Apparatus and method for real-time synchronization and power analysis of rowing boat oars using hybrid sensor based on stroke phase recognition

Abstract

The device according to the present invention comprises: an oar lock and rigger unit provided on each of a plurality of oars of a steering boat and sensing information for determining whether the stroke section of the oar corresponds to either an aerial section or an underwater section; a blade unit provided on each blade of the oar and including a first sensor for measuring the distance to an adjacent oar in the aerial section and a second sensor for measuring the distance to an adjacent oar in the underwater section; and a controller that receives information regarding the stroke section from the oar lock and rigger unit, selectively uses either the first sensor or the second sensor based on the determined stroke section to measure the distance to the adjacent oar, and generates team synchronization information based on the measured distance. According to the present invention, the power output of an individual player, stroke motion, feathering angle of the blade, relative distance between oars, etc., are precisely measured, and by integrating and analyzing this, the synchronization status of the entire boat can be visualized in real time, and safety can be ensured by issuing warnings in stages when a collision risk occurs.

Description

Technology Field

[0001] The present invention relates to a real-time synchronization and power analysis device and method for a rowing boat ore capable of scientifically analyzing the performance of rowing athletes using various sensors.

[0002] This invention is the result of a project carried out with support from the Gyeongsangbuk-do Regional Innovation Center University Support System (RISE)-(Local Customized R&D) in 2025. Background Technology

[0003] Rowing is a sport in which multiple athletes propel a boat by rowing an oar while maintaining a consistent rhythm and synchronization; to enhance performance, it is essential not only to achieve individual technical proficiency but also to ensure that the entire team’s cooperative movements are precisely coordinated. For this reason, there has been a persistent need in rowing training and competitions for technology capable of precisely measuring and analyzing various biomechanical and kinematic data, such as the force applied to the oar, angles, and boat speeds.

[0004] In the past, devices have been developed to measure the force of individual oars or to track changes in the basic angle of the oar. For example, methods that calculate peak force, average force, and stroke length by measuring the force acting on the interaction between the oar and the oar lock, or methods that quantify power output by measuring the bending deformation of the oar with sensors, are widely used. In addition, some systems assist in analyzing the individual skills of a player by measuring gate angles or boat acceleration to provide basic technical indicators such as catch and finish angles.

[0005] Meanwhile, GPS-based measurement devices for speed, distance, and training time have been developed to collect macroscopic data of the entire boat, and features supporting real-time communication with coaches and other athletes are also provided. Furthermore, data collected from these hardware devices is stored, analyzed, and visualized in the cloud via a software platform, making it possible to track individual athletes' performance indicators over the long term or to statistically compare and analyze training results.

[0006] However, the prior art described above has the following inherent limitations.

[0007] First, existing systems focus primarily on analyzing the performance of individual oars, lacking the capability to measure the relative synchronization status, physical distance, and phase difference between multiple oars in a boat in real time, or to detect and warn of potential collision risks arising from these factors. This acts as a significant limitation in quantitatively evaluating the rhythm and cooperative movements of the entire team, which are the core of rowing competitions.

[0008] Second, existing sensors are limited to providing two-dimensional movement or some angle information of the Ore, making it difficult to precisely measure the complex movements (swing, roll, pitch, yaw, etc.) that the Ore performs in three-dimensional space. In addition, the ability to measure and analyze the feathering angle, which is one of the important elements in steering technology, is also limited.

[0009] Third, the Ore operates by repeatedly switching between different environments, such as above and below the water surface, but conventional systems cannot actively reflect these environmental differences. In other words, there is a lack of environment-adaptive sensing technology that switches to the optimal sensor mode depending on the environment. This can lead to problems where the accuracy and reliability of the Ore's position measurement and motion analysis are reduced.

[0010] Fourth, the data provided by conventional technology is mainly limited to certain indicators such as force, angle, and speed, and tends to be provided in a fragmented manner. In other words, there is a lack of functionality to centrally process data acquired from various sensors in an integrated manner and convert it into multidimensional indicators through sensor fusion to provide intuitive feedback to coaches and athletes. Due to these limitations, there are restrictions on comprehensively evaluating training performance or identifying detailed technical defects.

[0011] Fifth, some systems require processing the ore or directly attaching new devices, which can make the installation process cumbersome or cause physical deformation to the equipment. This hinders field applicability and makes it difficult to use universally in various boat or ore environments.

[0012] Therefore, for the advancement of rowing performance analysis and training assistance technology, a new technological approach is required that encompasses relative synchronization between multiple oars and collision risk detection, precise 3D motion analysis, environment-adaptive sensing, integrated data analysis and visualization, and a simple installation structure. Prior art literature

[0013] U.S. Registered Patent No. 10,610,725B2 (Date of Registration: April 7, 2020) U.S. Registered Patent No. 8,109,859B2 (Date of Registration: February 7, 2012) U.S. Patent Publication No. 2025 / 0235768A1 (Date of Publication: July 24, 2025) The problem to be solved

[0014] The present invention aims to solve the problems of reduced performance and the risk of physical collisions caused by desynchronization between oars during rowing training and competition. The objective of the present invention is to provide a device and method that can scientifically improve team synchronization and performance by comprehensively measuring and analyzing the force, three-dimensional motion, feathering angle, relative distance, etc. of the oars through a multi-sensor module attached to the oars and a central system. means of solving the problem

[0015] An apparatus according to the present invention for achieving the above objective comprises: an oar lock and rigger unit provided on each of a plurality of oars of a steering boat and sensing information for determining whether the stroke section of the oar corresponds to either an aerial section or an underwater section; a blade unit provided on each blade of the oar and including a first sensor for measuring the distance to an adjacent oar in the aerial section and a second sensor for measuring the distance to an adjacent oar in the underwater section; and a controller that receives information regarding the stroke section from the oar lock and rigger unit, selectively uses either the first sensor or the second sensor to measure the distance to an adjacent oar based on the determined stroke section, and generates team synchronization information based on the measured distance.

[0016] And, the first sensor is an ultra-wideband (UWB) Time-of-Flight (ToF) module, and the second sensor may be an acoustic ToF transceiver.

[0017] Additionally, the O-lock and rigger unit may include a magnet fixed to the rotation axis of the O-lock pin; a magnetic absolute encoder that detects changes in the magnetic field of the magnet to measure the horizontal swing angle of the O-lock; and an inertial measurement unit (IMU) that measures the three-dimensional motion of the O-lock.

[0018] And, the controller can calculate the feathering angle of the Ore based on data measured from the inertial measurement device.

[0019] Additionally, the device further includes a handle unit provided near the handle grip of each of the above-mentioned ores and comprising a plurality of strain gauges for measuring the force moment applied to the ores, and the controller can generate power information based on the measured force moment.

[0020] And, the plurality of strain gauges can be connected to form a Wheatstone bridge circuit.

[0021] In addition, the controller can generate a collision risk warning if the measured distance is below a preset threshold.

[0022] And, it may further include a display showing at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information.

[0023] Additionally, it may further include a communication unit that transmits data to an external device regarding at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information.

[0024] Meanwhile, a method according to the present invention for achieving the above objective comprises: a step of determining whether the stroke section of each of a plurality of oars corresponds to either an aerial section or an underwater section using a sensor provided in the oarlock of a steering boat; a step of measuring the distance to an adjacent oar using either a first sensor or a second sensor provided in the blade of the oar based on the determined stroke section; and a step of generating team synchronization information based on the measured distance.

[0025] In addition, the distance measurement step may measure the distance by using ultra-wideband (UWB) Time-of-Flight (ToF) communication when the stroke section is an aerial section, and by using acoustic ToF communication when the stroke section is an underwater section.

[0026] Additionally, the method may further include the step of measuring the three-dimensional motion of the Ore using an inertial measurement unit (IMU) provided in the Ore lock, and calculating the feathering angle of the Ore based on the measured three-dimensional motion.

[0027] And, the method may further include the step of measuring the force moment applied to the ore using a plurality of strain gauges provided near the handle grip of the ore, and generating power information based on the measured force moment.

[0028] Additionally, the method may further include the step of generating a collision risk warning if the measured distance is below a preset threshold.

[0029] And, it may further include the step of visually displaying at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information.

[0030] Additionally, the method may further include the step of transmitting data regarding at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information to an external device. Effects of the invention

[0031] According to the present invention, the power output, stroke motion, blade feathering angle, and relative distance between oars of an individual athlete are precisely measured. By integrating and analyzing these measurements, the synchronization status of the entire boat can be visualized in real time, and safety can be ensured by issuing warnings in stages in the event of a collision risk. Furthermore, measurement reliability can be significantly improved through a hybrid sensing method that distinguishes between underwater and aerial sections of the oars and switches between an ultra-wideband ToF module and an acoustic ToF transceiver depending on the environment. Moreover, by intuitively providing team synchronization indices, boat speeds, and detailed force and angle data for each athlete through a display device, individual skill correction and team-based cooperative training can be performed simultaneously. Therefore, the present invention overcomes the limitations of conventional technology in performance analysis and safety management for rowing competitions and demonstrates the technical effect of providing a more scientific and effective training environment. Brief explanation of the drawing

[0032] FIG. 1 is a conceptual diagram illustrating an embodiment in which the apparatus and method according to the present invention can be actually applied. FIG. 2 is a diagram showing the arrangement structure of each sensor unit mounted on a steering boat ore according to one embodiment of the present invention. FIGS. 3 to 6 are drawings for explaining the O-lock and rigger unit of the device according to the present invention. FIGS. 7 to 9 are drawings for explaining the blade unit of a device according to the present invention. FIG. 10 is a drawing for explaining the handle unit of a device according to the present invention. FIG. 11 is a diagram showing input / output data of a controller of a device according to the present invention. FIG. 12 illustrates a display screen showing output data of a device according to the present invention. FIG. 13 is a block diagram showing the configuration of a device according to the present invention. FIG. 14 is a flowchart of the method according to the present invention. Specific details for implementing the invention

[0033] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components are assigned the same reference number regardless of drawing symbols, and redundant descriptions thereof will be omitted. The suffix "bu" used for components in the following description is assigned or used interchangeably solely for the ease of drafting the specification and does not inherently possess a distinct meaning or role.

[0034] In addition, when describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art may obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted. Furthermore, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that the drawings include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the invention.

[0035] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0036] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0037] FIG. 1 is a conceptual diagram illustrating an embodiment in which the apparatus and method according to the present invention can be actually applied.

[0038] The present invention relates to an ORE-based real-time synchronization and power analysis system that minimizes the phenomenon of desynchronization between OREs occurring during rowing training and competition, prevents performance degradation and the risk of physical collisions by precisely measuring and analyzing the power distribution of individual players and the entire team, and enables coaches and coxs to provide real-time feedback.

[0039] The system according to the present invention measures the physical movement and load of each player's stroke using high-precision sensors, transmits this data wirelessly to a central system for integrated analysis, and then intuitively visualizes the results through a monitoring device (e.g., tablet, smartphone, display device, etc.). This can significantly contribute to correcting individual players' posture, maintaining power balance, and improving stroke synchronization for the entire team.

[0040] FIG. 1(a) is an exemplary illustration of a rowing training situation in which the system according to the present invention is applied, showing a scene in which a cox positioned at the bow of the boat monitors feedback information in real time through a monitoring device. As illustrated in the figure, the synchronization index of the entire boat, power curves for each player, distance between oars, and collision risk indicators can be visualized and displayed on the monitoring device screen. By immediately issuing voice instructions based on this information, the cox can coordinate the stroke rhythm of all players and maximize their performance.

[0041] Figure 1(b) illustrates an example of a coach remotely monitoring a rowing training scene using a monitoring device on the water or on land. The coach can intuitively view the overall simulation of the boat, data graphs for individual athletes, and visualizations of collision risks between boats displayed on the monitoring device screen. Through this, the coach can determine the athletes' power balance and synchronization status in real time without boarding the boat directly, provide detailed feedback after training, or immediately convey corrections to the athletes via radio and instructions from the ground.

[0042] FIG. 2 is a diagram showing the arrangement structure of each sensor unit mounted on a steering boat ore according to one embodiment of the present invention.

[0043] The oar (100) includes an extended oar shaft (110), an oar blade (120) formed at one end thereof, and an oar handle grip (130) provided at the other end. The oar (100) is supported on a boat via a rigger (20), and an oar lock (40) that rotatably supports the oar (100) is installed on the rigger (20), and the oar lock (40) is fixedly installed on the rigger (20) by an oar lock pin (30).

[0044] The O-lock and rigger unit (210) includes a sensor consisting of a diametric magnet and a magnetic absolute encoder, and a 9-axis inertial measurement unit (IMU) sensor. Specifically, a diametric magnet is mounted on the O-lock pin (30), and a magnetic absolute encoder is fixedly installed on the rigger (20). Through this, the left and right rotation angle of the O-lock (100) is precisely measured in the entire range of 0 to 360°.

[0045] A 9-axis inertial measurement unit is attached near the ore lock gate to measure the tilt, linear acceleration, and angular velocity of the ore (100). The data from the two sensors are integrated and processed through a sensor fusion algorithm to calculate the position and attitude of the ore (100) in three-dimensional space, the underwater / air segment of the stroke, and the blade feathering angle in real time. The inertial measurement unit is positioned at the center of rotation right next to the ore lock to minimize noise caused by structural deformation or shaft vibration.

[0046] The blade unit (220) includes an ultra-wideband (UWB) Time-of-Flight (ToF) module and an acoustic ToF transceiver that are placed on the ore blade (120). During an aerial stroke, the UWB ToF module is activated to measure the absolute distance to an adjacent ore. In the underwater section, the acoustic ToF transceiver operates to perform the same function.

[0047] A silicone / TPU strap may be used to protect the sensor, and the sensor exposure may be formed with an acoustic window structure made of polycarbonate / ABS to compensate for acoustic signals attenuated underwater. Through such a hybrid design, both the durability and measurement precision of the sensor can be ensured simultaneously.

[0048] The handle unit (230) is installed adjacent to the handle unit (230) at a certain point on the oar shaft (110). The handle unit (230) has four strain gauges connected in the form of a Full Bridge Wheatstone Circuit to measure the bending moment according to the stroke motion of the oar with high precision. The measured analog signal is digitized after signal processing in an amplifier and converted into a power output value for each oar in a central system. The mounting structure uses a clamp-type strap made of reinforced nylon / PC-ABS material and epoxy molding to ensure waterproofing and dustproofing without damaging the oar.

[0049] Data collected from each sensor unit is transmitted in real time to the controller via a wired or wireless communication module. The controller performs integrated data analysis and provides the results visualized on the monitoring device of the coxswain or coach. The feedback information provided by the present invention includes, but is not limited to, oar synchronization information, power output graphs per oar, collision risk signals based on distance between each oar (visualization of green / yellow / red stages), overall team boat speed and stability indicators, and individual oar stroke trajectory, angle, and power analysis graphs (selectively viewable via Angle, Distance, Stroke, Power buttons).

[0050] The following provides a detailed explanation of the structure, arrangement, and operating principles of each sensor unit.

[0051] FIGS. 3 to 6 are drawings for explaining the O-lock and rigger unit of the device according to the present invention.

[0052] Referring to FIG. 3, an OAR lock and rigger unit (210) according to one embodiment of the present invention is composed of a composite sensor module for precisely measuring the rotation and motion characteristics of an OAR (100). Specifically, the OAR lock and rigger unit (210) includes an angle detection sensor unit composed of a diametric magnet (210a) and a magnetic absolute encoder board (210b), a 9-axis inertial measurement device (210c) for tracking the dynamic behavior of the OAR in real time, and a strap (210d) for stably fixing it.

[0053] Specifically, a magnetic absolute encoder board (210b) is installed on a rigger (20) fixed to a boat, and a diametric magnet (210a) is fixed to the rotation axis of an O-lock pin (30). The magnetic absolute encoder board (210b) is fixed to the rigger (20) to measure the rotation angle of the diametric magnet (210a).

[0054] As illustrated in FIG. 4, a diametric magnet (210a) according to one embodiment of the present invention is installed by being firmly fastened to the upper end of the Oar lock pin (30). It is preferable that the diametric magnet (210a) be positioned so that its magnetization direction, that is, the axis formed by the N pole and the S pole, coincides with the stroke motion direction of the Oar (100). In particular, since the Oar (100) repeats a reciprocating motion moving forward and backward in the horizontal direction, the precision of rotation angle detection can be maximized by configuring the magnetization axis of the diametric magnet (210a) so that it is always aligned parallel to the direction of travel of the Oar.

[0055] Meanwhile, it is preferable that the magnetic absolute encoder board (210b) for detecting the rotation of the above-mentioned diametric magnet (210a) be fixedly positioned on the rigger of the boat so as not to vibrate or shake together with the OAR (100). Through this fixed structure, the encoder board (210b) can stably measure only the rotational movement of the OAR lock pin (30) and can analyze the stroke trajectory and timing of the OAR (100) with high reliability.

[0056] Additionally, the diametric magnet (210a) is positioned above the Oar lock pin (30) relative to the water surface, and the magnetic absolute encoder board (210b) is positioned below it. This upper and lower arrangement minimizes damage caused by external impact or moisture penetration, while simultaneously reducing interference with measurement signals, thereby improving the durability and stability of the device. Accordingly, the configuration of the present invention provides a basis for precisely tracking the angle, position, and stroke interval of the Oar (100) during rowing training and competition situations, which can contribute to the analysis of a player's movements and the improvement of their performance.

[0057] Meanwhile, the distance between the diametric magnet (210a) and the magnetic absolute encoder board (210b) is very important, and in the present invention, it is desirable to maintain the maximum distance between the two components within approximately 3 mm. This distance setting is an optimized value that takes into account the strength and distribution characteristics of the magnetic field so that the encoder board (210b) can detect changes in the magnetic field caused by the rotation of the magnet (210a) most sensitively and stably. If the distance increases excessively, the strength of the magnetic signal may weaken rapidly, causing measurement errors; conversely, if they are too close, there is a risk of sensor saturation or mechanical interference. Therefore, maintaining a distance within approximately 3 mm is a key design condition that ensures measurement precision while guaranteeing the durability and stability of the sensor.

[0058] In addition, by maintaining such an optimal distance, the encoder board (210b) can detect changes in the magnetic field of the magnet (210a) with high resolution even when the rotation angle of the O-lock pin (30) fluctuates slightly, thereby collecting precise angle data regarding the player's stroke motion in real time. Thus, the system of the present invention can exhibit stable performance not only in training environments but also in game situations.

[0059] Referring to FIG. 5, the diametric magnet (210a) and the magnetic absolute encoder board (210b) are positioned opposite each other to precisely measure the rotational motion of the OR (100) through changes in the magnetic field when the OR lock (40) rotates around the OR lock. Specifically, the diametric magnet (210a) has a structure in which the N pole and S pole are arranged along the diameter of the magnet, and rotates together with the shaft rotation of the OR (100) in direct linkage. At this time, the direction of the magnetic field changes periodically according to the rotation of the magnet, and in response, the magnetic absolute encoder board (210b) detects changes in magnetic flux density and magnetic field vector in real time.

[0060] The magnetic absolute encoder board (210b) converts the detected magnetic field information into a digital signal and processes it, thereby enabling continuous high-resolution measurement of the NS axis displacement of the diametric magnet (210a). Accordingly, the rotation angle when the OAR (100) performs a horizontal swing motion around the OAR lock (40) can be calculated as an absolute value over the entire range from 0° to 360°, and problems such as loss of reference point or cumulative error that may occur during this process are effectively prevented.

[0061] In addition, the magnetic absolute encoder used in this embodiment is based on a non-contact measurement principle, so there is no error caused by mechanical friction or wear, and stable measurement performance can be maintained even in environments with moisture, dust, or external impact. Accordingly, the horizontal swing angle of the ore (100) can be measured stably and continuously even under conditions where repeated impact and vibration are applied in underwater and outdoor environments, such as a rowing boat, thereby providing reliability optimized for synchronization analysis during training and competition.

[0062] Referring to FIG. 6, the 9-axis inertial measurement unit (210c) is securely mounted using a strap (210d) on the inboard side of the Ore lock gate of the Ore shaft (110), that is, in the section adjacent to the boat. The inertial measurement unit (210c) is a high-performance sensor module that integrates a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis geomagnetic sensor, and can precisely measure the multidimensional motion of the Ore (100) in real time. Specifically, the accelerometer detects the linear acceleration and gravitational acceleration of the Ore (100) to provide information on the linear motion and tilt of the Ore, and the gyroscope measures the rotational motion of the Ore (100) as angular velocity (Roll, Pitch, Yaw) values. In addition, the geomagnetic sensor calculates the absolute yaw of the ore (100) by utilizing the Earth's magnetic field as a reference coordinate system, and thereby ensures stable measurement over a long period by correcting the drift error that may occur during gyroscope measurement.

[0063] Since the inertial measurement unit (210c) is directly mounted on the ore shaft (110) to move with the same degree of freedom as the actual motion of the ore (100), it can faithfully reflect the player's stroke motion without distortion. In particular, the roll or pitch angle data of the inertial measurement unit (210c) directly indicates the inclination between the ore blade (220) and the water surface, i.e., the feathering angle, and through this, the amount of horizontal rotation of the blade (220) during the recovery phase can be precisely calculated. Therefore, the player's ability to perform feathering techniques can be quantitatively analyzed, and a scientific evaluation of the stability, consistency, and efficiency of the feathering motion is possible.

[0064] Meanwhile, the controller combines and analyzes the horizontal swing angle data of the ore obtained from the magnetic absolute encoder board (210b) and the roll, pitch, yaw angle, and angular velocity data collected from the inertial measurement unit (210c) using a sensor fusion algorithm. Through such data fusion processing, the movement trajectory (up-down movement, left-right swing, axis rotation, etc.) of the ore (100) in three-dimensional space can be completely reconstructed, and furthermore, the catch moment when the ore blade (220) enters the water surface and the finish moment when it exits the water surface can be detected with high precision. Consequently, the present invention provides the excellent advantage of being able to analyze the player's motion efficiency, timing, and power transfer characteristics in real time by clearly distinguishing the stroke into an underwater section (drive) and an aerial section (recovery).

[0065] FIGS. 7 to 9 are drawings for explaining the blade unit of a device according to the present invention.

[0066] Referring to FIGS. 7 through 9, the blade unit (220) is composed of a Time-of-Flight (ToF) module (220a), an acoustic-based ToF transceiver (220b), and a strap (220c) that simultaneously fixes the position and waterproofs the components. The strap (220c) is made of a highly elastic and water-resistant material such as silicone or TPU (thermoplastic polyurethane) and adheres to the outer surface of the Ore blade (120) to reliably protect internal sensors and circuits. This structure ensures the stability and durability of the device under various environmental conditions (wave impact, rain, humidity, temperature changes, etc.) by blocking external impacts or moisture penetration.

[0067] In particular, the blade unit (220) is independently mounted on each oar (100) to measure the distance (d1, d2) and relative position change between adjacent oars in real time. Through this, synchronization information between oars can be precisely obtained in a situation where multiple players are rowing at the same time.

[0068] The ultra-wideband ToF module (220a) is mounted inside a strap (220c) located at the front end of the ore blade (120) as shown in FIG. 8. This position is optimized to secure a line-of-sight communication path (d1+d2) with adjacent ores by minimizing signal shielding by the player's body or the ore shaft (110) when the ore (100) rises above the water surface. The ultra-wideband ToF module (220a) uses Ultra Wide Band (UWB) radio waves to perform distance measurement in a 2-Way Ranging manner with another ultra-wideband ToF module installed in an adjacent ore, and as a result, can calculate the absolute distance (d1+d2) in the air with a precision of centimeters (cm).

[0069] In addition, the radio waves used in the ultra-wideband ToF module (220a) can reliably penetrate the silicone and TPU materials of the strap (220c), and also have excellent radio wave penetration through the polycarbonate (PC) or ABS plastic window used in the acoustic ToF transceiver (220b). Therefore, even if the blade unit (220) is completely sealed with a hybrid material, the performance of the ultra-wideband ToF module (220a) is not degraded, and stable and reliable distance measurement in the air is possible.

[0070] Meanwhile, the acoustic-based ToF transceiver (220b) is positioned inside the outer lower strap of the rear side of the ore blade (120) as shown in FIG. 9. The rear side of the ore blade (120) is the working surface that strongly pushes water in the drive section, and the transceiver (220b) is aligned to face the corresponding transceiver provided on the adjacent ore blade. After emitting sound waves, this transceiver receives the echo signal reflected back from the adjacent blade or the signal emitted from the adjacent transceiver to precisely measure the time-of-flight, thereby calculating the absolute distance (d1+d2) underwater in real time. In particular, by positioning the transceiver (220b) near the center of the rear side of the blade, interference caused by turbulence and bubbles generated when the blade enters the water is minimized, and water resistance is reduced, significantly improving the stability and reliability of the measurement.

[0071] Since sound waves are highly sensitive to the acoustic impedance of the medium, the transmission efficiency of sound waves can be significantly reduced if an inappropriate material is introduced between the sensor and the underwater environment. Therefore, it is desirable for a portion (W) of the front part of the strap, where the acoustic-based ToF transceiver (220b) is mounted, to be made of rigid polycarbonate (PC) or ABS plastic to function as an acoustic window. This fundamentally resolves the acoustic impedance mismatch problem that can be caused by flexible silicone or rubber materials, thereby optimizing the transmission efficiency of sound waves underwater and preventing sensor performance degradation.

[0072] As a result, the blade unit (220) can measure the distance between each ore with high precision through the ultra-wideband ToF module (220a) in the air and through the acoustic-based ToF transceiver (220b) underwater. This allows for more precise analysis of the players' stroke synchronization and collision avoidance functions.

[0073] FIG. 10 is a drawing for explaining the handle unit of a device according to the present invention.

[0074] The handle unit (230) is a sensing module positioned on the Ore shaft (110) adjacent to the Ore handle grip (130) and quantitatively calculates the mechanical power transmitted by the player by directly measuring the bending deformation occurring in the shaft during the player's stroke motion. The unit consists of a plurality of sensing modules (230a) and a strap (230b) for securely fixing them to the Ore shaft (110). Each sensing module (230a) includes a strain gauge (230a1), a bridge wiring (230a2) for interconnecting and configuring these gauges, and an amplifier and A / D converter (230a3) for amplifying, modulating, and digitizing the signal.

[0075] A handle unit (230) is positioned on an Ore shaft (110) adjacent to an Ore handle grip (130). The handle unit (230) includes a plurality of sensing modules (230a) and a strap (230b) for securing them to the Ore shaft (110). The plurality of sensing modules include a plurality of strain gauges (230a1), an amplifier (230a3), and wiring (230a2) connecting them. The number of strain gauges (230a1) may be four, but is not limited thereto. The strain gauges (230a1), wiring (230a2), and amplifier (230a3) are securely fixed inside the strap (230b).

[0076] The strap (230b) is formed from a material with excellent rigidity and durability, such as nylon reinforced or PC / ABS composite resin, to physically protect the internal strain gauge, wiring, and amplifier, and to block the external environment (moisture, salt, impact). The internal module can be attached directly to the shaft using surface treatment (cleaning and priming of the shaft surface) and a high-strength structural adhesive (e.g., epoxy adhesive), then wrapped with the strap and completely sealed with epoxy molding or silane sealing to achieve a waterproof rating (IP rating, e.g., IP67 level). The shape of the strap is ergonomically designed to minimize interference with the player's grip, and the strap thickness and shape are optimized to prevent interference between the strap and the handle.

[0077] If four strain gauges (230a1) are included, each strain gauge (230a1) may be placed at 90° intervals (12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock directions) along the cross-sectional circumference of the ore shaft (110). The strain gauges (230a1) may be single-axis foil strain gauges and may be attached along the longitudinal direction of the ore shaft (110). This location is an area of ​​the ore shaft (110) directly below the ore handle grip (130) where the bending moment generated when the player pulls the ore (110) is greatest and where external noise is minimal. The distance between the strain gauges (230a1) and the ore handle grip (130) may be within a few centimeters (cm).

[0078] Four strain gauges (230a1) are spaced 90° circumferentially to detect the bending deformation of the Ore shaft (110) to the maximum extent, and are connected to a full-bridge Wheatstone circuit to precisely measure tensile and compressive deformations and effectively offset temperature changes and external noise to calculate the bending moment and power applied to the Ore (110) with high reliability.

[0079] The amplifier (230a2) amplifies the minute signal generated in the Wheatstone bridge and converts it into high-resolution digital data, which is combined with angle and time information of the Oar (110) to produce real-time power.

[0080] The bending deformation (Strain) obtained from the strain gauge (230a1) can be converted into a bending moment acting on the shaft through a conversion formula that considers the gauge factor and shaft cross-sectional characteristics (elastic modulus E, second moment I). By combining the converted bending moment with the geometry (lever arm length) of the Ore (100) and the angular velocity and linear velocity, the instantaneous power (Power = Torque × Angular velocity or Force × Velocity) value is calculated in real time. This calculation process is performed in a software module of the controller, and the results can be visualized as a power graph per player, energy per stroke, power balance indicator, etc.

[0081] Meanwhile, in the modified embodiment, the number or arrangement of the strain gauges (230a1) may vary. For example, the strain gauges (230a1) may be configured to form a 2-point (symmetric) or 3-point (rosette) array, and the axial or torsional components may be measured separately using this. Additionally, the configuration may be modified to support high sensitivity and long-distance data transmission by applying semiconductor strain gauges (high sensitivity) or fiber-based FBG (Fiber Bragg Grating) sensors instead of foil strain gauges. Furthermore, the amplifier and ADC may be fully integrated inside the handle unit to perform local preprocessing (data reduction, event detection) before wireless transmission. Additionally, shock absorbers (rubber cushioning), UV shielding coatings, and saltwater (seawater) durability enhancement treatments may be applied to each strap described above.

[0082] FIG. 11 is a diagram showing input / output data of a controller of a device according to the present invention, and FIG. 12 shows a display screen on which output data is displayed.

[0083] Referring to FIG. 11, data collected from each sensor unit is transmitted in real time to a controller (240) via a wired / wireless communication module, and the controller (240) performs data integration analysis and provides the results to a monitoring device in a visualized form.

[0084] The data input to the controller (240) may be force data applied to the Ore shaft (110), encoder angle data, IMU data (including acceleration, angular velocity, and magnetic field information), UWB distance data above the water surface, acoustic ToF distance data underwater, and sensor ID and time stamp information.

[0085] The controller (240) comprehensively analyzes these various input data to generate various forms of useful outputs. The outputs include team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance, and collision warning information.

[0086] Referring to FIG. 12, the display (250) can be composed of three main areas.

[0087] In the left area, detailed data (angle, distance, stroke, power, etc.) measured from each player's ore from No. 1 to No. 8 is visualized in graph form. Power levels are displayed on the vertical axis in steps 1 through 8, while the horizontal axis represents an angle range from 10 to 80 degrees in 10-degree intervals. The chart visually represents changes in ore angle at each power level as a line graph connected by red circular markers. This enables coaches to conduct an in-depth analysis of a specific player's technical weaknesses or strengths.

[0088] Meanwhile, the graph data displayed in the left area can be selectively changed using the Angle, Distance, Stroke, and Power buttons located at the top of the right area. At the bottom of the right area, a color matrix divided into eight sections is placed, with numbers 1 through 8 assigned to each section.

[0089] In the central area, the swing angle and current stroke phase (recovery / drive) of each ore can be visually displayed in accordance with actual movement. This allows the coach to grasp the motion patterns of the entire boat at a glance. Collision risk indicators based on the minimum approach distance between ores are displayed over the boat simulation in green (safe), yellow (caution), and red (danger), providing intuitive real-time warnings of potential collision situations. The Team Synchronization Index, representing the boat's overall performance, and boat speed are clearly displayed on the simulation screen to aid in immediate performance evaluation.

[0090] This configuration allows users to comprehensively monitor changes in the oar angle, the real-time status of the boat, the performance of individual coordinators, and the overall synchronization index on a single screen, providing essential information for effective coordination training and competition management.

[0091] Of course, the display screen illustrated in FIG. 12 is merely an example, and the graphic user interface, layout, display information, graphics, etc., can be varied in many ways.

[0092] FIG. 13 is a block diagram showing the configuration of a device according to the present invention. The device (200) according to the present invention includes an O-lock and rigger unit (210), a blade unit (220), a handle unit (230), a controller (240), a display (250), a memory (260), and a communication unit (270). Since the structure, arrangement, function, and operating principle of each component are the same as described above, a detailed description will be omitted.

[0093] The ore lock and rigger unit (210) is provided on each of the multiple ores of the steering boat and senses information to determine whether the stroke section of the ore corresponds to an aerial section or an underwater section. The ore lock and rigger unit (210) includes a diametric magnet fixed to the rotation axis of the ore lock pin, a magnetic absolute encoder that detects changes in the magnetic field of the diametric magnet to measure the horizontal swing angle of the ore, and an inertial measurement unit (IMU) that measures the three-dimensional motion of the ore.

[0094] The blade unit (220) is provided on each blade of the ore and includes a first sensor for measuring the distance to an adjacent ore in an aerial section and a second sensor for measuring the distance to the adjacent ore in an underwater section. At this time, the first sensor may be an ultra-wideband ToF module and the second sensor may be an acoustic ToF transceiver.

[0095] The handle unit (230) is provided near each handle grip of the ore and includes a plurality of strain gauges for measuring the force moment applied to the ore.

[0096] Each unit transmits data to the controller (240) in real time via a built-in low-power communication module (e.g., a low-power Bluetooth mesh module). The controller (240) reliably receives all raw sensor data (force, angle, acceleration, relative distance, etc.) from each unit, and each data packet includes the unique ID and timestamp of the Ore, enabling accurate data alignment and synchronization processing. The controller (240) integrates and corrects all received raw sensor data through a sensor fusion algorithm (e.g., an extended Kalman filter) to precisely determine the actual state of the Ore, namely its exact position, attitude, applied force, and physical relationship with adjacent Ores within 3D space. During this process, time synchronization between units, sensor noise removal, and integrated processing of distance data obtained from each stroke segment (aerial / underwater) are performed.

[0097] Specifically, the controller (240) receives information regarding the stroke interval from the Ore Lock and Rigger Unit (210), measures the distance to an adjacent Ore through the Blade Unit (220) based on the stroke interval, and generates team synchronization information based on the measured distance. Additionally, the controller (240) calculates the feathering angle of the Ore based on data measured from the inertial measurement unit. Additionally, the controller (240) can generate power information based on the force moment measured from the strain gauge.

[0098] Meanwhile, the controller (240) can compare the measured distance between blades with a preset threshold and generate a collision risk warning if the distance is below the threshold, and the collision risk warning may be a visual warning (warning text, light emission), an auditory warning (beep sound), or a tactile warning (haptic).

[0099] The display (250) can display at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information. The display (250) may include a touch input module capable of receiving user input, but is not limited thereto.

[0100] The display (250) supports various panel technologies such as LCD, OLED, and MicroLED, and can provide high-quality images through resolutions ranging from HD to 8K and HDR standards. In addition, it is waterproof, dustproof, and shockproof to be suitable for marine environments, and includes an anti-reflective coating and a blue light blocking function to ensure optimal visibility in various environments.

[0101] The display (250) can receive user input including a capacitive touchscreen that supports multi-touch, and supports various input methods such as voice recognition, gesture recognition, and eye tracking, along with advanced touch functions such as pressure detection and stylus pen input. Real-time data is intuitively visualized through 2D / 3D graphs, heatmaps, animation effects, etc., and can support effective coordination training and game analysis by providing functions such as adaptive UI according to the user environment, information filtering, and multi-screen split display.

[0102] The memory (260) stores comprehensive data including input signals and data, output signals and data, and player identification information, personal information, biometric information, and training history. Data analyzed in real time is matched with individual players and systematically stored, which enables data analysis by training date, evaluation of athletic ability by player, and establishment of customized training programs.

[0103] The memory (260) may be implemented as a storage medium of at least one type among flash memory type, hard disk type, multimedia card micro type, card type memory (e.g., SD or XD memory), RAM (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic disk, and optical disk, but is not limited thereto.

[0104] The communication unit (270) transmits data for at least one of the following to an external device (300): team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left / right power balance and collision warning information.

[0105] Additionally, the communication unit (270) transmits various data between sensors or between a sensor and a controller. The communication unit (270) performs signal and data transmission and reception between homogeneous or heterogeneous devices, between sensors, and between a sensor and a controller via a wired and / or wireless communication network. The wired communication network may include wired communication interfaces such as HDMI (high-definition multimedia interface), USB (universal serial bus), Thunderbolt, Ethernet, RS-232, RS-485, and CAN (Controller Area Network). The wireless communication network may include short-range wireless communication networks such as Z-Wave, ZigBee 3.0, Wi-Fi 6 / 6E / 7 (802.11ax / be), Bluetooth 5.0 / 5.1 / 5.2 / 5.3, BLE (Bluetooth Low Energy), Thread, Matter, UWB (Ultra-Wideband), NFC (Near Field Communication), and IrDA (Infrared Data Association). Long-distance wireless communication networks include LPWAN (Low Power Wide Area Network) technologies such as 5G NR (New Radio), LTE-Advanced Pro, LTE-M, NB-IoT (Narrowband Internet of Things), LoRaWAN, and Sigfox. In addition, it can be configured to support Wi-Fi 7 (802.11be), Wi-Fi HaLow (802.11ah), and satellite communication technologies.

[0106] FIG. 14 is a flowchart of the method according to the present invention.

[0107] First, a sensor provided in the ore lock of the steering boat is used to determine whether each stroke section of a plurality of ores corresponds to either an aerial section or an underwater section (S410).

[0108] Then, based on the determined stroke interval, the distance to an adjacent ore is measured using either the first sensor or the second sensor provided on the blade of the ore (S420). At this time, the first sensor may be an ultra-wideband (UWB) Time-of-Flight (ToF) module, and the second sensor may be an acoustic ToF transceiver. Accordingly, the distance can be measured using ultra-wideband (UWB) Time-of-Flight (ToF) communication when the stroke interval is in the air, and using acoustic ToF communication when the stroke interval is in the water.

[0109] Finally, team synchronization information is generated based on the measured distance (S430).

[0110] Meanwhile, the method may further include a step of measuring the three-dimensional motion of the OR using an inertial measurement unit (IMU) provided in the OR lock, and calculating the feathering angle of the OR based on the measured three-dimensional motion.

[0111] In addition, the method may further include the step of measuring the force moment applied to the Ore using a plurality of strain gauges provided near the handle grip of the Ore, and generating power information based on the measured force moment.

[0112] Furthermore, a step of generating a collision risk warning when the measured distance is below a preset threshold may be further included.

[0113] Finally, the method may further include a step of visually displaying at least one of the team synchronization index, phase difference between Oars, individual Oars power, relative distance profile between Oars, Oars swing feathering profile, Oars 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information, or transmitting related data to an external device.

[0114] The method according to the present invention aims to achieve the following technical effects.

[0115] 1. Innovative Improvement of Teamwork and Synchronization: By directly measuring the physical relationship between adjacent ores and providing this as real-time feedback, coaches can quantitatively and objectively assess the team's synchronization status, and players can make immediate corrections, thereby maximizing the improvement of teamwork.

[0116] 2. Sophisticated individual and team performance analysis: By comprehensively analyzing each player's precise power, 3D motion trajectory, feathering angle, and relative position with adjacent ores, it is possible to accurately diagnose the strengths and weaknesses of individual players and the entire team and design customized training programs.

[0117] 3. Real-time decision support during training and matches: Since all data is collected in real time through stroke segment recognition and hybrid sensing and analyzed by a central system, coaches can provide immediate feedback and direct strategy adjustments in response to changes in the situation even during training and matches.

[0118] 4. Enhancement of player safety and equipment protection: By monitoring distance data between adjacent ores in real time to detect collision risks in advance and providing haptic / visual warnings, it enhances player safety and prevents damage to expensive equipment.

[0119] 5. High Reliability and Technological Scalability: Hybrid sensing and low-power mesh network technologies that actively adapt to environmental changes ensure high reliability of the system and provide the possibility of technological scalability to various water sports and similar precision measurement fields.

[0120] The method according to the present invention is flexibly applicable to boats ranging from single-seater to eight-seater boats, as all sensor units and the central control unit are connected via a wireless mesh network. In addition, all measured data is transmitted to a cloud server and can be utilized to track and analyze long-term performance changes of individual athletes and teams through accumulated big data.

[0121] The method according to the present invention may be implemented in the form of program instructions executed by various computer means and may be stored on a computer-readable recording medium. Additionally, embodiments of the present invention may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a commodity. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory, CD-ROM), or through an application store, or directly distributed (e.g., download or upload) between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server. The computer-readable recording medium may include program instructions, data files, data structures, etc., either individually or in combination. Such program instructions and recording media may be specifically designed and configured for the purposes of the present invention, or they may be known to those skilled in the art of computer software or be implementations utilizing known means.

[0122] Specific examples of computer-readable recording media may include magnetic storage media such as hard disks, floppy disks (trademark), magnetic tapes, etc., optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and non-volatile or volatile memory devices such as ROMs, RAMs, and flash memory, etc., and these media may be hardware devices specifically configured to store and execute program instructions.

[0123] In addition, program instructions may include not only machine code generated by a compiler, but also code in a high-level language executable on a computer system through an interpreter, etc. Such a hardware device may be composed of one or more software modules to perform the functions of the present invention, and conversely, a software module may be implemented by being combined with specific hardware.

[0124] As described above, embodiments of the present invention have been described with reference to the accompanying drawings, but these are merely exemplary embodiments, and those skilled in the art to which the present invention pertains will be able to easily make various technical changes, modifications, and variations based on the above disclosure. For example, even if the described method is performed in a different order, or the components of the described system, structure, device, circuit, etc. are combined in a different way, or are replaced with other components performing the same function or equivalents, the technical effects of the present invention can still be effectively achieved.

[0125] Accordingly, the present invention is not limited to specific embodiments, and all variations and modifications included in the claims and equivalents set forth below should be interpreted as falling within the scope of the present invention. Explanation of the symbols

[0126] 20: Leaguer 30: O-lock pin 40: Oeorak 100: Ore 110: Ore Shaft 120: Ore Blade 130: Ore handle grips 200: Real-time synchronization and power analysis device for steering boat oars 210: O'Rock and Leaguer Unit 220: Blade Unit 230: Handle unit 240: Controller 250: Display 260: Memory 270: Communication Unit

Claims

Claim 1 An apparatus comprising: an oar lock and rigger unit provided on each of a plurality of oars of a steering boat, and sensing information for determining whether the stroke section of the oar corresponds to either an aerial section or an underwater section; a blade unit provided on each blade of the oar, comprising a first sensor for measuring the distance to an adjacent oar in the aerial section and a second sensor for measuring the distance to an adjacent oar in the underwater section; and a controller that receives information regarding the stroke section from the oar lock and rigger unit, selectively uses either the first sensor or the second sensor based on the determined stroke section to measure the distance to the adjacent oar, and generates team synchronization information based on the measured distance. Claim 2 A device according to claim 1, wherein the first sensor is an ultra-wideband (UWB) Time-of-Flight (ToF) module and the second sensor is an acoustic ToF transceiver. Claim 3 In claim 1, the O-lock and rigger unit comprises: a magnet fixed to the rotation axis of the O-lock pin; a magnetic absolute encoder that detects a change in the magnetic field of the magnet and measures the horizontal swing angle of the O-lock; and an inertial measurement unit (IMU) that measures the three-dimensional motion of the O-lock. Claim 4 In paragraph 3, the controller is a device that calculates the feathering angle of the ore based on data measured from the inertial measurement device. Claim 5 The device according to claim 1 further comprises a handle unit provided near the handle grip of each of the ores and including a plurality of strain gauges for measuring a force moment applied to the ores, and the controller generates power information based on the measured force moment. Claim 6 In paragraph 5, the plurality of strain gauges are connected to form a Wheatstone bridge circuit. Claim 7 In claim 1, the controller is a device that generates a collision risk warning when the measured distance is below a preset threshold. Claim 8 A device further comprising, in claim 1, a display showing at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information. Claim 9 A device further comprising, in claim 1, a communication unit that transmits data for at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information to an external device. Claim 10 A method performed by a real-time synchronization and power analysis device of a rowing boat oar, comprising: a step of determining whether the stroke section of each of a plurality of oars corresponds to either an aerial section or an underwater section using a sensor provided in the oar lock of the rowing boat; a step of measuring the distance to an adjacent oar using either a first sensor or a second sensor provided in the blade of the oar based on the determined stroke section; and a step of generating team synchronization information based on the measured distance. Claim 11 In claim 10, the distance measuring step is a method of measuring distance by using ultra-wideband (UWB) Time-of-Flight (ToF) communication when the stroke section is an aerial section, and using acoustic ToF communication when the stroke section is an underwater section. Claim 12 A method according to claim 10, further comprising the step of measuring the three-dimensional motion of the Ore using an inertial measurement unit (IMU) provided in the Ore lock, and calculating the feathering angle of the Ore based on the measured three-dimensional motion. Claim 13 A method according to claim 10, further comprising the step of measuring a force moment applied to the ore using a plurality of strain gauges provided near the handle grip of the ore, and generating power information based on the measured force moment. Claim 14 A method according to claim 10, further comprising the step of generating a collision risk warning when the measured distance is below a preset threshold. Claim 15 A method further comprising the step of visually displaying at least one of the following in claim 10: a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information. Claim 16 A method further comprising the step of transmitting data regarding at least one of a team synchronization index, phase difference between ores, individual ore power, relative distance profile between ores, ore swing feathering profile, ore 3D trajectory data, stroke segment information, boat speed and left-right power balance and collision warning information to an external device in claim 10.

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