KR20200119448A - Device and method for putting tracking, putting practicing apparatus using thereof, and storage of computer program therefor - Google Patents

Abstract

The present invention relates to a putter track tracking apparatus to track a putting speed and a track of a putter, a putter track tracking method, a putting practice apparatus using the same, and a recording medium storing a computer program thereof. According to the present invention, the putter track tracking apparatus comprises: a radar detecting movement of a putter and a golf ball; a distance map module calculating the moving distance and speed of the putter based on a signal detected by the radar and forming a distance-speed map of the putter based on the moving distance and speed; and a track tracking module calculating the angle of the putter corresponding to the moving distance to track a trajectory of the putter.

Description

A putter trajectory tracking device, a putter trajectory tracking method, a putting practice device using the same, and a recording medium in which a computer program for the same is stored.

The present invention relates to a putter trajectory tracking apparatus, a putter trajectory tracking method, a putting practice apparatus using the same, and a recording medium storing a computer program therefor, and more particularly, a putter trajectory tracking apparatus for sensing a putting process using a radar, It relates to a putter trajectory tracking method, a putting practice apparatus using the same, and a recording medium storing a computer program therefor.

Until now, radar has been mainly used for military purposes, but now it is used in many parts of the civilian sector. It is used in various fields such as communication technology and autonomous vehicle driving technology, and in particular, it has been used in various fields including golf in recent years.

Examples of the prior art that radar is used in the sports field are as follows. The golf swing analysis apparatus and method disclosed in Korean Patent Registration No. 10-1716360 uses a radar that generates an output signal by detecting a frequency deviation of a reflected wave by radiating a transmission wave to a golf club and a golf ball. And based on the output signal, the speed of the golf club and the golf ball is calculated. However, this technology using radar has the disadvantage that it is difficult for the user to monitor his or her own posture only by analyzing the speed of the golf club and golf ball.

There is a need for a device or method that can track a user's putter trajectory using a radar and/or a camera and allow the user to utilize it.

Korean Patent Registration No. 10-1716360 (2017.03.08) Korean patent registration 10-1593047 (2016.02.02)

The problem to be solved by the present invention is to provide a putter trajectory tracking device capable of tracking a putting speed and putter trajectory using a radar, a putter trajectory tracking method, a putting practice device using the same, and a storage medium storing a computer program therefor. will be.

A putter trajectory tracking apparatus according to an embodiment of the present invention includes a radar for detecting movement of a putter and a golf ball; Based on the signal detected by the radar, the moving distance of the putter and the speed of the putter are calculated, and the distance map module constituting the distance-speed map of the putter based on the moving distance and the speed corresponds to the moving distance. It may include a trajectory tracker including a trajectory tracking module that calculates the angle of the putter to track the trajectory of the putter.

A putting practice apparatus according to another embodiment of the present invention includes a radar detecting movement of a putter and a golf ball; A camera that photographs the movement of the golfer and the golfer; Based on the signal detected by the radar, the moving distance of the putter and the speed of the putter are calculated, and the distance map module constituting the distance-speed map of the putter based on the moving distance and the speed corresponds to the moving distance. A trajectory tracker including a trajectory tracking module configured to track the trajectory of the putter by calculating the angle of the putter; An illuminator including an illumination unit that irradiates light in a direction in which the golf ball moves, and a pattern film provided in a direction in which light is irradiated from the illumination unit and on which a pattern for indicating a movement guide line of the golf ball is printed; It may include a display for displaying the photographed movement of the golfer and the trajectory of the putter.

According to another embodiment of the present invention, a method for tracking a putter trajectory includes: converting a bit reception signal of a radar for a putter and a golf ball into a digital signal; Selecting a signal greater than or equal to a threshold value from the digitally converted bit reception signal, and dividing the selected bit reception signal into a predetermined unit time; Converting the signal of the divided unit time into a first frequency domain and estimating an effective frequency from the first frequency domain converted signal; Calculating the speed of the putter based on the size of the putter frequency among the estimated effective frequencies; Constructing a distance-speed map of the putter based on the putter frequency and the speed; Extracting the lazy bin for each unit distance of the putter from the signal in the first frequency domain, and converting the extracted lazy bin to a signal in the second frequency domain to extract an angle according to the distance of the putter; Estimating an angle at which the putter is located from the converted signal; And estimating a trajectory of the putter by mapping the distance of the putter and the angle according to the distance.

An embodiment of the present invention provides a putter trajectory tracking apparatus capable of tracking a putting speed and a putter trajectory using a radar, a putter trajectory tracking method, a putting practice apparatus using the same, and a storage medium storing a computer program therefor.

In addition, an embodiment of the present invention provides a putter trajectory tracking device including pattern lighting capable of guiding the putting direction, a putter trajectory tracking method, a putting practice device using the same, and a storage medium storing a computer program therefor.

In addition, an embodiment of the present invention is a putter trajectory tracking device that provides an image for comparing its putting image, putter trajectory, and reference trajectory, a putter trajectory tracking method, a putting practice device using the same, and a storage storing a computer program therefor. Provide the medium.

1 is a control block diagram of an apparatus for tracking a putter trajectory according to an embodiment of the present invention.
2 is a control block diagram showing a detailed configuration of a radar in the putter trajectory tracking apparatus of FIG. 1.
3 is a control block diagram showing a detailed configuration of a distance map module among the putter trajectory tracking apparatus of FIG. 1.
4 is a graph for explaining selection of a frequency by the frequency selection unit of FIG. 3.
5 is a control block diagram showing a detailed configuration of a trajectory tracking module of the putter trajectory tracking apparatus of FIG. 1.
6 is a diagram illustrating a structure of a phase comparison mono pulse according to an embodiment of the present invention.
7 is a graph showing a tracking trajectory of a putter generated by the trajectory generator of FIG. 4.
8 is a graph showing both a tracking trajectory and a reference trajectory of a putter generated by the trajectory generator of FIG. 4.
9 is a control block diagram of an apparatus for tracking a putter trajectory according to another embodiment of the present invention.
10 is a control block diagram of a trajectory tracker according to another embodiment of the present invention.
11 is a conceptual diagram of an apparatus for practicing putting according to an embodiment of the present invention.
12 is a diagram illustrating a grid pattern formed through the illuminator of FIG. 11.
13 is a conceptual diagram of an apparatus for practicing putting according to another embodiment of the present invention.
14 is a conceptual diagram of an apparatus for practicing putting according to another embodiment of the present invention.
15 is a control flowchart illustrating a putter trajectory tracking method according to an embodiment of the present invention.
16 is a control flowchart illustrating a swing tempo adjustment method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it is directly connected to or may be connected to the other component, but other components may exist in the middle. Should be.

On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

The terms used in the present specification are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, processes, operations, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the possibility of addition or presence of elements or numbers, processes, operations, components, parts, or combinations thereof is not preliminarily excluded.

Unless otherwise defined, all terms including technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

The term "MODULE" described herein refers to a unit that processes a specific function or operation, and may mean hardware or software, or a combination of hardware and software.

Terms and words used in the present specification and claims are not limited to their usual or dictionary meanings and should not be interpreted, and the inventor may appropriately define the concept of terms in order to describe his own invention in the best way. Based on the principle that there is, it should be interpreted as meaning and concept consistent with the technical idea of the present invention. In addition, unless there are other definitions in the technical terms and scientific terms used, they have the meanings commonly understood by those of ordinary skill in the art to which this invention belongs, and the gist of the present invention in the following description and accompanying drawings Descriptions of known functions and configurations that may be unnecessarily obscure will be omitted. The drawings introduced below are provided as examples in order to sufficiently convey the spirit of the present invention to those skilled in the art. Accordingly, the present invention is not limited to the drawings presented below and may be embodied in other forms. In addition, the same reference numbers throughout the specification indicate the same elements. It should be noted that the same components in the drawings are indicated by the same reference numerals wherever possible.

In the specification of the present invention, the term "hitter" may refer to an exercise device called a club, a stick, or a racket for each sport category, and "target )” refers to a ball, a puck, etc. as an object of hitting using the exercise equipment listed above.

Hereinafter, for convenience of explanation, golf is used as a main example. In other words, “putter” and “hitting means” used by golfers can be used interchangeably, and both are understood to have the same meaning. In addition, “golf ball” and “target” may be used interchangeably, and both may be understood to have the same meaning.

In the present specification, the putter trajectory tracking apparatus may employ a radar using at least one of laser, infrared, ultrasonic, and electromagnetic waves, or one of them. In addition, an appropriate modulation method may be used depending on the characteristics of the signal used. For example, a continuous wave method that measures the difference in frequency between transmission and reception by sweeping a frequency, and a pulse Doppler method that measures time delay by sending and receiving pulses ( Pulse Doppler) method, amplitude modulation method of measuring a phase difference between transmission and reception signals by amplitude modulation of a carrier wave may be used. More specific examples, continuous wave modulation methods such as CW (Continuous Wave) and FMCW (Frequency Modulation Continuous Wave), Pulse Amplitude Modulation, Pulse Position Modulation, and Pulse Width Modulation , Pulse Number Modulation, Pulse Code Modulation, a pulse modulation method such as delta modulation, and an amplitude modulation method may be used. However, the modulation methods listed are only examples and need not be limited to a specific modulation method.

Hereinafter, for convenience of explanation, embodiments in which a radar using a continuous wave modulation method for electromagnetic waves and ultrasonic waves will be described.

1 is a control block diagram of a putter trajectory device according to an embodiment of the present invention.

The putter trajectory tracking apparatus according to the present embodiment includes a radar 1000 and a trajectory tracker 2000, and a display unit 3000 may be further included therein.

When the striking means strikes the target, the radar 1000 senses the motion of the striking means and the target using the reflected wave of the radar. In the example of golf, when the putter corresponding to the striking means strikes the golf ball corresponding to the target, the radar 1000 receives the reflected wave reflected from the putter and the golf ball with respect to the electromagnetic wave transmitted by itself, and the analog It converts the received bit signal into a digital signal for easy analysis.

2 is a control block diagram showing a detailed configuration of a radar in the putter trajectory tracking apparatus of FIG. 1.

The radar 1000 is based on a transmission unit 1100 for transmitting an electromagnetic wave, a plurality of receiving units 1200 and 1210 for receiving a reflected wave returned by the transmission wave reflected by the striking means and the target, and the frequency difference between the transmitted wave and the reflected wave. A plurality of signal generators 1300 and 1310 for generating raw bit reception signals, and a plurality of digital converters (ADCs) 1400 and 1410 for converting analog bit reception signals into digital signals may be included.

The signal generators 1300 and 1310 may generate a bit signal by multiplying an electromagnetic wave transmitted through the transmitter 1100 and a reflected wave input through the receivers 1200 and 1210. In this case, the generated bit reception signal may include information on a distance between the radar 1000 and the putter and information on a relative speed of the putter.

The digital conversion units 1400 and 1410 may generate digital signals by sampling the bit reception signals generated by the signal generation units 1300 and 1310 using a specific sampling frequency.

The trajectory tracker 2000 may estimate the distance between the radar 1000 and the putter, the relative speed of the putter, and the angle at which the putter is located by processing such a digital signal.

As shown, the signal generation units 1300 and 1310 and the digital conversion units 1400 and 1410 may be provided corresponding to the number of the receiving units 120 and 1210. In addition, according to another embodiment of the present invention, the number of receiving units is not limited to two, but may include more.

The trajectory tracker 2000 may include a distance map module 2100 configuring a distance-speed map and a trajectory tracking module 2200 that tracks a trajectory of a putter.

3 is a control block diagram showing a detailed configuration of a distance map module among the putter trajectory tracking apparatus of FIG. 1.

The distance map module 2100 identifies a preset wavelength change pattern from the signal detected by the radar 1000, and a distance-speed map based on the distance of the putter and a corresponding speed based on the identified wavelength change pattern. Configure.

Referring to FIG. 3, the distance map module 2100 includes filtering units 2110 and 2111 for selecting signals with a predetermined threshold or higher from the digital converted signal transmitted from the radar 1000, and a predetermined unit time for the selected signal. A first-order fast Fourier transform unit (2130, 2131) for converting a signal of a unit time divided by the windowing units 2120 and 2121 to a signal of a first frequency domain, and a primary A frequency for estimating the magnitude of the frequency for each effective frequency and spectrum of the effective frequency from the signal converted by the fast Fourier transform units 2130 and 2131, and selecting the putter frequency for the putter among the estimated frequency signals. Selecting units 2141 and 2141, speed calculating units 2150 and 2151 calculating the speed of the putter based on the size of the putter frequency and the size of the putter frequency, and the distance of the putter based on the putter frequency and speed-distance constituting the speed map Map generators 2160 and 2161 may be included.

As shown, the mixed first digital signal received from the transmitting unit 1100 and the first receiving unit 1200 is a first filtering unit 2110, a first windowing unit 2120, and a first primary fast Fourier transform unit ( 2130), the first frequency selection unit 2140, the first speed calculation unit 2150, and the signal processing is performed through the first distance map generation unit 2160, from the transmission unit 1100 and the second receiving unit 1210 The received mixed first digital signal is a second filtering unit 2111, a second windowing unit 2121, a second primary fast Fourier transform unit 2131, a second frequency selecting unit 2141, and a second speed calculating unit. Signal processing is performed through 2151 and the second distance map generator 2161.

The filtering units 2110 and 2111 may select a signal greater than or equal to a threshold value from the digitally converted signal and, if necessary for the selected signal, perform a certain DC offset compensation. That is, the filtering units 2110 and 2111 primarily filter a valid signal from the received signal.

It is preferable that the windowing units 2120 and 2121 divide the selected digital signal into a unit time short enough to be used as an index.

The first high-speed Fourier transform units 2130 and 2131 may perform first frequency conversion on the digital signals received from the individual receivers 1200 and 1210 in order to measure the distance between the radar 1000 and the putter.

The process of selecting the frequency of the putter by the frequency selectors 2140 and 2141 will be described in detail as follows.

4 is a frequency-magnitude graph derived as a result of estimating a frequency by the frequency selectors 2140 and 2141 from signals converted into the frequency domain by the first-order fast Fourier transform units 2130 and 2131. At this time, the No. 7 iron club was used as the hitting means and the golf ball was used as the target. Even if you hit a golf ball with a putter other than an iron club, the frequency or size may change, but you will be able to distinguish the putter from the golf ball in a similar pattern.

In the graph of FIG. 4, a pattern in which the frequency amplitude changes abruptly over several times in a relatively wide frequency range than a golf ball in a range of about 3500 Hz to about 5800 Hz is shown, and this pattern shows the movement of the iron club through repeated experiments. It can be predefined as a pattern to represent. In addition, in the frequency domain showing such a pattern, a specific frequency can be predefined as the frequency of the iron at the moment of hitting through repeated experiments. The frequency peak at the point of about 5000 Hz indicated by a square in FIG. 4 is the frequency of the iron at the moment of hitting. That is, it can be defined as the last frequency peak indicating the iron at the moment of hitting among the frequency change patterns indicating the movement of the iron club based on the results of repeated experiments.

In the range of about 6000Hz to about 6500Hz, a single frequency shows a sudden change in size in a frequency range that is relatively narrower than that of an iron.This pattern can be predefined as a pattern representing the movement of the moment the golf ball is hit through repeated experiments. . In addition, in the frequency domain showing such a pattern, a specific frequency may be predefined as the frequency of the golf ball at the moment of hitting through repeated experiments. The frequency peak at the point of about 6500 Hz indicated by a circle in FIG. 4 is the frequency of the golf ball at the moment of hitting. In other words, a single frequency peak occurring with a certain frequency gap near the frequency change pattern indicating the movement of the iron club indicates the iron at the moment of hitting.

In this way, the frequency selection units 2140 and 2141 detect peaks in which the magnitude of the frequency changes abruptly from the converted signal in the first frequency domain, and compare with a predetermined frequency pattern already stored to distinguish the putter from the golf ball among the peaks. The beat frequency can be determined.

The windowing units 2120 and 2121, the primary fast Fourier transform units 2130 and 2131, and the frequency selection units 2140 and 2141 are used until the bit frequency of the putter is selected for the received signal selected by the filtering units 2110 and 2111. It can be performed repeatedly.

When the frequency for the putter is selected by the frequency selection units 2140 and 2141, the speed calculation units 2150 and 2151 identify a frequency-magnitude value for the putter and put the converted value in a specific time domain. And the speed of the golf ball.

If the speed calculation units 2150 and 2151 identify the frequency-magnitude of the point where the putter strikes the golf ball and calculate the time domain conversion value of that point, the speed of the putter and the golf ball at the moment of hitting can be identified. do.

The distance map generator 2160 and 2161 is a distance-speed map of the putter based on the distance between the radar 1000 and the putter determined through the putter frequency and the speed of the putter calculated by the speed calculation units 2150 and 2151. Can be configured.

5 is a control block diagram showing a detailed configuration of a trajectory tracking module of the putter trajectory tracking apparatus of FIG. 1.

The trajectory tracking module 2200 tracks the trajectory of the putter by calculating an angle of the putter corresponding to the moving distance of the putter. As shown, the trajectory tracking module 2200 includes range gate units 2210 and 2211, second-order fast Fourier transform units 2220 and 2221, angle estimating units 2230, and trajectory generation units 2240. I can. As shown, the range gate units 2210 and 2211 and the second high-speed Fourier transform units 2220 and 2221 may be provided in plural corresponding to the reception channel.

The range gate units 2210 and 2211 are distance bins having a peak value greater than or equal to a certain power in the data signal for which the first frequency conversion is performed in the distance map module 2100 or in data including information on the distance of the putter, that is, a range. Range bins can be extracted. Alternatively, an index of a range bin having a specific peak value can be extracted. The range bin refers to a single data cell that is the basis for processing radar signals received from an arbitrary azimuth by unit distance, and is also called a range gate. Using the radar 1000 as a starting point, there may be one range bin for each predetermined distance.

In order to extract the range bin, the range gate units 2210 and 2211 may apply CFAR (Constant False Alarm Rate) detection. The index of the range bin detected through CFAR detection may correspond to the distance from the radar 1000 to the putter.

In this way, the range bins extracted through individual channels are input to the second-order fast Fourier transform units 2220 and 2221, and are converted into second frequency domains, respectively. That is, frequency conversion is performed on the first frequency-transformed data corresponding to the extracted range bin to the second frequency domain.

The angle estimating unit 2230 may estimate an angle at which the putter is located from the signal converted into the second frequency domain. The angle estimating unit 2230 may extract an index of a target bin having a peak value of a predetermined power or higher from the second frequency-converted signal. In this case, the angle estimating unit 2230 may apply CFAR detection to the second frequency-converted signal in order to extract the index of the target bin having a peak value of a predetermined power or higher.

The angle estimating unit 2230 may estimate the angle at which the putter is located by using the second frequency-transformed signals corresponding to the index of the extracted target bin. Specifically, the angle estimating unit 2230 may calculate a phase difference Ψ for the detected putter by using each second frequency-transformed signal corresponding to the extracted target bin index.

6 is a diagram illustrating a structure of a phase comparison mono pulse according to an embodiment of the present invention.

If the angle of the putter can be estimated by using the phase difference value of the signal received from each receiving channel by using a phase comparison mono pulse, two adjacent receiving channels are required each in the azimuth direction to obtain a phase difference value. In the case of the present invention, the two receiving units 1200 and 1210 may be such a plurality of channels.

When there are two receiving channels in the azimuth direction as shown in FIG. 6, the following equations for the distance da between the receiving channels and the target azimuth Φ are the distances R1 and R2 between the receiving units 1200 and 1210 and the target, that is, putters in space Can be summarized as 1.

The phase difference (Ψ) between adjacent reception channels caused by different distances between each reception channel and the putter is as in Equation 2 below.

In Equation 2, λ is the wavelength of the signal, and the azimuth angle Φ can be estimated by using the phase difference value Ψ of the received signal obtained through Equation 2, which is expressed as Equation 3.

In Equation 2, λ is the wavelength of the signal, and the azimuth angle Φ can be estimated using the phase difference value Ψ of the received signal obtained through Equation 2, which can be expressed as Equation 3. A As such, When the angle estimation is completed, the trajectory generator 2240 may track the trajectory of the putter by mapping the previously extracted moving distance information of the putter and the angle according to the moving distance.

7 is a graph showing a tracking trajectory of a putter generated by the trajectory generator of FIG. 4.

In FIG. 7, three putter trajectories (I, II, and III) are illustrated by way of example. The first putter trajectory (I) corresponds to a putting trajectory that is generally considered desirable. If the golf ball is at the position of (0,0) and the user moves the putter at (0, -1) in the graph, the putter appears as a parabolic trajectory that curves symmetrically around the golf ball.

Referring back to FIG. 1, the apparatus for tracking a putter trajectory according to the present exemplary embodiment may further include a display unit 3000.

The display unit 3000 may show the trajectory of the putter as shown in FIG. 7 to the user. The display unit 3000 may be a part included in the putter trajectory tracking device of FIG. 1, or may be a separate display device provided separately from the putter trajectory tracking device. In the latter case, the putter trajectory tracking apparatus may further include an interface module (not shown in FIG. 1) for transmitting an image including the putter trajectory to the display device through a predetermined communication network or communication line.

According to an embodiment of the present invention, the angle estimating unit 2230 may estimate the opening angle and the closing angle of the putter face. While estimating the angle of the putter, the angle estimating unit 2230 may estimate the opening angle and the closing angle of the putter face by examining the frequency waveform in more detail. The trajectory of the putter may vary depending on the opening and closing angles of the putter face, which may be important information to the user.

In addition, the trajectory generator 2240 according to an embodiment of the present invention may calculate a synchronization rate between a preset reference trajectory and the tracked trajectory. For example, the first putter trajectory (I) of FIG. 7 may have a high synchronization rate with the reference trajectory. On the other hand, the second and third putter trajectories (II, Ⅲ) of FIG. 7 are expected to have low synchronization rates with the reference trajectories.

In an embodiment in which the opening angle or the closing angle is estimated, or the synchro ratio of the putter's tracking trajectory and the reference trajectory is calculated, the display unit 3000 may display this so that the user can visually recognize it.

8 is a graph showing both a tracking trajectory and a reference trajectory of a putter generated by the trajectory generator of FIG. 4.

As shown in FIG. 8, a reference trajectory is displayed on the trajectory graphs I', II', and III' of each putter, and the tracking trajectory of the putter is displayed together with the reference trajectory. Through this comparison graph, the user can intuitively recognize his/her putter trajectory and utilize it for putting practice.

In addition, the display unit 3000 may display information on an opening angle or a closing angle, and a synchronization rate of a tracking trajectory and a reference trajectory together with a graph.

As described above, in the case of the putter trajectory tracking apparatus according to the present invention, since the trajectory of the putter is tracked using the radar 1000 as a light source, it can be used indoors or outdoors without being restricted by space. In the case of tracking the trajectory of the putter or determining the putting style using a sensor installed on the putting mat, there is a disadvantage that it can only be used indoors, but according to the present invention, if the signal from the radar 1000 can be transmitted/received, a specific indoor space Is not limited to

9 is a control block diagram of an apparatus for tracking a putter trajectory according to another embodiment of the present invention.

As shown, the putter trajectory tracking apparatus according to the present embodiment may further include a tempo adjustment unit 4000.

According to the present embodiment, the distance map module 2100 detects the swing distance applied to the golf ball from the backswing distance and the backswing position of the putter, the speed according to the movement of the backswing distance, and the speed according to the movement of the swing distance. You can extract the golfer's swing tempo.

When the swing tempo is extracted in this way, the tempo adjustment unit 4000 may compare the extracted swing tempo with a preset reference swing tempo, and when the comparison result is out of a preset threshold range, a beep sound may be provided to the user.

Note The swing tempo may be a tempo having a constant speed, such as a metronome, or a tempo with a non-uniform interval depending on the striking means or swing posture. In addition, the reference swing tempo may be set as an average value by referring to the user's repetitive swing, and may be set in consideration of the putting distance, the weight of the ball, and the hitting speed.

The tempo adjustment unit 4000 may further include a speaker for outputting a beep sound, and may be displayed as a flashing signal on the display unit 3000 when the difference between the extracted swing tempo and the reference swing tempo exceeds a threshold range. .

10 is a control block diagram of a trajectory tracker according to another embodiment of the present invention.

As shown, the trajectory tracker 2000 according to the present embodiment may further include a storage unit 2300 and a flying distance measurement unit 2400 compared to FIG. 1.

The storage unit 2300 may store specification information (Spec.) including a putter and a header weight of the putter. Such specification information may include information on the weight of the putter and/or the putter header, the weight according to the type of golf ball, the degree of friction according to the type of the golf ball, and the coefficient of friction on the putting mat or the putting floor.

The flying distance measuring unit 2400 calculates the amount of impulse applied to the golf ball based on the weight of the putter and/or the putter head and the speed at which the putter strikes the golf ball, and calculates the flying distance the golf ball moves from the impact amount. I can.

The amount of impact when the putter strikes the golf ball is the same as the amount of impact of the golf ball, and the distance of the golf ball can be measured using the speed of the golf ball at the time of hit calculated by the speed calculation units 2150 and 2151. do.

In addition, the flying distance measuring unit 2400 may calculate the flying distance of the golf ball corresponding to the speed of the golf ball based on an approximate proportional relationship, even if the exact friction force or coefficient of friction with respect to the putting mat is not known.

In addition, the flying distance measuring unit 2400 may measure an average flying distance through a repeated hitting pattern and set this as a constant reference. The user can adjust the tempo or swing speed of the hit by comparing the average flying distance with the actual flying distance.

11 is a conceptual diagram of an apparatus for practicing putting according to an embodiment of the present invention.

As shown, the putting practice apparatus according to the present embodiment may include a radar 1000, a trajectory tracker 2000, a display unit 3000, a camera 5000, and an illuminator 6000. Since the radar 1000, the trajectory tracker 2000, and the display unit 3000 are substantially the same as the components of the putter trajectory tracking apparatus described with reference to FIGS. 1 to 10, overlapping descriptions will be omitted.

The camera 5000 photographs the movement of the golfer and the golfer. The golfer may check the captured image through the display unit 3000.

The display unit 3000 according to the present exemplary embodiment may simultaneously display the photographed movement of the golfer and the trajectory of the putter, or may additionally display the reference trajectory, the opening angle, the closing angle, and the synchro rate of FIG. 8. The user can check all the above-described items on one screen, thereby increasing the efficiency of putting practice.

On the other hand, the putting practice apparatus according to the present embodiment may further include an illuminator 6000 for guiding the putting direction, and the illuminator 6000 includes a lighting unit that irradiates light in a direction in which the golf ball moves, and light is irradiated from the lighting unit. It may further include a pattern film in which a pattern for indicating the movement guide line of the golf ball is printed in addition to being provided in the direction in which it is provided.

As shown, the illuminator 6000 serves to display a guide line in the form of a straight line or a dotted line on the bottom surface on which the golf ball is placed, and the illuminator 6000 may include an LED.

Meanwhile, the illuminator 6000 according to the present embodiment may include a pattern film of a grid pattern to more specifically and visually indicate the putting direction, and FIG. 12 is a view showing a grid pattern formed through the illuminator of FIG. 11 to be.

The grid pattern is formed in a direction perpendicular to the putting direction so that the moving direction of the golf ball can be easily recognized. The spacing and size of the grid pattern may be changed by adjusting the spacing between the lighting unit and the pattern film.

In addition, as shown, in the putting practice apparatus according to the present embodiment, the radar 1000, the camera 5000, the trajectory tracker 2000, and the display unit 3000 are mounted together in the same housing (not shown in the drawing), It can be implemented as an independent device E1. In this case, the radar 1000, the camera 5000, the trajectory tracker 2000, and the display unit 3000 are connected through at least one substrate (PCB board, not shown in the drawing), and Communication can be carried out through the circuit.

13 is a conceptual diagram of an apparatus for practicing putting according to another embodiment of the present invention.

Compared with FIG. 11, the radar 1000, the camera 5000, the trajectory tracker 2000, and the display unit 3000 of the putting practice apparatus according to the present embodiment may be implemented as separate devices E2.

Considering the case where the putting practice device according to FIG. 13 is installed in the indoor golf practice room, a radar 1000 and a camera 6000 are installed on the ceiling or side wall of the practice room, and output from the radar 1000 and the camera 6000 The video or radar signal may be connected to a short-range wireless communication network such as Bluetooth, Zigbee, or Wi-Fi, or may be transmitted to the trajectory tracker 2000 connected through a wired communication network such as Ethernet or LAN.

The display unit 3000 may be implemented as a user terminal device E2 that a user can carry, or may be implemented as a screen, a display board, or a beam projector installed indoors or outdoors. That is, according to the present embodiment, the trajectory tracker 2000 may be implemented in the form of an external server or PC, and the user terminal E2 may serve as a display to display data received from the server to the user.

In this case, the trajectory tracker 2000 and the display unit 3000 may also be connected to each other through a wired communication network or a short-range wireless communication network.

14 is a conceptual diagram of an apparatus for practicing putting according to another embodiment of the present invention.

According to this embodiment, as for the putting practice device, only the radar 1000 is implemented as a separate device, and the camera 5000, the trajectory tracker 2000, and the display unit 3000 may be implemented as a single device E3. have.

In this case, the first device 1000 including a radar and the second device E3 including the camera 5000, the trajectory tracker 2000, and the display unit 3000 are connected to each other by wired RS-232C or USB. It may be connected through serial communication or parallel communication of, a wired network such as Ethernet, a short-range wireless communication network such as Bluetooth, ZigBee, and Wi-Fi, or a broadband mobile communication network.

In particular, mobile communication terminals such as today's smartphones are equipped with a high-performance digital camera as a standard, and when the function of the trajectory tracker 2000 is implemented and installed as an application program, it can be a preferred example of the second device (E3). have.

In the indoor golf practice room, a user connects a small radar module implemented in a mobile form to a smartphone through a USB cable, and then mounts the smartphone and radar module in a position where the putting posture can be viewed. The user starts practicing golf after running the trajectory tracker app installed on the smartphone. The trajectory tracker app activates the camera module installed in the smartphone, while operating a small radar module connected via USB. Here, the small radar module corresponds to the radar 1000, the camera module corresponds to the camera 6000, and the trajectory tracker app corresponds to the trajectory tracker 2000. In addition, the liquid crystal of the smartphone corresponds to the display unit 3000.

Since the radar 1000, the camera 6000, and the trajectory tracker 2000 have been described in detail above, redundant descriptions of the small radar module, camera module, trajectory tracker app, and the liquid crystal of the smartphone corresponding to each of these are omitted. .

In the fourth embodiment, the small radar module may be implemented in a form detachable from the smartphone through a predetermined interface provided in the smartphone.

15 is a control flowchart illustrating a putter trajectory tracking method according to an embodiment of the present invention. The putter trajectory tracking method according to the present invention will be summarized as follows with reference to FIG. 15.

First, the bit received signal of the radar T for the putter and golf high is converted into a digital signal for easy analysis (S11).

Since it is wasteful to perform the analysis for the trajectory of the putter for all the bit receiving signals provided by the radar, it is desirable to selectively analyze only the bit receiving signals related to the state in which the movement of the striking means or the target has occurred once. To this end, the bit reception signal is filtered by selecting a signal having a predetermined threshold or higher from the digitally converted bit reception signal, and the filtered bit reception signal is divided into a predetermined unit time (S12).

Next, in order to detect the trajectory of the putter using the change of frequency, the signal of the divided unit time is converted into a signal of the first frequency domain using a fast Fourier transform (FFT) or a similar algorithm, and From the signal converted into the domain, the spectrum of the effective frequency and the magnitude of the frequency for each effective frequency are estimated (S13).

Then, the speed of the putter is calculated based on the size of the putter frequency among the estimated effective frequencies (S14).

The steps S11 to S14 may be repeatedly performed until the frequency of the putter is selected and the speed is calculated.

Next, the distance-speed map of the putter may be configured based on the putter frequency and speed (S15).

When the distance-speed map of the putter is constructed, the lazy bin for each unit distance of the putter is extracted from the signal in the first frequency domain, and the extracted lazy bin is used as a signal in the second frequency domain to extract the angle according to the distance of the putter. Convert (S16).

CFAR detection can be used to extract range bins.

Then, the angle at which the putter is located is estimated from the converted signal (S17).

When the moving distance and angle of the putter are estimated in this way, the trajectory of the putter is tracked by mapping the angle according to the moving distance of the putter (S18).

When the trajectory of the putter is tracked, information on the reference trajectory, the tracked trajectory, and the synchro rate is displayed (S19).

According to an embodiment of the present invention, when the opening angle and the closing angle of the putter face are estimated, the opening angle and the closing angle of the putter face may also be displayed. In addition, if the movement of the golfer and the golfer is photographed by the camera, the displaying may display the captured movement of the golfer and the trajectory of the putter together.

16 is a control flowchart illustrating a swing tempo adjustment method according to an embodiment of the present invention.

As shown, the trajectory tracking device and the putting practice device may apply the following algorithm to adjust the golfer's swing tempo.

First, the swing tempo of the golfer may be extracted by detecting the swing distance applied to the golf ball from the backswing distance and the backswing position of the putter, the speed according to the movement of the backswing distance, and the speed according to the movement of the swing distance (S21).

Then, the trajectory tracker may compare the extracted swing tempo with a preset reference swing tempo (S22).

In this step, it is possible to determine the degree to which the extracted swing tempo matches the reference swing tempo, and the syncro rate of the swing tempo.

As a result of the comparison, when the difference between the extracted swing tempo and the reference swing tempo exceeds a preset threshold range (S23), a beep sound may be provided to the user indicating that the swing tempo is not appropriate.

Alternatively, the comparison result of the swing tempo may be displayed as a flashing image.

In accordance with another embodiment of the present invention, calculating the amount of impulse applied to the golf ball based on the previously stored weight of the putter or the putter head and the speed at which the putter strikes the golf ball, and golf from the impact amount. It may further include calculating the distance of the ball.

Those skilled in the art that the above-described putter trajectory tracking apparatus, method, and partial functions of the putting practice apparatus using the same may be provided in a recording medium that can be read through a computer by tangibly implementing a program of instructions for implementing the same. It will be easy to understand. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the computer-readable recording medium may be specially designed and constructed for the present invention, or may be known and usable to those skilled in computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and floptical disks. Magneto-optical media and hardware devices specially configured to store and execute program instructions such as ROM, RAM, flash memory, USB memory, and the like. The computer-readable recording medium may be a transmission medium such as an optical or metal wire or a waveguide including a carrier wave for transmitting a signal specifying a program command or a data structure. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like, in addition to machine language codes such as those produced by a compiler. The hardware device may be configured to operate as one or more software modules to perform the operation of the present invention and vice versa.

In addition, the present invention is not limited to the above-described embodiments, and of course, various modifications can be implemented without departing from the gist of the present invention as claimed in the claims, as well as various application ranges.

1000: radar
1100: transmitting unit 1200, 1210: receiving unit
1300, 1310: signal generation unit 1400, 1410: digital conversion unit (ADC)
2000: trajectory tracker
2100: distance map module
2110, 2111: filtering unit 2120, 2121: windowing unit
2130, 2131: high-speed Fourier transform unit 2140, 2141: frequency selection unit
2150, 2151: speed calculation unit 2160, 2161: distance map generation unit
2200: trajectory tracking module
2210, 2211: range gate unit 2220, 2221: secondary high-speed pre-e conversion unit
2230: angle estimation unit 2240: trajectory generation unit
2300: storage unit 2400: flying distance measurement unit
3000: display unit 4000: tempo adjustment unit

Claims (17)

In the putter trajectory tracking device,
A radar detecting movement of a putter and a golf ball;
Based on the signal detected by the radar, the moving distance of the putter and the speed of the putter are calculated, and the distance map module constituting the distance-speed map of the putter based on the moving distance and the speed corresponds to the moving distance. A trajectory tracker including a trajectory tracking module for tracking the trajectory of the putter by calculating the angle of the putter.
Putter trajectory tracking device comprising a. The method of claim 1,
The distance map module extracts the golfer's swing tempo by detecting the backswing distance of the putter and the swing distance applied to the golf ball from the backswing position, the speed according to the movement of the backswing distance, and the speed according to the movement of the swing distance. and,
Tempo adjustment unit comparing the extracted swing tempo with a preset reference swing tempo, and providing a beep sound to the user when the comparison result is out of a preset threshold range
Putter trajectory tracking device, characterized in that it further comprises. The method of claim 1,
The trajectory tracker,
A storage unit for storing specification information (Spec.) including the putter and the header weight of the putter;
A flying distance estimation unit that calculates an impulse applied to the golf ball based on the weight of the putter or putter head and the speed at which the putter strikes the golf ball, and calculates the flying distance of the golf ball from the impact amount
Putter trajectory tracking device, characterized in that it further comprises. The method of claim 1,
The radar,
Generates a bit receiving signal based on a frequency difference between a transmitting wave and a reflected wave, a transmitter transmitting a transmission wave to the putter and the golf ball, a plurality of receivers receiving the reflected wave of the putter and the golf ball A plurality of signal generation units to perform and a plurality of digital conversion units (ADCs) for converting analog bit reception signals into digital signals
Putter trajectory tracking device comprising a. The method of claim 4,
The distance map module,
A filtering unit for selecting a signal greater than or equal to a threshold value from the digital converted signal provided by the radar,
A windowing unit that divides the filtered signal into a predetermined unit time,
A first-order fast Fourier transform unit for converting the divided unit time signal into a signal in a first frequency domain for measuring the distance of the putter,
A frequency selector for estimating an effective frequency from the converted signal in the first frequency domain and selecting a putter frequency for the putter from among the estimated effective frequencies,
A speed calculation unit that calculates the speed of the putter based on the putter frequency and the size of the putter frequency,
A distance map generator configured to configure a distance-speed map of the putter based on the putter frequency and the speed,
The distance map module is a putter trajectory tracking apparatus, characterized in that provided in plurality in correspondence with the plurality of receiving units. The method of claim 5,
The trajectory tracking module,
A range gate unit for extracting lazy bins for each unit distance of the putter from the signal in the first frequency domain;
A second-order fast Fourier transform unit converting the extracted lazy bin into a signal in a second frequency domain in order to extract an angle according to the distance of the putter;
An angle estimation unit estimating an angle at which the putter is located from the converted signal;
And a trajectory generator for tracking the trajectory of the putter by mapping the distance of the putter and the angle according to the distance,
A putter trajectory tracking device, characterized in that the range gate unit and the second high-speed Fourier transform unit are provided in plurality. The method of claim 6,
The angle estimating unit estimates an opening angle and a closing angle of the putter face. The method of claim 7,
The trajectory generation unit calculates a synchronization rate between a preset reference trajectory and the tracked trajectory,
A display unit that displays information on the reference trajectory, the tracked trajectory, the synchro rate, the opening angle, and the closing angle
Putter trajectory tracking device, characterized in that it further comprises. In the putting exercise device,
A radar detecting movement of a putter and a golf ball;
A camera that photographs the movement of the golfer and the golfer;
Based on the signal detected by the radar, the moving distance of the putter and the speed of the putter are calculated, and the distance map module constituting the distance-speed map of the putter based on the moving distance and the speed corresponds to the moving distance. A trajectory tracker including a trajectory tracking module configured to track the trajectory of the putter by calculating the angle of the putter;
An illuminator including an illumination unit that irradiates light in a direction in which the golf ball moves, and a pattern film provided in a direction in which light is irradiated from the illumination unit and on which a pattern for indicating a movement guide line of the golf ball is printed;
Display unit displaying the photographed movement of the golfer and the trajectory of the putter
Putting practice device comprising a. The method of claim 9,
The distance map module determines the swing tempo of the golfer by detecting the backswing distance of the putter and the swing distance applied to the golf ball from the backswing position, the speed according to the movement of the backswing distance, and the speed according to the movement of the swing distance. Extract,
The trajectory tracker compares the extracted swing tempo with a preset reference swing tempo, and when the comparison result is out of a preset threshold range, a tempo adjustment unit that provides a beep sound to the user
Putting putting practice device, characterized in that it further comprises. The method of claim 9,
The trajectory tracker,
A storage unit for storing specification information (Spec.) including the putter and the header weight of the putter;
A flying distance estimation unit that calculates an impulse applied to the golf ball based on the weight of the putter or putter head and the speed at which the putter strikes the golf ball, and calculates the flying distance of the golf ball from the impact amount
Putting practice device, characterized in that it further comprises. In the putter trajectory tracking method,
Converting a bit received signal of a radar for a putter and a golf ball into a digital signal;
Selecting a signal greater than or equal to a threshold value from the digitally converted bit reception signal, and dividing the selected bit reception signal into a predetermined unit time;
Converting the signal of the divided unit time into a first frequency domain and estimating an effective frequency from the first frequency domain converted signal;
Calculating the speed of the putter based on the size of the putter frequency among the estimated effective frequencies;
Constructing a distance-speed map of the putter based on the putter frequency and the speed;
Extracting the lazy bin for each unit distance of the putter from the signal in the first frequency domain, and converting the extracted lazy bin to a signal in the second frequency domain to extract an angle according to the distance of the putter;
Estimating an angle at which the putter is located from the converted signal; And
Estimating the trajectory of the putter by mapping the distance of the putter and the angle according to the distance
Putter trajectory tracking method comprising a. The method of claim 12,
Extracting a swing tempo of the golfer by detecting a backswing distance of the putter and a swing distance applied to the golf ball from the backswing position, a speed according to movement of the backswing distance, and a speed according to movement of the swing distance;
The trajectory tracker comparing the extracted swing tempo with a preset reference swing tempo, and providing a beep sound to a user when the comparison result is out of a preset threshold range
Putter trajectory tracking method further comprising a. The method of claim 12,
Calculating an amount of impulse applied to the golf ball based on a pre-stored weight of the putter or putter head and the speed at which the putter strikes the golf ball;
Calculating the flying distance of the golf ball from the impact amount
Putter trajectory tracking method further comprising a. The method of claim 12,
Estimating an opening angle and a closing angle of the putter face;
Calculating a synchronization rate between a preset reference trajectory and the tracked trajectory;
Displaying information on the reference trajectory, the estimated trajectory, the synchro rate, the opening angle, and the closing angle
Putter trajectory tracking method, characterized in that it further comprises. The method of claim 15,
Further comprising the step of photographing the movement of the golfer and the golfer,
The displaying step comprises displaying the captured motion of the golfer and the trajectory of the putter at the same time. A recording medium storing a computer program that implements each step of the method of tracking the trajectory of the putter of claim 12 as an algorithm.

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