JP6258310B2 - Pulling wave detection apparatus, radar apparatus, pulling wave detection method, and pulling wave detection program - Google Patents

Description

  The present invention relates to a pulling wave detection device that detects a pulling wave (a wave generated behind the ship as the ship navigates), a radar device including the pulling wave detection device, a pulling wave detection method for detecting the pulling wave, And a trailing wave detection program.

  2. Description of the Related Art Conventionally, for example, a technique shown in Patent Document 1 is known as a technique for estimating the motion of a wavefront on the sea surface. Specifically, in Patent Document 1, the wave front motion is detected based on the received signal obtained by the marine radar.

Japanese Patent Laid-Open No. 11-237477

  By the way, as a characteristic of the movement of the wavefront of the sea surface, a pulling wave, which is a wave generated behind the ship as the ship navigates, is known. Depending on the size and speed of the ship, the height and speed of the wave changes.

  Therefore, for example, when navigating the ship, the ship is greatly shaken by a large pulling wave generated by other ships (especially large ships) navigating at high speed, and in some cases, the ship may capsize.

  The present invention is to solve the above-described problems, and an object of the present invention is to appropriately detect a pulling wave generated by navigation of a ship.

  (1) In order to solve the above-described problem, a pulling wave detection device according to an aspect of the present invention includes a derivation unit that derives a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range, and the derivation A pair of wavefront velocity vectors at each point derived in the section, which are in a predetermined angle range centering on the opposite direction of the direction of the wavefront velocity vector on the other side, and The pair of wavefront velocity vectors whose speed is greater than a reference value based on the velocity of the wavefront velocity vector at another point by a predetermined value or more is caused by a pair of pulling waves generated behind a ship navigating on the water. A pulling wave velocity vector, and a pulling wave detecting unit that detects a plurality of the wave pulling velocity vectors.

  (2) Preferably, the said trailing wave detection apparatus is further provided with the ridgeline estimation part which estimates the ridgeline of said pair of trailing wave based on the representative point of the said several pulling wave velocity vector.

  (3) More preferably, the wavy line estimation unit calculates an approximate function of representative points of the plurality of pulling wave velocity vectors, and estimates the wavy lines of the pair of pulling waves based on the approximate function.

  (4) Preferably, the pulling wave detection device further includes an image feature detection unit that detects a predetermined image feature from an echo image of a wavefront of the water surface in the predetermined range, and the wave ridge line estimation unit includes the image feature. Based on the predetermined image feature detected by the detection unit, the ridgelines of the pair of pulling waves are estimated.

  (5) In order to solve the above-described problem, a radar apparatus according to an aspect of the present invention is based on an antenna that transmits and receives radio waves and a wave front of a water surface at each point in a predetermined range based on a reception signal received by the antenna. One of the above-described wave detection devices, a plurality of wave velocity vectors detected by the wave detection device, and the plurality of wave velocity vectors, each having a deriving unit for deriving a wavefront velocity vector that is a velocity vector. And a display unit for displaying at least one of the pair of undulation lines estimated by the undulation line estimation unit of the drawing wave detection device.

  (6) In order to solve the above-mentioned problem, a method for detecting a wave-pulling according to an aspect of the present invention includes a step of deriving a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range, A pair of wavefront velocity vectors of the derived wavefront velocity vectors at each point, which are directed in directions within a predetermined angle range centering on directions opposite to the direction of the wavefront velocity vector of the other party, and the velocity The pair of wavefront velocity vectors whose length is greater than a reference value based on the velocity of the wavefront velocity vector at another point by a predetermined value or more are caused by a pair of pulling waves generated behind a ship navigating on the water Detecting a plurality of the wave velocity vectors as velocity vectors.

  (7) In order to solve the above-described problem, a pulling wave detection program according to an aspect of the present invention includes a step of deriving a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range, A pair of wavefront velocity vectors of the derived wavefront velocity vectors at each point, which are directed in directions within a predetermined angle range centering on directions opposite to the direction of the wavefront velocity vector of the other party, and the velocity The pair of wavefront velocity vectors whose length is greater than a reference value based on the velocity of the wavefront velocity vector at another point by a predetermined value or more are caused by a pair of pulling waves generated behind a ship navigating on the water Detecting a plurality of the wave velocity vectors as velocity vectors.

  According to the present invention, it is possible to detect a pulling wave generated by the navigation of a ship.

It is a block diagram which shows the structure of the radar apparatus which concerns on embodiment of this invention. It is a figure which shows the example of a display at the time of displaying the distribution state of the wave front velocity vector calculated by the pulling wave detection apparatus shown in FIG. 1 on a 2nd display. It is a figure which shows the example of a display of the detection result of the pulling wave detection apparatus shown in FIG. It is a flowchart for demonstrating operation | movement of a trailing wave detection apparatus. It is a figure for demonstrating operation | movement of a pulling wave detection apparatus, Comprising: It is a figure which shows only some wave front velocity vectors in the calculation object area. It is a graph which shows an example of the relationship between the distance from the own ship, and the absolute value of a vector in the wave front velocity vector arranged along a certain azimuth | direction direction. It is a graph which shows an example of the relationship between the distance from the own ship, and the direction of a vector in the wave front velocity vector arranged along a certain azimuth | direction direction. It is a graph for demonstrating the estimation method of the wavy line of a trailing wave. It is a figure which shows the example of a display of the calculation result of the pulling wave detection apparatus shown in FIG. It is a block diagram which shows the structure of the radar apparatus which concerns on a modification. It is a figure which shows an example of the image memorize | stored in an image feature detection part. It is a block diagram which shows the structure of the radar apparatus which concerns on a modification. It is a figure which shows the example of a display of the calculation result of the pulling wave detection apparatus shown in FIG. It is a figure for demonstrating the detection method of a trailing wave in the radar apparatus which concerns on a modification. It is a block diagram which shows the structure of the radar apparatus which concerns on a modification. It is a block diagram which shows the structure of the radar apparatus which concerns on a modification. It is a block diagram which shows the structure of the radar apparatus which concerns on a modification.

  A radar detection apparatus 10 according to an embodiment of the present invention and a radar apparatus 1 including the harmonic detection apparatus 10 will be described with reference to the drawings. The radar apparatus 1 according to the embodiment of the present invention is installed in, for example, a ship (own ship) and is used to detect a target on the sea (for example, another ship). The radar apparatus 1 according to the present embodiment is configured so that the pulling wave detection device 10 can detect the pulling wave of another ship (a wave generated behind the other ship by the navigation of the other ship).

[overall structure]
FIG. 1 is a block diagram showing a configuration of a radar apparatus 1 according to an embodiment of the present invention. As shown in FIG. 1, the radar device 1 includes an antenna unit 2, a signal processing device 3, a first display 4a, and a second display 4b (display unit).

  The antenna unit 2 includes an antenna 5, a receiving unit 6, and an A / D conversion unit 7.

  The antenna 5 is a radar antenna capable of transmitting (radiating) a pulsed radio wave having strong directivity. The antenna 5 is configured to receive an echo signal (reflected wave) from a target. That is, the antenna 5 is configured to receive an echo signal that identifies a target. The radar apparatus 1 measures the time from when a pulsed radio wave is transmitted to when an echo signal is received. Thereby, the radar apparatus 1 can detect the distance r to the target. The direction in which the ship and the target face each other is defined as the distance direction.

  The antenna 5 is configured to be able to rotate 360 ° on a horizontal plane, and rotates around a vertical axis. The antenna 5 is configured to repeatedly transmit and receive radio waves while changing the transmission direction of pulsed radio waves (changing the rotation angle of the antenna 5). With the above configuration, the radar apparatus 1 can detect a target on a plane around the ship over 360 °.

  The receiving unit 6 detects and amplifies the echo signal received by the antenna 5. The echo signal is a reflected wave at a target or wave front with respect to a transmission signal from the antenna 5 among signals received by the antenna 5. The reception unit 6 outputs the amplified echo signal to the A / D conversion unit 7. The A / D converter 7 samples an analog echo signal and converts it into digital data (echo data) consisting of a plurality of bits. Here, the value of the echo data includes data for specifying the intensity (signal level) of the echo signal received by the antenna 5. The A / D converter 7 outputs the echo data to the image generator 8 of the signal processing device 3.

  The signal processing device 3 includes an image generation unit 8 and a pulling wave detection device 10.

  The image generation unit 8 generates image data based on data having a relatively high signal level (for example, other ships) based on the echo data from the A / D conversion unit 7. In the present embodiment, the image generation unit 8 generates PPI (Plan Position Indicator) image data. The image data generated by the image generation unit 8 is output to the first display 4a. Thereby, the user can grasp | ascertain the position of the other ship on the basis of the own ship position.

  The image generation unit 8 generates image data based on the reflected wave from the sea surface based on the echo data from the A / D conversion unit 7. The image generation unit 8 generates the image data at a plurality of timings. The image data generated in this way is output to the pulling wave detection device 10.

  The pulling wave detection device 10 is configured to estimate the distribution of wave front velocity vectors and the wave line of the pulling wave based on the image data based on the reflected wave from the sea surface. The configuration of the pulling wave detection device 10 will be described later in detail.

  The 1st indicator 4a displays the image signal (image signal resulting from other ships etc.) generated by image generation part 8. The second display 4b displays the distribution of wave front velocity vectors calculated by the trailing wave detection device 10 and the approximate function of the peak line of the trailing wave. For example, the second display 4b is configured to switch and display the wavefront velocity vector distribution and the approximate function by switching a changeover switch (not shown).

[Configuration of Pulling Detection Device]
As shown in FIG. 1, the pulling wave detection device 10 includes a wavefront flow calculation unit 11 (derivation unit), a pulling wave detection unit 12, and a wave peak line estimation unit 13. The pulling wave detection device 10 is configured using hardware including a CPU, a RAM, a ROM (not shown), and the like. The trailing wave detection device 10 is configured using software including a trailing wave detection program stored in the ROM.

  The pulling wave detection program is a program for causing the pulling wave detection device 10 to execute the pulling wave detection method according to the embodiment of the present invention. This program can be installed externally. For example, the installed program is distributed while being stored in a recording medium. The hardware and software are configured to operate in cooperation. Thereby, the pulling wave detection device 10 can function as the wavefront flow calculation unit 11, the pulling wave detection unit 12, and the wave line estimation unit 13.

  The wavefront flow calculation unit 11 is configured to calculate the velocity vector of the wavefront on the sea surface within a predetermined range (hereinafter referred to as calculation target area A) within a predetermined distance from the own ship centering on the own ship. Specifically, the wavefront flow calculation unit 11 calculates the optical flow of the wavefront using images at a plurality of timings generated by the image generation unit 8. The optical flow is a distribution of apparent velocity vectors of a moving object (in this embodiment, a wavefront) in an image. Examples of methods for calculating the optical flow of the wave front include a correlation method and a gradient method. Since these methods are known, a detailed description thereof will be omitted.

  The velocity vector of the wavefront at each point in the calculation target area A calculated by the wavefront flow calculation unit 11 is output to the second display 4b and the trailing wave detection unit 12.

  FIG. 2 is a diagram illustrating an example of a wavefront velocity vector at each point in the calculation target area A displayed on the second display 4b. In the example shown in FIG. 2, the magnitude of the wavefront velocity vector at each point is represented by the size of the arrow displayed at each corresponding point, and the direction of the wavefront velocity vector at each point is displayed at each corresponding point. It is represented by the direction of the arrow.

  The pulling wave detection unit 12 is configured to detect a pulling wave velocity vector that is a wavefront velocity vector caused by the pulling wave from wave front velocity vectors at each point calculated by the wave front flow calculation unit 11. Specifically, the pulling wave detection unit 12 targets a pair of wavefront velocity vectors in the wavefront velocity vectors at each point calculated by the wavefront flow calculation unit 11. The pulling wave detection unit 12 then causes the pair of wave front velocity vectors to go in a direction within a predetermined angle range centering on a direction opposite to the direction of the wave front velocity vector on the other side, and the speed is at another point. When the wavefront velocity vector is larger than the reference value based on the velocity of the wavefront velocity vector by a predetermined value or more, the pair of wavefront velocity vectors are set as the wave velocity vectors.

  The wavy line estimation unit 13 estimates the wavy line of the drawn wave based on the representative points of the plurality of drawn wave velocity vectors detected by the drawn wave detection unit 12. In the present embodiment, the ridgeline estimation unit 13 calculates an approximate function of representative points of a plurality of subtraction velocity vectors detected by the subtraction detection unit 12 by, for example, the least square method, and the approximation function is calculated as a subtraction wave. Estimated as a wavy line. In this embodiment, the representative point of the trailing wave velocity vector is the starting point of the trailing wave velocity vector. However, the present invention is not limited to this. For example, the trailing point may be an end point, and moreover, between the starting point and the end point. It may be an intermediate point.

  FIG. 3 is a diagram illustrating a display example of the wave line of the trailing wave estimated by the wave line estimation unit 13 displayed on the second display 4b. As shown in FIG. 3, the undulating ridgeline is approximated by the undulating line estimator 13 in the second display 4 b together with the echo image of the other ship and the X mark indicating the starting point of the undulating velocity vector. Displayed by displaying the ridgeline of the pulling wave represented by the function. In addition, about the display of the X mark showing the starting point of the above-mentioned pulling wave velocity vector, you may display with the straight line which connects the starting point and end point of a pulling wave velocity vector instead.

[Operation of Pulling Wave Detection Device]
FIG. 4 is a flowchart for explaining the operation of the pulling wave detection apparatus 10. FIG. 5 is a diagram for explaining the operation of the trailing wave detection device 10 and shows only a part of the wavefront velocity vectors. With reference to FIG.4 and FIG.5, the process at the time of detecting a trailing wave is demonstrated.

First, in step S1, the pulling wave detection apparatus 10 sets an arbitrary azimuth direction (in the case of FIG. 5, θ ₁ ) around the ship.

Next, in step S2, undertow detection apparatus 10, as a target vector multiple wave front velocity vector aligned along the azimuth direction theta _1, the distance r from the ship of each target vector, the absolute value of each target vector A graph (see FIG. 6) showing the relationship with (speed) is created.

  In step S3, the pulling wave detection device 10 creates a graph (see FIG. 7) showing the relationship between the distance r of each target vector from the ship and the direction of each target vector.

Next, in step S4, the trailing wave detection unit 12 determines whether or not a plurality of target vectors have a predetermined feature based on the graphs created in steps S2 and S3. Specifically, in the present embodiment, for example, as an example, the pulling wave detection unit 12 determines that the absolute value of the vector is larger than the reference value based on the speed of the wavefront velocity vector at other points from the graph illustrated in FIG. When there are two waveforms having two vectors (V ₁ and V ₂ in FIG. 6) as local maximum values, these two vectors V ₁ and V ₂ are extracted as determination target vectors. When the two vectors as described above do not exist, the trailing wave detection unit 12 determines that there are no trailing waves for the plurality of target vectors because the plurality of target vectors do not have a predetermined feature (step S6). Proceed to step S7.

Note that the reference value is, for example, an average value V _AVE of speeds of wave front vectors at a point between the two waveforms as shown in FIG. However, the reference value is not limited to this, and may be the speed of the wave front vector at any point between the two waveforms.

When the two vectors V ₁ and V ₂ are extracted as the determination target vectors as described above, the subtraction wave detection unit 12 determines that the angle difference ΔD between the pair of determination target vectors V ₁ and V ₂ is within a predetermined angle range. It is determined whether or not there is. If the angle difference ΔD is within the predetermined angle range, the pulling wave detection unit 12 detects that the pair of determination target vectors V ₁ and V ₂ are pulling waves (step S5), and proceeds to step S7. On the other hand, if the angle difference ΔD exceeds the predetermined angle range (No in step S4), and pulling wave detecting section 12 determines that not the undertow a pair of judgment target vectors V ₁ and V ₂ (step S5) The process proceeds to step S7.

The predetermined angular range in the step S4, a pair of the determination target vectors V ₁ and V ₂ are, as the angular range toward the direction of the predetermined angle range around the direction opposite to the direction of the wave front velocity vector of the mating each other Is set. For example, as an example, the predetermined angle range is set as an angle range of 170 degrees to 190 degrees.

Next, in step S7, the trailing wave detection device 10 sets a new azimuth direction by shifting the azimuth direction by a predetermined angle. Specifically, in the case of FIG. 5, the azimuth direction is shifted from θ ₁ to θ ₂ .

  Next, in step S8, when the detection of the trailing wave has been completed for all the azimuth directions (Yes in step S8), the process proceeds to step S9. On the other hand, when the detection of the trailing wave is not completed for all the azimuth directions in Step S8 (No in Step S8), the process returns to Step S2 and Step S3. Then, the pulling wave detection apparatus 10 performs steps S2 and S3 and subsequent steps for the newly set azimuth direction as in the case described above.

  When the flow from step S1 to step S8 described above is repeated and the detection of the trailing wave for each point in the calculation target area A is completed (Yes in step S8), the undulating line estimation unit 13 performs the undulating ridgeline. Is estimated.

  FIG. 8 is a graph for explaining an estimation method of the undulation line of the pulling wave derived from the plurality of pulling waves detected as described above. As shown in FIG. 8, in step S9, the undulating line estimation unit 13 calculates an approximate function of representative points of a plurality of subtraction velocity vectors by, for example, the least square method, and uses the approximate function as a subduction undulation line. presume. Note that examples of the approximate function include a linear function, a quadratic function, and the like. However, the approximate function is not limited thereto, and other functions may be used.

  As shown in FIG. 3, the wave line of the estimated wave estimated as described above is displayed on the second display 4b together with the representative point of the wave velocity vector (in this embodiment, the starting point of the wave velocity vector). Is done. Thereby, the user can visually recognize the ridgeline of the pulling wave with respect to the ship.

  The display state on the second display 4b is not limited to that shown in FIG. 3, but only the undulation line of the trailing wave is displayed without displaying the representative point of the trailing wave velocity vector, for example, as shown in FIG. May be.

[effect]
As described above, in the pulling wave detection apparatus 10 according to the present embodiment, when the following condition is satisfied, the pair of wavefront velocity vectors V ₁ and V ₂ in the calculation target area A are drawn according to the pulling wave. Detect as wave velocity vector. Specifically, in the pulling wave detection device 10, the pair of wave front velocity vectors V ₁ and V ₂ are directed in a direction within a predetermined angle range centering on a direction opposite to the direction of the wave front velocity vector on the other side, and When the speed is larger than a reference value _VAVE based on the speed of the wavefront velocity vector at another point by a predetermined value or more, it is detected as a drawing wave velocity vector caused by the drawing wave.

In general, a pair of undulation lines of a pulling wave of a ship navigating on the water is formed behind the navigating ship. And the direction of the velocity vector of these pair of undulations of the pulling waves is generally opposite, and the magnitude thereof is larger than the magnitude of the wavefront velocity vector at other points. Therefore, by detecting the pair of wavefront velocity vectors V ₁ and V ₂ as the wave velocity vector when the above conditions are satisfied, the wave velocity vector can be detected under an appropriate condition.

  Therefore, the pulling wave detection device 10 can appropriately detect the pulling wave generated by the navigation of the ship.

  In addition, since the pulling wave detection device 10 estimates the wave line of the pulling wave based on the representative points of the plurality of wave drawing velocity vectors, the wave line of the pulling wave can be appropriately estimated.

  In addition, the trailing wave detection apparatus 10 calculates an approximate function of representative points of a plurality of trailing wave velocity vectors, and estimates the trailing wave peak line based on the approximate function. Can be estimated appropriately.

  In the radar apparatus 1, the undulation line of the pulling wave estimated by the pulling wave detection apparatus 10 is displayed on the second display 4 b. Therefore, the user can visually recognize the undulation line of the pulling wave appropriately.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these, A various change is possible unless it deviates from the meaning of this invention.

[Modification]
(1) FIG. 10 is a block diagram showing a configuration of a radar apparatus 1a according to a modification. As shown in FIG. 10, the pulling wave detection device 10 a of the radar apparatus 1 a according to this modification further includes an image feature detection unit 14, unlike the case of the above embodiment. Then, in the trailing wave detection device 10a of the present modification, the ridge line estimation unit 13a includes the representative point of the trailing wave velocity vector detected by the trailing wave detection unit 12, and the image feature detected by the image feature detection unit 14. Based on the above, the approximate function of the wave line of the pulling wave is calculated.

  In general, a pair of pulling wave ridgelines are formed behind a navigating ship. The pair of pulling wave peaks are usually formed in a pair of straight lines that are separated from each other as the distance from the ship increases, as shown in FIG.

  For example, as shown in FIG. 11A, the image feature detection unit 14 of the pulling wave detection apparatus 10a according to this modification has two line segments that do not intersect with each other and are not parallel to each other, and an angle between them is arbitrary. An image P having a feature of an angle (for example, 45 degrees) is stored. The angle between two line segments that are images stored in the image feature detection unit 14 is an angle (30 degrees) shown in FIG. 11B and an angle (90 degrees) shown in FIG. 11C. Other angles may be used. Furthermore, a plurality of images may be stored in the image feature detection unit 14.

  The image feature detection unit 14 detects an image feature having a feature like the image P from the wave front echo image generated by the image generation unit 8. When such an image feature is detected, the ridge line estimation unit 13a detects the representative points of the plurality of trailing wave velocity vectors detected by the trailing wave detection unit 12 and the feature detected by the image feature detection unit 14. Based on both the image and the approximate function of the undulation line of the pulling wave. As a result, the undulation line of the pulling wave can be approximated by an approximation function with higher accuracy.

  (2) FIG. 12 is a block diagram showing a configuration of a radar apparatus 1b according to a modification. As shown in FIG. 12, the radar apparatus 1b according to this modification has a configuration in which the wave line estimation unit 13 is omitted, unlike the case of the above embodiment.

  The pulling wave detection unit 12 of this modification detects a plurality of pulling wave velocity vectors in the calculation target area A in the same manner as the pulling wave detection unit 12 of the above embodiment.

  FIG. 13 is a diagram illustrating a display example of representative points of a plurality of pulling wave velocity vectors detected by the pulling wave detecting unit 12 displayed on the second display 4b. On the second display 4b of this modification, the position of the representative point of the wave velocity vector is displayed with an X mark. In FIG. 13, only representative points of the pulling wave velocity vector are displayed. However, the present invention is not limited to this, and a pulling wave velocity vector represented by an arrow may be displayed.

  As described above, the trailing wave velocity detection apparatus 10b according to the present modification detects the trailing wave velocity vector in the same manner as in the above embodiment. Therefore, as in the case of the above-described embodiment, a pulling wave can be detected appropriately.

  In the radar apparatus 1b, representative points of a plurality of trailing wave velocity vectors estimated by the trailing wave detection apparatus 10b are displayed. Therefore, the user can visually recognize the position of the pulling wave appropriately.

  (3) In the pulling wave detection apparatus 10 according to the above-described embodiment, as shown in FIG. 5, the target vector set for detecting the pulling wave velocity vector is set in each of the azimuth directions around the ship. It is set sequentially along the radial direction. That is, in the pulling wave detection device 10 according to the above embodiment, the pulling wave velocity vector is detected based on the r-θ coordinate. However, the present invention is not limited to this, and as shown in FIG. 14, the wave velocity vector may be detected based on the xy coordinates. In this case, for example, as an example, a virtual straight line extending in the x direction in the calculation target area A is set, a target vector is set along the virtual straight line, and a trailing wave velocity vector is detected. Then, the virtual line is shifted in the y direction, the target vector is set along the shifted virtual line in the same manner as described above, and the wave velocity vector is detected. Thereby, similarly to the case of the above-described embodiment, the wave velocity vector can be detected in the calculation target area A.

  (4) FIG. 15 is a block diagram showing a configuration of a radar apparatus 1c according to a modification. In the above embodiment, the wavefront flow calculation unit 11 is calculated based on the optical flow. However, the present invention is not limited to this, and the wavefront flow calculation unit 11 may calculate the wavefront flow calculation unit 11 by Doppler measurement. The wavefront flow calculation unit 11b according to this modification includes, for example, a reflected wave of the pulse wave transmitted from the antenna 5 at the first timing, and a reflected wave of the pulse wave transmitted from the antenna 5 at the second timing, The wavefront velocity vector at each point in the calculation target area A is calculated on the basis of the frequency difference.

  (5) FIG. 16 is a block diagram showing a configuration of the personal computer 9 having the radar apparatus 1d and the pulling wave detection apparatus 10 according to the modification. As shown in FIG. 16, the trailing wave detection device 10 may be provided in a personal computer 9 separate from the radar device 1d. In this case, it is only necessary to display the wave line of the wave that is the calculation result of the wave detection device 10 on the second display 4 b configured by the display of the personal computer 9.

  (6) In the above-described embodiment, the wave line of the wave detected by the wave detection device 10 is displayed on the display unit and recognized by the user. However, the present invention is not limited to this. For example, as shown in FIG. 17, the hull control unit 15, which is a control unit of the ship, may be controlled based on information about the wave line of the wave detected by the wave detection device 10. Specifically, the hull control unit 15, for example, as an example, based on information such as the position and speed of the undulating wave line calculated by the undulating line estimation unit 13, Control the speed and course. Thereby, it is possible to prevent the own ship from being overturned by the pulling wave.

  The present invention can be widely applied as a pulling wave detection apparatus, a radar apparatus including the pulling wave detection apparatus, a pulling wave detection method for detecting a pulling wave, and a pulling wave detection program.

1, 1a, 1b, 1c, 1d, 1e Radar device 10, 10a, 10b, 10c Pulling wave detection device 11, 11a Wavefront flow calculation unit (derivation unit)
12 Pulling wave detection unit 13, 13a Wave peak estimation unit

Claims (7)

A derivation unit for deriving a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range;
A pair of wavefront velocity vectors of the wavefront velocity vectors derived at the respective points derived by the deriving unit, which are directed in directions within a predetermined angle range centering on a direction opposite to the direction of the wavefront velocity vector of the other party. The pair of wavefront velocity vectors whose speed is greater than a reference value based on the velocity of the wavefront velocity vector at another point by a predetermined value or more are used as a pair of pulling waves generated behind a ship navigating on the water. A pulling wave detection unit for detecting a plurality of the pulling wave velocity vectors,
A wave detection device, comprising: The pulling wave detection device according to claim 1,
A pulsating wave detection device, further comprising: a ridge line estimating unit that estimates ridge lines of the pair of pulsating waves based on representative points of the plurality of pulsating wave velocity vectors. The pulling wave detection device according to claim 2,
The undulating line estimation unit calculates an approximate function of representative points of the plurality of pulsating velocity vectors, and estimates the undulating line of the pair of pulsating waves based on the approximate function. apparatus. In the pulling wave detection device according to claim 2 or claim 3,
From the echo image of the wavefront of the water surface in the predetermined range, further comprising an image feature detection unit for detecting a predetermined image feature,
The wave detection line estimation unit estimates the wave line of the pair of wave pulls based on the predetermined image feature detected by the image feature detection unit. An antenna for transmitting and receiving radio waves,
5. The derivation unit for deriving a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range based on a reception signal received by the antenna. The described trailing wave detection device;
A plurality of wave velocity vectors detected by the wave detector, representative points of the wave velocity vectors, and a pair of wave waves estimated by the wave line estimation unit of the wave detector A display for displaying at least one of the lines,
A radar apparatus comprising: Deriving a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range;
A pair of wavefront velocity vectors of the wavefront velocity vectors at each point derived in the step, which are directed in a direction within a predetermined angle range centering on a direction opposite to the direction of the wavefront velocity vector of the other party, The pair of wavefront velocity vectors whose speed is greater than a reference value based on the velocity of the wavefront velocity vector at another point by a predetermined value or more are caused by a pair of pulling waves generated behind a ship navigating on the water. Detecting a plurality of the wave velocity vectors, and
A method for detecting a trailing wave, comprising: Deriving a wavefront velocity vector that is a velocity vector of a wavefront wavefront at each point in a predetermined range;
A pair of wavefront velocity vectors of the wavefront velocity vectors at each point derived in the step, which are directed in a direction within a predetermined angle range centering on a direction opposite to the direction of the wavefront velocity vector of the other party, The pair of wavefront velocity vectors whose speed is greater than a reference value based on the velocity of the wavefront velocity vector at another point by a predetermined value or more are caused by a pair of pulling waves generated behind a ship navigating on the water. Detecting a plurality of the wave velocity vectors, and
A wave detection program characterized by comprising:

Images