bearing portion 35, and moves in the directions of arrows E and F. . When the bearing 35 moves to the position shown by the two-dot chain line by the rotation of the base shaft 45, the treatment element arm 31 is pulled in the direction of arrow E against the urging force of the spring 42,
The treatment element 18 a also retreats to the back side of the backrest 2. When the base shaft 45 is further rotated and the bearing portion 35 moves to the position shown by the solid line, the treatment element arm 31 is pushed out in the direction of arrow F by the urging force of the spring 42, and the treatment element 18 also projects toward the surface of the backrest 2. I do. Thus, the treatment element 1
Since the amount of projection in the direction perpendicular to the backrest portion 8 of the backrest 8 changes, the strength of the treatment element 18 when pressing or striking the user can be adjusted.

(Pushing Operation) FIG. 5 (a) is a front view showing a rubbing operation-related portion of the main mechanism section 19 of the massage mechanism 14, and FIG. 5 (b) explains the operation of the treatment element 18 for the user. FIG.

A raising / lowering shaft 26 and a fir shaft 27 extend to the left and right sides from a transmission mechanism accommodating portion 50 accommodating a drive transmission mechanism such as a gear for transmitting power from a drive source (not shown). Is driven to rotate. The elevating shaft 26 and the fir shaft 27 extend through the housing of the mechanism main body 25, and pinions 28, 28, 29, 29 are attached to the ends. Each of the pinions 28 is fixed to the elevating shaft 26, rotates in conjunction with the rotation of the elevating shaft 26, meshes with the rack 30, and realizes vertical movement along the backrest frame 12. On the other hand, pinion 2
Reference numerals 9 and 29 are rotatably mounted on the fir shaft 27. When the main mechanism 19 moves by the rotation of the elevating shaft 26, the main mechanism 19 meshes with the rack 30 and rotates independently of the fir shaft. . From the transmission mechanism housing part 50, the base shaft 51 of the beating shaft 40 and the base shaft 53 of the treatment element strength adjusting shaft 34 also extend to the left and right sides,
The beating shaft 4 is driven to rotate by intermittently transmitting and receiving power from the drive source, and is eccentrically connected with the rotation.
0 and the treatment element strength adjusting shaft 34 rotate or stop.

A bush 37 is provided on the outer periphery of the fir shaft 27 via a clutch 54 for intermittently transmitting drive according to the rotational direction. The housing 32 is slidably mounted in the circumferential direction via a ball bearing 55 on the outer peripheral surface of the bush. The bush 37 is formed such that a shaft hole 37a having a center line in the L1 direction penetrates a cylinder whose central axis is in the L2 direction, and both end faces in the axial direction are orthogonal to the shaft hole 37a. At this time, the L1 direction and the L2 direction are set to intersect or twist. A single cam groove 38 that draws a closed orbit around the shaft while changing its position in the axial direction according to the phase around the shaft on the outer peripheral surface of the fir shaft.
The cam groove 38 is engaged with a pin 37b provided on the bush 37 so as to protrude toward the shaft hole 37a. Therefore, in the direction in which the clutch 54 is disengaged,
When the fir shaft 27 rotates, the bush 37 also moves in the axial direction along with the movement of the engaging pin 37b in accordance with the change in the orbit of the cam groove 27a in the axial direction. Bush 37
With the movement in the axial direction, the housing 32 also moves in the axial direction. Since the bearing 41 of the beating shaft 27 is provided so as to be movable in the axial direction, it moves in the axial direction in conjunction with the movement of the housing 32 in the axial direction. In addition, with the movement of the housing 32 in the axial direction, the treatment element 18 also moves in the axial direction, that is, the direction along the back of the user and substantially perpendicular to the spine. When the fir shaft 27 is rotated once even when the clutch 54 is disengaged, the bush 37, the housing 32, and the treatment element 18 reciprocate in the axial direction as shown by the solid and broken lines in FIGS. 5 (a) and 5 (b). Therefore, a rubbing operation can be realized.

By connecting the clutch 54 in a state where the pin 37b of the bush 37 and the cam groove 27a of the shaft 27 are engaged at a predetermined position in the axial direction, the treatment element 1
Because the axial width between 8, 18 can be adjusted,
The rubbing mechanism is also a width adjusting mechanism of the treatment element.

(Fir Operation) FIG. 6 (a) is a front view showing a part related to the fir operation of the main mechanism portion 19 of the massage mechanism 14, and FIG. 6 (b) explains the operation of the treatment element 18 for the user. FIG.

As described in the section of the rubbing operation, the housing 32 is rotatable in the circumferential direction on the outer peripheral surface of the bushing 37 which is pivotally supported so that the center axis and the axis of the shaft 27 are at a predetermined angle. It is supported by. Clutch 54
When the shaft 27 for rotation is rotated in the direction in which is connected, the central axis of the bush 37 (indicated by L2 in FIG. 5A)
Rotates around the axis of the fir shaft (indicated by L1 in FIG. 5 (a)), so that the housing 32 held in a direction perpendicular to the central axis of the bush 37 with respect to the axial direction of the fir shaft 27. Change posture. Since the bearing 41 of the beating shaft 40 is swingably connected to the arm 38 of the housing 32, the bearing 41 is stopped on the shaft of the beating shaft 40 even when the posture of the housing 32 changes. Therefore, the treatment elements 18, 18 supported by the housing 32 draw a substantially circular orbit as shown by solid lines and broken lines in FIGS. An operation of approaching or moving away from the side, that is, a fir operation is realized.

(Internal Configuration of Massage Machine) FIG. 7 is a block diagram schematically showing the internal configuration of the massage machine.

Hereinafter, the internal configuration of the massage machine will be described with reference to FIG.

[Main Control Unit] A CPU 61 for performing a judgment process and the like and controlling an external device based on information from various detection means is provided (an interface for controlling input and output of signals with the outside is the CPU 61). The description is omitted because it is built in the.). The CPU 61 receives power supply from a power supply unit 62, and the power supply unit 62 is connected to an external power supply via a plug 63, and a main power switch 64 is provided between the power supply unit 62 and the plug 63. . The CPU 61 is connected to a ROM 65 that stores programs to be executed by the CPU 61, a RAM 66 that stores data such as detection results, and an operation switch 67 that allows the user to give various instructions. In addition, C
A treatment element drive section 68, a treatment element position detection section 69, a vibration detection section 70, and a notification section 71, which will be described later, are connected to the PU 61. In the present embodiment, the CPU 61 and the ROM
The information acquisition unit and the estimation unit are configured by the RAM 65 and the RAM 66.

[Treatment Element Driving Unit]
A main drive mechanism 72 for realizing treatment operations such as fir and rubbing is connected, and a driving force is transmitted to the main drive mechanism 72 from a drive source 24 such as a motor. Further, a first drive control circuit unit 75 for controlling a main drive unit 74 including a main drive mechanism 72 and a drive source 24 is provided, and the first drive control circuit unit 75 is provided with a main drive unit 74 based on information from the CPU 61. Control. The power of the drive source 24 such as a motor is transmitted to the main drive mechanism 72 by power transmission means such as a pulley and a belt or a gear. The main drive mechanism 72 includes a fir shaft 27, a clutch 54, a bush 37, a housing 32, a beating shaft 40, a bearing 41, a rod 39, and a treatment element arm 31.
Etc. The main drive mechanism 72 includes a switching mechanism for switching the rotation direction of the fir shaft 27,
In order to rotate or stop the base shaft 51, a mode switching mechanism for switching gears or connecting / disconnecting clutches is provided. The main drive mechanism 72 is further provided with a main drive mechanism intermittent means such as a clutch for intermittently transmitting power from the drive source 24, and it is also possible to stop the operation of the treatment element 18 and drive only the drive source 24. it can. Only the drive source 24 can be used as a vibration source by the main drive mechanism switching means. The mode switching mechanism and the main drive mechanism intermittent means are also vibration mode switching means.

The treatment element 18 is connected to an up-down drive mechanism 76 for moving the backrest 2 along the longitudinal direction. The up / down drive mechanism 76 is provided with an up / down drive switching mechanism for switching or intermittently transmitting or disconnecting the power transmission between the drive source 24 and the elevating shaft 26 to rotate or stop the forward / reverse rotation. A second drive control circuit 77 for controlling the up-down drive mechanism 76 is provided, and the treatment element 18 is set at a predetermined position in accordance with information from the CPU 61 based on a detection result of the up-down position detection means 83 described later. Then, the second drive control circuit 77 controls the vertical drive mechanism 76.

The treatment element 18 is connected to a treatment element width adjusting mechanism 78 for adjusting the width in a direction substantially perpendicular to the back streak of the user. The treatment element width adjusting mechanism includes a fir shaft 27, a cam groove 27a, a clutch 54, a bush 37, and a pin 37b. This treatment element width adjustment mechanism 78
Is provided with a third drive control circuit section 79 for controlling
The third drive control circuit 79 controls the treatment element width adjustment mechanism 78 so that the pin 37b and the cam groove 27a are engaged at a predetermined position in accordance with information from the CPU 61 based on the detection result of the width position detection means described later. I do.

The treatment element 18 is connected to a treatment element strength adjustment mechanism 80 for adjusting the amount of protrusion from the backrest 2. The treatment element strength adjustment mechanism 80 includes a treatment element strength adjustment shaft 34, a base shaft 53, a bearing 35, a link member 33, and a treatment element arm 31. A fourth drive control circuit section 81 for controlling the treatment element intensity adjustment mechanism 80 is provided. The treatment is performed by rotating the base shaft 45 in accordance with information from the CPU 61 based on the detection result of the protrusion position detection means 85 described later. The fourth drive control circuit 81 controls the treatment element strength adjustment mechanism 80 so that the position of the treatment element strength adjustment shaft 34 is moved so that the treatment element arm 31 is at a predetermined position.

Vertical drive mechanism 76, treatment element width adjustment mechanism 78
The power of the treatment element strength adjusting mechanism 80 is also transmitted from the drive source 24 via power transmission means such as pulleys, belts, or gears. The second to fourth drive control circuit units may also directly control the drive source 24.

The treatment element driving section 68 is supplied with electric power from the power supply section 62, and is provided with a treatment element driving switch 82 for intermittently supplying power to the treatment element driving section 68 in response to a signal from the CPU 61.

[Treatment Element Position Detecting Section] The CPU 61 has a vertical position detecting means 83 for detecting the vertical position of the backrest 2 of the treatment element 18 in the longitudinal direction, and the treatment element 1
Width position detecting means 84 for detecting the width, which is the interval in the direction orthogonal to the longitudinal direction, along the surface of the backrest portion 8, 18, and protrusion for detecting the amount of protrusion of the treatment element 18 from the surface of the backrest portion. A treatment element position detection section 69 having a position detection means 85 is connected to the
Provides location information. These detecting means 83, 8
4 and 85 may be constituted by a micro switch, a photo micro sensor, or the like, or the amount of displacement from the reference position is detected by the encoder or the tachometer at the rotation number or rotation angle change at the transmission portion from the drive source. However, the present invention is not limited thereto.

[Vibration Detection Unit] The CPU 61 includes a vibration detection sensor 86 as a vibration detection means and a signal shaping circuit unit 87.
And a vibration detection unit 70 having an A / D converter 88. As the vibration detection sensor 86, a piezoresistive or capacitive acceleration sensor, a pressure-sensitive sensor, a strain sensor, or the like can be used. The detection axis of the vibration detection sensor may be in the three-axis directions of X, Y, and Z, or one or two of them, or may be a specific one-axis direction forming a predetermined angle with these three axes. Is also good. Further, the combined vibration of these two axes or three axes may be detected. Therefore, a plurality of vibration detection sensors 86 may be provided according to the configuration of the sensors and vibration information to be detected, or a plurality of vibration detection sensor switching means may be provided to switch the plurality of sensors. The signal shaping circuit 87 may be configured by appropriately selecting circuits such as an amplifier circuit, a filter, and a rectifier circuit according to the sensor output signal.

As shown in the figure, the vibration detecting sensor includes a longitudinally outer surface (86a), a laterally outer surface (86b) of the head of the backrest frame, and an upper surface (86) of the main mechanism.
c), can be attached to the vicinity of the inner peripheral edge of the back frame (86d), the spring (86e) provided on the seat frame, the inner side surface (86f) of the leg frame, etc., but the type of vibration information to be detected. It may be appropriately selected and attached according to the characteristics of the vibration detection sensor.

[Notification unit] The CPU 61 is provided with a display unit 89 composed of LCD, LED and the like for providing image information to the user, and a notification unit 71 composed of a buzzer and speaker and provided with audio notification means 90 for providing audio information to the user. It is connected to the.

(Basic Principle of the Present Invention) The basic principle of the present invention will be described with reference to the massage machine according to the present embodiment.

As shown in FIG. 1A, a vibration detecting sensor 8 is provided on the back side of the inner peripheral edge of the back frame 15 on the hole 15a side.
An acceleration sensor was attached as 6d. When the treatment element 18 is not operated, the high frequency vibration generated on the inner peripheral edge of the back frame 15 is detected by the vibration detection sensor 86 using the drive source 24 and a power transmission mechanism for transmitting power from the drive source 24 as a vibration source.
d. At this time, as shown in FIG. 1A, the X axis (the direction from the front side to the back side of the backrest 2), the Y axis (the direction upward along the backrest 2), and the Z axis (the backrest 2) Along the direction perpendicular to the back muscle), and the vibration detection sensor 86d is arranged such that the X-axis direction, the Y-axis direction, and the Z-axis direction are the detection axes.
FIG. 8 shows the vibration level in each direction (hereinafter, “vibration level” is used as an amount indicating the peak to peak of the displacement level). The main mechanism including the treatment element was moved from near the pelvis to the upper position along the spine streak to detect vibration. The treatment element contacts the pelvis up to the point A, contacts the lower corner of the scapula at the point B, and the treatment element contacts the center of the scapula at the point C. As can be seen from FIG. 8, the movement of the main mechanism 19 is detected as a change in the vibration level in the Y-axis direction. The lowermost column shows a pressure change measured by attaching a pressure sensor to the treatment element 18 in contact with the body.
Comparing this pressure change with the vibration level in the Y-axis direction,
It can be seen that the contact state between the user and the treatment element is detected as a change in the vibration level in the Y-axis direction.

Next, as shown in FIG. 1 (a), the vibration detecting sensor 86b is attached to the outside of the upper end of the backrest frame 13, and the treatment element 18 is driven in the tapping mode, and the treatment element 18 is moved from the shoulder to the neck. FIG. 9 shows the result of measurement in the state of fixing to. The horizontal axis represents time so that the unit length shown is 1 second, and the vertical axis represents vibration level.
The point D is the time when the user sits on the massage machine 1,
In the area E, the user leans on the backrest 2 normally, and in the area F, the user lifts the back from the backrest 2. In of G ₁ region, a state in which the user has contacted the shallow back to the treatment element 18, a state in which strengthening the contact pressure to the treatment element 18 gradually back to G ₂ ~G _5, at point H The user is taking off from the massage machine 1. In the detection results in the X-axis direction and the Y-axis direction, the change in the vibration level due to the change in the relative relationship between the user and the massage machine (backrest) appears. Notably, a change in the relative relationship between the user and the massage machine (back portion) appears.

As can be seen from the above two examples, by detecting the vibration information, the state of contact between the user and the massage machine including seating and unseat, and the relative position of each part of the user's body to the massage machine are detected. Information such as a positional relationship can be estimated. From the vibration information, in addition to this, for example, the state of installation of the massage machine on the installation surface, the state of the installation surface itself, the state of operation of the main mechanism, the physiological thickness of the subcutaneous fat at a predetermined part of the body of the user, etc. Information such as strategic information can be obtained. The information estimated from the vibration information is not limited to these, and if the change constitutes the vibration condition of the system and the change can be detected as the vibration information, it can be estimated by detecting the vibration information.

As described above, in the massage machine 1 according to the present embodiment, the driving source 24 or the treatment element 18 constitutes a vibration source, but the power transmission from the driving source 24 is intermittently performed, or any mechanism. By switching the driving method of operating the object or the driving method of driving the treatment element 18 by the treatment, the frequency component and the vibration level component of the vibration generated as the vibration source are different, and the vibration mode as the vibration source is changed. Switch. In this manner, by switching the operation mode of the massage machine 1, the vibration mode of the vibration source can be switched, and the vibration mode can be used for acquiring various vibration information.

Hereinafter, a process for detecting whether or not the user is sitting on the massage machine or whether or not the user is present based on the vibration information detected by the vibration detection sensor will be described.

(Human Body Sitting / Unseat and Occupancy Detection Process 1) The process of turning on the power of the drive source after the detection of seating will be described with reference to the flowchart shown in FIG.

First, measurement preparation processing such as resetting or initial setting of each element is performed (step 1).

Next, a judgment base of the installation environment of the massage machine 1
Installation environment allowable vibration specification value M ₀Read out (step
2).

Next, a vibration level measurement process is performed by the vibration detection sensor, and this value is substituted for M _x1 (step 3). Here, high-frequency vibration from a driving source such as a motor is measured. In this case, the high frequency is a frequency of about several tens to several hundreds of hertz.

Next, it is determined whether or not M _x1 ≧ M _{0 to} determine whether or not the vibration detection circuit system is operating normally (step 4).

If M _x1 <M ₀ , an error notification (1) process is carried out, in which the display section or the voice notification means notifies that there is an abnormality in the vibration detection circuit system or the installation environment as an error message (step 5). The switch is turned off (step 6).

If M _x1 ≧ M _0, it is determined whether or not the presence flag is set (step 7).

If it is determined in step 7 that the presence flag is set, the human body presence determination range standard value M ₁ , which is a reference for determining whether the user is present in the massage machine,
Reads the M ₂ (step 8), thereafter, performs the process of measuring the vibration level by the vibration detecting sensor, the value M
Substitute _x2 (step 9).

Next, it is determined whether or not M ₂ ≧ M _x2 ≧ M _{1 is} within the human body presence range (step 10).

In the determination at step 10, M _x2 <M ₁
Then, an error notification (2) process of notifying the operation of the drive source 24 of the treatment element drive unit 68 that there is an abnormality as an error message by the display unit 89 or the sound notification unit 90 is performed (step 11), and the power switch is turned on. Turn off (step 6).

In the determination at step 10, M ₂ <Mx ₂
Then, it is determined whether or not the measured value is out of the human body presence range (M ₂ ≧ M _x2 ≧ M ₁ ) continuously for a predetermined period or the number of times (Step 12). Returning, if continued, it is determined that the driver has left the course, the presence flag is reset (step 13), and the process returns to step 7.

In the determination at step 10, M ₂ ≧ M _x2
If ≧ M _1, to set a presence flag (step 1
4).

Next, the standard value CV ₀ is read (step 15). Here, CV is a coefficient of variation of the measured vibration level due to body movement, and can be set, for example, as CV = (standard deviation of vibration level) / (average value of vibration level).

Next, a process of calculating the variation coefficient CV _x1 is performed (step 16).

Next, it is determined whether or not the patient can be treated in a stable state based on whether or not CV ₀ ≧ CV _x1 (step 1).
7) If CV ₀ ≧ CV _x1 , the human body sitting / seating and presence detection processing is terminated, and if CV ₀ <CV _x1 , the display unit 89 or the sound notification unit 90 notifies the posture to stabilize the posture. Perform error notification (3) processing (step 1
8) Return to step 7.

If it is determined in the step 7 that the presence flag is not set, it is determined whether or not a vibration / shock signal due to the sitting / leaving of the human body is detected (step 1).
9). If the vibration / shock signal due to the sitting / leaving of the human body has not been detected, the apparatus waits until the vibration / shock signal is detected in the low power consumption mode while only the human body sitting / leaving is detected. If a vibration / shock signal due to the sitting / leaving of the human body is detected, it is determined whether or not a seating flag is set (step 20).

If it is determined in step 20 that the seating flag is set, the seating flag is reset (step 21), and the power source of the driving source 24 of the treatment element driving section 68 is turned off (step 22). ), And return to step 7.

If it is determined in step S20 that the seating flag is not set, the seating flag is set (step S23), and it is determined whether the seated flag is set (step S24).

If it is determined in step 24 that the presence flag has been set, the process proceeds to step 8. If the presence flag has not been set, the power of the drive source of the treatment element drive unit is turned on (however, the treatment element is stopped). After that (Step 25), the process proceeds to Step 8.

(Human Body Sitting / Unseat and Occupancy Detection Process 2) The process of turning on the power of the drive source before sitting will be described with reference to the flowchart shown in FIG.

First, measurement preparation processing such as resetting or initial setting of each element is performed (step 31).

Next, the power source of the driving source 24 such as the motor of the treatment element driving section 68 is turned on (step 32). However, at this time, the treatment element 24 is in a stopped state.

Next, the installation environment allowable vibration specification values M ₃ , M ₄ ,
Read the CV ₁ (step 33).

Next, a vibration level measurement process is performed by the vibration detection sensor, and this is substituted for M _x1 and the CV
_x1 is calculated (step 34). At this time, high frequency vibration from a driving source such as a motor is measured.

Next, M ₄ ≧ M _x1 ≧ M ₃ or CV ₁ ≧ CV _x1
Whether or not the driving source 24 of the vibration detecting section 70 and the treatment element driving section 68 is operating normally when the user is absent is determined (step 35). Here, it is determined whether the operation is normal or not based on whether the vibration level is within a specified vibration level or whether the vibration is stable.

In the determination at step 35, M _x1 <M ₃
Alternatively, if CV _x1 ≒ 0, an error notification (4) process is performed in which the operation of the vibration detection unit or the driving source of the treatment element driving unit is abnormal as an error message by the display unit 89 or the audio notification unit 90. (Step 36), the power of the driving source 24 of the treatment element driving unit 68 is turned off (Step 3).
7), the power switch 62 is turned off (step 38).

In the determination at step 35, M ₄ <M _x1
Alternatively, if CV ₁ <CV _x1 , an error notification (5) process of notifying the main mechanism unit 19 of the housing or the installation environment as an error message by the display unit 89 or the voice notification unit 90 as an error message. Perform (Step 3
9) Go to step 37.

In the determination of step 35, M ₄ ≧ M _x1 ≧
If M ₃ or CV ₁ ≧ CV _x1, read the body awareness determination range standard value M _1, M ₂ (step 40), thereafter, performs the process of measuring the vibration level by the vibration detecting sensor, the value M _x2 (Step 41). Here, high-frequency vibration from a driving source such as a motor is measured.

Next, it is determined whether or not M ₂ ≧ M _x2 ≧ M _{1 is} within the human body presence range (step 42).

In the determination at step 42, M _x2 <M ₁
Then, an error notification (2) process of notifying the operation of the driving source 24 of the treatment element driving unit 68 that there is an abnormality as an error message by the display unit 89 or the sound notification unit 90 is performed (step 43), and the process proceeds to step 37. move on.

In the determination at step 42, M _x2 > M ₁
Then, it is determined whether or not the measured value is out of the human body occupancy range continuously for a predetermined period or the number of times (step 4).
4) If it has not continued, return to step 40. If it has continued, after resetting the presence flag assuming that it has left halfway (step 45), it is determined whether or not a predetermined time has elapsed (step 46). If the time has not elapsed, the process returns to step 40, and if the predetermined time has elapsed, the process proceeds to step 37.

In the determination at step 42, M ₂ ≧ M _x2
If ≧ M _1, determines the presence or absence of setting of the presence flag (step 47).

If it is determined in step 47 that the presence flag is set, the standard value CV ₀ is read (step 48). Here, as described above, CV is a coefficient of variation of the measured vibration level due to body motion.

If it is determined in step 47 that the presence flag has not been set, the presence flag is set (step 49), and the flow advances to step.

After reading out the standard value CV ₀ in step 48, the process of calculating the variation coefficient CV _x2 is performed (step 5).
0).

Next, it is determined whether or not the patient is in a stable state in which treatment can be performed based on whether or not CV ₀ ≧ CV _x2 (step 5).
1) If CV ₀ ≧ CV _x2 , the seated posture automatic detection process (step 52) is performed, and then the human body sitting / seating and presence detection processes are terminated. If CV ₀ <CV _x2 , the posture is stable. An error notification (3) process of notifying by the display unit 89 or the sound notifying unit 90 is performed so as to cause the display unit 89 or the voice notifying unit 90 to perform the process (step 5
3) Return to step 40.

Hereinafter, the subroutine for automatically detecting the seating posture in step 52 will be described with reference to the flowchart shown in FIG.

(Automatic Attitude Detection Process) First, the standard value Σ
M _1, reads the? M ₂ (step 61).

Next, the vibration sensor 86e detects the seat 3
The vibration level is measured, and the measured value is substituted into M _sx1 (step 62). Here, in the present embodiment, the vibration detection sensor 86e is disposed on the seat 3, but its detection axis is disposed so as to be on the X axis (a direction orthogonal to the seat and going downward from above). . The vibration detection sensor 8
In 6e, the high frequency vibration transmitted from the vibration of the drive source of the treatment element such as the motor via the frames 13 and 7 of the massage machine 1 is detected. In order to detect such high frequency vibration,
As shown in FIG. 1A, a vibration detection sensor 86e may be installed on a spring 9 located below the cushion layer 8 of the seat 3.

Next, the vibration level of the backrest is measured by the vibration detecting sensor, and the measured value is substituted into _Mbx1 (step 63). Again, as with the vibration measurement of the seat, the vibration detection sensor is placed on the backrest,
The detection axis is arranged so as to be in a direction orthogonal to the backrest. The vibration detection sensor also detects high-frequency vibration transmitted from a massage machine driving source such as a motor via a frame of a massage machine. In order to detect such high-frequency vibration, a vibration detection sensor may be installed near the inner peripheral edge of the back frame located below the cushion layer of the backrest.

Next, the automatic determination of the seating posture is performed based on whether or not ΣM ₂ ≧ M _sx1 + M _bx1 ≧ ΣM ₁ (step 6).
4).

In the determination at step 64, ΔM ₂ <M
_{If sx1} + _Mbx1 , the user is absent, or there is a special unstable sitting where no contact pressure is applied to the installation site of both vibration detection sensors, or it is out of the applicable size such as a child The display unit 89 or the voice notification unit 90 notifies that the presence posture cannot be determined (step 65), and the automatic presence posture detection process ends.

In the determination at step 64, M _sx1 + M
_bx1 <If? M _1, since it is applicable size outside as in the weight of the user is too heavy, and the notification by the display unit 89 or the sound notification means 90 to the effect that the presence and orientation determination impossible (Step 66) Then, the occupant posture automatic detection process ends.

In the determination at step 64, ΔM ₂ ≧ M
If _sx1 + M _bx1 ≧ _{ΣM 1} determines whether the M _sx1 ≧ M _bx1 (step 67).

In the determination at step 67, M _sx1 ≧ M
_{If bx1} , it is determined that the _vehicle is in the reclining posture (step 68), and the automatic presence posture detection process ends.

In the determination at step 67, M _sx1 <M
_{If bx1} , it is determined whether or not M _sx1 ≪M _bx1 (step 69).

In the determination at step 69, M _sx1 ≪M
_If it is _bx1 , it is determined that the posture is such that the back is _lifted from the backrest (step 70), and the automatic presence posture detection processing ends.

In the determination at step 69, M _sx1 ≪M
If it is not _bx1 , it is determined that the posture is the normal posture (step 7).
1) The seating posture automatic detection process ends.

In the above-described automatic posture detection processing, the vibration detection sensors 86d provided on the backrest 2 and the seat 3
The determination condition is set by using the fact that the balance or magnitude of the contact pressure acting on the installation site of 86e differs depending on the user's presence posture, and that the vibration level is suppressed if the contact pressure is large. .

As described above, the vibration of the same vibration source is detected by the plurality of vibration detection sensors arranged at different parts, so that not only the presence or absence of the user but also the posture of the user can be determined. It is also possible to estimate a more detailed relative relationship between the massage machine and the user as to whether or not they are present.

(Automatic body shape detection processing) Hereinafter, the automatic body shape detection processing for automatically detecting the body shape of the user based on the vibration information will be described with reference to the flowchart shown in FIG. However, as a premise of this processing, it is necessary that the seated posture is a posture capable of performing treatment and that the power source of the drive source of the treatment element is turned on.

First, measurement preparation processing such as resetting or initial setting of each element is performed (step 81).

Next, the position of the treatment element 18 is detected by the treatment element position detector 69 (step 82), and it is determined whether or not the treatment element 18 is at the reference position (step 83). As the reference position of the treatment element 18, for example, the vertical position (the longitudinal direction of the backrest 2 or the position in the direction of the back of the user) is the standard spleen position, and the width position (the short direction of the backrest 2 or along the surface of the backrest). In addition, it can be set so that the standard streak width is the standard streak width and the strength position (the position in the direction perpendicular to the surface of the backrest 2) is the minimum protruding position. Although the reference position is set to the standard spleen position, this position is a part of the upper waist where it is difficult to feel pain even when stimulating a strong treatment child,
The setting of the reference position is not limited to this.

If it is determined in step 83 that the treatment element is not at the reference position, it is moved to the reference position (step 8).
4) Return to step 83. In the present embodiment, the treatment element 18
However, if the automatic end positioning processing for automatically returning the treatment element 18 to the reference position at the end of the treatment is performed, this judgment processing can be omitted.

In the determination at step 83, the treatment element 18
If is at the reference position, the treatment element 18 is driven in the tapping vibration mode (step 85).

Next, the standard value M _m1 is read (step 8).
6).

Next, a vibration level measurement process is performed by the vibration detection sensor 86a, and the measured value is substituted into _Mx3 (step 87). Here, the vibration of the treatment element as a low-frequency vibration source driven in the tapping vibration mode is detected by the vibration detection sensor 86a provided at the head-side end of the backrest frame. In this case, the low frequency is a frequency of about several hertz.

Next, a determination is made as to whether or not M _{x3 、} M _m1 , that is, whether or not the treatment element proper strength is at a predetermined vibration level (step 88).

In the determination at step 88, M _x3 <M _m1
If so, the treatment element intensity position is raised by one step (step 89), and the process returns to step 87.

In the determination at step 88, M _x3 > M _m1
If so, the treatment element intensity position is lowered by one step (step 90), and the process returns to step 87.

In the determination at step 88, M _x3 ≒ M _m1
If so, the treatment element 18 is moved in the upward direction at a predetermined moving speed or a moving step (step 91), and it is determined whether or not the treatment element 18 has been moved by a predetermined moving unit (step 92).

If it is determined in step 92 that the movement has not been made by the predetermined movement unit, the process returns to step 91, and steps 91 and 92 are repeated until the movement is made by the predetermined movement unit.

If it is determined in step 92 that the robot has moved by the predetermined moving unit, the vibration and the moving position are measured at the position moved by the predetermined moving unit, and the measured values are respectively used as M _Lx and L _x. (Step 93).

Next, the vibration level and the movement position are measured for each movement unit position, and the measured values are written to the memory (step 94).

From the vibration level measured value for each movement unit position, the envelope characteristic of the vibration level with respect to the treatment element movement distance is recognized (step 95).

Next, it is determined whether or not the position where the envelope sharply decreases (the interval between the upper and lower envelopes of the vibration level sharply decreases) has passed in the above-described recognition of the envelope characteristic of the vibration level. Step 96).

If it is determined in step 96 that the envelope has not passed the position where the envelope sharply decreases, step 91 is executed.
Return to

If it is determined in step 96 that the envelope has passed the position where the envelope sharply decreases, it is determined whether the envelope has moved from the sharply lower position by a predetermined additional distance (step 97).

If it is determined in step 97 that the vehicle has not moved a predetermined distance from the steeply lowered position, the process returns to step 91.

[0251] In the determination of step 97, if it moves from sharply lowered position by a predetermined distance, and provisionally registers the steep drop position as the shoulder position L ₁ (step 98), the treatment devices 18
Is stopped (step 99).

Next, the treatment element 18 is moved in the direction of the lower position at a predetermined speed or moving step (step 10).
0), it is determined whether or not it has moved by a predetermined movement unit (step 101).

If it is determined in step 101 that the user has not moved by the predetermined movement unit, the process returns to step 100, and
Steps 100 and 101 are repeated until the movement is performed by a predetermined movement unit.

If it is determined in step 101 that the robot has moved by the predetermined movement unit, the vibration level and the movement position are measured at the position moved by the predetermined movement unit, and the measured values are respectively used as M _Lx and L. Substitute _x (Step 1
02).

Next, the vibration level and the movement position are measured for each movement unit position, and the measured values are written to the memory (step 103).

A process of recognizing the envelope characteristic of the vibration level with respect to the treatment element movement distance is performed from the vibration measurement value performed for each movement unit position (step 104).

Next, it is determined whether or not the position where the envelope sharply rises (the interval between the envelopes above and below the vibration level sharply increases) has passed in the above-described envelope characteristic recognition of the vibration waveform (see FIG. 17). Step 105).

If it is determined in step 105 that the envelope has not passed the position where the envelope rises sharply, step 1
Return to 00.

If it is determined in step 105 that the envelope has passed the position where the envelope sharply rises, it is determined whether or not the envelope has moved from the sharply lowered position by a predetermined additional distance (step 106).

If it is determined in step 106 that the vehicle has not moved by a predetermined distance from the steep ascending position, step 10
Return to 0.

[0261] In the determination of step 106, if the move from steep raised position by a predetermined distance, temporarily registers the steep ascent position as the shoulder position L ₂ (step 107).

Next, the shoulder position is determined by L ₀ = (L ₁ + L ₂ ) / 2 (step 108).

Next, with reference to the measured shoulder position (L ₀ ), the waist, spleen, lower scapula angle, interscapular width (back streak width), neck streak, head position, etc. are determined and registered relatively ( Step 109a), and the body shape automatic detection process ends.

As described above, when the vibrating treatment element is moved in the vertical direction along the longitudinal direction of the backrest, the change pattern of the vibration waveform detected by the vibration detection sensor is used to determine the user's body relative to the massage machine. The body shape, which is the relative positional relationship between the parts, can be estimated.

(Other Body Type Automatic Detection Processing) In the above processing,
The position of each part of the body is determined after determining the shoulder position. The case where other processing is performed after the determination of the shoulder position will be described below with reference to the flowcharts shown in FIGS. Since the processing up to step 108 is the same as the above processing, the processing after step 108 will be described.

After determining the shoulder position in step 108,
The envelope characteristic of the vibration level with respect to the moving distance of the treatment element is identified (step 109b), and it is determined whether the change pattern of the vibration level is the A pattern or the B pattern.

Here, FIGS. 16 (b) and 16 (c) schematically show changes in the vibration level of pattern A and pattern B, respectively. The horizontal axis indicates the vibration level, and the vertical axis indicates the upward displacement of the treatment element 18 from the reference position along the spine. FIG. 16A shows the relationship between the treatment element and the body type of the user. A pattern is a vibration level change in case of treatment element width W _A, when the treatment elements upward from the reference position is moved, the treatment element is moved through the upper scapula from corner of the scapula. B pattern is the vibration level change when treatment element width is W _B, when the treatment elements upward from the reference position is moved, the treatment element is moved through between the left and right shoulder blades.

In step 109b, if the envelope characteristic of the vibration level is the pattern A, a steep rise position L ₃ (see FIG. 16) of the envelope characteristic by the scapula is determined from the envelope characteristic (step 110).

[0269] Next, by moving the massaging head 18 the lower position (step 111) and determines whether L ₃ position (step 112).

[0270] In the determination of step 112, if the L ₃ positions, repeating the move back to step 111.

[0271] In the determination of step 112, if L ₃ positions, stops the movement of the treatment element 18 in this position (step 113).

Next, the vibration level is detected by the vibration detection sensor.
Measurement processing, and the measured value is _xwTo the
114).

Next, the treatment elements 18 are moved by using the treatment element width adjusting mechanism in the direction of reducing the width of each other (step 11).
5) Using the detection result of the width position detecting means 84, it is determined whether or not it has moved by a predetermined moving unit (step 11).
6).

If it is determined in step 116 that the user has not moved by the predetermined movement unit, the process returns to step 115, and
Repeat the move.

In the determination in step 116, if the treatment element has been moved by the predetermined movement unit, the treatment element width becomes the minimum position (W
_MIN ) is determined (step 117).

If it is determined in step 117 that the treatment element width is not the minimum position, the flow returns to step 114 to perform the vibration measurement processing.

If it is determined in step 117 that the treatment element width is the minimum position, a process of recognizing the envelope characteristic of the vibration level with respect to the movement distance of the treatment element width is performed (step 11).
8).

Next, it is determined whether or not there is a position in the envelope characteristic recognized in step 118 where the vibration level sharply decreases (step 119).

If it is determined in step 119 that there is a position where the envelope characteristic sharply decreases, the treatment element width W ₀ at this position is registered as an appropriate treatment element width (step 120).
It is determined that the subject has the standard body shape (or the treatment target portion has the standard subcutaneous fat thickness) (step 121), and the treatment element 18 is moved to the spleen height position (a position lowered by a predetermined distance from the lower scapula angle position (L ₃ )). Is moved (step 122). FIG.
(B) schematically shows the change in the vibration level when there is a position where the envelope characteristic sharply decreases, with the ordinate representing the treatment element width and the abscissa representing the vibration level. At this time, the positional relationship between the treatment element and the body type of the user is as shown in FIG. 17A, and the treatment element on the scapula passes through the lower corner of the scapula as the treatment element on the scapula decreases in width. Indicates that a sharp decrease in the envelope characteristic occurs due to the movement to.

If it is determined in step 119 that there is no position where the envelope characteristic sharply decreases, it is determined that the patient is obese (or the subcutaneous fat thickness of the treatment target is large) (step 123). The width W ₀ is equal to W ₀ = (W _MIN
+ W _TYP ) / 2 (step 124), and the routine proceeds to step 122.

[0281] In the determination in step 109b, if it is B pattern envelope characteristics of the vibration level, to register the scapula corner position L ₃ as a standard position with respect to the shoulder position L ₀ (see FIG. 16) (step 125 ), Current treatment child width W
Register the _TYP as the appropriate treatment element width W ₀ (step 12
6) Go to step 126.

In step 122, after moving to the spleen height position (L ₄ ), the vibration level and the treatment element intensity position are measured, and the vibration level measurement value and the treatment element intensity position are set to M _P1 and P ₁ . Substitute (Step 12
7).

Next, the treatment element intensity position is raised by a predetermined amount ΔP ₁ (step 128), a vibration measurement process is performed, and the measured value is substituted into M _P2 , and P ₂ = P is assigned to the treatment element intensity position P _2.
1 + ΔP ₁ is substituted (step 129).

Next, it is determined whether or not the vibration level has changed by a specified amount or more based on whether or not M _P2 −M _P1 ≧ α (α is a predetermined amount) (step 130).

In the determination at step 130, M _P2 -M
_{If P1} ≧ α, the treatment element is moved at a predetermined moving speed or moving step in the lower position direction (step 131),
It is determined whether or not the movement has been performed by a predetermined movement unit (step 132).

In the determination at step 130, M _P2 -M
_{If P1} <α, the intensity position of the treatment element is further increased by a predetermined amount ΔP
_{It is} raised by ₂ (step 133) and step 131
Proceed to.

If it is determined in step 132 that the user has not moved by the predetermined moving unit, the process returns to step 131, and
Repeat the move.

If it is determined in step 132 that the vehicle has moved by the predetermined movement unit, the vibration level and the movement position at the predetermined movement unit position are measured, and the measured values are substituted into M _Lx and Lx (step S 132). 134), the vibration level is measured for each movement unit position, and the measured value is written to the memory (step 135).

Next, recognition processing of the envelope characteristic of the vibration waveform with respect to the moving distance of the treatment element is performed (step 136).

Next, it is determined whether or not the envelope characteristic of the vibration level has passed the steep rising position (step 13).
7).

If it is determined in step 137 that the current position has not passed the steep ascending position, the flow returns to step 131 to repeat the movement.

If it is determined in step 137 that the vehicle has passed the steep rising position, it is determined whether a predetermined additional distance has passed from the steep rising position (step 13).
8).

If it is determined in step 138 that the predetermined additional distance has not elapsed, the flow returns to step 131 to repeat the movement.

[0294] In the determination of step 138, if the elapsed predetermined additional distance, registers the steeply rising position L ₅ as the waist position (step 139).

Next, the strength position of the treatment element is returned to the initial position (the rise of ΔP ₁ or ΔP ₂ is reduced) (step 1).
40).

[0296] Returning to intensity position is the initial position of the treatment element, by moving the vertical position of the massaging head to the spleen height L ₄ (step 141), and ends the type automatic detection process.

As described above, when the vibrating treatment element is moved in the vertical direction along the longitudinal direction of the backrest and in the width direction along the lateral direction of the backrest, the vibration waveform detected by the vibration detecting sensor is changed. From the change pattern, it is possible to estimate a body shape, particularly a scapula position and a waist position, which is a relative positional relationship of the user's body with respect to the massage machine, and accordingly, an appropriate treatment element adapted to the user's body shape. The width can also be set automatically. Further, from the change pattern of the vibration waveform detected by the vibration detection sensor when the vibrating treatment element is moved in the width direction along the short direction of the backrest, the state of the user, i.e., subcutaneous of the treatment target part It is also possible to estimate fat thickness or whether it is normal or obese.

(Other body type automatic detection processing)
In the processing shown in FIG. 15, when the subcutaneous fat layer on the back is thick, as in an obese person, the shoulder position detection processing may not function properly. An effective process in such a case will be described as another body type automatic detection process according to the flowchart shown in FIG.

Since the processing up to step 88 is the same as the processing shown in FIG. 13, only different processing steps after step 88 will be described.

In the determination at step 88, M _x3 ≒ M _m1
If so, the treatment element 18 is moved in the upward direction at a predetermined moving speed or a moving step (step 151), and it is determined whether or not the treatment element 18 has moved by a predetermined moving unit (step 152).

If it is determined in step 152 that the movement has not been made by the predetermined movement unit, the flow returns to step 151 to repeat the movement.

If it is determined in step 152 that the vehicle has moved by the predetermined movement unit, the vibration level and the movement position at the predetermined movement unit position are measured, and _Mz (vibration level in the Z-axis direction), M _Lx (Vibration level in X axis direction), L
_x (movement position information) (step 153).

Next, the measured vibration value is written into the memory for each movement unit position (step 154), and the characteristic recognition processing of the envelope of the vibration level with respect to the treatment element movement distance is performed (step 155).

Next, it is determined whether or not the position where the envelope characteristic of the vibration level in the X-axis direction has sharply decreased has passed (step 156).

If it is determined in step 156 that the predetermined additional distance has elapsed from the steeply lowered position, this steeply lowered position is temporarily registered as a shoulder position (L ₁ ) (step 15).
8), the body type is determined to be the standard body type (step 159), the movement of the treatment element is stopped (step 160), and the process proceeds to step 100 in FIG.

If it is determined in step 156 that the position at which the envelope characteristic of the vibration level in the X-axis direction sharply decreases has not passed, the position at which the envelope characteristic of the vibration level in the Z-axis direction sharply increases is detected. It is determined whether or not it has been performed (step 161).

If it is determined in step 161 that a position where the envelope characteristic of the vibration level in the Z-axis direction sharply rises is detected, this sharp rise position is determined and registered as the head position (L _H ). (Step 162), the body is determined to be obese (Step 163), and a position (L ₀ = L _H −ΔL) that is returned a predetermined distance from the head position (L _H ) is registered as a shoulder position (Step 164). Stop moving (Step 1
65).

Next, the treatment element is moved to the shoulder position (L ₀ ) where the treatment element is detected (step 166), and step 1 is performed.
Go to 09.

[0309] As described above, when the vibrating treatment element is moved in the vertical position along the longitudinal direction of the backrest, the change pattern of the vibration waveform detected by the plurality of vibration detection sensors having different detection axes is used as the massage machine. It is possible to estimate a body shape, particularly a shoulder position and a head position, which is a relative positional relationship of each part of the body of the user with respect to. Similarly, it is possible to estimate the state of the user, that is, whether the user is a normal body or an obese body.

(Second Embodiment) A massage machine according to a second embodiment of the present invention will be described.

The massage machine 101 according to the present embodiment is of a bed type. As shown in FIG. 19, a massage mechanism 102 is provided inside a bed supporting a lying user.
Is built-in. FIG. 20 is a perspective view showing a bed frame 103 supporting the massage mechanism 102.

[0312] Since the internal configuration of the massage machine 101 including the massage mechanism 102 is the same as that of the first embodiment, the description is omitted.

As shown in FIG. 19, a substantially rectangular parallelepiped massaging machine 101 includes an exterior portion 104 including a cushion layer (not shown) and an exterior portion 104 and a bed frame 103 for supporting a user's body. I have. The upper part of the bed frame 103 has a substantially rectangular shape along the upper surface of the bed,
The massage mechanism 102 is arranged in a rectangular opening 105 opened in the center. On the side of the bed frame 103, a rack 106 is formed in the longitudinal direction, and meshes with the elevating shaft 108 provided on the main mechanism 107 of the massage mechanism 102 and the pinions 110, 111 fixed to the fir shaft 109. It has become.
The leg side of the frame 103 is grounded by supporting legs 112, 112 for stably supporting the bed frame 103, and the head side is grounded via vibration absorbing parts 113, 113 made of a hydraulic (pneumatic) suspension. . The vibration absorbing section 113 may be formed of a member capable of absorbing vibration,
It may be formed of a spring, rubber, or the like. A main mechanism 107 having a treatment element 114, a driving source 115, and the like is connected to a frame 10 via pin shafts 110 and 111 attached to ends of an elevating shaft 108 extending in a lateral direction and a fir shaft 109.
3 and reciprocates in the longitudinal direction of the bed by rotating a pinion 110 that meshes with a rack 106 on the side of the bed frame 103. Treatment child 11
Numeral 4 protrudes toward the upper surface of the bed through a slit of the exterior part 104 (not shown), so that the user can directly contact the user, but indirectly to the user via a deformable covering member such as cloth or leather. May be contacted.

In this embodiment, a vibration detection sensor 116 is mounted on the lower surface on the head side above the bed frame 103. The bed frame 103 is provided with a support leg 112 that can be stably supported on the leg side, a vibration absorbing portion 113 on the head side, and is configured to be cantilevered. For this reason, the vibration level in the direction of the arrow PQ increases at the head-side end, and the vibration detection sensor 116 provided here can easily detect the vibration.

In this embodiment, similarly to the first embodiment, the vibration detecting sensor 1 detects the vibration caused by the operation of the drive source 115 such as a motor and the treatment element 114 or the impact given by the user.
The detection by 16 makes it possible to detect the user's seating, unseating and presence of the user, automatic detection of the presence posture, automatic detection of the body shape, and the like.

(Third Embodiment) A massage machine according to a third embodiment of the present invention will be described with reference to FIG.

The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

[0318] The massage machine 201 according to the present embodiment comprises:
The massage machine 1 similar to the first embodiment is provided with a vibration generator 202 that generates vibration that does not contribute to treatment. Since such a vibration generating device only needs to vibrate independently of the treatment operation, conditions such as a frequency can be appropriately set, but a small high-frequency vibration or the like is generated to such an extent that the user does not feel the vibration. Things are desirable. Vibration generator 2
For example, a motor, a solenoid, a piezoelectric vibration, or the like can be used as 02, but is not limited thereto. The vibration generating device 202 includes a backrest frame 1 as shown in FIG.
3, can be attached to the outside of the seat frame 7 and the leg frame 10, but the attachment site is not limited to such a site. What is necessary is just to select suitably according to the position of a vibration detection sensor, the kind of information desired by detection of vibration information, etc.

FIG. 22 is a block diagram showing the internal configuration of the massage machine 201.

In the present embodiment, an independent vibration generator 203 is provided as a vibration source independent of the treatment. The independent vibration generation unit 203 mainly includes a vibration generation device 202 that generates a vibration that is not involved in treatment, and a control circuit unit 204 that controls the vibration generation device 202.
The vibration of the vibration generator is controlled based on the information from (1). Vibration generator 203 so that it can vibrate in a plurality of vibration modes having different frequencies, vibration levels or vibration directions
And a vibration mode including a vibration pattern which is a combination of these conditions or a time series thereof is set in the control circuit unit 2.
04 may be switched. Independent vibration generator 2
03 is supplied with power from the power supply unit 62 and the CPU
A switch is provided for interrupting the power supply to the independent vibration generating unit 203 in response to a signal from 61.

If a vibration source that vibrates independently of such a treatment operation is provided, vibration conditions such as a vibration level, a frequency, and a vibration direction are set in advance according to information to be detected or estimated from vibration information. be able to. Therefore, it is possible to provide vibration information with more variety or better S / N ratio.

(Fourth Embodiment) A massage machine according to a fourth embodiment of the present invention will be described with reference to FIG.

The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

[0324] In the first embodiment, the treatment element 18 is actuated to perform each treatment of stretching the back, rubbing, tapping, and fir. The massage machine 301 according to the present embodiment employs a vibrator as a vibration treatment means. The treatment is performed by vibration.

FIG. 23 shows a state in which the exterior part 16, the back frame 15, the spring 9, and a main control part including a control circuit such as a CPU to be described later are removed from the massage machine 301 according to the present embodiment, and the backrest part, the seat part, and the legs are removed. Each frame 13,
7 and 10 are shown. Backrest frame 13
Four fixing means 302a extending radially on the head side of
A vibrator 303 is provided at the center of 302b, 302c, 302d, and similarly extends radially inside the waist side of the backrest frame 13, inside the seat frame, and inside the leg frame. Book fixing means 304a to 304d, 306a to 306d, 308a to
Vibrators 305, 3 supported at the center of 308d
07 and 308 are provided. The fixing means can be constituted by a spring or a pipe, but is not limited to this. Similar to the first embodiment, vibration detection sensors (not shown) are provided on the longitudinally outer surface, the laterally outer surface of the head of the backrest frame 13, the vicinity of the inner peripheral edge of the back frame, and the seat frame. It can be attached to the spring, the inner surface of the leg frame, or the like, but may be appropriately selected and attached according to the type of vibration information to be detected and the characteristics of the vibration detection sensor.

FIG. 24 is a block diagram schematically showing the internal configuration of the massage machine 301. The same components as those in the first embodiment are denoted by the same reference numerals.

In this embodiment, a vibrator driving section 310 is provided in place of the treatment element driving section in the first embodiment. The vibrator drive unit 310 has a CP
Vibrators 303 and 30 based on information from U61
4, 305, 306, a first vibrator control circuit 311, a second vibrator control circuit 312, a third
A vibrator control circuit section 313 and a fourth vibrator control circuit section 314 are provided. Further, a vibrator drive switch 315 is provided for interrupting power supply to the vibrator in response to a signal from the CPU. At least one of the vibrators 303 to 306 is configured to be able to vibrate in a plurality of vibration modes having different vibration frequencies, vibration levels, or vibration directions, and a vibration mode including a vibration pattern which is a combination of these conditions or a time series thereof. May be switched by the control circuit units 311 to 314.

Also in this embodiment, the detection of the vibration information by the vibration detection sensor allows the state of contact between the user and the massage machine including sitting and unmoving, and the relative position of each part of the user's body to the massage machine. Information such as relationships can be estimated. From the vibration information, in addition to this, for example, information such as the installation state of the massage machine on the installation surface, the operation state of the apparatus, and physiological information such as the subcutaneous fat thickness of a predetermined part of the body of the user is obtained. The information estimated from the vibration information is not limited to these, but constitutes the vibration condition of the system,
If the change can be detected as vibration information, it can be estimated by detecting the vibration information.

In this embodiment, the vibrators 303 to 3
06 is fixed to the frame, but as in the first embodiment, the vibrator 303 or 304 of the backrest 2
May be supported so as to move along the back streak direction, along the backrest portion 2 and in a direction perpendicular to the back streak or in a direction perpendicular to the backrest portion 2. Seat frame 7 and leg frame 1
Similarly, the vibrators 305 and 306 supported by 0 may be provided so as to be movable.

Also in the present embodiment, it goes without saying that a vibration source which is not involved in the treatment may be provided in addition to the vibrator, and the vibration from the vibration source may be detected by the vibration detection sensor.

Further, both the vibrator described in the present embodiment and the massage mechanism using the treatment element described in the first embodiment may be provided. For example, the leg frame 10 of the first embodiment can be provided with the vibrator of the present embodiment.

(Fifth Embodiment) A relaxation chair as a relaxation device according to a fifth embodiment of the present invention will be described with reference to FIG.

FIG. 25 is a side view showing the backrest portion frame 13 with the exterior and cushion layer of the backrest portion 2 removed. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

The relaxation chair 401 according to the present embodiment has a backrest frame 13, a seat frame 7, a leg frame 10, a back frame 15, an exterior part (not shown) and the like, similarly to the massage machine according to the first embodiment. A cushion layer is provided (a main control unit including a CPU 61 and the like, which will be described later, and an operation switch unit 67 are also omitted in the drawing, but an appropriate part may be selected and installed). The relaxation chair 401 includes the backrest frame 13.
The air bag (fluid storage means) 402 is provided at the center of the air bag (the details of the support structure of the air bag 402 are omitted in the figure). The surface side of the backrest 2 of the air bag 402 protrudes from a hole in the center of the back frame 15, and a vibration generator 40 for vibrating the air bag 402 is provided on the back side of the air bag 402.
3 are provided. Vibration generator (vibration applying means) 4
By vibrating the air bag 402 with 03, the user leaning on the backrest portion 2 is given a relaxation effect for relieving physical or mental tension.

FIG. 26 is a block diagram showing the internal structure of the relaxation chair 401. As shown in FIG.

Since the configuration is the same as that of the block diagram according to the first embodiment except for the configuration of the relaxation action section, the description of the same configuration will be omitted.

The relaxation action section 404 includes an air bag 402 as a relaxation means, a solenoid,
Vibration generator (drive source) 4 such as speaker or piezoelectric vibrator
03, and a control circuit unit 405 for controlling the vibration generating device 403.
The vibration generator 403 is controlled based on the information from U61. Power is supplied to the vibration generator 403 from the power supply unit 62, and a relaxation action switch 406 for interrupting power supply to the vibration generator 403 based on a signal from the CPU 61 is provided.

Although not particularly shown, the vibration detecting sensor includes a spring provided on a longitudinally outer surface of the head of the backrest frame, a laterally outer surface of the backrest, an inner peripheral edge of the back frame, and a seat frame. It can be attached to the inner surface of the leg frame or the like, but may be appropriately selected and attached according to the type of vibration information to be detected and the characteristics of the vibration detection sensor.

In the present embodiment, similarly to the first embodiment, the vibration caused by the operation of the vibration generating device 403 and the air bladder 402 or the shock given by the user is detected by the vibration detection sensor, so that the user can sit down. It is possible to detect unattended and unoccupied seats, automatically detect a seated posture, and automatically detect a body shape.

(Sixth Embodiment) A relaxation chair according to a sixth embodiment of the present invention will be described with reference to FIG.

The same components as those in the fifth embodiment are denoted by the same reference numerals, and description thereof is omitted.

The relaxation chair 501 according to this embodiment includes, in addition to the vibration generator 403, a pump 502 for filling the air bag 402 with air, a control valve 503 for discharging air from the air bag 402, and the air bag 40.
2 is provided with a temperature control unit (temperature control means) 504 for controlling the temperature of the air in the apparatus 2. By controlling the pump 502 and the control valve 503 to inflate and deflate the air bag 402, a relaxation effect is provided,
Controlling the temperature of the air in the air bag 402 also provides a relaxation effect.

FIG. 28 is a block diagram showing the internal structure of the relaxation chair.

The description of the same configuration as that of the block diagram according to the fifth embodiment will be omitted.

In this embodiment, the relaxation action section 404 is provided with a pump (filling means) 502, a control valve (discharge means) 503, an intake / exhaust control circuit section 505 for controlling these, and a temperature control section 504. The intake / exhaust control circuit controls the pump 502 and the control valve 503 based on the information from the CPU 61, and inflates / deflates the air bladder 402 to give a relaxation effect. The vibration due to the expansion and contraction of the air bag 402 also acts as a vibration source. The relaxation chair 501 includes a heating unit 506, a cooling unit 507, a temperature detection unit 508, and a temperature control circuit unit 509 for the air bag 402.
The temperature control unit 504 includes The temperature control circuit unit 509 controls the temperature in the air bag 402 by the heating unit 507 or the cooling unit 508 based on the detection result of the temperature detection unit 508 according to the information from the CPU 61. Also, the vibration generator 403, the pump 50
2, power is also supplied to the control valve 503 and the temperature control unit 504.

As in the fifth embodiment, except for the fact that vibration caused by expansion and contraction of the air bag 402 can be used as a vibration source, the vibration generator 403 and the operation of the air bag 402 or shocks given by the user can be used. By detecting the vibration with the vibration detection sensor, it is possible to detect the user's sitting, unseating, and presence of the user, automatic detection of the presence posture, automatic detection of the body type, and the like.

(Seventh Embodiment) A relaxation chair according to a seventh embodiment of the present invention will be described with reference to FIG.

The same components as those in the sixth embodiment are denoted by the same reference numerals, and description thereof is omitted.

The relaxation chair 601 according to the present embodiment is different from the sixth embodiment in that a liquid bag (fluid storage means) 60 in which a liquid such as water is stored in the center of the backrest 2.
2 is provided. A vibration generator 403 is provided on the back surface of the liquid bag 602 to apply vibration to the liquid in the liquid bag 602,
It provides a relaxation effect. As the vibration generating device 403, an impact vibration may be applied to the liquid bag 602 by using an ultrasonic vibrator in addition to that described in the sixth embodiment. In the relaxation chair, a pump (filling means) 603 for feeding the liquid into the liquid bag 602 and a control valve (discharge means) 60 which opens and closes to discharge the liquid from the liquid bag 602 are provided.
4, a liquid tank (fluid storage means) 605 for storing liquid and a temperature control unit 504 for controlling the temperature of the liquid in the liquid tank 605 are provided. The temperature control unit 504 includes a heating unit 506, a cooling unit 507, and a temperature detection unit 508. The temperature of the liquid in the liquid bag 602 is controlled by circulating the liquid whose temperature is stored in the liquid tank 605 with the liquid bag 602 by controlling the pump 603 and the control valve 604. I have.

The internal configuration of the relaxation chair 601 according to the present embodiment is the same as the block diagram shown in FIG. 28, except that the air bag 402 and the intake / exhaust control circuit 505 are replaced by a circulation control circuit for controlling the circulation of the liquid bag 602 and the liquid. The description is omitted because the configuration is the same except that a unit is used.

In the present embodiment, similarly to the fifth embodiment, the vibration caused by the operation of the vibration generating device 403 and the liquid bag 602 or the shock given by the user is detected by the vibration detecting sensor, so that the user can sit down. It is possible to detect unattended and unoccupied seats, automatically detect a seated posture, and automatically detect a body shape.

(Eighth Embodiment) A massage machine and a relaxation chair according to an eighth embodiment of the present invention will be described with reference to FIG.

The present embodiment is different from the massage machine according to the first, third and fourth embodiments, and the configuration of the relaxation chair and the seat frame according to the fifth to seventh embodiments. As for the backrest 2 and the legs 4, the frame and other mechanisms are the same as those in the above-described embodiment.
Shows only a frame, and description of portions having the same configuration is omitted.

As shown in FIG. 30, the seat frame 802
Are supported by a substantially square support base 803 provided on the four support legs 6 on the installation section 5. Seat frame 8
Numeral 02 is almost the same size as the support base 803, and is supported on the support base 803 by vibration absorbing parts 804 provided on the left and right sides at the end on the leg part 4 side, and the end on the backrest part 2 side. The part is swingably supported by left and right arms 805 standing upright on the support base 803.

The backrest frame 13 is the seat frame 8
02 is swingably supported, and the leg frame 10 is swingably supported by the support base 803.

In the massage machine and the relaxation chair provided with the frame 801 having such a structure, since the seat frame 802 has a cantilever structure, the vibration level of the seat frame 802 at the end on the leg side is set. Becomes larger. Therefore, vibration information can be easily obtained by attaching the vibration detection sensor to the seat frame 802 itself without disposing the vibration detection sensor on the spring 9 provided on the seat frame 7 as in the above-described embodiment. Can be.

In this embodiment, the seat frame is supported on the support base. However, the structure is not limited to such a structure as long as the seat frame is supported by a cantilever structure.

[0358]

As described above, according to the present invention, since information on a system including a massage machine or a relaxation device is obtained based on the detection result selected by the vibration detecting means, the massage machine or the relaxation device is obtained. It is possible to provide a massage machine or a relaxation device that can acquire information that can be used for controlling the device with a simple configuration using a vibration detection unit.

[Brief description of the drawings]

FIG. 1A is a perspective view showing a schematic configuration inside a massage machine according to a first embodiment of the present invention, and FIG.
(B) is a side view which shows the state which the user was sitting on the massage machine.

FIG. 2 is a side view showing a change in the position of a main mechanism of the massage machine according to the first embodiment.

FIG. 3A is a side view showing a tapping operation-related portion of a main mechanism of the massage mechanism, and FIG. 3B is a side view for explaining the operation of a treatment element for a user.

FIG. 4 (a) is a side view showing a treatment element intensity adjustment mechanism-related portion of a main mechanism portion of the massage mechanism;
(B) is a side view explaining position change with respect to a user of a treatment element.

FIG. 5A is a front view showing a rubbing operation-related portion of a main mechanism of the massage mechanism, and FIG. 5B is a diagram for explaining an operation of a treatment element for a user.

6 (a) is a front view showing a part related to fir operation of a main mechanism of the massage mechanism, and FIG. 6 (b) is a view for explaining an operation of a treatment element for a user.

FIG. 7 is a block diagram schematically showing the internal configuration of the massage machine according to the first embodiment.

FIG. 8 is a diagram showing a relationship between a change in vibration level in the X-axis, Y-axis, and Z-axis directions and a change in pressure at a contact portion of the treatment element.

FIG. 9 is a diagram showing a relationship between a change in vibration level in the X-axis, Y-axis, and Z-axis directions and a change in the relative relationship between the user and the massage machine.

FIG. 10 is a flowchart illustrating a human body sitting / unseat and seat presence detection process when the power source of the drive source is turned on after the seating is detected.

FIG. 11 is a flowchart illustrating human body sitting / unseat and seat presence detection processing when the power source of the drive source is turned on before sitting.

FIG. 12 is a flowchart illustrating a seating posture automatic detection subroutine.

FIG. 13 is a flowchart illustrating a body type automatic detection process for automatically detecting a user's body type based on vibration information.

FIG. 14 is a part of a flowchart illustrating a process in a case where another process is performed after a shoulder position is determined.

FIG. 15 is a part of a flowchart illustrating a process in a case where another process is performed after the shoulder position is determined.

FIG. 16 (a) shows the relationship between the treatment element and the body type of the user, and FIGS. 16 (b) and (c) are diagrams schematically showing changes in the vibration level of the A and B patterns, respectively. is there.

17A shows a positional relationship between a treatment element and a user's body shape, and FIG. 17B shows a change in vibration level when there is a position where the envelope characteristic sharply decreases. FIG. 7 is a diagram schematically showing a treatment element width taken on the horizontal axis of the vibration level.

FIG. 18 is a flowchart illustrating another automatic body shape detection process.

FIG. 19 is a view showing a schematic configuration of a massage machine according to a second embodiment of the present invention.

FIG. 20 is a perspective view showing a frame supporting a massage mechanism.

FIG. 21 is a view showing a schematic configuration of a massage machine according to a third embodiment of the present invention.

FIG. 22 is a block diagram showing an internal configuration of a massage machine according to a third embodiment.

FIG. 23 is a view showing a schematic configuration of a massage machine according to a fourth embodiment of the present invention.

FIG. 24 is a block diagram schematically showing an internal configuration of a massage machine according to a fourth embodiment of the present invention.

FIG. 25 is a diagram showing a schematic configuration of a relaxation chair according to a fifth embodiment of the present invention.

FIG. 26 is a block diagram showing an internal configuration of a relaxation chair according to a fifth embodiment.

FIG. 27 is a view showing a schematic configuration of a relaxation chair according to a sixth embodiment of the present invention.

FIG. 28 is a block diagram showing an internal configuration of a relaxation chair according to a sixth embodiment.

FIG. 29 is a diagram showing a schematic configuration of a relaxation chair according to a seventh embodiment of the present invention.

FIG. 30 is a diagram showing a frame configuration of a massage machine and a relaxation chair according to an eighth embodiment of the present invention.

[Explanation of symbols]

1, 101, 201, 301 Massage machine 401, 501, 601 Relaxation chair 86a, 86b, 86c, 86d, 86e, 86f Vibration detection sensor 2 Backrest 3 Seat 4 Leg 7 Seat frame 10 Leg frame 13 Backrest Frame 14,102 Massage mechanism 15 Back frame 18,114 Treatment element 19,107 Main mechanism section 20 Moving mechanism section 21,22 Pulley 23 Belt 24,115 Drive source 25 Mechanism body section 26,108 Elevating shaft 27,109 Fir shaft 27a cam groove 28, 29, 110, 111 pinion 30, 106 rack 31 treatment element arm 32 housing 33 link member 34 treatment element strength adjusting shaft 35, 41 bearing part 36, 39 rod 37 bush 37a shaft hole 37b pin 38 Arm part 40 Beating shaft 41 Stopper 42 Spring 50 Transmission mechanism housing part 51, 53 Base shaft 54 Clutch 61 CPU 65 ROM 66 RAM 68 Treatment element drive section 69 Treatment element position detection section 70 Vibration detection section 71 Notification section 72 Main drive mechanism Part 76 Vertical drive mechanism part 78 Treatment element width adjustment mechanism 80 Treatment element strength adjustment mechanism 103 Bed frame 112 Support leg 113 Vibration absorber 202 Vibration generator 203 Independent vibration generator 303, 305, 307, 308 Vibrator 302a-d, 304a ~ D, 306a ~ d, 308a
To d fixing means 310 vibrator drive unit 402 air bag 403 vibration generator 404 relaxation action unit 502 pump 503 control valve 504 temperature control unit 506 heating means 507 cooling means 508 temperature detection means 801 frame 802 seat frame 803 support base 804 vibration Absorber 805 Arm

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Hiroto Yamamoto 24th Yamanouchi Yamanoshitamachi, Ukyo-ku, Kyoto-shi, Japan OMRON Life Science Research Laboratories F term (reference) AF06 AF14 BA03 BB03 BC02 BC04 CA03 CA13 DA04 DA05

Claims (82)

[Claims] The present invention relates to a vibration detecting means for detecting vibration caused by a force applied by a user to a massage machine, and a system including the user and the massage machine based on a detection result obtained by the vibration detecting means. A massage machine comprising: information acquisition means for acquiring information; 2. The massage machine according to claim 1, wherein said information acquisition means is an estimation means for estimating a state of contact or separation between said user and said massage machine. A vibration source; a vibration detection unit configured to detect vibration from the vibration source; and an information acquisition unit configured to acquire information on a system including the massage machine based on a detection result obtained by the vibration detection unit. A massage machine comprising: 4. The massage machine according to claim 3, wherein the system includes a massage machine and a user, and the information acquisition unit acquires information about the system including the massage machine and the user. 5. The system according to claim 3, wherein the system includes a massage machine and an installation environment of the massage machine, and the information acquisition unit acquires information about the system including the massage machine and an installation environment of the massage machine. Massage machine. 6. The system includes a massage machine, a user, and an installation environment of the massage machine, and the information acquisition unit acquires information about the system including a massage machine, a user, and an installation environment of the massage machine. The massage machine according to claim 3, wherein 7. The information acquisition means is based on a detection result obtained under vibration conditions of the system determined according to a state of the user and / or a state of contact or separation between the massager and the user. 5. The massage machine according to claim 4, wherein the massage machine is an estimating means for estimating a state of the user and / or a contact or separation state between the user and the massage machine. 8. The system according to claim 1, wherein the information acquiring unit is configured to perform the operation under a vibration condition of the system determined according to a state of an installation environment of the massage machine and / or a contact or separation state between the massage machine and the installation environment of the massage machine. 6. An estimating means for estimating a state of the installation environment of the massage machine and / or a contact or separation state between the massage machine and the installation environment of the massage machine based on the obtained detection result. The described massage machine. 9. The estimating unit estimates a state of the user and / or a contact or separation state between the user and the massage machine based on a detection result of the vibration detecting unit under different vibration conditions. The massage machine according to claim 7, which is an estimation unit. 10. The state of the installation environment of the massage machine and / or the contact between the massage machine and the installation environment of the massage machine based on the detection result of the vibration detection means under different vibration conditions. 9. The massage machine according to claim 8, wherein the massager is an estimating means for estimating a separation state. 11. The estimating means may include a state of the user and / or the user and the massage machine based on a change pattern formed by a detection result of the vibration detecting means under a time-varying vibration condition. 8. The massage machine according to claim 7, wherein the contact or separation state of the massager is estimated. 12. The massaging machine installation environment state and / or the massage machine and / or the massaging machine based on a change pattern formed by a detection result of the vibration detection unit under a vibration condition that changes in a time series. The massage machine according to claim 8, wherein the state of contact or separation with the installation environment of the massage machine is estimated. 13. The vibration source is provided movably on the massage machine, and the estimating unit is configured to detect a change in a vibration condition caused by the movement of the vibration source and to change a detection result of the vibration detecting unit. 8. The massage machine according to claim 7, wherein the state of the user and / or the state of contact or separation between the user and the massage machine is estimated. 14. The vibration source is provided movably on the massage machine, and the estimating means is configured to detect a change in a vibration condition caused by the movement of the vibration source and to change a detection result of the vibration detecting means. The massage machine according to claim 8, wherein the state of the installation environment of the massage machine and / or the state of contact or separation between the massage machine and the installation environment of the massage machine are estimated. 15. The vibration source according to claim 3, wherein the vibration source vibrates independently of a treatment operation.
The massage machine according to any one of the above. 16. The massage machine according to claim 15, wherein the vibration source has a single vibration mode. 17. The massage machine according to claim 15, wherein the vibration source has a plurality of vibration modes, and further includes a vibration mode switching unit that switches the vibration modes. 18. The vibration source according to claim 3, wherein the vibration source is a vibration source that vibrates in association with a treatment operation.
The massage machine according to any one of the above. 19. The massage machine according to claim 18, wherein the vibration source is a treatment means for performing a tapping treatment. 20. The massage machine according to claim 19, wherein the treatment means performs a tapping operation alternately on both sides of the spine of the user. 21. The massage machine according to claim 18, wherein the vibration source is a treatment means for performing fir treatment. 22. The massage machine according to claim 18, wherein the vibration source is vibration treatment means for performing vibration treatment. 23. The massage machine according to claim 18, wherein the vibration source is at least one of a treatment unit and a drive source of the treatment unit. 24. The vibration source is at least one of treatment means, a driving source of the treatment means, and a driving force transmitting means for transmitting a driving force from the driving source to the treatment means. The massage machine according to claim 18. 25. The massage machine according to claim 18, wherein the vibration source has a single vibration mode. 26. The massage machine according to claim 18, wherein the vibration source has a plurality of vibration modes, and further comprises vibration mode switching means for switching the vibration mode. 27. The massage machine according to claim 26, wherein the plurality of vibration modes include at least one of a tapping treatment mode, a fir treatment mode, a rubbing treatment mode, and a vibration treatment mode. 28. The massage machine according to claim 16, wherein the vibration mode includes at least one of a high-frequency vibration mode and a low-frequency vibration mode. 29. The massage machine according to claim 1, wherein said vibration detecting means detects vibration in a predetermined direction. 30. A method according to claim 30, wherein a plurality of said vibration detecting means are provided, and said information obtaining means obtains information on a system including said massage machine based on detection results obtained by said plurality of vibration detecting means. Item 30. The massage machine according to any one of Items 1 to 28. 31. The apparatus according to claim 3, wherein the plurality of vibration detecting units detect vibrations in different directions.
0 massage machine. 32. The vibration detecting means, comprising: an acceleration sensor;
The massage machine according to any one of claims 1 to 30, comprising one of a pressure sensor and a strain sensor. 33. The massage machine according to claim 1, wherein the massage machine is of a chair type. 34. The massage machine is of a chair type having a seat on which a user sits and a backrest on which the user rests. 4. The other end part is supported by a part frame, and a massage mechanism including a treatment means is movably provided on the backrest part frame.
3. The massage machine according to any one of 2. 35. The massage machine is of a chair type having a seat portion on which a user sits and a backrest portion on which the user rests. The massage machine according to any one of claims 1 to 32, wherein the other end is supported by the frame, and vibration detection means is provided near the head-side end of the backrest frame. 36. The massage machine is of a chair type having a seat portion on which a user sits and a backrest portion on which the user rests. 33. The vibration sensor according to claim 1, wherein the other end is supported by a frame, and the backrest frame includes a vibrating body capable of high-frequency vibration, and the vibrating body includes the vibration detecting unit. The massage machine described in Crab. 37. The massage machine is of a chair type having a seat portion on which a user sits and a backrest portion on which a user rests. The seat frame includes a vibrating body capable of high-frequency vibration. The massage machine according to any one of claims 1 to 32, further comprising vibration detection means. 38. The massage machine is of a chair type having a seat on which a user sits and a backrest on which the user rests. The seat frame vibrates one end by a seat frame support member. 33. The massage machine according to any one of claims 1 to 32, wherein the massager is supported so as to be capable of being provided with a vibration detecting means near the one end of the seat frame. 39. The massage machine according to claim 1, wherein the massage machine is of a bed type. 40. The massage machine is of a bed type having a bed on which a user lies, wherein the bed frame has at least one end vibrably supported, and the bed frame includes a treatment unit. The massage machine according to any one of claims 1 to 32, further comprising a massage mechanism. 41. The massage machine is of a bed type having a bed on which a user lies, and the bed frame has at least one end supported so as to be capable of vibrating, and the bed frame is provided near the one end side. The massage machine according to any one of claims 1 to 32, further comprising vibration detection means. 42. An information acquisition method for acquiring information relating to a system including a massage machine, wherein the massage machine is provided with vibration detection means for detecting vibration, and wherein the vibration detection means acquires the information based on a detection result. How to get machine information. 43. A vibration detecting means for detecting vibration caused by a force applied by a user to a relaxation device, and a system including the user and the relaxation device based on a detection result obtained by the vibration detecting means. A relaxation device, comprising: information acquisition means for acquiring information. 44. The relaxation apparatus according to claim 43, wherein said information acquisition means is an estimation means for estimating a contact or separation state between said user and said relaxation apparatus. 45. A vibration source, vibration detecting means for detecting vibration from the vibration source, information obtaining means for obtaining information on a system including the relaxation device based on a detection result obtained by the vibration detecting means, A relaxation device comprising: 46. The system according to claim 4, wherein the system includes a relaxation device and a user, and the information acquisition unit acquires information about the system including the relaxation device and the user.
6. The relaxation device according to 5. 47. The system according to claim 45, wherein the system includes a relaxation apparatus and an installation environment of the relaxation apparatus, and the information acquisition unit acquires information about the system including the relaxation apparatus and an installation environment of the relaxation apparatus. Relaxation equipment. 48. The system includes a relaxation device, a user, and an installation environment of the relaxation device, and the information acquisition unit acquires information on the system including a relaxation device, a user, and an installation environment of the relaxation device. The relaxation device according to claim 45, wherein: 49. The information acquisition means based on a detection result obtained under vibration conditions of the system determined according to a state of the user and / or a state of contact or separation between the relaxation device and the user. 47. The relaxation device according to claim 46, further comprising estimating means for estimating a state of the user and / or a state of contact or separation between the user and the relaxation device. 50. The information acquisition means under the vibration condition of the system determined according to the state of the installation environment of the relaxation device and / or the contact or separation state between the relaxation device and the installation environment of the relaxation device. 48. An estimating means for estimating a state of an installation environment of the relaxation apparatus and / or a state of contact or separation between the relaxation apparatus and the installation environment of the relaxation apparatus based on the obtained detection result. The relaxation device as described. 51. The estimating means estimates a state of the user and / or a contact or separation state between the user and the relaxation device based on a detection result of the vibration detecting means under different vibration conditions. 47. The relaxation device according to claim 46, wherein the relaxation device is an estimating unit. 52. The estimating means, based on a detection result of the vibration detecting means under different vibration conditions, a condition of an installation environment of the relaxation device and / or a contact between the relaxation device and the installation environment of the relaxation device. 48. The relaxation device according to claim 47, wherein the relaxation device is an estimating unit that estimates a separation state. 53. The estimating means, based on a change pattern formed by a detection result of the vibration detecting means under a time-varying vibration condition, determines a state of the user and / or the user and the relaxation device. 47. The relaxation apparatus according to claim 46, wherein a contact or separation state of the object is estimated. 54. The estimating means, based on a change pattern formed by a detection result of the vibration detecting means under a time-varying vibration condition, a state of an installation environment of the relaxation device and / or the relaxation device and 48. The relaxation apparatus according to claim 47, wherein a state of contact or separation with the installation environment of the relaxation apparatus is estimated. 55. The vibration source is provided so as to be movable in the relaxation device, and the estimating means is configured to detect a vibration based on a change in a detection result of the vibration detecting means due to a change in a vibration condition accompanying the movement of the vibration source. 47. The relaxation apparatus according to claim 46, wherein the state of the user and / or the state of contact or separation between the user and the relaxation apparatus are estimated. 56. The vibration source is provided so as to be movable in the relaxation device, and the estimating means is configured to detect the vibration source based on a change in a detection result of the vibration detecting means due to a change in vibration conditions accompanying the movement of the vibration source. 48. The relaxation apparatus according to claim 47, wherein a state of an installation environment of the relaxation apparatus and / or a state of contact or separation between the relaxation apparatus and the installation environment of the relaxation apparatus are estimated. 57. The relaxation apparatus according to claim 45, wherein the vibration source is a vibration source that vibrates independently of a relaxation operation. 58. The relaxation device according to claim 57, wherein the vibration source has a single vibration mode. 59. The relaxation apparatus according to claim 57, wherein said vibration source has a plurality of vibration modes, and further comprises vibration mode switching means for switching the vibration modes. 60. The relaxation apparatus according to claim 45, wherein the vibration source is a vibration source that vibrates in relation to a relaxation operation. 61. The relaxation apparatus according to claim 60, wherein the vibration source is at least one of a relaxation unit for performing a relaxation operation and a drive source of the relaxation unit. 62. The vibration source is at least one of relaxation means for performing a relaxation operation, a driving source for the relaxation means, and a driving force transmitting means for transmitting a driving force from the driving source to the relaxation means. The relaxation device according to claim 60, characterized in that: 63. The apparatus according to claim 61, wherein the relaxation means is a fluid containing means containing a fluid therein, and the driving source is a vibration applying means for vibrating the fluid in the fluid containing means. The relaxation device as described. 64. The apparatus according to claim 6, further comprising temperature control means for controlling the temperature of the fluid in said fluid storage means.
4. The relaxation device according to 3. 65. The vibration imparting means includes a filling means for filling the fluid containing means with a fluid, and a discharging means for discharging the fluid from the fluid containing means, and wherein the filling and discharging of the fluid in the fluid containing means comprises 63. The fluid storage means is vibrated.
65. The relaxation device according to 64. 66. The relaxation apparatus according to claim 60, wherein the vibration source has a single vibration mode. 67. The relaxation apparatus according to claim 60, wherein the vibration source has a plurality of vibration modes, and further includes a vibration mode switching unit that switches the vibration mode. 68. The relaxation apparatus according to claim 67, wherein the vibration mode includes at least one of a high-frequency vibration mode and a low-frequency vibration mode. 69. The relaxation apparatus according to claim 45, wherein said vibration detecting means detects vibration in a predetermined direction. 70. A system according to claim 70, wherein a plurality of said vibration detecting means are provided, and said estimating means acquires information on a system including said relaxation device based on a detection result obtained by said plurality of vibration detecting means. 4
70. The relaxation device according to any one of items 5 to 68. 71. A plurality of vibration detecting means for detecting vibrations in different directions, respectively.
0 relaxation apparatus. 72. The vibration detecting means, comprising: an acceleration sensor;
72. The relaxation device according to claim 45, comprising one of a pressure sensor and a strain sensor. 73. The relaxation apparatus according to claim 45, wherein the relaxation apparatus is a chair type. 74. The relaxation device is of a chair type having a seat portion on which a user sits and a backrest portion on which the user rests. 73. The relaxation device according to claim 45, wherein the other end is supported by the unit frame. 75. The relaxation device is a chair type having a seat portion on which a user sits and a backrest portion on which the user rests. The backrest frame is configured so that one end side of the seatback portion can be vibrated. 73. The relaxation apparatus according to claim 45, wherein the other end is supported by the frame, and vibration detection means is provided near an end on the head side of the backrest frame. 76. The relaxation device is of a chair type having a seat portion on which a user sits and a backrest portion on which the user rests. 73. The vibration sensor according to any one of claims 45 to 72, wherein the other end is supported by the frame, and the backrest frame is provided with a vibrating body capable of high-frequency vibration, and the vibrating body is provided with the vibration detecting means. A relaxation device according to any of the claims. 77. The relaxation device is of a chair type having a seat portion on which a user sits and a backrest portion on which a user rests. The seat frame includes a vibrating body capable of high-frequency vibration. The relaxation apparatus according to any one of claims 45 to 72, further comprising a vibration detection unit. 78. The relaxation device is of a chair type having a seat on which a user sits and a backrest on which the user rests. The seat frame has a seat frame supporting member that vibrates one end. 73. The relaxation apparatus according to claim 45, further comprising: a vibration detecting unit that is supported so as to be capable of being provided near the one end of the seat frame. 79. The relaxation apparatus according to claim 45, wherein the relaxation apparatus is a bed type. 80. The relaxation device is a bed type having a bed on which a user lays, wherein the bed frame has at least one end supported so as to be able to vibrate, and the bed frame includes relaxation means. 5. A relaxation mechanism is provided.
73. The relaxation device according to any one of 5 to 72. 81. The relaxation device is a bed type having a bed on which a user lays, and the bed frame has at least one end supported so as to be capable of vibrating, and the bed frame is provided near the one end. The relaxation apparatus according to any one of claims 45 to 72, further comprising a vibration detection unit. 82. An information acquisition method for acquiring information relating to a system including a relaxation device, wherein the relaxation device includes vibration detection means for detecting vibration, and the information is provided based on a detection result obtained by the vibration detection means. A method for acquiring information of a relaxation apparatus, comprising: