WO2020139023A1 - 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법 및 이를 이용한 레이더 센싱장치와, 상기 방법을 기록한 컴퓨팅장치에 의해 판독 가능한 기록매체 - Google Patents
레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법 및 이를 이용한 레이더 센싱장치와, 상기 방법을 기록한 컴퓨팅장치에 의해 판독 가능한 기록매체 Download PDFInfo
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- WO2020139023A1 WO2020139023A1 PCT/KR2019/018609 KR2019018609W WO2020139023A1 WO 2020139023 A1 WO2020139023 A1 WO 2020139023A1 KR 2019018609 W KR2019018609 W KR 2019018609W WO 2020139023 A1 WO2020139023 A1 WO 2020139023A1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
- A63B60/46—Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/36—Training appliances or apparatus for special sports for golf
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/36—Training appliances or apparatus for special sports for golf
- A63B69/3614—Training appliances or apparatus for special sports for golf using electro-magnetic, magnetic or ultrasonic radiation emitted, reflected or interrupted by the golf club
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/505—Systems of measurement based on relative movement of target using Doppler effect for determining closest range to a target or corresponding time, e.g. miss-distance indicator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
- G01S13/685—Radar-tracking systems; Analogous systems for angle tracking only using simultaneous lobing techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/003—Repetitive work cycles; Sequence of movements
- G09B19/0038—Sports
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/32—Golf
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/89—Field sensors, e.g. radar systems
Definitions
- the present invention relates to a method for calculating a swing trajectory of a golf club using radar sensing data, a radar sensing device using the same, and a recording medium readable by a computing device recording the method. More specifically, the Doppler effect of a radar signal ( Doppler Effect) is an invention related to analyzing signals reflected from a ball and signals reflected from a golf club, and calculating swing parameters of the golf club as well as motion parameters of the ball.
- Doppler Effect is an invention related to analyzing signals reflected from a ball and signals reflected from a golf club, and calculating swing parameters of the golf club as well as motion parameters of the ball.
- 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.
- the camera sensing device acquires multiple frames of images of a scene in which a golf club hits a ball, and analyzes the images of the multiple frames obtained to easily sense both physical characteristics of the golf club and the ball.
- the sensing range is narrow and it is difficult to accurately sense the spin of the ball.
- 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.
- 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 the 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
- Korean Patent Registration No. 10-0947898 Japanese Patent Registration No. 6048120
- Korean Patent Publication No. 2016-0054013 Korean Patent Publication No. 2015-0139494
- most of the prior arts disclosed about 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 the swing trajectory of a golf club.
- the technology was unprecedented.
- the present invention calculates position coordinate information of a golf club through analysis of the radar signal separately from calculating a motion parameter for the ball through analysis of a radar signal when a golfer hits the ball with the golf club, and from the golf club
- the present invention is to provide a method for calculating a swing trajectory of a golf club using radar sensing data capable of calculating a swing trajectory, a radar sensing apparatus using the same, and a recording medium readable by a computing device recording the method.
- a method for calculating a swing trajectory of a golf club using radar sensing data generated by receiving a reflected wave of a radar signal, using the radar sensing data, specifying a point of impact between the golf club and the ball ;
- the step of specifying the impact point may include generating data including signal data for a ball and signal data for a golf club as the radar sensing data by receiving the reflected wave of the radar signal; 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.
- the step of generating the trajectory display area may include generating a first coordinate plane viewed from above and a second coordinate plane viewed from the side as the trajectory display area, respectively.
- the setting of the impact position may include displaying the trajectory using a reference distance, which is a distance between a radar sensing device and a ball, and a phase information of a signal for a golf club at the specified impact point. And setting by displaying the impact position on an area.
- the step of calculating the swing trajectory of the golf club includes calculating the swing trajectory of the golf club by deriving a tendency of movement of the golf club based on the coordinates of the golf club on the trajectory display area. It is characterized by.
- the step of calculating the swing trajectory of the golf club before the impact point from the signal data for the golf club of the radar sensing data with respect to the position of the previous golf club based on the set impact position
- the step of calculating the swing trajectory of the golf club may include sensing the reflected wave signal for the golf club at predetermined time intervals before and after the impact point on the signal data for the golf club of the radar sensing data.
- the coordinates are calculated by calculating coordinates of the golf club at each sensing point by displaying coordinates at a position on a trajectory display area and using phase and velocity values at each sensing point after the impact point. And displaying coordinates at a position on the trajectory display area corresponding to the value.
- the step of calculating the swing trajectory of the golf club may include sensing the reflected wave signal for the golf club at predetermined time intervals before and after the impact point on the signal data for the golf club of the radar sensing data.
- the step of calculating the swing trajectory of the golf club by removing the outliers and fitting the valid data through preset data processing for coordinate data of the golf club position displayed on the trajectory display area further includes It is characterized by.
- the present invention also includes a recording medium readable by a computing device recording the calculation method as described above.
- the radar sensing apparatus a signal transmitting unit for transmitting a radar signal;
- a signal receiver configured to receive a reflected wave signal reflected from a ball and a golf club with respect to the signal of the signal transmitter;
- 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 using the radar sensing data to specify the impact time point of the golf club and the ball, and to generate a trajectory display area for displaying the golf club's swing trajectory from the radar sensing data, and the specified impact on the trajectory display area.
- Calculating information for calculating the swing trajectory of a golf club generated by setting the impact position at the viewpoint, and calculating the coordinates of the golf clubs at a number of sensing points before and after the impact point on the trajectory display area based on the position of the impact viewpoint Includes wealth.
- the information calculating unit is configured to calculate a swing trajectory of the golf club by deriving a tendency of the movement of the golf club based on the coordinates of the golf club on the trajectory display area.
- the information calculation unit the radar sensing data for the golf club signal data for the golf club before and after the impact point at a predetermined time interval, the predetermined time interval of the reflected wave signal for the golf club, the sensing time points, respectively,
- the coordinate values of the golf club at each sensing time point are calculated using the phase and velocity values at each of the sensing time points before the impact time point, and coordinates are displayed at a position on the trajectory display area corresponding to the calculated coordinate value.
- the coordinate values of the golf club at each sensing time point are calculated by using the phase and velocity values at each of the sensing time points after the impact time point, and a position on the trajectory display area corresponding to the calculated coordinate value is calculated. Characterized in that it is configured to calculate the swing trajectory of the golf club generated by the coordinate data of the golf club on the trajectory display area by displaying the coordinates.
- a radar signal when a golfer strikes a ball into the golf club
- FIG. 1 is a view showing an example of use of a radar sensing device according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing the configuration of a radar sensing device according to an embodiment of the present invention.
- FIG. 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.
- FIG. 4 is a diagram illustrating an example of radar sensing data including signal data for a ball and signal data for a golf club generated by using a received radar signal by a signal analysis unit of a radar sensing device according to an embodiment of the present invention It is a drawing.
- 5 and 6 are the trajectory display area by the method for calculating the swing trajectory of the golf club using the radar sensing data according to an embodiment of the present invention, respectively, on the first coordinate plane viewed from above and the second coordinate plane viewed from the side. It is a view showing the process of calculating the swing trajectory using the location coordinates of the club.
- FIG. 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.
- FIG. 1 is a view showing a usage example of a radar sensing device
- FIG. 2 is a block diagram showing the configuration of a radar sensing device according to an embodiment of the present invention.
- the radar sensing device 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 so as 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.
- the radar sensing device includes a signal transmitting unit 110, a signal receiving unit 120, a signal analyzing unit 130, and an information calculating unit 140 as illustrated in FIG. 2. It is composed.
- the radar sensing device is installed at a location or near the ground behind a predetermined distance from the location 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 hitting at the installation location. It can be configured to track a ball in motion while transmitting and analyzing radar signals 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 from the ball and returns.
- 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 ball and a golf club head moving along the trajectory, respectively It receives all reflected wave signals.
- the reflected wave signal transmitted by the signal transmitting unit 110 and reflected by the ball and the golf club, respectively has a Doppler shift due to a change in the frequency of the signal transmitted by the signal transmitting unit 110. Will occur. That is, the signal receiving unit 120 receives a signal having a Doppler shift.
- the signal receiving unit 120 is configured to be provided with a plurality of receiving antennas for receiving the reflected wave signal, and thus can know various information about the movement of the ball and the golf club by using the phase difference of the received signals of the plurality of receiving antennas.
- FIG. 3 briefly shows an example of the configuration of the signal receiving unit 120 of the radar sensing apparatus according to an embodiment of the present invention.
- the signal receiving unit 120 includes RA1, RA2, and RA3.
- 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, may be calculated.
- the phase difference can be calculated for the ball in the same manner as described above.
- the signal analysis unit 130 of the radar sensing device 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.
- FIG. 4 is an example of radar sensing data SD including signal data BD for a ball and signal data CD for a golf club generated by the signal analysis unit 130 using the received radar signal. Is shown.
- the radar sensing data shown in FIG. 4 indicates that a spectrogram is generated as radar sensing data for reflected wave signals for a ball and a golf club.
- 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, it can be seen that the signal data for the golf club (CD) has a relatively wide range of signal distribution because the size of the club head is relatively large.
- 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 specifying a specific feature point of the golf club head unlike the ball.
- the golf club swing trajectory calculation method of the radar sensing device is based on the signal data (CD) rather than calculating the swing trajectory based on 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.
- the radar sensing apparatus 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 and displays the displayed
- 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.
- the information calculating unit 140 of the radar sensing device 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.
- 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 (ie, as the origin), but in the case of a golf club, from the top swing to the palos ro It is difficult to use a standard point of reference at any one point (the trajectory and tempo from top swing to palosuru is different for each person, so it is impossible to establish a constant origin).
- the radar sensing method calculates the swing trajectory of a golf club There is a side that is quite difficult to pay.
- the present invention is to determine the impact point of time when the head of the golf club meets the ball and, based on the impact point, determine the position coordinates of the head of each golf club before and after 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 in the meaning of'the location or coordinates of the head of the golf club').
- the present invention generates 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 trajectory display area as described above.
- the present invention can 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.
- 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.
- 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).
- the information calculating unit 140 of the radar sensing device identifies a golf club and an impact point of the ball, 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 point on the trajectory display area, and calculate the coordinates of the golf clubs at a number of sensing points before and after the impact point on the trajectory display area. It can be configured to calculate the swing trajectory of the golf club generated according to.
- the information calculating unit 140 of the radar sensing device includes signal data (CD) for a golf club of radar sensing data SD as shown in FIG. 4.
- 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, respectively.
- 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).
- the coordinate values of the golf club at each sensing time point are calculated by using the phase and speed values at each of the sensing time points (Pai, etc.) after the impact time point.
- 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.
- the radar sensing device transmits a radar signal in a state in which the radar sensing device according to the present invention is installed such that the reference distance between the radar sensing device and the ball is a preset distance value, as shown in FIG. 1. And receives a signal reflected by a moving object (ie, a ball and a golf club) (S100). It has already been described that this is done by the signal transmitting unit and the signal receiving unit, respectively.
- a moving object ie, a ball and a golf club
- 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).
- 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.
- the information calculation unit of the radar sensing device using the signal data for the golf club of the radar sensing data generated by the signal analysis unit as described above, the signal data first On the impact point, that is, the golf club head hitting the ball is specified (S120).
- 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.
- 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.
- the impact time point Pti may be specified based on the time point Pc corresponding to the maximum speed.
- the information calculation unit of the radar sensing device 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 shown 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 calculating 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 radar sensing device and the ball are placed. , Refer to FIG. 1) 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(b) shows how to set the impact position Cti2 based on the reference distance to 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.
- 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).
- the information calculating 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 subsequent golf clubs (Cai1, Cai2) based on the impact positions (Cti1, Cti2) to calculate the golf club's swing trajectory based on the overall coordinates.
- Steps S200 and S210 relate to the calculation of the coordinates of the golf club before the impact point
- steps S300 and S310 relate to the calculation of the coordinates of the golf club after the impact point.
- 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).
- 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).
- a plurality of sensing points ie, a reflected wave signal for the golf club
- Calculating the coordinates of the golf clubs before the impact time of S200 and S210 is calculated based on the phase and speed values of the golf club at each sensing time point specified in reverse chronological order based on the impact time
- Calculating the coordinates of the golf clubs after the impact timings of S300 and S310 is calculated based on the phase and speed values of the golf clubs at each sensing time point specified in chronological order based on the impact timings.
- the points Pbi at a previous sensing time point based on the impact time point Pti in the golf club signal data CD, and points at a later sensing time point Pai ) Can be specified.
- 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 your club's location coordinates.
- 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. 5C.
- 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. 5D.
- a b1' coordinate that is a point corresponding to the sensing point pb1 may be calculated.
- the impact position Cti1 is specified using a reference distance, but the coordinates of the golf club before that are unknown.
- the phase value and velocity value in unknown coordinates before the impact position Cti1 can be known through pb1 of the radar sensing data in FIG. 4.
- the distance between 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).
- the coordinates of an unspecified point that is, an unknown point
- 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.
- calculating the coordinate value of the b1' coordinate between the b1' coordinate and the Cti2 coordinate in the second coordinate plane VR2 illustrated in FIG. 5D can also be calculated in the same manner as described above.
- 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.
- the coordinate b2' can be calculated using the phase value and the velocity value in pb2 on the radar sensing data.
- the impact position coordinates (Cti1, Cti2) are transferred on the trajectory display areas (VR1, VR2) by using the golf club's phase and velocity values at each of the plurality of sensing points (Pbi) before the impact point (Pti). Coordinates (Cbi1, Cbi2) of the golf club can be calculated and displayed.
- 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.
- the second coordinate plane shown in (f) of FIG. 5 can be calculated by using the phase value and the velocity value at the impact time point Pti.
- 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).
- 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 (e) of FIG. 5.
- 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).
- Fig. 6 shows that the swing trajectory is calculated by grasping the tendency using the coordinate distribution in the trajectory display area.
- 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 in the trajectory display area as described above (S400).
- the above-described data processing is a statistical analysis process using a least squares method using a 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.
- the outliers are removed by classifying the valid data (Inlier) and the outlier (Outlier) through a statistical analysis process such as RANSAC.
- swing trajectories CP1 and CP2 as shown in FIGS. 6A and 6B can be calculated by performing a fitting process 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 result of deriving the data and fitting it.
- the swing trajectory of the golf club can be calculated by the above method, and it is possible to verify whether the calculated swing trajectory is a normal swing trajectory (S410).
- the finally calculated swing trajectory is formed by passing under the ground Lg in the second coordinate plane, it may not be called a normal swing trajectory.
- the verification step of the swing trajectory in step S410 of FIG. 7 is a process of determining the abnormal swing trajectory as described above.
- This may proceed to a process of determining whether the swing trajectory calculated as described above is a normal swing trajectory based on the data on the abnormal swing trajectory by constructing data on the abnormal swing trajectory through a number of experiments.
- the corresponding swing trajectory data is transmitted to the next process (S420), and if it is determined that the abnormal swing trajectory is determined, the swing trajectory data is transmitted. Do not transmit (S430).
- golf club exercise parameters for example, Club Path, Swing Direction, Angle of Attack, Dynamic Loft Loft), a spin loft, or the like, or a process of outputting the final calculated swing trajectory data from a radar sensing device to a wired/wireless display device or a mobile terminal.
- a conventional radar sensing device is calculated through analysis of the radar signal separately from calculating a motion parameter for the ball through analysis of a radar signal when a golfer strikes a ball with a golf club.
- a merit that can calculate the position coordinate information of a golf club that could not be done, and calculate the swing trajectory of the golf club therefrom.
- the golf club swing trajectory calculation method using the radar sensing data and the radar sensing device using the radar sensing data according to the present invention include golf-related industrial fields and virtual reality-based golf simulations that perform ball trajectory, ball hitting analysis, etc. It can be used in the so-called screen golf industry, which enables the user to enjoy a virtual golf game by being implemented.
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Abstract
Description
Claims (13)
- 레이더 신호의 반사파를 수신하여 생성한 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법으로서,상기 레이더 센싱데이터를 이용하여 골프클럽과 볼의 임팩트 시점을 특정하는 단계;상기 레이더 센싱데이터로부터 골프클럽의 스윙궤적을 표시하기 위한 궤적 표시 영역을 생성하는 단계;상기 궤적 표시 영역 상에 상기 특정된 임팩트 시점에서의 임팩트 위치를 설정하는 단계; 및상기 궤적 표시 영역 상에서 임팩트 시점의 위치를 기준으로 그 전후의 다수의 센싱 시점에서의 골프클럽의 좌표를 산출함에 따라 생성되는 골프클럽의 스윙궤적을 산출하는 단계;를 포함하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항에 있어서, 상기 임팩트 시점을 특정하는 단계는,상기 레이더 신호의 반사파를 수신하여 상기 레이더 센싱데이터로서 볼에 대한 신호데이터와 골프클럽에 대한 신호데이터를 포함하는 데이터를 생성하는 단계와,상기 볼에 대한 신호데이터를 기초로 한 상기 골프클럽에 대한 신호데이터 상의 시점을 상기 임팩트 시점으로서 특정하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항에 있어서, 상기 궤적 표시 영역을 생성하는 단계는,상기 궤적 표시 영역으로서 위에서 바라본 제1 좌표평면과 측면에서 바라본 제2 좌표평면을 각각 생성하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항에 있어서, 상기 임팩트 위치를 설정하는 단계는,레이더 센싱장치와 볼이 놓인 위치 사이의 거리인 기준거리와 상기 특정된 임팩트 시점에서의 골프클럽에 대한 신호의 위상 정보를 이용하여 상기 궤적 표시 영역 상에 상기 임팩트 위치를 표시함으로써 설정하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항에 있어서, 상기 골프클럽의 스윙궤적을 산출하는 단계는,상기 궤적 표시 영역 상의 골프클럽의 좌표들을 기초로 골프클럽의 이동의 경향성을 도출함으로써 상기 골프클럽의 스윙궤적을 산출하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항에 있어서, 상기 골프클럽의 스윙궤적을 산출하는 단계는,상기 설정된 임팩트 위치를 기준으로 그 이전의 골프클럽의 위치에 대해, 상기 레이더 센싱데이터의 골프클럽에 대한 신호데이터로부터 상기 임팩트 시점 이전의 상기 골프클럽에 대한 각각의 센싱 시점에서의 골프클럽의 좌표를 산출하여 상기 궤적 표시 영역에 표시하는 단계와,상기 설정된 임팩트 위치를 기준으로 그 이후의 골프클럽의 위치에 대해, 상기 레이더 센싱데이터의 골프클럽에 대한 신호데이터로부터 상기 임팩트 시점 이후의 상기 골프클럽에 대한 각각의 센싱 시점에서의 골프클럽의 좌표를 산출하여 상기 궤적 표시 영역에 표시하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항에 있어서, 상기 골프클럽의 스윙궤적을 산출하는 단계는,상기 레이더 센싱데이터의 골프클럽에 대한 신호데이터 상의 상기 임팩트 시점 이전과 이후에 미리 설정된 시간 간격으로 상기 골프클럽에 대한 반사파 신호의 센싱 시점들을 각각 특정하는 단계와,상기 임팩트 시점 이전의 센싱 시점들 각각에서의 위상과 속도값을 이용하여 상기 각 센싱 시점에서의 상기 골프클럽의 좌표값을 산출하여 상기 산출된 좌표값에 해당하는 상기 궤적 표시 영역 상의 위치에 좌표 표시를 하는 단계와,상기 임팩트 시점 이후의 센싱 시점들 각각에서의 위상과 속도값을 이용하여 상기 각 센싱 시점에서의 상기 골프클럽의 좌표값을 산출하여 상기 산출된 좌표값에 해당하는 상기 궤적 표시 영역 상의 위치에 좌표 표시를 하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제3항에 있어서, 상기 골프클럽의 스윙궤적을 산출하는 단계는,상기 레이더 센싱데이터의 골프클럽에 대한 신호데이터 상의 상기 임팩트 시점 이전과 이후에 미리 설정된 시간 간격으로 상기 골프클럽에 대한 반사파 신호의 센싱 시점들을 각각 특정하는 단계와,상기 임팩트 시점 이전의 센싱 시점들 각각에서의 위상과 속도값을 이용하여 상기 각 센싱 시점에서의 상기 골프클럽의 좌표값을 산출하여 상기 산출된 좌표값에 해당하는 상기 제1 좌표평면 및 제2 좌표평면 각각의 영역 상의 위치에 각각 좌표 표시를 하는 단계와,상기 임팩트 시점 이후의 센싱 시점들 각각에서의 위상과 속도값을 이용하여 상기 각 센싱 시점에서의 상기 골프클럽의 좌표값을 산출하여 상기 산출된 좌표값에 해당하는 상기 제1 좌표평면 및 제2 좌표평면 각각의 영역 상의 위치에 각각 좌표 표시를 하는 단계를 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제7항에 있어서,상기 궤적 표시 영역에 표시된 골프클럽 위치의 좌표 데이터에 대해 미리 설정된 데이터 처리를 통해 이상점들을 제거하고 유효데이터에 대해 피팅 처리를 함으로써 골프클럽의 스윙궤적을 산출하는 단계를 더 포함하는 것을 특징으로 하는 레이더 센싱데이터를 이용한 골프클럽의 스윙궤적 산출방법.
- 제1항 내지 제8항 중 어느 한 항에 따른 산출방법을 기록한 컴퓨팅장치에 의해 판독 가능한 기록매체.
- 레이더 신호를 송신하는 신호 송신부;상기 신호 송신부의 신호에 대해 볼 및 골프클럽으로부터 반사된 반사파 신호를 수신하는 신호 수신부;상기 수신된 반사파 신호에 의해 볼에 대한 신호데이터와 골프클럽에 대한 신호데이터를 포함하는 레이더 센싱데이터를 생성하는 신호 분석부; 및상기 레이더 센싱데이터를 이용하여 골프클럽과 볼의 임팩트 시점을 특정하고, 상기 레이더 센싱데이터로부터 골프클럽의 스윙궤적을 표시하기 위한 궤적 표시 영역을 생성하며, 상기 궤적 표시 영역 상에 상기 특정된 임팩트 시점에서의 임팩트 위치를 설정하여, 상기 궤적 표시 영역 상에서 임팩트 시점의 위치를 기준으로 그 전후의 다수의 센싱 시점에서의 골프클럽의 좌표를 산출함에 따라 생성되는 골프클럽의 스윙궤적을 산출하는 정보 산출부;를 포함하는 레이더 센싱장치.
- 제11항에 있어서, 상기 정보 산출부는,상기 궤적 표시 영역 상의 골프클럽의 좌표들을 기초로 골프클럽의 이동의 경향성을 도출함으로써 상기 골프클럽의 스윙궤적을 산출하도록 구성되는 것을 특징으로 하는 레이더 센싱장치.
- 제11항에 있어서, 상기 정보 산출부는,상기 레이더 센싱데이터의 골프클럽에 대한 신호데이터 상의 상기 임팩트 시점 이전과 이후에 미리 설정된 시간 간격으로 상기 골프클럽에 대한 반사파 신호의 센싱 시점들을 각각 특정하고, 상기 임팩트 시점 이전의 센싱 시점들 각각에서의 위상과 속도값을 이용하여 상기 각 센싱 시점에서의 상기 골프클럽의 좌표값을 산출하여 상기 산출된 좌표값에 해당하는 상기 궤적 표시 영역 상의 위치에 좌표 표시를 하며, 상기 임팩트 시점 이후의 센싱 시점들 각각에서의 위상과 속도값을 이용하여 상기 각 센싱 시점에서의 상기 골프클럽의 좌표값을 산출하여 상기 산출된 좌표값에 해당하는 상기 궤적 표시 영역 상의 위치에 좌표 표시를 함으로써, 상기 궤적 표시 영역 상에 상기 골프클럽의 좌표 데이터에 의해 생성되는 골프클럽의 스윙궤적을 산출하도록 구성되는 것을 특징으로 하는 레이더 센싱장치.
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US17/417,835 US11771954B2 (en) | 2018-12-28 | 2019-12-27 | Method for calculating a swing trajectory of a golf club using radar sensing data, a radar sensing device using the same, and a recording medium readable by a computing device recording the method |
CA3125315A CA3125315A1 (en) | 2018-12-28 | 2019-12-27 | A method for calculating a swing trajectory of a golf club using radar sensing data, a radar sensing device using the same, and a recording medium readable by a computing device recording the method |
JP2021537938A JP7103621B2 (ja) | 2018-12-28 | 2019-12-27 | レーダーセンシングデータを用いたゴルフクラブのスイング軌跡の算出方法、およびこれを用いたレーダーセンシング装置、その算出方法を記録したコンピューティング装置によって判読可能な記録媒体 |
CN201980086774.1A CN113260424B (zh) | 2018-12-28 | 2019-12-27 | 利用雷达感测数据的高尔夫球杆的挥杆轨迹计算方法和利用该方法的雷达感测装置以及记录所述方法的计算装置可读记录介质 |
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CA3125315A1 (en) | 2020-07-02 |
CN113260424A (zh) | 2021-08-13 |
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