KR102119738B1 - Radar sensing device, sensing method for the same, computing method of golf club swing path using radar sensing data and recording medium readable by computing device for recording the method - Google Patents

Abstract

An object of the present invention is to provide a radar sensing device, a sensing method thereof, a method of computing a swing trajectory of a golf club using radar sensing data, and a recording medium readable by a computing device recording the method. The method of computing a swing trajectory of a golf club using radar sensing data is capable of computing, apart from computing a motion parameter of a golf ball through analysis of a radar signal when a golfer hits the golf ball with a golf club, coordinate information of the golf club through the analysis of a radar signal, is capable of computing a swing trajectory of the golf club from the coordinate information, and is capable of automatically adjusting, when a distance between a position where the radar sensing device is placed and a position where the golf ball is placed, that is, a reference distance differs from an actual distance, the distance using the computed swing trajectory, thereby further improving reliability about sensing results about the golf ball and about the golf club.

Description

Radar sensing device, its sensing method, a golf club's swing trajectory calculation method using radar sensing data, and a recording medium readable by a computing device recording the above method.RADAR SENSING DEVICE, SENSING METHOD FOR THE SAME, COMPUTING METHOD OF GOLF CLUB SWING PATH USING RADAR SENSING DATA AND RECORDING MEDIUM READABLE BY COMPUTING DEVICE FOR RECORDING THE METHOD}

The present invention relates to a radar sensing device, a sensing method thereof, a method for calculating a swing trajectory of a golf club using radar sensing data, and a recording medium readable by a computing device recording the above method, and more specifically, the Doppler effect of a radar signal. It analyzes the signal reflected from the ball and the signal reflected from the golf club using (Doppler Effect), and calculates the motion parameters of the ball as well as the swing trajectory of the golf club, and relates to a radar sensing device that can automatically correct errors. It is an invention.

In the case of a sports game using a ball, especially golf, the physical characteristics of the ball and the golf club hit by the golfer are accurately sensed, and a ball hitting analysis is performed using the sensed value or the golf club's swing is accurately caused by the golfer's swing. There have always been attempts to analyze.

Both the golf club and the ball move according to the golf swing, and the typical sensing devices are the camera sensing device and the radar sensing device.

In particular, the camera sensing device is easy to sense both physical characteristics of the golf club and the ball by analyzing the images of the multiple frames obtained by acquiring the images of the multiple frames of the golf club hitting the ball. However, there is a limitation that the sensing range is narrow and it is difficult to accurately sense the spin of the ball.

On the other hand, in the case of a radar sensing device, the radar transmission signal receives and analyzes the reflected wave reflected by the ball to accurately calculate various information about the motion of the ball, so the sensing range is wide and the spin of the ball can be accurately sensed. There is this.

However, the radar sensing device can accurately calculate and analyze important ball motion parameters such as spin of the ball by accurately collecting and analyzing sensing data for the ball as described above, whereas in sensing for a golf club, unlike the ball, Since the size of the head is large, the radar signal reflected from the head of the golf club is distributed over a wide range, so it is impossible to identify a point on the club head and draw the trajectory of the point, so the sensing data of the radar sensing device is used. Therefore, it was very difficult to calculate the swing trajectory of the golf club.

A number of prior art documents related to conventional radar sensing devices, such as Korean Patent Registration No. 10-0947898, Japanese Patent Registration No. 6048120, Korean Patent Publication No. 2016-0054013 and Korean Patent Publication No. 2015-0139494 As disclosed in Ho et al., most of the prior arts disclosed in relation to the radar sensing device are related to the calculation of ball motion parameters such as ball speed and spin by radar sensing, and the calculation of club data such as swing trajectories of a golf club. The technology was unprecedented.

Therefore, it is necessary to research and develop a method of calculating not only information about the ball but also information about the golf club, such as swing trajectory information of the golf club, using the sensing data of the radar sensing device. In the calculation, the standard reference distance (distance between the position where the radar sensing device is placed and the ball is placed) is based on the user's random positioning of the radar sensing device. There is a need for research and development of technology to minimize the occurrence of error in results.

[Previous patent document]

Korean Registered Patent Publication No. 10-0947898

Japanese Registered Patent Publication No. 6048120

Korean Patent Publication No. 2016-0054013

Korean Patent Publication No. 2015-0139494

The present invention calculates the position coordinate information of the golf club through the analysis of the radar signal separately from calculating the motion parameters for the ball through the analysis of the radar signal when the golfer hits the ball with the golf club, and from the golf club The swing trajectory can be calculated, and the distance between the position where the radar sensing device is placed and the position where the ball is placed, that is, the reference distance, can be set by automatically adjusting it using the calculated swing trajectory. Radar sensing device that can further improve the reliability of the sensing result for the ball and the golf club by making it possible, a sensing method thereof, a method for calculating the swing trajectory of a golf club using radar sensing data, and a computing device recording the above method To provide a readable recording medium.

In accordance with an embodiment of the present invention, a method for calculating a swing trajectory of a golf club using radar sensing data generated by receiving reflected waves of a radar signal is a distance between a radar sensing device and a position where a ball is placed using the radar sensing data. Calculating a swing trajectory candidate of the golf club generated by calculating the coordinates of the golf club based on a preset reference distance; Specifying a lowest point on the trajectory from the swing trajectory candidate, and adjusting the reference distance such that the position of the lowest point on the specified trajectory satisfies a preset condition; And calculating a swing trajectory of the golf club generated by calculating coordinates of the golf club based on the adjusted reference distance.

In addition, preferably, the step of calculating the swing trajectory candidate of the golf club may include receiving a reflected wave of a radar signal and generating data including signal data for the ball and signal data for the golf club as the radar sensing data. And, specifying a time point on the signal data for the golf club based on the signal data for the ball as the impact time point, and using the phase and the reference distance of the impact time point from the signal data for the golf club. Setting the position of the impact point on the trajectory display area, and using the phase and speed of the golf club at a number of sensing points before and after the position of the impact point to play golf at each of the sensing points. And calculating a swing trajectory candidate of the golf club in the trajectory display area as the coordinates of the club are calculated.

In addition, preferably, the step of calculating the swing trajectory candidate of the golf club comprises setting a position of an impact time point based on the reference distance on a trajectory display area and sensing a plurality of before and after the position of the impact time point based on the reference distance. Calculating the coordinates of the golf club at each sensing time point by using the phase and speed of the golf club at the point of view, and an abnormal point through data processing preset for the coordinate data of the golf club position displayed in the trajectory display area And calculating a swing trajectory candidate of the golf club by removing them and fitting the valid data, and specifying the lowest point on the trajectory in the step of adjusting the reference distance is performed by the golf club on the trajectory display area. It is characterized by finding and specifying the lowest point on the trajectory of the swing trajectory candidate.

In addition, preferably, the step of adjusting the reference distance includes: determining whether the golf club is a driver, and when the golf club is a driver, a position of the lowest point on the trajectory is a preset tee as the preset condition. Checking whether it is located within the range of the height, and if the position of the lowest point on the trajectory is not within the range of the preset tee height, the criterion such that the position of the lowest point on the trajectory is within the range of the preset tee height And adjusting the distance.

In addition, preferably, the step of adjusting the reference distance may include determining whether the golf club is a driver, and when the golf club is not a driver, the location of the lowest point on the trajectory is preset as the preset condition. Checking whether it is within the range of the ground height, and adjusting the reference distance so that the position of the lowest point on the trajectory is within the range of the ground height, if the position of the lowest point on the trajectory is not within the range of the ground height It characterized in that it comprises a step.

Also, preferably, the step of adjusting the reference distance may include moving the position of the lowest point on the trajectory until the reference distance satisfies the preset condition in a direction in which the reference distance decreases or increases while maintaining its phase value. It is characterized by including.

On the other hand, the present invention includes a recording medium readable by a computing device that records the method for calculating the swing trajectory of the above-described golf club.

On the other hand, according to an embodiment of the present invention, a sensing method of a radar sensing device for sensing a ball and a golf club according to a golf swing uses radar sensing data generated by receiving a radar reflected wave signal for the ball and the golf club. Calculating a swing trajectory candidate of the golf club generated by calculating the coordinates of the golf club based on a preset reference distance as a distance between the radar sensing device and the position where the ball is placed; Specifying a lowest point on the trajectory from the swing trajectory candidate and checking whether a position of the lowest point on the specified trajectory satisfies a preset condition; When the position of the lowest point on the trajectory satisfies a preset condition, the candidate for the swing trajectory is determined as a swing trajectory of the golf club, and when the position of the lowest point on the trajectory does not satisfy the preset condition, the lowest point on the trajectory Adjusting the reference distance so that the position of the satisfies the preset condition; And calculating a swing trajectory of the golf club based on the adjusted reference distance and calculating a trajectory of the ball exercising by the golf club or a motion parameter of the ball.

In addition, preferably, the step of adjusting the reference distance includes: determining whether the golf club is a driver, and when the golf club is a driver, a position of the lowest point on the trajectory is a preset tee as the preset condition. Determining whether the position is within the range of the height and adjusting the reference distance such that the position of the lowest point on the trajectory is within the range of the preset tee height, and when the golf club is not a driver, the position of the lowest point on the trajectory is And determining whether it is located within a preset range of the ground height as the preset condition and adjusting the reference distance so that the location of the lowest point on the trajectory is within the range of the ground height.

In addition, preferably, the step of adjusting the reference distance may include moving the position of the lowest point on the trajectory while maintaining the phase value until the reference distance satisfies the preset condition. And setting a reference distance when the position of the lowest point on the trajectory satisfies the preset condition as a new reference distance as the adjusted reference distance.

Also, preferably, calculating the swing trajectory of the golf club and calculating the trajectory of the ball or the motion parameter of the ball exercised by the golf club may include, at the impact point of view, based on the adjusted reference distance on the trajectory display area. Setting a position and calculating the coordinates of the golf club at each sensing time point using the phases and speeds of the golf clubs at a number of sensing points before and after that based on the position of the set impact time point, and displaying the trajectory It characterized in that it comprises the step of calculating the swing trajectory of the golf club by removing the outliers through the data processing preset for the coordinate data of the golf club position displayed in the area and fitting processing for the valid data.

In addition, preferably, calculating the swing trajectory of the golf club and calculating the trajectory of the ball or the motion parameter of the ball exercised by the golf club may include the impact based on the adjusted reference distance on the trajectory display area. And calculating the trajectory of the moving ball using the position of the starting point as the starting point of the ball.

Meanwhile, the present invention includes a recording medium readable by a computing device recording the sensing method of the radar sensing device described above.

On the other hand, the radar sensing apparatus according to an embodiment of the present invention, a signal transmitting unit for transmitting a radar signal; A signal receiving unit receiving a reflected wave signal reflected from the ball and the golf club with respect to the signal of the signal transmitting unit; A signal analysis unit generating radar sensing data including signal data for the ball and signal data for the golf club by the received reflected wave signal; And a golf club swing trajectory candidate generated by calculating the coordinates of the golf club based on a preset reference distance as a distance between the radar sensing device and the position where the ball is placed, and the lowest point on the trajectory from the swing trajectory candidate. By adjusting the reference distance so that the position of the lowest point on the specified trajectory satisfies a preset condition, the swing trajectory of the golf club is calculated based on the adjusted reference distance and exercised by the golf club It includes an information calculation unit for calculating the trajectory of the ball or the motion parameter of the ball.

Also, preferably, the information calculating unit generates a trajectory display area for displaying a swing trajectory of the golf club from the radar sensing data, sets a position of an impact time point based on the reference distance on the trajectory display area, and It is configured to calculate the swing trajectory candidate of the golf club by calculating the coordinates of the golf club at each sensing time point using the phase and speed of the golf club at a plurality of sensing points before and after that based on the set position of the impact time point. It is characterized by being.

In addition, preferably, the information calculating unit determines whether the golf club is a driver, and when the golf club is a driver, whether the position of the lowest point on the trajectory is located within a range of a preset tee height as the preset condition. It is configured to determine and adjust the reference distance so that the position of the lowest point on the trajectory is within the range of the preset tee height, and when the golf club is not a driver, the position of the lowest point on the trajectory is preset as the preset condition. It is characterized in that it is configured to determine whether it is located within the range of the set ground height and adjust the reference distance so that the position of the lowest point on the trajectory is within the range of the ground height.

A radar sensing device according to the present invention, a sensing method thereof, a method for calculating a swing trajectory of a golf club using radar sensing data, and a recording medium readable by a computing device recording the above method, a radar when a golfer hits a ball into a golf club Apart from calculating the motion parameters for the ball through signal analysis, the position coordinate information of the golf club can be calculated through the analysis of the radar signal, and the golf club's swing trajectory can be calculated therefrom. By using the radar sensing device to set the distance between the position where the radar sensing device is placed and the ball is placed, that is, the reference distance is the actual distance, it can be automatically adjusted to set the sensing result for the ball and the sensing result for the golf club. There is an effect that can further improve the reliability of.

1 is a view showing an example of use of a radar sensing device according to an embodiment of the present invention.
2 is a block diagram showing the configuration of a radar sensing device according to an embodiment of the present invention.
3 is a diagram briefly showing an example of a configuration of a signal receiving unit of a radar sensing device according to an embodiment of the present invention.
4 shows an example of radar sensing data including signal data for a ball and signal data for a golf club generated by using the received radar signal by the signal analysis unit of the radar sensing device according to an embodiment of the present invention It is a drawing.
5 and 6 are golf on a first coordinate plane viewed from above and a second coordinate plane viewed from the side as a trajectory display area by a method for calculating a swing trajectory of a golf club using radar sensing data according to an embodiment of the present invention. It is a diagram showing the process of calculating the swing trajectory by using the location coordinates of the club.
7 is a flowchart illustrating a method for calculating a swing trajectory of a golf club using radar sensing data according to an embodiment of the present invention.
8 is a flowchart illustrating a process of adjusting a reference distance in a sensing method of a radar sensing device or a method of calculating a swing trajectory of a golf club according to an embodiment of the present invention.
9 is a view for explaining an example of each swing trajectory candidate when the reference distance is set correctly and the reference distance is different from the actual distance when a user uses a driver to take a golf shot.
FIG. 10 is a view for explaining an example of each swing trajectory candidate when the reference distance is set correctly and the reference distance is different from the actual distance when a user uses a golf club rather than a driver to take a golf shot. to be.
11 is a view for specifically explaining a process of adjusting a reference distance in a sensing method of a radar sensing device and a method of calculating a swing trajectory of a golf club according to an embodiment of the present invention.

The radar sensing device according to the present invention, a sensing method thereof, and a more detailed content of the golf club swing trajectory calculation method using radar sensing data will be described with reference to the drawings.

First, with reference to Figures 1 and 2 will be described with respect to the configuration of the radar sensing device according to an embodiment of the present invention and the function of each component. 1 is a view showing a usage example of a radar sensing device, and FIG. 2 is a block diagram showing the configuration of a radar sensing device according to an embodiment of the present invention.

A radar sensing device according to an embodiment of the present invention is basically an apparatus for calculating motion parameters for an object (golf ball, golf club, etc.) that is moving using a Doppler effect of a radar. As shown in FIG. 1, the radar sensing device 100 is used by placing a predetermined distance behind a side of the user 10 holding the golf club 20, that is, in the direction in which the ball 30 moves.

The distance between the radar sensing device 100 and the ball 30 is a reference distance Dr, and it is preferable to properly position the radar sensing device 100 to correspond to a preset distance value of the radar sensing device 100.

The reference distance Dr may be an important criterion for both sensing of the ball by the radar sensing device 100 and sensing of the club.

For example, since the impact position when the head of the golf club hits the ball can be determined by the reference distance (Dr) described above, the position where the ball starts when calculating the trajectory of the moving ball is the reference distance (Dr) It can be determined by, and the reference distance (Dr) can also be a reference impact position that is a reference when calculating the swing trajectory of the golf club.

The reference distance Dr is a preset value in the radar sensing device. For example, the radar sensing device may preset 2.5 m as a reference distance. Therefore, it is desirable for the user to place the radar sensing device on the floor and place a ball at a position of 2.5 m in front of it and strike or place a radar sensing device at a position of 2.5 m behind the ball to strike.

The radar sensing device may be provided with a separate means for securing the reference distance Dr as accurately as possible, but the user may not be able to use the radar sensing device with the correct reference distance for each shot. have.

That is, it may often occur that the actual distance between the radar sensing device and the ball position is different from the reference distance set in advance in the radar sensing device.

The present invention basically implements the function of calculating the swing trajectory of a golf club that the conventional radar sensing device could not implement, and the actual distance between the radar sensing device and the ball position is calculated using the calculated golf club swing trajectory. When the radar sensing device is different from the preset reference distance, a method is provided to improve the reliability of the sensing result by adjusting the preset reference distance to match the actual distance. This will be described in detail below.

The radar sensing device according to an embodiment of the present invention includes a signal transmitting unit 110, a signal receiving unit 120, a signal analyzing unit 130, and an information calculating unit 140 as shown in FIG. 2. .

The radar sensing device according to an embodiment of the present invention is installed at a position or near the ground behind a predetermined distance from the position of the ball to be hit by the user, and the radar sensing device is provided at a specific frequency toward the direction of movement of the ball to be moved by the strike at the installation position. It may be configured to track a ball in motion while transmitting and analyzing a radar signal and receiving and analyzing reflected waves from the ball.

The signal transmitter 110 is configured to transmit a specific radar signal in the aimed direction, and may be configured to include a transmission antenna for transmitting a radar signal, although not illustrated.

The signal receiving unit 120 is configured to receive a reflected wave signal from which the radar signal transmitted by the signal transmitting unit 110 is reflected back from the ball.

At this time, the radar signal of the signal transmitting unit 110 reaches each of the ball 30 and the golf club 20, respectively, and the signal receiving unit 120 is a golf club head that moves along a moving trajectory and a swing trajectory, respectively. It receives all reflected wave signals.

Due to the Doppler effect of the radar signal, the reflected wave signal transmitted by the signal transmitting unit 110 and reflected from the ball and the golf club, respectively, changes the frequency of the signal transmitted by the signal transmitting unit 110, thereby causing a Doppler shift. Will occur. That is, the signal receiving unit 120 receives a signal having a Doppler shift.

The signal receiving unit 120 is configured to include a plurality of receiving antennas for receiving the reflected wave signal, so that various information about the movement of the ball and the golf club can be known by using the phase difference of the received signals of the plurality of receiving antennas.

FIG. 3 briefly shows an example of a configuration of a signal receiving unit 120 of a radar sensing device according to an embodiment of the present invention. As illustrated, the signal receiving unit 120 includes RA1, RA2, and RA3. When properly arranged and provided with more than one receiving antenna, each of the receiving antennas RA1, RA2 and RA3 can receive the reflected wave signal received from the golf club 20, that is, the phase difference of the signal between each receiving antenna, that is The phase difference of the signals received by RA1 and RA2, respectively, and the phase difference of the signals received by RA1 and RA3, respectively, can be calculated. Of course, the phase difference can be calculated for the ball in the same manner as described above.

On the other hand, returning to FIG. 2 again, the signal analysis unit 130 of the radar sensing device according to an embodiment of the present invention receives the reflected wave of the radar signal from the signal receiving unit 120 to the signal data for the ball and the golf club Radar sensing data including signal data is generated.

4 is an example of radar sensing data SD including signal data BD for a golf club and signal data CD for a golf club generated by the radar signal received by the signal analyzer 130. Is shown.

The radar sensing data shown in FIG. 4 shows that a spectrogram is generated as radar sensing data for reflected wave signals for a ball and a golf club.

In the spectrogram shown in FIG. 4, the horizontal axis is the axis of time and the vertical axis is the axis of frequency. Since the signal data BD for the ball is small, the distribution of signal data is narrow and dense, so the signal range is relatively accurate. On the other hand, the signal data for the golf club (CD) can be seen that a relatively wide range of signal distribution appears because the size of the club head is relatively large.

Since the signal range of the signal data of the golf club is widely distributed as described above, it is very difficult to calculate a trajectory of the head based on the characteristic point by identifying one feature point of the golf club head unlike the ball.

Therefore, the golf club swing trajectory calculation method of the radar sensing device according to an embodiment of the present invention is based on the signal data (CD) rather than calculating the swing trajectory based on any one feature point of the golf club. It relates to a method of finding a tendency based on a moving path and calculating a swing trajectory based on this.

To this end, the radar sensing apparatus according to an embodiment of the present invention assumes a virtual area called a trajectory display area, calculates coordinate values for a golf club position from the radar sensing data, and displays it on the trajectory display area. The swing trajectory of the golf club is calculated by deriving the tendency of the movement of the golf club based on the coordinate values of a plurality of golf club positions. More specific matters will be described later.

On the other hand, returning to FIG. 2 again, the information calculating unit 140 of the radar sensing device according to an embodiment of the present invention uses radar sensing data generated by the signal analysis unit 130 at multiple sensing points It is configured to calculate the swing trajectory of the golf club by calculating the coordinates of the golf club.

The radar sensing device may calculate the trajectory of the moving ball by calculating the positional coordinates of the ball at predetermined time intervals using the signal data for the ball from the starting position of the ball placed on the reference distance.

In the case of a ball, the ball trajectory can be found by easily calculating the coordinates of the ball based on the position where the ball is placed, that is, on the reference distance (i.e., as the origin), but in the case of a golf club, from the top swing to the palos ro Since it is difficult to use a certain point of reference as a reference origin (the trajectory and tempo from top swing to palos rou is different for each person, it is impossible to establish a certain origin), the radar sensing method calculates the golf club's swing trajectory There are aspects that are quite difficult to pay.

Accordingly, the present invention is to determine the impact point of time when the head of the golf club meets the ball and to determine the position coordinates of the head of each golf club before and after the impact point based on the impact point to determine the swing trajectory of the golf club. (Hereinafter referred to as'the location of the golf club' or'the coordinates of the golf club', etc. are all used as the meaning of'the location or coordinates of the head of the golf club').

In particular, the present invention creates a virtual area called a trajectory display area on a program to easily calculate the swing trajectory of a golf club, displays the coordinates of the golf club on the area, and grasps the tendency of the displayed multiple coordinates to swing swing trajectory It provides a way to derive.

5 and 6 show an example of the locus display area as described above.

The present invention may generate the first coordinate plane VR1 viewed from above and the second coordinate plane VR2 viewed from the side as shown in FIGS. 5 and 6 as the above-described trajectory display area.

(A), (c) and (e) of FIG. 5 and those shown in (a) of FIG. 6 show the first coordinate plane VR1, and (b), (d) and (b) of FIG. f) and that shown in Fig. 6(b) shows the second coordinate plane VR2.

The trajectory display area may include at least one of the first coordinate plane VR1 and the second coordinate plane VR2, and may include a 3D virtual region rather than a 2D region.

Whether the trajectory display area is a 2D area or a 3D area, the method of calculating the coordinates of the golf club and the method of calculating the swing trajectory therefrom are the same (coordinates of the same position on the first and second coordinate planes are coordinates in 3D space) It can be converted to).

Accordingly, the information calculating unit 140 of the radar sensing device according to an embodiment of the present invention identifies a golf club and a ball impact time, and displays a trajectory display area for displaying the swing trajectory of the golf club from the radar sensing data. And set the impact position at the specified impact time point on the trajectory display area, and calculate the coordinates of the golf clubs at a plurality of sensing time points before and after the impact point position on the trajectory display area. It can be configured to calculate the swing trajectory of the golf club generated according to.

In more detail, the information calculating unit 140 of the radar sensing device according to the exemplary embodiment of the present invention includes signal data (CD) for a golf club of radar sensing data SD as shown in FIG. 4. Before and after the impact time point Pti, the sensing time points (Pbi, Pai, etc.) of the reflected wave signal for the golf club are respectively specified at predetermined time intervals, and at each of the sensing time points (Pbi, etc.) before the impact time point. The coordinate values of the golf club at each sensing time point are calculated using the phase and velocity values of, and the coordinates are displayed at positions on the trajectory display area corresponding to the calculated coordinate values (FIGS. 5(c) and (d). Cbi1 and Cbi2 shown in )), and calculates the coordinate values of the golf club at each sensing point by using the phase and velocity values at each of the sensing points (Pai, etc.) after the impact point. By displaying the coordinates at positions on the trajectory display area corresponding to the calculated coordinate values (Cai1 and Cai2 shown in FIGS. 5E and 5F correspond to this), the coordinates of the golf club on the trajectory display area It is configured to calculate the swing trajectory of the golf club generated by the data.

However, the swing trajectory of the golf club calculated by the above method can be effective swing trajectory information when the reference distance is substantially the same as the actual distance between the radar sensing device and the ball, and the reference distance is the radar sensing device. If there is a difference between the actual distance and the error range between and the ball, it cannot be regarded as reliable swing trajectory information.

Therefore, the swing trajectory of the golf club calculated as described above will be referred to as a'golf club swing trajectory candidate' until it is determined as the final swing trajectory.

The information calculating unit 140 of the radar sensing device according to an embodiment of the present invention checks whether the calculated golf club swing trajectory candidate satisfies a preset condition as a normal swing trajectory, and then processes If the swing trajectory candidate does not satisfy the preset condition, the existing reference distance is adjusted so that the swing trajectory candidate satisfies the preset condition, and the adjusted reference distance is set as a new reference distance. The trajectory of the ball and the swing trajectory of the golf club are calculated based on the newly set reference distance.

Hereinafter, a method for calculating a swing trajectory of a golf club and a sensing method of a radar sensing apparatus using radar sensing data according to an embodiment of the present invention as described above will be described using the flowchart shown in FIG. 7, More detailed contents of the main steps related to the calculation of the trajectory will be described with reference to FIGS. 4 to 6 above.

Referring to FIG. 7, the radar sensing device according to the present invention is installed in such a manner that the reference distance between the radar sensing device and the ball is a preset distance value Dr, as shown in the example shown in FIG. 1. The signal is transmitted and a signal reflected by a moving object (ie, a ball and a golf club) is received (S100). It has already been described that this is done by the signal transmitting unit and the signal receiving unit, respectively.

The signal analysis unit of the radar sensing device generates radar sensing data as shown in FIG. 4 using the radar signal received by the signal receiver (S110).

It has been already described that the radar sensing data can be generated, for example, as a spectrogram of a time axis and a frequency axis.

The radar sensing data, as shown in Figure 4, the signal data for the ball (BD) and the signal data for the golf club (CD) are shown separately, and the signal data for the ball (BD) of the ball The parameters for the exercise are calculated, and the swing trajectory of the golf club is calculated using the signal data (CD) for the golf club.

On the other hand, in FIG. 7, the information calculation unit of the radar sensing device according to an embodiment of the present invention uses the signal data for the golf club of the radar sensing data generated by the signal analysis unit as described above, and the signal data first. On the impact point, that is, the golf club head hitting the ball is specified (S120).

Referring to FIG. 4, an impact time point Pti may be determined by specifying a time point on the signal data CD of the golf club based on the signal data BD of the ball.

For example, a time point on the signal data CD of the golf club at a time at which the signal data BD of the ball starts may be specified and determined as an impact time point at the corresponding time point, or the golf club signal on the golf club signal data CD. The impact time point Pti may be specified based on the time point Pc corresponding to the maximum speed.

Returning to FIG. 7 again, the information calculation unit of the radar sensing device according to an embodiment of the present invention generates a virtual area trajectory display area in order to calculate the swing trajectory of the golf club (S130).

The trajectory display area may include a first coordinate plane VR1 viewed from above and a second coordinate plane VR2 viewed from the side, as illustrated in FIG. 5, and (a) and (c) of FIG. 5. ) And (e) are examples of the first coordinate plane VR1, and those shown in (b), (d) and (f) of FIG. 5 are examples of the second coordinate plane VR2. .

The information calculation unit of the radar sensing device, in step S120, the reference distance (Dr) which is the distance between the phase information of the radar signal for the golf club at a specific impact point (Pti) on the radar sensing data and the position where the ball is placed with the radar sensing device ) To set the impact position, which is the basis for calculating the swing trajectory, by displaying the position at the impact point on the trajectory display area, that is, the impact position (S140).

FIG. 5(a) sets the position at the impact point on the reference distance Dr with reference to the reference line Lr on the first coordinate plane VR1, that is, the impact position Cti1. ) Indicates the setting of the impact position Cti2 on the reference distance Dr based on the ground Lg on the second coordinate plane VR2.

The first coordinate plane VR1 and the second coordinate plane VR2 represent coordinate planes of one side and the other side for the same virtual space, and each point on the first coordinate plane VR1 and the second coordinate plane VR2 is the same. A point in one 3D space is represented by one side and the other side, respectively. That is, Cti1 and Cti2 are the same single point, and points of all coordinates to be described later correspond to each other identically.

The first coordinate plane VR1 and the second coordinate plane VR2 are defined by a preset coordinate system, which may be a spherical coordinate system or a rectangular coordinate system. For example, (a), (c) and (e) of FIG. 5 may be an xy coordinate plane (the horizontal axis is the x-axis, the vertical axis is the y-axis), and FIGS. 5(b), (d), and (f) are It can be a yz coordinate plane (the horizontal axis is the y axis, the vertical axis is the z axis).

As described above, after setting the position of the impact point on the trajectory display area, the information calculation unit of the radar sensing device calculates the coordinates (Cbi1, Cbi2) of the previous golf club based on the impact position (Cti1, Cti2). Calculate and calculate the coordinates of the golf clubs thereafter based on the impact positions Cti1 and Cti2 to calculate the swing trajectory of the golf club based on the overall coordinates Cai1 and Cai2.

Steps S200 and S210 relate to the calculation of the coordinates of the golf club before the impact point, and steps S300 and S310 relate to the calculation of the coordinates of the golf club after the impact point.

First, the coordinates of the golf club before the impact point may be calculated. The information calculating unit of the radar sensing device may detect a plurality of sensing points at a preset time interval (ie, the reflected wave signal for the golf club) from the radar sensing data. The sensing time points) are specified (S200), and the coordinate values of the golf club are calculated from the phase and speed values of the golf club at the sensing time point and displayed on the trajectory display area (S210).

In addition, the coordinates of the golf club after the impact point may be calculated, and the information calculating unit of the radar sensing device may detect a plurality of sensing points (ie, a reflected wave signal for the golf club) at a predetermined time interval after the impact point in the radar sensing data. (S300), and calculates a coordinate value of the golf club from the phase and speed values of the golf club at the corresponding sensing time point (S310).

Calculating the coordinates of the golf clubs before the impact point of S200 and S210 is calculated based on the phase and speed values of the golf club at each sensing point specified in reverse chronological order based on the impact point, Calculating the coordinates of the golf clubs after the impact time of S300 and S310) calculates the coordinates based on the phase and speed values of the golf club at each sensing time point specified in chronological order based on the impact time.

This will be described in more detail with reference to FIGS. 4 and 5.

In the radar sensing data SD shown in FIG. 4, the points Pbi at the previous sensing point and the points Pai at the subsequent sensing point based on the impact point Pti in the signal data CD of the golf club. ).

Since the speed value can be known from the frequency information of the signal for the golf club at each sensing point prior to the impact point Pti, and the phase value of the golf club at the corresponding sensing point can be known respectively, golf on the trajectory display area You can calculate the club's location coordinates.

For example, in FIG. 4, a phase value and a velocity value at pb1, which is a sensing time point before the impact time point Pti, may be specified, and by using this, an impact at a first coordinate plane VR1 shown in FIG. As a coordinate before the position coordinate Cti1, a b1 coordinate that is a point corresponding to the sensing point pb1 may be calculated, and before the impact position coordinate Cti2 in the second coordinate plane VR2 shown in FIG. 5(d). As a coordinate, a b1' coordinate that is a point corresponding to the sensing time point pb1 may be calculated.

In more detail, in the first coordinate plane VR1 shown in FIG. 5(a), the impact position Cti1 is specified using a reference distance, but the coordinates of the previous golf club are unknown. The phase and velocity values at unknown coordinates before the impact position Cti1 can be known through pb1 of the radar sensing data in FIG. 4.

That is, between the unknown coordinate (point) and the impact position coordinate (point) (Cti1), the distance between the two points according to the phase value and the angle between the two points according to the phase value can be known (or the impact from the unknown point). The velocity vector and the amount of vector to the point of the position can be known (the velocity vector contains direction, that is, angle information, and the vector amount includes distance information).

If the angle and distance values from one point to another are known and the coordinates of one of the two points are specified, the coordinates of an unspecified point, that is, an unknown point, can be calculated therefrom. Since the coordinate values in the polar coordinate system are easily converted to the coordinate values in the rectangular coordinate system, the reality is the same.

In other words, in the first coordinate plane VR1 shown in (c) of FIG. 5, there are b1 coordinates and Cti1 coordinates, and the b1 coordinates are unknown points, but the phase value and velocity value at that point can be known and Cti1( Since the coordinates of the impact position) are specified, the coordinate values of the b1 coordinates can be easily calculated therefrom.

Of course, calculating the coordinate value of the b1' coordinate between the b1' coordinate and the Cti2 coordinate in the second coordinate plane VR2 shown in FIG. 5D can also be calculated in the same manner as described above.

When b1 coordinates are calculated from the first coordinate plane VR1 shown in FIG. 5C, the previous b2 coordinates may be calculated in the same manner. That is, the phase value and the velocity value at the corresponding point pb2 on the golf club signal data CD of the radar sensing data SD shown in FIG. 4 corresponding to the position in the state in which the b2 coordinate is not determined can be known and b1 Since the coordinates are already specified, b2 coordinates can be calculated therefrom.

Similarly, in the second coordinate plane VR2 shown in FIG. 5D, the coordinate b2' can be calculated using the phase value and the velocity value in pb2 on the radar sensing data.

In this way, the impact position coordinates (Cti1, Cti2) are transferred on the trajectory display areas (VR1, VR2) using the phase values and the speed values of the golf clubs at each of the plurality of sensing points (Pbi) before the impact point (Pti). The coordinates (Cbi1, Cbi2) of the golf club can be calculated and displayed.

Similarly, at each sensing point after the impact point Pti, the speed value can be known from the frequency information of the signal for the golf club, and the phase value of the golf club at the corresponding sensing point can be known, respectively, and thus, on the trajectory display area. The position coordinates of the golf club can be calculated.

In FIG. 4, since the phase value and the velocity value at the impact point Pti can be specified, the phase value at the impact position coordinate Cti1 in the first coordinate plane VR1 shown in FIG. The second coordinate plane shown in (f) of FIG. 5 can be calculated using the phase value and the velocity value at the impact point Pti, which can calculate a1 coordinates, which are the coordinates after the impact position satisfying the overspeed value. In VR2), a1' coordinates, which are coordinates after the impact position coordinate Cti2, can be calculated (a1 coordinates and a1' coordinates correspond to pa1 on the radar sensing data SD).

In addition, in FIG. 4, a phase value and a velocity value at pa1 which is a sensing time point on radar sensing data may be specified, and by using this, pa1 at a1 coordinate in the first coordinate plane VR1 shown in FIG. 5E. A2 coordinates, which are the coordinates satisfying the phase value and the velocity value at, can be calculated, and similarly, a1 at the second coordinate plane VR2 shown in FIG. 5F using the phase value and the velocity value at pa1. 'Coordinate a2', which is a coordinate that satisfies the phase value and speed value in the above-described pa1, can be calculated (coordinates a2 and a2' correspond to pa2 on the radar sensing data SD).

In this way, after the impact position coordinates (Cti1, Cti2) on the trajectory display areas (VR1, VR2) using the phase value and the speed value of the golf club at each of the plurality of sensing points (Pai) after the impact point (Pti). Coordinates (Cai1, Cai2) of the golf club can be calculated and displayed.

5(e) and (f) showing the coordinates of the golf club position during the swing on the first coordinate plane VR1 and the second coordinate plane VR2, respectively, according to the above-described method. It is shown in

However, as described above, since the signal range of the signal data of the golf club is widely distributed, it is very difficult to calculate a trajectory of the head based on the characteristic point by specifying any one feature point of the golf club head unlike the ball. Therefore, as shown in FIGS. 5(e) and 5(f), the coordinate distribution of the position of the golf club does not appear to be an exact swing trajectory.

Therefore, it is preferable to find the tendency based on the overall path of the golf club head through the signal data (CD) and calculate the swing trajectory based on this, and of the golf club shown in (e) and (f) of FIG. 5. Fig. 6 shows that the swing trajectory is calculated by grasping the tendency by using the coordinate distribution in the trajectory display area.

That is, with reference to FIGS. 6 and 7, as described above, when both the club coordinate display before the impact point and the club coordinate display after the impact point are completed (S220, S320), according to an embodiment of the present invention The information calculating unit of the radar sensing device calculates the swing trajectory of the golf club through preset data processing for coordinate data displayed on the trajectory display area as described above (S400).

The above-described data processing is a statistical analysis process using a least squares method using the distribution of a plurality of coordinate data as shown in (e) and (f) of FIG. 5, for example, a RANSAC algorithm or the like can be used.

That is, the valid data (Inlier) and the outlier (Outlier) are separated through statistical analysis processing such as RANSAC for a plurality of coordinate data as shown in (e) and (f) of FIG. 5, and the outliers are removed. For the valid data, swing trajectories CP1 and CP2 as shown in FIGS. 6A and 6B can be calculated by, for example, fitting processing such as polyfit.

The data CP1 shown in FIG. 6(a) derives valid data through the statistical analysis process using the RANSAC algorithm for the coordinate data on the first coordinate plane VR1 shown in FIG. 5(e) and fits it. The result of processing is shown, and the data CP2 shown in FIG. 6(b) is effective through statistical analysis processing using the RANSAC algorithm for the coordinate data on the second coordinate plane VR2 shown in FIG. 5(f). It shows the results of fitting data and fitting data.

The swing trajectory of the golf club can be calculated by the above method. The swing trajectory of the golf club calculated by the above method is effective when the reference distance is substantially the same as the actual distance between the radar sensing device and the ball. It can be trajectory information, and if there is a difference that the reference distance exceeds the actual distance and the error range between the radar sensing device and the ball, it cannot be regarded as reliable swing trajectory information. The swing trajectory is the'golf club's swing trajectory candidate' until it is determined as the final swing trajectory.

As described above, the information calculation unit of the radar sensing device according to an embodiment of the present invention checks whether the calculated golf club swing trajectory candidate as a normal swing trajectory satisfies a preset condition. In the process, if the swing trajectory candidate does not satisfy a preset condition, the existing trajectory distance is adjusted so that the swing trajectory candidate satisfies the preset condition, and the adjusted reference distance is set as a new reference distance. Therefore, the ball trajectory and the golf club swing trajectory are calculated based on the newly set reference distance.

The flowchart for the process as described above is shown in FIG. 8.

In FIG. 8, the information calculating unit of the radar sensing device according to an embodiment of the present invention calculates the swing trajectory candidate of the golf club by the method described through FIG. 7 (S400 ), and then calculates the calculated swing trajectory on the trajectory display area. The lowest point on the candidate's trajectory is found and specified (S410).

Then, the information calculation unit determines whether the golf club that the user swings from is a driver or a golf club other than the driver (S420).

Here, the method of determining whether or not the radar sensing device uses a golf club used by a user is a driver may be implemented in various ways.

There are methods for the radar sensing device to determine whether the golf club used by the user is a driver or not, a method input by the user, a method of detecting the golf club, and a method of estimating whether the golf club is a driver.

The user input method includes a method for inputting whether a golf club is a driver in a radar sensing device, and inputting that the golf club the user wants to use is a driver.

The method of detecting a golf club is, for example, an RFID tag mounted on a golf club and an RFID reader installed on a radar sensing device, so that when a user lifts a golf club and prepares for a hit, the RFID reader of the radar sensing device is mounted on the golf club It is a method of determining whether the corresponding golf club is a driver by communicating with the tag.

In addition, there is also a method of determining whether a golf club is a driver by analyzing a captured image of a camera device for a user's golf club by providing a camera device in the radar sensing device. The detection method through the image analysis is to determine whether the driver is by analyzing characteristic information such as the shape and size of the golf club head photographed through the image without the marker and the method of confirming the marker attached to the club head through the image analysis. And how to do it.

Meanwhile, a method of estimating whether a golf club is a driver is, for example, a method of using terrain information and GPS location information of a golf course. That is, the radar sensing device stores the terrain information of the golf course in which the user is currently playing a golf round or recognizes the terrain information of the golf course in connection with an external terminal, and uses the GPS location information to determine the current user's location as a tee shot. It is a method to estimate whether a golf club is a driver by determining whether it is a location. This is in connection with a mobile terminal such as a smartphone or tablet PC, so that the mobile terminal transmits information on whether the current user's location is a tee shot location on the GPS location information to the radar sensing device in the golf course terrain. It is a way to determine whether this is a driver.

In the present invention, a method of determining whether a golf club is a driver may include all of the methods of determining by any method in addition to the above example.

As described above, the reason for determining whether or not the user's golf club is a driver is that the lowest point on the swing trajectory of the golf club is formed at a predetermined distance from the ground because the ball is placed on the tee and hit. If not, the lowest point of the swing trajectory of the golf club is formed at the ground position because the ball is hit on the ground, but the radar sensing data alone cannot distinguish whether the swing trajectory is made on the tee or on the ground. This is because it is necessary to classify and analyze the above two cases in order to calculate the accurate swing trajectory when there is a difference from the actual distance between the radar sensing device and the ball position).

For example, when it is determined that the lowest point of the calculated swing trajectory is located near the ground because the reference distance is different from the actual distance, the correct swing trajectory may be determined if the swing trajectory of the driver shot is not known. (If the lowest point of the swing trajectory by the driver shot is formed in the vicinity of the ground, it is judged that the impact position is set at the wrong position because the reference distance and the actual distance are different. Adjustments will be made).

On the other hand, in FIG. 8, when the user's golf club is a driver, the information calculating unit of the radar sensing device satisfies a preset condition of a lowest point on the trajectory of the candidate swing trajectory of the golf club, that is, the lowest point on the trajectory. It is determined whether the position is within a preset tee height range (S500).

Here, the tee that is generally inserted into the floor has a height of 30 mm to 50 mm, so the preset tee height range can be set in advance in consideration of the height range.

If the position of the lowest point on the trajectory is within the range of the predetermined tee height, the golf club's swing trajectory candidate may be determined to be a normal swing trajectory and determined as final swing trajectory information according to a user's shot.

If the position of the lowest point on the trajectory is not located within the range of the preset tee height, the information calculation unit of the radar sensing device according to an embodiment of the present invention has the position of the lowest point on the trajectory within the range of the preset tee height The process of adjusting the existing set reference distance so as to be located within is performed (S510).

As described above, when the lowest point on the trajectory of the swing trajectory candidate is located within a preset tee height range by adjusting the reference distance, the radar sensing device sets the adjusted reference distance as the new reference distance and satisfies the condition. The swing trajectory of the golf club is calculated again based on the adjusted reference distance, and the sensing result is provided by calculating the trajectory of the ball or the parameter of the ball motion based on the adjusted reference distance based on the adjusted reference distance (S700). ).

On the other hand, if the user's golf club is not a driver, the information calculation unit of the radar sensing device satisfies whether the calculated position of the lowest point on the trajectory of the swing trajectory candidate of the golf club satisfies a preset condition, that is, the position of the lowest point on the trajectory in advance. It is determined whether it is located within the range of the set ground height (S600).

Here, the information calculating unit of the radar sensing device sets the height of the ground in advance, and the range of the preset ground height may be the height of the preset ground, or in the case of a ground shot, the club head forms a divot on the floor and swings a trajectory. Since it may form or form a swing trajectory in a state spaced several mm from the floor, taking into account this, the up and down several mm sections may be set in advance as a range of the above-mentioned ground height.

If the position of the lowest point on the trajectory is within the range of the preset ground height, the candidate swing trajectory of the golf club may be determined as a normal swing trajectory and determined as final swing trajectory information according to the user's shot.

If the location of the lowest point on the trajectory is not located within the range of the preset ground height, the information calculation unit of the radar sensing device according to an embodiment of the present invention has the location of the lowest point on the trajectory in the range of the preset ground height The process of adjusting the existing set reference distance so as to be located within is performed (S610).

As described above, when the minimum point on the trajectory of the swing trajectory candidate is located within a preset ground height range by adjusting the reference distance, the radar sensing device sets the adjusted reference distance as a new reference distance and satisfies the condition. The swing trajectory of the golf club is calculated again based on the adjusted reference distance, and the sensing result is provided by calculating the trajectory of the ball or the parameter of the ball motion based on the adjusted reference distance based on the adjusted reference distance (S700). ).

Hereinafter, a more detailed description of the adjustment of the reference distance will be described with reference to FIGS. 9 to 11.

FIG. 9 illustrates the results of calculating two swing trajectory candidates calculated by a radar sensing device according to an embodiment of the present invention and displayed on a trajectory display area when a user takes a golf shot with a driver. a) and (b) show swing trajectory candidates according to one driver shot, and (c) and (d) of FIG. 9 show swing trajectory candidates according to another driver shot.

9A and 9C show the first coordinate plane VR1 of the trajectory display area, and FIGS. 9C and 9D show the second coordinate plane VR2 of the trajectory display area, respectively. will be.

In the adjustment of the reference distance according to the present invention, it is preferable to use a trajectory on the second coordinate plane VR2 that shows the trajectory viewed from the side.

9(b) and 9(d), when the golf club is a driver, a tee height range Rd may be set in advance at a predetermined distance from the ground Lg.

The swing trajectory candidate 210 shown in FIG. 9B is a trajectory in which the lowest point 211 on the trajectory is located within a preset tee height range Rd, and the lowest point 211 on the trajectory at this time is the reference distance Dr. In some cases, it may be a case where the impact position is located at.

In this case, the swing trajectory candidate 210 can be determined as a normal swing trajectory without the need to adjust the reference distance Dr.

However, in the case of the swing trajectory candidate 220 shown in FIG. 9(d), since the lowest point 221 on the trajectory is located outside the preset tee height range Rd, it cannot be viewed as a normal swing trajectory.

In this case, the swing trajectory candidate 220 drawn by setting the impact position based on the reference distance Dr is not a swing trajectory drawn based on the normal position. This is because the existing set reference distance Dr is an actual radar sensing device. This is because the distance between the and ball positions, that is, the actual distance and the difference (d) has occurred.

In the normal case, the lowest point 221 on the trajectory should be substantially the same as the position at the time of impact, but since the reference distance Dr and the actual distance are different, the lowest point 221 on the trajectory is outside the preset tee height range Rd. Because it is located.

Here, when the position of the lowest point on the trajectory located within the preset tee height range Rd is 222 in the drawing, the reference position is set such that the lowest point 221 on the trajectory of the swing trajectory candidate 220 is located at the above 222. It needs to be adjusted.

This is to move the position of the lowest point on the trajectory from 221 to 222 on the drawing, and the reference distance is also adjusted from Dr to Da.

As such, the swing trajectory candidates shown in FIGS. 9C and 9D require adjustment of the reference distance, and a more specific method thereof will be described later.

Meanwhile, FIG. 10 shows two swings calculated on a trajectory display area calculated by a radar sensing device according to an embodiment of the present invention when a user makes a golf shot with a golf club (eg, iron) rather than a driver. As a result of calculating the trajectory candidate, FIGS. 10(a) and 10(b) show a swing trajectory candidate according to one iron shot, and FIGS. 10(c) and 10(d) show a different iron shot. Represents a swing trajectory candidate.

10A and 10C show the first coordinate plane VR1 of the trajectory display area, and FIGS. 10B and 10D show the second coordinate plane VR2 of the trajectory display area, respectively. will be.

In the adjustment of the reference distance according to the present invention, it is preferable to use a trajectory on the second coordinate plane VR2 that shows the trajectory viewed from the side.

As shown in (b) and (d) of FIG. 10, when the golf club is not a driver, the ground height range Ri may be set in advance for a predetermined section based on the ground Lg height.

The swing trajectory candidate 210 shown in (b) of FIG. 10 is a trajectory in which the lowest point 311 on the trajectory is located within a preset ground height range Ri, and the lowest point 311 on the trajectory at this time is the reference distance Dr. In some cases, it may be a case where the impact position is located at.

In this case, the swing trajectory candidate 310 can be determined as a normal swing trajectory without the need to adjust the reference distance Dr.

However, in the case of the swing trajectory candidate 320 shown in FIG. 10(d), it cannot be viewed as a normal swing trajectory because the lowest point 321 on the trajectory is located outside the preset ground height range Ri.

In this case, the swing trajectory candidate 320 drawn by setting the impact position based on the reference distance Dr is not a drawn trajectory drawn based on the normal position. This is because the existing set reference distance Dr is an actual radar sensing device. This is because the distance between the and ball positions, that is, the actual distance and the difference (d) has occurred.

In the normal case, the lowest point 321 on the trajectory should substantially coincide with the position at the time of impact. Since the reference distance Dr and the actual distance are different, the lowest point 321 on the trajectory is outside the preset range of the ground height Ri. Because it is located.

Here, when the position of the lowest point on the trajectory located within the preset range of the ground height Ri is 322 in the drawing, the reference position is set so that the lowest point 321 on the trajectory of the swing trajectory candidate 320 is located at the number 322. It needs to be adjusted.

This is to move the position of the lowest point on the trajectory from 321 to 322 on the drawing, and the reference distance is also adjusted from Dr to Da.

In the case of the driver shot shown in FIG. 9 and the shot of the golf club other than the driver shown in FIG. 10, there is a difference in that the conditions in which the lowest point on the trajectory should be set are different, but the swing trajectory candidates have different conditions. The method of adjusting the reference distance when it does not fit is the same.

Accordingly, in the case of using a driver and a golf club other than a driver, an example of a method of adjusting a reference distance for a swing trajectory candidate shown in FIG. It will be described as a representative example of.

FIG. 11 shows an example of a method of adjusting a reference distance for a swing trajectory candidate shown in FIG. 10D.

Adjustment of the reference distance is a pre-set condition in which the reference distance is decreased or increased while maintaining the phase value of the position of the lowest point on the trajectory (the range of the tee height in the case of driver shots and the ground in the case of shots from golf clubs other than drivers) Height range).

In FIG. 11, the calculated swing trajectory candidate is represented by CP, and the lowest point of the swing trajectory candidate (CP) is A1.

The position of the lowest point (A1) on the trajectory is to move while maintaining its phase value. As shown in FIG. 11, the lowest point (A1) on the trajectory of the swing trajectory candidate (CP) is the same phase line of the radar signal, Ph1 and Ph2 Is to move along. Here, Ph1 is referred to as a first co-phase line and Ph2 is referred to as a second co-phase line, and points on the first co-phase line Ph1 or the second co-phase line Ph2 have the same phase value.

In FIG. 11, the lowest point A1 on the trajectory can be moved along the first collinear phase Ph1 in the direction of the A2 position (in this case, on the second collinear phase Ph2 as a point on the swing trajectory candidate CP) The point B1 is also preferably moved in the direction of the B2 position along the second co-phase line Ph2). Accordingly, the reference distance (Dr, previously set reference distance) of the A1 position is shown in the drawing. It gradually decreases from the L1 line position to the L2 line position (the reference distance corresponding to the A2 position is referred to as D2 as the distance from the L2 line position).

In addition, the lowest point (A1) on the trajectory can be moved along the first co-phase line Ph1 in the direction of the A3 position (at this time, the point on the second co-phase line Ph2 as a point on the swing trajectory candidate CP) B1) It is also desirable to move in the direction of the B3 position along the second co-phase line Ph2). Accordingly, the reference distance (Dr, the previously set reference distance) of the A1 position is the L1 line in the drawing. It gradually increases from the position to the L3 line position (the reference distance corresponding to the A3 position is referred to as D3 as the distance to the L3 line position).

When the range Ri of the preset condition is above the lowest point A1 on the trajectory of the swing trajectory candidate CP, the lowest point A1 on the trajectory is moved along the first co-phase line Ph1 in the direction of the A2 position. The reference distance Dr decreases, and if the preset condition range Ri is lower than the lowest point A1 on the trajectory of the swing trajectory candidate CP, the lowest point A1 on the trajectory is first in the direction of the A3 position. The reference distance Dr may be increased while moving along the same phase line Ph1.

As described above, when the minimum distance on the trajectory of the swing trajectory candidate satisfies a preset condition while decreasing or increasing the reference distance around the lowest point on the trajectory of the swing trajectory candidate, the reference distance corresponding to the location of the lowest point on the trajectory at that time It becomes the adjusted reference distance to be set as the new reference distance.

11, the lowest point A1 on the trajectory of the swing trajectory candidate CP is moved to the A2 position along the first co-phase line Ph1 and the second co-phase line Ph2, and at this time, the reference distance Dr ) Decreases from the L1 line position to the L2 line position, so if the position of the lowest point on the trajectory satisfies the preset condition when the position A2 is reached, D2 corresponding to the A2 position is determined as the adjusted reference distance.

When the adjusted reference distance is determined as described above, based on this, the adjusted reference distance is applied in the same manner as the method described in the flowchart shown in FIG. 7 (at this time, when setting the position at the impact point in step S140). The swing trajectory of the golf club may be calculated, and the trajectory of the ball may be calculated based on the adjusted reference distance.

That is, the user can freely place the radar sensing device in the appropriate position without taking the burden of placing the radar sensing device in the position corresponding to the reference distance at the rear of the position where the ball is placed when playing the golf shot, and at this time, the golf shot can be made. The error caused by the difference between the reference distance and the actual distance set in is that the self-calibration can be automatically performed by automatically adjusting the reference distance in the manner described above.

In the present invention, since the accuracy and reliability of ball trajectory and golf club swing trajectory information calculated according to the above method are very high, various parameters calculated based on this, such as spin of the ball and club path (Club Path), Swing Direction (Swing Direction), Attack Angle (Angle Of Attack), Dynamic Loft (Dynamic Loft), Spin Loft (Spin Loft), etc. The accuracy and reliability of the data can be very improved.

Claims (16)

As a method of calculating the swing trajectory of a golf club using radar sensing data generated by receiving reflected waves of a radar signal,
The distance between the radar sensing device and the ball is placed using the radar sensing data. The golf club generated by calculating the coordinates of the golf club during swing based on a reference distance set in advance by the radar sensing device. Calculating a swing trajectory candidate;
Specifying a lowest point on the trajectory from the swing trajectory candidate, and adjusting the reference distance such that the position of the lowest point on the specified trajectory satisfies a preset condition; And
Calculating a swing trajectory of the golf club generated by calculating coordinates of the golf club based on the adjusted reference distance;
Method for calculating the swing trajectory of a golf club using radar sensing data including a. The method of claim 1, wherein calculating the swing trajectory candidate of the golf club comprises:
Receiving reflected waves of a radar signal and generating data including signal data for a ball and signal data for a golf club as the radar sensing data;
Specifying a time point on the signal data for the golf club based on the signal data for the ball as an impact time point,
Setting a position of the impact time on the trajectory display area using the phase and the reference distance of the impact time from the signal data for the golf club;
Swing of the golf club in the trajectory display area by calculating the coordinates of the golf clubs at each sensing time point using the phase and speed of the golf clubs at a plurality of sensing points before and after the position of the impact time point. A method for calculating a swing trajectory of a golf club using radar sensing data, comprising calculating a trajectory candidate. According to claim 1,
The step of calculating the swing trajectory candidate of the golf club,
On the trajectory display area, the position of the impact point is set based on the reference distance, and the phase and speed of the golf clubs at a plurality of sensing points before and after the set point of impact are used to determine the position of each impact point. Calculating the coordinates of the golf club,
Comprising the step of calculating the candidate swing trajectory of the golf club by removing the outliers and fitting the valid data through preset data processing for the coordinate data of the golf club position displayed on the trajectory display area,
In the step of adjusting the reference distance, the identification of the lowest point on the trajectory,
A golf club swing trajectory calculation method using radar sensing data, characterized by finding and specifying the lowest point on the trajectory of a golf club's swing trajectory candidate on the trajectory display area. According to claim 1, Adjusting the reference distance,
Determining whether the golf club is a driver,
If the golf club is a driver, checking whether the position of the lowest point on the trajectory is located within a range of a preset tee height as the preset condition,
And when the position of the lowest point on the trajectory is not within the range of the preset tee height, adjusting the reference distance such that the position of the lowest point on the trajectory is within the range of the preset tee height. Golf club's swing trajectory calculation method using radar sensing data. According to claim 1, Adjusting the reference distance,
Determining whether the golf club is a driver,
If the golf club is not a driver, checking whether the position of the lowest point on the trajectory is within the range of the preset ground height as the preset condition,
And if the position of the lowest point on the trajectory is not within the range of the ground height, adjusting the reference distance so that the position of the lowest point on the trajectory is within the range of the ground height. Golf club's swing trajectory calculation method. According to claim 1, Adjusting the reference distance,
And moving the position of the lowest point on the trajectory in a direction in which the reference distance decreases or increases while the phase value is maintained until the predetermined condition is satisfied of the golf club using radar sensing data. How to calculate the swing trajectory. A recording medium readable by a computing device recording a calculation method according to any one of claims 1 to 6. As a sensing method of the radar sensing device for sensing the ball and golf club according to the golf swing,
As a distance between the radar sensing device and the position where the ball is placed using radar sensing data generated by receiving the radar reflected wave signal for the ball and the golf club, when swinging based on a reference distance set in advance by the radar sensing device Calculating a swing trajectory candidate of the golf club generated by calculating the coordinates of the golf club;
Specifying a lowest point on the trajectory from the swing trajectory candidate and checking whether a position of the lowest point on the specified trajectory satisfies a preset condition;
When the position of the lowest point on the trajectory satisfies a preset condition, the candidate for the swing trajectory is determined as a swing trajectory of the golf club, and when the position of the lowest point on the trajectory does not satisfy the preset condition, the lowest point on the trajectory Adjusting the reference distance so that the position of the satisfies the preset condition; And
Calculating a swing trajectory of the golf club based on the adjusted reference distance and calculating a trajectory of a ball or a motion parameter of the ball exercised by the golf club;
Sensing method of the radar sensing device comprising a. The method of claim 8, wherein the step of adjusting the reference distance,
Determining whether the golf club is a driver,
When the golf club is a driver, it is determined whether the position of the lowest point on the trajectory is within the range of a preset tee height as the preset condition, and the criterion is such that the position of the lowest point on the trajectory is within the range of the preset tee height. Adjusting the distance,
If the golf club is not a driver, it is determined whether the position of the lowest point on the trajectory is within a range of a preset ground height as the preset condition, and the reference distance is such that the location of the lowest point on the trajectory is within the range of the ground height. Sensing method of the radar sensing device comprising the step of adjusting. The method of claim 8, wherein the step of adjusting the reference distance,
Moving the position of the lowest point on the trajectory while maintaining the phase value until the reference distance decreases or increases until the preset condition is satisfied;
And setting a reference distance when the position of the lowest point on the trajectory satisfies the preset condition as a new reference distance as the adjusted reference distance. The method of claim 8, wherein calculating the swing trajectory of the golf club and calculating the trajectory of the ball or the motion parameter of the ball exercised by the golf club,
On the trajectory display area, the position of the impact time point is set based on the adjusted reference distance, and each sensing time point is determined by using the phase and speed of the golf club at a plurality of sensing time points before and after the position of the set impact time point. Calculating the coordinates of the golf club in,
And calculating the swing trajectory of the golf club by removing outliers and fitting processing on valid data through preset data processing for coordinate data of the golf club position displayed on the trajectory display area. Sensing method of radar sensing device. The method of claim 8, wherein calculating the swing trajectory of the golf club and calculating the trajectory of the ball or the motion parameter of the ball exercised by the golf club,
And calculating a trajectory of the moving ball using a position of an impact time point based on the adjusted reference distance as a starting point of the ball on a trajectory display area. A recording medium readable by a computing device recording the sensing method according to any one of claims 8 to 12. As a radar sensing device for sensing the ball and golf club according to the golf swing,
A signal transmitter for transmitting a radar signal;
A signal receiving unit receiving a reflected wave signal reflected from the ball and the golf club with respect to the signal of the signal transmitting unit;
A signal analysis unit generating radar sensing data including signal data for the ball and signal data for the golf club by the received reflected wave signal; And
The distance between the radar sensing device and the ball is placed, and a swing trajectory candidate of the golf club generated by calculating the coordinates of the golf club at the time of swing is calculated based on a reference distance set in advance by the radar sensing device. , By specifying the lowest point on the trajectory from the swing trajectory candidate, the reference distance is adjusted so that the position of the lowest point on the specified trajectory satisfies a preset condition, and the swing trajectory of the golf club is based on the adjusted reference distance. An information calculating unit for calculating and calculating a trajectory of a ball exercising by the golf club or a motion parameter of the ball;
Radar sensing device comprising a. 15. The method of claim 14, The information calculation unit,
A trajectory display area for displaying a swing trajectory of a golf club is generated from the radar sensing data, and a position of an impact time point is set based on the reference distance on the trajectory display area, and before and after that based on a position of the set impact time point. Radar sensing device, characterized in that configured to calculate a swing trajectory candidate of the golf club by calculating the coordinates of the golf club at each sensed point by using the phase and speed of the golf club at a plurality of sensed points. 15. The method of claim 14, The information calculation unit,
It is determined whether the golf club is a driver,
When the golf club is a driver, it is determined whether the position of the lowest point on the trajectory is within the range of a preset tee height as the preset condition, and the criterion is such that the position of the lowest point on the trajectory is within the range of the preset tee height. Configured to adjust the distance,
If the golf club is not a driver, it is determined whether the location of the lowest point on the trajectory is within a preset range of ground height as the preset condition, and the reference distance is adjusted so that the lowest point on the trajectory is located at the ground height. Radar sensing device, characterized in that configured to be.

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