KR20210058405A - Massage device capable of shoulder recognition and its control method - Google Patents

Abstract

The present invention relates to a massage device capable of measuring a shoulder position which comprises: a massage module that provides a massage function to at least a part of the body of the user; and a control unit for controlling the massage device. The massage module comprises: a massage ball frame including a plurality of arms extending in different directions; at least two massage balls installed in the massage ball frame; a kneading actuator that moves the massage ball frame so that the massage balls draw an oval shape; and a movement actuator for moving the massage module in a vertical direction. The control unit acquires information related to positions of the shoulders of the user based on a period of a plurality of pulses received from an encoder of the kneading actuator.

Description

Massage device capable of shoulder recognition and its control method {MASSAGE DEVICE CAPABLE OF SHOULDER RECOGNITION AND ITS CONTROL METHOD}

The present disclosure relates to a massage device, and more particularly, to a massage device capable of measuring a shoulder position.

Massage or massage controls the modulation of the subject's body by applying various types of mechanical stimulation to a part of the subject's body, such as kneading, pressing, pulling, tapping, or moving a part of the subject's body. , It is a medical adjuvant therapy that helps blood circulation and relieves the subject's fatigue.

The increase in massage demand has caused an increase in demand for a massage device or massage device that provides an artificial massage function due to economic and temporal reasons. That is, as the demand for relieving fatigue or stress increases while releasing the lumped muscles through massage, various massage devices in a time and cost-effective manner are being released. Any type of apparatus, device, or device that performs a massage without a separate masseur through a mechanical device is referred to as a massage device.

Since the body shape (eg, shoulder height, arm length, etc.) is different for each user, it is necessary to provide a massage suitable for the user's body shape.

Therefore, research is ongoing to provide a massage device suitable for the user's body shape.

The massage device according to the present disclosure includes a massage module that provides a massage function to at least a part of a user's body, and a controller that controls the massage device, wherein the massage module includes a plurality of arms extending in different directions. A ball frame, at least two massage balls provided in the massage ball frame, a massage ball actuator for moving the massage ball frame to draw an oval shape, and a movement actuator for moving the massage module in the vertical direction, and the control unit includes It characterized in that it acquires information related to the user's shoulder position based on the period of a plurality of pulses received from the encoder.

The control unit of the massage device according to the present disclosure controls the moving actuator to move the massage module downward, receives a plurality of pulses generated from the encoder by rotation of the kneading actuator, and receives a period of a plurality of pulses and a first reference period. When the difference is greater than or equal to the first threshold, the position of the massage module is obtained as information related to the user's shoulder position.

The controller of the massage device according to the present disclosure controls the movement actuator to move the massage module downward, receives a plurality of pulses generated from the encoder by rotation of the kneading actuator, and receives a predetermined number of pulses included in the plurality of pulses. When the difference between the sum of the pulse periods and the second reference period is greater than or equal to the second threshold, the position of the massage module is acquired as information related to the user's shoulder position.

The predetermined number of pulses of the massage device according to the present disclosure represent the a, b, and n pulses among the first to nth pulses sequentially generated from the encoder when the kneading actuator rotates for one rotation, and a, b, and n are Is an integer, a is less than or equal to b, and b is less than or equal to n.

The massage module of the massage device according to the present disclosure includes a z-axis moving module, and the control unit controls the z-axis moving module so that the massage ball frame moves to the forefront before the moving actuator moves the massage module downward. do.

The kneading actuator of the massage device according to the present disclosure is characterized in moving the massage ball located at the top of the at least two massage balls to draw an elliptical shape forming an angle with the ground.

A massage device in a method of operating a massage device according to the present disclosure includes a massage module that provides a massage function to at least a portion of a user's body; And a control unit for controlling the massage device, wherein the massage module includes: a massage ball frame including a plurality of arms extending in different directions; At least two massage balls provided in the massage ball frame; A massage ball actuator that moves the massage ball frame so that the massage ball draws an oval shape; And a movement actuator that moves the massage module in an up-down direction, wherein the operation method of the massage device comprises: obtaining, by the control unit, information related to the user's shoulder position based on a period of a plurality of pulses received from the encoder of the massage actuator. It characterized in that it comprises a.

The step of acquiring information related to the shoulder position in the method of operating the massage device according to the present disclosure includes controlling the movement actuator to move the massage module downward, and generating a plurality of pulses from the encoder by rotation of the kneading actuator. And acquiring the position of the massage module as information related to the user's shoulder position when the difference between the receiving step and the period of the plurality of pulses and the first reference period is greater than or equal to the first threshold value.

The step of acquiring information related to the shoulder position in the method of operating the massage device according to the present disclosure includes controlling the movement actuator to move the massage module downward, and generating a plurality of pulses from the encoder by rotation of the kneading actuator. When the difference between the sum of the periods of the predetermined number of pulses included in the plurality of pulses and the second reference period is greater than or equal to the second threshold value, acquiring the position of the massage module as information related to the user's shoulder position It characterized in that it comprises a.

The predetermined number of pulses in the operating method of the massage device according to the present disclosure represent the a and b pulses among the first to nth pulses sequentially generated from the encoder when the kneading actuator rotates one, and a, b , n is an integer, a is less than or equal to b, and b is less than or equal to n.

The massage module of the method of operating the massage device according to the present disclosure includes a z-axis moving module, and before the moving actuator moves the massage module downward, controlling the z-axis moving module so that the massage ball frame moves to the foremost position. It characterized in that it further includes.

The kneading actuator of the operating method of the massage device according to the present disclosure is characterized in moving the massage ball located at the top of the at least two massage balls to draw an elliptical shape forming an angle with the ground.

In addition, a program for implementing the method of operating the massage device as described above may be recorded in a computer-readable recording medium.

According to an exemplary embodiment of the present disclosure, since the massage device can recognize the position of the user's shoulder, it is possible to provide a massage suitable for a body shape to the user, and can intensively massage a desired part of the user.

The effects obtainable in the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. .

1 is a view for explaining a massage device according to an embodiment of the present disclosure.
2 is a diagram illustrating a main frame according to an embodiment of the present disclosure.
3 is a view showing a massage device according to an embodiment of the present disclosure.
4 is a diagram illustrating an external device capable of communicating with the massage device 100 according to an embodiment of the present disclosure.
5 is a front view showing a state as viewed from the front of the massage module according to an embodiment of the present disclosure.
6 shows a front side of the massage module according to an embodiment of the present disclosure.
7 is a diagram illustrating a connection relationship between a massage ball frame and a frame housing according to an embodiment of the present disclosure.
8 shows a rear side of the massage module according to an embodiment of the present disclosure.
9 is a cross-sectional view of a part of a massage module according to an embodiment of the present disclosure.
10 is a diagram illustrating an encoder signal according to an embodiment of the present disclosure.
11 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a period of a plurality of pulses according to an embodiment of the present disclosure.
12 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a period of a plurality of pulses according to an embodiment of the present disclosure.
13 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a sum of periods of a plurality of pulses according to an embodiment of the present disclosure.
14 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a sum of periods of a plurality of pulses according to an embodiment of the present disclosure.
15 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a sum of periods of a plurality of pulses according to an embodiment of the present disclosure.

Advantages and features of the disclosed embodiments, and a method of achieving them will become apparent with reference to the embodiments described below together with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only these embodiments make the present disclosure complete, and those skilled in the art to which the present disclosure pertains. It is provided only to fully inform the person of the scope of the invention.

The terms used in the present specification will be briefly described, and the disclosed embodiments will be described in detail.

Terms used in the present specification have selected general terms that are currently widely used as possible while considering functions in the present disclosure, but this may vary according to the intention or precedent of a technician engaged in a related field, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the contents of the present disclosure, not the name of a simple term.

In the present specification, expressions in the singular include plural expressions unless the context clearly specifies that they are in the singular. In addition, plural expressions include expressions in the singular, unless the context clearly specifies that they are plural.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

In addition, the term "unit" used in the specification refers to software or hardware components, and "unit" performs certain roles. However, "unit" is not meant to be limited to software or hardware. The “unit” may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors. Thus, as an example, "unit" refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, Includes subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, database, data structures, tables, arrays and variables. The functions provided within the components and "units" may be combined into a smaller number of components and "units" or may be further separated into additional components and "units".

According to an embodiment of the present disclosure, the "unit" may be implemented with a processor and a memory. The term “processor” is to be interpreted broadly to include general purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, and the like. In some circumstances, “processor” may refer to an application specific application (ASIC), programmable logic device (PLD), field programmable gate array (FPGA), and the like. The term "processor" refers to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in combination with a DSP core, or any other such configuration. You can also refer to it.

The term "memory" should be interpreted broadly to include any electronic component capable of storing electronic information. The term memory refers to random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erase-programmable read-only memory (EPROM), electrical May refer to various types of processor-readable media such as erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, and the like. The memory is said to be in electronic communication with the processor if the processor can read information from and/or write information to the memory. The memory integrated in the processor is in electronic communication with the processor.

In the present specification, an actuator means a configuration capable of providing a driving force. For example, the actuator may include a motor, a linear motor, an electronic motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like, but is not limited thereto.

In the present specification, according to an embodiment, the massage device may refer to a massage device including a body massage unit and a leg massage unit. In addition, according to another embodiment, the body massage unit 2100 and the leg massage unit 2300 may exist as separate separate devices (eg, a body massage device and a leg massage device), and the massage device is a body massage device. It may refer to a device or a leg massage device.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the embodiments. In the drawings, parts not related to the description are omitted in order to clearly describe the present disclosure.

1 is a view for explaining a massage device according to an embodiment of the present disclosure.

The massage device 100 according to an embodiment of the present disclosure forms an area for accommodating at least a part of the user's body, and a body massage unit 2100 that massages the user's body, and massages the user's leg. It may include a leg massage unit 2300.

The body massage unit 2100 may provide a massage to at least a part of a user's body. The body massage unit 2100 includes a massage module 2170 that provides a massage function to at least a part of a user's body, an audio output module 2160 for providing an audio output in an arbitrary form to the user, and a body massage unit 2100 It may include a main frame 2110 constituting the skeleton of the user and a user input unit 2180 for receiving an input of an arbitrary form from the user.

Components included in the above-described body massage unit 2100 are merely exemplary embodiments, and the body massage unit 2100 may include various configurations in addition to the above-described configuration.

In addition, the shape and structure of the massage device 100 shown in FIG. 1 is only exemplary, and as long as it does not depart from the scope of the rights defined by the claims of the present disclosure, various types of massage device 100 are also disclosed. It can be included within the scope of the content.

The body massage unit 2100 may form an arbitrary type of space for accommodating a user. The body massage unit 2100 may have a space having a shape corresponding to the shape of the user's body. For example, as shown in FIG. 1, the body massage unit 2100 may be implemented in a seating type capable of accommodating a user's whole body or a part of the body.

A portion of the body massage unit 2100 in contact with the ground may include an arbitrary material for increasing the frictional force or an arbitrary member (eg, an anti-slip pad, etc.) for increasing the frictional force, and the massage device 100 It may include a wheel to enhance the mobility of the.

At least a portion of the body massage unit 2100 may slide. For example, when the body massage unit 2100 starts a massage, at least a portion of the body massage unit 2100 may slide forward. In addition, the body massage unit 2100 may be inclined rearward. As a result, the body massage unit 2100 may provide air massage in a state in which it is inclined to the rear.

According to an embodiment of the present disclosure, the massage device 100 may include at least one air cell (not shown). The air cell may be located in the user's shoulder part, pelvis part, arm massage part, leg massage part 2300, and the like, but is not limited thereto and may be disposed in various parts of the massage device 100.

The massage device 100 may include an air supply unit, and the air supply unit may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit 2100 and may be located at the leg massage unit 2300. In addition, the air supply unit may be located outside the massage device 100.

The leg massage unit 2300 may provide a leg massage to a user. For example, the leg massage unit 2300 may include a calf massage unit that massages the user's calf and/or a foot massage unit that massages the user's foot.

The leg massage unit 2300 may be adjustable in length according to the user's body characteristics. For example, when a tall user uses the massage device 100, the length of the leg massage unit 2300 needs to be lengthened because the length of the calf is long. In addition, when a user with a small height uses the massage device 100, the leg massage unit 2300 needs to be shortened because the length of the calf is short. Accordingly, the leg massage unit 2300 may provide a leg massage customized to the user's height.

The massage module 2170 may be provided inside the body massage unit 2100 to provide an arbitrary type of mechanical stimulation to a user accommodated in the body massage unit 2100. As shown in FIG. 1, the massage module 2170 may move along the main frame 2110 provided inside the body massage part 2100.

For example, a rack gear may be provided on the main frame 2110 of the body massage unit 2100, and the massage module 2170 may move along the rack gear, while mechanically controlling various parts of the user's body. Can provide stimulation. The massage module 2170 may include a ball massage unit or a roller massage unit, but is not limited thereto.

The main frame 2110 constitutes a skeleton of the internal structure of the body massage unit 2100 and may be implemented with a metal material or a plastic material. For example, the main frame 2110 may be implemented with iron, alloy, steel, or the like, but is not limited thereto and may be implemented with various hard materials.

According to an embodiment of the present disclosure, the massage device 100 may include an audio output module 2160. The audio output module 2160 may be provided in various locations. For example, the audio output module 2160 is an upper audio output unit disposed on the upper part of the seat in contact with the user, a front audio output unit attached to the front end of the left and right arm massage parts of the seat part, and/or attached to the rear end of the arm massage part. It may include a plurality of output units such as a rear audio output unit and the like, but is not limited thereto. In this case, the audio output module 2160 may provide 3D sound such as 5.1 channels, but is not limited thereto.

According to an embodiment of the present disclosure, a user may control the massage apparatus 100 using the massage apparatus control device 2200. The massage apparatus control device 2200 may be connected to the massage apparatus 100 through wired communication and/or wireless communication.

The massage device control device 2200 may include a remote controller, a cellular phone, a personal digital assistant (PDA), and the like, but is not limited thereto, and through wired or wireless communication with the massage device 100 It may include a variety of connectable electronic devices.

2 is a diagram illustrating a main frame according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the main frame 2110 may include an upper frame 2250 in which the massage module 2170 is provided and a base frame 2210 supporting the upper frame 2250.

A rack gear 2251 may be provided on at least a portion of the upper frame 2250. The rack gear 2251 is a member for guiding the upward movement of the body massage module 2170 and may include a plurality of valleys and a plurality of floors.

According to an embodiment of the present disclosure, the rack gear 2251 may be provided to face both sides of the upper frame 2250, and the body massage module 2170 may move along the rack gear 2251. .

In FIG. 2, the rack gear 2251 is formed in an up-down direction, but is not limited thereto. The rack gear 2251 may include a rack gear in a front-rear direction and a rack gear in an up-down direction. In the present disclosure, the front-rear direction refers to a direction from the body massage module 2170 to the user or from the user to the body massage module 2170, and may also be referred to as a Z-axis direction.

The body massage module 2170 may include a gear engaged with the rack gear 2251. In more detail, the body massage module 2170 may include gears that are respectively meshed with the rack gear in the front-rear direction and the rack gear in the up-down direction. When the gear is rotated by an actuator provided in the body massage module 2170, the body massage module 2170 may move forward, backward, upward or downward.

As the body massage module 2170 moves forward, the intensity of the massage may increase. In addition, as the body massage module 2170 moves to the rear, the intensity of the massage may decrease.

The rack gear 2251 may be implemented with a metal material or a plastic material. For example, the rack gear 2251 may be implemented with iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

The upper frame 2250 may be implemented in various shapes. For example, the upper frame 2250 may be classified into an S frame, an L frame, an S&L frame, and a double S&L frame according to the shape, but is not limited thereto.

The S frame refers to a frame in which at least a portion of the upper frame 2250 has a curved shape such as “S”. The L frame refers to a frame in which at least part of the upper frame 2250 has a curved shape like “L”, and the S&L frame includes both a curved shape like “S” and a curved shape like “L” The double S&L frame refers to a frame that includes a curved shape like “L” and a curved shape like “S” of two parts.

The base frame 2210 refers to a portion of the main frame 2110 that supports the upper frame 2250 and contacts the ground. The base frame 2210 may include a base upper frame 2211 and a base lower frame 2212.

The base upper frame 2211 may support the upper frame 2250, and the base lower frame 2212 may contact the ground. In addition, the upper base frame 2211 may be positioned in contact with the lower base frame 212.

According to an embodiment of the present disclosure, the upper base frame 2211 may move along the lower base frame 2212. For example, the base upper frame 2211 may slide forward or backward along the base lower frame 2212. In this case, the upper frame 2250 is connected to the base upper frame 2211 and may move according to the movement of the base upper frame 2211.

For example, when the base upper frame 2211 moves forward, the upper frame 2250 may also move forward, and when the base upper frame 2211 moves backward, the upper frame 2250 is also moved backward. You can move. For this reason, the sliding movement of the body massage unit 2100 may be allowed.

Specifically, in order to allow movement of the base upper frame 2211, a moving wheel may be provided below the base upper frame 2211. In addition, a guide member capable of guiding the moving wheel may be provided above the base lower frame 2212. The moving wheel provided in the base upper frame 2211 moves along the guide member provided in the base lower frame 2212, so that the base upper frame 2211 can be moved forward or backward.

According to another exemplary embodiment of the present disclosure, the massage device 100 may not provide a sliding function, and in this case, the base frame 2210 may not be separated into upper and lower frames.

3 is a view showing a massage device according to an embodiment of the present disclosure.

The massage device 100 may include a control unit 300 that controls the operation of the massage device 100. The controller 300 may include a processor 110 and a memory 120. The processor 110 may execute instructions stored in the memory 120.

The processor 110 may control the operation of the massage device 100. The massage device 100 may include one processor and may include a plurality of processors. When the massage apparatus 100 includes a plurality of processors, at least some of the plurality of processors may be located at a physically spaced distance. In addition, the massage device 100 is not limited thereto and may be implemented in various ways.

According to an embodiment of the present disclosure, the processor 110 may control the operation of the massage device 100. For example, the massage apparatus 100 may include a plurality of actuators, and the massage apparatus 100 may control the operation of the massage apparatus 100 by controlling the operation of the plurality of actuators. For example, the massage device 100 includes a driving unit 810 for moving the armrest frame support 530, a moving actuator for the massage module 2170, at least one actuator included in the massage module, a back angle actuator, a leg angle actuator. , A foot massage actuator, a leg length adjustment actuator, and a sliding actuator may be included, and the processor 110 may control the operation of the massage device 100 by controlling them.

The massage module movement actuator is an actuator that enables the massage module 2170 to move up and down, and the massage module 2170 may move along the rack gear by the movement of the movement actuator of the massage module 2170.

The back angle actuator is an actuator that adjusts the angle of a portion of the massage device 100 where the user's back abuts, and the conformal angle of the massage device 100 may be adjusted by the operation of the isometric actuator.

The leg angle actuator is an actuator that adjusts the angle of the leg massage unit 2300 of the massage device 100, and the angle between the leg massage unit 2300 and the body massage unit 2100 can be adjusted by the operation of the leg angle actuator. have.

The foot massage actuator refers to an actuator that operates the foot massage module included in the leg massage unit 2300. Using the foot massage actuator, the massage device 100 may provide a foot massage to a user.

The massage module 2170 may include at least one actuator, and the processor 110 may provide various massage operations by operating at least one actuator. For example, the processor 110 may provide a tapping massage and a kneading massage by operating at least one actuator included in the massage module 2170, but is not limited thereto and may provide various massage operations.

The leg length adjustment actuator represents an actuator that adjusts the length of the leg massage unit 2300. For example, the processor 110 may adjust the length of the leg massage unit 2300 to suit the user by using the leg length adjustment actuator, and as a result, the user may receive a massage suitable for a body shape.

The sliding actuator enables the sliding operation of the massage device 100. For example, by the operation of the sliding actuator, the horizontal base upper frame may move forward or backward, and as a result, the upper frame connected to the horizontal base upper frame may also move forward or backward.

The memory 120 may store various types of information related to the massage device 100. For example, the memory 120 may include massage control information and personal authentication information, but is not limited thereto.

The memory 120 may be implemented through a non-volatile storage medium capable of continuously storing arbitrary data. For example, the memory 120 may include a storage device based on a flash memory and/or a battery-backup memory, as well as a disk, an optical disk and a magneto-optical storage device, but is not limited thereto. Does not.

The massage device 100 may include a sensor unit. The sensor unit may acquire various information using at least one sensor. The sensor unit may be provided as a sensor using measuring means such as pressure, electric potential and optics. For example, the sensor may include, but is not limited to, a pressure sensor, an infrared sensor, an LED sensor, and a touch sensor.

In addition, the sensor unit may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information, body composition information, and the like, but is not limited thereto and may include various biometric information.

According to another embodiment of the present disclosure, the massage device 100 may detect a contact area and/or a contact location with a user through sensors. In addition, the massage device 100 may provide a customized massage based on information acquired through sensors. In addition, the massage device 100 may include a communication unit. The communication unit of the massage device 100 may receive a signal to an external device. The processor 110 may obtain a result signal by processing the received signal. The communication unit may output a result signal to an external device.

The communication unit may communicate with a module inside the massage device 100, an external massage device, and/or the user terminal 2200 through a network of any type. The communication unit may include a wired/wireless connection module for network access. As a wireless access technology, for example, wireless LAN (WLAN) (Wi-Fi), wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), and High Speed Downlink Packet Access (HSDPA) may be used. As a wired connection technology, for example, Digital Subscriber Line (XDSL), Fibers to the Home (FTTH), Power Line Communication (PLC), and the like may be used. In addition, the network connection unit may include a short range communication module and transmit and receive data to and from any device/terminal located in a short range. For example, as short range communication technology, Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra-Wideband (UWB), ZigBee, and the like may be used. It is not limited to this.

In addition, the massage device 100 may further include an input unit or an output unit. The massage device 100 may receive an input from a user using an input unit. In addition, the massage device 100 may output the processing result of the processor 110 to an output unit.

Specifically, the input unit may receive a command related to motion control of the massage apparatus 100 from a user, and the input unit 2180 may be implemented in various forms. For example, the input unit 2180 may be provided in the body massage unit 2100 and may be provided in the leg massage unit 2300, but is not limited thereto.

The massage device 100 may obtain various commands from a user through the input unit 2180. For example, the massage device 100 selects a massage module, selects a massage type, selects a massage intensity, selects a massage time, selects a massage site, selects the position and motion of the body massage unit 2100, and massages Arbitrary commands may be received for selection of power on-off of the device 100, selection of whether or not to operate the heating function, selection related to sound source reproduction, and the like, but are not limited thereto.

The massage device 100 may provide an interface for selecting a massage mode. For example, the input unit 2180 or the output unit may include the massage apparatus control device 2200. Medical massage lists of various modes related to body improvement may be listed through the massage apparatus control device 2200.

The medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, a vitality mode, a golf mode, a hip-up mode, a candidate mode, a zero gravity mode, and a growth mode.

According to another embodiment of the present disclosure, the input unit 2180 performs hot key type buttons and/or direction selection, cancellation, and input according to a preset user setting function or a self-preset function. It may be provided with a selection button or the like for.

The input unit 2180 may be implemented as a keypad, a dome switch, a touch pad (positive pressure/electrostatic), a jog wheel, a jog switch, and the like, but is not limited thereto. Also, the input unit 2180 may obtain a command through a user's utterance based on a speech recognition technology.

According to an embodiment of the present disclosure, the output unit may include a display for displaying an operation state of the massage apparatus 100 or a current state of a user. In this case, the display is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. ) And at least one of a 3D display, but is not limited thereto.

The output unit may include an audio output module 2160. The audio output module 2160 may provide an arbitrary type of audio output to a user. For example, the audio output module 2160 may provide brain stimulation to the user by outputting a sound source and/or binaural beat optimized for a massage pattern provided by the massage device 100 to the user. The audio output module 2160 may output sound signals received through a network (not shown) or stored in an internal/external storage medium (not shown). For example, the audio output module 2160 may output a sound source according to the control of the user terminal 2200 through a network connection (eg, Bluetooth connection, etc.) with the user terminal 2200. In addition, the audio output module 1600 may output an arbitrary type of sound signal generated in connection with the operation of the massage device 100.

Those skilled in the art will appreciate that the present invention may be implemented in combination with other program modules and/or as a combination of hardware and software. For example, the present invention can be implemented by a computer-readable medium.

Computer-readable media can be any computer-readable media, including volatile and nonvolatile media, transitory and non-transitory media, removable and non-transitory media. Includes removable media. By way of example and not limitation, computer-readable media may include computer-readable storage media and computer-readable transmission media.

Computer-readable storage media include volatile and nonvolatile media, temporary and non-transitory media, removable and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Includes the medium. Computer-readable storage media include RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital video disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage. Devices, or any other medium that can be accessed by a computer and used to store desired information.

4 is a diagram illustrating an external device capable of communicating with the massage device 100 according to an embodiment of the present disclosure.

The massage device 100 may communicate with an external device by wire or wirelessly to transmit and receive various data.

The external device may include a portable electronic device 410 such as an AI speaker, a tablet, or a smartphone. The portable electronic device 410 may be dedicated to the massage device 100 or may be a general-purpose portable electronic device. In addition, the external device may include a wearable device 420 such as a smart watch or a smart band. The external device may include a massage device 430 other than the massage device 100 currently being used by the user. The external device may include a hospital server 440. The external device may include a personal health record (PHR) server. Also, the external device may include a cloud server 450. The external device may include a medical measuring device such as an electronic scale, a blood glucose meter, or a blood pressure meter.

Although some examples of external devices have been described in the present disclosure, it should be understood that all electronic devices capable of acquiring the user's biometric information can be included in the external devices.

5 is a front view showing a state as viewed from the front of the massage module according to an embodiment of the present disclosure.

6 shows a front side of the massage module according to an embodiment of the present disclosure.

5 and 6, the massage module 2170 according to an embodiment of the present disclosure may include a Z-axis movement module, a massage ball frame 700, and a frame housing 800, but is not limited thereto. .

The massage module 2170 may include at least one massage ball frame 700. For example, the massage module 2170 may include two massage ball frames 700. The massage ball frame 700 may include a plurality of arms extending in different directions. In addition, massage balls 710 and 720 may be mounted on each of a plurality of arms included in the massage ball frame 700. For example, the massage ball frame 700 may be provided in a shape similar to the letter “V”. In addition, the massage ball frame 700 may include at least two massage balls 710 and 720.

In addition, the massage module 2170 may include a massage ball actuator that moves the massage ball frame so that the massage ball draws an oval shape 611. The kneading actuator may operate based on a signal received from the control unit. Also, the kneading actuator can turn the massage ball clockwise or counterclockwise. By the movement of the massage ball, the user may receive a hand massage from the massage device 100.

The massage ball frame 700 may be connected to the frame housing 800 at a bent portion in a V-shaped shape. In one embodiment, the massage ball frame 700 may be coupled to the frame housing 800 through a shaft (not shown) penetrating a part of the bent portion. By being connected to the frame housing 800 in this way, the massage ball frame 700 may be connected to the Z-axis moving module.

7 is a diagram illustrating a connection relationship between a massage ball frame and a frame housing according to an embodiment of the present disclosure.

Referring to FIG. 7, when looking inside the frame housing 800, the massage ball frame 700 may be coupled to the frame housing 800 so as not to be rotatable. For example, the massage ball frame 700 is coupled to the protruding portion of the frame housing 800 by a shaft penetrating through a portion of the V-shaped bent portion, and is supported by the recessed portion to be fixed so as not to swing up and down. I can.

The kneading actuator may move the massage ball 710 located at the top of the at least two massage balls to draw an elliptical shape at a predetermined angle with the ground. The predetermined angle may include an angle 892 in the downward direction of the paper or an angle 891 in the upward direction of the paper. Also, the predetermined angle may include 0 degrees. The user may receive a hand massage by the massage ball 710 performing an elliptical motion by the hand massage actuator.

The massage module 2170 may include a first massage ball 710 and a first massage ball 720. That is, one massage ball frame 700 may include at least two massage balls 710 and 720. When the massage device 100 determines the position of the user's shoulder by simply measuring the load of the actuator while lowering the massage module 2170, the massage device 100 touches the user's shoulder with the first massage ball 710. It is not known whether the second massage ball 720 has touched. In addition, when the massage device 100 simply measures the load of the actuator while lowering the massage module 2170 to determine the position of the user's shoulder, the first massage ball 710 or the second massage ball 720 Hitting the shoulder, the user may feel pain. According to the present disclosure, since the massage device 100 determines the position of the user's shoulder by the kneading motion of the first massage ball 710, at least two massage balls 710 and 720 are provided in one massage ball frame 700. ), it is possible to accurately measure the position of the user's shoulder. In addition, the user does not feel pain, and while receiving the kneading massage, the massage device 100 may accurately measure the position of the user's shoulder.

8 shows a rear side of the massage module according to an embodiment of the present disclosure.

9 is a cross-sectional view of a part of a massage module according to an embodiment of the present disclosure.

The Z-axis movement module may include a shaft 900, at least one pinion gear 920 fitted in the shaft 900, and a rack gear 930 meshing with the pinion gear 920, and the frame housing 800 It may be connected to the rack gear 920.

When the shaft 900 rotates by the actuator 940, the pinion gear 920 rotates, and the rack gear 930 meshed with the pinion gear 920 may move along the Z axis. In this case, the rack gear 930 may move forward or backward along the Z axis according to the direction in which the pinion gear 920 rotates. For example, referring to FIG. 6, when the pinion gear 920 rotates in a clockwise direction, the rack gear 930 may move forward on the Z axis, and conversely, when the pinion gear 920 rotates in a counterclockwise direction, The rack gear 930 may move rearward on the Z axis. As the rack gear 930 moves along the Z axis, the frame housing 800 connected to the rack gear 930 moves, and interlocking therewith, the massage ball frame 700 may move along the Z axis.

The control unit 300 may acquire information related to the user's shoulder position based on the period of a plurality of pulses received from the encoder of the kneading actuator. An encoder is a kind of sensor that detects the rotational speed or direction of an actuator. The signal output from the encoder will be described in more detail with reference to FIG. 10.

10 is a diagram illustrating an encoder signal according to an embodiment of the present disclosure.

The encoder may output a pulse signal as the actuator rotates. The encoder may output one pulse when the actuator rotates a predetermined angle. The predetermined angle can be constant. In addition, the encoder may output a predetermined number of pulses when the actuator rotates for one rotation. For example, when the actuator rotates one rotation, the encoder can output 81 pulses.

Referring to FIG. 10, a graph 1011 represents a signal received by the controller 300 from the encoder of the kneading actuator. When the kneading actuator rotates, the encoder may transmit a pulse to the control unit 300. The encoder can transmit one pulse each time the kneading actuator rotates a predetermined angle. The predetermined angle is a predetermined angle and may have a constant value.

The controller 300 may receive a pulse from an encoder. The pulse received by the controller may include a kth pulse to a k+3th pulse. Periods of the kth pulse to the k+3th pulse may be different from each other. For example, the period of the kth pulse is Tk, the period of the k+1th pulse is Tk+1, the period of the k+2th pulse is Tk+2, and the period of the k+3th pulse is Tk+3 Can be The reasons for the different periods of pulses are as follows. The kneading actuator can rotate slowly by receiving resistance when kneading the user. If the kneading actuator rotates slowly, the encoder can generate a periodic long pulse. Conversely, when the kneading actuator rotates rapidly, the encoder can generate a short periodic pulse. The controller 300 may receive a pulse generated by an encoder.

The graph 1011 has been described with respect to a case in which the controller 300 recognizes the start and end of one pulse at a rising edge, but is not limited thereto. The controller 300 may recognize a falling edge as the start and end of the pulse.

In addition, although FIG. 10 discloses a configuration in which the controller 300 recognizes one pulse received from the encoder as one pulse, the present invention is not limited thereto. The controller 300 may recognize a plurality of pulses generated by the encoder as one pulse.

11 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a period of a plurality of pulses according to an embodiment of the present disclosure.

12 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a period of a plurality of pulses according to an embodiment of the present disclosure.

When the user sits on the massage device 100 and starts the massage device 100, the massage device 100 may perform a process of measuring the user's body shape. For example, the massage device 100 may obtain location information related to the location of the user's shoulder.

The controller 300 may control the movement actuator to move the massage module 2170 to an initial position. For example, the controller 300 may move the massage module 2170 to the highest position among the movable ranges of the massage module 2170. Alternatively, the controller 300 may move the massage module 2170 to a predetermined initial position other than the highest position. The initial position may be a position higher than the user's shoulder.

The controller 300 may control the movement actuator to move the massage module 2170 downward. Since the initial position of the massage module 2170 is higher than the user's shoulder, the massage module 2170 may move toward the user's shoulder. The controller 300 may control the kneading actuator to operate while the moving actuator moves the massage module 2170 downward.

The controller 300 may receive a plurality of pulses generated from the encoder by rotation of the kneading actuator. When the massage balls 710 and 720 do not touch the user's shoulder, the kneading actuator may not receive resistance. Therefore, the period of the pulse generated by the encoder can be kept almost constant. For example, when the massage balls 710 and 720 do not touch the user's shoulder, the pulse generated by the encoder may be the same as the line 1112. In FIG. 11, the horizontal axis represents each pulse generated by the encoder, and the vertical axis represents the period of the corresponding pulse. For example, if the horizontal axis is 51, it means that it is the 51st pulse generated by the encoder. Referring to the line 1112 of FIG. 11, there is a slight difference between the periods of the pulses, but this may have occurred based on an error of the encoder itself, the kneading actuator, or the control unit.

As shown in FIG. 12, when the massage balls 710 and 720 begin to touch the user's shoulder, the kneading actuator may begin to receive resistance. Therefore, the period of the pulse generated by the encoder can be gradually lengthened. For example, when the massage balls 710 and 720 start to touch the user's shoulder, the pulse generated by the encoder may be the same as the line 1113.

When the difference 1111 between the periods of the plurality of pulses and the first reference period is greater than or equal to the first threshold value, the controller 300 may obtain the position of the massage module as information related to the user's shoulder position.

The controller 300 may acquire the first reference period from the memory. The first reference period may be previously stored in the memory. The controller 300 may acquire the first reference period from an external device via wired or wireless communication. Also, the controller 300 may measure the first reference period. For example, when the massage balls 710 and 720 do not touch the user's shoulder, the pulse generated by the encoder may obtain a first reference period based on the line 1112. The controller 300 may obtain the representative value obtained based on the line 1112 as a first reference period. The representative value may be a median value or an average value.

In addition, when the massage balls 710 and 720 do not touch the user's shoulder, the controller 300 may store a line 1112 in a memory as a pulse generated by the encoder. The encoder can generate n pulses for one rotation of the kneading actuator. The controller 300 may store n past pulses in a memory. If the current pulse generated from the encoder is the k-th pulse, the controller 300 may obtain the period of the k-th pulse from the memory as the first reference period. The control unit compares the current k-th pulse period with the past k-th pulse period, and if the difference between the current k-th pulse period and the past k-th pulse period is greater than the first threshold, massage The position of the module may be acquired as information related to the user's shoulder position. Here, n and k are natural numbers, and k may be less than n.

The controller 300 may obtain the first threshold value from the memory. The first threshold value may be previously stored in the memory. The controller 300 may obtain the first threshold value from an external device via wired or wireless communication.

The controller 300 may obtain the position of the massage module 2170 as information related to the user's shoulder position when the difference 1111 between the periods of the plurality of pulses and the first reference period is greater than or equal to the first threshold value. 5 or 6, the massage module is a device in which a plurality of parts are combined, and when the position of the massage module on the rack gear 2251 is determined, the positions of the massage balls 710 and 720 included in the massage module are also determined. do.

Referring to FIG. 12, the control unit 300 may obtain the position of the massage module 2170 when the massage ball 710 is located near the user's shoulder as information related to the user's shoulder position. In addition, the controller 300 may provide a massage to the user's lower shoulder area based on information related to the user's shoulder position.

The information related to the user's shoulder position may be information on where the massage module 2170 is located on the rack gear 2251. The massage module 2170 may be moved by the rack gear 2251 and a moving actuator. The controller 300 may measure the position of the massage module 2170 based on the encoder of the moving actuator. In addition, the controller 300 may determine the position of the massage module 2170 as information related to the user's shoulder position.

In addition, the control unit 300 may display information related to the user's shoulder position, such as a number of floors or valleys of the rack gear 2251. However, it is not limited thereto. A sensor for measuring the position of the massage module 2170 may be on the rack gear 2251. The controller 300 may acquire information related to the user's shoulder position based on a signal from the sensor. In addition, based on various methods, the controller 300 may obtain information related to the user's shoulder position.

13 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a sum of periods of a plurality of pulses according to an embodiment of the present disclosure.

The controller 300 may control the movement actuator to move the massage module 2170 to an initial position. In addition, the controller 300 may control the movement actuator to move the massage module downward. Since the initial position of the massage module 2170 is higher than the user's shoulder, the massage module 2170 may move toward the user's shoulder.

The controller 300 may receive a plurality of pulses generated from the encoder by rotation of the kneading actuator. When the massage balls 710 and 720 do not touch the user's shoulder, the kneading actuator may not receive resistance. Therefore, the period of the pulse generated by the encoder can be kept almost constant. For example, when the massage balls 710 and 720 do not touch the user's shoulder, the pulse generated by the encoder may be the same as the line 1312.

As shown in FIG. 12, when the massage balls 710 and 720 begin to touch the user's shoulder, the kneading actuator may begin to receive resistance. Therefore, the period of the pulse generated by the encoder can be gradually lengthened. For example, when the massage balls 710 and 720 do not touch the user's shoulder, the pulse generated by the encoder may be the same as the line 1311.

When the difference between the sum of the periods of a predetermined number of pulses included in the plurality of pulses and the second reference period is equal to or greater than the second threshold, the controller 300 may obtain the position of the massage module as information related to the user's shoulder position I can.

The controller 300 may acquire the second reference period from the memory. The second reference period may be previously stored in the memory. The controller 300 may acquire the second reference period from an external device via wired or wireless communication.

Also, the controller 300 may measure a second reference period. For example, when the massage balls 710 and 720 do not touch the user's shoulder, the controller may obtain a second reference period based on the line 1312 as a pulse generated by the encoder.

The controller 300 may acquire a second reference period based on the line 1312. For example, when the massage balls 710 and 720 do not touch the user's shoulder, the controller 300 may store the line 1312 in the memory as a pulse generated by the encoder. Alternatively, when the user is not sitting in the massage chair, the controller 300 may store the line 1312 in the memory of the pulse generated by the encoder. The encoder can generate n pulses for one rotation of the kneading actuator. The controller 300 may store n past pulses in a memory. The controller 300 may obtain the sum of the a-th pulse period in the past to the b-th pulse period as the second reference period from the memory. Referring to FIG. 13, a period of an a-th pulse to a past b-th period in the past rotation of the kneading actuator may be the same as the region 1314 of the graph 1312. The controller 300 compares the sum of the periods of a predetermined number of pulses included in the current plurality of pulses with a second reference period based on past data, and determines the number of periods of the predetermined number of pulses included in the plurality of pulses. When the difference between the sum and the second reference period is greater than the second threshold, the position of the massage module may be obtained as information related to the user's shoulder position. Here, a, b, and n may be integers, a may be less than or equal to b, and b may be less than or equal to n.

The controller 300 may obtain the second threshold value from the memory. The second threshold may be previously stored in the memory. The controller 300 may obtain the first threshold value from an external device via wired or wireless communication.

The controller 300 may select a predetermined number of pulses to obtain a sum of periods of a predetermined number of pulses included in the plurality of pulses. The predetermined number of pulses may represent pulses a through b among the first to nth pulses sequentially generated from the encoder when the kneading actuator rotates for one rotation. That is, when the kneading actuator rotates one rotation, the encoder may generate n pulses. The controller 300 may select an a-th pulse to a b-th pulse. The controller 300 may determine the sum of the periods of the a-th pulse measured in the current rotation of the kneading actuator to the period of the b-th pulse in the past as the sum of the periods of a predetermined number of pulses. Referring to FIG. 13, a period of an a-th pulse to a past b-th period in the current rotation of the kneading actuator may be the same as the region 1313 of the graph 1311. Here, a, b, and n may be integers, a may be less than or equal to b, and b may be less than or equal to n.

14 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a sum of periods of a plurality of pulses according to an embodiment of the present disclosure.

Referring to FIG. 14, the ath to bth pulses may be pulses generated by the encoder when the massage ball 710 is in the region 1411. When the massage ball 710 is in the area 1411, the massage ball 710 presses the user, so that a large resistance may be applied to the kneading actuator. Therefore, the period of the pulse generated by the encoder will be longer.

If, when the massage ball 710 is in a place other than the area 1411, the massage ball 710 does not receive resistance from the user. Therefore, when the massage ball 710 is not in the area 1411, the pulse generated from the encoder may be the same as where the user's shoulder does not exist. Therefore, when using the pulse generated when the massage ball 710 is not in the area 1411, the controller 300 may not properly measure the user's shoulder.

Since the control unit 300 uses only the pulse when the massage ball 710 is in the region 1411, processing efficiency can be improved. In addition, since the control unit 300 uses the pulse when the massage ball 710 is in the region 1411, it is possible to quickly and accurately measure the position of the user's shoulder.

15 is a diagram for describing a process of acquiring information related to a user's shoulder position based on a sum of periods of a plurality of pulses according to an embodiment of the present disclosure.

In FIG. 15, the horizontal axis may indicate the position of the massage module 2170. Also, the vertical axis may represent the sum of the periods of a plurality of pulses.

As already described, the controller 300 may control the movement actuator to move the massage module downward. In addition, the controller 300 may control the kneading actuator to make the massage ball 710 perform elliptical motion.

The control unit 300 may acquire the second reference period 1513 according to the position of the massage module through the process already described. The controller 300 may measure the sum of the periods of a predetermined number of pulses while moving the massage module 2170 downward. For example, the controller 300 may obtain the sum of the periods of a predetermined number of pulses according to the position of the massage module 2170 as the first measured value 1511. When the difference 1514 between the first measured value 1511 and the second reference period 1513 is equal to or greater than the second threshold value, the controller may obtain the position of the massage module as information related to the user's shoulder position.

In order to more accurately acquire information related to the user's shoulder position, the controller 300 may measure the sum of the periods of a predetermined number of pulses while moving the massage module 2170 downward. For example, the control unit 300 may obtain the sum of the periods of a predetermined number of pulses according to the position of the massage module 2170 as the second measured value 1512. When the difference between the second measured value 1512 and the second reference period 1513 is greater than or equal to the second threshold value, the controller 300 may obtain the position of the massage module as information related to the user's shoulder position. The controller 300 may acquire information related to the shoulder positions of a plurality of users and obtain information related to the shoulder positions of the end users. For example, the controller 300 may use an average or median value of a plurality of pieces of information.

The controller 300 may control the z-axis movement module so that the massage ball frame moves to the foremost position before the movement actuator moves the massage module downward. Moving to the forefront may mean that the massage ball moves toward the user. However, it is not limited thereto. The controller 300 may control the z-axis movement module so that the massage ball frame is located at a predetermined position on the z-axis. The controller 300 may position the massage ball at an optimal position capable of detecting the user's shoulder.

So far, we have looked at the center of various embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Meanwhile, the above-described embodiments of the present invention can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. The computer-readable recording medium includes a storage medium such as a magnetic storage medium (eg, ROM, floppy disk, hard disk, etc.), and an optical reading medium (eg, CD-ROM, DVD, etc.).

Claims (12)

In the massage device,
A massage module that provides a massage function to at least a portion of a user's body; And
A control unit for controlling the massage device;
Including,
The massage module includes: a massage ball frame including a plurality of arms extending in different directions; At least two massage balls provided in the massage ball frame; A massage ball actuator for moving the massage ball frame so that the massage ball draws an oval shape; And a moving actuator that moves the massage module in an up-down direction.
Including,
The control unit obtains information related to the user's shoulder position based on a period of a plurality of pulses received from an encoder of the kneading actuator.
The method of claim 1,
The control unit,
Controlling the movement actuator to move the massage module downward,
Receiving a plurality of pulses generated from the encoder by the rotation of the kneading actuator,
When the difference between the periods of the plurality of pulses and the first reference period is greater than or equal to a first threshold value, the massage module is positioned as information related to the user's shoulder position.
The method of claim 1,
The control unit,
Controlling the movement actuator to move the massage module downward,
Receiving a plurality of pulses generated from the encoder by the rotation of the kneading actuator,
When the difference between the sum of the periods of the predetermined number of pulses included in the plurality of pulses and the second reference period is equal to or greater than a second threshold, the position of the massage module is obtained as information related to the user's shoulder position. Massage device.
The method of claim 3,
The predetermined number of pulses,
When the kneading actuator rotates one rotation, it represents the a pulse to the b pulse among the first to the nth pulse sequentially generated from the encoder,
Wherein a, b, n are integers, a is less than or equal to b, and b is less than or equal to n.
The method of claim 3,
The massage module includes a z-axis movement module,
The control unit,
Before the movement actuator moves the massage module downward, the z-axis movement module is controlled so that the massage ball frame moves to the foremost position.
The method of claim 1,
The kneading actuator,
A massage device, characterized in that moving the massage ball located at the top of the at least two massage balls to draw an elliptical shape forming a predetermined angle with the ground. In the operating method of the massage device,
The massage device includes a massage module that provides a massage function to at least a portion of a user's body; And a control unit for controlling the massage device,
The massage module includes: a massage ball frame including a plurality of arms extending in different directions; At least two massage balls provided in the massage ball frame; A massage ball actuator for moving the massage ball frame so that the massage ball draws an oval shape; And a moving actuator that moves the massage module in an up-down direction,
The operating method of the massage device,
And acquiring, by the control unit, information related to a user's shoulder position based on a period of a plurality of pulses received from an encoder of the kneading actuator.
The method of claim 7,
Acquiring the information related to the shoulder position,
Controlling the movement actuator to move the massage module downward;
Receiving a plurality of pulses generated from an encoder by rotation of the kneading actuator; And
When the difference between the periods of the plurality of pulses and the first reference period is greater than or equal to a first threshold, acquiring the position of the massage module as information related to the user's shoulder position. Way.
The method of claim 7,
Acquiring the information related to the shoulder position,
Controlling the movement actuator to move the massage module downward;
Receiving a plurality of pulses generated from an encoder by rotation of the kneading actuator; And
When the difference between the sum of the periods of the predetermined number of pulses included in the plurality of pulses and the second reference period is equal to or greater than a second threshold, acquiring the position of the massage module as information related to the user's shoulder position. Operating method of a massage device comprising a.
The method of claim 9,
The predetermined number of pulses,
When the kneading actuator rotates one rotation, it represents the a pulse to the b pulse among the first to the nth pulse sequentially generated from the encoder,
Wherein a, b, and n are integers, a is less than or equal to b, and b is less than or equal to n.
The method of claim 9,
The massage module includes a z-axis movement module,
Before the movement actuator moves the massage module downward, controlling the z-axis movement module so that the massage ball frame moves to the foremost position.
The method of claim 7,
The operation method of the massage device, characterized in that the massage actuator moves the massage ball located at the top of the at least two massage balls to draw an elliptical shape forming a predetermined angle with the ground.

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