阅读说明：本技术 实时指压力及人体扫描控制方法 (Real-time finger pressure and human body scanning control method ) 是由 韩相哲 白谨宁 于 2016-09-23 设计创作，主要内容包括：本发明涉及实时指压力及人体扫描控制方法,包括：(a)步骤,按照指压部的不同的水平位置设定基准垂直高度,在基准垂直高度的范围内设定目标指压力；(b)步骤,根据施加于负荷传感器的使用人员的负荷测定数据来运算当前测定指压力；以及(c)步骤,对上述目标指压力和当前测定指压力进行比较,控制上述指压部的垂直高度。在初期按摩过程中水平驱动指压部时,测定施加于水平驱动马达的驱动电流测定值的变曲点,在指压力校正数值中反映出与变曲点相对应的指压部的垂直位置与存储于数据库的各水平位置的基准垂直位置之间的偏差来计算新的目标指压力,在指压力控制中反映出新的目标指压力,从而可在进行按摩作业时提供适合使用人员的指压力。(The invention relates to a real-time finger pressure and human body scanning control method, which comprises the following steps: (a) setting a reference vertical height according to different horizontal positions of the finger pressing part, and setting target finger pressure within the range of the reference vertical height; (b) calculating a current measurement finger pressure based on load measurement data of a user applied to a load sensor; and (c) comparing the target finger pressure with the current measured finger pressure to control the vertical height of the finger-pressing part. When the finger pressure part is driven horizontally in the initial massage process, the deflection point of the driving current measured value applied to the horizontal driving motor is measured, the deviation between the vertical position of the finger pressure part corresponding to the deflection point and the reference vertical position of each horizontal position stored in the database is reflected in the finger pressure correction value to calculate a new target finger pressure, and the new target finger pressure is reflected in the finger pressure control, thereby providing the finger pressure suitable for the user when performing the massage operation.)

1. A driving module, which has a finger-pressing part, a horizontal driving motor for horizontally moving the finger-pressing part, and a control circuit for collecting current variation data of the horizontal driving motor, wherein the control circuit scans a human body in real time by the following steps:

a step (A) of collecting current variation value data generated by driving the horizontal driving motor in order to detect positions of different acupuncture points based on users, setting a variation interval of current, and extracting position information of the acupuncture points corresponding to a maximum variation point and a minimum variation point in the variation interval;

a step (B) of, in the course of performing a massage operation, judging which of the movement or change of the user corresponds to the user in the case where the position of the acupuncture point of the current user is different from the position of the corresponding acupuncture point in the step (A), and calculating a correction value based on the difference between the respective positions; and

and (C) correcting the positions of the acupuncture points of the current user according to the correction values calculated in the step (B).

2. The drive module according to claim 1, wherein the control circuit corrects a ratio of distances between the acupoint points of the current user, in a case where the distance between the acupoint points of the current user is different from the distance between the previous acupoint points extracted in the step (a), during the massage work, to be equivalent to a ratio of the distance between the current acupoint points to the distance between the previous acupoint points.

Technical Field

The present invention relates to a real-time finger pressure and human body scanning control method, in which, when a finger pressure is controlled in real time by an automatic drive type finger pressure unit, in order to calculate a target finger pressure by a user, a deflection point of a current of a horizontal drive motor is measured when the finger pressure unit is driven horizontally, and the target finger pressure is calculated so that a deviation between a vertical position of the finger pressure unit at a corresponding position and a reference vertical position of each horizontal position stored in a database is reflected in a finger pressure correction value.

Background

Generally, finger pressure refers to a manual technique for improving physical health or treating diseases by pressing a predetermined part of the body surface, and different effects can be obtained by increasing or decreasing finger pressure or maintaining finger pressure to a predetermined degree.

In the conventional finger pressure, the pressure is maintained for a predetermined time after the pressure is vertically applied to a predetermined portion, and then the pressure is released.

The conventional automatic warming apparatus provides finger pressure by a finger pressure portion according to a force applied to a user's body weight, and the magnitude of the finger pressure at this time is proportional to the magnitude of the body weight.

The distribution of the load means a difference in the degree to which the weight of the user is applied to each position of the product, and means that the magnitude of the pressure increases when the load based on the weight of the user is distributed intensively on the ceramic, and means that the magnitude of the pressure decreases when the load based on the weight of the user is distributed intensively on other structures including the frame.

In this case, if the height of the finger portion is increased, the load is concentrated on the ceramic, and therefore, the magnitude of the finger pressure is increased, and if the height of the finger portion is decreased, the load is concentrated on a structure other than the ceramic, and therefore, the magnitude of the finger pressure is decreased.

Further, although the conventional automatic warming apparatus adopts the concept of controlling the finger pressure by the vertical height of the finger-pressing portion, there is a problem that the finger pressure applied to the user cannot be expressed by a specific value by increasing or decreasing the finger pressure only with reference to the current finger pressure because there is no device capable of measuring the current finger pressure.

In the conventional automatic warming apparatus, the finger pressure control algorithm is configured such that, when a horizontal position corresponding to the position of the vertebra of the user is detected through a human body scanning process and a vertical height based on the massage intensity at the corresponding position is calculated, the finger pressure portion moves to the corresponding vertical position every time the finger pressure portion passes the corresponding horizontal position.

However, if the position of the spine is changed or changed to another user due to the movement of the user during the massage operation, the vertical position should be changed accordingly, but there is a problem that a difference occurs between the actual finger pressure and the desired finger pressure when the control is performed based on the vertical position stored before.

That is, the above-described problem is caused by a massage operation according to the previously stored vertebral bone position even if the vertebral bone position of the user is changed, that is, by a massage operation according to the finger pressure corresponding to the vertical position of the finger-pressing portion, which results in that the displacement value according to the change of the vertebral bone position of the user cannot be reflected, and there is a limitation in obtaining the optimal massage effect.

Disclosure of Invention

(problems to be solved by the invention)

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a finger pressure suitable for a user during a massage operation by measuring a deflection point of a measurement value of a driving current applied to a horizontal driving motor when a finger portion is driven horizontally in an initial massage process, calculating a new target finger pressure by reflecting a deviation between a vertical position of the finger portion corresponding to the deflection point and a reference vertical position of each horizontal position stored in a database on a finger pressure correction value, and reflecting the new target finger pressure on the finger pressure control.

Another object of the present invention is to provide a massage apparatus which can provide a finger pressure to an accurate position by actively tracking a changed spine position using real-time human body scan information when a user position is changed or scan information is changed due to a change in the user position during a massage operation, unlike a conventional control method using human body scan information.

(means for solving the problems)

The real-time finger pressure control method comprises the following steps: (a) setting a reference vertical height according to different horizontal positions of the finger pressing part, and setting target finger pressure within the range of the reference vertical height; (b) calculating a current measurement finger pressure based on load measurement data of a user applied to a load sensor; and (c) comparing the target finger pressure with the current measured finger pressure, and controlling the vertical height of the finger-pressing part.

In the present invention, in the step (c), the finger portion is vertically lowered or vertically raised when the current measured finger pressure is higher than the target finger pressure or the current measured finger pressure is lower than the target finger pressure, and the finger portion stops vertical driving when the current measured finger pressure is the same as the target finger pressure.

In the present invention, when the current vertical height of the finger portion exceeds the reference vertical height, a predetermined boundary value is given to the measurement finger pressure.

The present invention is characterized in that the target finger pressure is the minimum value in the step (a), and the real-time finger pressure control method further comprises a step (a') of determining a horizontal specific position corresponding to a inflection point of a measured value of a driving current applied to a horizontal driving motor when the finger pressure portion moves forward or backward.

In the present invention, the real-time finger pressure control method further includes a step of calculating a correction value of the target finger pressure based on a deviation between a vertical height of the finger portion and the reference vertical height at the horizontal specific position.

The present invention is characterized in that the inflection point of the driving current measurement value is calculated based on the specific vertebral position of the current user, and when the finger portion moves horizontally during the massage operation, the current vertebral position corresponding to the driving current measurement value applied to the horizontal driving motor is different from the specific vertebral position, the position of the acupuncture point is offset-corrected according to the deviation.

The present invention is characterized in that in the case where the interval ratio between the acupuncture point of the previous vertebral position and the acupuncture point of the current vertebral position is changed due to a change of a user, the ratio between the acupuncture points is corrected.

On the other hand, the real-time human body scanning control method comprises the following steps: collecting current variation value data generated by driving a horizontal motor, setting a current variation interval, and extracting position information of a point corresponding to a maximum variation point and a minimum variation point in the variation interval; a step (B) of calculating a correction value based on a difference between the positions when the position of the acupuncture point of the current user is different from the corresponding position of the acupuncture point in the step (A) during the massage operation; and (C) correcting the positions of the respective acupuncture points of the current user in accordance with the correction values calculated in the step (B).

The present invention is characterized in that, when the distance between the current user's acupuncture points is different from the distance between the previous acupuncture points extracted in the step (a) during the massage work, the ratio of the distances between the current user's acupuncture points is corrected to be equal to the ratio of the distances between the current acupuncture points and the previous acupuncture points.

(Effect of the invention)

The real-time finger pressure and body scanning control method of the present invention can calculate a new target finger pressure from the position of the vertebra changed at the position of the user to reflect on the control of the finger pressure in the case that the position of the same user is changed or the user is changed, thereby controlling the optimal massage intensity in real time based on the physical condition of the user.

Further, according to the present invention, by using the inflection point of the driving current measurement value of the horizontal driving motor for horizontally driving the acupressure portion, and by detecting the specific vertebral position corresponding to the inflection point in real time during the massage operation and reflecting the detected control on the acupressure portion, it is possible to provide a real-time customized massage by a user.

Drawings

FIG. 1 is a flow chart illustrating a real-time finger pressure control method of the present invention.

Fig. 2 is a side view of a driving module illustrating a real-time finger pressure and human body scanning control method of the present invention.

Fig. 3 is a flowchart illustrating a real-time human body scanning control method of the present invention.

Fig. 4 is a graph showing load cell weight measurement data based on the vertical height and horizontal displacement of the thumb portion of the present invention.

Fig. 5 is a graph showing the results applicable to the control method under the specific target finger pressure of the present invention.

Fig. 6 is a graph showing the range of finger pressure measured according to the body type of the user according to the present invention.

Fig. 7 is a graph showing measured data when the reference level at a specific target finger pressure of the present invention is decreased and increased.

Fig. 8 is a graph showing scan horizontal current data of a human body to which cervical vertebrae are bent according to the present invention.

Fig. 9 is a graph showing the criterion for evaluating the specificity of the normal distribution data according to the present invention.

Fig. 10 is a graph showing three types of lumbar vertebrae Peak (Peak) detection based on the human body scan control method of the present invention.

Fig. 11 is a graph illustrating maximum inclination position detection of human scan horizontal driving current data to which cervical curvature is not applied in the present invention.

Fig. 12 is a graph of human scan horizontal drive current data for a thermometer of the present invention.

Fig. 13 is a graph showing the setting of the positions of the divisional areas by the result of the human body scan test according to the present invention.

Description of reference numerals

S100: (a) step (ii) of

S110: (a') step

S200: (b) step (ii) of

S300: (c) step (ii) of

Detailed Description

Hereinafter, the real-time finger pressure and human body scanning control method according to the present invention will be described in more detail with reference to the accompanying drawings.

As shown in fig. 1 to 3, the finger pressure human body scanning control method of the present invention includes: (a) step S100, setting a reference vertical height according to different horizontal positions of the finger pressing part, and setting a target finger pressure within the range of the reference vertical height; (b) step S200, calculating the current measurement finger pressure according to the load measurement data of the user applied to the load sensor; and (c) step S300, comparing the target finger pressure with the current measured finger pressure, and controlling the vertical height of the finger-pressing part.

As shown in fig. 1 to 3, in step S100 (a) of the present invention, a reference vertical height is set according to different horizontal positions of the finger portion, and a process of setting a target finger pressure is performed within the range of the reference vertical height.

The heating instrument of the present invention includes a driving module for driving a finger-pressing portion, which includes a horizontal driving motor and a vertical driving motor, the horizontal driving motor and the vertical driving motor being brushless DC motors (B L DC), the finger-pressing portion having ceramic members arranged in two rows in the front and rear direction, and a load sensor disposed at the lower portion of the finger-pressing portion for measuring a load of a user.

As shown in fig. 1 to 3, step (b) S200 of the present invention is a process of measuring the load of the user by the load sensor and calculating the measured specific pressure.

That is, the weight applied to the upper side of the finger part is transmitted to the load sensor through the finger part, whereby the electrical signal of the load sensor changed is recognized as the changed weight through the control circuit.

When the measured weight changes, the control circuit can control the finger pressure to a required value by raising or lowering the height of the finger pressure part, thereby showing the predetermined finger pressure.

The control method for controlling the finger pressure of the temperature instrument is mainly characterized in that the finger pressure control can be carried out in real time.

That is, in the finger pressure control method of the conventional warming apparatus, when a horizontal position corresponding to the position of the vertebra of the user is detected through a human body scanning process and a vertical height based on the massage intensity at the corresponding position is calculated, the finger pressure portion moves to the corresponding vertical position every time the finger pressure portion passes through the corresponding horizontal position.

Therefore, if the position of the vertebra changes due to the movement of the user during the massage operation, the vertical position should also change accordingly, but a difference occurs between the actual finger pressure and the required finger pressure as the control is performed based on the vertical position stored previously.

However, in the real-time human body scanning control method of the present invention, since the vertical position corresponding to the current horizontal position of the acupressure portion is calculated in real time by finger pressure measurement and analysis, the finger pressure can be accurately controlled at the target value regardless of the movement of the user.

In this case, since the target finger pressure can be set differently or identically depending on the horizontal position, the finger pressure can be controlled to be different from each partial section or the same throughout the section according to the selection of the user.

As shown in fig. 1 to 3, step (c) of the present invention is a process of comparing the target finger pressure with the measured finger pressure to control the vertical height of the finger portion.

Therefore, as shown in fig. 3, in the thermal instrument of the present invention, after the vertical position of the finger portion is fixed at the highest vertical position and the lowest vertical position, when the finger portion is moved from the first spinal position of the user to the maximum horizontal Stroke (Stroke) section of the thermal instrument by the horizontal driving, the weight measurement data detected by the load sensor can be collected according to the horizontal position of the finger portion.

From the above data, it is possible to confirm the difference in finger pressure that can be changed by the vertical height control of the finger-pressing portion according to the horizontal position.

For example, as shown in FIG. 4, since the load cell data has a minimum vertical height of about 180A/D and a maximum vertical height of about 290A/D at a position displaced horizontally by 300mm, it can be seen that the finger pressure can be realized within a range of 180A/D to 290A/D by controlling the vertical height of the finger portion at a position displaced horizontally by 300 mm.

When the finger pressure control operation is started with the target finger pressure set to 240A/D when the vertical height is at the lowest value at the position displaced by 300mm horizontally, the vertical height of the finger portion is raised and the finger portion is stopped from being driven vertically at the moment when the measured finger pressure reaches 240A/D, which is the same as the target finger pressure, thereby representing 240A/D as the target finger pressure.

This is expressed in the conditional expression as follows.

If (target finger pressure > measured finger pressure) then is driven to rise vertically

Else if (target finger pressure < measured finger pressure) then is driven to fall vertically

Else stops vertical drive

Further, fig. 5 shows the result of applying the real-time finger pressure control method, that is, measuring that the measured finger pressure shows 240A/D as the target finger pressure within the range in which the finger portion can be vertically moved when moving from the first level position of the spine to the maximum horizontal stroke section of the thermotherapy instrument by the horizontal driving after the target finger pressure is set to 240A/D as described above.

From the above results, when the measured finger pressure is less than 240A/D which is the target finger pressure, the pressing portion is driven to vertically rise, whereas when the measured finger pressure is greater than 240A/D, the pressing portion is driven to vertically fall, and when the measured finger pressure is equal to 240A/D, the pressing portion is in a vertically stopped state and is not driven, thereby expressing the target finger pressure of 240A/D in the entire massage zone.

However, this control can be realized only in the vertical driving range, and it is understood that the finger pressure cannot be further reduced if the finger portion is at the lowest vertical position, and cannot be further increased if the finger portion is at the highest vertical position.

In this case, when the actual control environment is configured, the load sensor measurement value may fluctuate due to noise, and in this case, the measurement finger pressure may also fluctuate.

Therefore, a noise range is required for the target finger pressure, and it is judged that the value is suitable for reaching a level of 2 times the loop noise currently embodied.

If the noise range is adopted, the conditional expression as described above may become as follows.

If (target finger pressure > (measured finger pressure + noise range)) then is driven to rise vertically

Else if (target finger pressure < (measured finger pressure-noise range)) then is driven to drop vertically

Else stops vertical drive

When the noise range is set to 10A/D based on the result of FIG. 5, the measured finger pressure is higher than 250A/D with respect to 240A/D as the target finger pressure, and the finger pressure is driven to vertically lower, and the measured finger pressure is lower than 230A/D with respect to 240A/D as the target finger pressure, and the finger pressure is driven to vertically raise.

When the measured finger pressure is in the range of 230A/D to 250A/D, the state in which the vertical driving of the finger portion is stopped can be referred to as a stabilized state of finger pressure control, and when the finger portion is vertically driven as described above, the state can be referred to simply as an unstable state of finger pressure control.

However, although the real-time finger pressure control method can be implemented according to the above, in the case of changing the user, other target finger pressure should be adopted according to the current use state.

Fig. 6 shows a measured finger pressure range which is different depending on the body type of the user when the user moves from the first spinal position to the maximum horizontal stroke section of the thermotherapy device by the horizontal driving after the vertical position of the finger portion is fixed at the highest vertical position and the lowest vertical position.

That is, for example, the load sensor data changes in the range of about 170A/D to 260A/D at a position displaced horizontally by 300mm with respect to the user A (small weight), and for example, the load sensor data changes in the range of about 250A/D to 320A/D at a position displaced horizontally by 300mm with respect to the user B (heavy weight).

In this case, if the appropriate target finger pressure is set at the intermediate level of the above range, the target finger pressure of user a is 215A/D, and the target finger pressure of user B is 285A/D, which are different values, and if the target finger pressure 285A/D appropriate for user B is applied to user a, it is found that this value exceeds the maximum finger pressure that can be exhibited by vertically driving the finger portion, and therefore, this is not appropriate.

Since the target finger pressure is different for each user and when an inappropriate target finger pressure is used, the range in which the finger pressure can be expressed by vertically driving the finger pressure portion is exceeded, and thus a real-time finger pressure control method cannot be used.

Therefore, it is necessary to consider a control method for automatically calculating different target finger pressures according to a user.

That is, the principle of the control method for automatically calculating different target finger pressures is to correct the target finger pressure using the vertical height of the thumb portion at a horizontally specified position.

That is, fig. 7 shows the result of the real-time finger pressure control method using the target finger pressure of 240A/D reference for a specific user, and thus a target finger pressure correction value can be calculated using the division of the horizontal specific position when the finger pressure portion is moved forward (hereinafter referred to as "horizontal descent") or backward (hereinafter referred to as "horizontal ascent") and the vertical height of the finger pressure portion at that time.

In this case, the inflection point of the measured value of the drive current of the horizontal drive motor used for the horizontal movement of the thumb portion is used for the division into the horizontal specific positions.

Regardless of the target finger pressure, the horizontal drive current exhibits 3 inflection points in the entire massage section when the level falls and rises, respectively, and the horizontal position of the finger portion at this time is referred to as a horizontal specific position.

Hereinafter, a real-time human body scanning control method based on a variable curve point division method using a horizontal driving current will be described in more detail.

First, as shown in fig. 3, the real-time human body scanning control method of the present invention includes: (A) collecting current variation value data based on a driving horizontal motor, setting a current variation interval, and extracting position information of a point corresponding to a maximum variation point and a minimum variation point in the variation interval; (B) a step of calculating a correction value based on a difference between the positions when the position of the acupuncture point of the current user is different from the corresponding position of the acupuncture point in the step (a) during the massage operation; and (C) correcting the positions of the respective acupuncture points of the current user according to the correction values calculated in the step (B).

In this case, the real-time human body scanning control method of the present invention corresponds to the step (a') of step S110 in the real-time finger pressure control method described above, in which the horizontal specific position corresponding to the inflection point of the measured value of the driving current applied to the horizontal driving motor is determined when the level of the finger portion is lowered or raised.

In the step (a) of the present invention, the user-specific point position detection method based on different points is implemented by using a driving current of a horizontal driving motor to track a specific position of the spine by using a change in a repulsive force applied to the acupressure portion when the user horizontally moves the entire spine region.

In this case, the position of the acupoint is associated with a specific position of the spine, and therefore, tracking of the specific position of the spine means tracking of the position of the acupoint.

Therefore, in a state where the vertical position of the finger part is fixed, when moving from the first level position of the user's spine to the maximum horizontal stroke section of the warming instrument by the horizontal driving, the driving current data of the horizontal driving motor as shown in fig. 7 can be collected according to the horizontal position of the finger part.

In fig. 8, the positions of a1 to C, a1 to C, which are the inflection points of the data, can be associated with the positions of the respective specific vertebrae, and it can be confirmed from the data of 138 test subjects in the human scan test that, in particular, the C position corresponds to the position on the lower side of the twenty-fourth vertebra.

In contrast, the positions of the vertebrae corresponding to the positions a1 to B, a1 to c are different depending on the user, and therefore the human body scanning control method cannot be adopted.

The accuracy of measuring the position of the lower side of the twenty third segment of the vertebra based on the above test results is formed by calculating the length of the vertebra using the maximum value of the load of the lumbar part, first measuring the distance from the lower side of the ear (upper side of the first segment of the vertebra) to the upper side of the pelvis (lower side of the twenty third segment of the vertebra), detecting the position of the lower side of the twenty fourth segment of the vertebra using the position ("C" in fig. 7) of the maximum value of the lumbar part in the human body scan data, and then calculating the position of the twenty third segment of the vertebra.

From the results, as shown in fig. 8, the average error and the standard deviation of B with respect to a were calculated, and the average error of measurement of the position under the twenty-third segment of the spine was 3.63mm and the standard deviation was 30.85 mm.

In this case, according to the korean body size survey result, the average spine length of korea is 668mm, and the average length of 1 vertebra is calculated by dividing the average spine length by the number of vertebrae 30, i.e., 22.27 mm.

When the target of the human body scanning accuracy is set to the average length of 1 vertebra, considering the particularity of the normal distribution, in order to make 70% of all the measurement objects included in the target range, the value of "average error + standard deviation" should be 22.27mm or less, and it is known from the above measurement result that the value exceeds 34.48mm of the target range.

(FIG. 9 shows that about 70% of the data are included within. + -. 1 times of the standard deviation and about 95% of the data are included within. + -. 2 times of the standard deviation, depending on the specificity of the normal distribution data.)

The reason why the standard deviation of the measurement results is relatively larger than the average error is that the horizontal driving current data of the human body scan is approximately represented in 3 forms as shown in fig. 10, and in the case that 1 peak is not clearly detected, a large error may be generated in the human body scan result.

In this case, the largest cause for which 1 peak is not clearly detected is that the shiatsu portion has a configuration of 2 rows above and below, and when the shiatsu portion passes through the pelvic portion of the user, the peak values in the upper row and the lower row are generated separately or added to each other.

Therefore, the measurement accuracy of the human body scanning control method of the present invention can be improved by the following improvements.

That is, as shown in fig. 11, in order to minimize the influence of the configuration of the upper and lower 2 rows of the finger portions, a control method is adopted in which the position where the amount of change between the upper and lower finger portions is the largest before and after the finger portions are spaced 64mm apart from each other is used for the human body scanning horizontal drive current data, and the accuracy of the measurement of the position of the lower twenty-third segment of the vertebra is as follows.

The length of the spine with the maximum inclination of the load of the lumbar vertebrae was calculated for 12 test subjects according to the test method, that is, the distance from the lower part of the ear (the upper side of the first segment of the spine) to the upper part of the pelvis (the lower side of the twenty-third segment of the spine) was measured, the position of the lower side of the twenty-fourth segment of the spine was detected from the position of the maximum inclination of the lumbar vertebrae in the human body scan data, and then the position of the twenty-third segment of the spine was calculated.

From the results, the average error and standard deviation of B with respect to A were calculated in FIG. 8, and the measured average error of the inferior position of the twenty-third segment of the spine was 6.25mm and the standard deviation was 15.74 mm.

That is, since the value of "mean error + standard deviation" was 21.99mm and was smaller than 22.27mm, which is the mean length of 1 spinal vertebra, 70% of all the measurement objects could be included in the target range.

However, the above-described control method can track the positions of the acupuncture points only in a single section of the initial human body scan, which is the automatic mode driving, and has a limitation that the positions of the acupuncture points cannot be reflected on the thermal instrument when the positions of the acupuncture points are changed by the posture of the user after the human body scan.

Therefore, in the following, the changed position is reflected to the thermo-meter by tracking the position of the acupuncture point all the time during the massage process, so that the real-time human body scanning control method can be changed to only scan the human body in a specific section.

In this case, even if the vertical position of the thumb portion is not fixed, it does not have a great influence.

Further, the present invention is applicable to a thermal instrument by calculating the position of the pocket at every time when the minimum horizontal driving passes a specific position, and does not adopt a conventional method of calculating the position of the pocket after the completion of the horizontal Full Stroke (Full Stroke) driving.

Additionally, during the operation of the thermotherapy device, not only the position information of the acupuncture points based on the movement of the user can be included, but also the positions of the acupuncture points can be identified and recalculated only by partial interval horizontal movement when the user is changed, so that the human body scanning process is included in the massage action itself.

To this end, fig. 12 shows the horizontal driving motor driving current measurement data based on the horizontal position of the acupressure portion when the acupressure portion is moved from the first spinal position of the user to the maximum horizontal stroke section of the warming apparatus by the horizontal driving in a state where the vertical position of the acupressure portion is fixed or the acupressure portion is moved Up and Down (Up/Down) for adjusting the strength.

Among the above data, the measured data of the horizontal drive current may fluctuate somewhat, but when corrected by averaging in a specific interval, it may be converted into a stable form.

At this time, the specific section means a horizontal displacement reference correction range, and in order to minimize an error, it is preferable to use an up-down interval of the thumb part, and in order to rapidly detect the hole site, it is necessary to appropriately narrow the range of the up-down interval.

The positions of a to C, a to C, which are the inflection points of the data, can be associated with the positions of the respective specific vertebrae, and particularly, as in the conventional human body scanning control method, the position of C is expected to correspond to the position on the lower side of the twenty-fourth segment of the vertebrae.

And, the step (B) in the real-time human body scanning control method is started with the positions a to B, a to c being used for the acupuncture point detection.

In this case, the positions of a to B, a to c cannot be directly used as the positions of the vertebrae since the positions of the associated vertebrae are different depending on the user.

However, the distances a to C, a to c are constant for each user.

For example, when the displacement point position a of a specific user is detected as a distance of movement of about Offset (Offset) X during the massage, the distance from a to B to C, a to c is constant, and therefore, X-degree Offset occurs also at positions B to C, a to c.

That is, step (C) of the present invention adopts the principle of indirectly tracking the movement position of the other vertebra by the movement of the position C under the twenty-fourth segment of the vertebra caused by the movement of a, rather than the method of directly tracking the movement of the position of the vertebra of the cervical portion associated with the movement of the inflection point position a when the inflection point position a is moved.

The emphasis of the tracking principle described above is to divide the positions of a to C, a to c for the horizontal motor drive current variation curve.

In this case, when the data in fig. 12 is observed, it can be confirmed that the data has a characteristic of decreasing from an increase toward a decrease at points a, C, a, and C, and the data has a characteristic of increasing from a decrease toward an increase at point B, b.

However, since such a specification may temporarily appear at a position other than the positions a to C, a to c, an error may be made in determining the clearly different positions as the positions a to C, a to c.

Also, since a and C, a have the same characteristics as c, the division is very blurred.

Therefore, when the positions a to C, a to c are determined, a procedure is employed in which the entire horizontal movement section is divided into 3 regions and the inflection point is checked.

As a matter of consideration when dividing the horizontal movement section into 3 regions, the spine length based on the height of the user is divided.

In the case where the warming instrument of the present invention has a horizontal movement range of 710mm, it is known that a stable human body scan can be performed for a user having a height of 1200mm to 1864mm because the spine length is 498mm to 774mm when an average ratio of the height to the spine length based on a korean human body size survey result is substituted for the above height of 41.53%.

774mm is the horizontal movement interval 710mm plus the up-down distance of the finger-pressing part 64 mm.

In contrast to koreans, western-style users have a feature that the upper body length is shorter than the lower body length, and in this case, the maximum height at which a human body can be stably scanned may be greater than 1864 mm.

The height of the user is mentioned as described above because the positions a to C, a to c should be detected without exception for the spine length in the range of 498mm to 774mm when the horizontal movement section is divided into 3 regions.

For this purpose, the positions of a, B, C, a, B, and C were measured by a human body scan test on 5 test subjects, and the results are shown in table 1.

Also, positions for dividing the regions such that a and a are located in the first region, B and B are located in the second region, and C are located in the third region can be set using the test results, and fig. 13 shows the results thereof.

TABLE 1

From the above results, it was confirmed that the detection sections a to C and a to C do not overlap when the area is divided into 3 areas with the position of 256mm from the scanning start position and the position of 459mm from the scanning start position as boundary lines.

In the data, the maximum value and the minimum value of the average values in the predetermined interval (± 64mm) of the horizontal drive motor drive current were used for the position measurement of a to C, a to c.

As shown in fig. 11, more accurate data can be extracted if the maximum inclination is used.

Based on the above, the method of detecting the positions a to C, a to c during the subsequent massage operation is as follows.

For the horizontal drive current at the time of the horizontal drop, the maximum value position in the first region is a, the minimum value position in the second region is B, and the maximum value position in the third region is C.

For the horizontal drive current when the level rises, the minimum position in the first region is a, the maximum position in the second region is b, and the minimum position in the third region is C.

When the positions of a to C, a to c are changed according to the movement of the user, the boundary positions that divide the three regions should be changed similarly.

In contrast, there is a part to be additionally considered, that is, a method of recognizing a case where the interval between the acupuncture points is changed by changing the user during the use of the thermotherapy device, that is, a case where the ratio of the lengths from a to C, B to C, and C to C in the length from the scanning start position to C is changed.

In other words, it is desired to improve the real-time human body scanning control method by adding a second concept of correcting all the acupuncture points by the degree of the rate of change occurring when the plurality of positions of a to C, a to c are changed by adding a pass interval rate to the first concept of using the offset of the positions of all the acupuncture points according to the degree of the change occurring when the single position of a to C, a to c is changed.

For this, the real-time human body scanning control method of the present invention further includes a step of correcting the positions of the acupuncture points by interval ratios using the data in the above table 1.

When the vertical height of the thumb portion is the minimum, the position A of the test object 1 is 178mm, and the position B is 430 mm.

When the position of a is moved to 200mm in the case of massage, the position of B is 430+ (200-.

At this time, if the movement of the user belongs to a natural movement based on the product running, the user passes through B after passing a without a special motion (without a horizontal direction change or stop and a three-dimensional motion in the middle), and the position of B should be detected at 452mm calculated as described above.

If the position of B is detected at another position than at 452mm, it is determined that the change of the user is not a simple movement of the user, but the correction using the interval ratio of the acupuncture point in the second concept is performed instead of the offset movement of the acupuncture point in the first concept.

Of course, a predetermined measurement error range for 452mm is required, and the second concept is used only when 2 positions among the positions a to C, a to c are passed in series.

If it is assumed that the position of B is detected at 440mm, not on the 452mm side, and the measurement allowable error range is 10mm, the position error of B exceeds 10mm, which is the measurement allowable error range, and is included in the application object of the second concept.

Thus, it was confirmed that the distance between a and B was decreased from the conventional 430-. Finally, if the distance from the current pocket to another pocket of the previous step is assumed to be R, the distance Rn from the current pocket to another pocket of the current step is as follows.

Formula 1

Rn-R × (current distance between two points/previous distance between two points) -R × 240/252

Thus, the changed position Pn of the specific acupoint spaced from the scanning start position is as follows.

Formula 2

Pn ═ current position-Rn

When the position of the specific point Pn is spaced from the scanning start position by P, the amount Dp of change in the position of the specific point Pn is as follows.

Formula 3

Dp＝P－Pn

When Dp is more than a predetermined value according to the operation mode of the heat meter, it is recognized that the user is changed, and a separate new program such as a remote Display (Display) and a drive mode restart may be used.

If the horizontal specific position based on the driving current inflection point of the horizontal driving motor is divided according to the method as described above, the value of the vertical height at the horizontal specific position is similar to the specific value of the standard vertebral curvature in the case where the normal target finger pressure has been set.

If the vertical height is less than the specific value, it means that the set target finger pressure is low, and if the vertical height is greater than the specific value, it means that the set target finger pressure is high.

Further, the deviation between the current actual finger pressure and the appropriate target finger pressure is proportional to the deviation between the current vertical height and the vertical height at the specific position, and a correction value for the current target finger pressure for calculating the appropriate target finger pressure can be calculated therefrom.

When the target finger pressure is appropriately set, the vertical height reference of the finger portion at the horizontal specific position, which is realized by the real-time finger pressure control method, can be set as follows.

A: maximum vertical height, B: at 1/4 maximum vertical height, C: maximum vertical height 3/4

a: maximum vertical height, b: at 3/4 of maximum vertical height, c: minimum vertical height

In this case, the target finger pressure automatic calculation control method starts in a state where the target finger pressure reaches the minimum value.

In the case where the warmer starts operating, the target finger pressure is at a minimum, and therefore rises to the maximum vertical height at the portion of the thumb independent of the current finger pressure.

Therefore, regardless of the body type, the operation of the thermotherapy apparatus starts from the cervical vertebra portion where the vertical height reaches the maximum.

When operating in a state where the target finger pressure is at a minimum, the vertical position of the finger portion is always maintained at the highest vertical height, and therefore, the target finger pressure is gradually increased by comparing the vertical heights at each specific position.

If the calculation of the target finger pressure is finished by comparing the vertical heights of 6 horizontal specific positions generated by the horizontal descending and the horizontal ascending of the finger-pressing part, the massage intensity can be used later, and if the state of a user is recognized to be changed during the operation of the product, the automatic calculation control method of the target finger pressure needs to be adopted again.

In addition, in the positions a, and c, since the vertical height reference of the finger-pressing portion is the maximum value or the minimum value, there is a case where the comparison with the vertical height cannot be performed, and therefore, it is preferable to use the correction coefficient F in order to reflect the deviation between the measured finger pressure and the target finger pressure in the calculation of the new target finger pressure and to adopt an appropriate ratio.

Further, the target finger pressure automatic calculation control method can directly change the target finger pressure by comparing the vertical positions at the respective horizontal specific positions, but in order to prevent the target finger pressure from suddenly changing and to prevent the entire target finger pressure calculation error from being generated due to the instantaneous measurement error, it is preferable to perform the correction in steps using the correction coefficient P, and the correction coefficient P at this time is 0.5, and can be appropriately changed according to the use conditions.

Finally, the average of the correction values at 6 specific positions is used to calculate the final target finger pressure.

In this case, the following formula is applied to the new target finger pressure calculation and the final target finger pressure calculation using the correction coefficients F and P.

Formula 4

New target finger pressure + correction coefficient F × (measured finger pressure-target finger pressure) + correction coefficient P × (reference vertical position-current vertical position)

Formula 5

Final target finger pressure (sum of target finger pressures at positions a to C, a to C)/number of specific positions 6

As described above, when the vertical height of the finger portion is controlled based on the load sensor weight measurement data, the finger pressure can be controlled to be different from each partial section or the same in the entire section at the target finger pressure regardless of the movement of the user by performing the measurement and the control in real time.

Although the real-time human body scanning control method of the present invention has been described with reference to the accompanying drawings, in which specific shapes and directions are given as main points, those skilled in the art may make various modifications and changes thereto, and such modifications and changes should be construed as falling within the scope of the present invention.