Rowing motion parameter monitoring and analysis system and method based on CAN bus protocol

Abstract

The present invention discloses a rowing motion parameter monitoring and analysis system based on the CAN bus protocol. The rowing boat includes a number of sliding seats and a number of foot pedals, and comprises: a number of measurement modules, a CAN bus and a gateway. Among them, the measurement modules are used to measure the displacement of the sliding seats and the pressure values at the foot pedals; the CAN bus is communicatively connected to the number of measurement modules, and the measurement modules transmit the displacement and pressure values to the CAN bus; the gateway is communicatively connected to the CAN bus, and the CAN bus transmits the displacement and pressure values to the gateway and is transmitted by the gateway to the terminal. The present invention also discloses a rowing motion parameter monitoring and analysis method based on the CAN bus protocol and applies this method to the system of the previous embodiment. The present invention has the advantages of good portability, convenient deployment and strong expansibility.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-parameter monitoring and analysis of multi-person rowing sports, and particularly relates to a rowing sports parameter monitoring and analysis system and method based on the CAN bus protocol. Background Art

[0002] In most competitive sports, real-time data of training or competition is of great guiding significance for the improvement of athletes' skills, and the same is true for rowing sports. In recent years, it has become a trend to empower sports with technology. However, there are still certain gaps in the field of rowing sports, and most products are still not mature and have not been widely promoted. The advantages and disadvantages of existing related products at home and abroad will be briefly described below.

[0003] Traditional rowing sports research mainly focuses on the parameters of the oar and the overall boat. Early foreign researchers proposed a UWB (Ultra Wideband) indoor positioning system for tracking the periodic movement of the rowing machine handle at different frequencies, which can effectively track the rowing movement indoors; in recent years, domestic researchers developed a real-boat rowing technology test system based on the principle of fluid mechanics, which can collect important information such as the force, angle, speed, and acceleration of the oar during rowing in real time to help athletes exert the maximum efficiency of the oar blade; some experts also focused on the boat itself and developed a complete rowing detection service system, which can well monitor information such as the direction and trajectory of the rowing boat. Recently, some researchers applied edge intelligence to rowing training, comprehensively observing the training cycle of athletes through technologies such as computer vision and pose recognition, and paying attention to physiological indicators such as the breathing frequency of athletes.

[0004] Currently, most domestic research focuses on the overall parameters of the rowing boat or rowing techniques, the measurement of the rowing parameters of individual athletes, the postures of athletes, etc. Some research also focuses on the physiological state parameters of athletes, but ignores the parameters of the internal subsystem of the rowing boat composed of the foot pedals and the sliding seat, such as the sliding speed of the seat, the synchronization of the sliding among athletes, and the change of the pedaling force with the sliding. Moreover, many of the finally designed systems are only applicable to dry-land training and cannot be used in actual water battles due to factors such as portability.

[0005] On the other hand, the internal structure of the rowing boat is long and narrow with multiple workstations. Traditional measurement systems often adopt a DCS centralized control and acquisition system, deploying a single terminal, with a decentralized connection structure between each sampling node and the terminal. However, this structure has complex wiring and poor scalability, and the overall modification cost of the system is high when adding or reducing workstations, and its disadvantages are obvious when applied to the scenario where multiple workstations are distributed in a long and narrow shape on the rowing boat.

[0006] Furthermore, rowing is a multi-person sport, where the coordination of athletes in different positions is crucial to the outcome. This requires a rowing measurement system that combines highly synchronized sampling with real-time performance. Traditional multi-node monitoring systems often rely on a unified external triggering method to achieve synchronized sampling across all nodes. However, for distributed data acquisition systems, this sampling approach often struggles to avoid errors caused by missed synchronization signals or false triggering. Summary of the Invention

[0007] To address the shortcomings of these traditional products, the present invention provides a CAN bus protocol-based rowing sports parameter monitoring and analysis system. The rowing boat comprises a plurality of sliding seats and a plurality of footrests, and comprises: a plurality of measurement modules, a CAN bus, and a gateway. The measurement modules are used to measure the displacement of the sliding seats and the pressure on the footrests; the CAN bus is communicatively connected to the plurality of measurement modules, which transmit the displacement and pressure values to the CAN bus; and the gateway is communicatively connected to the CAN bus, which transmits the displacement and pressure values to the gateway, which then transmits them to the terminal.

[0008] Furthermore, the measurement module includes: a distance sensor, a pressure sensor, an A / D conversion module, a calculation and storage module and a CAN transceiver; the distance sensor is arranged behind the sliding seat to measure the displacement of the sliding seat; the pressure sensor is arranged at the foot pedal to measure the pressure value at the foot pedal; the A / D conversion module is electrically connected to the distance sensor and the pressure sensor respectively, and performs A / D conversion on the displacement and pressure values; the calculation and storage module reads the displacement and pressure values after A / D conversion and performs filtering processing, and then adds time stamps; the CAN transceiver is communicatively connected to the calculation and storage module to transmit the marked displacement and pressure values to the CAN bus.

[0009] Furthermore, the pressure sensor is a cantilever beam structure strain gauge type metal sensor.

[0010] Furthermore, the distance measuring sensor is a laser sensor.

[0011] Furthermore, a reflective sheet is provided on the rear side of the sliding seat.

[0012] Furthermore, the laser sensor is a TOF laser sensor.

[0013] Further, the computer storage unit is selected as the computing storage module.

[0014] According to another embodiment of the present invention, a method for monitoring and analyzing rowing parameters based on the CAN bus protocol is provided, comprising the following steps:

[0015] Deploy sensors, deploy distance sensors and pressure sensors at the locations to be measured, and measure relevant data;

[0016] Design measurement nodes, perform A / D conversion on the data, read it, perform filtering processing, and mark it with time stamps.

[0017] Connect the nodes to the CAN bus for communication and transmit the data to the CAN bus.

[0018] Design a gateway, and the CAN bus transmits the data to the gateway.

[0019] The gateway transmits the data to the terminal.

[0020] Furthermore, each node uses its own clock to send data after different time delays according to its number, avoiding triggering the CAN bus competition mechanism during communication.

[0021] Furthermore, the gateway synchronizes the clocks of each node at regular intervals, and each node realizes synchronous reading of sensor data according to its synchronized clock.

[0022] Furthermore, the gateway coordinates the number of frames transmitted by each node and checks the data. If a certain frame of data is missing or the data is abnormal in the time series, the average value of the data of the previous and subsequent frames is used to replace it.

[0023] The beneficial effects of the present invention:

[0024] Combined with the actual situation of the internal structure and usage scenario of the rowing boat, a new multi-parameter monitoring and analysis system for multi-person rowing sports based on the CAN bus protocol and adopting a bus distributed structure is constructed, realizing multi-station synchronous measurement of the internal parameters of the in-boat power subsystem composed of a sliding seat and a footrest, filling the gap in this field; the hardware cost of this set of systems is low and suitable for popularization, with both synchronization and real-time performance. The wiring method based on the bus structure is also more suitable for the long and narrow structure of the rowing boat, being portable and having strong expandability; it has important guiding significance for serving rowing athletes and rowing sports enthusiasts, and at the same time has important practical significance for promoting the empowerment of sports by technology and the construction of a sports power by technology.

[0025] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further explanation of the claimed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flowchart according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following will further describe the preferred embodiments of the present invention in detail with reference to the accompanying drawings.

[0028] First, in combination with Figure 1Describe a rowing motion parameter monitoring and analysis system and method based on the CAN bus protocol according to an embodiment of the present invention, which is used in the technical field of multi-parameter monitoring and analysis for multi-person rowing sports, and has a wide range of application scenarios.

[0029] The following takes the calculation storage unit as STM32, the A / D conversion module as HX711, the nodes and the gateway adopt the RTC clock, and the terminal upper computer is an Android APP as an example to specifically illustrate its implementation method.

[0030] Step S1, design and deploy sensors:

[0031] The information acquisition part of the system consists of a pressure sensor and a ranging sensor; the pressure sensor selects a cantilever beam structure strain gauge type metal sensor, and the ranging part uses a TOF type laser sensor; the pressure sensor is fixed on the metal pedal at the bottom of the rowing shoes, and one is placed at each of the left and right shoes to form a full-bridge circuit; the laser ranging sensor is fixed behind the sliding seat, and is encapsulated in a black shell to avoid direct sunlight, and at the same time, an aluminum foil reflector is pasted on the back side of the sliding seat to increase its accuracy; the pressure sensor is used to collect the magnitude of the foot pedal force, and the laser sensor is used to measure the relative displacement of the sliding seat.

[0032] Step S2, design measurement nodes:

[0033] The measurement node is an integrated circuit board composed of a sensor, an A / D conversion module, an MCU, a CAN transceiver, etc.; each measurement node reads the data collected by the sensor after A / D conversion, performs filtering processing and marks it with a time stamp, and sends it out through the CAN transceiver for subsequent gateway reception.

[0034] Step S2 specifically includes the following steps:

[0035] Step S21, after the pressure sensor signal and the ranging sensor signal are processed by A / D conversion through the HX711 module, they are read by STM32;

[0036] Step S22, after STM32 reads the data, it uses the RTC time stamp to make a time mark, specifically hours, minutes, and milliseconds, and performs filtering processing on the data.

[0037] Step S23, after a short delay according to its own node number, STM32 sends the data to the CAN bus through the CAN transceiver.

[0038] Step S3, build a gateway:

[0039] The gateway is set inside the boat. The gateway is an integrated circuit board composed of STM32, a CAN receiver, a Bluetooth transmission module, etc.; the gateway is responsible for receiving the data sent by the nodes, performing checks and packaging, and synchronizing the clocks of each node regularly. The power supply of the nodes is also provided by the lithium battery at the gateway.

[0040] Step S3 specifically includes the following steps:

[0041] Step S31: When the system starts, the gateway first sends a clock signal to each node, and then sends it once every period of time. The signal from the node is received by the gateway and temporarily stored.

[0042] Step S32: The gateway checks the data frames of all nodes at regular intervals. If there is data missing in the time series, it will be compensated by the average value of the previous and next frames. After checking that everything is correct, the data will be packaged and sent to the terminal via the Bluetooth module.

[0043] Step S4, development terminal:

[0044] After receiving the data from the gateway, the terminal displays the data in real time, stores the data and performs corresponding data processing.

[0045] Step S4 specifically includes the following steps:

[0046] Step S41: Develop an Android APP using Android Studio software and open the Bluetooth interface;

[0047] Step S42: Receive data transmitted by the gateway and display the data curve, and process the data. By comparing the numerical values of the node parameters at the same time, the peak values of the curves, and the changing trends, it can be seen whether the force coordination of athletes at different node positions is consistent. At the same time, by comparing the numerical values of the curves of the current exercise cycle of a single athlete with the historical exercise cycle, the physical energy consumption of a single athlete is measured, and finally the data is stored.

[0048] Working Principle: First, the system is deployed on a rowing boat, with a node at each athlete's position. Pressure sensors are placed on the boat's footrests, and laser sensors are placed behind the sliding seat. Once deployed, the system is activated, with power supplied to each node by the gateway. Upon system startup, the gateway synchronizes clock information with each node. Once the clocks are aligned, each node begins reading sensor data simultaneously. The data is time-stamped and filtered, and then processed. Each node then sends data to the gateway via the CAN bus in a sequential manner, following a pre-defined delay to avoid contention. After transmission, each node resumes synchronous data reading, and this process repeats. The gateway receives data frames from each node, temporarily storing them and checking for anomalies. If a data frame from a node contains missing or abnormal data in the time series, it replaces it with the average of the previous and next frames to ensure consistent data frame counts across all nodes. The gateway then checks the data, packages it, and sends it to the terminal host computer. The terminal host computer then displays the data and performs data storage.

[0049] Above, refer toFigure 1 Describes a rowing sports parameter monitoring and analysis system and method based on the CAN bus protocol according to an embodiment of the present invention. Combining the actual situation of the internal structure and usage scenario of the rowing boat, a new multi-parameter monitoring and analysis system for multi-person rowing sports based on the CAN bus protocol and adopting a bus distributed structure is constructed, realizing the multi-station synchronous measurement of the internal parameters of the in-boat power subsystem composed of a sliding seat and a footrest, filling the gap in this field; the hardware cost of this set of systems is low and suitable for popularization, with both synchronism and real-time performance. The wiring method based on the bus structure is also more suitable for the long and narrow structure of the rowing boat, being portable and having strong expandability; it has important guiding significance for serving rowing athletes and rowing sports enthusiasts, and also has important practical significance for promoting the empowerment of sports by science and technology and the construction of a sports power by science and technology.

[0050] It should be noted that in this specification, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0051] Although the content of the present invention has been introduced in detail through the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and substitutions of the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A rowing motion parameter monitoring and analysis system based on the CAN bus protocol, where the rowing boat includes a number of sliding seats and a number of foot pedals, and is characterized in that, Comprising: A plurality of measurement modules for measuring the displacement of the sliding seat and the pressure value at the footrest; A CAN bus, which is communicatively connected to the plurality of measurement modules, and the measurement modules transmit the displacement and the pressure value to the CAN bus; A gateway, which is communicatively connected to the CAN bus, the CAN bus transmits the displacement and the pressure value to the gateway, and the gateway transmits them to the terminal; The measurement module includes: a distance measurement sensor, a pressure sensor, an A / D conversion module, a calculation and storage module, and a CAN transceiver; The distance measurement sensor is arranged behind the sliding seat for measuring the displacement of the sliding seat; The pressure sensor is arranged at the footrest for measuring the pressure value at the footrest; The A / D conversion module is electrically connected to the distance measurement sensor and the pressure sensor respectively to perform A / D conversion on the displacement and the pressure value; The calculation and storage module reads and filters the displacement and the pressure value after A / D conversion, and then marks them with time; The CAN transceiver is communicatively connected to the calculation and storage module to transmit the marked displacement and pressure value to the CAN bus.

2. The rowing motion parameter monitoring and analysis system based on the CAN bus protocol according to claim 1, characterized in that, The pressure sensor is a cantilever beam structure strain gauge type metal sensor.

3. The rowing motion parameter monitoring and analysis system based on the CAN bus protocol according to claim 1, characterized in that, The distance measurement sensor is a laser sensor.

4. A method for monitoring and analyzing rowing motion parameters based on the CAN bus protocol, characterized in that, Using the rowing motion parameter monitoring and analysis system based on the CAN bus protocol according to any one of claims 1 to 3 to implement the following steps: Deploy sensors, deploy the distance measurement sensor and the pressure sensor at the positions to be measured, and measure relevant data; Design measurement nodes, perform A / D conversion and reading on the data, then filter the data and mark it with time; Communicatively connect the nodes to the CAN bus and transmit the data to the CAN bus; Design a gateway, and the CAN bus transmits the data to the gateway; The gateway transmits the data to the terminal.

5. The rowing motion parameter monitoring and analysis method based on the CAN bus protocol according to claim 4, characterized in that, Each of the nodes uses its own clock to send data after different time delays according to the number, so as to avoid triggering the CAN bus competition mechanism during the communication process.

6. The rowing motion parameter monitoring and analysis method based on the CAN bus protocol according to claim 4 or 5, characterized in that, The gateway synchronizes the clocks of each node at regular intervals, and each node realizes synchronous reading of sensor data according to its own synchronized clock.

7. The rowing motion parameter monitoring and analysis method based on the CAN bus protocol according to claim 6, characterized in that The gateway coordinates the number of frames transmitted by each node and checks the data. If there is a missing frame or abnormal data in the time series, the average value of the data of the front and rear frames is used to replace it.

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