Golf speed measurement method, device and equipment based on millimeter wave radar

Abstract

The present invention discloses a method, device, and equipment for measuring golf speed based on millimeter-wave radar. The method comprises: when a receiving antenna receives a reflected signal, performing a fast Fourier transform based on the reflected signal to generate a peak spectrum diagram, determining a target frequency point based on the peak spectrum diagram, wherein the target frequency point includes a frequency point corresponding to the club speed and a frequency point corresponding to the ball speed, determining a first club speed and an actual ball speed based on the target frequency point, obtaining a corresponding error coefficient based on the current club model, calibrating the first club speed using the error coefficient, and obtaining the actual club speed. Since the present invention generates a peak spectrum diagram by receiving the reflected signal in real time and then determines the target frequency point based on the peak spectrum diagram, it is possible to achieve simultaneous measurement of the club speed and the ball speed. Furthermore, the measured club speed can be calibrated according to the club model currently used by the user, thereby improving the accuracy and consistency of the detection results while ensuring the simplicity of speed measurement.

Description

Technical Field

[0001] The present invention relates to the field of radar speed measurement, and in particular to a golf speed measurement method, device and equipment based on millimeter wave radar. Background Art

[0002] With the development of society and the continuous improvement of people's living standards, playing golf as an outdoor sport has become more and more popular. With the rise of golf, many golf enthusiasts want to improve their skills by understanding their own pitching speed or swing speed.

[0003] Currently, although there are many products on the market for detecting ball speed and club speed in golf, they all have their own defects and shortcomings. For example: golf electronic swing speed meter, which measures swing speed by fixing the speed meter on the golf club, has a single function and can only measure club speed, not ball speed. The counterweight affects the swing feel, is not durable, and is easily damaged by mis-hit. Splashing water when hitting water obstacles can also cause damage or malfunction of the electronic speed meter, and there is even a safety hazard of it falling off and flying out. Indoor golf simulators can achieve simultaneous measurement of club speed and ball speed through high-definition cameras. The disadvantage is that they are extremely expensive and can only be installed in a fixed location indoors, which is not portable and has low practicality. Handheld radar speed measuring devices, which track ball sports and detect ball speed by the operator holding the radar speed measuring device, have the disadvantage that the handheld radar speed measuring device is easily limited by the operator's experience and response speed, making it difficult to ensure the accuracy and consistency of each detection.

[0004] Regarding the above-mentioned related technologies, it is not difficult to find that in the sport of golf, how to ensure the convenience of measuring ball speed and club speed while improving the accuracy of speed measurement has become a technical problem that needs to be solved in the industry.

[0005] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is related technology. Summary of the Invention

[0006] The main purpose of the present invention is to provide a golf speed measurement method, device and equipment based on millimeter wave radar, aiming to solve the technical problem in the prior art of how to improve the speed measurement accuracy while ensuring the convenience of measuring ball speed and club speed.

[0007] To achieve the above objectives, the present invention provides a method for measuring golf speed based on millimeter-wave radar, the method comprising the following steps:

[0008] When the receiving antenna receives the reflected signal, a fast Fourier transform is performed based on the reflected signal to generate a peak spectrum diagram;

[0009] Determining target frequency points according to the peak frequency spectrum, wherein the target frequency points include frequency points corresponding to the club speed and frequency points corresponding to the ball speed;

[0010] determining a first club speed and an actual ball speed based on the target frequency;

[0011] A corresponding error coefficient is obtained based on the current club model, and the first club speed is calibrated using the error coefficient to obtain an actual club speed.

[0012] Preferably, determining the target frequency point according to the peak frequency spectrum diagram includes:

[0013] When it is detected that the frequency domain signal in the peak spectrum diagram exceeds a preset threshold line, determining whether there is a peak coupling phenomenon;

[0014] If not, performing maximum hold processing on the frequency domain signal to obtain a maximum waveform;

[0015] By traversing the maximum value waveform from high frequency to low frequency, two maximum value points higher than the preset threshold line are sequentially found to obtain a target maximum value point;

[0016] The target frequency point is determined according to the intersection of the extended waveform of the target maximum point in the high frequency direction and the preset threshold line.

[0017] Preferably, after determining whether a peak coupling phenomenon exists when detecting that the frequency domain signal in the peak spectrum diagram exceeds a preset threshold line, the method further includes:

[0018] If yes, then obtaining target peaks by performing single-frame waveform analysis on the peak spectrum, wherein the target peaks include a single peak corresponding to the club speed and a coupled peak corresponding to the ball speed;

[0019] The target frequency point is determined according to the intersection of the extended waveform of the target peak in the high-frequency direction and the preset threshold line.

[0020] Preferably, when the receiving antenna receives the reflected signal, performing a fast Fourier transform based on the reflected signal to generate a peak spectrum diagram includes:

[0021] When the receiving antenna receives the reflected signal, the reflected signal is mixed with the linear frequency modulation signal to obtain an intermediate frequency signal;

[0022] Performing denoising on the intermediate frequency signal to obtain a denoised intermediate frequency signal;

[0023] The denoised intermediate frequency signal is subjected to a fast Fourier transform to generate a peak frequency spectrum.

[0024] Preferably, the denoising process is performed on the intermediate frequency signal to obtain a denoised intermediate frequency signal, comprising:

[0025] Performing differential processing on the intermediate frequency signal to obtain a differential intermediate frequency signal;

[0026] Filtering static data on the differential intermediate frequency signal to obtain a filtered intermediate frequency signal;

[0027] The filtered intermediate frequency signal is subjected to windowing processing to obtain a denoised intermediate frequency signal.

[0028] Preferably, determining the first club speed and the actual ball speed based on the target frequency point includes:

[0029] Obtaining a sampling frequency and a number of sampling points, and determining a frequency resolution based on the sampling frequency and the number of sampling points;

[0030] Determining a target frequency according to the target frequency point and the frequency resolution, wherein the target frequency includes a frequency corresponding to the club speed and a frequency corresponding to the ball speed;

[0031] A first club speed and an actual ball speed are determined according to the target frequency and the wavelength of the preset millimeter wave.

[0032] Preferably, before obtaining the corresponding error coefficient based on the current club model and calibrating the first club speed using the error coefficient to obtain the actual club speed, the method further includes:

[0033] Acquire a ball-hitting measured data set, wherein the ball-hitting measured data set includes a ball-hitting measured data set corresponding to various types of clubs;

[0034] The error coefficients corresponding to the various types of clubs are obtained by performing fitting processing on each of the actual hitting data sets in the actual hitting data set.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a golf speed measuring device based on millimeter wave radar, the device comprising:

[0036] a spectrum generating module, configured to perform a fast Fourier transform based on the reflected signal when the receiving antenna receives the reflected signal, and generate a peak spectrum diagram;

[0037] a frequency determination module, configured to determine target frequencies according to the peak frequency spectrum, wherein the target frequencies include frequencies corresponding to the club speed and the ball speed;

[0038] A frequency point speed measurement module is used to determine the first club speed and the actual ball speed based on the target frequency point.

[0039] The club speed calibration module is used to obtain a corresponding error coefficient based on the current club model, and calibrate the first club speed using the error coefficient to obtain an actual club speed.

[0040] In addition, to achieve the above-mentioned objectives, the present invention also proposes a golf speed measurement device based on millimeter-wave radar, which includes: a memory, a processor, and a millimeter-wave radar-based golf speed measurement program stored in the memory and executable on the processor, wherein the millimeter-wave radar-based golf speed measurement program is configured to implement the steps of the millimeter-wave radar-based golf speed measurement method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a golf speed measurement program based on millimeter wave radar is stored. When the golf speed measurement program based on millimeter wave radar is executed by a processor, the steps of the golf speed measurement method based on millimeter wave radar as described above are implemented.

[0042] The present invention discloses a method, device, and equipment for measuring golf speed based on millimeter-wave radar. The method comprises: when a receiving antenna receives a reflected signal, performing a fast Fourier transform based on the reflected signal to generate a peak spectrum diagram, determining a target frequency point based on the peak spectrum diagram, wherein the target frequency point includes a frequency point corresponding to the club speed and a frequency point corresponding to the ball speed, determining a first club speed and an actual ball speed based on the target frequency point, obtaining a corresponding error coefficient based on the current club model, calibrating the first club speed using the error coefficient, and obtaining the actual club speed. Since the present invention generates a peak spectrum diagram by receiving the reflected signal in real time and then determines the target frequency point based on the peak spectrum diagram, it can achieve simultaneous measurement of the club speed and the ball speed. Furthermore, the measured club speed can be calibrated according to the club model currently used by the user, thereby ensuring the simplicity of speed measurement while also improving the accuracy and consistency of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 1 is a schematic structural diagram of a golf speed measuring device based on millimeter-wave radar in a hardware operating environment according to an embodiment of the present invention;

[0044] Figure 2 This is a flow chart of a first embodiment of a method for measuring golf speed based on millimeter-wave radar according to the present invention;

[0045] Figure 3 This is a flow chart of a second embodiment of a method for measuring golf speed based on millimeter-wave radar according to the present invention;

[0046] Figure 4 This is a maximum value waveform diagram of the second embodiment of the golf speed measurement method based on millimeter wave radar of the present invention;

[0047] Figure 5This is a flow chart of a third embodiment of a method for measuring golf speed based on millimeter-wave radar according to the present invention;

[0048] Figure 6 Schematic diagram of the display content and functions of the user interface LCD screen in the third embodiment of the golf speed measurement method based on millimeter wave radar of the present invention;

[0049] Figure 7 This is a structural block diagram of the first embodiment of the golf speed measuring device based on millimeter wave radar of the present invention.

[0050] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] Reference Figure 1 , Figure 1 This is a structural diagram of a golf speed measurement device based on millimeter-wave radar in the hardware operating environment involved in an embodiment of the present invention.

[0053] like Figure 1 As shown, the millimeter-wave radar-based golf speed measurement device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0054] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the golf speed measuring device based on millimeter wave radar, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0055] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a golf speed measurement program based on millimeter wave radar.

[0056] exist Figure 1 In the millimeter-wave radar-based golf speed measuring device shown, the network interface 1004 is primarily used for data communication with a network server; the user interface 1003 is primarily used for data interaction with a user; the processor 1001 and the memory 1005 in the millimeter-wave radar-based golf speed measuring device of the present invention can be provided in the millimeter-wave radar-based golf speed measuring device. The millimeter-wave radar-based golf speed measuring device calls the millimeter-wave radar-based golf speed measuring program stored in the memory 1005 through the processor 1001 and executes the millimeter-wave radar-based golf speed measuring method provided in an embodiment of the present invention.

[0057] The embodiment of the present invention provides a golf speed measurement method based on millimeter wave radar, referring to Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a method for measuring golf speed based on millimeter-wave radar according to the present invention.

[0058] In this embodiment, the golf speed measurement method based on millimeter wave radar includes the following steps:

[0059] Step S10: When the receiving antenna receives the reflected signal, a fast Fourier transform is performed based on the reflected signal to generate a peak frequency spectrum diagram.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with radar speed measurement, data processing, network communication, and program execution functions, such as a tablet computer, personal computer, radar speed gun, etc., or other electronic device capable of performing the above functions. The following uses a millimeter-wave radar-based golf speed measurement device (hereinafter referred to as the speed measurement device) as an example to illustrate this embodiment and the following embodiments.

[0061] It can be understood that the above-mentioned receiving antenna can be a receiving antenna of a radar, which is used to receive reflected electromagnetic waves; the above-mentioned reflected signal can be an electromagnetic wave reflected after encountering a moving object, which is used to analyze physical information such as the speed and distance of the moving object. The speed measurement principle of this scheme is also based on the Doppler effect. When the moving target approaches the receiving antenna of the radar, the frequency of the reflected signal will be higher than the transmitting frequency; conversely, when the moving target moves away from the receiving antenna of the radar, the frequency of the reflected signal will be lower than the transmitting frequency, and the frequency change amplitude is correlated with the moving speed of the moving target; the above-mentioned fast Fourier transform is a general term for an efficient and fast calculation method for calculating discrete Fourier transform using a computer; the above-mentioned peak spectrum diagram can be a diagram that uses a spectrum to represent the relationship between signal frequency and energy.

[0062] In the specific implementation, when the speed measuring device is turned on and in working state, it will generate a continuous wave of fixed frequency, that is, an electromagnetic wave, by controlling the RFFE (Radio Frequency Front-End) chip. When the electromagnetic wave encounters a moving object during propagation, a reflected signal will be generated. When the speed measuring device receives the reflected signal by controlling the receiving antenna, it performs a fast Fourier transform based on the reflected signal to generate a peak spectrum diagram.

[0063] Step S20: determining target frequency points according to the peak frequency spectrum, wherein the target frequency points include frequency points corresponding to the club speed and frequency points corresponding to the ball speed.

[0064] It is understandable that the target frequency point may be a specific absolute frequency value of the golf ball and club to be tested during the motion process.

[0065] Step S30: determining a first club speed and an actual ball speed based on the target frequency point.

[0066] It can be understood that the first rod speed mentioned above may be the rod speed to be calibrated, and is used to distinguish the rod speed after calibration.

[0067] In a specific implementation, the speed measuring device determines the frequency resolution by obtaining the sampling frequency and the number of sampling points, where frequency resolution = sampling frequency / number of sampling points; the target frequency is determined based on the target frequency and the frequency resolution, where target frequency = frequency * frequency resolution; because the target frequency includes the frequency corresponding to the rod speed and the frequency corresponding to the ball speed, the calculated target frequency also includes the frequency corresponding to the rod speed and the frequency corresponding to the ball speed; finally, the first rod speed and the actual ball speed are determined based on the target frequency and the wavelength of the preset millimeter wave, where speed = wavelength * frequency, where the preset millimeter wave can be a 24GHz millimeter wave or a millimeter wave of other frequencies, which is not limited in this embodiment.

[0068] Step S40: obtaining a corresponding error coefficient based on the current club model, and calibrating the first club speed using the error coefficient to obtain an actual club speed.

[0069] It can be understood that the above-mentioned club model is the type of golf club currently used by the user, and the above-mentioned error coefficient can be a proportional coefficient used to calibrate the club speed.

[0070] In specific implementations, because there are many types of golf clubs with different sizes, shapes, and materials, if the same formula is applied to calculate, there will be errors in the measured club speed. Therefore, the speed measuring device will obtain the corresponding error coefficient based on the model of golf club currently used by the user, and then multiply the error coefficient by the above-mentioned first club speed to complete the calibration and obtain the actual club speed.

[0071] Furthermore, in order to improve the accuracy and effectiveness of the error coefficient, before the above step S40, the following steps are further included:

[0072] Step S40a: Acquire a ball-hitting measured data set, wherein the ball-hitting measured data set includes ball-hitting measured data sets corresponding to various types of clubs.

[0073] It is understandable that the above-mentioned actual hitting data set can be a data set obtained after a large number of repeated hitting experiments using various types of clubs, and the above-mentioned actual hitting data group can be the club speed measurement data corresponding to the hitting experiments using different types of clubs.

[0074] Step S40b: performing fitting processing on each of the actual hitting data sets in the actual hitting data set to obtain error coefficients corresponding to the various types of clubs.

[0075] In a specific implementation, each ball-hitting measured data set in the ball-hitting measured data set is fitted to obtain a corresponding fitting curve, and the error coefficients corresponding to different types of clubs are calculated based on the fitting curve analysis.

[0076] When the receiving antenna receives the reflected signal, this embodiment performs a fast Fourier transform based on the reflected signal to generate a peak frequency spectrum. The target frequency points are determined based on the peak frequency spectrum. The target frequency points include frequencies corresponding to the club speed and the ball speed. A first club speed and an actual ball speed are determined based on the target frequency points. A corresponding error coefficient is obtained based on the current club model. The first club speed is calibrated using the error coefficient to obtain the actual club speed. Because this embodiment generates a peak frequency spectrum based on the real-time reception of the reflected signal and determines the target frequency based on the peak frequency spectrum, it can simultaneously measure both club speed and ball speed. Furthermore, the measured club speed can be calibrated based on the club model currently used by the user. This ensures the simplicity of speed measurement while also improving the accuracy and consistency of the test results.

[0077] refer to Figure 3 , Figure 3 This is a flow chart of a second embodiment of the golf speed measurement method based on millimeter wave radar of the present invention. Based on the first embodiment above, in order to obtain the validity of the target frequency point, the above step S20 specifically includes:

[0078] Step S201: when it is detected that the frequency domain signal in the peak spectrum diagram exceeds a preset threshold line, it is determined whether there is a peak coupling phenomenon.

[0079] It can be understood that the above-mentioned frequency domain signal can be a signal used to describe frequency characteristics, usually represented by a coordinate system, showing the signal amount in each given frequency band within a frequency range. The above-mentioned preset threshold line can be a pre-set virtual line used to detect whether there is a valid moving target in the peak spectrum diagram. The above-mentioned peak coupling phenomenon is a special case in actual application, that is, the speed of the rod and the speed of the ball are similar. This is reflected in the spectrum that the peaks corresponding to the rod speed and the ball speed are very close, or even coupled together and cannot be separated, resulting in the inability to extract the rod speed data.

[0080] Step S202: If not, perform maximum value holding processing on the frequency domain signal to obtain a maximum value waveform.

[0081] In a specific implementation, when the peak coupling phenomenon is not detected, the speed measuring device performs maximum hold processing, i.e., max_hold processing, on the frequency domain signal to obtain a maximum waveform, i.e., a max_hold waveform.

[0082] Furthermore, in order to solve the problem that the club speed and the ball speed cannot be separated when the peaks are coupled, after the above step S201, the following steps are further included:

[0083] Step S202a: If yes, then obtain target peaks by performing single-frame waveform analysis on the peak frequency spectrum, where the target peaks include a single peak corresponding to the club speed and a coupled peak corresponding to the ball speed.

[0084] In the specific implementation, when the speed measuring device detects the peak coupling phenomenon, it obtains the target peak by performing a single-frame waveform analysis on the peak spectrum diagram, where the target peak includes a single peak corresponding to the club speed and a coupled peak corresponding to the ball speed. By analyzing the swing and ball hitting motion process, the club is swung first, and the club speed changes from slow to fast. At this time, there should be only one peak moving in the frequency domain, that is, the single peak corresponding to the club speed; when the club hits the ball, the club and the ball move together. At this time, there should be two peaks in the frequency domain, corresponding to the club speed and the ball speed. Since the club speed and the ball speed are similar, the two peaks will be coupled. Although the peak corresponding to the club speed cannot be separated due to peak coupling, the ball speed can be extracted normally, so the coupled peak corresponds to the ball speed. Combining the two, the club speed and ball speed under similar speeds can be obtained.

[0085] Step S202b: determining a target frequency point according to an intersection of the extended waveform of the target peak in the high-frequency direction and the preset threshold line.

[0086] In a specific implementation, the speed measuring device traverses the target wave peak from high frequency to low frequency, and obtains two intersection points of the target wave peak and the preset threshold line in sequence, namely the frequency point corresponding to the rod speed and the frequency point corresponding to the ball speed.

[0087] Step S203: by traversing the maximum value waveform from high frequency to low frequency, searching for two maximum value points higher than the preset threshold line in sequence, and obtaining a target maximum value point.

[0088] It can be understood that the above-mentioned maximum point can be the top of the peak, and the above-mentioned target maximum point can be the top of the target peak.

[0089] Step S204: determining a target frequency point according to an intersection of the extended waveform of the target maximum point in the high frequency direction and the preset threshold line.

[0090] In a specific implementation, the speed measuring device will determine the target frequency point based on the intersection of the extended waveform of the target maximum point in the high-frequency direction and the preset threshold line.

[0091] Further, please refer to Figure 4 , Figure 4 This is the maximum value waveform diagram mentioned above. As shown in the figure, the horizontal direction (speed axis direction) represents the speed parameter, the unit is m / s, and the vertical direction (energy axis direction) represents the energy parameter, the unit can be joule. Club corresponds to the club speed, and Ball corresponds to the ball speed. From left to right is the direction from low frequency to high frequency. The dotted line in the figure represents the preset threshold line, and the solid line represents the maximum value waveform.

[0092] When the frequency domain signal in the peak spectrum graph is detected to exceed the preset threshold line, this embodiment determines whether there is a peak coupling phenomenon. If not, the peak spectrum graph is subjected to maximum value holding processing to obtain the maximum waveform and then the target frequency point is determined. If it is, the peak spectrum graph is subjected to single-frame analysis to determine the target frequency point. This embodiment fully takes into account the special situation in actual application, namely, the peak coupling phenomenon, which will affect the extraction of the target frequency points of the club speed and ball speed, thereby affecting the subsequent speed measurement. Different target frequency extraction methods are selected according to different judgment results, thereby improving the effectiveness of obtaining the target frequency points.

[0093] refer to Figure 5 , Figure 5 FIG. 4 is a flow chart of a third embodiment of a method for measuring golf speed based on millimeter-wave radar according to the present invention.

[0094] Based on the second embodiment, in order to remove noise interference and improve the accuracy of the peak spectrum diagram, a third embodiment is proposed. The step S10 specifically includes:

[0095] Step S100: When the receiving antenna receives a reflected signal, the reflected signal is mixed with a linear frequency modulation signal to obtain an intermediate frequency signal;

[0096] It can be understood that the linear frequency modulation signal can be a signal whose instantaneous frequency changes linearly with time; and the intermediate frequency signal can be a signal obtained by frequency conversion of a high frequency signal.

[0097] In a specific implementation, when the speed measuring device receives the reflected signal through the receiving antenna, it uses a nonlinear element, such as a diode, to mix the reflected signal and the linear frequency modulation signal, two signals of different frequencies, and then obtains the intermediate frequency signal through a frequency selection circuit.

[0098] Step S200: performing differential processing on the intermediate frequency signal to obtain a differential intermediate frequency signal;

[0099] In a specific implementation, the speed measuring device performs differential processing on the intermediate frequency signal to obtain a differential intermediate frequency signal.

[0100] Step S300: filtering the static data of the differential intermediate frequency signal to obtain a filtered intermediate frequency signal;

[0101] It is understandable that the above-mentioned static data may refer to data mainly used for control or reference during operation, which will not change over a long period of time, such as the reflected signal generated by electromagnetic waves encountering nearby buildings.

[0102] Step S400: performing windowing processing on the filtered intermediate frequency signal to obtain a denoised intermediate frequency signal;

[0103] In a specific implementation, the speed measuring device performs windowing processing on the filtered intermediate frequency signal to suppress side lobes, thereby obtaining a denoised intermediate frequency signal.

[0104] Step S500: performing fast Fourier transform on the denoised intermediate frequency signal to generate a peak frequency spectrum.

[0105] In a specific implementation, the speed measuring device processes the denoised intermediate frequency signal through a fast Fourier transform algorithm to generate a peak spectrum diagram.

[0106] Further, the structure of the above-mentioned speed measuring device is explained. The above-mentioned speed measuring device adopts a TN-type reflective field-type LCD direct display and a clip-on pin connector. There are two styles, namely battery style and rechargeable style. Among them, the battery style: the power supply adopts four 1.5V / 5-size dry batteries, and the estimated service life is 15 hours; the rechargeable style: the power supply adopts a rechargeable lithium battery; the speed measuring device has a built-in 24G HZ millimeter-wave radar, and there are four buttons on the outside, namely: a. power button power (for power on and off), b. up button up (for switch lever), c. down button down (for switch lever), d. function button mode (for viewing average value); a two-color LED indicator light is also provided (blue double flash: detection successful, red double flash: detection failed, red always on: battery power less than 5%, blue always on: power on and standby, blue and red flash twice alternately: data clearing is completed and correction compensation storage is completed).

[0107] For the display interface of the above speed measuring equipment, please refer to Figure 6 , Figure 6 The display content and functions of the user interface LCD screen include: CARRY is the flight distance, displayed as 3 digits, in yards; CLUB SPEED is the swing speed, displayed as 3 digits with 1 decimal place, in mph; BALL SPEED is the ball speed, displayed as 3 digits with 1 decimal place, in mph; SMASH is the ball speed, displayed as 3 digits with 1 decimal place, in mph FACTOR is the efficiency of the shot, displayed as a single digit with two decimal places. For a more intuitive display, there is an efficiency energy grid at the end. COUNT is the number of shots (this time the power is turned on), displayed as a three-digit number, in units of shots, with the club selected and meter field display (drivers: Dr; fairway woods: W3, W5, W7; hybrids: U3, U4, U5, U6; irons I3, I4, I5, I6, I7, I8, I9; chippers: PW, AW, SW, LW; putter: Pt); battery power (4 segments, 25% each), AVG option for the average value of various shot data (average of the last 10 shots with the same club number); flight correction, corrected as a percentage.

[0108] When the speed measurement device in this embodiment receives a reflected signal through the receiving antenna, it mixes the reflected signal with a linear frequency modulation signal to obtain an intermediate frequency (IF) signal. This IF signal is then denoised to obtain a denoised IF signal. Finally, the denoised IF signal is processed using a fast Fourier transform (FFT) algorithm to generate a peak frequency spectrum. This IF signal denoising process includes differential processing, filtering, and windowing techniques, effectively removing noise interference and improving the accuracy of the peak frequency spectrum, thereby enhancing the precision and consistency of club and ball speed measurements.

[0109] Reference Figure 7 , Figure 7This is a structural block diagram of the first embodiment of the golf speed measuring device based on millimeter wave radar of the present invention.

[0110] like Figure 7 As shown, the golf speed measuring device based on millimeter wave radar proposed in the embodiment of the present invention includes: a spectrum generating module 701 , a frequency point determining module 702 , a frequency point speed measuring module 703 and a club speed calibration module 704 .

[0111] The spectrum generating module is configured to perform a fast Fourier transform based on the reflected signal to generate a peak spectrum diagram when the receiving antenna receives the reflected signal;

[0112] The frequency determination module is configured to determine target frequencies according to the peak frequency spectrum, wherein the target frequencies include frequencies corresponding to the club speed and the ball speed;

[0113] The frequency point speed measurement module is used to determine the first club speed and the actual ball speed based on the target frequency point,

[0114] The club speed calibration module is configured to obtain a corresponding error coefficient based on a current club model, and calibrate the first club speed using the error coefficient to obtain an actual club speed.

[0115] When the receiving antenna receives the reflected signal, this embodiment performs a fast Fourier transform based on the reflected signal to generate a peak frequency spectrum. The target frequency points are determined based on the peak frequency spectrum. The target frequency points include frequencies corresponding to the club speed and the ball speed. A first club speed and an actual ball speed are determined based on the target frequency points. A corresponding error coefficient is obtained based on the current club model. The first club speed is calibrated using the error coefficient to obtain the actual club speed. Because this embodiment generates a peak frequency spectrum based on the real-time reception of the reflected signal and determines the target frequency based on the peak frequency spectrum, it can simultaneously measure both club speed and ball speed. Furthermore, the measured club speed can be calibrated based on the club model currently used by the user. This ensures the simplicity of speed measurement while also improving the accuracy and consistency of the test results.

[0116] Other embodiments or specific implementations of the golf speed measuring device based on millimeter wave radar of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0117] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0118] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0119] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0120] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A golf speed measurement method based on millimeter wave radar, characterized in that: The method comprises: When the receiving antenna receives the reflected signal, a fast Fourier transform is performed based on the reflected signal to generate a peak spectrum diagram; Determining target frequency points according to the peak frequency spectrum, wherein the target frequency points include frequency points corresponding to the club speed and frequency points corresponding to the ball speed; determining a first club speed and an actual ball speed based on the target frequency; Obtaining a corresponding error coefficient based on the current club model, and calibrating the first club speed using the error coefficient to obtain an actual club speed; The determining of the target frequency point according to the peak frequency spectrum diagram includes: When it is detected that the frequency domain signal in the peak spectrum diagram exceeds a preset threshold line, determining whether there is a peak coupling phenomenon; If not, performing maximum hold processing on the frequency domain signal to obtain a maximum waveform; By traversing the maximum value waveform from high frequency to low frequency, two maximum value points higher than the preset threshold line are sequentially found to obtain a target maximum value point; Determining a target frequency point according to an intersection of an extended waveform of the target maximum point in the high frequency direction and the preset threshold line; After determining whether there is a peak coupling phenomenon when detecting that the frequency domain signal in the peak spectrum diagram exceeds a preset threshold line, the method further includes: If yes, then obtaining target peaks by performing single-frame waveform analysis on the peak spectrum, wherein the target peaks include a single peak corresponding to the club speed and a coupled peak corresponding to the ball speed; The target frequency point is determined according to the intersection of the extended waveform of the target peak in the high-frequency direction and the preset threshold line.

2. The method according to claim 1, wherein When the receiving antenna receives the reflected signal, performing a fast Fourier transform based on the reflected signal to generate a peak spectrum diagram includes: When the receiving antenna receives the reflected signal, the reflected signal is mixed with the linear frequency modulation signal to obtain an intermediate frequency signal; Performing denoising on the intermediate frequency signal to obtain a denoised intermediate frequency signal; The denoised intermediate frequency signal is subjected to a fast Fourier transform to generate a peak frequency spectrum.

3. The method according to claim 2, wherein The denoising process is performed on the intermediate frequency signal to obtain a denoised intermediate frequency signal, comprising: Performing differential processing on the intermediate frequency signal to obtain a differential intermediate frequency signal; Filtering static data on the differential intermediate frequency signal to obtain a filtered intermediate frequency signal; The filtered intermediate frequency signal is subjected to windowing processing to obtain a denoised intermediate frequency signal.

4. The method according to claim 1, wherein The determining of the first club speed and the actual ball speed based on the target frequency point includes: Obtaining a sampling frequency and a number of sampling points, and determining a frequency resolution based on the sampling frequency and the number of sampling points; Determining a target frequency according to the target frequency point and the frequency resolution, wherein the target frequency includes a frequency corresponding to the club speed and a frequency corresponding to the ball speed; A first club speed and an actual ball speed are determined according to the target frequency and the wavelength of the preset millimeter wave.

5. The method according to claim 1, wherein Before obtaining the corresponding error coefficient based on the current club model and calibrating the first club speed using the error coefficient to obtain the actual club speed, the method further includes: Acquire a ball-hitting measured data set, wherein the ball-hitting measured data set includes a ball-hitting measured data set corresponding to various types of clubs; The error coefficients corresponding to the various types of clubs are obtained by performing fitting processing on each of the actual hitting data sets in the actual hitting data set.

6. A golf speed measuring device based on millimeter wave radar, characterized in that: The device comprises: a spectrum generating module, configured to perform a fast Fourier transform based on the reflected signal when the receiving antenna receives the reflected signal, and generate a peak spectrum diagram; a frequency determination module, configured to determine target frequencies according to the peak frequency spectrum, wherein the target frequencies include frequencies corresponding to the club speed and the ball speed; A frequency point speed measurement module is used to determine the first club speed and the actual ball speed based on the target frequency point. a club speed calibration module, configured to obtain a corresponding error coefficient based on a current club model, and calibrate the first club speed using the error coefficient to obtain an actual club speed; The frequency point determination module is further configured to determine whether there is a peak coupling phenomenon when it is detected that the frequency domain signal in the peak spectrum diagram exceeds a preset threshold line; if not, perform maximum value holding processing on the frequency domain signal to obtain a maximum value waveform; traverse the maximum value waveform from high frequency to low frequency, and sequentially search for two maximum value points that are higher than the preset threshold line to obtain a target maximum value point; determine the target frequency point based on the intersection of the extended waveform of the target maximum value point in the high frequency direction and the preset threshold line; The frequency point determination module is further used to obtain a target peak by performing a single-frame waveform analysis on the peak spectrum diagram, where the target peak includes a single peak corresponding to the club speed and a coupled peak corresponding to the ball speed; and determine the target frequency point based on the intersection of the extended waveform of the target peak in the high-frequency direction and the preset threshold line.

7. A golf speed measuring device based on millimeter wave radar, characterized in that: The device includes: a memory, a processor, and a millimeter-wave radar-based golf speed measurement program stored in the memory and executable on the processor. The millimeter-wave radar-based golf speed measurement program is configured to implement the steps of the millimeter-wave radar-based golf speed measurement method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a golf speed measurement program based on millimeter wave radar. When the golf speed measurement program based on millimeter wave radar is executed by the processor, the steps of the golf speed measurement method based on millimeter wave radar are implemented as described in any one of claims 1 to 5.

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